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This commit is contained in:
Jimmy Lim 2021-09-17 10:43:06 -04:00
parent 85513384ac
commit 0868ca0b41
23 changed files with 1230 additions and 0 deletions
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using UnityEngine;
using System.Runtime.InteropServices;
using System.Collections;
using System;
using System.Text;
public class HIDapi {
[DllImport("hidapi")]
public static extern int hid_init();
[DllImport("hidapi")]
public static extern int hid_exit();
[DllImport("hidapi")]
public static extern IntPtr hid_error(IntPtr device);
[DllImport("hidapi")]
public static extern IntPtr hid_enumerate(ushort vendor_id, ushort product_id);
[DllImport("hidapi")]
public static extern void hid_free_enumeration(IntPtr devs);
[DllImport("hidapi")]
public static extern int hid_get_feature_report(IntPtr device, byte[] data, UIntPtr length);
[DllImport("hidapi")]
public static extern int hid_get_indexed_string(IntPtr device, int string_index, StringBuilder str, UIntPtr maxlen);
[DllImport("hidapi")]
public static extern int hid_get_manufacturer_string(IntPtr device, StringBuilder str, UIntPtr maxlen);
[DllImport("hidapi")]
public static extern int hid_get_product_string(IntPtr device, StringBuilder str, UIntPtr maxlen);
[DllImport("hidapi")]
public static extern int hid_get_serial_number_string(IntPtr device, StringBuilder str, UIntPtr maxlen);
[DllImport("hidapi")]
public static extern IntPtr hid_open(ushort vendor_id, ushort product_id, string serial_number);
[DllImport("hidapi")]
public static extern void hid_close(IntPtr device);
[DllImport("hidapi")]
public static extern IntPtr hid_open_path(string path);
[DllImport("hidapi")]
public static extern int hid_read(IntPtr device, byte[] data, UIntPtr length);
[DllImport("hidapi")]
public static extern int hid_read_timeout(IntPtr dev, byte[] data, UIntPtr length, int milliseconds);
[DllImport("hidapi")]
public static extern int hid_send_feature_report(IntPtr device, byte[] data, UIntPtr length);
[DllImport("hidapi")]
public static extern int hid_set_nonblocking(IntPtr device, int nonblock);
[DllImport("hidapi")]
public static extern int hid_write(IntPtr device, byte[] data, UIntPtr length);
}
struct hid_device_info {
public string path;
public ushort vendor_id;
public ushort product_id;
public string serial_number;
public ushort release_number;
public string manufacturer_string;
public string product_string;
public ushort usage_page;
public ushort usage;
public int interface_number;
public IntPtr next;
}

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#define DEBUG
using System.Collections;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System;
using System.Threading;
using UnityEngine;
public class Joycon
{
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
};
private bool[] buttons_down = new bool[13];
private bool[] buttons_up = new bool[13];
private bool[] buttons = new bool[13];
private bool[] down_ = new bool[13];
private float[] stick = { 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 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 Vector3 acc_g;
private Int16[] gyr_r = { 0, 0, 0 };
private Int16[] gyr_neutral = { 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 Report(byte[] report, System.DateTime time)
{
r = report;
t = time;
}
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];
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)((Mathf.Round(32f * Mathf.Log(h_f * 0.1f, 2)) - 0x60) * 4);
byte lf = (byte)(Mathf.Round(32f * Mathf.Log(l_f * 0.1f, 2)) - 0x40);
byte hf_amp;
if (amp == 0) hf_amp = 0;
else if (amp < 0.117) hf_amp = (byte)(((Mathf.Log(amp * 1000, 2) * 32) - 0x60) / (5 - Mathf.Pow(amp, 2)) - 1);
else if (amp < 0.23) hf_amp = (byte)(((Mathf.Log(amp * 1000, 2) * 32) - 0x60) - 0x5c);
else hf_amp = (byte)((((Mathf.Log(amp * 1000, 2) * 32) - 0x60) * 2) - 0xf6);
UInt16 lf_amp = (UInt16)(Mathf.Round(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;
public Joycon(IntPtr handle_, bool imu, bool localize, float alpha, bool left)
{
handle = handle_;
imu_enabled = imu;
do_localize = localize;
rumble_obj = new Rumble(160, 320, 0);
filterweight = alpha;
isLeft = left;
}
public void DebugPrint(String s, DebugType d)
{
if (debug_type == DebugType.NONE) return;
if (d == DebugType.ALL || d == debug_type || debug_type == DebugType.ALL)
{
Debug.Log(s);
}
}
public bool GetButtonDown(Button b)
{
bool value = buttons_down[(int) b];
buttons_down[(int) b] = false;
return value;
}
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 Vector3 GetGyro()
{
return gyr_g;
}
public Vector3 GetAccel()
{
return acc_g;
}
public Quaternion GetVector()
{
Vector3 v1 = new Vector3(j_b.x, -k_b.x, i_b.x);
Vector3 v2 = new Vector3(j_b.z, -k_b.z, i_b.z);
if (v2 != Vector3.zero){
return Quaternion.LookRotation(v1, v2);
}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));
}
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:d}. Packet ID: {1:X2}. Timestamp: {2:X2}. Lag to dequeue: {3:s}. Lag between packets (expect 15ms): {4:s}",
// 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();
}
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 -= Time.deltaTime;
}
}
}
}
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)];
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);
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;
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)
{
acc_g[i] = acc_r[i] * 0.00025f;
gyr_g[i] = (gyr_r[i] - gyr_neutral[i]) * 0.00122187695f;
if (Math.Abs(acc_g[i]) > Math.Abs(max[i]))
max[i] = acc_g[i];
}
}
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)
{
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();
}
}
public void Recenter()
{
first_imu_packet = true;
}
private float[] CenterSticks(UInt16[] vals)
{
float[] s = { 0, 0 };
for (uint i = 0; i < 2; ++i)
{
float diff = vals[i] - stick_cal[2 + i];
if (Math.Abs(diff) < deadzone) vals[i] = 0;
else if (diff > 0) // if axis is above center
{
s[i] = diff / stick_cal[i];
}
else
{
s[i] = diff / stick_cal[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)
{
Debug.Log("Using user stick calibration data.");
found = true;
break;
}
}
if (!found)
{
Debug.Log("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}");
buf_ = ReadSPI(0x60, (isLeft ? (byte)0x86 : (byte)0x98), 16);
deadzone = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]);
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));
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, 0x29, 10);
gyr_neutral[0] = (Int16)(buf_[3] | ((buf_[4] << 8) & 0xff00));
gyr_neutral[1] = (Int16)(buf_[5] | ((buf_[6] << 8) & 0xff00));
gyr_neutral[2] = (Int16)(buf_[7] | ((buf_[8] << 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);
}
}

