6 files changed, 738 insertions, 0 deletions

diff --git a/src/hid_core/resources/six_axis/console_six_axis.cpp b/src/hid_core/resources/six_axis/console_six_axis.cpp
new file mode 100644
index 000000000..4f733cc76
--- /dev/null
+++ b/src/hid_core/resources/six_axis/console_six_axis.cpp
@@ -0,0 +1,45 @@
+// SPDX-FileCopyrightText: Copyright 2021 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#include "core/core_timing.h"
+#include "hid_core/frontend/emulated_console.h"
+#include "hid_core/hid_core.h"
+#include "hid_core/resources/shared_memory_format.h"
+#include "hid_core/resources/six_axis/console_six_axis.h"
+
+namespace Service::HID {
+
+ConsoleSixAxis::ConsoleSixAxis(Core::HID::HIDCore& hid_core_) : ControllerBase{hid_core_} {
+    console = hid_core.GetEmulatedConsole();
+}
+
+ConsoleSixAxis::~ConsoleSixAxis() = default;
+
+void ConsoleSixAxis::OnInit() {}
+
+void ConsoleSixAxis::OnRelease() {}
+
+void ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
+    std::scoped_lock shared_lock{*shared_mutex};
+    const u64 aruid = applet_resource->GetActiveAruid();
+    auto* data = applet_resource->GetAruidData(aruid);
+
+    if (data == nullptr || !data->flag.is_assigned) {
+        return;
+    }
+
+    ConsoleSixAxisSensorSharedMemoryFormat& shared_memory = data->shared_memory_format->console;
+
+    if (!IsControllerActivated()) {
+        return;
+    }
+
+    const auto motion_status = console->GetMotion();
+
+    shared_memory.sampling_number++;
+    shared_memory.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
+    shared_memory.verticalization_error = motion_status.verticalization_error;
+    shared_memory.gyro_bias = motion_status.gyro_bias;
+}
+
+} // namespace Service::HID
diff --git a/src/hid_core/resources/six_axis/console_six_axis.h b/src/hid_core/resources/six_axis/console_six_axis.h
new file mode 100644
index 000000000..013b2e93b
--- /dev/null
+++ b/src/hid_core/resources/six_axis/console_six_axis.h
@@ -0,0 +1,30 @@
+// SPDX-FileCopyrightText: Copyright 2021 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#pragma once
+
+#include "hid_core/resources/controller_base.h"
+
+namespace Core::HID {
+class EmulatedConsole;
+} // namespace Core::HID
+
+namespace Service::HID {
+class ConsoleSixAxis final : public ControllerBase {
+public:
+    explicit ConsoleSixAxis(Core::HID::HIDCore& hid_core_);
+    ~ConsoleSixAxis() override;
+
+    // Called when the controller is initialized
+    void OnInit() override;
+
+    // When the controller is released
+    void OnRelease() override;
+
+    // When the controller is requesting an update for the shared memory
+    void OnUpdate(const Core::Timing::CoreTiming& core_timing) override;
+
+private:
+    Core::HID::EmulatedConsole* console = nullptr;
+};
+} // namespace Service::HID
diff --git a/src/hid_core/resources/six_axis/seven_six_axis.cpp b/src/hid_core/resources/six_axis/seven_six_axis.cpp
new file mode 100644
index 000000000..d84ef31e1
--- /dev/null
+++ b/src/hid_core/resources/six_axis/seven_six_axis.cpp
@@ -0,0 +1,66 @@
+// SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#include <cstring>
+#include "common/common_types.h"
+#include "core/core.h"
+#include "core/core_timing.h"
+#include "core/frontend/emu_window.h"
+#include "core/memory.h"
+#include "hid_core/frontend/emulated_console.h"
+#include "hid_core/frontend/emulated_devices.h"
+#include "hid_core/hid_core.h"
+#include "hid_core/resources/six_axis/seven_six_axis.h"
+
+namespace Service::HID {
+SevenSixAxis::SevenSixAxis(Core::System& system_)
+    : ControllerBase{system_.HIDCore()}, system{system_} {
+    console = hid_core.GetEmulatedConsole();
+}
+
+SevenSixAxis::~SevenSixAxis() = default;
+
+void SevenSixAxis::OnInit() {}
+void SevenSixAxis::OnRelease() {}
+
+void SevenSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
+    if (!IsControllerActivated() || transfer_memory == 0) {
+        seven_sixaxis_lifo.buffer_count = 0;
+        seven_sixaxis_lifo.buffer_tail = 0;
+        return;
+    }
+
