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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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38
src/joystick/hidapi/SDL_hidapi_switch.c
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@ -841,29 +841,16 @@ static SDL_bool LoadStickCalibration(SDL_DriverSwitch_Context *ctx)
static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
{
Uint8 *pIMUScale;
SwitchSubcommandInputPacket_t *reply = NULL;
Sint16 sAccelRawX, sAccelRawY, sAccelRawZ, sGyroRawX, sGyroRawY, sGyroRawZ;
/* Read Calibration Info */
SwitchSPIOpData_t readParams;
readParams.unAddress = k_unSPIIMUScaleStartOffset;
readParams.ucLength = k_unSPIIMUScaleLength;
if (!WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply)) {
const float accelScale = SDL_STANDARD_GRAVITY / SWITCH_ACCEL_SCALE;
const float gyroScale = (float)M_PI / 180.0f / SWITCH_GYRO_SCALE;
ctx->m_IMUScaleData.fAccelScaleX = accelScale;
ctx->m_IMUScaleData.fAccelScaleY = accelScale;
ctx->m_IMUScaleData.fAccelScaleZ = accelScale;
ctx->m_IMUScaleData.fGyroScaleX = gyroScale;
ctx->m_IMUScaleData.fGyroScaleY = gyroScale;
ctx->m_IMUScaleData.fGyroScaleZ = gyroScale;
return SDL_FALSE;
}
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;
@ -897,10 +884,23 @@ static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
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;
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 gyroScale = (float)M_PI / 180.0f / SWITCH_GYRO_SCALE;
ctx->m_IMUScaleData.fAccelScaleX = accelScale;
ctx->m_IMUScaleData.fAccelScaleY = accelScale;
ctx->m_IMUScaleData.fAccelScaleZ = accelScale;
ctx->m_IMUScaleData.fGyroScaleX = gyroScale;
ctx->m_IMUScaleData.fGyroScaleY = gyroScale;
ctx->m_IMUScaleData.fGyroScaleZ = gyroScale;
}
return SDL_TRUE;
}