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BetterJoy/BetterJoyForCemu/Joycon.cs

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2018-02-27 22:11:58 +00:00
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Net.NetworkInformation;
using System.Numerics;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace BetterJoyForCemu {
public class Joycon {
float timing = 60.0f;
bool isPro = false;
public enum DebugType : int {
NONE,
ALL,
COMMS,
THREADING,
IMU,
RUMBLE,
};
public DebugType debug_type = DebugType.NONE;
public bool isLeft;
public enum state_ : uint {
NOT_ATTACHED,
DROPPED,
NO_JOYCONS,
ATTACHED,
INPUT_MODE_0x30,
IMU_DATA_OK,
};
public state_ state;
public enum Button : int {
DPAD_DOWN = 0,
DPAD_RIGHT = 1,
DPAD_LEFT = 2,
DPAD_UP = 3,
SL = 4,
SR = 5,
MINUS = 6,
HOME = 7,
PLUS = 8,
CAPTURE = 9,
STICK = 10,
SHOULDER_1 = 11,
SHOULDER_2 = 12,
// For pro controller
B = 13,
A = 14,
Y = 15,
X = 16,
STICK2 = 17,
SHOULDER2_1 = 18,
SHOULDER2_2 = 19,
};
private bool[] buttons_down = new bool[20];
private bool[] buttons_up = new bool[20];
private bool[] buttons = new bool[20];
private bool[] down_ = new bool[20];
private float[] stick = { 0, 0 };
private float[] stick2 = { 0, 0 };
private
IntPtr handle;
byte[] default_buf = { 0x0, 0x1, 0x40, 0x40, 0x0, 0x1, 0x40, 0x40 };
private byte[] stick_raw = { 0, 0, 0 };
private UInt16[] stick_cal = { 0, 0, 0, 0, 0, 0 };
private UInt16 deadzone;
private UInt16[] stick_precal = { 0, 0 };
private byte[] stick2_raw = { 0, 0, 0 };
private UInt16[] stick2_cal = { 0, 0, 0, 0, 0, 0 };
private UInt16 deadzone2;
private UInt16[] stick2_precal = { 0, 0 };
private bool stop_polling = false;
private int timestamp;
private bool first_imu_packet = true;
private bool imu_enabled = false;
private Int16[] acc_r = { 0, 0, 0 };
private Int16[] acc_neutral = { 0, 0, 0 };
private Int16[] acc_sensiti = { 0, 0, 0 };
private Vector3 acc_g;
private Int16[] gyr_r = { 0, 0, 0 };
private Int16[] gyr_neutral = { 0, 0, 0 };
private Int16[] gyr_sensiti = { 0, 0, 0 };
private Vector3 gyr_g;
private bool do_localize;
private float filterweight;
private const uint report_len = 49;
private struct Report {
byte[] r;
System.DateTime t;
public ulong ts;
public Report(byte[] report, System.DateTime time, ulong timestamp) {
r = report;
t = time;
ts = timestamp;
}
public System.DateTime GetTime() {
return t;
}
public void CopyBuffer(byte[] b) {
for (int i = 0; i < report_len; ++i) {
b[i] = r[i];
}
}
};
private struct Rumble {
private float h_f, amp, l_f;
public float t;
public bool timed_rumble;
public void set_vals(float low_freq, float high_freq, float amplitude, int time = 0) {
h_f = high_freq;
amp = amplitude;
l_f = low_freq;
timed_rumble = false;
t = 0;
if (time != 0) {
t = time / 1000f;
timed_rumble = true;
}
}
public Rumble(float low_freq, float high_freq, float amplitude, int time = 0) {
h_f = high_freq;
amp = amplitude;
l_f = low_freq;
timed_rumble = false;
t = 0;
if (time != 0) {
t = time / 1000f;
timed_rumble = true;
}
}
private float clamp(float x, float min, float max) {
if (x < min) return min;
if (x > max) return max;
return x;
}
public byte[] GetData() {
byte[] rumble_data = new byte[8];
if (amp == 0.0f) {
rumble_data[0] = 0x0;
rumble_data[1] = 0x1;
rumble_data[2] = 0x40;
rumble_data[3] = 0x40;
} else {
l_f = clamp(l_f, 40.875885f, 626.286133f);
