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Use default sensor calibration if we can't read it from the Nintendo Switch controller

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Fixes https://github.com/libsdl-org/SDL/issues/7830

(cherry picked from commit 3694dabe7c16bb8e76f6f4820a1987ce16c4a3c9)
This commit is contained in:
Sam Lantinga 2023-06-21 10:28:45 -07:00
parent 657c346556
commit dfbdaca2b8
1 changed files with 42 additions and 42 deletions
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84
src/joystick/hidapi/SDL_hidapi_switch.c
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@ -841,16 +841,55 @@ static SDL_bool LoadStickCalibration(SDL_DriverSwitch_Context *ctx)
static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx) static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
{ {
Uint8 *pIMUScale;
SwitchSubcommandInputPacket_t *reply = NULL; SwitchSubcommandInputPacket_t *reply = NULL;
Sint16 sAccelRawX, sAccelRawY, sAccelRawZ, sGyroRawX, sGyroRawY, sGyroRawZ;
/* Read Calibration Info */ /* Read Calibration Info */
SwitchSPIOpData_t readParams; SwitchSPIOpData_t readParams;
readParams.unAddress = k_unSPIIMUScaleStartOffset; readParams.unAddress = k_unSPIIMUScaleStartOffset;
readParams.ucLength = k_unSPIIMUScaleLength; readParams.ucLength = k_unSPIIMUScaleLength;
if (!WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply)) { if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply)) {
Uint8 *pIMUScale;
Sint16 sAccelRawX, sAccelRawY, sAccelRawZ, sGyroRawX, sGyroRawY, sGyroRawZ;
/* IMU scale gives us multipliers for converting raw values to real world values */
pIMUScale = reply->spiReadData.rgucReadData;
sAccelRawX = (pIMUScale[1] << 8) | pIMUScale[0];
sAccelRawY = (pIMUScale[3] << 8) | pIMUScale[2];
sAccelRawZ = (pIMUScale[5] << 8) | pIMUScale[4];
sGyroRawX = (pIMUScale[13] << 8) | pIMUScale[12];
sGyroRawY = (pIMUScale[15] << 8) | pIMUScale[14];
sGyroRawZ = (pIMUScale[17] << 8) | pIMUScale[16];
/* Check for user calibration data. If it's present and set, it'll override the factory settings */
readParams.unAddress = k_unSPIIMUUserScaleStartOffset;
readParams.ucLength = k_unSPIIMUUserScaleLength;
if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply) && (pIMUScale[0] | pIMUScale[1] << 8) == 0xA1B2) {
pIMUScale = reply->spiReadData.rgucReadData;
sAccelRawX = (pIMUScale[3] << 8) | pIMUScale[2];
sAccelRawY = (pIMUScale[5] << 8) | pIMUScale[4];
sAccelRawZ = (pIMUScale[7] << 8) | pIMUScale[6];
sGyroRawX = (pIMUScale[15] << 8) | pIMUScale[14];
sGyroRawY = (pIMUScale[17] << 8) | pIMUScale[16];
sGyroRawZ = (pIMUScale[19] << 8) | pIMUScale[18];
}
/* Accelerometer scale */
ctx->m_IMUScaleData.fAccelScaleX = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawX) * SDL_STANDARD_GRAVITY;
ctx->m_IMUScaleData.fAccelScaleY = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawY) * SDL_STANDARD_GRAVITY;
ctx->m_IMUScaleData.fAccelScaleZ = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawZ) * SDL_STANDARD_GRAVITY;
/* Gyro scale */
ctx->m_IMUScaleData.fGyroScaleX = SWITCH_GYRO_SCALE_MULT / (SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawX) * (float)M_PI / 180.0f;
ctx->m_IMUScaleData.fGyroScaleY = SWITCH_GYRO_SCALE_MULT / (SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawY) * (float)M_PI / 180.0f;
ctx->m_IMUScaleData.fGyroScaleZ = SWITCH_GYRO_SCALE_MULT / (SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawZ) * (float)M_PI / 180.0f;
} else {
/* Use default values */
const float accelScale = SDL_STANDARD_GRAVITY / SWITCH_ACCEL_SCALE; const float accelScale = SDL_STANDARD_GRAVITY / SWITCH_ACCEL_SCALE;
const float gyroScale = (float)M_PI / 180.0f / SWITCH_GYRO_SCALE; const float gyroScale = (float)M_PI / 180.0f / SWITCH_GYRO_SCALE;
@ -861,46 +900,7 @@ static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
ctx->m_IMUScaleData.fGyroScaleX = gyroScale; ctx->m_IMUScaleData.fGyroScaleX = gyroScale;
ctx->m_IMUScaleData.fGyroScaleY = gyroScale; ctx->m_IMUScaleData.fGyroScaleY = gyroScale;
ctx->m_IMUScaleData.fGyroScaleZ = gyroScale; ctx->m_IMUScaleData.fGyroScaleZ = gyroScale;
return SDL_FALSE;
} }
/* IMU scale gives us multipliers for converting raw values to real world values */
pIMUScale = reply->spiReadData.rgucReadData;
sAccelRawX = (pIMUScale[1] << 8) | pIMUScale[0];
sAccelRawY = (pIMUScale[3] << 8) | pIMUScale[2];
sAccelRawZ = (pIMUScale[5] << 8) | pIMUScale[4];
sGyroRawX = (pIMUScale[13] << 8) | pIMUScale[12];
sGyroRawY = (pIMUScale[15] << 8) | pIMUScale[14];
sGyroRawZ = (pIMUScale[17] << 8) | pIMUScale[16];
/* Check for user calibration data. If it's present and set, it'll override the factory settings */
readParams.unAddress = k_unSPIIMUUserScaleStartOffset;
readParams.ucLength = k_unSPIIMUUserScaleLength;
if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply) && (pIMUScale[0] | pIMUScale[1] << 8) == 0xA1B2) {
pIMUScale = reply->spiReadData.rgucReadData;
sAccelRawX = (pIMUScale[3] << 8) | pIMUScale[2];
sAccelRawY = (pIMUScale[5] << 8) | pIMUScale[4];
sAccelRawZ = (pIMUScale[7] << 8) | pIMUScale[6];
sGyroRawX = (pIMUScale[15] << 8) | pIMUScale[14];
sGyroRawY = (pIMUScale[17] << 8) | pIMUScale[16];
sGyroRawZ = (pIMUScale[19] << 8) | pIMUScale[18];
}
/* Accelerometer scale */
ctx->m_IMUScaleData.fAccelScaleX = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawX) * SDL_STANDARD_GRAVITY;
ctx->m_IMUScaleData.fAccelScaleY = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawY) * SDL_STANDARD_GRAVITY;
ctx->m_IMUScaleData.fAccelScaleZ = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawZ) * SDL_STANDARD_GRAVITY;
/* Gyro scale */
ctx->m_IMUScaleData.fGyroScaleX = SWITCH_GYRO_SCALE_MULT / (float)(SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawX) * (float)M_PI / 180.0f;
ctx->m_IMUScaleData.fGyroScaleY = SWITCH_GYRO_SCALE_MULT / (float)(SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawY) * (float)M_PI / 180.0f;
ctx->m_IMUScaleData.fGyroScaleZ = SWITCH_GYRO_SCALE_MULT / (float)(SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawZ) * (float)M_PI / 180.0f;
return SDL_TRUE; return SDL_TRUE;
} }