improve controller output + do not open the same udev
This commit is contained in:
Denis
parent
aeaa0d59e2
commit
f387d21da9
5 changed files with 341 additions and 267 deletions
201
virt_ds5.c
201
virt_ds5.c
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@ -110,7 +110,13 @@ static void destroy(int fd)
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int virt_dualsense_init(virt_dualsense_t *const out_gamepad) {
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int ret = 0;
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out_gamepad->dt_sum = 0;
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out_gamepad->dt_buffer_current = 0;
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memset(out_gamepad->dt_buffer, 0, sizeof(out_gamepad->dt_buffer));
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out_gamepad->debug = false;
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out_gamepad->empty_reports = 0;
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out_gamepad->last_time = 0;
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out_gamepad->seq_num = 0;
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out_gamepad->fd = open(path, O_RDWR | O_CLOEXEC /* | O_NONBLOCK */);
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if (out_gamepad->fd < 0) {
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@ -383,118 +389,101 @@ static ds5_dpad_status_t ds5_dpad_from_gamepad(uint8_t dpad) {
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return DPAD_RELEASED;
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}
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static void compose_hid_report_buffer(int fd, gamepad_status_t *const gamepad_stats, uint8_t buf[64]) {
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gamepad_status_t gs = *gamepad_stats;
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static uint8_t seq_num = 0x00;
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const int64_t time_us = gs.last_gyro_motion_time.tv_sec * 1000000 + gs.last_gyro_motion_time.tv_usec;
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static uint32_t empty_reports = 0;
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static uint64_t last_time = 0;
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const int delta_time = time_us - last_time;
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last_time = time_us;
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// find the average Δt in the last 30 non-zero inputs;
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// this has to run thousands of times a second so i'm trying to do this as fast as possible
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static uint32_t dt_buffer[30] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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static uint32_t dt_sum = 0;
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static uint8_t dt_buffer_current = 0;
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if (delta_time == 0) {
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empty_reports++;
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} else if (delta_time < 1000000 && delta_time > 0 ) { // ignore outliers
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dt_sum -= dt_buffer[dt_buffer_current];
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dt_sum += delta_time;
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dt_buffer[dt_buffer_current] = delta_time;
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if (dt_buffer_current == 29) {
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dt_buffer_current = 0;
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} else {
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dt_buffer_current++;
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}
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}
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static uint64_t sim_time = 0;
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const double correction_factor = DS5_SPEC_DELTA_TIME / ((double)dt_sum / 30.f);
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if (delta_time != 0) {
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sim_time += (int)((double)delta_time * correction_factor);
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}
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const uint32_t timestamp = sim_time + (int)((double)empty_reports * DS5_SPEC_DELTA_TIME);
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const int16_t g_x = gs.raw_gyro[0];
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const int16_t g_y = (int16_t)(-1) * gs.raw_gyro[1]; // Swap Y and Z
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const int16_t g_z = (int16_t)(-1) * gs.raw_gyro[2]; // Swap Y and Z
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const int16_t a_x = gs.raw_accel[0];
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const int16_t a_y = (int16_t)(-1) * gs.raw_accel[1]; // Swap Y and Z
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const int16_t a_z = (int16_t)(-1) * gs.raw_accel[2]; // Swap Y and Z
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buf[0] = DS_INPUT_REPORT_USB; // [00] report ID (0x01)
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buf[1] = ((uint64_t)((int64_t)gs.joystick_positions[0][0] + (int64_t)32768) >> (uint64_t)8); // L stick, X axis
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buf[2] = ((uint64_t)((int64_t)gs.joystick_positions[0][1] + (int64_t)32768) >> (uint64_t)8); // L stick, Y axis
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buf[3] = ((uint64_t)((int64_t)gs.joystick_positions[1][0] + (int64_t)32768) >> (uint64_t)8); // R stick, X axis
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buf[4] = ((uint64_t)((int64_t)gs.joystick_positions[1][1] + (int64_t)32768) >> (uint64_t)8); // R stick, Y axis
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buf[5] = gs.l2_trigger; // Z
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buf[6] = gs.r2_trigger; // RZ
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buf[7] = seq_num++; // seq_number
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buf[8] = (gs.square ? 0x10 : 0x00) |
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(gs.cross ? 0x20 : 0x00) |
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(gs.circle ? 0x40 : 0x00) |
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(gs.triangle ? 0x80 : 0x00) |
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(uint8_t)ds5_dpad_from_gamepad(gs.dpad);
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buf[9] = (gs.l1 ? 0x01 : 0x00) |
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(gs.r1 ? 0x02 : 0x00) |
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(gs.l2_trigger >= 225 ? 0x04 : 0x00) |
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(gs.r2_trigger >= 225 ? 0x08 : 0x00) |
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(gs.option ? 0x10 : 0x00) |
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(gs.share ? 0x20 : 0x00) |
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(gs.l3 ? 0x40 : 0x00) |
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(gs.r3 ? 0x80 : 0x00);
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// mic button press is 0x04, touchpad press is 0x02
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buf[10] = (gs.l5 ? 0x40 : 0x00) |
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(gs.r5 ? 0x80 : 0x00) |
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(gs.l4 ? 0x10 : 0x00) |
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(gs.r4 ? 0x20 : 0x00) |
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(gs.touchpad_press ? 0x02 : 0x00) |
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(gs.center ? 0x01 : 0x00);
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//buf[11] = ;
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//buf[12] = 0x20; // [12] battery level | this is called sensor_temparature in the kernel driver but is never used...
