Joey Yakimowich-Payne
bce94d38ce
Decode Nintendo HD-rumble words once in firmware into conventional low/high magnitudes and normalize stripped control SET_REPORT vs complete interrupt OUT reports through one path.
372 lines
11 KiB
C++
372 lines
11 KiB
C++
#include "bluepad32_input_backend.h"
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#include <limits.h>
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#include <stddef.h>
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#include <btstack_run_loop.h>
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#include <pico/critical_section.h>
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#include <pico/cyw43_arch.h>
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#include <pico/multicore.h>
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#include <pico/stdlib.h>
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#include <pico/util/queue.h>
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#include <uni.h>
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namespace {
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constexpr uint16_t kStickMidpoint = 32768;
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constexpr int32_t kAxisMinimum = -512;
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constexpr int32_t kAxisMaximum = 511;
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constexpr int32_t kTriggerMaximum = 1023;
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constexpr int32_t kTriggerThreshold = (kTriggerMaximum * 35) / 100;
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constexpr uint16_t kRumbleDurationMs = 50;
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constexpr uint32_t kRumblePollIntervalMs = 5;
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constexpr uint kRumbleQueueDepth = 8;
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critical_section_t g_state_lock;
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queue_t g_rumble_queue;
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SwitchInputState g_shared_state;
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bool g_shared_controller_active = false;
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uint32_t g_shared_generation = 0;
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// These generations are only read or written by Core 0.
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uint32_t g_consumed_generation = 0;
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uint32_t g_last_snapshot_generation = 0;
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bool g_initialized = false;
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bool g_started = false;
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// This pointer and the timer are only read or written by Core 1 / BTstack.
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uni_hid_device_t* g_active_device = nullptr;
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btstack_timer_source_t g_rumble_timer{};
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SwitchInputState make_neutral_state() {
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SwitchInputState state{};
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state.lx = kStickMidpoint;
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state.ly = kStickMidpoint;
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state.rx = kStickMidpoint;
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state.ry = kStickMidpoint;
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return state;
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}
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void publish_state(const SwitchInputState& state, bool controller_active) {
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critical_section_enter_blocking(&g_state_lock);
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g_shared_state = state;
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g_shared_controller_active = controller_active;
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++g_shared_generation;
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critical_section_exit(&g_state_lock);
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}
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constexpr int32_t clamp_axis(int32_t value) {
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if (value < kAxisMinimum) {
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return kAxisMinimum;
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}
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if (value > kAxisMaximum) {
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return kAxisMaximum;
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}
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return value;
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}
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constexpr uint16_t scale_stick(int32_t value) {
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value = clamp_axis(value);
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if (value <= 0) {
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return static_cast<uint16_t>(
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(static_cast<int64_t>(value - kAxisMinimum) * kStickMidpoint) / -kAxisMinimum);
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}
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return static_cast<uint16_t>(
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kStickMidpoint + (static_cast<int64_t>(value) * (UINT16_MAX - kStickMidpoint)) / kAxisMaximum);
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}
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constexpr int16_t clamp_int16(int64_t value) {
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if (value < INT16_MIN) {
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return INT16_MIN;
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}
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if (value > INT16_MAX) {
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return INT16_MAX;
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}
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return static_cast<int16_t>(value);
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}
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constexpr int64_t divide_round_nearest(int64_t numerator, int64_t denominator) {
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if (numerator >= 0) {
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return (numerator + denominator / 2) / denominator;
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}
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return -((-numerator + denominator / 2) / denominator);
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}
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constexpr int16_t convert_accel(int64_t q13_value) {
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return clamp_int16(q13_value / 2);
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}
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constexpr int16_t convert_gyro(int64_t q10_value) {
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constexpr int64_t kNumeratorScale = 13371;
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constexpr int64_t kDenominator = 1024 * 936;
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return clamp_int16(divide_round_nearest(q10_value * kNumeratorScale, kDenominator));
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}
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static_assert(scale_stick(-512) == 0);
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static_assert(scale_stick(0) == 32768);
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static_assert(scale_stick(511) == UINT16_MAX);
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static_assert(convert_accel(8192) == 4096);
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static_assert(convert_accel(-8192) == -4096);
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static_assert(convert_gyro(1024) == 14);
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static_assert(convert_gyro(-1024) == -14);
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bool has_motion(const uni_gamepad_t& gamepad) {
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for (size_t i = 0; i < 3; ++i) {
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if (gamepad.accel[i] != 0 || gamepad.gyro[i] != 0) {
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return true;
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}
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}
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return false;
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}
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SwitchInputState map_gamepad(const uni_gamepad_t& gamepad) {
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SwitchInputState state = make_neutral_state();
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state.dpad_up = (gamepad.dpad & DPAD_UP) != 0;
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state.dpad_down = (gamepad.dpad & DPAD_DOWN) != 0;
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state.dpad_left = (gamepad.dpad & DPAD_LEFT) != 0;
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state.dpad_right = (gamepad.dpad & DPAD_RIGHT) != 0;
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// Bluepad32's A/B/X/Y are positional: south/east/west/north.
