enricobuehler
efb7f99129
G16 step 1, and the second half of what9e9bb9f4started. That commit fixed the SIGN of acceleration (Apple reports the gravity vector, pointing down; a pad reports proper acceleration, pointing up). This fixes the FRAME, which is a separate defect and was never going to show up as an inverted axis — it shows up as roll where the game reads yaw. The wire is a unit passthrough. `dualsense_proto::write_report` puts gyro[0..3] and accel[0..3] straight into the virtual pad's report bytes 16.. and 22.., in order, with no permutation — the same slots a real DualSense fills. So the frame the wire is DEFINED in is the pad's own report frame, and forwarding GameController's x/y/z unconverted was speaking a different language with the same vocabulary. Both frames measured 2026-08-07 from ONE physical DualSense on one desk, read twice — over raw HID and through GameController — so this is two readings of the same controller in the same orientations rather than two documents: DualSense report frame: (Right, Up, Backward) axis 0 pitch, 1 yaw, 2 roll GameController frame: (Right, Forward, Up) Right is already slot 0; Up is GC's z and moves to slot 1; slot 2 wants Backward, which is GC's y negated. Hence (x, z, -y), applied to gyro AND acceleration because it is a change of basis and both live in that basis. Notable: the wire's documented naming was right all along — gyro[0]=pitch, [1]=yaw, [2]=roll is exactly what the hardware does. And Android needs no remap at all: it forwards the pad's own axis order un-remapped, which is correct. Its old reading was purely the scale bugf6de620ffixed. Only Apple was converting nothing. How the hardware frame was established, since a wrong frame here is invisible. Gravity at rest put +0.997 g on axis 1. Yaw clockwise-from-above drove axis 1 negative (98% of the rotation), pitch nose-down drove axis 0 negative (100%), roll right-side-down drove axis 2 negative (95%) — plain right-hand rule, and (a0 x a1 = a2) confirms the triad is right-handed. The accelerometer then corroborated the gyro's assignment independently: under pitch-down axis 2 rose 0.160 -> +0.339 (nose down raises the back, so world-up gains a Backward component) and under roll-right-down axis 0 went +0.021 -> -0.197, while yaw left acceleration untouched. Two different physical quantities agreeing on one triad. Apple's frame took four attempts, and the failures are worth recording because each was a different way to be confidently wrong: - peak |w| over a window containing BOTH the tip-down and the return stroke can record the return, with the opposite sign. Yaw (a continuous one-way spin) was unaffected; pitch and roll were exactly the two that disagreed with everything else. - reading `gravity + userAcceleration` when `hasGravityAndUserAcceleration` is FALSE yields a constant (0,0,1) in every orientation. It looks like data. The tell is that it never moves. The client's own else-branch on `m.acceleration` is the correct read and is what the instrument now mirrors. - `da/dt = -w x a` holds only for gravity, so testing it during vigorous waving — when `m.acceleration` carries inseparable linear acceleration — fits nothing. The frame that survived all of that: static poses, three of them, three repetitions each. Nose-down moved axis 1 by -0.635 (so axis 1 is Forward), right-side-down moved axis 0 by -0.686 (so axis 0 is Right), flat put +0.99 on axis 2 (Up). That conclusion holds whether or not the acceleration negation is right, because negating flips the measured vector and the physical direction it represents together. Confidence, stated honestly. The accelerometer half is solid: nine pose measurements, and mapping the flat pose through gives (+0.005, +0.992, +0.192) against the hardware's own (+0.021, +0.997, +0.160) — all three components, including the small tilt term that is what distinguishes this mapping from the five other permutations that also put gravity on slot 1. That the gyro shares the frame unmodified rests on a weaker measurement: a gravity-dominated consistency test that preferred (+x,+y,+z) by 1.22x, which is a margin, not a landslide. It is corroborated by the yaw reading (the one rotation measured without the return-stroke ambiguity) agreeing with right-hand rule in that frame, and by the peak-vs-return mechanism explaining the two that did not. A device-side confirmation is still owed and is listed below. The tests carry the measurements, not just the conclusion. Resting gravity is asserted against BOTH readings of that pose; each rotation is asserted to reach the slot the wire reads it from; and two properties guard the shape rather than the numbers — that the conversion is an isometry (a basis change may not stretch anything) and that it preserves handedness. That last one matters most: a permutation with the wrong number of sign flips is a REFLECTION, which looks plausible axis by axis and inverts every rotation. Mutation-checked: dropping only the negation fails 6 assertions across 4 of the 5 cases, the handedness test among them. Owed, and not claimed done: on-glass re-verification through a real iOS device, together with the two already owed on that rig (the9e9bb9f4sign fix and the Android calibration read) — one pass covers all three. G14's DualSense neutral acceleration is now unblocked by this measurement (1 g on slot 1, not the z-up the notes assumed) but is deliberately left to its own change; and that constant must NOT be propagated to switch_proto, which is a different device whose frame nobody has measured. Gate: macOS `swift build` + the full suite (215 tests, 5 skipped, 0 failures) with the five new cases observed in the run's own output, and the iOS-triple typecheck green.
107 lines
5.6 KiB
Swift
107 lines
5.6 KiB
Swift
// The gamepad wire contract shared by capture (GamepadCapture), feedback (GamepadFeedback),
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// and the tests — the pad count, button bits, axis ids, and the touchpad/motion unit conversions.
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import Foundation
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/// The gamepad wire contract (mirrors `punktfunk_core::input::gamepad`).
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public enum GamepadWire {
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/// Gamepads addressable on the wire — the pad index rides the low byte of `flags` on every
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/// per-pad event, 0...15 (`punktfunk_core::input::MAX_PADS`).
