/*
  Simple DirectMedia Layer
  Copyright (C) 1997-2024 Sam Lantinga <slouken@libsdl.org>

  This software is provided 'as-is', without any express or implied
  warranty.  In no event will the authors be held liable for any damages
  arising from the use of this software.

  Permission is granted to anyone to use this software for any purpose,
  including commercial applications, and to alter it and redistribute it
  freely, subject to the following restrictions:

  1. The origin of this software must not be misrepresented; you must not
     claim that you wrote the original software. If you use this software
     in a product, an acknowledgment in the product documentation would be
     appreciated but is not required.
  2. Altered source versions must be plainly marked as such, and must not be
     misrepresented as being the original software.
  3. This notice may not be removed or altered from any source distribution.
*/
/* This driver supports the Nintendo Switch Pro controller.
   Code and logic contributed by Valve Corporation under the SDL zlib license.
*/
#include "../../SDL_internal.h"

#ifdef SDL_JOYSTICK_HIDAPI

#include "SDL_events.h"
#include "SDL_timer.h"
#include "SDL_joystick.h"
#include "SDL_gamecontroller.h"
#include "../../SDL_hints_c.h"
#include "../SDL_sysjoystick.h"
#include "SDL_hidapijoystick_c.h"
#include "SDL_hidapi_rumble.h"
#include "SDL_hidapi_nintendo.h"

#ifdef SDL_JOYSTICK_HIDAPI_SWITCH

/* Define this if you want to log all packets from the controller */
/*#define DEBUG_SWITCH_PROTOCOL*/

/* Define this to get log output for rumble logic */
/*#define DEBUG_RUMBLE*/

/* The initialization sequence doesn't appear to work correctly on Windows unless
   the reads and writes are on the same thread.

   ... and now I can't reproduce this, so I'm leaving it in, but disabled for now.
 */
/*#define SWITCH_SYNCHRONOUS_WRITES*/

/* How often you can write rumble commands to the controller.
   If you send commands more frequently than this, you can turn off the controller
   in Bluetooth mode, or the motors can miss the command in USB mode.
 */
#define RUMBLE_WRITE_FREQUENCY_MS 30

/* How often you have to refresh a long duration rumble to keep the motors running */
#define RUMBLE_REFRESH_FREQUENCY_MS 50

#define SWITCH_GYRO_SCALE  14.2842f
#define SWITCH_ACCEL_SCALE 4096.f

#define SWITCH_GYRO_SCALE_OFFSET  13371.0f
#define SWITCH_GYRO_SCALE_MULT    936.0f
#define SWITCH_ACCEL_SCALE_OFFSET 16384.0f
#define SWITCH_ACCEL_SCALE_MULT   4.0f

typedef enum
{
    k_eSwitchInputReportIDs_SubcommandReply = 0x21,
    k_eSwitchInputReportIDs_FullControllerState = 0x30,
    k_eSwitchInputReportIDs_FullControllerAndMcuState = 0x31,
    k_eSwitchInputReportIDs_SimpleControllerState = 0x3F,
    k_eSwitchInputReportIDs_CommandAck = 0x81,
} ESwitchInputReportIDs;

typedef enum
{
    k_eSwitchOutputReportIDs_RumbleAndSubcommand = 0x01,
    k_eSwitchOutputReportIDs_Rumble = 0x10,
    k_eSwitchOutputReportIDs_Proprietary = 0x80,
} ESwitchOutputReportIDs;

typedef enum
{
    k_eSwitchSubcommandIDs_BluetoothManualPair = 0x01,
    k_eSwitchSubcommandIDs_RequestDeviceInfo = 0x02,
    k_eSwitchSubcommandIDs_SetInputReportMode = 0x03,
    k_eSwitchSubcommandIDs_SetHCIState = 0x06,
    k_eSwitchSubcommandIDs_SPIFlashRead = 0x10,
    k_eSwitchSubcommandIDs_SetPlayerLights = 0x30,
    k_eSwitchSubcommandIDs_SetHomeLight = 0x38,
    k_eSwitchSubcommandIDs_EnableIMU = 0x40,
    k_eSwitchSubcommandIDs_SetIMUSensitivity = 0x41,
    k_eSwitchSubcommandIDs_EnableVibration = 0x48,
} ESwitchSubcommandIDs;

typedef enum
{
    k_eSwitchProprietaryCommandIDs_Status = 0x01,
    k_eSwitchProprietaryCommandIDs_Handshake = 0x02,
    k_eSwitchProprietaryCommandIDs_HighSpeed = 0x03,
    k_eSwitchProprietaryCommandIDs_ForceUSB = 0x04,
    k_eSwitchProprietaryCommandIDs_ClearUSB = 0x05,
    k_eSwitchProprietaryCommandIDs_ResetMCU = 0x06,
} ESwitchProprietaryCommandIDs;

#define k_unSwitchOutputPacketDataLength 49
#define k_unSwitchMaxOutputPacketLength  64
#define k_unSwitchBluetoothPacketLength  k_unSwitchOutputPacketDataLength
#define k_unSwitchUSBPacketLength        k_unSwitchMaxOutputPacketLength

#define k_unSPIStickFactoryCalibrationStartOffset 0x603D
#define k_unSPIStickFactoryCalibrationEndOffset   0x604E
#define k_unSPIStickFactoryCalibrationLength      (k_unSPIStickFactoryCalibrationEndOffset - k_unSPIStickFactoryCalibrationStartOffset + 1)

#define k_unSPIStickUserCalibrationStartOffset 0x8010
#define k_unSPIStickUserCalibrationEndOffset   0x8025
#define k_unSPIStickUserCalibrationLength      (k_unSPIStickUserCalibrationEndOffset - k_unSPIStickUserCalibrationStartOffset + 1)

#define k_unSPIIMUScaleStartOffset 0x6020
#define k_unSPIIMUScaleEndOffset   0x6037
#define k_unSPIIMUScaleLength      (k_unSPIIMUScaleEndOffset - k_unSPIIMUScaleStartOffset + 1)

#define k_unSPIIMUUserScaleStartOffset 0x8026
#define k_unSPIIMUUserScaleEndOffset   0x8039
#define k_unSPIIMUUserScaleLength      (k_unSPIIMUUserScaleEndOffset - k_unSPIIMUUserScaleStartOffset + 1)

#pragma pack(1)
typedef struct
{
    Uint8 rgucButtons[2];
    Uint8 ucStickHat;
    Uint8 rgucJoystickLeft[2];
    Uint8 rgucJoystickRight[2];
} SwitchInputOnlyControllerStatePacket_t;

typedef struct
{
    Uint8 rgucButtons[2];
    Uint8 ucStickHat;
    Sint16 sJoystickLeft[2];
    Sint16 sJoystickRight[2];
} SwitchSimpleStatePacket_t;

typedef struct
{
    Uint8 ucCounter;
    Uint8 ucBatteryAndConnection;
    Uint8 rgucButtons[3];
    Uint8 rgucJoystickLeft[3];
    Uint8 rgucJoystickRight[3];
    Uint8 ucVibrationCode;
} SwitchControllerStatePacket_t;

typedef struct
{
    SwitchControllerStatePacket_t controllerState;

    struct
    {
        Sint16 sAccelX;
        Sint16 sAccelY;
        Sint16 sAccelZ;