amp = clamp(amp, 0.0f, 1.0f);
h_f = clamp(h_f, 81.75177f, 1252.572266f);
UInt16 hf = (UInt16)((Math.Round(32f * Math.Log(h_f * 0.1f, 2)) - 0x60) * 4);
byte lf = (byte)(Math.Round(32f * Math.Log(l_f * 0.1f, 2)) - 0x40);
byte hf_amp;
if (amp == 0) hf_amp = 0;
else if (amp < 0.117) hf_amp = (byte)(((Math.Log(amp * 1000, 2) * 32) - 0x60) / (5 - Math.Pow(amp, 2)) - 1);
else if (amp < 0.23) hf_amp = (byte)(((Math.Log(amp * 1000, 2) * 32) - 0x60) - 0x5c);
else hf_amp = (byte)((((Math.Log(amp * 1000, 2) * 32) - 0x60) * 2) - 0xf6);
UInt16 lf_amp = (UInt16)(Math.Round((double)hf_amp) * .5);
byte parity = (byte)(lf_amp % 2);
if (parity > 0) {
--lf_amp;
}
lf_amp = (UInt16)(lf_amp >> 1);
lf_amp += 0x40;
if (parity > 0) lf_amp |= 0x8000;
rumble_data = new byte[8];
rumble_data[0] = (byte)(hf & 0xff);
rumble_data[1] = (byte)((hf >> 8) & 0xff);
rumble_data[2] = lf;
rumble_data[1] += hf_amp;
rumble_data[2] += (byte)((lf_amp >> 8) & 0xff);
rumble_data[3] += (byte)(lf_amp & 0xff);
}
for (int i = 0; i < 4; ++i) {
rumble_data[4 + i] = rumble_data[i];
}
//Debug.Log(string.Format("Encoded hex freq: {0:X2}", encoded_hex_freq));
//Debug.Log(string.Format("lf_amp: {0:X4}", lf_amp));
//Debug.Log(string.Format("hf_amp: {0:X2}", hf_amp));
//Debug.Log(string.Format("l_f: {0:F}", l_f));
//Debug.Log(string.Format("hf: {0:X4}", hf));
//Debug.Log(string.Format("lf: {0:X2}", lf));
return rumble_data;
}
}
private Queue<Report> reports = new Queue<Report>();
private Rumble rumble_obj;
private byte global_count = 0;
private string debug_str;
// For UdpServer
public int PadId = 0;
public int battery = 2;
public int model = 2;
public int constate = 2;
public int connection = 3;
public PhysicalAddress PadMacAddress = new PhysicalAddress(new byte[] { 01, 02, 03, 04, 05, 06 });
public ulong Timestamp = (ulong)Stopwatch.GetTimestamp();
public int packetCounter = 0;
//
public Joycon(IntPtr handle_, bool imu, bool localize, float alpha, bool left, int id = 0, bool isPro=false) {
handle = handle_;
imu_enabled = imu;
do_localize = localize;
rumble_obj = new Rumble(160, 320, 0);
filterweight = alpha;
isLeft = left;
PadId = id;
this.isPro = isPro;
}
public void DebugPrint(String s, DebugType d) {
if (debug_type == DebugType.NONE) return;
if (d == DebugType.ALL || d == debug_type || debug_type == DebugType.ALL) {
Console.WriteLine(s);
}
}
public bool GetButtonDown(Button b) {
return buttons_down[(int)b];
}
public bool GetButton(Button b) {
return buttons[(int)b];
}
public bool GetButtonUp(Button b) {
return buttons_up[(int)b];
}
public float[] GetStick() {
return stick;
}
public float[] GetStick2() {
return stick2;
}
public Vector3 GetGyro() {
return gyr_g;
}
public Vector3 GetAccel() {
return acc_g;
}
public Quaternion GetVector() {
Vector3 v1 = new Vector3(j_b.X, i_b.X, k_b.X);
Vector3 v2 = -(new Vector3(j_b.Z, i_b.Z, k_b.Z));
if (v2 != Vector3.Zero) {
MyQuaternion temp = MyQuaternion.LookRotation(v1, v2);
return new Quaternion(temp.eulerAngles, temp.Length);
} else {
return Quaternion.Identity;
}
}
public int Attach(byte leds_ = 0x0) {
state = state_.ATTACHED;
byte[] a = { 0x0 };
// Input report mode
Subcommand(0x3, new byte[] { 0x3f }, 1, false);
a[0] = 0x1;
dump_calibration_data();
// Connect
a[0] = 0x01;
Subcommand(0x1, a, 1);
a[0] = 0x02;
Subcommand(0x1, a, 1);
a[0] = 0x03;
Subcommand(0x1, a, 1);
a[0] = leds_;
