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Add built-in Switch console IMU support #11

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3 changes: 2 additions & 1 deletion library/include/borealis/platforms/switch/switch_input.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,7 @@ class SwitchInputManager : public InputManager
bool pointerLocked = false;
HidMouseState currentMouseState;
HidSixAxisSensorHandle m_six_axis_sensor_handle[4]; // All for player 1, player 2 not supported
bool m_console_imu_initialized = false;

std::vector<bool> m_hid_keyboard_state;
std::unordered_map<int, BrlsKeyboardScancode> m_hid_brls_map;
Expand All @@ -122,7 +123,7 @@ class SwitchInputManager : public InputManager
unsigned short lowFreqMotor, unsigned short highFreqMotor);
void sendRumbleInternal(HidVibrationDeviceHandle vibration_device[2], HidVibrationValue vibration_values[2],
unsigned short lowFreqMotor, unsigned short highFreqMotor, unsigned short leftTriggerFreqMotor, unsigned short rightTriggerFreqMotor);
void sendRumble(unsigned short controller, unsigned short lowFreqMotor, unsigned short highFreqMotor,
void sendRumble(unsigned short controller, unsigned short lowFreqMotor, unsigned short highFreqMotor,
unsigned short leftTriggerFreqMotor, unsigned short rightTriggerFreqMotor);

};
Expand Down
120 changes: 94 additions & 26 deletions library/lib/platforms/switch/switch_input.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,19 @@ SwitchInputManager::SwitchInputManager()
hidStartSixAxisSensor(this->m_six_axis_sensor_handle[1]);
hidStartSixAxisSensor(this->m_six_axis_sensor_handle[2]);
hidStartSixAxisSensor(this->m_six_axis_sensor_handle[3]);

// Initialize the Switch console's built-in IMU
if (R_SUCCEEDED(hidInitializeSevenSixAxisSensor()))
{
if (R_SUCCEEDED(hidStartSevenSixAxisSensor()))
{
m_console_imu_initialized = true;
}
else
{
hidFinalizeSevenSixAxisSensor();
}
}
}

SwitchInputManager::~SwitchInputManager()
Expand All @@ -158,6 +171,13 @@ SwitchInputManager::~SwitchInputManager()
hidStopSixAxisSensor(this->m_six_axis_sensor_handle[2]);
hidStopSixAxisSensor(this->m_six_axis_sensor_handle[3]);

// Shut down the Switch console's built-in IMU
if (m_console_imu_initialized)
{
hidStopSevenSixAxisSensor();
hidFinalizeSevenSixAxisSensor();
m_console_imu_initialized = false;
}
}

void SwitchInputManager::clearVibration(int controller)
Expand Down Expand Up @@ -282,7 +302,7 @@ void SwitchInputManager::updateControllerStateInner(ControllerState* state, PadS
auto swap = Application::isSwapHalfJoyconStickToDpad();
auto x = (float)analog_stick_l.y / (float)0x7FFF * -1.0f + (float)analog_stick_r.y / (float)0x7FFF;
auto y = (float)analog_stick_l.x / (float)0x7FFF * -1.0f + (float)analog_stick_r.x / (float)0x7FFF;

if (!swap) {
state->axes[LEFT_X] = x;
state->axes[LEFT_Y] = y;
Expand Down Expand Up @@ -326,12 +346,12 @@ void SwitchInputManager::updateTouchStates(std::vector<RawTouchState>* states)

void SwitchInputManager::sendRumbleInternal(HidVibrationDeviceHandle vibration_device[2], HidVibrationValue vibration_values[2], unsigned short lowFreqMotor, unsigned short highFreqMotor)
{
vibration_values[0].amp_low =
vibration_values[0].amp_low =
vibration_values[0].amp_high = lowFreqMotor == 0 ? 0.0f : 320.0f;
vibration_values[1].amp_low =
vibration_values[1].amp_low =
vibration_values[1].amp_high = highFreqMotor == 0 ? 0.0f : 320.0f;

vibration_values[0].freq_low =
vibration_values[0].freq_low =
vibration_values[0].freq_high = lowFreqMotor == 0 ? 160.0f : (float) lowFreqMotor / 204;

vibration_values[1].freq_low = highFreqMotor == 0 ? 160.0f : (float) highFreqMotor / 204;
Expand Down Expand Up @@ -462,40 +482,88 @@ void SwitchInputManager::handleControllerSensors()
{
HidSixAxisSensorState sixaxis = { 0 };

uint64_t style_set = padGetStyleSet(&padsState[0]);
if (padStateHandheld.active_handheld)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[0], &sixaxis, 1);
else if (style_set & HidNpadStyleTag_NpadFullKey)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[1], &sixaxis, 1);
else if (style_set & HidNpadStyleTag_NpadJoyDual)
float accelX = 0.0f;
float accelY = 0.0f;
float accelZ = 0.0f;

float gyroX = 0.0f;
float gyroY = 0.0f;
float gyroZ = 0.0f;

bool consoleImuUsed = false;