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state.button_b = (gamepad.buttons & BUTTON_A) != 0;
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state.button_a = (gamepad.buttons & BUTTON_B) != 0;
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state.button_y = (gamepad.buttons & BUTTON_X) != 0;
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state.button_x = (gamepad.buttons & BUTTON_Y) != 0;
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state.button_l = (gamepad.buttons & BUTTON_SHOULDER_L) != 0;
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state.button_r = (gamepad.buttons & BUTTON_SHOULDER_R) != 0;
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state.button_zl = (gamepad.buttons & BUTTON_TRIGGER_L) != 0 || gamepad.brake >= kTriggerThreshold;
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state.button_zr = (gamepad.buttons & BUTTON_TRIGGER_R) != 0 || gamepad.throttle >= kTriggerThreshold;
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state.button_l3 = (gamepad.buttons & BUTTON_THUMB_L) != 0;
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state.button_r3 = (gamepad.buttons & BUTTON_THUMB_R) != 0;
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state.button_minus = (gamepad.misc_buttons & MISC_BUTTON_SELECT) != 0;
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state.button_plus = (gamepad.misc_buttons & MISC_BUTTON_START) != 0;
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state.button_home = (gamepad.misc_buttons & MISC_BUTTON_SYSTEM) != 0;
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state.button_capture = (gamepad.misc_buttons & MISC_BUTTON_CAPTURE) != 0;
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state.lx = scale_stick(gamepad.axis_x);
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state.ly = scale_stick(gamepad.axis_y);
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state.rx = scale_stick(gamepad.axis_rx);
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state.ry = scale_stick(gamepad.axis_ry);
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if (has_motion(gamepad)) {
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// Dependency patches normalize both arrays to SDL3 PlayStation axes.
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SwitchImuSample sample{};
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sample.accel_x = convert_accel(-static_cast<int64_t>(gamepad.accel[2]));
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sample.accel_y = convert_accel(-static_cast<int64_t>(gamepad.accel[0]));
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sample.accel_z = convert_accel(gamepad.accel[1]);
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sample.gyro_x = convert_gyro(-static_cast<int64_t>(gamepad.gyro[2]));
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sample.gyro_y = convert_gyro(-static_cast<int64_t>(gamepad.gyro[0]));
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sample.gyro_z = convert_gyro(gamepad.gyro[1]);
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state.imu_sample_count = 3;
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for (SwitchImuSample& destination : state.imu_samples) {
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destination = sample;
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}
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}
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return state;
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}
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void process_rumble_timer(btstack_timer_source_t* timer) {
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SwitchRumbleOutput packet{};
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SwitchRumbleOutput latest{};
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bool have_packet = false;
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while (queue_try_remove(&g_rumble_queue, &packet)) {
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latest = packet;
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have_packet = true;
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}
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if (have_packet && g_active_device != nullptr &&
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g_active_device->report_parser.play_dual_rumble != nullptr) {
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g_active_device->report_parser.play_dual_rumble(
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g_active_device, 0, kRumbleDurationMs,
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latest.high_frequency_magnitude, latest.low_frequency_magnitude);
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}
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btstack_run_loop_set_timer(timer, kRumblePollIntervalMs);
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btstack_run_loop_add_timer(timer);
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}
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void platform_init(int argc, const char** argv) {
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(void)argc;
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(void)argv;
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}
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void platform_on_init_complete() {
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btstack_run_loop_set_timer_handler(&g_rumble_timer, process_rumble_timer);
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btstack_run_loop_set_timer(&g_rumble_timer, kRumblePollIntervalMs);
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btstack_run_loop_add_timer(&g_rumble_timer);
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uni_bt_allow_incoming_connections(true);
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uni_bt_start_scanning_and_autoconnect_unsafe();
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}
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uni_error_t platform_on_device_discovered(bd_addr_t addr, const char* name, uint16_t cod, uint8_t rssi) {
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(void)addr;
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(void)name;
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(void)cod;
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(void)rssi;
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return g_active_device == nullptr ? UNI_ERROR_SUCCESS : UNI_ERROR_IGNORE_DEVICE;
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}
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void platform_on_device_connected(uni_hid_device_t* device) {
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(void)device;
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}
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void resume_connections() {
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uni_bt_allow_incoming_connections(true);
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uni_bt_start_scanning_and_autoconnect_unsafe();
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}
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void platform_on_device_disconnected(uni_hid_device_t* device) {
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if (device == g_active_device) {
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g_active_device = nullptr;
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publish_state(make_neutral_state(), false);
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resume_connections();
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} else if (g_active_device == nullptr) {
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resume_connections();
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}
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}
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uni_error_t platform_on_device_ready(uni_hid_device_t* device) {
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if (!uni_hid_device_is_gamepad(device)) {
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return UNI_ERROR_INVALID_CONTROLLER;
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}
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if (g_active_device != nullptr && g_active_device != device) {
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return UNI_ERROR_NO_SLOTS;
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}
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g_active_device = device;
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publish_state(make_neutral_state(), true);
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uni_bt_stop_scanning_unsafe();
