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Merge pull request #7481 from german77/gyro-bias
service/hid: Improve console motion accuracy
This commit is contained in:
commit
5e24f7ed31
6 changed files with 32 additions and 20 deletions
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@ -161,7 +161,10 @@ void EmulatedConsole::SetMotion(const Common::Input::CallbackStatus& callback) {
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motion.rotation = emulated.GetGyroscope();
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motion.orientation = emulated.GetOrientation();
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motion.quaternion = emulated.GetQuaternion();
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motion.gyro_bias = emulated.GetGyroBias();
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motion.is_at_rest = !emulated.IsMoving(motion_sensitivity);
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// Find what is this value
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motion.verticalization_error = 0.0f;
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TriggerOnChange(ConsoleTriggerType::Motion);
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}
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@ -50,6 +50,8 @@ struct ConsoleMotion {
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Common::Vec3f rotation{};
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std::array<Common::Vec3f, 3> orientation{};
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Common::Quaternion<f32> quaternion{};
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Common::Vec3f gyro_bias{};
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f32 verticalization_error{};
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bool is_at_rest{};
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};
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@ -23,11 +23,11 @@ void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
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}
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void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
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gyro = gyroscope - gyro_drift;
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gyro = gyroscope - gyro_bias;
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// Auto adjust drift to minimize drift
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if (!IsMoving(0.1f)) {
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gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f);
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gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
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}
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if (gyro.Length2() < gyro_threshold) {
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@ -41,8 +41,8 @@ void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
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quat = quaternion;
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}
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void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
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gyro_drift = drift;
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void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
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gyro_bias = bias;
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}
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void MotionInput::SetGyroThreshold(f32 threshold) {
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@ -192,6 +192,10 @@ Common::Vec3f MotionInput::GetGyroscope() const {
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return gyro;
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}
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Common::Vec3f MotionInput::GetGyroBias() const {
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return gyro_bias;
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}
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Common::Quaternion<f32> MotionInput::GetQuaternion() const {
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return quat;
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}
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@ -24,7 +24,7 @@ public:
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void SetAcceleration(const Common::Vec3f& acceleration);
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void SetGyroscope(const Common::Vec3f& gyroscope);
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void SetQuaternion(const Common::Quaternion<f32>& quaternion);
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void SetGyroDrift(const Common::Vec3f& drift);
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void SetGyroBias(const Common::Vec3f& bias);
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void SetGyroThreshold(f32 threshold);
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void EnableReset(bool reset);
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@ -36,6 +36,7 @@ public:
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[[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
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[[nodiscard]] Common::Vec3f GetAcceleration() const;
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[[nodiscard]] Common::Vec3f GetGyroscope() const;
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[[nodiscard]] Common::Vec3f GetGyroBias() const;
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[[nodiscard]] Common::Vec3f GetRotations() const;
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[[nodiscard]] Common::Quaternion<f32> GetQuaternion() const;
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@ -69,7 +70,7 @@ private:
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Common::Vec3f gyro;
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// Vector to be substracted from gyro measurements
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Common::Vec3f gyro_drift;
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Common::Vec3f gyro_bias;
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// Minimum gyro amplitude to detect if the device is moving
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f32 gyro_threshold = 0.0f;
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@ -33,15 +33,14 @@ void Controller_ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_ti
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const auto& last_entry = seven_sixaxis_lifo.ReadCurrentEntry().state;
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next_seven_sixaxis_state.sampling_number = last_entry.sampling_number + 1;
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// Try to read sixaxis sensor states
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const auto motion_status = console->GetMotion();
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last_global_timestamp = core_timing.GetGlobalTimeNs().count();
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console_six_axis.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
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// This value increments every time the switch goes to sleep
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next_seven_sixaxis_state.unknown = 1;
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next_seven_sixaxis_state.timestamp = last_global_timestamp - last_saved_timestamp;
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next_seven_sixaxis_state.accel = motion_status.accel;
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// Zero gyro values as they just mess up with the camera
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// Note: Probably a correct sensivity setting must be set
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next_seven_sixaxis_state.gyro = {};
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next_seven_sixaxis_state.gyro = motion_status.gyro;
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next_seven_sixaxis_state.quaternion = {
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{
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motion_status.quaternion.xyz.y,
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@ -52,9 +51,9 @@ void Controller_ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_ti
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};
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console_six_axis.sampling_number++;
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// TODO(German77): Find the purpose of those values
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console_six_axis.verticalization_error = 0.0f;
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console_six_axis.gyro_bias = {0.0f, 0.0f, 0.0f};
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console_six_axis.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
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console_six_axis.verticalization_error = motion_status.verticalization_error;
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console_six_axis.gyro_bias = motion_status.gyro_bias;
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// Update console six axis shared memory
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std::memcpy(data + SHARED_MEMORY_OFFSET, &console_six_axis, sizeof(console_six_axis));
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@ -69,7 +68,6 @@ void Controller_ConsoleSixAxis::SetTransferMemoryPointer(u8* t_mem) {
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}
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void Controller_ConsoleSixAxis::ResetTimestamp() {
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seven_sixaxis_lifo.buffer_count = 0;
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seven_sixaxis_lifo.buffer_tail = 0;
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last_saved_timestamp = last_global_timestamp;
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}
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} // namespace Service::HID
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@ -39,8 +39,9 @@ public:
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private:
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struct SevenSixAxisState {
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INSERT_PADDING_WORDS(4); // unused
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s64 sampling_number{};
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INSERT_PADDING_WORDS(2); // unused
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u64 timestamp{};
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u64 sampling_number{};
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u64 unknown{};
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Common::Vec3f accel{};
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Common::Vec3f gyro{};
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@ -52,9 +53,10 @@ private:
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struct ConsoleSharedMemory {
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u64 sampling_number{};
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bool is_seven_six_axis_sensor_at_rest{};
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INSERT_PADDING_BYTES(4); // padding
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INSERT_PADDING_BYTES(3); // padding
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f32 verticalization_error{};
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Common::Vec3f gyro_bias{};
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INSERT_PADDING_BYTES(4); // padding
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};
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static_assert(sizeof(ConsoleSharedMemory) == 0x20, "ConsoleSharedMemory is an invalid size");
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@ -64,6 +66,8 @@ private:
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Core::HID::EmulatedConsole* console;
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u8* transfer_memory = nullptr;
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bool is_transfer_memory_set = false;
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u64 last_saved_timestamp{};
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u64 last_global_timestamp{};
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ConsoleSharedMemory console_six_axis{};
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SevenSixAxisState next_seven_sixaxis_state{};
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};
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