feat(libScePad): apply the angular velocity deadband

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

core/libs/prx/libScePad/Export.cpp

@@ -201,7 +201,7 @@ int APS5_VABI scePadResetOrientation(int handle) {
 
 int APS5_VABI scePadSetAngularVelocityDeadbandState(int handle, bool enable) {
  if (handle != PAD_HANDLE) return PAD_ERROR_INVALID_HANDLE;
- if (enable) NotImplemented_nid_no_patch(__func__);
+ Pad::SetAngularVelocityDeadband(enable);
  return PAD_OK;
 }
 

core/libs/prx/libScePad/include/PadState.hpp

@@ -59,6 +59,7 @@ void SetTriggerCommand(int trigger, const std::uint8_t* command);
 void ResetOrientation();
 void SetMotionEnabled(bool enabled);
 void SetTiltCorrection(bool enabled);
+void SetAngularVelocityDeadband(bool enabled);
 }
 
 extern "C" void PadPublishInput_nid_postfix(const PadInputState& input);

core/libs/prx/libScePad/src/PadState.cpp

@@ -30,6 +30,8 @@ namespace {
     std::uint64_t lastFuseTime = 0;
     float biasIntegral[3] = {0.0f, 0.0f, 0.0f};
     bool tiltCorrection = true;
+    bool angularVelocityDeadband = false;
+    constexpr float kAngularVelocityDeadband = 0.017453292f;
     std::uint8_t nextTouchId = 0;
     bool prevTouchActive[2] = {false, false};
     std::uint8_t touchIds[2] = {0, 0};
@@ -126,7 +128,12 @@ PadData BuildData(const PadInputState& state, std::uint64_t changeTime, std::uin
     const bool live = state.hasMotion && output.motionEnabled;
     const std::array<float, 3> rest{0.0f, 9.80665f, 0.0f};
     const std::array<float, 3>& accel = live ? state.accel : rest;
-    const std::array<float, 3> gyro = live ? state.gyro : std::array<float, 3>{0.0f, 0.0f, 0.0f};
+    std::array<float, 3> gyro = live ? state.gyro : std::array<float, 3>{0.0f, 0.0f, 0.0f};
+    if (angularVelocityDeadband) {
+        for (float& axis : gyro) {
+            if (axis < kAngularVelocityDeadband && axis > -kAngularVelocityDeadband) axis = 0.0f;
+        }
+    }
     if (live) {
         float dt = lastFuseTime != 0 && now > lastFuseTime ? static_cast<float>(now - lastFuseTime) * 1e-6f : 0.0f;
         dt = std::min(dt, 0.1f);
@@ -316,6 +323,11 @@ void Pad::SetTiltCorrection(bool enabled) {
     biasIntegral[0] = biasIntegral[1] = biasIntegral[2] = 0.0f;
 }
 
+void Pad::SetAngularVelocityDeadband(bool enabled) {
+    std::lock_guard lock(stateMutex);
+    angularVelocityDeadband = enabled;
+}
+
 void Pad::SetMotionEnabled(bool enabled) {
     std::lock_guard lock(stateMutex);
     if (output.motionEnabled == enabled) return;

core/libs/tests/GuestPad.cpp

@@ -113,6 +113,24 @@ static void CheckTiltCorrection(int handle) {
     PadPublishInput_nid_postfix(PadInputState{});
 }
 
