From 2c518747b9cf45c1b94c570c19912e04476e8eed Mon Sep 17 00:00:00 2001
From: Sam Lantinga <[EMAIL REDACTED]>
Date: Tue, 27 Sep 2022 09:56:02 -0700
Subject: [PATCH] Added microsecond timestamp to sensor values for PS4 and PS5
controllers using the HIDAPI driver
---
include/SDL_events.h | 2 +
include/SDL_gamecontroller.h | 17 +++++
include/SDL_sensor.h | 19 +++++-
src/dynapi/SDL2.exports | 2 +
src/dynapi/SDL_dynapi_overrides.h | 2 +
src/dynapi/SDL_dynapi_procs.h | 2 +
src/joystick/SDL_gamecontroller.c | 12 ++++
src/joystick/SDL_joystick.c | 4 +-
src/joystick/SDL_joystick_c.h | 2 +-
src/joystick/SDL_sysjoystick.h | 1 +
src/joystick/hidapi/SDL_hidapi_ps3.c | 2 +-
src/joystick/hidapi/SDL_hidapi_ps4.c | 41 +++++++++---
src/joystick/hidapi/SDL_hidapi_ps5.c | 67 +++++++++++++++-----
src/joystick/hidapi/SDL_hidapi_steam.c | 4 +-
src/joystick/hidapi/SDL_hidapi_switch.c | 2 +-
src/joystick/hidapi/SDL_hidapi_wii.c | 6 +-
src/joystick/iphoneos/SDL_mfijoystick.m | 4 +-
src/sensor/SDL_sensor.c | 30 ++++++---
src/sensor/SDL_sensor_c.h | 2 +-
src/sensor/SDL_syssensor.h | 1 +
src/sensor/android/SDL_androidsensor.c | 2 +-
src/sensor/coremotion/SDL_coremotionsensor.m | 4 +-
src/sensor/vita/SDL_vitasensor.c | 27 +++++---
src/sensor/vita/SDL_vitasensor.h | 3 +-
src/sensor/windows/SDL_windowssensor.c | 4 +-
test/testgamecontroller.c | 5 +-
26 files changed, 204 insertions(+), 63 deletions(-)
diff --git a/include/SDL_events.h b/include/SDL_events.h
index 1836fc06c378..240a8a8bad85 100644
--- a/include/SDL_events.h
+++ b/include/SDL_events.h
@@ -474,6 +474,7 @@ typedef struct SDL_ControllerSensorEvent
SDL_JoystickID which; /**< The joystick instance id */
Sint32 sensor; /**< The type of the sensor, one of the values of ::SDL_SensorType */
float data[3]; /**< Up to 3 values from the sensor, as defined in SDL_sensor.h */
+ Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */
} SDL_ControllerSensorEvent;
/**
@@ -565,6 +566,7 @@ typedef struct SDL_SensorEvent
Uint32 timestamp; /**< In milliseconds, populated using SDL_GetTicks() */
Sint32 which; /**< The instance ID of the sensor */
float data[6]; /**< Up to 6 values from the sensor - additional values can be queried using SDL_SensorGetData() */
+ Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */
} SDL_SensorEvent;
/**
diff --git a/include/SDL_gamecontroller.h b/include/SDL_gamecontroller.h
index ace1c163f1ca..e32d3e8f717a 100644
--- a/include/SDL_gamecontroller.h
+++ b/include/SDL_gamecontroller.h
@@ -895,6 +895,23 @@ extern DECLSPEC float SDLCALL SDL_GameControllerGetSensorDataRate(SDL_GameContro
*/
extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values);
+/**
+ * Get the current state of a game controller sensor with the timestamp of the last update.
+ *
+ * The number of values and interpretation of the data is sensor dependent.
+ * See SDL_sensor.h for the details for each type of sensor.
+ *
+ * \param gamecontroller The controller to query
+ * \param type The type of sensor to query
+ * \param timestamp A pointer filled with the timestamp in microseconds of the current sensor reading if available, or 0 if not
+ * \param data A pointer filled with the current sensor state
+ * \param num_values The number of values to write to data
+ * \return 0 or -1 if an error occurred.
+ *
+ * \since This function is available since SDL 2.26.0.
+ */
+extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values);
+
/**
* Start a rumble effect on a game controller.
