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Further improvements to gyro and proper timestamping (for real this time, I promise!)

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Massive thanks to rajkosto!
This commit is contained in:
David Khachaturov 2018-03-04 21:17:05 +00:00
parent 0d5faa7668
commit 20f1446751
1 changed files with 20 additions and 48 deletions
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68
BetterJoyForCemu/Joycon.cs
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@ -216,7 +216,7 @@ namespace BetterJoyForCemu {
public int connection = 3;
public PhysicalAddress PadMacAddress = new PhysicalAddress(new byte[] { 01, 02, 03, 04, 05, 06 });
public ulong Timestamp = (ulong)Stopwatch.GetTimestamp();
public ulong Timestamp = 0;
public int packetCounter = 0;
//
@ -311,8 +311,7 @@ namespace BetterJoyForCemu {
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x1 }, 1, true);
if (!isUSB)
Subcommand(0x41, new byte[] { 0x03, 0x00, 0x00, 0x01 }, 4, false); // higher gyro performance rate
Subcommand(0x41, new byte[] { 0x03, 0x00, 0x00, 0x01 }, 4, false); // higher gyro performance rate
DebugPrint("Done with init.", DebugType.COMMS);
@ -327,8 +326,7 @@ namespace BetterJoyForCemu {
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); // Turn off LEDS after pair
Subcommand(0x40, new byte[] { 0x0 }, 1);
@ -349,18 +347,29 @@ namespace BetterJoyForCemu {
}
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()));
// Process packets as soon as they come
for (int n = 0; n < 3; n++) {
ExtractIMUValues(raw_buf, n);
byte lag = (byte) Math.Max(0, raw_buf[1] - ts_en - 3);
if (n == 0) {
Timestamp += (ulong)lag * 5000; // add lag once
ProcessButtonsAndStick(raw_buf);
}
Timestamp += (ulong)(2 - n) * 5000; // 5ms difference
packetCounter++;
Program.server.NewReportIncoming(this);
}
if (ts_en == raw_buf[1]) {
Console.WriteLine("Duplicate timestamp enqueued.");
DebugPrint(string.Format("Duplicate timestamp enqueued. TS: {0:X2}", ts_en), DebugType.THREADING);
}
ts_en = raw_buf[1];
@ -391,46 +400,9 @@ namespace BetterJoyForCemu {
}
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) {
ExtractIMUValues(report_buf, 0);
// 3 values for 5ms precision instead of 15ms
/*for (int n = 0; n < 3; n++) {
ExtractIMUValues(report_buf, n);
Timestamp = rep.ts + (ulong) n * 5000; // 5ms difference
if (n == 0)
ProcessButtonsAndStick(report_buf);
packetCounter++;
Program.server.NewReportIncoming(this);
}*/
}
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();
// Sending values at 5ms is not reliable
Timestamp = rep.ts;
ProcessButtonsAndStick(report_buf);
packetCounter++;
Program.server.NewReportIncoming(this);
}
if (state > state_.NO_JOYCONS) {
if (rumble_obj.timed_rumble) {
if (rumble_obj.t < 0) {
rumble_obj.set_vals(160, 320, 0, 0);