input_common: joycon: Remove magic numbers from calibration protocol
This commit is contained in:
Narr the Reg
parent
e54d08fc1f
commit
8647c72778
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@ -13,34 +13,34 @@ CalibrationProtocol::CalibrationProtocol(std::shared_ptr<JoyconHandle> handle)
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DriverResult CalibrationProtocol::GetLeftJoyStickCalibration(JoyStickCalibration& calibration) {
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ScopedSetBlocking sb(this);
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std::vector<u8> buffer;
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DriverResult result{DriverResult::Success};
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JoystickLeftSpiCalibration spi_calibration{};
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bool has_user_calibration = false;
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calibration = {};
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result = ReadSPI(CalAddr::USER_LEFT_MAGIC, sizeof(u16), buffer);
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if (result == DriverResult::Success) {
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const bool has_user_calibration = buffer[0] == 0xB2 && buffer[1] == 0xA1;
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if (has_user_calibration) {
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result = ReadSPI(CalAddr::USER_LEFT_DATA, 9, buffer);
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} else {
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result = ReadSPI(CalAddr::FACT_LEFT_DATA, 9, buffer);
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result = HasUserCalibration(SpiAddress::USER_LEFT_MAGIC, has_user_calibration);
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}
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// Read User defined calibration
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if (result == DriverResult::Success && has_user_calibration) {
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result = ReadSPI(SpiAddress::USER_LEFT_DATA, spi_calibration);
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}
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// Read Factory calibration
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if (result == DriverResult::Success && !has_user_calibration) {
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result = ReadSPI(SpiAddress::FACT_LEFT_DATA, spi_calibration);
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}
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if (result == DriverResult::Success) {
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calibration.x.max = static_cast<u16>(((buffer[1] & 0x0F) << 8) | buffer[0]);
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calibration.y.max = static_cast<u16>((buffer[2] << 4) | (buffer[1] >> 4));
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calibration.x.center = static_cast<u16>(((buffer[4] & 0x0F) << 8) | buffer[3]);
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calibration.y.center = static_cast<u16>((buffer[5] << 4) | (buffer[4] >> 4));
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calibration.x.min = static_cast<u16>(((buffer[7] & 0x0F) << 8) | buffer[6]);
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calibration.y.min = static_cast<u16>((buffer[8] << 4) | (buffer[7] >> 4));
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calibration.x.center = GetXAxisCalibrationValue(spi_calibration.center);
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calibration.y.center = GetYAxisCalibrationValue(spi_calibration.center);
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calibration.x.min = GetXAxisCalibrationValue(spi_calibration.min);
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calibration.y.min = GetYAxisCalibrationValue(spi_calibration.min);
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calibration.x.max = GetXAxisCalibrationValue(spi_calibration.max);
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calibration.y.max = GetYAxisCalibrationValue(spi_calibration.max);
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}
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// Nintendo fix for drifting stick
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// result = ReadSPI(0x60, 0x86 ,buffer, 16);
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// calibration.deadzone = (u16)((buffer[4] << 8) & 0xF00 | buffer[3]);
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// Set a valid default calibration if data is missing
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ValidateCalibration(calibration);
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@ -49,34 +49,34 @@ DriverResult CalibrationProtocol::GetLeftJoyStickCalibration(JoyStickCalibration
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DriverResult CalibrationProtocol::GetRightJoyStickCalibration(JoyStickCalibration& calibration) {
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ScopedSetBlocking sb(this);
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std::vector<u8> buffer;
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DriverResult result{DriverResult::Success};
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JoystickRightSpiCalibration spi_calibration{};
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bool has_user_calibration = false;
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calibration = {};
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result = ReadSPI(CalAddr::USER_RIGHT_MAGIC, sizeof(u16), buffer);
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if (result == DriverResult::Success) {
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const bool has_user_calibration = buffer[0] == 0xB2 && buffer[1] == 0xA1;
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if (has_user_calibration) {
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result = ReadSPI(CalAddr::USER_RIGHT_DATA, 9, buffer);
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} else {
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result = ReadSPI(CalAddr::FACT_RIGHT_DATA, 9, buffer);
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result = HasUserCalibration(SpiAddress::USER_RIGHT_MAGIC, has_user_calibration);
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}
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// Read User defined calibration
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if (result == DriverResult::Success && has_user_calibration) {
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result = ReadSPI(SpiAddress::USER_RIGHT_DATA, spi_calibration);
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}
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// Read Factory calibration
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if (result == DriverResult::Success && !has_user_calibration) {