*
diff --git a/include/SDL_sensor.h b/include/SDL_sensor.h
index 6b07183eadfd..823cbbb70ec7 100644
--- a/include/SDL_sensor.h
+++ b/include/SDL_sensor.h
@@ -267,7 +267,22 @@ extern DECLSPEC SDL_SensorID SDLCALL SDL_SensorGetInstanceID(SDL_Sensor *sensor)
*
* \since This function is available since SDL 2.0.9.
*/
-extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values);
+extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor *sensor, float *data, int num_values);
+
+/**
+ * Get the current state of an opened sensor with the timestamp of the last update.
+ *
+ * The number of values and interpretation of the data is sensor dependent.
+ *
+ * \param sensor The SDL_Sensor object to query
+ * \param timestamp A pointer filled with the timestamp in microseconds of the current sensor reading if available, or 0 if not
+ * \param data A pointer filled with the current sensor state
+ * \param num_values The number of values to write to data
+ * \returns 0 or -1 if an error occurred.
+ *
+ * \since This function is available since SDL 2.0.9.
+ */
+extern DECLSPEC int SDLCALL SDL_SensorGetDataWithTimestamp(SDL_Sensor *sensor, Uint64 *timestamp, float *data, int num_values);
/**
* Close a sensor previously opened with SDL_SensorOpen().
@@ -276,7 +291,7 @@ extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor * sensor, float *data,
*
* \since This function is available since SDL 2.0.9.
*/
-extern DECLSPEC void SDLCALL SDL_SensorClose(SDL_Sensor * sensor);
+extern DECLSPEC void SDLCALL SDL_SensorClose(SDL_Sensor *sensor);
/**
* Update the current state of the open sensors.
diff --git a/src/dynapi/SDL2.exports b/src/dynapi/SDL2.exports
index d9e3545c3d35..c2e903ecbeb3 100644
--- a/src/dynapi/SDL2.exports
+++ b/src/dynapi/SDL2.exports
@@ -863,3 +863,5 @@
++'_SDL_SetPrimarySelectionText'.'SDL2.dll'.'SDL_SetPrimarySelectionText'
++'_SDL_GetPrimarySelectionText'.'SDL2.dll'.'SDL_GetPrimarySelectionText'
++'_SDL_HasPrimarySelectionText'.'SDL2.dll'.'SDL_HasPrimarySelectionText'
+++'_SDL_GameControllerGetSensorDataWithTimestamp'.'SDL2.dll'.'SDL_GameControllerGetSensorDataWithTimestamp'
+++'_SDL_SensorGetDataWithTimestamp'.'SDL2.dll'.'SDL_SensorGetDataWithTimestamp'
diff --git a/src/dynapi/SDL_dynapi_overrides.h b/src/dynapi/SDL_dynapi_overrides.h
index 2e982b81b123..fc9255cdd767 100644
--- a/src/dynapi/SDL_dynapi_overrides.h
+++ b/src/dynapi/SDL_dynapi_overrides.h
@@ -889,3 +889,5 @@
#define SDL_SetPrimarySelectionText SDL_SetPrimarySelectionText_REAL
#define SDL_GetPrimarySelectionText SDL_GetPrimarySelectionText_REAL
#define SDL_HasPrimarySelectionText SDL_HasPrimarySelectionText_REAL
+#define SDL_GameControllerGetSensorDataWithTimestamp SDL_GameControllerGetSensorDataWithTimestamp_REAL
+#define SDL_SensorGetDataWithTimestamp SDL_SensorGetDataWithTimestamp_REAL
diff --git a/src/dynapi/SDL_dynapi_procs.h b/src/dynapi/SDL_dynapi_procs.h
index b40effffc2f3..f8d858ddc8f9 100644
--- a/src/dynapi/SDL_dynapi_procs.h
+++ b/src/dynapi/SDL_dynapi_procs.h
@@ -972,3 +972,5 @@ SDL_DYNAPI_PROC(void,SDL_GetJoystickGUIDInfo,(SDL_JoystickGUID a, Uint16 *b, Uin
SDL_DYNAPI_PROC(int,SDL_SetPrimarySelectionText,(const char *a),(a),return)
SDL_DYNAPI_PROC(char*,SDL_GetPrimarySelectionText,(void),(),return)
SDL_DYNAPI_PROC(SDL_bool,SDL_HasPrimarySelectionText,(void),(),return)
+SDL_DYNAPI_PROC(int,SDL_GameControllerGetSensorDataWithTimestamp,(SDL_GameController *a, SDL_SensorType b, Uint64 *c, float *d, int e),(a,b,c,d,e),return)
+SDL_DYNAPI_PROC(int,SDL_SensorGetDataWithTimestamp,(SDL_Sensor *a, Uint64 *b, float *c, int d),(a,b,c,d),return)
diff --git a/src/joystick/SDL_gamecontroller.c b/src/joystick/SDL_gamecontroller.c
index 204ae965b965..b764980e9859 100644
--- a/src/joystick/SDL_gamecontroller.c
+++ b/src/joystick/SDL_gamecontroller.c
@@ -2440,6 +2440,15 @@ SDL_GameControllerGetSensorDataRate(SDL_GameController *gamecontroller, SDL_Sens
*/
int
SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values)
+{
+ return SDL_GameControllerGetSensorDataWithTimestamp(gamecontroller, type, NULL, data, num_values);
+}
+
+/*
+ * Get the current state of a game controller sensor.
