hid: Implemented the remaining functionality for supporting SevenSixAxisSensor, and added the required structs. Updated hidInitializeSevenSixAxisSensor for the [10.0.0+] change.

nx/include/switch/services/hid.h

@@ -670,6 +670,16 @@ typedef struct HidController {
 
 // End HidController
 
+/// HidConsoleSixAxisSensor
+typedef struct {
+    u64 timestamp;                   ///< Timestamp in samples
+    u8 is_at_rest;                   ///< IsSevenSixAxisSensorAtRest
+    u8 pad[0x3];
+    float verticalization_error;     ///< VerticalizationError
+    UtilFloat3 gyro_bias;            ///< GyroBias
+    u8 pad2[0x4];
+} HidConsoleSixAxisSensor;
+
 /// HidSharedMemory
 typedef struct HidSharedMemory {
     u8 header[0x400];
@@ -686,9 +696,40 @@ typedef struct HidSharedMemory {
     u8 unkSection8[0x800];
     u8 controllerSerials[0x4000];
     HidController controllers[10];
-    u8 unkSection9[0x4600];
+    u8 gesture[0x800];
+    HidConsoleSixAxisSensor console_six_axis_sensor;    ///< [5.0.0+]
+    u8 unk_x3C220[0x3DE0];
 } HidSharedMemory;
 
+typedef struct {
+    u64 unk_x0;
+    u64 unk_x8;
+    u64 latest_entry;
+    u64 total_entries;
+} HidSevenSixAxisSensorStatesHeader;
+
+/// HidSevenSixAxisSensorState
+typedef struct {
+    u64 timestamp0;
+    u64 timestamp1;
+
+    u64 unk_x10;
+    float unk_x18[10];
+} HidSevenSixAxisSensorState;
+
+/// HidSevenSixAxisSensorStateEntry
+typedef struct {
+    u64 timestamp;
+    u64 unused;
+    HidSevenSixAxisSensorState state;
+} HidSevenSixAxisSensorStateEntry;
+
+/// HidSevenSixAxisSensorStates
+typedef struct {
+    HidSevenSixAxisSensorStatesHeader header;
+    HidSevenSixAxisSensorStateEntry entries[0x21];
+} HidSevenSixAxisSensorStates;
+
 /// HidVibrationDeviceInfo
 typedef struct HidVibrationDeviceInfo {
     u32 unk_x0;
@@ -883,6 +924,18 @@ Result hidGetSevenSixAxisSensorFusionStrength(float *strength);
 /// Resets the timestamp for the SevenSixAxisSensor. Only available on [6.0.0+].
 Result hidResetSevenSixAxisSensorTimestamp(void);
 
+/// GetSevenSixAxisSensorStates. Only available when \ref hidInitializeSevenSixAxisSensor was previously used.
+Result hidGetSevenSixAxisSensorStates(HidSevenSixAxisSensorState *states, size_t count, size_t *total_out);
+
+/// IsSevenSixAxisSensorAtRest. Only available when \ref hidInitializeSevenSixAxisSensor was previously used.
+Result hidIsSevenSixAxisSensorAtRest(bool *out);
+
+/// GetSensorFusionError. Only available when \ref hidInitializeSevenSixAxisSensor was previously used.
+Result hidGetSensorFusionError(float *out);
+
+/// GetGyroBias. Only available when \ref hidInitializeSevenSixAxisSensor was previously used.
+Result hidGetGyroBias(UtilFloat3 *out);
+
 /// Gets the \ref HidNpadInterfaceType for the specified controller.
 /// Only available on [4.0.0+].
 Result hidGetNpadInterfaceType(HidControllerID id, u8 *out);

nx/source/services/hid.c

@@ -3,6 +3,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include <malloc.h>
+#include <stdatomic.h>
 #include "kernel/shmem.h"
 #include "kernel/rwlock.h"
 #include "services/applet.h"
@@ -1150,8 +1151,10 @@ Result hidInitializeSevenSixAxisSensor(void) {
     if (g_sevenSixAxisSensorBuffer != NULL)
         return MAKERESULT(Module_Libnx, LibnxError_AlreadyInitialized);
 