+    const auto& last_entry = seven_sixaxis_lifo.ReadCurrentEntry().state;
+    next_seven_sixaxis_state.sampling_number = last_entry.sampling_number + 1;
+
+    const auto motion_status = console->GetMotion();
+    last_global_timestamp = core_timing.GetGlobalTimeNs().count();
+
+    // This value increments every time the switch goes to sleep
+    next_seven_sixaxis_state.unknown = 1;
+    next_seven_sixaxis_state.timestamp = last_global_timestamp - last_saved_timestamp;
+    next_seven_sixaxis_state.accel = motion_status.accel;
+    next_seven_sixaxis_state.gyro = motion_status.gyro;
+    next_seven_sixaxis_state.quaternion = {
+        {
+            motion_status.quaternion.xyz.y,
+            motion_status.quaternion.xyz.x,
+            -motion_status.quaternion.w,
+        },
+        -motion_status.quaternion.xyz.z,
+    };
+
+    seven_sixaxis_lifo.WriteNextEntry(next_seven_sixaxis_state);
+    system.ApplicationMemory().WriteBlock(transfer_memory, &seven_sixaxis_lifo,
+                                          sizeof(seven_sixaxis_lifo));
+}
+
+void SevenSixAxis::SetTransferMemoryAddress(Common::ProcessAddress t_mem) {
+    transfer_memory = t_mem;
+}
+
+void SevenSixAxis::ResetTimestamp() {
+    last_saved_timestamp = last_global_timestamp;
+}
+
+} // namespace Service::HID
diff --git a/src/hid_core/resources/six_axis/seven_six_axis.h b/src/hid_core/resources/six_axis/seven_six_axis.h
new file mode 100644
index 000000000..0a26c77c9
--- /dev/null
+++ b/src/hid_core/resources/six_axis/seven_six_axis.h
@@ -0,0 +1,65 @@
+// SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#pragma once
+
+#include "common/common_types.h"
+#include "common/quaternion.h"
+#include "common/typed_address.h"
+#include "hid_core/resources/controller_base.h"
+#include "hid_core/resources/ring_lifo.h"
+
+namespace Core {
+class System;
+} // namespace Core
+
+namespace Core::HID {
+class EmulatedConsole;
+} // namespace Core::HID
+
+namespace Service::HID {
+class SevenSixAxis final : public ControllerBase {
+public:
+    explicit SevenSixAxis(Core::System& system_);
+    ~SevenSixAxis() override;
+
+    // Called when the controller is initialized
+    void OnInit() override;
+
+    // When the controller is released
+    void OnRelease() override;
+
+    // When the controller is requesting an update for the shared memory
+    void OnUpdate(const Core::Timing::CoreTiming& core_timing) override;
+
+    // Called on InitializeSevenSixAxisSensor
+    void SetTransferMemoryAddress(Common::ProcessAddress t_mem);
+
+    // Called on ResetSevenSixAxisSensorTimestamp
+    void ResetTimestamp();
+
+private:
+    struct SevenSixAxisState {
+        INSERT_PADDING_WORDS(2); // unused
+        u64 timestamp{};
+        u64 sampling_number{};
+        u64 unknown{};
+        Common::Vec3f accel{};
+        Common::Vec3f gyro{};
+        Common::Quaternion<f32> quaternion{};
+    };
+    static_assert(sizeof(SevenSixAxisState) == 0x48, "SevenSixAxisState is an invalid size");
+
+    Lifo<SevenSixAxisState, 0x21> seven_sixaxis_lifo{};
+    static_assert(sizeof(seven_sixaxis_lifo) == 0xA70, "SevenSixAxisState is an invalid size");
+
+    u64 last_saved_timestamp{};
+    u64 last_global_timestamp{};
+
+    SevenSixAxisState next_seven_sixaxis_state{};
+    Common::ProcessAddress transfer_memory{};
+    Core::HID::EmulatedConsole* console = nullptr;
+
+    Core::System& system;
+};
+} // namespace Service::HID
diff --git a/src/hid_core/resources/six_axis/six_axis.cpp b/src/hid_core/resources/six_axis/six_axis.cpp
new file mode 100644
index 000000000..8a9677c50
--- /dev/null
+++ b/src/hid_core/resources/six_axis/six_axis.cpp
@@ -0,0 +1,421 @@
+// SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#include "common/common_types.h"
+#include "core/core_timing.h"
+#include "hid_core/frontend/emulated_controller.h"
+#include "hid_core/hid_core.h"
+#include "hid_core/hid_result.h"
+#include "hid_core/hid_util.h"
+#include "hid_core/resources/npad/npad.h"
+#include "hid_core/resources/shared_memory_format.h"