+ */
+int
+SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values)
{
SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
int i;
@@ -2454,6 +2463,9 @@ SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorTy
if (sensor->type == type) {
num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
SDL_memcpy(data, sensor->data, num_values*sizeof(*data));
+ if (timestamp) {
+ *timestamp = sensor->timestamp_us;
+ }
return 0;
}
}
diff --git a/src/joystick/SDL_joystick.c b/src/joystick/SDL_joystick.c
index dc890266c81a..a42951ce1835 100644
--- a/src/joystick/SDL_joystick.c
+++ b/src/joystick/SDL_joystick.c
@@ -2983,7 +2983,7 @@ int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick, int touchpad, int finger
return posted;
}
-int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const float *data, int num_values)
+int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, Uint64 timestamp_us, const float *data, int num_values)
{
int i;
int posted = 0;
@@ -3004,6 +3004,7 @@ int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const
/* Update internal sensor state */
SDL_memcpy(sensor->data, data, num_values*sizeof(*data));
+ sensor->timestamp_us = timestamp_us;
/* Post the event, if desired */
#if !SDL_EVENTS_DISABLED
@@ -3015,6 +3016,7 @@ int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const
num_values = SDL_min(num_values, SDL_arraysize(event.csensor.data));
SDL_memset(event.csensor.data, 0, sizeof(event.csensor.data));
SDL_memcpy(event.csensor.data, data, num_values*sizeof(*data));
+ event.csensor.timestamp_us = timestamp_us;
posted = SDL_PushEvent(&event) == 1;
}
#endif /* !SDL_EVENTS_DISABLED */
diff --git a/src/joystick/SDL_joystick_c.h b/src/joystick/SDL_joystick_c.h
index 82311a078523..7ed3e63180c2 100644
--- a/src/joystick/SDL_joystick_c.h
+++ b/src/joystick/SDL_joystick_c.h
@@ -160,7 +160,7 @@ extern int SDL_PrivateJoystickButton(SDL_Joystick *joystick,
extern int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick,
int touchpad, int finger, Uint8 state, float x, float y, float pressure);
extern int SDL_PrivateJoystickSensor(SDL_Joystick *joystick,
- SDL_SensorType type, const float *data, int num_values);
+ SDL_SensorType type, Uint64 timestamp_us, const float *data, int num_values);
extern void SDL_PrivateJoystickBatteryLevel(SDL_Joystick *joystick,
SDL_JoystickPowerLevel ePowerLevel);
diff --git a/src/joystick/SDL_sysjoystick.h b/src/joystick/SDL_sysjoystick.h
index 34a17429ff2e..a0400c6ffe6d 100644
--- a/src/joystick/SDL_sysjoystick.h
+++ b/src/joystick/SDL_sysjoystick.h
@@ -64,6 +64,7 @@ typedef struct _SDL_JoystickSensorInfo
SDL_bool enabled;
float rate;
float data[3]; /* If this needs to expand, update SDL_ControllerSensorEvent */
+ Uint64 timestamp_us;
} SDL_JoystickSensorInfo;
struct _SDL_Joystick
diff --git a/src/joystick/hidapi/SDL_hidapi_ps3.c b/src/joystick/hidapi/SDL_hidapi_ps3.c
index a90d4a3bfc50..49913d9dff05 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps3.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps3.c
@@ -487,7 +487,7 @@ HIDAPI_DriverPS3_HandleStatePacket(SDL_Joystick *joystick, SDL_DriverPS3_Context
sensor_data[0] = HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[41], data[42]));
sensor_data[1] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[45], data[46]));
sensor_data[2] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[43], data[44]));
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, sensor_data, SDL_arraysize(sensor_data));