        Sint16 sGyroX;
        Sint16 sGyroY;
        Sint16 sGyroZ;
    } imuState[3];
} SwitchStatePacket_t;

typedef struct
{
    Uint32 unAddress;
    Uint8 ucLength;
} SwitchSPIOpData_t;

typedef struct
{
    SwitchControllerStatePacket_t m_controllerState;

    Uint8 ucSubcommandAck;
    Uint8 ucSubcommandID;

#define k_unSubcommandDataBytes 35
    union
    {
        Uint8 rgucSubcommandData[k_unSubcommandDataBytes];

        struct
        {
            SwitchSPIOpData_t opData;
            Uint8 rgucReadData[k_unSubcommandDataBytes - sizeof(SwitchSPIOpData_t)];
        } spiReadData;

        struct
        {
            Uint8 rgucFirmwareVersion[2];
            Uint8 ucDeviceType;
            Uint8 ucFiller1;
            Uint8 rgucMACAddress[6];
            Uint8 ucFiller2;
            Uint8 ucColorLocation;
        } deviceInfo;

        struct
        {
            SwitchSPIOpData_t opData;
            Uint8 rgucLeftCalibration[9];
            Uint8 rgucRightCalibration[9];
        } stickFactoryCalibration;

        struct
        {
            SwitchSPIOpData_t opData;
            Uint8 rgucLeftMagic[2];
            Uint8 rgucLeftCalibration[9];
            Uint8 rgucRightMagic[2];
            Uint8 rgucRightCalibration[9];
        } stickUserCalibration;
    };
} SwitchSubcommandInputPacket_t;

typedef struct
{
    Uint8 ucPacketType;
    Uint8 ucCommandID;
    Uint8 ucFiller;

    Uint8 ucDeviceType;
    Uint8 rgucMACAddress[6];
} SwitchProprietaryStatusPacket_t;

typedef struct
{
    Uint8 rgucData[4];
} SwitchRumbleData_t;

typedef struct
{
    Uint8 ucPacketType;
    Uint8 ucPacketNumber;
    SwitchRumbleData_t rumbleData[2];
} SwitchCommonOutputPacket_t;

typedef struct
{
    SwitchCommonOutputPacket_t commonData;

    Uint8 ucSubcommandID;
    Uint8 rgucSubcommandData[k_unSwitchOutputPacketDataLength - sizeof(SwitchCommonOutputPacket_t) - 1];
} SwitchSubcommandOutputPacket_t;

typedef struct
{
    Uint8 ucPacketType;
    Uint8 ucProprietaryID;

    Uint8 rgucProprietaryData[k_unSwitchOutputPacketDataLength - 1 - 1];
} SwitchProprietaryOutputPacket_t;
#pragma pack()

typedef struct
{
    SDL_HIDAPI_Device *device;
    SDL_Joystick *joystick;
    SDL_bool m_bInputOnly;
    SDL_bool m_bIsGameCube;
    SDL_bool m_bUseButtonLabels;
    SDL_bool m_bPlayerLights;
    int m_nPlayerIndex;
    SDL_bool m_bSyncWrite;
    int m_nMaxWriteAttempts;
    ESwitchDeviceInfoControllerType m_eControllerType;
    Uint8 m_nInitialInputMode;
    Uint8 m_nCurrentInputMode;
    Uint8 m_rgucMACAddress[6];
    Uint8 m_nCommandNumber;
    SwitchCommonOutputPacket_t m_RumblePacket;
    Uint8 m_rgucReadBuffer[k_unSwitchMaxOutputPacketLength];
    SDL_bool m_bRumbleActive;
    Uint32 m_unRumbleSent;
    SDL_bool m_bRumblePending;
    SDL_bool m_bRumbleZeroPending;
    Uint32 m_unRumblePending;
    SDL_bool m_bReportSensors;
    SDL_bool m_bHasSensorData;
    Uint32 m_unLastInput;
    Uint32 m_unLastIMUReset;
    Uint32 m_unIMUSampleTimestamp;
    Uint32 m_unIMUSamples;
    Uint32 m_unIMUUpdateIntervalUS;
    Uint64 m_ulTimestampUS;
    SDL_bool m_bVerticalMode;

    SwitchInputOnlyControllerStatePacket_t m_lastInputOnlyState;
    SwitchSimpleStatePacket_t m_lastSimpleState;
    SwitchStatePacket_t m_lastFullState;

    struct StickCalibrationData
    {
        struct
        {
            Sint16 sCenter;
            Sint16 sMin;
            Sint16 sMax;
        } axis[2];
    } m_StickCalData[2];

    struct StickExtents
    {
        struct
        {
            Sint16 sMin;
            Sint16 sMax;
        } axis[2];
    } m_StickExtents[2], m_SimpleStickExtents[2];

    struct IMUScaleData
    {
        float fAccelScaleX;
        float fAccelScaleY;
        float fAccelScaleZ;

        float fGyroScaleX;
        float fGyroScaleY;
        float fGyroScaleZ;
    } m_IMUScaleData;
} SDL_DriverSwitch_Context;

static int ReadInput(SDL_DriverSwitch_Context *ctx)
{
    int result;

    /* Make sure we don't try to read at the same time a write is happening */
    if (SDL_AtomicGet(&ctx->device->rumble_pending) > 0) {
        return 0;
    }

    result = SDL_hid_read_timeout(ctx->device->dev, ctx->m_rgucReadBuffer, sizeof(ctx->m_rgucReadBuffer), 0);

    /* See if we can guess the initial input mode */
    if (result > 0 && !ctx->m_bInputOnly && !ctx->m_nInitialInputMode) {
        switch (ctx->m_rgucReadBuffer[0]) {
        case k_eSwitchInputReportIDs_FullControllerState:
        case k_eSwitchInputReportIDs_FullControllerAndMcuState:
        case k_eSwitchInputReportIDs_SimpleControllerState:
            ctx->m_nInitialInputMode = ctx->m_rgucReadBuffer[0];
            break;
        default:
            break;
        }
    }
    return result;
}

static int WriteOutput(SDL_DriverSwitch_Context *ctx, const Uint8 *data, int size)
{
#ifdef SWITCH_SYNCHRONOUS_WRITES
    return SDL_hid_write(ctx->device->dev, data, size);
#else
    /* Use the rumble thread for general asynchronous writes */
    if (SDL_HIDAPI_LockRumble() != 0) {
        return -1;
    }
    return SDL_HIDAPI_SendRumbleAndUnlock(ctx->device, data, size);
#endif /* SWITCH_SYNCHRONOUS_WRITES */
}

static SwitchSubcommandInputPacket_t *ReadSubcommandReply(SDL_DriverSwitch_Context *ctx, ESwitchSubcommandIDs expectedID)
{
    /* Average response time for messages is ~30ms */
    Uint32 TimeoutMs = 100;
    Uint32 startTicks = SDL_GetTicks();

    int nRead = 0;
    while ((nRead = ReadInput(ctx)) != -1) {
        if (nRead > 0) {
            if (ctx->m_rgucReadBuffer[0] == k_eSwitchInputReportIDs_SubcommandReply) {
                SwitchSubcommandInputPacket_t *reply = (SwitchSubcommandInputPacket_t *)&ctx->m_rgucReadBuffer[1];
                if (reply->ucSubcommandID == expectedID && (reply->ucSubcommandAck & 0x80)) {
                    return reply;
                }
            }
        } else {
            SDL_Delay(1);
        }

        if (SDL_TICKS_PASSED(SDL_GetTicks(), startTicks + TimeoutMs)) {
            break;
        }
    }
    return NULL;
}