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result = ReadSPI(SpiAddress::FACT_RIGHT_DATA, spi_calibration);
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}
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if (result == DriverResult::Success) {
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calibration.x.center = static_cast<u16>(((buffer[1] & 0x0F) << 8) | buffer[0]);
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calibration.y.center = static_cast<u16>((buffer[2] << 4) | (buffer[1] >> 4));
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calibration.x.min = static_cast<u16>(((buffer[4] & 0x0F) << 8) | buffer[3]);
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calibration.y.min = static_cast<u16>((buffer[5] << 4) | (buffer[4] >> 4));
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calibration.x.max = static_cast<u16>(((buffer[7] & 0x0F) << 8) | buffer[6]);
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calibration.y.max = static_cast<u16>((buffer[8] << 4) | (buffer[7] >> 4));
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calibration.x.center = GetXAxisCalibrationValue(spi_calibration.center);
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calibration.y.center = GetYAxisCalibrationValue(spi_calibration.center);
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calibration.x.min = GetXAxisCalibrationValue(spi_calibration.min);
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calibration.y.min = GetYAxisCalibrationValue(spi_calibration.min);
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calibration.x.max = GetXAxisCalibrationValue(spi_calibration.max);
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calibration.y.max = GetYAxisCalibrationValue(spi_calibration.max);
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}
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// Nintendo fix for drifting stick
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// buffer = ReadSPI(0x60, 0x98 , 16);
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// joystick.deadzone = (u16)((buffer[4] << 8) & 0xF00 | buffer[3]);
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// Set a valid default calibration if data is missing
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ValidateCalibration(calibration);
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@ -85,39 +85,41 @@ DriverResult CalibrationProtocol::GetRightJoyStickCalibration(JoyStickCalibratio
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DriverResult CalibrationProtocol::GetImuCalibration(MotionCalibration& calibration) {
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ScopedSetBlocking sb(this);
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std::vector<u8> buffer;
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DriverResult result{DriverResult::Success};
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ImuSpiCalibration spi_calibration{};
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bool has_user_calibration = false;
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calibration = {};
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result = ReadSPI(CalAddr::USER_IMU_MAGIC, sizeof(u16), buffer);
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if (result == DriverResult::Success) {
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const bool has_user_calibration = buffer[0] == 0xB2 && buffer[1] == 0xA1;
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if (has_user_calibration) {
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result = ReadSPI(CalAddr::USER_IMU_DATA, sizeof(IMUCalibration), buffer);
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} else {
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result = ReadSPI(CalAddr::FACT_IMU_DATA, sizeof(IMUCalibration), buffer);
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result = HasUserCalibration(SpiAddress::USER_IMU_MAGIC, has_user_calibration);
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}
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// Read User defined calibration
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if (result == DriverResult::Success && has_user_calibration) {
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result = ReadSPI(SpiAddress::USER_IMU_DATA, spi_calibration);
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}
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// Read Factory calibration
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if (result == DriverResult::Success && !has_user_calibration) {
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result = ReadSPI(SpiAddress::FACT_IMU_DATA, spi_calibration);
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}
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if (result == DriverResult::Success) {
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IMUCalibration device_calibration{};
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memcpy(&device_calibration, buffer.data(), sizeof(IMUCalibration));
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calibration.accelerometer[0].offset = device_calibration.accelerometer_offset[0];
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calibration.accelerometer[1].offset = device_calibration.accelerometer_offset[1];
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calibration.accelerometer[2].offset = device_calibration.accelerometer_offset[2];
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calibration.accelerometer[0].offset = spi_calibration.accelerometer_offset[0];
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calibration.accelerometer[1].offset = spi_calibration.accelerometer_offset[1];
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calibration.accelerometer[2].offset = spi_calibration.accelerometer_offset[2];
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calibration.accelerometer[0].scale = device_calibration.accelerometer_scale[0];
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calibration.accelerometer[1].scale = device_calibration.accelerometer_scale[1];
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calibration.accelerometer[2].scale = device_calibration.accelerometer_scale[2];
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calibration.accelerometer[0].scale = spi_calibration.accelerometer_scale[0];
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calibration.accelerometer[1].scale = spi_calibration.accelerometer_scale[1];
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calibration.accelerometer[2].scale = spi_calibration.accelerometer_scale[2];
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calibration.gyro[0].offset = device_calibration.gyroscope_offset[0];
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calibration.gyro[1].offset = device_calibration.gyroscope_offset[1];
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calibration.gyro[2].offset = device_calibration.gyroscope_offset[2];