Subcommand(0x30, a, 1);
Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x1 }, 1, true);
DebugPrint("Done with init.", DebugType.COMMS);
return 0;
}
public void SetFilterCoeff(float a) {
filterweight = a;
}
public void Detach() {
stop_polling = true;
PrintArray(max, format: "Max {0:S}", d: DebugType.IMU);
PrintArray(sum, format: "Sum {0:S}", d: DebugType.IMU);
if (state > state_.NO_JOYCONS) {
Subcommand(0x30, new byte[] { 0x0 }, 1);
Subcommand(0x40, new byte[] { 0x0 }, 1);
Subcommand(0x48, new byte[] { 0x0 }, 1);
Subcommand(0x3, new byte[] { 0x3f }, 1);
}
if (state > state_.DROPPED) {
HIDapi.hid_close(handle);
}
state = state_.NOT_ATTACHED;
}
private byte ts_en;
private byte ts_de;
private System.DateTime ts_prev;
private int ReceiveRaw() {
if (handle == IntPtr.Zero) return -2;
HIDapi.hid_set_nonblocking(handle, 0);
byte[] raw_buf = new byte[report_len];
int ret = HIDapi.hid_read(handle, raw_buf, new UIntPtr(report_len));
if (ret > 0) {
lock (reports) {
reports.Enqueue(new Report(raw_buf, System.DateTime.Now, (ulong)Stopwatch.GetTimestamp()));
}
if (ts_en == raw_buf[1]) {
DebugPrint(string.Format("Duplicate timestamp enqueued. TS: {0:X2}", ts_en), DebugType.THREADING);
}
ts_en = raw_buf[1];
DebugPrint(string.Format("Enqueue. Bytes read: {0:D}. Timestamp: {1:X2}", ret, raw_buf[1]), DebugType.THREADING);
}
return ret;
}
private Thread PollThreadObj;
private void Poll() {
int attempts = 0;
while (!stop_polling & state > state_.NO_JOYCONS) {
SendRumble(rumble_obj.GetData());
int a = ReceiveRaw();
//a = ReceiveRaw();
if (a > 0) {
state = state_.IMU_DATA_OK;
attempts = 0;
} else if (attempts > 1000) {
state = state_.DROPPED;
DebugPrint("Connection lost. Is the Joy-Con connected?", DebugType.ALL);
break;
} else {
DebugPrint("Pause 5ms", DebugType.THREADING);
Thread.Sleep((Int32)5);
}
++attempts;
}
DebugPrint("End poll loop.", DebugType.THREADING);
}
float[] max = { 0, 0, 0 };
float[] sum = { 0, 0, 0 };
public void Update() {
if (state > state_.NO_JOYCONS) {
byte[] report_buf = new byte[report_len];
while (reports.Count > 0) {
Report rep;
lock (reports) {
rep = reports.Dequeue();
rep.CopyBuffer(report_buf);
}
if (imu_enabled) {
if (do_localize) {
ProcessIMU(report_buf);
} else {
ExtractIMUValues(report_buf, 0);
}
}
if (ts_de == report_buf[1]) {
DebugPrint(string.Format("Duplicate timestamp dequeued. TS: {0:X2}", ts_de), DebugType.THREADING);
}
ts_de = report_buf[1];
DebugPrint(String.Format("Dequeue. Queue length: {0}. Packet ID: {1}. Timestamp: {2}. Lag to dequeue: {3}. Lag between packets (expect 15ms): {4}", reports.Count, report_buf[0], report_buf[1], System.DateTime.Now.Subtract(rep.GetTime()), rep.GetTime().Subtract(ts_prev)), DebugType.THREADING);
ts_prev = rep.GetTime();
// set timestamp and packet count for server
Timestamp = rep.ts;
}
ProcessButtonsAndStick(report_buf);
if (rumble_obj.timed_rumble) {
if (rumble_obj.t < 0) {
rumble_obj.set_vals(160, 320, 0, 0);
} else {
rumble_obj.t -= (1 / timing);
}
}
packetCounter++;
Program.server.NewReportIncoming(this);
}
}
private int ProcessButtonsAndStick(byte[] report_buf) {
if (report_buf[0] == 0x00) return -1;
stick_raw[0] = report_buf[6 + (isLeft ? 0 : 3)];
stick_raw[1] = report_buf[7 + (isLeft ? 0 : 3)];
stick_raw[2] = report_buf[8 + (isLeft ? 0 : 3)];
if (isPro) {
stick2_raw[0] = report_buf[6 + (!isLeft ? 0 : 3)];