static SDL_bool ReadProprietaryReply(SDL_DriverSwitch_Context *ctx, ESwitchProprietaryCommandIDs expectedID)
{
    /* Average response time for messages is ~30ms */
    Uint32 TimeoutMs = 100;
    Uint32 startTicks = SDL_GetTicks();

    int nRead = 0;
    while ((nRead = ReadInput(ctx)) != -1) {
        if (nRead > 0) {
            if (ctx->m_rgucReadBuffer[0] == k_eSwitchInputReportIDs_CommandAck && ctx->m_rgucReadBuffer[1] == expectedID) {
                return SDL_TRUE;
            }
        } else {
            SDL_Delay(1);
        }

        if (SDL_TICKS_PASSED(SDL_GetTicks(), startTicks + TimeoutMs)) {
            break;
        }
    }
    return SDL_FALSE;
}

static void ConstructSubcommand(SDL_DriverSwitch_Context *ctx, ESwitchSubcommandIDs ucCommandID, Uint8 *pBuf, Uint8 ucLen, SwitchSubcommandOutputPacket_t *outPacket)
{
    SDL_memset(outPacket, 0, sizeof(*outPacket));

    outPacket->commonData.ucPacketType = k_eSwitchOutputReportIDs_RumbleAndSubcommand;
    outPacket->commonData.ucPacketNumber = ctx->m_nCommandNumber;

    SDL_memcpy(outPacket->commonData.rumbleData, ctx->m_RumblePacket.rumbleData, sizeof(ctx->m_RumblePacket.rumbleData));

    outPacket->ucSubcommandID = ucCommandID;
    if (pBuf) {
        SDL_memcpy(outPacket->rgucSubcommandData, pBuf, ucLen);
    }

    ctx->m_nCommandNumber = (ctx->m_nCommandNumber + 1) & 0xF;
}

static SDL_bool WritePacket(SDL_DriverSwitch_Context *ctx, void *pBuf, Uint8 ucLen)
{
    Uint8 rgucBuf[k_unSwitchMaxOutputPacketLength];
    const size_t unWriteSize = ctx->device->is_bluetooth ? k_unSwitchBluetoothPacketLength : k_unSwitchUSBPacketLength;

    if (ucLen > k_unSwitchOutputPacketDataLength) {
        return SDL_FALSE;
    }

    if (ucLen < unWriteSize) {
        SDL_memcpy(rgucBuf, pBuf, ucLen);
        SDL_memset(rgucBuf + ucLen, 0, unWriteSize - ucLen);
        pBuf = rgucBuf;
        ucLen = (Uint8)unWriteSize;
    }
    if (ctx->m_bSyncWrite) {
        return SDL_hid_write(ctx->device->dev, (Uint8 *)pBuf, ucLen) >= 0;
    } else {
        return WriteOutput(ctx, (Uint8 *)pBuf, ucLen) >= 0;
    }
}

static SDL_bool WriteSubcommand(SDL_DriverSwitch_Context *ctx, ESwitchSubcommandIDs ucCommandID, Uint8 *pBuf, Uint8 ucLen, SwitchSubcommandInputPacket_t **ppReply)
{
    SwitchSubcommandInputPacket_t *reply = NULL;
    int nTries;

    for (nTries = 1; !reply && nTries <= ctx->m_nMaxWriteAttempts; ++nTries) {
        SwitchSubcommandOutputPacket_t commandPacket;
        ConstructSubcommand(ctx, ucCommandID, pBuf, ucLen, &commandPacket);

        if (!WritePacket(ctx, &commandPacket, sizeof(commandPacket))) {
            continue;
        }

        reply = ReadSubcommandReply(ctx, ucCommandID);
    }

    if (ppReply) {
        *ppReply = reply;
    }
    return reply != NULL;
}

static SDL_bool WriteProprietary(SDL_DriverSwitch_Context *ctx, ESwitchProprietaryCommandIDs ucCommand, Uint8 *pBuf, Uint8 ucLen, SDL_bool waitForReply)
{
    int nTries;

    for (nTries = 1; nTries <= ctx->m_nMaxWriteAttempts; ++nTries) {
        SwitchProprietaryOutputPacket_t packet;

        if ((!pBuf && ucLen > 0) || ucLen > sizeof(packet.rgucProprietaryData)) {
            return SDL_FALSE;
        }

        SDL_zero(packet);
        packet.ucPacketType = k_eSwitchOutputReportIDs_Proprietary;
        packet.ucProprietaryID = ucCommand;
        if (pBuf) {
            SDL_memcpy(packet.rgucProprietaryData, pBuf, ucLen);
        }

        if (!WritePacket(ctx, &packet, sizeof(packet))) {
            continue;
        }

        if (!waitForReply || ReadProprietaryReply(ctx, ucCommand)) {
            // SDL_Log("Succeeded%s after %d tries\n", ctx->m_bSyncWrite ? " (sync)" : "", nTries);
            return SDL_TRUE;
        }
    }
    // SDL_Log("Failed%s after %d tries\n", ctx->m_bSyncWrite ? " (sync)" : "", nTries);
    return SDL_FALSE;
}

static Uint8 EncodeRumbleHighAmplitude(Uint16 amplitude)
{
    /* More information about these values can be found here:
     * https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/rumble_data_table.md
     */
    Uint16 hfa[101][2] = { { 0, 0x0 }, { 514, 0x2 }, { 775, 0x4 }, { 921, 0x6 }, { 1096, 0x8 }, { 1303, 0x0a }, { 1550, 0x0c }, { 1843, 0x0e }, { 2192, 0x10 }, { 2606, 0x12 }, { 3100, 0x14 }, { 3686, 0x16 }, { 4383, 0x18 }, { 5213, 0x1a }, { 6199, 0x1c }, { 7372, 0x1e }, { 7698, 0x20 }, { 8039, 0x22 }, { 8395, 0x24 }, { 8767, 0x26 }, { 9155, 0x28 }, { 9560, 0x2a }, { 9984, 0x2c }, { 10426, 0x2e }, { 10887, 0x30 }, { 11369, 0x32 }, { 11873, 0x34 }, { 12398, 0x36 }, { 12947, 0x38 }, { 13520, 0x3a }, { 14119, 0x3c }, { 14744, 0x3e }, { 15067, 0x40 }, { 15397, 0x42 }, { 15734, 0x44 }, { 16079, 0x46 }, { 16431, 0x48 }, { 16790, 0x4a }, { 17158, 0x4c }, { 17534, 0x4e }, { 17918, 0x50 }, { 18310, 0x52 }, { 18711, 0x54 }, { 19121, 0x56 }, { 19540, 0x58 }, { 19967, 0x5a }, { 20405, 0x5c }, { 20851, 0x5e }, { 21308, 0x60 }, { 21775, 0x62 }, { 22251, 0x64 }, { 22739, 0x66 }, { 23236, 0x68 }, { 23745, 0x6a }, { 24265, 0x6c }, { 24797, 0x6e }, { 25340, 0x70 }, { 25894, 0x72 }, { 26462, 0x74 }, { 27041, 0x76 }, { 27633, 0x78 }, { 28238, 0x7a }, { 28856, 0x7c }, { 29488, 0x7e }, { 30134, 0x80 }, { 30794, 0x82 }, { 31468, 0x84 }, { 32157, 0x86 }, { 32861, 0x88 }, { 33581, 0x8a }, { 34316, 0x8c }, { 35068, 0x8e }, { 35836, 0x90 }, { 36620, 0x92 }, { 37422, 0x94 }, { 38242, 0x96 }, { 39079, 0x98 }, { 39935, 0x9a }, { 40809, 0x9c }, { 41703, 0x9e }, { 42616, 0xa0 }, { 43549, 0xa2 }, { 44503, 0xa4 }, { 45477, 0xa6 }, { 46473, 0xa8 }, { 47491, 0xaa }, { 48531, 0xac }, { 49593, 0xae }, { 50679, 0xb0 }, { 51789, 0xb2 }, { 52923, 0xb4 }, { 54082, 0xb6 }, { 55266, 0xb8 }, { 56476, 0xba }, { 57713, 0xbc }, { 58977, 0xbe }, { 60268, 0xc0 }, { 61588, 0xc2 }, { 62936, 0xc4 }, { 64315, 0xc6 }, { 65535, 0xc8 } };
    int index = 0;
    for (; index < 101; index++) {
        if (amplitude <= hfa[index][0]) {
            return (Uint8)hfa[index][1];
        }
    }
    return (Uint8)hfa[100][1];
}