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memcpy(&buf[16], &g_x, sizeof(int16_t));
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memcpy(&buf[18], &g_y, sizeof(int16_t));
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memcpy(&buf[20], &g_z, sizeof(int16_t));
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memcpy(&buf[22], &a_x, sizeof(int16_t));
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memcpy(&buf[24], &a_y, sizeof(int16_t));
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memcpy(&buf[26], &a_z, sizeof(int16_t));
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memcpy(&buf[28], ×tamp, sizeof(timestamp));
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// TODO: when touch is detected send 0x7F, when not 0x80
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buf[33] = 0x80; //touch0 active?
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buf[37] = 0x80; //touch1 active?
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/*
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buf[30] = 0x1b; // no headset attached
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*/
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buf[62] = 0x80; // IDK... it seems constant...
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buf[57] = 0x80; // IDK... it seems constant...
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buf[53] = 0x80; // IDK... it seems constant...
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buf[48] = 0x80; // IDK... it seems constant...
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buf[35] = 0x80; // IDK... it seems constant...
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buf[44] = 0x80; // IDK... it seems constant...
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}
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void virt_dualsense_close(virt_dualsense_t *const out_gamepad) {
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destroy(out_gamepad->fd);
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}
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void virt_dualsense_compose(virt_dualsense_t *const gamepad, gamepad_status_t *const in_device_status, uint8_t *const out_buf) {
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gamepad_status_qam_quirk(in_device_status);
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const int64_t time_us = in_device_status->last_gyro_motion_time.tv_sec * 1000000 + in_device_status->last_gyro_motion_time.tv_usec;
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compose_hid_report_buffer(gamepad->fd, in_device_status, out_buf);
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const int delta_time = time_us - gamepad->last_time;
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gamepad->last_time = time_us;
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// find the average Δt in the last 30 non-zero inputs;
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// this has to run thousands of times a second so i'm trying to do this as fast as possible
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if (delta_time == 0) {
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gamepad->empty_reports++;
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} else if (delta_time < 1000000 && delta_time > 0 ) { // ignore outliers
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gamepad->dt_sum -= gamepad->dt_buffer[gamepad->dt_buffer_current];
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gamepad->dt_sum += delta_time;
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gamepad->dt_buffer[gamepad->dt_buffer_current] = delta_time;
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if (gamepad->dt_buffer_current == 29) {
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gamepad->dt_buffer_current = 0;
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} else {
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gamepad->dt_buffer_current++;
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}
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}
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static uint64_t sim_time = 0;
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const double correction_factor = DS5_SPEC_DELTA_TIME / ((double)gamepad->dt_sum / 30.f);
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if (delta_time != 0) {
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sim_time += (int)((double)delta_time * correction_factor);
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}
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const uint32_t timestamp = sim_time + (int)((double)gamepad->empty_reports * DS5_SPEC_DELTA_TIME);
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const int16_t g_x = in_device_status->raw_gyro[0];
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const int16_t g_y = (int16_t)(-1) * in_device_status->raw_gyro[1]; // Swap Y and Z
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const int16_t g_z = (int16_t)(-1) * in_device_status->raw_gyro[2]; // Swap Y and Z
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const int16_t a_x = in_device_status->raw_accel[0];
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const int16_t a_y = (int16_t)(-1) * in_device_status->raw_accel[1]; // Swap Y and Z
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const int16_t a_z = (int16_t)(-1) * in_device_status->raw_accel[2]; // Swap Y and Z