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, sensor_data, SDL_arraysize(sensor_data));
}
SDL_memcpy(ctx->last_state, data, SDL_min(size, sizeof(ctx->last_state)));
diff --git a/src/joystick/hidapi/SDL_hidapi_ps4.c b/src/joystick/hidapi/SDL_hidapi_ps4.c
index 6b4fee3ab298..40884dade0f9 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps4.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps4.c
@@ -84,23 +84,24 @@ typedef struct
Uint8 ucLeftJoystickY;
Uint8 ucRightJoystickX;
Uint8 ucRightJoystickY;
- Uint8 rgucButtonsHatAndCounter[ 3 ];
+ Uint8 rgucButtonsHatAndCounter[3];
Uint8 ucTriggerLeft;
Uint8 ucTriggerRight;
- Uint8 _rgucPad0[ 3 ];
+ Uint8 rgucTimestamp[2];
+ Uint8 _rgucPad0[1];
Uint8 rgucGyroX[2];
Uint8 rgucGyroY[2];
Uint8 rgucGyroZ[2];
Uint8 rgucAccelX[2];
Uint8 rgucAccelY[2];
Uint8 rgucAccelZ[2];
- Uint8 _rgucPad1[ 5 ];
+ Uint8 _rgucPad1[5];
Uint8 ucBatteryLevel;
- Uint8 _rgucPad2[ 4 ];
+ Uint8 _rgucPad2[4];
Uint8 ucTouchpadCounter1;
- Uint8 rgucTouchpadData1[ 3 ];
+ Uint8 rgucTouchpadData1[3];
Uint8 ucTouchpadCounter2;
- Uint8 rgucTouchpadData2[ 3 ];
+ Uint8 rgucTouchpadData2[3];
} PS4StatePacket_t;
typedef struct
@@ -147,6 +148,8 @@ typedef struct {
Uint8 led_red;
Uint8 led_green;
Uint8 led_blue;
+ Uint16 last_timestamp;
+ Uint64 timestamp;
PS4StatePacket_t last_state;
} SDL_DriverPS4_Context;
@@ -807,6 +810,7 @@ HIDAPI_DriverPS4_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
HIDAPI_DriverPS4_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
+ ctx->timestamp = 0;
return 0;
}
@@ -944,17 +948,38 @@ HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, SDL_hid_device *dev,
}
if (ctx->report_sensors) {
+ Uint16 timestamp;
+ Uint64 timestamp_us;
float data[3];
+ timestamp = LOAD16(packet->rgucTimestamp[0], packet->rgucTimestamp[1]);
+ if (ctx->timestamp) {
+ Uint16 delta;
+
+ if (ctx->last_timestamp > timestamp) {
+ delta = (SDL_MAX_UINT16 - ctx->last_timestamp + timestamp + 1);
+ } else {
+ delta = (timestamp - ctx->last_timestamp);
+ }
+ ctx->timestamp += delta;
+ } else {
+ ctx->timestamp = timestamp;
+ }
+ ctx->last_timestamp = timestamp;
+
+ /* Sensor timestamp is in 5.33us units */
+ timestamp_us = (ctx->timestamp * 16) / 3;
+
+
data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
}
SDL_memcpy(&ctx->last_state, packet, sizeof(ctx->last_state));
diff --git a/src/joystick/hidapi/SDL_hidapi_ps5.c b/src/joystick/hidapi/SDL_hidapi_ps5.c
index 3892764a1df0..0e41d2e5aa83 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps5.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps5.c
@@ -94,6 +94,7 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
+ Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
} PS5StatePacketCommon_t;
@@ -114,8 +115,8 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
- Uint8 rgucTimer1[4]; /* 27 - 32 bit little endian */
- Uint8 ucBatteryTemp; /* 31 */
+ Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
+ Uint8 ucSensorTemp; /* 31 */
Uint8 ucTouchpadCounter1; /* 32 - high bit clear + counter */
Uint8 rgucTouchpadData1[3]; /* 33 - X/Y, 12 bits per axis */
Uint8 ucTouchpadCounter2; /* 36 - high bit clear + counter */
@@ -145,7 +146,7 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
- Uint8 rgucUnknown1[4]; /* 27 */
+ Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
Uint8 ucTouchpadCounter1; /* 31 - high bit clear + counter */
Uint8 rgucTouchpadData1[3]; /* 32 - X/Y, 12 bits per axis */
Uint8 ucTouchpadCounter2; /* 35 - high bit clear + counter */