+#include "hid_core/resources/six_axis/six_axis.h"
+
+namespace Service::HID {
+
+SixAxis::SixAxis(Core::HID::HIDCore& hid_core_, std::shared_ptr<NPad> npad_)
+    : ControllerBase{hid_core_}, npad{npad_} {
+    for (std::size_t i = 0; i < controller_data.size(); ++i) {
+        auto& controller = controller_data[i];
+        controller.device = hid_core.GetEmulatedControllerByIndex(i);
+    }
+}
+
+SixAxis::~SixAxis() = default;
+
+void SixAxis::OnInit() {}
+void SixAxis::OnRelease() {}
+
+void SixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
+    std::scoped_lock shared_lock{*shared_mutex};
+    const u64 aruid = applet_resource->GetActiveAruid();
+    auto* data = applet_resource->GetAruidData(aruid);
+
+    if (data == nullptr || !data->flag.is_assigned) {
+        return;
+    }
+
+    if (!IsControllerActivated()) {
+        return;
+    }
+
+    for (std::size_t i = 0; i < controller_data.size(); ++i) {
+        NpadSharedMemoryEntry& shared_memory = data->shared_memory_format->npad.npad_entry[i];
+        auto& controller = controller_data[i];
+        const auto& controller_type = controller.device->GetNpadStyleIndex();
+
+        if (controller_type == Core::HID::NpadStyleIndex::None ||
+            !controller.device->IsConnected()) {
+            continue;
+        }
+
+        const auto& motion_state = controller.device->GetMotions();
+        auto& sixaxis_fullkey_state = controller.sixaxis_fullkey_state;
+        auto& sixaxis_handheld_state = controller.sixaxis_handheld_state;
+        auto& sixaxis_dual_left_state = controller.sixaxis_dual_left_state;
+        auto& sixaxis_dual_right_state = controller.sixaxis_dual_right_state;
+        auto& sixaxis_left_lifo_state = controller.sixaxis_left_lifo_state;
+        auto& sixaxis_right_lifo_state = controller.sixaxis_right_lifo_state;
+
+        auto& sixaxis_fullkey_lifo = shared_memory.internal_state.sixaxis_fullkey_lifo;
+        auto& sixaxis_handheld_lifo = shared_memory.internal_state.sixaxis_handheld_lifo;
+        auto& sixaxis_dual_left_lifo = shared_memory.internal_state.sixaxis_dual_left_lifo;
+        auto& sixaxis_dual_right_lifo = shared_memory.internal_state.sixaxis_dual_right_lifo;
+        auto& sixaxis_left_lifo = shared_memory.internal_state.sixaxis_left_lifo;
+        auto& sixaxis_right_lifo = shared_memory.internal_state.sixaxis_right_lifo;
+
+        // Clear previous state
+        sixaxis_fullkey_state = {};
+        sixaxis_handheld_state = {};
+        sixaxis_dual_left_state = {};
+        sixaxis_dual_right_state = {};
+        sixaxis_left_lifo_state = {};
+        sixaxis_right_lifo_state = {};
+
+        if (controller.sixaxis_sensor_enabled && Settings::values.motion_enabled.GetValue()) {
+            controller.sixaxis_at_rest = true;
+            for (std::size_t e = 0; e < motion_state.size(); ++e) {
+                controller.sixaxis_at_rest =
+                    controller.sixaxis_at_rest && motion_state[e].is_at_rest;
+            }
+        }
+
+        const auto set_motion_state = [&](Core::HID::SixAxisSensorState& state,
+                                          const Core::HID::ControllerMotion& hid_state) {
+            using namespace std::literals::chrono_literals;
+            static constexpr Core::HID::SixAxisSensorState default_motion_state = {
+                .delta_time = std::chrono::nanoseconds(5ms).count(),
+                .accel = {0, 0, -1.0f},
+                .orientation =
+                    {
+                        Common::Vec3f{1.0f, 0, 0},
+                        Common::Vec3f{0, 1.0f, 0},
+                        Common::Vec3f{0, 0, 1.0f},
+                    },
+                .attribute = {1},
+            };
+            if (!controller.sixaxis_sensor_enabled) {
+                state = default_motion_state;
+                return;
+            }
+            if (!Settings::values.motion_enabled.GetValue()) {
+                state = default_motion_state;
+                return;
+            }
