From 867eabd6b7effc8ba6c21d7fcbd0480b14f81ad0 Mon Sep 17 00:00:00 2001 From: wwylele Date: Sun, 6 Aug 2017 22:54:19 +0300 Subject: HID: use MotionDevice for Accelerometer and Gyroscope --- src/core/frontend/input.h | 20 ++++++++++++++++++++ src/core/hle/service/hid/hid.cpp | 32 +++++++++++++++++++++++++++----- src/core/settings.h | 1 + 3 files changed, 48 insertions(+), 5 deletions(-) (limited to 'src/core') diff --git a/src/core/frontend/input.h b/src/core/frontend/input.h index 0a5713dc0..a8be49440 100644 --- a/src/core/frontend/input.h +++ b/src/core/frontend/input.h @@ -11,6 +11,7 @@ #include #include "common/logging/log.h" #include "common/param_package.h" +#include "common/vector_math.h" namespace Input { @@ -107,4 +108,23 @@ using ButtonDevice = InputDevice; */ using AnalogDevice = InputDevice>; +/** + * A motion device is an input device that returns a tuple of accelerometer state vector and + * gyroscope state vector. + * + * For accelerometer state vector: + * x+ is the same direction as LEFT on D-pad. + * y+ is normal to the touch screen, pointing outward. + * z+ is the same direction as UP on D-pad. + * Units: measured in unit of gravitational acceleration + * + * For gyroscope state vector: + * x+ is the same direction as LEFT on D-pad. + * y+ is normal to the touch screen, pointing outward. + * z+ is the same direction as UP on D-pad. + * Orientation is determined by right-hand rule. + * Units: deg/sec + */ +using MotionDevice = InputDevice, Math::Vec3>>; + } // namespace Input diff --git a/src/core/hle/service/hid/hid.cpp b/src/core/hle/service/hid/hid.cpp index 2014b8461..a13b72e88 100644 --- a/src/core/hle/service/hid/hid.cpp +++ b/src/core/hle/service/hid/hid.cpp @@ -7,6 +7,7 @@ #include #include #include "common/logging/log.h" +#include "core/core.h" #include "core/core_timing.h" #include "core/frontend/emu_window.h" #include "core/frontend/input.h" @@ -50,10 +51,14 @@ constexpr u64 pad_update_ticks = BASE_CLOCK_RATE_ARM11 / 234; constexpr u64 accelerometer_update_ticks = BASE_CLOCK_RATE_ARM11 / 104; constexpr u64 gyroscope_update_ticks = BASE_CLOCK_RATE_ARM11 / 101; +constexpr float accelerometer_coef = 512.0f; // measured from hw test result +constexpr float gyroscope_coef = 14.375f; // got from hwtest GetGyroscopeLowRawToDpsCoefficient call + static std::atomic is_device_reload_pending; static std::array, Settings::NativeButton::NUM_BUTTONS_HID> buttons; static std::unique_ptr circle_pad; +static std::unique_ptr motion_device; DirectionState GetStickDirectionState(s16 circle_pad_x, s16 circle_pad_y) { // 30 degree and 60 degree are angular thresholds for directions @@ -90,6 +95,7 @@ static void LoadInputDevices() { buttons.begin(), Input::CreateDevice); circle_pad = Input::CreateDevice( Settings::values.analogs[Settings::NativeAnalog::CirclePad]); + motion_device = Input::CreateDevice(Settings::values.motion_device); } static void UnloadInputDevices() { @@ -97,6 +103,7 @@ static void UnloadInputDevices() { button.reset(); } circle_pad.reset(); + motion_device.reset(); } static void UpdatePadCallback(u64 userdata, int cycles_late) { @@ -193,10 +200,19 @@ static void UpdateAccelerometerCallback(u64 userdata, int cycles_late) { mem->accelerometer.index = next_accelerometer_index; next_accelerometer_index = (next_accelerometer_index + 1) % mem->accelerometer.entries.size(); + Math::Vec3 accel; + std::tie(accel, std::ignore) = motion_device->GetStatus(); + accel *= accelerometer_coef; + // TODO(wwylele): do a time stretch as it in UpdateGyroscopeCallback + // The time stretch formula should be like + // stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity + AccelerometerDataEntry& accelerometer_entry = mem->accelerometer.entries[mem->accelerometer.index]; - std::tie(accelerometer_entry.x, accelerometer_entry.y, accelerometer_entry.z) = - VideoCore::g_emu_window->GetAccelerometerState(); + + accelerometer_entry.x = static_cast(accel.x); + accelerometer_entry.y = static_cast(accel.y); + accelerometer_entry.z = static_cast(accel.z); // Make up "raw" entry // TODO(wwylele): @@ -227,8 +243,14 @@ static void UpdateGyroscopeCallback(u64 userdata, int cycles_late) { next_gyroscope_index = (next_gyroscope_index + 1) % mem->gyroscope.entries.size(); GyroscopeDataEntry& gyroscope_entry = mem->gyroscope.entries[mem->gyroscope.index]; - std::tie(gyroscope_entry.x, gyroscope_entry.y, gyroscope_entry.z) = - VideoCore::g_emu_window->GetGyroscopeState(); + + Math::Vec3 gyro; + std::tie(std::ignore, gyro) = motion_device->GetStatus(); + float stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale(); + gyro *= gyroscope_coef * stretch; + gyroscope_entry.x = static_cast(gyro.x); + gyroscope_entry.y = static_cast(gyro.y); + gyroscope_entry.z = static_cast(gyro.z); // Make up "raw" entry mem->gyroscope.raw_entry.x = gyroscope_entry.x; @@ -326,7 +348,7 @@ void GetGyroscopeLowRawToDpsCoefficient(Service::Interface* self) { cmd_buff[1] = RESULT_SUCCESS.raw; - f32 coef = VideoCore::g_emu_window->GetGyroscopeRawToDpsCoefficient(); + f32 coef = gyroscope_coef; memcpy(&cmd_buff[2], &coef, 4); } diff --git a/src/core/settings.h b/src/core/settings.h index ee16bb90a..7e15b119b 100644 --- a/src/core/settings.h +++ b/src/core/settings.h @@ -79,6 +79,7 @@ struct Values { // Controls std::array buttons; std::array analogs; + std::string motion_device; // Core bool use_cpu_jit; -- cgit v1.2.3 From 188194908c2785bd1e03485941b9148777cdddd7 Mon Sep 17 00:00:00 2001 From: wwylele Date: Mon, 7 Aug 2017 00:04:06 +0300 Subject: move MotionEmu from core/frontend to input_common as a InputDevice --- src/core/CMakeLists.txt | 2 - src/core/frontend/emu_window.cpp | 23 ----------- src/core/frontend/emu_window.h | 83 ------------------------------------- src/core/frontend/input.h | 9 ++-- src/core/frontend/motion_emu.cpp | 89 ---------------------------------------- src/core/frontend/motion_emu.h | 52 ----------------------- 6 files changed, 4 insertions(+), 254 deletions(-) delete mode 100644 src/core/frontend/motion_emu.cpp delete mode 100644 src/core/frontend/motion_emu.h (limited to 'src/core') diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 360f407f3..ea36b7d95 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -33,7 +33,6 @@ set(SRCS frontend/camera/interface.cpp frontend/emu_window.cpp frontend/framebuffer_layout.cpp - frontend/motion_emu.cpp gdbstub/gdbstub.cpp hle/config_mem.cpp hle/applets/applet.cpp @@ -226,7 +225,6 @@ set(HEADERS frontend/emu_window.h frontend/framebuffer_layout.h frontend/input.h - frontend/motion_emu.h gdbstub/gdbstub.h hle/config_mem.h hle/function_wrappers.h diff --git a/src/core/frontend/emu_window.cpp b/src/core/frontend/emu_window.cpp index 4f7d54a33..60b20d4e2 100644 --- a/src/core/frontend/emu_window.cpp +++ b/src/core/frontend/emu_window.cpp @@ -62,29 +62,6 @@ void EmuWindow::TouchMoved(unsigned framebuffer_x, unsigned framebuffer_y) { TouchPressed(framebuffer_x, framebuffer_y); } -void EmuWindow::AccelerometerChanged(float x, float y, float z) { - constexpr float coef = 512; - - std::lock_guard lock(accel_mutex); - - // TODO(wwylele): do a time stretch as it in GyroscopeChanged - // The time stretch formula should be like - // stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity - accel_x = static_cast(x * coef); - accel_y = static_cast(y * coef); - accel_z = static_cast(z * coef); -} - -void EmuWindow::GyroscopeChanged(float x, float y, float z) { - constexpr float FULL_FPS = 60; - float coef = GetGyroscopeRawToDpsCoefficient(); - float stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale(); - std::lock_guard lock(gyro_mutex); - gyro_x = static_cast(x * coef * stretch); - gyro_y = static_cast(y * coef * stretch); - gyro_z = static_cast(z * coef * stretch); -} - void EmuWindow::UpdateCurrentFramebufferLayout(unsigned width, unsigned height) { Layout::FramebufferLayout layout; if (Settings::values.custom_layout == true) { diff --git a/src/core/frontend/emu_window.h b/src/core/frontend/emu_window.h index 9414123a4..7bdee251c 100644 --- a/src/core/frontend/emu_window.h +++ b/src/core/frontend/emu_window.h @@ -68,27 +68,6 @@ public: */ void TouchMoved(unsigned framebuffer_x, unsigned framebuffer_y); - /** - * Signal accelerometer state has changed. - * @param x X-axis accelerometer value - * @param y Y-axis accelerometer value - * @param z Z-axis accelerometer value - * @note all values are in unit of g (gravitational acceleration). - * e.g. x = 1.0 means 9.8m/s^2 in x direction. - * @see GetAccelerometerState for axis explanation. - */ - void AccelerometerChanged(float x, float y, float z); - - /** - * Signal gyroscope state has changed. - * @param x X-axis accelerometer value - * @param y Y-axis accelerometer value - * @param z Z-axis accelerometer value - * @note all values are in deg/sec. - * @see GetGyroscopeState for axis explanation. - */ - void GyroscopeChanged(float x, float y, float z); - /** * Gets the current touch screen state (touch X/Y coordinates and whether or not it is pressed). * @note This should be called by the core emu thread to get a state set by the window thread. @@ -100,52 +79,6 @@ public: return std::make_tuple(touch_x, touch_y, touch_pressed); } - /** - * Gets the current accelerometer state (acceleration along each three axis). - * Axis explained: - * +x is the same direction as LEFT on D-pad. - * +y is normal to the touch screen, pointing outward. - * +z is the same direction as UP on D-pad. - * Units: - * 1 unit of return value = 1/512 g (measured by hw test), - * where g is the gravitational acceleration (9.8 m/sec2). - * @note This should be called by the core emu thread to get a state set by the window thread. - * @return std::tuple of (x, y, z) - */ - std::tuple GetAccelerometerState() { - std::lock_guard lock(accel_mutex); - return std::make_tuple(accel_x, accel_y, accel_z); - } - - /** - * Gets the current gyroscope state (angular rates about each three axis). - * Axis explained: - * +x is the same direction as LEFT on D-pad. - * +y is normal to the touch screen, pointing outward. - * +z is the same direction as UP on D-pad. - * Orientation is determined by right-hand rule. - * Units: - * 1 unit of return value = (1/coef) deg/sec, - * where coef is the return value of GetGyroscopeRawToDpsCoefficient(). - * @note This should be called by the core emu thread to get a state set by the window thread. - * @return std::tuple of (x, y, z) - */ - std::tuple GetGyroscopeState() { - std::lock_guard lock(gyro_mutex); - return std::make_tuple(gyro_x, gyro_y, gyro_z); - } - - /** - * Gets the coefficient for units conversion of gyroscope state. - * The conversion formula is r = coefficient * v, - * where v is angular rate in deg/sec, - * and r is the gyroscope state. - * @return float-type coefficient - */ - f32 GetGyroscopeRawToDpsCoefficient() const { - return 14.375f; // taken from hw test, and gyroscope's document - } - /** * Returns currently active