stick2_raw[1] = report_buf[7 + (!isLeft ? 0 : 3)];
stick2_raw[2] = report_buf[8 + (!isLeft ? 0 : 3)];
}
stick_precal[0] = (UInt16)(stick_raw[0] | ((stick_raw[1] & 0xf) << 8));
stick_precal[1] = (UInt16)((stick_raw[1] >> 4) | (stick_raw[2] << 4));
stick = CenterSticks(stick_precal);
if (isPro) {
stick2_precal[0] = (UInt16)(stick2_raw[0] | ((stick2_raw[1] & 0xf) << 8));
stick2_precal[1] = (UInt16)((stick2_raw[1] >> 4) | (stick2_raw[2] << 4));
stick2 = CenterSticks(stick2_precal, true);
}
lock (buttons) {
lock (down_) {
for (int i = 0; i < buttons.Length; ++i) {
down_[i] = buttons[i];
}
}
buttons[(int)Button.DPAD_DOWN] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x01 : 0x04)) != 0;
buttons[(int)Button.DPAD_RIGHT] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x04 : 0x08)) != 0;
buttons[(int)Button.DPAD_UP] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x02 : 0x02)) != 0;
buttons[(int)Button.DPAD_LEFT] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x08 : 0x01)) != 0;
buttons[(int)Button.HOME] = ((report_buf[4] & 0x10) != 0);
buttons[(int)Button.MINUS] = ((report_buf[4] & 0x01) != 0);
buttons[(int)Button.PLUS] = ((report_buf[4] & 0x02) != 0);
buttons[(int)Button.STICK] = ((report_buf[4] & (isLeft ? 0x08 : 0x04)) != 0);
buttons[(int)Button.SHOULDER_1] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x40) != 0;
buttons[(int)Button.SHOULDER_2] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x80) != 0;
buttons[(int)Button.SR] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x10) != 0;
buttons[(int)Button.SL] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x20) != 0;
if (isPro) {
buttons[(int)Button.B] = (report_buf[3 + (!isLeft ? 2 : 0)] & (!isLeft ? 0x01 : 0x04)) != 0;
buttons[(int)Button.A] = (report_buf[3 + (!isLeft ? 2 : 0)] & (!isLeft ? 0x04 : 0x08)) != 0;
buttons[(int)Button.X] = (report_buf[3 + (!isLeft ? 2 : 0)] & (!isLeft ? 0x02 : 0x02)) != 0;
buttons[(int)Button.Y] = (report_buf[3 + (!isLeft ? 2 : 0)] & (!isLeft ? 0x08 : 0x01)) != 0;
buttons[(int)Button.STICK2] = ((report_buf[4] & (!isLeft ? 0x08 : 0x04)) != 0);
buttons[(int)Button.SHOULDER2_1] = (report_buf[3 + (!isLeft ? 2 : 0)] & 0x40) != 0;
buttons[(int)Button.SHOULDER2_2] = (report_buf[3 + (!isLeft ? 2 : 0)] & 0x80) != 0;
}
lock (buttons_up) {
lock (buttons_down) {
for (int i = 0; i < buttons.Length; ++i) {
buttons_up[i] = (down_[i] & !buttons[i]);
buttons_down[i] = (!down_[i] & buttons[i]);
}
}
}
}
return 0;
}
private void ExtractIMUValues(byte[] report_buf, int n = 0) {
gyr_r[0] = (Int16)(report_buf[19 + n * 12] | ((report_buf[20 + n * 12] << 8) & 0xff00));
gyr_r[1] = (Int16)(report_buf[21 + n * 12] | ((report_buf[22 + n * 12] << 8) & 0xff00));
gyr_r[2] = (Int16)(report_buf[23 + n * 12] | ((report_buf[24 + n * 12] << 8) & 0xff00));
acc_r[0] = (Int16)(report_buf[13 + n * 12] | ((report_buf[14 + n * 12] << 8) & 0xff00));
acc_r[1] = (Int16)(report_buf[15 + n * 12] | ((report_buf[16 + n * 12] << 8) & 0xff00));
acc_r[2] = (Int16)(report_buf[17 + n * 12] | ((report_buf[18 + n * 12] << 8) & 0xff00));
for (int i = 0; i < 3; ++i) {
switch (i) {
case 0:
acc_g.X = acc_r[i] * (1.0f / (acc_sensiti[i] - acc_neutral[i])) * 4.0f;
//gyr_g.X = (gyr_r[i] - gyr_neutral[i]) * 0.00122187695f;
gyr_g.X = gyr_r[i] * (816.0f / (gyr_sensiti[i] - gyr_neutral[i])) * 0.5f; // Neutrals may be read wrong