-    rc = _hidActivateConsoleSixAxisSensor();
+    if (hosversionBefore(10,0,0)) { // No longer used by sdknso on [10.0.0+].
-    if (R_FAILED(rc)) return rc;
+        rc = _hidActivateConsoleSixAxisSensor();
+        if (R_FAILED(rc)) return rc;
+    }
 
     g_sevenSixAxisSensorBuffer = (u8*)memalign(0x1000, bufsize);
     if (g_sevenSixAxisSensorBuffer == NULL)
@@ -1225,6 +1228,74 @@ Result hidResetSevenSixAxisSensorTimestamp(void) {
     return _hidCmdWithNoInput(310);
 }
 
+Result hidGetSevenSixAxisSensorStates(HidSevenSixAxisSensorState *states, size_t count, size_t *total_out) {
+    if (g_sevenSixAxisSensorBuffer == NULL)
+        return MAKERESULT(Module_Libnx, LibnxError_NotInitialized);
+
+    if (states == NULL)
+        return MAKERESULT(Module_Libnx, LibnxError_BadInput);
+
+    HidSevenSixAxisSensorStates *states_buf = (HidSevenSixAxisSensorStates*)g_sevenSixAxisSensorBuffer;
+
+    s32 total_entries = (s32)atomic_load_explicit(&states_buf->header.total_entries, memory_order_acquire);
+    if (total_entries < 0) total_entries = 0;
+    if (total_entries > count) total_entries = count;
+    s32 latest_entry = (s32)atomic_load_explicit(&states_buf->header.latest_entry, memory_order_acquire);
+
+    for (s32 i=0; i<total_entries; i++) {
+        s32 entrypos = (((latest_entry + 0x22) - total_entries) + i) % 0x21;
+
+        u64 timestamp0=0, timestamp1=0;
+
+        timestamp0 = atomic_load_explicit(&states_buf->entries[entrypos].timestamp, memory_order_acquire);
+        memcpy(&states[total_entries-i-1], &states_buf->entries[entrypos].state, sizeof(HidSevenSixAxisSensorState));
+        timestamp1 = atomic_load_explicit(&states_buf->entries[entrypos].timestamp, memory_order_acquire);
+
+        if (timestamp0 != timestamp1 || (i>0 && states[total_entries-i-1].timestamp1 - states[total_entries-i].timestamp1 != 1)) {
+            s32 tmpcount = (s32)atomic_load_explicit(&states_buf->header.total_entries, memory_order_acquire);
+            tmpcount = total_entries < tmpcount ? tmpcount : total_entries;
+            total_entries = tmpcount < count ? tmpcount : count;
+            latest_entry = (s32)atomic_load_explicit(&states_buf->header.latest_entry, memory_order_acquire);
+
+            i=-1;
+        }
+    }
+
+    *total_out = total_entries;
+
+    return 0;
+}
+
+Result hidIsSevenSixAxisSensorAtRest(bool *out) {
+    if (g_sevenSixAxisSensorBuffer == NULL)
+        return MAKERESULT(Module_Libnx, LibnxError_NotInitialized);
+
+    HidSharedMemory *shared_mem = (HidSharedMemory*)hidGetSharedmemAddr();
+    *out = shared_mem->console_six_axis_sensor.is_at_rest & 1;
+
+    return 0;
+}
+
+Result hidGetSensorFusionError(float *out) {
+    if (g_sevenSixAxisSensorBuffer == NULL)
+        return MAKERESULT(Module_Libnx, LibnxError_NotInitialized);
+
+    HidSharedMemory *shared_mem = (HidSharedMemory*)hidGetSharedmemAddr();
+    *out = shared_mem->console_six_axis_sensor.verticalization_error;
+
+    return 0;
+}
+
+Result hidGetGyroBias(UtilFloat3 *out) {
+    if (g_sevenSixAxisSensorBuffer == NULL)
+        return MAKERESULT(Module_Libnx, LibnxError_NotInitialized);
+
+    HidSharedMemory *shared_mem = (HidSharedMemory*)hidGetSharedmemAddr();
+    *out = shared_mem->console_six_axis_sensor.gyro_bias;
+
+    return 0;
+}
+
 Result hidGetNpadInterfaceType(HidControllerID id, u8 *out) {
     if (hosversionBefore(4,0,0))
         return MAKERESULT(Module_Libnx, LibnxError_IncompatSysVer);