+            state.attribute.is_connected.Assign(1);
+            state.delta_time = std::chrono::nanoseconds(5ms).count();
+            state.accel = hid_state.accel;
+            state.gyro = hid_state.gyro;
+            state.rotation = hid_state.rotation;
+            state.orientation = hid_state.orientation;
+        };
+
+        switch (controller_type) {
+        case Core::HID::NpadStyleIndex::None:
+            ASSERT(false);
+            break;
+        case Core::HID::NpadStyleIndex::ProController:
+            set_motion_state(sixaxis_fullkey_state, motion_state[0]);
+            break;
+        case Core::HID::NpadStyleIndex::Handheld:
+            set_motion_state(sixaxis_handheld_state, motion_state[0]);
+            break;
+        case Core::HID::NpadStyleIndex::JoyconDual:
+            set_motion_state(sixaxis_dual_left_state, motion_state[0]);
+            set_motion_state(sixaxis_dual_right_state, motion_state[1]);
+            break;
+        case Core::HID::NpadStyleIndex::JoyconLeft:
+            set_motion_state(sixaxis_left_lifo_state, motion_state[0]);
+            break;
+        case Core::HID::NpadStyleIndex::JoyconRight:
+            set_motion_state(sixaxis_right_lifo_state, motion_state[1]);
+            break;
+        case Core::HID::NpadStyleIndex::Pokeball:
+            using namespace std::literals::chrono_literals;
+            set_motion_state(sixaxis_fullkey_state, motion_state[0]);
+            sixaxis_fullkey_state.delta_time = std::chrono::nanoseconds(15ms).count();
+            break;
+        default:
+            break;
+        }
+
+        sixaxis_fullkey_state.sampling_number =
+            sixaxis_fullkey_lifo.lifo.ReadCurrentEntry().state.sampling_number + 1;
+        sixaxis_handheld_state.sampling_number =
+            sixaxis_handheld_lifo.lifo.ReadCurrentEntry().state.sampling_number + 1;
+        sixaxis_dual_left_state.sampling_number =
+            sixaxis_dual_left_lifo.lifo.ReadCurrentEntry().state.sampling_number + 1;
+        sixaxis_dual_right_state.sampling_number =
+            sixaxis_dual_right_lifo.lifo.ReadCurrentEntry().state.sampling_number + 1;
+        sixaxis_left_lifo_state.sampling_number =
+            sixaxis_left_lifo.lifo.ReadCurrentEntry().state.sampling_number + 1;
+        sixaxis_right_lifo_state.sampling_number =
+            sixaxis_right_lifo.lifo.ReadCurrentEntry().state.sampling_number + 1;
+
+        if (IndexToNpadIdType(i) == Core::HID::NpadIdType::Handheld) {
+            // This buffer only is updated on handheld on HW
+            sixaxis_handheld_lifo.lifo.WriteNextEntry(sixaxis_handheld_state);
+        } else {
+            // Handheld doesn't update this buffer on HW
+            sixaxis_fullkey_lifo.lifo.WriteNextEntry(sixaxis_fullkey_state);
+        }
+
+        sixaxis_dual_left_lifo.lifo.WriteNextEntry(sixaxis_dual_left_state);
+        sixaxis_dual_right_lifo.lifo.WriteNextEntry(sixaxis_dual_right_state);
+        sixaxis_left_lifo.lifo.WriteNextEntry(sixaxis_left_lifo_state);
+        sixaxis_right_lifo.lifo.WriteNextEntry(sixaxis_right_lifo_state);
+    }
+}
+
+Result SixAxis::SetGyroscopeZeroDriftMode(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                          Core::HID::GyroscopeZeroDriftMode drift_mode) {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    auto& controller = GetControllerFromHandle(sixaxis_handle);
+    sixaxis.gyroscope_zero_drift_mode = drift_mode;
+    controller.device->SetGyroscopeZeroDriftMode(drift_mode);
+
+    return ResultSuccess;
+}
+
+Result SixAxis::GetGyroscopeZeroDriftMode(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                          Core::HID::GyroscopeZeroDriftMode& drift_mode) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    const auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    drift_mode = sixaxis.gyroscope_zero_drift_mode;
+
+    return ResultSuccess;
+}
+