if (Math.Abs(acc_g.X) > Math.Abs(max[i]))
max[i] = acc_g.X;
break;
case 1:
acc_g.Y = acc_r[i] * (1.0f / (acc_sensiti[i] - acc_neutral[i])) * 4.0f;
//gyr_g.Y = (gyr_r[i] - gyr_neutral[i]) * 0.00122187695f;
gyr_g.Y = -gyr_r[i] * (816.0f / (gyr_sensiti[i] - gyr_neutral[i])) * 0.5f;
if (Math.Abs(acc_g.Y) > Math.Abs(max[i]))
max[i] = acc_g.Y;
break;
case 2:
acc_g.Z = acc_r[i] * (1.0f / (acc_sensiti[i] - acc_neutral[i])) * 4.0f;
//gyr_g.Z = (gyr_r[i] - gyr_neutral[i]) * 0.00122187695f;
gyr_g.Z = -gyr_r[i] * (816.0f / (gyr_sensiti[i] - gyr_neutral[i])) * 0.5f;
if (Math.Abs(acc_g.Z) > Math.Abs(max[i]))
max[i] = acc_g.Z;
break;
}
}
}
private float err;
public Vector3 i_b, j_b, k_b, k_acc;
private Vector3 d_theta;
private Vector3 i_b_;
private Vector3 w_a, w_g;
private Quaternion vec;
private int ProcessIMU(byte[] report_buf) {
// Direction Cosine Matrix method
// http://www.starlino.com/dcm_tutorial.html
if (!imu_enabled | state < state_.IMU_DATA_OK)
return -1;
if (report_buf[0] != 0x30) return -1; // no gyro data
// read raw IMU values
int dt = (report_buf[1] - timestamp);
if (report_buf[1] < timestamp) dt += 0x100;
for (int n = 0; n < 3; ++n) {
ExtractIMUValues(report_buf, n);
float dt_sec = 0.005f * dt;
sum[0] += gyr_g.X * dt_sec;
sum[1] += gyr_g.Y * dt_sec;
sum[2] += gyr_g.Z * dt_sec;
if (isLeft && !isPro) { // not sure about this
gyr_g.Y *= -1;
gyr_g.Z *= -1;
acc_g.Y *= -1;
acc_g.Z *= -1;
}
if (first_imu_packet) {
i_b = new Vector3(1, 0, 0);
j_b = new Vector3(0, 1, 0);
k_b = new Vector3(0, 0, 1);
first_imu_packet = false;
} else {
k_acc = -Vector3.Normalize(acc_g);
w_a = Vector3.Cross(k_b, k_acc);
w_g = -gyr_g * dt_sec;
d_theta = (filterweight * w_a + w_g) / (1f + filterweight);
k_b += Vector3.Cross(d_theta, k_b);
i_b += Vector3.Cross(d_theta, i_b);
j_b += Vector3.Cross(d_theta, j_b);
//Correction, ensure new axes are orthogonal
err = Vector3.Dot(i_b, j_b) * 0.5f;
i_b_ = Vector3.Normalize(i_b - err * j_b);
j_b = Vector3.Normalize(j_b - err * i_b);
i_b = i_b_;
k_b = Vector3.Cross(i_b, j_b);
}
dt = 1;
}
timestamp = report_buf[1] + 2;
return 0;
}
public void Begin() {
if (PollThreadObj == null) {
PollThreadObj = new Thread(new ThreadStart(Poll));
PollThreadObj.Start();
Console.WriteLine("Starting poll thread.");
}
}
public void Recenter() {
first_imu_packet = true;
}
private float[] CenterSticks(UInt16[] vals, bool special=false) {
ushort[] t = stick_cal;
if (special)
t = stick2_cal;
float[] s = { 0, 0 };
for (uint i = 0; i < 2; ++i) {
float diff = vals[i] - t[2 + i];
if (Math.Abs(diff) < deadzone) vals[i] = 0;
else if (diff > 0) // if axis is above center
{
s[i] = diff / t[i];
} else {
s[i] = diff / t[4 + i];
}
}
return s;
}
public void SetRumble(float low_freq, float high_freq, float amp, int time = 0) {
if (state <= Joycon.state_.ATTACHED) return;
if (rumble_obj.timed_rumble == false || rumble_obj.t < 0) {
rumble_obj = new Rumble(low_freq, high_freq, amp, time);
}
}
private void SendRumble(byte[] buf) {
byte[] buf_ = new byte[report_len];
buf_[0] = 0x10;
buf_[1] = global_count;
if (global_count == 0xf) global_count = 0;
else ++global_count;
Array.Copy(buf, 0, buf_, 2, 8);
PrintArray(buf_, DebugType.RUMBLE, format: "Rumble data sent: {0:S}");
HIDapi.hid_write(handle, buf_, new UIntPtr(report_len));
}
private byte[] Subcommand(byte sc, byte[] buf, uint len, bool print = true) {