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using System.Collections.Generic;
using System.Runtime.InteropServices;
using UnityEngine;
using System;
public class JoyconManager: MonoBehaviour
{
// Settings accessible via Unity
public bool EnableIMU = true;
public bool EnableLocalize = true;
// Different operating systems either do or don't like the trailing zero
// ReSharper disable InconsistentNaming
private const ushort vendor_id = 0x57e;
private const ushort vendor_id_ = 0x057e;
private const ushort product_l = 0x2006;
private const ushort product_r = 0x2007;
public List<Joycon> ConnectedJoycons; // Array of all connected Joy-Cons
private static JoyconManager _instance;
public static JoyconManager Instance => _instance;
private void Awake()
{
if (_instance != null) Destroy(gameObject);
_instance = this;
ConnectedJoycons = new List<Joycon>();
bool isLeft = false;
HIDapi.hid_init();
IntPtr ptr = HIDapi.hid_enumerate(vendor_id, 0x0);
IntPtr topPtr = ptr;
if (ptr == IntPtr.Zero)
{
ptr = HIDapi.hid_enumerate(vendor_id_, 0x0);
if (ptr == IntPtr.Zero)
{
HIDapi.hid_free_enumeration(ptr);
Debug.Log ("No Joy-Cons found!");
}
}
hid_device_info enumerate;
while (ptr != IntPtr.Zero) {
enumerate = (hid_device_info)Marshal.PtrToStructure (ptr, typeof(hid_device_info));
Debug.Log (enumerate.product_id);
if (enumerate.product_id == product_l || enumerate.product_id == product_r) {
if (enumerate.product_id == product_l) {
isLeft = true;
Debug.Log ("Left Joy-Con connected.");
} else if (enumerate.product_id == product_r) {
isLeft = false;
Debug.Log ("Right Joy-Con connected.");
} else {
Debug.Log ("Non Joy-Con input device skipped.");
}
IntPtr handle = HIDapi.hid_open_path (enumerate.path);
HIDapi.hid_set_nonblocking (handle, 1);
ConnectedJoycons.Add (new Joycon (handle, EnableIMU, EnableLocalize & EnableIMU, 0.05f, isLeft));
}
ptr = enumerate.next;
}
HIDapi.hid_free_enumeration (topPtr);
}
private void Start()
{
for (int i = 0; i < ConnectedJoycons.Count; ++i)
{
Debug.Log (i);
Joycon jc = ConnectedJoycons [i];
byte LEDs = 0x0;
LEDs |= (byte)(0x1 << i);
jc.Attach (LEDs);
jc.Begin ();
}
}
private void Update()
{
foreach (Joycon joycon in ConnectedJoycons)
{
joycon.Update();
}
}
private void OnApplicationQuit()
{
foreach (Joycon joycon in ConnectedJoycons)
{
joycon.Detach ();
}
}
public Joycon GetJoycon(int index)
{
return ConnectedJoycons[index];
}
}

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