+Result SixAxis::IsSixAxisSensorAtRest(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                      bool& is_at_rest) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    const auto& controller = GetControllerFromHandle(sixaxis_handle);
+    is_at_rest = controller.sixaxis_at_rest;
+    return ResultSuccess;
+}
+
+Result SixAxis::LoadSixAxisSensorCalibrationParameter(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+    Core::HID::SixAxisSensorCalibrationParameter& calibration) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    // TODO: Request this data to the controller. On error return 0xd8ca
+    const auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    calibration = sixaxis.calibration;
+    return ResultSuccess;
+}
+
+Result SixAxis::GetSixAxisSensorIcInformation(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+    Core::HID::SixAxisSensorIcInformation& ic_information) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    // TODO: Request this data to the controller. On error return 0xd8ca
+    const auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    ic_information = sixaxis.ic_information;
+    return ResultSuccess;
+}
+
+Result SixAxis::EnableSixAxisSensorUnalteredPassthrough(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle, bool is_enabled) {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    sixaxis.unaltered_passtrough = is_enabled;
+    return ResultSuccess;
+}
+
+Result SixAxis::IsSixAxisSensorUnalteredPassthroughEnabled(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle, bool& is_enabled) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    const auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    is_enabled = sixaxis.unaltered_passtrough;
+    return ResultSuccess;
+}
+
+Result SixAxis::SetSixAxisEnabled(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                  bool sixaxis_status) {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    auto& controller = GetControllerFromHandle(sixaxis_handle);
+    controller.sixaxis_sensor_enabled = sixaxis_status;
+    return ResultSuccess;
+}
+
+Result SixAxis::IsSixAxisSensorFusionEnabled(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                             bool& is_fusion_enabled) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    const auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    is_fusion_enabled = sixaxis.is_fusion_enabled;
+
+    return ResultSuccess;
+}
+Result SixAxis::SetSixAxisFusionEnabled(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                        bool is_fusion_enabled) {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    sixaxis.is_fusion_enabled = is_fusion_enabled;
+
+    return ResultSuccess;
+}
+
+Result SixAxis::SetSixAxisFusionParameters(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+    Core::HID::SixAxisSensorFusionParameters sixaxis_fusion_parameters) {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    const auto param1 = sixaxis_fusion_parameters.parameter1;
+    if (param1 < 0.0f || param1 > 1.0f) {
+        return InvalidSixAxisFusionRange;
+    }
+
+    auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    sixaxis.fusion = sixaxis_fusion_parameters;
+
+    return ResultSuccess;
+}
+
+Result SixAxis::GetSixAxisFusionParameters(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+    Core::HID::SixAxisSensorFusionParameters& parameters) const {
+    const auto is_valid = IsSixaxisHandleValid(sixaxis_handle);
+    if (is_valid.IsError()) {
+        LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
+        return is_valid;
+    }
+
+    const auto& sixaxis = GetSixaxisState(sixaxis_handle);
+    parameters = sixaxis.fusion;
+
+    return ResultSuccess;
+}
+
+SixAxis::SixaxisParameters& SixAxis::GetSixaxisState(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle) {
+    auto& controller = GetControllerFromHandle(sixaxis_handle);
+    switch (sixaxis_handle.npad_type) {
+    case Core::HID::NpadStyleIndex::ProController:
+    case Core::HID::NpadStyleIndex::Pokeball:
+        return controller.sixaxis_fullkey;
+    case Core::HID::NpadStyleIndex::Handheld:
+        return controller.sixaxis_handheld;
+    case Core::HID::NpadStyleIndex::JoyconDual:
+        if (sixaxis_handle.device_index == Core::HID::DeviceIndex::Left) {
+            return controller.sixaxis_dual_left;
+        }
+        return controller.sixaxis_dual_right;
+    case Core::HID::NpadStyleIndex::JoyconLeft:
+        return controller.sixaxis_left;
+    case Core::HID::NpadStyleIndex::JoyconRight:
+        return controller.sixaxis_right;
+    default:
+        return controller.sixaxis_unknown;
+    }
+}
+
+const SixAxis::SixaxisParameters& SixAxis::GetSixaxisState(
+    const Core::HID::SixAxisSensorHandle& sixaxis_handle) const {
+    const auto& controller = GetControllerFromHandle(sixaxis_handle);
+    switch (sixaxis_handle.npad_type) {
+    case Core::HID::NpadStyleIndex::ProController:
+    case Core::HID::NpadStyleIndex::Pokeball:
+        return controller.sixaxis_fullkey;
+    case Core::HID::NpadStyleIndex::Handheld:
+        return controller.sixaxis_handheld;
+    case Core::HID::NpadStyleIndex::JoyconDual:
+        if (sixaxis_handle.device_index == Core::HID::DeviceIndex::Left) {
+            return controller.sixaxis_dual_left;
+        }
+        return controller.sixaxis_dual_right;
+    case Core::HID::NpadStyleIndex::JoyconLeft:
+        return controller.sixaxis_left;
+    case Core::HID::NpadStyleIndex::JoyconRight:
+        return controller.sixaxis_right;
+    default:
+        return controller.sixaxis_unknown;
+    }
+}
+
+SixAxis::NpadControllerData& SixAxis::GetControllerFromHandle(
+    const Core::HID::SixAxisSensorHandle& device_handle) {
+    const auto npad_id = static_cast<Core::HID::NpadIdType>(device_handle.npad_id);
+    return GetControllerFromNpadIdType(npad_id);
+}
+
+const SixAxis::NpadControllerData& SixAxis::GetControllerFromHandle(
+    const Core::HID::SixAxisSensorHandle& device_handle) const {
+    const auto npad_id = static_cast<Core::HID::NpadIdType>(device_handle.npad_id);
+    return GetControllerFromNpadIdType(npad_id);
+}
+
+SixAxis::NpadControllerData& SixAxis::GetControllerFromNpadIdType(Core::HID::NpadIdType npad_id) {
+    if (!IsNpadIdValid(npad_id)) {
+        LOG_ERROR(Service_HID, "Invalid NpadIdType npad_id:{}", npad_id);
+        npad_id = Core::HID::NpadIdType::Player1;
+    }
+    const auto npad_index = NpadIdTypeToIndex(npad_id);
+    return controller_data[npad_index];
+}
+
+const SixAxis::NpadControllerData& SixAxis::GetControllerFromNpadIdType(
+    Core::HID::NpadIdType npad_id) const {
+    if (!IsNpadIdValid(npad_id)) {
+        LOG_ERROR(Service_HID, "Invalid NpadIdType npad_id:{}", npad_id);
+        npad_id = Core::HID::NpadIdType::Player1;
+    }
+    const auto npad_index = NpadIdTypeToIndex(npad_id);
+    return controller_data[npad_index];
+}
+
+} // namespace Service::HID
diff --git a/src/hid_core/resources/six_axis/six_axis.h b/src/hid_core/resources/six_axis/six_axis.h
new file mode 100644
index 000000000..1054e1b27
--- /dev/null
+++ b/src/hid_core/resources/six_axis/six_axis.h
@@ -0,0 +1,111 @@
+// SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#pragma once
+
+#include "common/common_types.h"
+#include "hid_core/hid_types.h"
+#include "hid_core/resources/controller_base.h"
+#include "hid_core/resources/ring_lifo.h"
+
+namespace Core::HID {
+class EmulatedController;
+} // namespace Core::HID
+
+namespace Service::HID {
+class NPad;
+
+class SixAxis final : public ControllerBase {
+public:
+    explicit SixAxis(Core::HID::HIDCore& hid_core_, std::shared_ptr<NPad> npad_);
+    ~SixAxis() override;
+
+    // Called when the controller is initialized
+    void OnInit() override;
+
+    // When the controller is released
+    void OnRelease() override;
+
+    // When the controller is requesting an update for the shared memory
+    void OnUpdate(const Core::Timing::CoreTiming& core_timing) override;
+
+    Result SetGyroscopeZeroDriftMode(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                     Core::HID::GyroscopeZeroDriftMode drift_mode);