static Uint16 EncodeRumbleLowAmplitude(Uint16 amplitude)
{
    /* More information about these values can be found here:
     * https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/rumble_data_table.md
     */
    Uint16 lfa[101][2] = { { 0, 0x0040 }, { 514, 0x8040 }, { 775, 0x0041 }, { 921, 0x8041 }, { 1096, 0x0042 }, { 1303, 0x8042 }, { 1550, 0x0043 }, { 1843, 0x8043 }, { 2192, 0x0044 }, { 2606, 0x8044 }, { 3100, 0x0045 }, { 3686, 0x8045 }, { 4383, 0x0046 }, { 5213, 0x8046 }, { 6199, 0x0047 }, { 7372, 0x8047 }, { 7698, 0x0048 }, { 8039, 0x8048 }, { 8395, 0x0049 }, { 8767, 0x8049 }, { 9155, 0x004a }, { 9560, 0x804a }, { 9984, 0x004b }, { 10426, 0x804b }, { 10887, 0x004c }, { 11369, 0x804c }, { 11873, 0x004d }, { 12398, 0x804d }, { 12947, 0x004e }, { 13520, 0x804e }, { 14119, 0x004f }, { 14744, 0x804f }, { 15067, 0x0050 }, { 15397, 0x8050 }, { 15734, 0x0051 }, { 16079, 0x8051 }, { 16431, 0x0052 }, { 16790, 0x8052 }, { 17158, 0x0053 }, { 17534, 0x8053 }, { 17918, 0x0054 }, { 18310, 0x8054 }, { 18711, 0x0055 }, { 19121, 0x8055 }, { 19540, 0x0056 }, { 19967, 0x8056 }, { 20405, 0x0057 }, { 20851, 0x8057 }, { 21308, 0x0058 }, { 21775, 0x8058 }, { 22251, 0x0059 }, { 22739, 0x8059 }, { 23236, 0x005a }, { 23745, 0x805a }, { 24265, 0x005b }, { 24797, 0x805b }, { 25340, 0x005c }, { 25894, 0x805c }, { 26462, 0x005d }, { 27041, 0x805d }, { 27633, 0x005e }, { 28238, 0x805e }, { 28856, 0x005f }, { 29488, 0x805f }, { 30134, 0x0060 }, { 30794, 0x8060 }, { 31468, 0x0061 }, { 32157, 0x8061 }, { 32861, 0x0062 }, { 33581, 0x8062 }, { 34316, 0x0063 }, { 35068, 0x8063 }, { 35836, 0x0064 }, { 36620, 0x8064 }, { 37422, 0x0065 }, { 38242, 0x8065 }, { 39079, 0x0066 }, { 39935, 0x8066 }, { 40809, 0x0067 }, { 41703, 0x8067 }, { 42616, 0x0068 }, { 43549, 0x8068 }, { 44503, 0x0069 }, { 45477, 0x8069 }, { 46473, 0x006a }, { 47491, 0x806a }, { 48531, 0x006b }, { 49593, 0x806b }, { 50679, 0x006c }, { 51789, 0x806c }, { 52923, 0x006d }, { 54082, 0x806d }, { 55266, 0x006e }, { 56476, 0x806e }, { 57713, 0x006f }, { 58977, 0x806f }, { 60268, 0x0070 }, { 61588, 0x8070 }, { 62936, 0x0071 }, { 64315, 0x8071 }, { 65535, 0x0072 } };
    int index = 0;
    for (; index < 101; index++) {
        if (amplitude <= lfa[index][0]) {
            return lfa[index][1];
        }
    }
    return lfa[100][1];
}

static void SetNeutralRumble(SwitchRumbleData_t *pRumble)
{
    pRumble->rgucData[0] = 0x00;
    pRumble->rgucData[1] = 0x01;
    pRumble->rgucData[2] = 0x40;
    pRumble->rgucData[3] = 0x40;
}

static void EncodeRumble(SwitchRumbleData_t *pRumble, Uint16 usHighFreq, Uint8 ucHighFreqAmp, Uint8 ucLowFreq, Uint16 usLowFreqAmp)
{
    if (ucHighFreqAmp > 0 || usLowFreqAmp > 0) {
        // High-band frequency and low-band amplitude are actually nine-bits each so they
        // take a bit from the high-band amplitude and low-band frequency bytes respectively
        pRumble->rgucData[0] = usHighFreq & 0xFF;
        pRumble->rgucData[1] = ucHighFreqAmp | ((usHighFreq >> 8) & 0x01);

        pRumble->rgucData[2] = ucLowFreq | ((usLowFreqAmp >> 8) & 0x80);
        pRumble->rgucData[3] = usLowFreqAmp & 0xFF;

#ifdef DEBUG_RUMBLE
        SDL_Log("Freq: %.2X %.2X  %.2X, Amp: %.2X  %.2X %.2X\n",
                usHighFreq & 0xFF, ((usHighFreq >> 8) & 0x01), ucLowFreq,
                ucHighFreqAmp, ((usLowFreqAmp >> 8) & 0x80), usLowFreqAmp & 0xFF);
#endif
    } else {
        SetNeutralRumble(pRumble);
    }
}

static SDL_bool WriteRumble(SDL_DriverSwitch_Context *ctx)
{
    /* Write into m_RumblePacket rather than a temporary buffer to allow the current rumble state
     * to be retained for subsequent rumble or subcommand packets sent to the controller
     */
    ctx->m_RumblePacket.ucPacketType = k_eSwitchOutputReportIDs_Rumble;
    ctx->m_RumblePacket.ucPacketNumber = ctx->m_nCommandNumber;
    ctx->m_nCommandNumber = (ctx->m_nCommandNumber + 1) & 0xF;

    /* Refresh the rumble state periodically */
    ctx->m_unRumbleSent = SDL_GetTicks();

    return WritePacket(ctx, (Uint8 *)&ctx->m_RumblePacket, sizeof(ctx->m_RumblePacket));
}

static ESwitchDeviceInfoControllerType CalculateControllerType(SDL_DriverSwitch_Context *ctx, ESwitchDeviceInfoControllerType eControllerType)
{
    SDL_HIDAPI_Device *device = ctx->device;