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public static let maxPads: Int = 16
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public static let dpadUp: UInt32 = 0x0001
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public static let dpadDown: UInt32 = 0x0002
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public static let dpadLeft: UInt32 = 0x0004
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public static let dpadRight: UInt32 = 0x0008
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public static let start: UInt32 = 0x0010
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public static let back: UInt32 = 0x0020
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public static let leftStickClick: UInt32 = 0x0040
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public static let rightStickClick: UInt32 = 0x0080
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public static let leftShoulder: UInt32 = 0x0100
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public static let rightShoulder: UInt32 = 0x0200
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public static let guide: UInt32 = 0x0400
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public static let a: UInt32 = 0x1000
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public static let b: UInt32 = 0x2000
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public static let x: UInt32 = 0x4000
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public static let y: UInt32 = 0x8000
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/// DualSense touchpad click (Moonlight's extended-button bit position).
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public static let touchpadClick: UInt32 = 0x10_0000
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/// Misc / capture button — Xbox-Series Share, DualSense Create, Steam-Deck quick-access
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/// (Moonlight's extended-button namespace; `input::gamepad::BTN_MISC1`). The host routes it to
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/// the DualSense mute / Steam quick-access menu; a plain virtual xpad has no such button.
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public static let misc1: UInt32 = 0x0020_0000
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/// Back-grip paddles (Xbox Elite P1–P4 / DualSense Edge / Steam-Deck L4-L5-R4-R5), in
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/// Moonlight's extended-button namespace (`input::gamepad::BTN_PADDLE1..4`, R4/L4/R5/L5).
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/// Defined for wire completeness and pinned by the tests; `GamepadCapture.buttonMask` does not
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/// read them yet — the GameController `paddleButton1..4` ↔ BTN_PADDLE physical correspondence
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/// needs confirming on a real Elite pad first (see the gamepad-review-cleanup plan, G22), so
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/// they are intentionally absent from `allButtons` until that forwarding lands.
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public static let paddle1: UInt32 = 0x0001_0000
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public static let paddle2: UInt32 = 0x0002_0000
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public static let paddle3: UInt32 = 0x0004_0000
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public static let paddle4: UInt32 = 0x0008_0000
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/// Every button `buttonMask`/`sendGuide` can set — walked by `sync`'s transition diff and by
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/// `flush` on release. Paddles are excluded until their capture lands (see above).
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public static let allButtons: [UInt32] = [
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dpadUp, dpadDown, dpadLeft, dpadRight, start, back,
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leftStickClick, rightStickClick, leftShoulder, rightShoulder, guide,
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a, b, x, y, touchpadClick, misc1,
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]
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public static let axisLSX: UInt32 = 0
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public static let axisLSY: UInt32 = 1
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public static let axisRSX: UInt32 = 2
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public static let axisRSY: UInt32 = 3
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public static let axisLT: UInt32 = 4
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public static let axisRT: UInt32 = 5
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/// Raw DualSense gyro units per rad/s: hid-playstation's calibration over the host's
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/// fixed blob resolves to 20 LSB per deg/s.
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public static let gyroLSBPerRadS: Float = 20 * 180 / .pi
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/// Raw DualSense accelerometer units per g (same derivation).
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public static let accelLSBPerG: Float = 10_000
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/// GC touchpad coordinates (±1, +y up) → wire (0...65535, origin top-left, +y down).
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public static func touchpad(x: Float, y: Float) -> (x: UInt16, y: UInt16) {
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let wx = ((x.clamped(to: -1...1) + 1) / 2 * 65535).rounded()
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let wy = ((1 - y.clamped(to: -1...1)) / 2 * 65535).rounded()
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return (UInt16(wx), UInt16(wy))
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}
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/// Scale + clamp one motion component into the raw signed-16 sensor domain.
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public static func motionRaw(_ value: Float, scale: Float) -> Int16 {
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Int16((value * scale).rounded().clamped(to: Float(Int16.min)...Float(Int16.max)))
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}
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/// GameController's motion frame → the DualSense report frame the wire is defined in.
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///
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/// The wire is a unit passthrough: the host writes these three components, in order, into the
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/// virtual DualSense's report bytes 16../22.. — the same slots a real pad fills. So the frame
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/// the wire is defined in is the pad's OWN report frame, and a client that forwards its
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/// platform's axes unconverted is simply speaking a different language.
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///
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/// Both frames were measured on 2026-08-07 from ONE physical DualSense on one desk — the pad
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/// read twice, over raw HID and through GameController:
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///
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/// DualSense report frame: (Right, Up, Backward) — axis 0 carries pitch, 1 yaw, 2 roll
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/// GameController frame: (Right, Forward, Up)
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///
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/// Matching them up: Right is already slot 0; Up is GC's z, so it moves to slot 1; and slot 2
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/// wants Backward, which is GC's y negated. Hence `(x, z, -y)`.
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///
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/// Applied to gyro AND acceleration, because it is a change of basis and both are expressed in
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/// that basis. The negation `forwardMotion` already does for acceleration is a separate matter
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/// — that one converts Apple's gravity-VECTOR convention into the proper acceleration a real
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/// pad reports, and it composes with this rather than replacing it.
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public static func appleMotionToWire(_ v: (Float, Float, Float)) -> (Float, Float, Float) {
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(v.0, v.2, -v.1)
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}
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}
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extension Float {
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fileprivate func clamped(to range: ClosedRange<Float>) -> Float {
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Swift.min(Swift.max(self, range.lowerBound), range.upperBound)
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}
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}
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