+    Result GetGyroscopeZeroDriftMode(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                     Core::HID::GyroscopeZeroDriftMode& drift_mode) const;
+    Result IsSixAxisSensorAtRest(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                 bool& is_at_rest) const;
+    Result EnableSixAxisSensorUnalteredPassthrough(
+        const Core::HID::SixAxisSensorHandle& sixaxis_handle, bool is_enabled);
+    Result IsSixAxisSensorUnalteredPassthroughEnabled(
+        const Core::HID::SixAxisSensorHandle& sixaxis_handle, bool& is_enabled) const;
+    Result LoadSixAxisSensorCalibrationParameter(
+        const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+        Core::HID::SixAxisSensorCalibrationParameter& calibration) const;
+    Result GetSixAxisSensorIcInformation(
+        const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+        Core::HID::SixAxisSensorIcInformation& ic_information) const;
+    Result SetSixAxisEnabled(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                             bool sixaxis_status);
+    Result IsSixAxisSensorFusionEnabled(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                        bool& is_fusion_enabled) const;
+    Result SetSixAxisFusionEnabled(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                   bool is_fusion_enabled);
+    Result SetSixAxisFusionParameters(
+        const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+        Core::HID::SixAxisSensorFusionParameters sixaxis_fusion_parameters);
+    Result GetSixAxisFusionParameters(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
+                                      Core::HID::SixAxisSensorFusionParameters& parameters) const;
+
+private:
+    static constexpr std::size_t NPAD_COUNT = 10;
+
+    struct SixaxisParameters {
+        bool is_fusion_enabled{true};
+        bool unaltered_passtrough{false};
+        Core::HID::SixAxisSensorFusionParameters fusion{};
+        Core::HID::SixAxisSensorCalibrationParameter calibration{};
+        Core::HID::SixAxisSensorIcInformation ic_information{};
+        Core::HID::GyroscopeZeroDriftMode gyroscope_zero_drift_mode{
+            Core::HID::GyroscopeZeroDriftMode::Standard};
+    };
+
+    struct NpadControllerData {
+        Core::HID::EmulatedController* device = nullptr;
+
+        // Motion parameters
+        bool sixaxis_at_rest{true};
+        bool sixaxis_sensor_enabled{true};
+        SixaxisParameters sixaxis_fullkey{};
+        SixaxisParameters sixaxis_handheld{};
+        SixaxisParameters sixaxis_dual_left{};
+        SixaxisParameters sixaxis_dual_right{};
+        SixaxisParameters sixaxis_left{};
+        SixaxisParameters sixaxis_right{};
+        SixaxisParameters sixaxis_unknown{};
+
+        // Current pad state
+        Core::HID::SixAxisSensorState sixaxis_fullkey_state{};
+        Core::HID::SixAxisSensorState sixaxis_handheld_state{};
+        Core::HID::SixAxisSensorState sixaxis_dual_left_state{};
+        Core::HID::SixAxisSensorState sixaxis_dual_right_state{};
+        Core::HID::SixAxisSensorState sixaxis_left_lifo_state{};
+        Core::HID::SixAxisSensorState sixaxis_right_lifo_state{};
+        int callback_key{};
+    };
+
+    SixaxisParameters& GetSixaxisState(const Core::HID::SixAxisSensorHandle& device_handle);
+    const SixaxisParameters& GetSixaxisState(
+        const Core::HID::SixAxisSensorHandle& device_handle) const;
+
+    NpadControllerData& GetControllerFromHandle(
+        const Core::HID::SixAxisSensorHandle& device_handle);
+    const NpadControllerData& GetControllerFromHandle(
+        const Core::HID::SixAxisSensorHandle& device_handle) const;
+    NpadControllerData& GetControllerFromNpadIdType(Core::HID::NpadIdType npad_id);
+    const NpadControllerData& GetControllerFromNpadIdType(Core::HID::NpadIdType npad_id) const;
+
+    std::shared_ptr<NPad> npad;
+    std::array<NpadControllerData, NPAD_COUNT> controller_data{};
+};
+} // namespace Service::HID