+static void CheckAngularVelocityDeadband(int handle) {
+    PadInputState moving;
+    moving.hasMotion = true;
+    moving.accel = {0.0f, 9.80665f, 0.0f};
+    moving.gyro = {0.01f, 0.0175f, -0.017f};
+    PadPublishInput_nid_postfix(moving);
+    PadData data{};
+    Require(scePadReadState(handle, &data) == PAD_OK);
+    Require(data.angular_velocity_x == 0.01f && data.angular_velocity_y == 0.0175f && data.angular_velocity_z == -0.017f);
+    Require(scePadSetAngularVelocityDeadbandState(handle, true) == PAD_OK);
+    Require(scePadReadState(handle, &data) == PAD_OK);
+    Require(data.angular_velocity_x == 0.0f && data.angular_velocity_y == 0.0175f && data.angular_velocity_z == 0.0f);
+    Require(scePadSetAngularVelocityDeadbandState(handle, false) == PAD_OK);
+    Require(scePadReadState(handle, &data) == PAD_OK);
+    Require(data.angular_velocity_x == 0.01f && data.angular_velocity_z == -0.017f);
+    PadPublishInput_nid_postfix(PadInputState{});
+}
+
 static void CheckTouchContact() {
     PadInputState touch;
     touch.buttons = static_cast<std::uint32_t>(Pad::PadButton::TouchPad);
@@ -253,6 +271,7 @@ int main() {
     Require(scePadGetHandle(user, PAD_PORT_TYPE_SPECIAL, 0) == noHandle);
     Require(scePadGetHandle(user, 0, 0) == handle);
     CheckTiltCorrection(handle);
+    CheckAngularVelocityDeadband(handle);
     CheckTouchContact();
     CheckPartialTrigger();
     CheckReadQueue(handle);
@@ -272,6 +291,7 @@ int main() {
     Require(scePadSetVibrationTriggerEffectWeakWhileEmbeddedMicInUse(true) == 0);
     Require(scePadSetAngularVelocityDeadbandState(handle, false) == 0);
     Require(scePadSetAngularVelocityDeadbandState(handle + 1, false) == PAD_ERROR_INVALID_HANDLE);
+    Require(scePadSetAngularVelocityDeadbandState(handle + 1, true) == PAD_ERROR_INVALID_HANDLE);
     Require(scePadSetAngularVelocityBiasCorrectionState(handle, false) == PAD_OK);
     Require(scePadSetAngularVelocityBiasCorrectionState(handle + 1, false) == PAD_ERROR_INVALID_HANDLE);
 }

docs/dev/debt/libScePad.md

@@ -2,6 +2,7 @@
 
 ### Unknown function info
 
+- [scePadSetAngularVelocityDeadbandState](../../../core/libs/prx/libScePad/src/PadState.cpp) (libScePad) - with the deadband on, each angular velocity axis whose magnitude is below 0.017453292 rad/s (1 degree per second) reads as 0, before the orientation is integrated; it starts off. Threshold, per-axis test and default follow [duaLib](https://github.com/WujekFoliarz/duaLib/blob/03bad1bea2a36561b520846776f2a07ced6773e0/src/source/duaLib.cpp#L44), which reimplements the PC `libScePad.dll`; the console's threshold is not measured, and the deadband is kept per library rather than per handle since one pad handle exists
 - [scePadOpen and scePadOpenExt](../../../core/libs/prx/libScePad/Export.cpp) (libScePad) - special ports (type 2) return `DEVICE_NOT_CONNECTED` (0x80920007) because the host has no special controller, and `scePadGetHandle` has no handle for them; whether the console opens a handle and reports the device as disconnected later is unknown. scePadOpenExt handles only special ports. PPSA01317 passes a 16-byte param that names the device by vendor and product id (`b7 0e 04 0e ...` for 0x0eb7:0x0e04) and skips the user on any negative result. Other port types throw
 - [scePadVrControllerReadState](../../../core/libs/prx/libScePad/Export.cpp) (libScePad, NID `iA-DdobUen8`) - the name hashes to the imported NID; the `(int handle, void* state)` signature follows [PS5VR](https://github.com/theghostonline/PS5VR/blob/0e408909ce7a39891a2e06eee3438d07a09e11e3/app/src/app_vr.c#L326-L369) (PPSA99177), which passes a PS VR2 Sense controller handle from `scePadOpen` type 3 or 4 and a 0x68-byte state it reads as buttons at 0, stick bytes at 4 and a connected byte at 0x40. The title calls it only after `sceHmd2Initialize` succeeds, which it does not here, so every call throws; the state layout is otherwise unknown
 - [scePadSetVibrationMode](../../../core/libs/prx/libScePad/Export.cpp) (libScePad) - modes 0 to 3 are accepted and stored; the meaning of mode 3 is unknown (PPSA21480 calls it with 3 right after `scePadOpen` and aborts on failure; [SharpProspero](https://github.com/SvenGDK/SharpProspero/blob/main/src/SharpProspero/Interop/Pad/Pad.cs) names only 1 and 2). The stored mode has no other effect