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calibration.gyro[0].offset = spi_calibration.gyroscope_offset[0];
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calibration.gyro[1].offset = spi_calibration.gyroscope_offset[1];
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calibration.gyro[2].offset = spi_calibration.gyroscope_offset[2];
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calibration.gyro[0].scale = device_calibration.gyroscope_scale[0];
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calibration.gyro[1].scale = device_calibration.gyroscope_scale[1];
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calibration.gyro[2].scale = device_calibration.gyroscope_scale[2];
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calibration.gyro[0].scale = spi_calibration.gyroscope_scale[0];
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calibration.gyro[1].scale = spi_calibration.gyroscope_scale[1];
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calibration.gyro[2].scale = spi_calibration.gyroscope_scale[2];
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}
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ValidateCalibration(calibration);
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@ -127,10 +129,12 @@ DriverResult CalibrationProtocol::GetImuCalibration(MotionCalibration& calibrati
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DriverResult CalibrationProtocol::GetRingCalibration(RingCalibration& calibration,
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s16 current_value) {
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constexpr s16 DefaultRingRange{800};
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// TODO: Get default calibration form ring itself
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if (ring_data_max == 0 && ring_data_min == 0) {
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ring_data_max = current_value + 800;
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ring_data_min = current_value - 800;
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ring_data_max = current_value + DefaultRingRange;
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ring_data_min = current_value - DefaultRingRange;
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ring_data_default = current_value;
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}
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ring_data_max = std::max(ring_data_max, current_value);
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@ -143,42 +147,72 @@ DriverResult CalibrationProtocol::GetRingCalibration(RingCalibration& calibratio
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return DriverResult::Success;
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}
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DriverResult CalibrationProtocol::HasUserCalibration(SpiAddress address,
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bool& has_user_calibration) {
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MagicSpiCalibration spi_magic{};
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const DriverResult result{ReadSPI(address, spi_magic)};
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has_user_calibration = false;
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if (result == DriverResult::Success) {
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has_user_calibration = spi_magic.first == CalibrationMagic::USR_MAGIC_0 &&
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spi_magic.second == CalibrationMagic::USR_MAGIC_1;
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}
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return result;
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}
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u16 CalibrationProtocol::GetXAxisCalibrationValue(std::span<u8> block) const {
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return static_cast<u16>(((block[1] & 0x0F) << 8) | block[0]);
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}
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u16 CalibrationProtocol::GetYAxisCalibrationValue(std::span<u8> block) const {
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return static_cast<u16>((block[2] << 4) | (block[1] >> 4));
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}
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void CalibrationProtocol::ValidateCalibration(JoyStickCalibration& calibration) {
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constexpr u16 DefaultStickCenter{2048};
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constexpr u16 DefaultStickRange{1740};
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constexpr u16 DefaultStickCenter{0x800};
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constexpr u16 DefaultStickRange{0x6cc};
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if (calibration.x.center == 0xFFF || calibration.x.center == 0) {
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calibration.x.center = DefaultStickCenter;
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}
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if (calibration.x.max == 0xFFF || calibration.x.max == 0) {
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calibration.x.max = DefaultStickRange;
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}
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if (calibration.x.min == 0xFFF || calibration.x.min == 0) {
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calibration.x.min = DefaultStickRange;
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}
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calibration.x.center = ValidateValue(calibration.x.center, DefaultStickCenter);
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calibration.x.max = ValidateValue(calibration.x.max, DefaultStickRange);
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calibration.x.min = ValidateValue(calibration.x.min, DefaultStickRange);
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if (calibration.y.center == 0xFFF || calibration.y.center == 0) {
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calibration.y.center = DefaultStickCenter;
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}
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if (calibration.y.max == 0xFFF || calibration.y.max == 0) {
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calibration.y.max = DefaultStickRange;
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}
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if (calibration.y.min == 0xFFF || calibration.y.min == 0) {
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calibration.y.min = DefaultStickRange;
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}
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calibration.y.center = ValidateValue(calibration.y.center, DefaultStickCenter);
