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Input: Fix Dualsense gyro axis #12829

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merged 2 commits into from Oct 17, 2022
Merged

Input: Fix Dualsense gyro axis #12829

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d9aa948
Input: Fix Dualsense gyro axis and adjust DS4 resolution
Megamouse Oct 17, 2022
f462c11
evdev: change default axis for gyro
Megamouse Oct 17, 2022
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16 changes: 8 additions & 8 deletions rpcs3/Input/ds4_pad_handler.cpp
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Expand Up @@ -13,7 +13,7 @@ constexpr id_pair ZEROPLUS_ID_0 = {0x0C12, 0x0E20};
namespace
{
constexpr u32 DS4_ACC_RES_PER_G = 8192;
constexpr u32 DS4_GYRO_RES_PER_DEG_S = 16; // technically this could be 1024, but keeping it at 16 keeps us within 16 bits of precision
constexpr u32 DS4_GYRO_RES_PER_DEG_S = 86; // technically this could be 1024, but keeping it at 86 keeps us within 16 bits of precision
constexpr u32 DS4_FEATURE_REPORT_0x02_SIZE = 37;
constexpr u32 DS4_FEATURE_REPORT_0x05_SIZE = 41;
constexpr u32 DS4_FEATURE_REPORT_0x12_SIZE = 16;
Expand Down Expand Up @@ -862,15 +862,15 @@ void ds4_pad_handler::get_extended_info(const pad_ensemble& binding)
pad->m_sensors[1].m_value = Clamp0To1023(accelY);
pad->m_sensors[2].m_value = Clamp0To1023(accelZ);

// gyroX is yaw, which is all that we need
f32 gyroX = static_cast<s16>((buf[16] << 8) | buf[15]) / static_cast<f32>(DS4_GYRO_RES_PER_DEG_S) * -1;
//const int gyroY = ((u16)(buf[14] << 8) | buf[13]) / 256;
//const int gyroZ = ((u16)(buf[18] << 8) | buf[17]) / 256;
// gyroY is yaw, which is all that we need
//f32 gyroX = static_cast<s16>((u16)(buf[14] << 8) | buf[13]) / static_cast<f32>(DS4_GYRO_RES_PER_DEG_S) * -1;
f32 gyroY = static_cast<s16>((buf[16] << 8) | buf[15]) / static_cast<f32>(DS4_GYRO_RES_PER_DEG_S) * -1;
//f32 gyroZ = static_cast<s16>((u16)(buf[18] << 8) | buf[17]) / static_cast<f32>(DS4_GYRO_RES_PER_DEG_S) * -1;

// convert to ds3
gyroX = gyroX * (123.f / 90.f) + 512;
// Convert to ds3. The ds3 resolution is 123/90°/sec.
gyroY = gyroY * (123.f / 90.f) + 512;

pad->m_sensors[3].m_value = Clamp0To1023(gyroX);
pad->m_sensors[3].m_value = Clamp0To1023(gyroY);
}

void ds4_pad_handler::apply_pad_data(const pad_ensemble& binding)
Expand Down
16 changes: 8 additions & 8 deletions rpcs3/Input/dualsense_pad_handler.cpp
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Expand Up @@ -22,7 +22,7 @@ void fmt_class_string<DualSenseDevice::DualSenseDataMode>::format(std::string& o
namespace
{
constexpr u32 DUALSENSE_ACC_RES_PER_G = 8192;
constexpr u32 DUALSENSE_GYRO_RES_PER_DEG_S = 1024;
constexpr u32 DUALSENSE_GYRO_RES_PER_DEG_S = 86; // technically this could be 1024, but keeping it at 86 keeps us within 16 bits of precision
constexpr u32 DUALSENSE_CALIBRATION_REPORT_SIZE = 41;
constexpr u32 DUALSENSE_VERSION_REPORT_SIZE = 64;
constexpr u32 DUALSENSE_BLUETOOTH_REPORT_SIZE = 78;
Expand Down Expand Up @@ -642,10 +642,10 @@ void dualsense_pad_handler::get_extended_info(const pad_ensemble& binding)

// these values come already calibrated, all we need to do is convert to ds3 range

// gyroX is yaw, which is all that we need
f32 gyroX = static_cast<s16>((buf[16] << 8) | buf[15]) / static_cast<f32>(DUALSENSE_GYRO_RES_PER_DEG_S) * -1;
//const int gyroY = ((u16)(buf[18] << 8) | buf[17]) / 256;
//const int gyroZ = ((u16)(buf[20] << 8) | buf[19]) / 256;
// gyroY is yaw, which is all that we need
//f32 gyroX = static_cast<s16>((buf[16] << 8) | buf[15]) / static_cast<f32>(DUALSENSE_GYRO_RES_PER_DEG_S) * -1.f;
f32 gyroY = static_cast<s16>((buf[18] << 8) | buf[17]) / static_cast<f32>(DUALSENSE_GYRO_RES_PER_DEG_S) * -1.f;
//f32 gyroZ = static_cast<s16>((buf[20] << 8) | buf[19]) / static_cast<f32>(DUALSENSE_GYRO_RES_PER_DEG_S) * -1.f;

// accel
f32 accelX = static_cast<s16>((buf[22] << 8) | buf[21]) / static_cast<f32>(DUALSENSE_ACC_RES_PER_G) * -1;
Expand All @@ -657,13 +657,13 @@ void dualsense_pad_handler::get_extended_info(const pad_ensemble& binding)
accelY = accelY * 113 + 512;
accelZ = accelZ * 113 + 512;

// convert to ds3
gyroX = gyroX * (123.f / 90.f) + 512;
// Convert to ds3. The ds3 resolution is 123/90°/sec.
gyroY = gyroY * (123.f / 90.f) + 512;

pad->m_sensors[0].m_value = Clamp0To1023(accelX);
pad->m_sensors[1].m_value = Clamp0To1023(accelY);
pad->m_sensors[2].m_value = Clamp0To1023(accelZ);
pad->m_sensors[3].m_value = Clamp0To1023(gyroX);
pad->m_sensors[3].m_value = Clamp0To1023(gyroY);
}

std::unordered_map<u64, u16> dualsense_pad_handler::get_button_values(const std::shared_ptr<PadDevice>& device)
Expand Down
2 changes: 1 addition & 1 deletion rpcs3/Input/evdev_joystick_handler.cpp
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Expand Up @@ -82,7 +82,7 @@ void evdev_joystick_handler::init_config(cfg_pad* cfg)
cfg->motion_sensor_x.axis.def = ::at32(motion_axis_list, ABS_X);
cfg->motion_sensor_y.axis.def = ::at32(motion_axis_list, ABS_Y);
cfg->motion_sensor_z.axis.def = ::at32(motion_axis_list, ABS_Z);
cfg->motion_sensor_g.axis.def = ::at32(motion_axis_list, ABS_RX);
cfg->motion_sensor_g.axis.def = ::at32(motion_axis_list, ABS_RY); // DS3 uses the yaw axis for gyros

cfg->pressure_intensity_button.def = ::at32(button_list, NO_BUTTON);

Expand Down