    /* The N64 controller reports as a Pro controller over USB */
    if (eControllerType == k_eSwitchDeviceInfoControllerType_ProController &&
        device->product_id == USB_PRODUCT_NINTENDO_N64_CONTROLLER) {
        eControllerType = k_eSwitchDeviceInfoControllerType_N64;
    }

    if (eControllerType == k_eSwitchDeviceInfoControllerType_Unknown) {
        /* This might be a Joy-Con that's missing from a charging grip slot */
        if (device->product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_GRIP) {
            if (device->interface_number == 1) {
                eControllerType = k_eSwitchDeviceInfoControllerType_JoyConLeft;
            } else {
                eControllerType = k_eSwitchDeviceInfoControllerType_JoyConRight;
            }
        }
    }
    return eControllerType;
}

static SDL_bool BReadDeviceInfo(SDL_DriverSwitch_Context *ctx)
{
    SwitchSubcommandInputPacket_t *reply = NULL;

    ctx->device->is_bluetooth = SDL_FALSE;

    if (WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_Status, NULL, 0, SDL_TRUE)) {
        SwitchProprietaryStatusPacket_t *status = (SwitchProprietaryStatusPacket_t *)&ctx->m_rgucReadBuffer[0];
        size_t i;

        ctx->m_eControllerType = CalculateControllerType(ctx, (ESwitchDeviceInfoControllerType)status->ucDeviceType);

        for (i = 0; i < sizeof(ctx->m_rgucMACAddress); ++i) {
            ctx->m_rgucMACAddress[i] = status->rgucMACAddress[sizeof(ctx->m_rgucMACAddress) - i - 1];
        }

        return SDL_TRUE;
    }

    ctx->device->is_bluetooth = SDL_TRUE;

    if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_RequestDeviceInfo, NULL, 0, &reply)) {
        // Byte 2: Controller ID (1=LJC, 2=RJC, 3=Pro)
        ctx->m_eControllerType = CalculateControllerType(ctx, (ESwitchDeviceInfoControllerType)reply->deviceInfo.ucDeviceType);

        // Bytes 4-9: MAC address (big-endian)
        SDL_memcpy(ctx->m_rgucMACAddress, reply->deviceInfo.rgucMACAddress, sizeof(ctx->m_rgucMACAddress));

        return SDL_TRUE;
    }

    return SDL_FALSE;
}

static SDL_bool BTrySetupUSB(SDL_DriverSwitch_Context *ctx)
{
    /* We have to send a connection handshake to the controller when communicating over USB
     * before we're able to send it other commands. Luckily this command is not supported
     * over Bluetooth, so we can use the controller's lack of response as a way to
     * determine if the connection is over USB or Bluetooth
     */
    if (!WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_Handshake, NULL, 0, SDL_TRUE)) {
        return SDL_FALSE;
    }
    if (!WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_HighSpeed, NULL, 0, SDL_TRUE)) {
        /* The 8BitDo M30 and SF30 Pro don't respond to this command, but otherwise work correctly */
        /*return SDL_FALSE;*/
    }
    if (!WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_Handshake, NULL, 0, SDL_TRUE)) {
        /* This fails on the right Joy-Con when plugged into the charging grip */
        /*return SDL_FALSE;*/
    }
    if (!WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_ForceUSB, NULL, 0, SDL_FALSE)) {
        return SDL_FALSE;
    }
    return SDL_TRUE;
}

static SDL_bool SetVibrationEnabled(SDL_DriverSwitch_Context *ctx, Uint8 enabled)
{
    return WriteSubcommand(ctx, k_eSwitchSubcommandIDs_EnableVibration, &enabled, sizeof(enabled), NULL);
}
static SDL_bool SetInputMode(SDL_DriverSwitch_Context *ctx, Uint8 input_mode)
{
    if (input_mode == ctx->m_nCurrentInputMode) {
        return SDL_TRUE;
    } else {
        ctx->m_nCurrentInputMode = input_mode;

        return WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SetInputReportMode, &input_mode, sizeof(input_mode), NULL);
    }
}

static SDL_bool SetHomeLED(SDL_DriverSwitch_Context *ctx, Uint8 brightness)
{
    Uint8 ucLedIntensity = 0;
    Uint8 rgucBuffer[4];

    if (brightness > 0) {
        if (brightness < 65) {
            ucLedIntensity = (brightness + 5) / 10;
        } else {
            ucLedIntensity = (Uint8)SDL_ceilf(0xF * SDL_powf((float)brightness / 100.f, 2.13f));
        }
    }

    rgucBuffer[0] = (0x0 << 4) | 0x1;                    /* 0 mini cycles (besides first), cycle duration 8ms */
    rgucBuffer[1] = ((ucLedIntensity & 0xF) << 4) | 0x0; /* LED start intensity (0x0-0xF), 0 cycles (LED stays on at start intensity after first cycle) */
    rgucBuffer[2] = ((ucLedIntensity & 0xF) << 4) | 0x0; /* First cycle LED intensity, 0x0 intensity for second cycle */
    rgucBuffer[3] = (0x0 << 4) | 0x0;                    /* 8ms fade transition to first cycle, 8ms first cycle LED duration */

    return WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SetHomeLight, rgucBuffer, sizeof(rgucBuffer), NULL);
}

static void SDLCALL SDL_HomeLEDHintChanged(void *userdata, const char *name, const char *oldValue, const char *hint)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)userdata;

    if (hint && *hint) {
        int value;

        if (SDL_strchr(hint, '.') != NULL) {
            value = (int)(100.0f * SDL_atof(hint));
        } else if (SDL_GetStringBoolean(hint, SDL_TRUE)) {
            value = 100;
        } else {
            value = 0;
        }
        SetHomeLED(ctx, value);
    }
}

static void UpdateSlotLED(SDL_DriverSwitch_Context *ctx)
{
    if (!ctx->m_bInputOnly) {
        Uint8 led_data = 0;

        if (ctx->m_bPlayerLights && ctx->m_nPlayerIndex >= 0) {
            led_data = (1 << (ctx->m_nPlayerIndex % 4));
        }
        WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SetPlayerLights, &led_data, sizeof(led_data), NULL);
    }
}

static void SDLCALL SDL_PlayerLEDHintChanged(void *userdata, const char *name, const char *oldValue, const char *hint)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)userdata;
    SDL_bool bPlayerLights = SDL_GetStringBoolean(hint, SDL_TRUE);

    if (bPlayerLights != ctx->m_bPlayerLights) {
        ctx->m_bPlayerLights = bPlayerLights;

        UpdateSlotLED(ctx);
    }
}

static void GetInitialInputMode(SDL_DriverSwitch_Context *ctx)
{
    if (!ctx->m_nInitialInputMode) {
        /* This will set the initial input mode if it can */
        ReadInput(ctx);
    }
}

static Uint8 GetDefaultInputMode(SDL_DriverSwitch_Context *ctx)
{
    Uint8 input_mode;

    /* Determine the desired input mode */
    if (ctx->m_nInitialInputMode) {
        input_mode = ctx->m_nInitialInputMode;
    } else {
        if (ctx->device->is_bluetooth) {
            input_mode = k_eSwitchInputReportIDs_SimpleControllerState;
        } else {
            input_mode = k_eSwitchInputReportIDs_FullControllerState;
        }
    }

    /* The official Nintendo Switch Pro Controller supports FullControllerState over Bluetooth
     * just fine. We really should use that, or else the epowerlevel code in HandleFullControllerState
     * is completely pointless. We need full state if we want battery level and we only care about
     * battery level over Bluetooth anyway.
     */
    if (ctx->device->vendor_id == USB_VENDOR_NINTENDO) {
        /* However, switching to full controller state breaks DirectInput, so let's not do that */
        #if 0
        input_mode = k_eSwitchInputReportIDs_FullControllerState;
        #endif