byte[] buf_ = new byte[report_len];
byte[] response = new byte[report_len];
Array.Copy(default_buf, 0, buf_, 2, 8);
Array.Copy(buf, 0, buf_, 11, len);
buf_[10] = sc;
buf_[1] = global_count;
buf_[0] = 0x1;
if (global_count == 0xf) global_count = 0;
else ++global_count;
if (print) { PrintArray(buf_, DebugType.COMMS, len, 11, "Subcommand 0x" + string.Format("{0:X2}", sc) + " sent. Data: 0x{0:S}"); };
HIDapi.hid_write(handle, buf_, new UIntPtr(len + 11));
int res = HIDapi.hid_read_timeout(handle, response, new UIntPtr(report_len), 50);
if (res < 1) DebugPrint("No response.", DebugType.COMMS);
else if (print) { PrintArray(response, DebugType.COMMS, report_len - 1, 1, "Response ID 0x" + string.Format("{0:X2}", response[0]) + ". Data: 0x{0:S}"); }
return response;
}
private void dump_calibration_data() {
byte[] buf_ = ReadSPI(0x80, (isLeft ? (byte)0x12 : (byte)0x1d), 9); // get user calibration data if possible
bool found = false;
for (int i = 0; i < 9; ++i) {
if (buf_[i] != 0xff) {
Console.WriteLine("Using user stick calibration data.");
found = true;
break;
}
}
if (!found) {
Console.WriteLine("Using factory stick calibration data.");
buf_ = ReadSPI(0x60, (isLeft ? (byte)0x3d : (byte)0x46), 9); // get user calibration data if possible
}
stick_cal[isLeft ? 0 : 2] = (UInt16)((buf_[1] << 8) & 0xF00 | buf_[0]); // X Axis Max above center
stick_cal[isLeft ? 1 : 3] = (UInt16)((buf_[2] << 4) | (buf_[1] >> 4)); // Y Axis Max above center
stick_cal[isLeft ? 2 : 4] = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]); // X Axis Center
stick_cal[isLeft ? 3 : 5] = (UInt16)((buf_[5] << 4) | (buf_[4] >> 4)); // Y Axis Center
stick_cal[isLeft ? 4 : 0] = (UInt16)((buf_[7] << 8) & 0xF00 | buf_[6]); // X Axis Min below center
stick_cal[isLeft ? 5 : 1] = (UInt16)((buf_[8] << 4) | (buf_[7] >> 4)); // Y Axis Min below center
PrintArray(stick_cal, len: 6, start: 0, format: "Stick calibration data: {0:S}");
if (isPro) {
buf_ = ReadSPI(0x80, (!isLeft ? (byte)0x12 : (byte)0x1d), 9); // get user calibration data if possible
found = false;
for (int i = 0; i < 9; ++i) {
if (buf_[i] != 0xff) {
Console.WriteLine("Using user stick calibration data.");
found = true;
break;
}
}
if (!found) {
Console.WriteLine("Using factory stick calibration data.");
buf_ = ReadSPI(0x60, (!isLeft ? (byte)0x3d : (byte)0x46), 9); // get user calibration data if possible
}
stick2_cal[!isLeft ? 0 : 2] = (UInt16)((buf_[1] << 8) & 0xF00 | buf_[0]); // X Axis Max above center
stick2_cal[!isLeft ? 1 : 3] = (UInt16)((buf_[2] << 4) | (buf_[1] >> 4)); // Y Axis Max above center
stick2_cal[!isLeft ? 2 : 4] = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]); // X Axis Center
stick2_cal[!isLeft ? 3 : 5] = (UInt16)((buf_[5] << 4) | (buf_[4] >> 4)); // Y Axis Center
stick2_cal[!isLeft ? 4 : 0] = (UInt16)((buf_[7] << 8) & 0xF00 | buf_[6]); // X Axis Min below center
stick2_cal[!isLeft ? 5 : 1] = (UInt16)((buf_[8] << 4) | (buf_[7] >> 4)); // Y Axis Min below center
PrintArray(stick2_cal, len: 6, start: 0, format: "Stick calibration data: {0:S}");
buf_ = ReadSPI(0x60, (!isLeft ? (byte)0x86 : (byte)0x98), 16);
deadzone2 = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]);
}
buf_ = ReadSPI(0x60, (isLeft ? (byte)0x86 : (byte)0x98), 16);
deadzone = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]);