@@ -225,6 +226,8 @@ typedef struct {
Uint8 led_green;
Uint8 led_blue;
EDS5LEDResetState led_reset_state;
+ Uint32 last_timestamp;
+ Uint64 timestamp;
union
{
PS5SimpleStatePacket_t simple;
@@ -706,21 +709,21 @@ HIDAPI_DriverPS5_CheckPendingLEDReset(SDL_HIDAPI_Device *device)
SDL_DriverPS5_Context *ctx = (SDL_DriverPS5_Context *)device->context;
SDL_bool led_reset_complete = SDL_FALSE;
- if (ctx->use_alternate_report) {
- /* We don't know how to check the timer, just assume it's complete for now */
- led_reset_complete = SDL_TRUE;
- } else {
- const PS5StatePacket_t *packet = &ctx->last_state.full_state;
+ if (ctx->sensors_supported) {
+ const PS5StatePacketCommon_t *packet = &ctx->last_state.state;
/* Check the timer to make sure the Bluetooth connection LED animation is complete */
const Uint32 connection_complete = 10200000;
- Uint32 timer = ((Uint32)packet->rgucTimer1[0] << 0) |
- ((Uint32)packet->rgucTimer1[1] << 8) |
- ((Uint32)packet->rgucTimer1[2] << 16) |
- ((Uint32)packet->rgucTimer1[3] << 24);
- if (SDL_TICKS_PASSED(timer, connection_complete)) {
+ Uint32 timestamp = LOAD32(packet->rgucSensorTimestamp[0],
+ packet->rgucSensorTimestamp[1],
+ packet->rgucSensorTimestamp[2],
+ packet->rgucSensorTimestamp[3]);
+ if (SDL_TICKS_PASSED(timestamp, connection_complete)) {
led_reset_complete = SDL_TRUE;
}
+ } else {
+ /* We don't know how to check the timer, just assume it's complete for now */
+ led_reset_complete = SDL_TRUE;
}
if (led_reset_complete) {
@@ -759,8 +762,14 @@ HIDAPI_DriverPS5_SetEnhancedMode(SDL_HIDAPI_Device *device, SDL_Joystick *joysti
ctx->report_touchpad = SDL_TRUE;
}
if (ctx->sensors_supported) {
- SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
- SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
+ if (device->is_bluetooth) {
+ /* Bluetooth sensor update rate appears to be 1000 Hz */
+ SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 1000.0f);
+ SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 1000.0f);
+ } else {
+ SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
+ SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
+ }
}
/* Switch into enhanced report mode */
@@ -989,6 +998,7 @@ HIDAPI_DriverPS5_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
HIDAPI_DriverPS5_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
+ ctx->timestamp = 0;
return 0;
}
@@ -1180,17 +1190,40 @@ HIDAPI_DriverPS5_HandleStatePacketCommon(SDL_Joystick *joystick, SDL_hid_device
SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);
if (ctx->report_sensors) {
+ Uint32 timestamp;
+ Uint64 timestamp_us;
float data[3];
+ timestamp = LOAD32(packet->rgucSensorTimestamp[0],
+ packet->rgucSensorTimestamp[1],
+ packet->rgucSensorTimestamp[2],
+ packet->rgucSensorTimestamp[3]);
+ if (ctx->timestamp) {
+ Uint32 delta;
+
+ if (ctx->last_timestamp > timestamp) {
+ delta = (SDL_MAX_UINT32 - ctx->last_timestamp + timestamp + 1);
+ } else {
+ delta = (timestamp - ctx->last_timestamp);
+ }
+ ctx->timestamp += delta;
+ } else {
+ ctx->timestamp = timestamp;
+ }
+ ctx->last_timestamp = timestamp;
+
+ /* Sensor timestamp is in 0.33us units */
+ timestamp_us = ctx->timestamp / 3;
+
data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
}
}
diff --git a/src/joystick/hidapi/SDL_hidapi_steam.c b/src/joystick/hidapi/SDL_hidapi_steam.c
index 6df6512b3573..9f4bb72ba010 100644
--- a/src/joystick/hidapi/SDL_hidapi_steam.c
+++ b/src/joystick/hidapi/SDL_hidapi_steam.c