        /* However, Joy-Con controllers switch their thumbsticks into D-pad mode in simple mode,
         * so let's enable full controller state for them.
         */
        if (ctx->device->product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_LEFT ||
            ctx->device->product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_RIGHT) {
            input_mode = k_eSwitchInputReportIDs_FullControllerState;
        }
    }
    return input_mode;
}

static Uint8 GetSensorInputMode(SDL_DriverSwitch_Context *ctx)
{
    Uint8 input_mode;

    /* Determine the desired input mode */
    if (!ctx->m_nInitialInputMode ||
        ctx->m_nInitialInputMode == k_eSwitchInputReportIDs_SimpleControllerState) {
        input_mode = k_eSwitchInputReportIDs_FullControllerState;
    } else {
        input_mode = ctx->m_nInitialInputMode;
    }
    return input_mode;
}

static SDL_bool SetIMUEnabled(SDL_DriverSwitch_Context *ctx, SDL_bool enabled)
{
    Uint8 imu_data = enabled ? 1 : 0;
    return WriteSubcommand(ctx, k_eSwitchSubcommandIDs_EnableIMU, &imu_data, sizeof(imu_data), NULL);
}

static SDL_bool LoadStickCalibration(SDL_DriverSwitch_Context *ctx)
{
    Uint8 *pLeftStickCal;
    Uint8 *pRightStickCal;
    size_t stick, axis;
    SwitchSubcommandInputPacket_t *user_reply = NULL;
    SwitchSubcommandInputPacket_t *factory_reply = NULL;
    SwitchSPIOpData_t readUserParams;
    SwitchSPIOpData_t readFactoryParams;

    /* Read User Calibration Info */
    readUserParams.unAddress = k_unSPIStickUserCalibrationStartOffset;
    readUserParams.ucLength = k_unSPIStickUserCalibrationLength;

    /* This isn't readable on all controllers, so ignore failure */
    WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readUserParams, sizeof(readUserParams), &user_reply);

    /* Read Factory Calibration Info */
    readFactoryParams.unAddress = k_unSPIStickFactoryCalibrationStartOffset;
    readFactoryParams.ucLength = k_unSPIStickFactoryCalibrationLength;

    if (!WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readFactoryParams, sizeof(readFactoryParams), &factory_reply)) {
        return SDL_FALSE;
    }

    /* Automatically select the user calibration if magic bytes are set */
    if (user_reply && user_reply->stickUserCalibration.rgucLeftMagic[0] == 0xB2 && user_reply->stickUserCalibration.rgucLeftMagic[1] == 0xA1) {
        pLeftStickCal = user_reply->stickUserCalibration.rgucLeftCalibration;
    } else {
        pLeftStickCal = factory_reply->stickFactoryCalibration.rgucLeftCalibration;
    }

    if (user_reply && user_reply->stickUserCalibration.rgucRightMagic[0] == 0xB2 && user_reply->stickUserCalibration.rgucRightMagic[1] == 0xA1) {
        pRightStickCal = user_reply->stickUserCalibration.rgucRightCalibration;
    } else {
        pRightStickCal = factory_reply->stickFactoryCalibration.rgucRightCalibration;
    }

    /* Stick calibration values are 12-bits each and are packed by bit
     * For whatever reason the fields are in a different order for each stick
     * Left:  X-Max, Y-Max, X-Center, Y-Center, X-Min, Y-Min
     * Right: X-Center, Y-Center, X-Min, Y-Min, X-Max, Y-Max
     */

    /* Left stick */
    ctx->m_StickCalData[0].axis[0].sMax = ((pLeftStickCal[1] << 8) & 0xF00) | pLeftStickCal[0];    /* X Axis max above center */
    ctx->m_StickCalData[0].axis[1].sMax = (pLeftStickCal[2] << 4) | (pLeftStickCal[1] >> 4);       /* Y Axis max above center */
    ctx->m_StickCalData[0].axis[0].sCenter = ((pLeftStickCal[4] << 8) & 0xF00) | pLeftStickCal[3]; /* X Axis center */
    ctx->m_StickCalData[0].axis[1].sCenter = (pLeftStickCal[5] << 4) | (pLeftStickCal[4] >> 4);    /* Y Axis center */
    ctx->m_StickCalData[0].axis[0].sMin = ((pLeftStickCal[7] << 8) & 0xF00) | pLeftStickCal[6];    /* X Axis min below center */
    ctx->m_StickCalData[0].axis[1].sMin = (pLeftStickCal[8] << 4) | (pLeftStickCal[7] >> 4);       /* Y Axis min below center */

    /* Right stick */
    ctx->m_StickCalData[1].axis[0].sCenter = ((pRightStickCal[1] << 8) & 0xF00) | pRightStickCal[0]; /* X Axis center */
    ctx->m_StickCalData[1].axis[1].sCenter = (pRightStickCal[2] << 4) | (pRightStickCal[1] >> 4);    /* Y Axis center */
    ctx->m_StickCalData[1].axis[0].sMin = ((pRightStickCal[4] << 8) & 0xF00) | pRightStickCal[3];    /* X Axis min below center */
    ctx->m_StickCalData[1].axis[1].sMin = (pRightStickCal[5] << 4) | (pRightStickCal[4] >> 4);       /* Y Axis min below center */
    ctx->m_StickCalData[1].axis[0].sMax = ((pRightStickCal[7] << 8) & 0xF00) | pRightStickCal[6];    /* X Axis max above center */
    ctx->m_StickCalData[1].axis[1].sMax = (pRightStickCal[8] << 4) | (pRightStickCal[7] >> 4);       /* Y Axis max above center */

    /* Filter out any values that were uninitialized (0xFFF) in the SPI read */
    for (stick = 0; stick < 2; ++stick) {
        for (axis = 0; axis < 2; ++axis) {
            if (ctx->m_StickCalData[stick].axis[axis].sCenter == 0xFFF) {
                ctx->m_StickCalData[stick].axis[axis].sCenter = 2048;
            }
            if (ctx->m_StickCalData[stick].axis[axis].sMax == 0xFFF) {
                ctx->m_StickCalData[stick].axis[axis].sMax = (Sint16)(ctx->m_StickCalData[stick].axis[axis].sCenter * 0.7f);
            }
            if (ctx->m_StickCalData[stick].axis[axis].sMin == 0xFFF) {
                ctx->m_StickCalData[stick].axis[axis].sMin = (Sint16)(ctx->m_StickCalData[stick].axis[axis].sCenter * 0.7f);
            }
        }
    }

    for (stick = 0; stick < 2; ++stick) {
        for (axis = 0; axis < 2; ++axis) {
            ctx->m_StickExtents[stick].axis[axis].sMin = -(Sint16)(ctx->m_StickCalData[stick].axis[axis].sMin * 0.7f);
            ctx->m_StickExtents[stick].axis[axis].sMax = (Sint16)(ctx->m_StickCalData[stick].axis[axis].sMax * 0.7f);
        }
    }

    for (stick = 0; stick < 2; ++stick) {
        for (axis = 0; axis < 2; ++axis) {
            ctx->m_SimpleStickExtents[stick].axis[axis].sMin = (Sint16)(SDL_MIN_SINT16 * 0.5f);
            ctx->m_SimpleStickExtents[stick].axis[axis].sMax = (Sint16)(SDL_MAX_SINT16 * 0.5f);
        }
    }

    return SDL_TRUE;
}

static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
{
    SwitchSubcommandInputPacket_t *reply = NULL;