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uni_bt_allow_incoming_connections(false);
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return UNI_ERROR_SUCCESS;
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}
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void platform_on_controller_data(uni_hid_device_t* device, uni_controller_t* controller) {
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if (device != g_active_device || controller == nullptr || controller->klass != UNI_CONTROLLER_CLASS_GAMEPAD) {
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return;
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}
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publish_state(map_gamepad(controller->gamepad), true);
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}
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const uni_property_t* platform_get_property(uni_property_idx_t index) {
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(void)index;
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return nullptr;
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}
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void platform_on_oob_event(uni_platform_oob_event_t event, void* data) {
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(void)event;
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(void)data;
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}
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uni_platform* get_platform() {
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static uni_platform platform = {
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"Switch Pico",
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platform_init,
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platform_on_init_complete,
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platform_on_device_discovered,
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platform_on_device_connected,
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platform_on_device_disconnected,
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platform_on_device_ready,
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nullptr,
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platform_on_controller_data,
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platform_get_property,
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platform_on_oob_event,
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nullptr,
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nullptr,
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};
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return &platform;
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}
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[[noreturn]] void core1_main() {
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if (cyw43_arch_init() != 0) {
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publish_state(make_neutral_state(), false);
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while (true) {
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tight_loop_contents();
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}
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}
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uni_platform_set_custom(get_platform());
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if (uni_init(0, nullptr) != 0) {
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publish_state(make_neutral_state(), false);
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while (true) {
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tight_loop_contents();
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}
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}
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btstack_run_loop_execute();
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while (true) {
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tight_loop_contents();
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}
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}
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} // namespace
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void bluepad32_input_backend_init() {
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if (g_initialized) {
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return;
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}
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critical_section_init(&g_state_lock);
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queue_init(&g_rumble_queue, sizeof(SwitchRumbleOutput), kRumbleQueueDepth);
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g_shared_state = make_neutral_state();
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g_shared_controller_active = false;
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g_shared_generation = 0;
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g_consumed_generation = 0;
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g_last_snapshot_generation = 0;
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g_initialized = true;
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}
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void bluepad32_input_backend_start() {
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if (!g_initialized) {
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bluepad32_input_backend_init();
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}
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if (g_started) {
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return;
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}
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g_started = true;
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multicore_launch_core1(core1_main);
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}
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bool bluepad32_input_backend_snapshot(SwitchInputState* out) {
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if (out == nullptr) {
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return false;
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}
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if (!g_initialized) {
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*out = make_neutral_state();
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return false;
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}
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critical_section_enter_blocking(&g_state_lock);
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*out = g_shared_state;
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const bool controller_active = g_shared_controller_active;
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const uint32_t generation = g_shared_generation;
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critical_section_exit(&g_state_lock);
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if (generation == g_consumed_generation) {
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out->imu_sample_count = 0;
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}
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g_last_snapshot_generation = generation;
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return controller_active;
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}
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void bluepad32_input_backend_report_sent() {
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if (!g_initialized) {
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return;
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}
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g_consumed_generation = g_last_snapshot_generation;
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}
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void bluepad32_input_backend_queue_rumble(const SwitchRumbleOutput& rumble) {
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if (!g_initialized) {
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return;
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}
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if (!queue_try_add(&g_rumble_queue, &rumble)) {
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SwitchRumbleOutput discarded{};
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(void)queue_try_remove(&g_rumble_queue, &discarded);
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(void)queue_try_add(&g_rumble_queue, &rumble);
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}
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}
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