@@ -1241,12 +1241,12 @@ HIDAPI_DriverSteam_UpdateDevice(SDL_HIDAPI_Device *device)
values[0] = (ctx->m_state.sGyroX / 32768.0f) * (2000.0f * (M_PI / 180.0f));
values[1] = (ctx->m_state.sGyroZ / 32768.0f) * (2000.0f * (M_PI / 180.0f));
values[2] = (ctx->m_state.sGyroY / 32768.0f) * (2000.0f * (M_PI / 180.0f));
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, values, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, values, 3);
values[0] = (ctx->m_state.sAccelX / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
values[1] = (ctx->m_state.sAccelZ / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
values[2] = (-ctx->m_state.sAccelY / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, values, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, values, 3);
}
ctx->m_last_state = ctx->m_state;
diff --git a/src/joystick/hidapi/SDL_hidapi_switch.c b/src/joystick/hidapi/SDL_hidapi_switch.c
index 8a7c9f0cb7fb..55641d7e2c15 100644
--- a/src/joystick/hidapi/SDL_hidapi_switch.c
+++ b/src/joystick/hidapi/SDL_hidapi_switch.c
@@ -1797,7 +1797,7 @@ static void SendSensorUpdate(SDL_Joystick *joystick, SDL_DriverSwitch_Context *c
data[0] = -tmp;
}
- SDL_PrivateJoystickSensor(joystick, type, data, 3);
+ SDL_PrivateJoystickSensor(joystick, type, 0, data, 3);
}
static void HandleCombinedControllerStateL(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
diff --git a/src/joystick/hidapi/SDL_hidapi_wii.c b/src/joystick/hidapi/SDL_hidapi_wii.c
index fbf8a83c480b..3f40fcc44898 100644
--- a/src/joystick/hidapi/SDL_hidapi_wii.c
+++ b/src/joystick/hidapi/SDL_hidapi_wii.c
@@ -1151,7 +1151,7 @@ static void HandleNunchuckButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL_L, values, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL_L, 0, values, 3);
}
}
@@ -1191,7 +1191,7 @@ static void HandleMotionPlusData(SDL_DriverWii_Context *ctx, SDL_Joystick *joyst
values[0] = -((float)z / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
values[1] = ((float)x / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
values[2] = ((float)y / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, values, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, values, 3);
}
}
@@ -1212,7 +1212,7 @@ static void HandleWiiRemoteAccelData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, values, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, values, 3);
}
static void HandleButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *joystick, WiiButtonData *data)
diff --git a/src/joystick/iphoneos/SDL_mfijoystick.m b/src/joystick/iphoneos/SDL_mfijoystick.m
index dbd1d8c09d04..72f2ffb63804 100644
--- a/src/joystick/iphoneos/SDL_mfijoystick.m
+++ b/src/joystick/iphoneos/SDL_mfijoystick.m
@@ -1064,14 +1064,14 @@ @interface GCMicroGamepad (SDL)
data[0] = rate.x;
data[1] = rate.z;
data[2] = -rate.y;
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, data, 3);
}
if (motion.hasGravityAndUserAcceleration) {
GCAcceleration accel = motion.acceleration;
data[0] = -accel.x * SDL_STANDARD_GRAVITY;
data[1] = -accel.y * SDL_STANDARD_GRAVITY;
data[2] = -accel.z * SDL_STANDARD_GRAVITY;
- SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+ SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, data, 3);
}
}
}
diff --git a/src/sensor/SDL_sensor.c b/src/sensor/SDL_sensor.c
index 161026bd2bd8..ba86528e4bc2 100644
--- a/src/sensor/SDL_sensor.c
+++ b/src/sensor/SDL_sensor.c
@@ -307,7 +307,7 @@ SDL_SensorFromInstanceID(SDL_SensorID instance_id)
* Checks to make sure the sensor is valid.