    /* Read Calibration Info */
    SwitchSPIOpData_t readParams;
    readParams.unAddress = k_unSPIIMUScaleStartOffset;
    readParams.ucLength = k_unSPIIMUScaleLength;

    if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply)) {
        Uint8 *pIMUScale;
        Sint16 sAccelRawX, sAccelRawY, sAccelRawZ, sGyroRawX, sGyroRawY, sGyroRawZ;

        /* IMU scale gives us multipliers for converting raw values to real world values */
        pIMUScale = reply->spiReadData.rgucReadData;

        sAccelRawX = (pIMUScale[1] << 8) | pIMUScale[0];
        sAccelRawY = (pIMUScale[3] << 8) | pIMUScale[2];
        sAccelRawZ = (pIMUScale[5] << 8) | pIMUScale[4];

        sGyroRawX = (pIMUScale[13] << 8) | pIMUScale[12];
        sGyroRawY = (pIMUScale[15] << 8) | pIMUScale[14];
        sGyroRawZ = (pIMUScale[17] << 8) | pIMUScale[16];

        /* Check for user calibration data. If it's present and set, it'll override the factory settings */
        readParams.unAddress = k_unSPIIMUUserScaleStartOffset;
        readParams.ucLength = k_unSPIIMUUserScaleLength;
        if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t *)&readParams, sizeof(readParams), &reply) && (pIMUScale[0] | pIMUScale[1] << 8) == 0xA1B2) {
            pIMUScale = reply->spiReadData.rgucReadData;

            sAccelRawX = (pIMUScale[3] << 8) | pIMUScale[2];
            sAccelRawY = (pIMUScale[5] << 8) | pIMUScale[4];
            sAccelRawZ = (pIMUScale[7] << 8) | pIMUScale[6];

            sGyroRawX = (pIMUScale[15] << 8) | pIMUScale[14];
            sGyroRawY = (pIMUScale[17] << 8) | pIMUScale[16];
            sGyroRawZ = (pIMUScale[19] << 8) | pIMUScale[18];
        }

        /* Accelerometer scale */
        ctx->m_IMUScaleData.fAccelScaleX = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawX) * SDL_STANDARD_GRAVITY;
        ctx->m_IMUScaleData.fAccelScaleY = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawY) * SDL_STANDARD_GRAVITY;
        ctx->m_IMUScaleData.fAccelScaleZ = SWITCH_ACCEL_SCALE_MULT / (SWITCH_ACCEL_SCALE_OFFSET - (float)sAccelRawZ) * SDL_STANDARD_GRAVITY;

        /* Gyro scale */
        ctx->m_IMUScaleData.fGyroScaleX = SWITCH_GYRO_SCALE_MULT / (SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawX) * (float)M_PI / 180.0f;
        ctx->m_IMUScaleData.fGyroScaleY = SWITCH_GYRO_SCALE_MULT / (SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawY) * (float)M_PI / 180.0f;
        ctx->m_IMUScaleData.fGyroScaleZ = SWITCH_GYRO_SCALE_MULT / (SWITCH_GYRO_SCALE_OFFSET - (float)sGyroRawZ) * (float)M_PI / 180.0f;

    } else {
        /* Use default values */
        const float accelScale = SDL_STANDARD_GRAVITY / SWITCH_ACCEL_SCALE;
        const float gyroScale = (float)M_PI / 180.0f / SWITCH_GYRO_SCALE;

        ctx->m_IMUScaleData.fAccelScaleX = accelScale;
        ctx->m_IMUScaleData.fAccelScaleY = accelScale;
        ctx->m_IMUScaleData.fAccelScaleZ = accelScale;

        ctx->m_IMUScaleData.fGyroScaleX = gyroScale;
        ctx->m_IMUScaleData.fGyroScaleY = gyroScale;
        ctx->m_IMUScaleData.fGyroScaleZ = gyroScale;
    }
    return SDL_TRUE;
}

static Sint16 ApplyStickCalibration(SDL_DriverSwitch_Context *ctx, int nStick, int nAxis, Sint16 sRawValue)
{
    sRawValue -= ctx->m_StickCalData[nStick].axis[nAxis].sCenter;

    if (sRawValue > ctx->m_StickExtents[nStick].axis[nAxis].sMax) {
        ctx->m_StickExtents[nStick].axis[nAxis].sMax = sRawValue;
    }
    if (sRawValue < ctx->m_StickExtents[nStick].axis[nAxis].sMin) {
        ctx->m_StickExtents[nStick].axis[nAxis].sMin = sRawValue;
    }

    return (Sint16)HIDAPI_RemapVal(sRawValue, ctx->m_StickExtents[nStick].axis[nAxis].sMin, ctx->m_StickExtents[nStick].axis[nAxis].sMax,
                                   SDL_MIN_SINT16, SDL_MAX_SINT16);
}

static Sint16 ApplySimpleStickCalibration(SDL_DriverSwitch_Context *ctx, int nStick, int nAxis, Sint16 sRawValue)
{
    /* 0x8000 is the neutral value for all joystick axes */
    const Uint16 usJoystickCenter = 0x8000;

    sRawValue -= usJoystickCenter;

    if (sRawValue > ctx->m_SimpleStickExtents[nStick].axis[nAxis].sMax) {
        ctx->m_SimpleStickExtents[nStick].axis[nAxis].sMax = sRawValue;
    }
    if (sRawValue < ctx->m_SimpleStickExtents[nStick].axis[nAxis].sMin) {
        ctx->m_SimpleStickExtents[nStick].axis[nAxis].sMin = sRawValue;
    }

    return (Sint16)HIDAPI_RemapVal(sRawValue, ctx->m_SimpleStickExtents[nStick].axis[nAxis].sMin, ctx->m_SimpleStickExtents[nStick].axis[nAxis].sMax,
                                   SDL_MIN_SINT16, SDL_MAX_SINT16);
}

static void SDLCALL SDL_GameControllerButtonReportingHintChanged(void *userdata, const char *name, const char *oldValue, const char *hint)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)userdata;
    ctx->m_bUseButtonLabels = SDL_GetStringBoolean(hint, SDL_TRUE);
}

static Uint8 RemapButton(SDL_DriverSwitch_Context *ctx, Uint8 button)
{
    if (!ctx->m_bUseButtonLabels) {
        /* Use button positions */
        if (ctx->m_bIsGameCube) {
            switch (button) {
            case SDL_CONTROLLER_BUTTON_B:
                return SDL_CONTROLLER_BUTTON_X;
            case SDL_CONTROLLER_BUTTON_X:
                return SDL_CONTROLLER_BUTTON_B;
            default:
                break;
            }
        } else {
            switch (button) {
            case SDL_CONTROLLER_BUTTON_A:
                return SDL_CONTROLLER_BUTTON_B;
            case SDL_CONTROLLER_BUTTON_B:
                return SDL_CONTROLLER_BUTTON_A;
            case SDL_CONTROLLER_BUTTON_X:
                return SDL_CONTROLLER_BUTTON_Y;
            case SDL_CONTROLLER_BUTTON_Y:
                return SDL_CONTROLLER_BUTTON_X;
            default:
                break;
            }
        }
    }
    return button;
}

static int GetMaxWriteAttempts(SDL_HIDAPI_Device *device)
{
    if (device->vendor_id == USB_VENDOR_NINTENDO &&
        device->product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_GRIP) {
        /* This device is a little slow and we know we're always on USB */
        return 20;
    } else {
        return 5;
    }
}

static ESwitchDeviceInfoControllerType ReadJoyConControllerType(SDL_HIDAPI_Device *device)
{
    ESwitchDeviceInfoControllerType eControllerType = k_eSwitchDeviceInfoControllerType_Unknown;
    const int MAX_ATTEMPTS = 1; /* Don't try too long, in case this is a zombie Bluetooth controller */
    int attempts = 0;