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calibration.y.max = ValidateValue(calibration.y.max, DefaultStickRange);
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calibration.y.min = ValidateValue(calibration.y.min, DefaultStickRange);
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}
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void CalibrationProtocol::ValidateCalibration(MotionCalibration& calibration) {
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constexpr s16 DefaultAccelerometerScale{0x4000};
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constexpr s16 DefaultGyroScale{0x3be7};
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constexpr s16 DefaultOffset{0};
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for (auto& sensor : calibration.accelerometer) {
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if (sensor.scale == 0) {
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sensor.scale = 0x4000;
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}
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sensor.scale = ValidateValue(sensor.scale, DefaultAccelerometerScale);
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sensor.offset = ValidateValue(sensor.offset, DefaultOffset);
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}
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for (auto& sensor : calibration.gyro) {
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if (sensor.scale == 0) {
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sensor.scale = 0x3be7;
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}
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sensor.scale = ValidateValue(sensor.scale, DefaultGyroScale);
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sensor.offset = ValidateValue(sensor.offset, DefaultOffset);
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}
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}
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u16 CalibrationProtocol::ValidateValue(u16 value, u16 default_value) const {
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if (value == 0) {
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return default_value;
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}
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if (value == 0xFFF) {
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return default_value;
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}
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return value;
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}
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s16 CalibrationProtocol::ValidateValue(s16 value, s16 default_value) const {
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if (value == 0) {
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return default_value;
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}
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if (value == 0xFFF) {
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return default_value;
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}
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return value;
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}
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} // namespace InputCommon::Joycon
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@ -53,9 +53,27 @@ public:
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DriverResult GetRingCalibration(RingCalibration& calibration, s16 current_value);
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private:
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/// Returns true if the specified address corresponds to the magic value of user calibration
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DriverResult HasUserCalibration(SpiAddress address, bool& has_user_calibration);
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/// Converts a raw calibration block to an u16 value containing the x axis value
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u16 GetXAxisCalibrationValue(std::span<u8> block) const;
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/// Converts a raw calibration block to an u16 value containing the y axis value
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u16 GetYAxisCalibrationValue(std::span<u8> block) const;
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/// Ensures that all joystick calibration values are set
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void ValidateCalibration(JoyStickCalibration& calibration);
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/// Ensures that all motion calibration values are set
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void ValidateCalibration(MotionCalibration& calibration);
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/// Returns the default value if the value is either zero or 0xFFF
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u16 ValidateValue(u16 value, u16 default_value) const;
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/// Returns the default value if the value is either zero or 0xFFF
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s16 ValidateValue(s16 value, s16 default_value) const;
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s16 ring_data_max = 0;
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s16 ring_data_default = 0;
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s16 ring_data_min = 0;
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@ -23,7 +23,7 @@ void JoyconCommonProtocol::SetNonBlocking() {
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DriverResult JoyconCommonProtocol::GetDeviceType(ControllerType& controller_type) {
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std::vector<u8> buffer;
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const auto result = ReadSPI(CalAddr::DEVICE_TYPE, 1, buffer);
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const auto result = ReadSPI(SpiAddress::DEVICE_TYPE, 1, buffer);
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controller_type = ControllerType::None;
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if (result == DriverResult::Success) {
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@ -148,7 +148,7 @@ DriverResult JoyconCommonProtocol::SendVibrationReport(std::span<const u8> buffe
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return SendData(local_buffer);
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}
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DriverResult JoyconCommonProtocol::ReadSPI(CalAddr addr, u8 size, std::vector<u8>& output) {
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DriverResult JoyconCommonProtocol::ReadSPI(SpiAddress addr, u8 size, std::vector<u8>& output) {
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constexpr std::size_t MaxTries = 10;
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std::size_t tries = 0;