*/
static int
-SDL_PrivateSensorValid(SDL_Sensor * sensor)
+SDL_PrivateSensorValid(SDL_Sensor *sensor)
{
int valid;
@@ -325,7 +325,7 @@ SDL_PrivateSensorValid(SDL_Sensor * sensor)
* Get the friendly name of this sensor
*/
const char *
-SDL_SensorGetName(SDL_Sensor * sensor)
+SDL_SensorGetName(SDL_Sensor *sensor)
{
if (!SDL_PrivateSensorValid(sensor)) {
return NULL;
@@ -338,7 +338,7 @@ SDL_SensorGetName(SDL_Sensor * sensor)
* Get the type of this sensor
*/
SDL_SensorType
-SDL_SensorGetType(SDL_Sensor * sensor)
+SDL_SensorGetType(SDL_Sensor *sensor)
{
if (!SDL_PrivateSensorValid(sensor)) {
return SDL_SENSOR_INVALID;
@@ -351,7 +351,7 @@ SDL_SensorGetType(SDL_Sensor * sensor)
* Get the platform dependent type of this sensor
*/
int
-SDL_SensorGetNonPortableType(SDL_Sensor * sensor)
+SDL_SensorGetNonPortableType(SDL_Sensor *sensor)
{
if (!SDL_PrivateSensorValid(sensor)) {
return -1;
@@ -364,7 +364,7 @@ SDL_SensorGetNonPortableType(SDL_Sensor * sensor)
* Get the instance id for this opened sensor
*/
SDL_SensorID
-SDL_SensorGetInstanceID(SDL_Sensor * sensor)
+SDL_SensorGetInstanceID(SDL_Sensor *sensor)
{
if (!SDL_PrivateSensorValid(sensor)) {
return -1;
@@ -377,7 +377,16 @@ SDL_SensorGetInstanceID(SDL_Sensor * sensor)
* Get the current state of this sensor
*/
int
-SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values)
+SDL_SensorGetData(SDL_Sensor *sensor, float *data, int num_values)
+{
+ return SDL_SensorGetDataWithTimestamp(sensor, NULL, data, num_values);
+}
+
+/*
+ * Get the current state of this sensor
+ */
+int
+SDL_SensorGetDataWithTimestamp(SDL_Sensor *sensor, Uint64 *timestamp, float *data, int num_values)
{
if (!SDL_PrivateSensorValid(sensor)) {
return -1;
@@ -385,6 +394,9 @@ SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values)
num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
SDL_memcpy(data, sensor->data, num_values*sizeof(*data));
+ if (timestamp) {
+ *timestamp = sensor->timestamp_us;
+ }
return 0;
}
@@ -392,7 +404,7 @@ SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values)
* Close a sensor previously opened with SDL_SensorOpen()
*/
void
-SDL_SensorClose(SDL_Sensor * sensor)
+SDL_SensorClose(SDL_Sensor *sensor)
{
SDL_Sensor *sensorlist;
SDL_Sensor *sensorlistprev;
@@ -478,7 +490,7 @@ SDL_SensorQuit(void)
/* These are global for SDL_syssensor.c and SDL_events.c */
int
-SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values)
+SDL_PrivateSensorUpdate(SDL_Sensor *sensor, Uint64 timestamp_us, float *data, int num_values)
{
int posted;
@@ -487,6 +499,7 @@ SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values)
/* Update internal sensor state */
num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
SDL_memcpy(sensor->data, data, num_values*sizeof(*data));
+ sensor->timestamp_us = timestamp_us;
/* Post the event, if desired */
posted = 0;
@@ -498,6 +511,7 @@ SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values)
num_values = SDL_min(num_values, SDL_arraysize(event.sensor.data));
SDL_memset(event.sensor.data, 0, sizeof(event.sensor.data));
SDL_memcpy(event.sensor.data, data, num_values*sizeof(*data));
+ event.sensor.timestamp_us = timestamp_us;
p
(Patch may be truncated, please check the link at the top of this post.)