configuration. * @note Accesses to the returned object need not be consistent because it may be modified in @@ -187,12 +120,6 @@ protected: touch_x = 0; touch_y = 0; touch_pressed = false; - accel_x = 0; - accel_y = -512; - accel_z = 0; - gyro_x = 0; - gyro_y = 0; - gyro_z = 0; } virtual ~EmuWindow() {} @@ -255,16 +182,6 @@ private: u16 touch_x; ///< Touchpad X-position in native 3DS pixel coordinates (0-320) u16 touch_y; ///< Touchpad Y-position in native 3DS pixel coordinates (0-240) - std::mutex accel_mutex; - s16 accel_x; ///< Accelerometer X-axis value in native 3DS units - s16 accel_y; ///< Accelerometer Y-axis value in native 3DS units - s16 accel_z; ///< Accelerometer Z-axis value in native 3DS units - - std::mutex gyro_mutex; - s16 gyro_x; ///< Gyroscope X-axis value in native 3DS units - s16 gyro_y; ///< Gyroscope Y-axis value in native 3DS units - s16 gyro_z; ///< Gyroscope Z-axis value in native 3DS units - /** * Clip the provided coordinates to be inside the touchscreen area. */ diff --git a/src/core/frontend/input.h b/src/core/frontend/input.h index a8be49440..5916a901d 100644 --- a/src/core/frontend/input.h +++ b/src/core/frontend/input.h @@ -112,16 +112,15 @@ using AnalogDevice = InputDevice>; * A motion device is an input device that returns a tuple of accelerometer state vector and * gyroscope state vector. * - * For accelerometer state vector: + * For both vectors: * x+ is the same direction as LEFT on D-pad. * y+ is normal to the touch screen, pointing outward. * z+ is the same direction as UP on D-pad. - * Units: measured in unit of gravitational acceleration + * + * For accelerometer state vector + * Units: g (gravitational acceleration) * * For gyroscope state vector: - * x+ is the same direction as LEFT on D-pad. - * y+ is normal to the touch screen, pointing outward. - * z+ is the same direction as UP on D-pad. * Orientation is determined by right-hand rule. * Units: deg/sec */ diff --git a/src/core/frontend/motion_emu.cpp b/src/core/frontend/motion_emu.cpp deleted file mode 100644 index 9a5b3185d..000000000 --- a/src/core/frontend/motion_emu.cpp +++ /dev/null @@ -1,89 +0,0 @@ -// Copyright 2016 Citra Emulator Project -// Licensed under GPLv2 or any later version -// Refer to the license.txt file included. - -#include "common/math_util.h" -#include "common/quaternion.h" -#include "core/frontend/emu_window.h" -#include "core/frontend/motion_emu.h" - -namespace Motion { - -static constexpr int update_millisecond = 100; -static constexpr auto update_duration = - std::chrono::duration_cast( - std::chrono::milliseconds(update_millisecond)); - -MotionEmu::MotionEmu(EmuWindow& emu_window) - : motion_emu_thread(&MotionEmu::MotionEmuThread, this, std::ref(emu_window)) {} - -MotionEmu::~MotionEmu() { - if (motion_emu_thread.joinable()) { - shutdown_event.Set(); - motion_emu_thread.join(); - } -} - -void MotionEmu::MotionEmuThread(EmuWindow& emu_window) { - auto update_time = std::chrono::steady_clock::now(); - Math::Quaternion q = MakeQuaternion(Math::Vec3(), 0); - Math::Quaternion old_q; - - while (!shutdown_event.WaitUntil(update_time)) { - update_time += update_duration; - old_q = q; - - { - std::lock_guard guard(tilt_mutex); - - // Find the quaternion describing current 3DS tilting - q = MakeQuaternion(Math::MakeVec(-tilt_direction.y, 0.0f, tilt_direction.x), - tilt_angle); - } - - auto inv_q = q.Inverse(); - - // Set the gravity vector in world space - auto gravity = Math::MakeVec(0.0f, -1.0f, 0.0f); - - // Find the angular rate vector in world space - auto angular_rate = ((q - old_q) * inv_q).xyz * 2; - angular_rate *= 1000 / update_millisecond / MathUtil::PI * 