jyapayne/switch-pico
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Start Wii motion immediately and track residual bias in background

Browse source
This commit is contained in:
Joey Yakimowich-Payne 2026-09-13 00:00:53 -06:00
commit 26a25a66af
14 changed files with 210 additions and 101 deletions
Download patch file Download diff file Expand all files Collapse all files

9
tools/switch2_usb_probe/native_gamepad_input.cpp
View file

@ -181,7 +181,7 @@ void refresh(uint32_t now_ms) {
source.accel_sequence == g_source.accel_sequence && source.gyro_sequence == g_source.gyro_sequence &&
source.accel_received_us == g_source.accel_received_us && source.gyro_received_us == g_source.gyro_received_us &&
source.accel_valid == g_source.accel_valid && source.gyro_valid == g_source.gyro_valid &&
source.requires_stationary_bias == g_source.requires_stationary_bias) return;
source.track_stationary_bias == g_source.track_stationary_bias) return;
if (changed_connection) {
lose_source(now_ms);
g_motion.reset();
@ -216,14 +216,13 @@ void refresh(uint32_t now_ms) {
sample.gyro_dps[1] = -static_cast<float>(source.gyro_q10[2]) / 1024.0f;
sample.gyro_dps[2] = static_cast<float>(source.gyro_q10[1]) / 1024.0f;
g_motion.update(now_us, source.controller.connection_generation, sample,
source.requires_stationary_bias ? ProbeNativeMotionBias::kEstimateStationary :
source.track_stationary_bias ? ProbeNativeMotionBias::kTrackStationary :
ProbeNativeMotionBias::kAlreadyCalibrated);
const int status = !sensors_fresh(g_source, now_us) ? 0 : g_motion.ready() ? 2 : 1;
if (status != g_sensor_status) {
g_sensor_status = status;
probe_debug_printf("[PROBE] Native gamepad IMU %s\n", status == 2 ? "ready" :
status == 1 ? (source.requires_stationary_bias ? "Wii calibrating: keep still" :
"waiting for a usable acceleration sample") : "waiting for supported fresh sensors");
status == 1 ? "waiting for a usable acceleration sample" : "waiting for supported fresh sensors");
}
for (uint8_t i = 0; i < PROBE_CONTROLLER_COUNT; ++i) {
// Latest-only: a blocked endpoint never queues obsolete controls/IMU.
@ -329,7 +328,7 @@ bool probe_native_gamepad_input_commit_native_report(uint8_t instance, uint32_t
source.accel_sequence != g_source.accel_sequence || source.gyro_sequence != g_source.gyro_sequence ||
source.accel_received_us != g_source.accel_received_us || source.gyro_received_us != g_source.gyro_received_us ||
source.accel_valid != g_source.accel_valid || source.gyro_valid != g_source.gyro_valid ||
source.requires_stationary_bias != g_source.requires_stationary_bias ||
source.track_stationary_bias != g_source.track_stationary_bias ||
now_us - source.received_us >= kInputDeadlineUs || now_us - child.pending_us >= kOutputDeadlineUs ||
(child.pending_motion && !sensors_fresh(source, now_us))) return false;
child.pending_token = 0;