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std::array<u8, 5> buffer = {0x00, 0x00, 0x00, 0x00, size};
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@ -100,7 +100,26 @@ public:
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* @param size in bytes to be read
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* @returns output buffer containing the responce
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*/
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DriverResult ReadSPI(CalAddr addr, u8 size, std::vector<u8>& output);
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DriverResult ReadSPI(SpiAddress addr, u8 size, std::vector<u8>& output);
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template <typename Output>
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requires(std::is_trivially_copyable_v<Output>)
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DriverResult ReadSPI(SpiAddress addr, Output& output) {
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std::vector<u8> buffer;
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output = {};
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const auto result = ReadSPI(addr, sizeof(Output), buffer);
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if (result != DriverResult::Success) {
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return result;
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}
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if (buffer.size() != sizeof(Output)) {
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return DriverResult::WrongReply;
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}
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std::memcpy(&output, buffer.data(), sizeof(Output));
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return DriverResult::Success;
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}
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/**
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* Enables MCU chip on the joycon
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@ -72,7 +72,7 @@ DriverResult GenericProtocol::GetBattery(u32& battery_level) {
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DriverResult GenericProtocol::GetColor(Color& color) {
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ScopedSetBlocking sb(this);
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std::vector<u8> buffer;
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const auto result = ReadSPI(CalAddr::COLOR_DATA, 12, buffer);
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const auto result = ReadSPI(SpiAddress::COLOR_DATA, 12, buffer);
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color = {};
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if (result == DriverResult::Success) {
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@ -88,7 +88,7 @@ DriverResult GenericProtocol::GetColor(Color& color) {
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DriverResult GenericProtocol::GetSerialNumber(SerialNumber& serial_number) {
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ScopedSetBlocking sb(this);
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std::vector<u8> buffer;
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const auto result = ReadSPI(CalAddr::SERIAL_NUMBER, 16, buffer);
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const auto result = ReadSPI(SpiAddress::SERIAL_NUMBER, 16, buffer);
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serial_number = {};
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if (result == DriverResult::Success) {
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@ -159,13 +159,12 @@ enum class UsbSubCommand : u8 {
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SEND_UART = 0x92,
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};
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enum class CalMagic : u8 {
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enum class CalibrationMagic : u8 {
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USR_MAGIC_0 = 0xB2,
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USR_MAGIC_1 = 0xA1,
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USRR_MAGI_SIZE = 2,
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};
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enum class CalAddr {
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enum class SpiAddress {
|
||||
SERIAL_NUMBER = 0X6000,
|
||||
DEVICE_TYPE = 0X6012,
|
||||
COLOR_EXIST = 0X601B,
|
||||
|
|
@ -396,10 +395,35 @@ struct MotionData {
|
|||
u64 delta_timestamp{};
|
||||
};
|
||||
|
||||
// Output from SPI read command containing user calibration magic
|
||||
struct MagicSpiCalibration {
|
||||
CalibrationMagic first;
|
||||
CalibrationMagic second;
|
||||
};
|
||||
static_assert(sizeof(MagicSpiCalibration) == 0x2, "MagicSpiCalibration is an invalid size");
|
||||
|
||||
// Output from SPI read command containing left joystick calibration
|
||||
struct JoystickLeftSpiCalibration {
|
||||
std::array<u8, 3> max;
|
||||
std::array<u8, 3> center;
|
||||
std::array<u8, 3> min;
|
||||
};
|
||||
static_assert(sizeof(JoystickLeftSpiCalibration) == 0x9,
|
||||
"JoystickLeftSpiCalibration is an invalid size");
|
||||
|
||||
// Output from SPI read command containing right joystick calibration
|
||||
struct JoystickRightSpiCalibration {
|
||||
std::array<u8, 3> center;
|
||||
std::array<u8, 3> min;
|
||||
std::array<u8, 3> max;
|
||||
};
|
||||
static_assert(sizeof(JoystickRightSpiCalibration) == 0x9,
|
||||
"JoystickRightSpiCalibration is an invalid size");
|
||||
|
||||
struct JoyStickAxisCalibration {
|
||||
u16 max{1};
|
||||
u16 min{1};
|
||||
u16 center{0};
|
||||
u16 max;
|
||||
u16 min;
|
||||
u16 center;
|
||||
};
|
||||
|
||||
struct JoyStickCalibration {
|
||||
|
|
@ -407,6 +431,14 @@ struct JoyStickCalibration {
|
|||
JoyStickAxisCalibration y;
|
||||
};
|
||||
|
||||
struct ImuSpiCalibration {
|
||||
std::array<s16, 3> accelerometer_offset;
|
||||
std::array<s16, 3> accelerometer_scale;
|
||||
std::array<s16, 3> gyroscope_offset;
|
||||
std::array<s16, 3> gyroscope_scale;
|
||||
};
|
||||
static_assert(sizeof(ImuSpiCalibration) == 0x18, "ImuSpiCalibration is an invalid size");
|
||||
|
||||
struct RingCalibration {
|
||||
s16 default_value;
|
||||
s16 max_value;
|
||||
|
|
@ -488,14 +520,6 @@ struct InputReportNfcIr {
|
|||
static_assert(sizeof(InputReportNfcIr) == 0x29, "InputReportNfcIr is an invalid size");
|
||||
#pragma pack(pop)
|
||||
|
||||
struct IMUCalibration {
|
||||
std::array<s16, 3> accelerometer_offset;
|
||||
std::array<s16, 3> accelerometer_scale;
|
||||
std::array<s16, 3> gyroscope_offset;
|
||||
std::array<s16, 3> gyroscope_scale;
|
||||
};
|
||||
static_assert(sizeof(IMUCalibration) == 0x18, "IMUCalibration is an invalid size");
|
||||
|
||||
struct NFCReadBlock {
|
||||
u8 start;
|
||||
u8 end;
|
||||
|
|
|
|||
Reference in New Issue