// Prefer the Switch console's built-in IMU in handheld mode
if (m_console_imu_initialized && padStateHandheld.active_handheld)
{
// For JoyDual, read from either the Left or Right Joy-Con depending on which is/are connected
u64 attrib = padGetAttributes(&padsState[0]);
if (attrib & HidNpadAttribute_IsLeftConnected)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[2], &sixaxis, 1);
else if (attrib & HidNpadAttribute_IsRightConnected)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[3], &sixaxis, 1);
HidSevenSixAxisSensorState consoleStates[1] = {};
size_t total = 0;

Result rc = hidGetSevenSixAxisSensorStates(consoleStates, 1, &total);

if (R_SUCCEEDED(rc) && total > 0)
{
// Read acceleration from the Switch console IMU
accelX = -consoleStates[0].unk_x18[0];
accelY = -consoleStates[0].unk_x18[2];
accelZ = consoleStates[0].unk_x18[1];

// Apply the tested built-in console IMU sensitivity
constexpr float CONSOLE_GYRO_SENSITIVITY = 1.8f;

gyroX = consoleStates[0].unk_x18[3] * CONSOLE_GYRO_SENSITIVITY;
gyroY = consoleStates[0].unk_x18[5] * CONSOLE_GYRO_SENSITIVITY;
gyroZ = -consoleStates[0].unk_x18[4] * CONSOLE_GYRO_SENSITIVITY;

consoleImuUsed = true;
}
}

// Fall back to the existing Npad/Joy-Con sensor if needed
if (!consoleImuUsed)
{
uint64_t style_set = padGetStyleSet(&padsState[0]);

if (padStateHandheld.active_handheld)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[0], &sixaxis, 1);
else if (style_set & HidNpadStyleTag_NpadFullKey)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[1], &sixaxis, 1);
else if (style_set & HidNpadStyleTag_NpadJoyDual)
{
// For JoyDual, read from either the Left or Right Joy-Con depending on which is/are connected
u64 attrib = padGetAttributes(&padsState[0]);

if (attrib & HidNpadAttribute_IsLeftConnected)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[2], &sixaxis, 1);
else if (attrib & HidNpadAttribute_IsRightConnected)
hidGetSixAxisSensorStates(this->m_six_axis_sensor_handle[3], &sixaxis, 1);
}

accelX = -sixaxis.acceleration.x;
accelY = -sixaxis.acceleration.z;
accelZ = sixaxis.acceleration.y;

gyroX = static_cast<float>(sixaxis.angular_velocity.x * 2.0f * M_PI);
gyroY = static_cast<float>(sixaxis.angular_velocity.z * 2.0f * M_PI);
gyroZ = static_cast<float>(-sixaxis.angular_velocity.y * 2.0f * M_PI);
}

auto accelState = SensorEvent{
0,
SensorEventType::ACCEL,
{ -sixaxis.acceleration.x,
-sixaxis.acceleration.z,
sixaxis.acceleration.y
},
{ accelX, accelY, accelZ },
0
};

auto gyroState = SensorEvent{
0,
SensorEventType::GYRO,
{ static_cast<float>(sixaxis.angular_velocity.x * 2.0f * M_PI),
static_cast<float>(sixaxis.angular_velocity.z * 2.0f * M_PI),
static_cast<float>(-sixaxis.angular_velocity.y * 2.0f * M_PI)
},
0 };
{ gyroX, gyroY, gyroZ },
0
};

getControllerSensorStateChanged()->fire(accelState);
getControllerSensorStateChanged()->fire(gyroState);

Application::setActiveEvent(true);
}

Expand Down Expand Up @@ -737,7 +805,7 @@ void SwitchInputManager::screenshot_button_thread_fn(std::stop_token token) {
case 1: // Home button
if (this->m_homeButtonMode == ButtonOverrideMode::NONE)
break;

eventClear(&home_evt);

if (!home_down_start_tick) {
Expand Down