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out_buf[0] = DS_INPUT_REPORT_USB; // [00] report ID (0x01)
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out_buf[1] = ((uint64_t)((int64_t)in_device_status->joystick_positions[0][0] + (int64_t)32768) >> (uint64_t)8); // L stick, X axis
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out_buf[2] = ((uint64_t)((int64_t)in_device_status->joystick_positions[0][1] + (int64_t)32768) >> (uint64_t)8); // L stick, Y axis
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out_buf[3] = ((uint64_t)((int64_t)in_device_status->joystick_positions[1][0] + (int64_t)32768) >> (uint64_t)8); // R stick, X axis
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out_buf[4] = ((uint64_t)((int64_t)in_device_status->joystick_positions[1][1] + (int64_t)32768) >> (uint64_t)8); // R stick, Y axis
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out_buf[5] = in_device_status->l2_trigger; // Z
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out_buf[6] = in_device_status->r2_trigger; // RZ
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out_buf[7] = gamepad->seq_num++; // seq_number
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out_buf[8] = (in_device_status->square ? 0x10 : 0x00) |
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(in_device_status->cross ? 0x20 : 0x00) |
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(in_device_status->circle ? 0x40 : 0x00) |
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(in_device_status->triangle ? 0x80 : 0x00) |
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(uint8_t)ds5_dpad_from_gamepad(in_device_status->dpad);
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out_buf[9] = (in_device_status->l1 ? 0x01 : 0x00) |
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(in_device_status->r1 ? 0x02 : 0x00) |
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(in_device_status->l2_trigger >= 225 ? 0x04 : 0x00) |
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(in_device_status->r2_trigger >= 225 ? 0x08 : 0x00) |
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(in_device_status->option ? 0x10 : 0x00) |
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(in_device_status->share ? 0x20 : 0x00) |
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(in_device_status->l3 ? 0x40 : 0x00) |
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(in_device_status->r3 ? 0x80 : 0x00);
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// mic button press is 0x04, touchpad press is 0x02
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out_buf[10] = (in_device_status->l5 ? 0x40 : 0x00) |
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(in_device_status->r5 ? 0x80 : 0x00) |
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(in_device_status->l4 ? 0x10 : 0x00) |
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(in_device_status->r4 ? 0x20 : 0x00) |
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(in_device_status->touchpad_press ? 0x02 : 0x00) |
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(in_device_status->center ? 0x01 : 0x00);
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//buf[11] = ;
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//buf[12] = 0x20; // [12] battery level | this is called sensor_temparature in the kernel driver but is never used...
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memcpy(&out_buf[16], &g_x, sizeof(int16_t));
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memcpy(&out_buf[18], &g_y, sizeof(int16_t));
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memcpy(&out_buf[20], &g_z, sizeof(int16_t));
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memcpy(&out_buf[22], &a_x, sizeof(int16_t));
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memcpy(&out_buf[24], &a_y, sizeof(int16_t));
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memcpy(&out_buf[26], &a_z, sizeof(int16_t));
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memcpy(&out_buf[28], ×tamp, sizeof(timestamp));
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// TODO: when touch is detected send 0x7F, when not 0x80
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out_buf[33] = 0x80; //touch0 active?
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out_buf[37] = 0x80; //touch1 active?
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/*
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buf[30] = 0x1b; // no headset attached
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*/
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out_buf[62] = 0x80; // IDK... it seems constant...
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out_buf[57] = 0x80; // IDK... it seems constant...
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out_buf[53] = 0x80; // IDK... it seems constant...
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out_buf[48] = 0x80; // IDK... it seems constant...
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out_buf[35] = 0x80; // IDK... it seems constant...
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out_buf[44] = 0x80; // IDK... it seems constant...
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}
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int virt_dualsense_send(virt_dualsense_t *const gamepad, uint8_t *const out_buf) {
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