180; - - // Transform the two vectors from world space to 3DS space - gravity = QuaternionRotate(inv_q, gravity); - angular_rate = QuaternionRotate(inv_q, angular_rate); - - // Update the sensor state - emu_window.AccelerometerChanged(gravity.x, gravity.y, gravity.z); - emu_window.GyroscopeChanged(angular_rate.x, angular_rate.y, angular_rate.z); - } -} - -void MotionEmu::BeginTilt(int x, int y) { - mouse_origin = Math::MakeVec(x, y); - is_tilting = true; -} - -void MotionEmu::Tilt(int x, int y) { - constexpr float SENSITIVITY = 0.01f; - auto mouse_move = Math::MakeVec(x, y) - mouse_origin; - if (is_tilting) { - std::lock_guard guard(tilt_mutex); - if (mouse_move.x == 0 && mouse_move.y == 0) { - tilt_angle = 0; - } else { - tilt_direction = mouse_move.Cast(); - tilt_angle = MathUtil::Clamp(tilt_direction.Normalize() * SENSITIVITY, 0.0f, - MathUtil::PI * 0.5f); - } - } -} - -void MotionEmu::EndTilt() { - std::lock_guard guard(tilt_mutex); - tilt_angle = 0; - is_tilting = false; -} - -} // namespace Motion diff --git a/src/core/frontend/motion_emu.h b/src/core/frontend/motion_emu.h deleted file mode 100644 index 99d41a726..000000000 --- a/src/core/frontend/motion_emu.h +++ /dev/null @@ -1,52 +0,0 @@ -// Copyright 2016 Citra Emulator Project -// Licensed under GPLv2 or any later version -// Refer to the license.txt file included. - -#pragma once -#include "common/thread.h" -#include "common/vector_math.h" - -class EmuWindow; - -namespace Motion { - -class MotionEmu final { -public: - MotionEmu(EmuWindow& emu_window); - ~MotionEmu(); - - /** - * Signals that a motion sensor tilt has begun. - * @param x the x-coordinate of the cursor - * @param y the y-coordinate of the cursor - */ - void BeginTilt(int x, int y); - - /** - * Signals that a motion sensor tilt is occurring. - * @param x the x-coordinate of the cursor - * @param y the y-coordinate of the cursor - */ - void Tilt(int x, int y); - - /** - * Signals that a motion sensor tilt has ended. - */ - void EndTilt(); - -private: - Math::Vec2 mouse_origin; - - std::mutex tilt_mutex; - Math::Vec2 tilt_direction; - float tilt_angle = 0; - - bool is_tilting = false; - - Common::Event shutdown_event; - std::thread motion_emu_thread; - - void MotionEmuThread(EmuWindow& emu_window); -}; - -} // namespace Motion -- cgit v1.2.3 From 54c0c8adee90d374e954e742d6d03279ef2e7ed7 Mon Sep 17 00:00:00 2001 From: wwylele Date: Sun, 20 Aug 2017 08:37:48 +0300 Subject: HID: fix a comment and a warning --- src/core/hle/service/hid/hid.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/core') diff --git a/src/core/hle/service/hid/hid.cpp b/src/core/hle/service/hid/hid.cpp index a13b72e88..31f34a7ae 100644 --- a/src/core/hle/service/hid/hid.cpp +++ b/src/core/hle/service/hid/hid.cpp @@ -203,7 +203,7 @@ static void UpdateAccelerometerCallback(u64 userdata, int cycles_late) { Math::Vec3 accel; std::tie(accel, std::ignore) = motion_device->GetStatus(); accel *= accelerometer_coef; - // TODO(wwylele): do a time stretch as it in UpdateGyroscopeCallback + // TODO(wwylele): do a time stretch like the one in UpdateGyroscopeCallback // The time stretch formula should be like // stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity @@ -246,7 +246,7 @@ static void UpdateGyroscopeCallback(u64 userdata, int cycles_late) { Math::Vec3 gyro; std::tie(std::ignore, gyro) = motion_device->GetStatus(); - float stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale(); + double stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale(); gyro *= gyroscope_coef * stretch; gyroscope_entry.x = static_cast(gyro.x); gyroscope_entry.y = static_cast(gyro.y); -- cgit v1.2.3