buf_ = ReadSPI(0x80, 0x28, 10);
acc_neutral[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
acc_neutral[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
acc_neutral[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
buf_ = ReadSPI(0x80, 0x2E, 10);
acc_sensiti[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
acc_sensiti[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
acc_sensiti[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
buf_ = ReadSPI(0x80, 0x34, 10);
gyr_neutral[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
gyr_neutral[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
gyr_neutral[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
buf_ = ReadSPI(0x80, 0x3A, 10);
gyr_sensiti[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
gyr_sensiti[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
gyr_sensiti[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
PrintArray(gyr_neutral, len: 3, d: DebugType.IMU, format: "User gyro neutral position: {0:S}");
// This is an extremely messy way of checking to see whether there is user stick calibration data present, but I've seen conflicting user calibration data on blank Joy-Cons. Worth another look eventually.
if (gyr_neutral[0] + gyr_neutral[1] + gyr_neutral[2] == -3 || Math.Abs(gyr_neutral[0]) > 100 || Math.Abs(gyr_neutral[1]) > 100 || Math.Abs(gyr_neutral[2]) > 100) {
buf_ = ReadSPI(0x60, 0x20, 10);
acc_neutral[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
acc_neutral[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
acc_neutral[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
buf_ = ReadSPI(0x60, 0x26, 10);
acc_sensiti[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
acc_sensiti[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
acc_sensiti[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
buf_ = ReadSPI(0x60, 0x2C, 10);
gyr_neutral[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
gyr_neutral[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
gyr_neutral[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
buf_ = ReadSPI(0x60, 0x32, 10);
gyr_sensiti[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
gyr_sensiti[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
gyr_sensiti[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
PrintArray(gyr_neutral, len: 3, d: DebugType.IMU, format: "Factory gyro neutral position: {0:S}");
}
}
private byte[] ReadSPI(byte addr1, byte addr2, uint len, bool print = false) {
byte[] buf = { addr2, addr1, 0x00, 0x00, (byte)len };
byte[] read_buf = new byte[len];
byte[] buf_ = new byte[len + 20];
for (int i = 0; i < 100; ++i) {
buf_ = Subcommand(0x10, buf, 5, false);
if (buf_[15] == addr2 && buf_[16] == addr1) {
break;
}
}
Array.Copy(buf_, 20, read_buf, 0, len);
if (print) PrintArray(read_buf, DebugType.COMMS, len);
return read_buf;
}
private void PrintArray<T>(T[] arr, DebugType d = DebugType.NONE, uint len = 0, uint start = 0, string format = "{0:S}") {
if (d != debug_type && debug_type != DebugType.ALL) return;
if (len == 0) len = (uint)arr.Length;
string tostr = "";
for (int i = 0; i < len; ++i) {
tostr += string.Format((arr[0] is byte) ? "{0:X2} " : ((arr[0] is float) ? "{0:F} " : "{0:D} "), arr[i + start]);
}
DebugPrint(string.Format(format, tostr), d);
}
}
}
Reference in a new issue Copy permalink