    /* Create enough of a context to read the controller type from the device */
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)SDL_calloc(1, sizeof(*ctx));
    if (ctx) {
        ctx->device = device;
        ctx->m_bSyncWrite = SDL_TRUE;
        ctx->m_nMaxWriteAttempts = GetMaxWriteAttempts(device);

        for ( ; ; ) {
            ++attempts;
            device->is_bluetooth = SDL_FALSE;
            if (WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_Status, NULL, 0, SDL_TRUE)) {
                SwitchProprietaryStatusPacket_t *status = (SwitchProprietaryStatusPacket_t *)&ctx->m_rgucReadBuffer[0];

                eControllerType = CalculateControllerType(ctx, (ESwitchDeviceInfoControllerType)status->ucDeviceType);
            } else {
                SwitchSubcommandInputPacket_t *reply = NULL;

                device->is_bluetooth = SDL_TRUE;
                if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_RequestDeviceInfo, NULL, 0, &reply)) {
                    eControllerType = CalculateControllerType(ctx, (ESwitchDeviceInfoControllerType)reply->deviceInfo.ucDeviceType);
                }
            }
            if (eControllerType == k_eSwitchDeviceInfoControllerType_Unknown && attempts < MAX_ATTEMPTS) {
                /* Wait a bit and try again */
                SDL_Delay(100);
                continue;
            }
            break;
        }
        SDL_free(ctx);
    }
    return eControllerType;
}

static SDL_bool HasHomeLED(SDL_DriverSwitch_Context *ctx)
{
    Uint16 vendor_id = ctx->device->vendor_id;
    Uint16 product_id = ctx->device->product_id;

    /* The Power A Nintendo Switch Pro controllers don't have a Home LED */
    if (vendor_id == 0 && product_id == 0) {
        return SDL_FALSE;
    }

    /* HORI Wireless Switch Pad */
    if (vendor_id == 0x0f0d && product_id == 0x00f6) {
        return SDL_FALSE;
    }

    /* Third party controllers don't have a home LED and will shut off if we try to set it */
    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_Unknown ||
        ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_LicProController) {
        return SDL_FALSE;
    }

    /* The Nintendo Online classic controllers don't have a Home LED */
    if (vendor_id == USB_VENDOR_NINTENDO &&
        ctx->m_eControllerType > k_eSwitchDeviceInfoControllerType_ProController) {
        return SDL_FALSE;
    }

    return SDL_TRUE;
}

static SDL_bool AlwaysUsesLabels(int vendor_id, int product_id, ESwitchDeviceInfoControllerType eControllerType)
{
    /* These controllers don't have a diamond button configuration, so always use labels */
    switch (eControllerType) {
    case k_eSwitchDeviceInfoControllerType_HVCLeft:
    case k_eSwitchDeviceInfoControllerType_HVCRight:
    case k_eSwitchDeviceInfoControllerType_NESLeft:
    case k_eSwitchDeviceInfoControllerType_NESRight:
    case k_eSwitchDeviceInfoControllerType_N64:
    case k_eSwitchDeviceInfoControllerType_SEGA_Genesis:
        return SDL_TRUE;
    default:
        return SDL_FALSE;
    }
}

static SDL_bool IsGameCubeFormFactor(int vendor_id, int product_id)
{
    static Uint32 gamecube_formfactor[] = {
        MAKE_VIDPID(0x0e6f, 0x0185), /* PDP Wired Fight Pad Pro for Nintendo Switch */
        MAKE_VIDPID(0x20d6, 0xa711), /* Core (Plus) Wired Controller */
    };
    Uint32 id = MAKE_VIDPID(vendor_id, product_id);
    int i;

    for (i = 0; i < SDL_arraysize(gamecube_formfactor); ++i) {
        if (id == gamecube_formfactor[i]) {
            return SDL_TRUE;
        }
    }
    return SDL_FALSE;
}

static void HIDAPI_DriverNintendoClassic_RegisterHints(SDL_HintCallback callback, void *userdata)
{
    SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC, callback, userdata);
}

static void HIDAPI_DriverNintendoClassic_UnregisterHints(SDL_HintCallback callback, void *userdata)
{
    SDL_DelHintCallback(SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC, callback, userdata);
}

static SDL_bool HIDAPI_DriverNintendoClassic_IsEnabled(void)
{
    return SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC, SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI, SDL_HIDAPI_DEFAULT));
}

static SDL_bool HIDAPI_DriverNintendoClassic_IsSupportedDevice(SDL_HIDAPI_Device *device, const char *name, SDL_GameControllerType type, Uint16 vendor_id, Uint16 product_id, Uint16 version, int interface_number, int interface_class, int interface_subclass, int interface_protocol)
{
    if (vendor_id == USB_VENDOR_NINTENDO) {
        if (product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_RIGHT) {
            if (SDL_strncmp(name, "NES Controller", 14) == 0 ||
                SDL_strncmp(name, "HVC Controller", 14) == 0) {
                return SDL_TRUE;
            }
        }

        if (product_id == USB_PRODUCT_NINTENDO_N64_CONTROLLER) {
            return SDL_TRUE;
        }

        if (product_id == USB_PRODUCT_NINTENDO_SEGA_GENESIS_CONTROLLER) {
            return SDL_TRUE;
        }

        if (product_id == USB_PRODUCT_NINTENDO_SNES_CONTROLLER) {
            return SDL_TRUE;
        }
    }

    return SDL_FALSE;
}

static void HIDAPI_DriverJoyCons_RegisterHints(SDL_HintCallback callback, void *userdata)
{
    SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS, callback, userdata);
}

static void HIDAPI_DriverJoyCons_UnregisterHints(SDL_HintCallback callback, void *userdata)
{
    SDL_DelHintCallback(SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS, callback, userdata);
}

static SDL_bool HIDAPI_DriverJoyCons_IsEnabled(void)
{
    return SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS, SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI, SDL_HIDAPI_DEFAULT));
}

static SDL_bool HIDAPI_DriverJoyCons_IsSupportedDevice(SDL_HIDAPI_Device *device, const char *name, SDL_GameControllerType type, Uint16 vendor_id, Uint16 product_id, Uint16 version, int interface_number, int interface_class, int interface_subclass, int interface_protocol)
{
    if (vendor_id == USB_VENDOR_NINTENDO) {
        if (product_id == USB_PRODUCT_NINTENDO_SWITCH_PRO && device && device->dev) {
            /* This might be a Kinvoca Joy-Con that reports VID/PID as a Switch Pro controller */
            ESwitchDeviceInfoControllerType eControllerType = ReadJoyConControllerType(device);
            if (eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft ||
                eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
                return SDL_TRUE;
            }
        }

        if (product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_LEFT ||
            product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_RIGHT ||
            product_id == USB_PRODUCT_NINTENDO_SWITCH_JOYCON_GRIP) {
            return SDL_TRUE;
        }
    }
    return SDL_FALSE;
}

static void HIDAPI_DriverSwitch_RegisterHints(SDL_HintCallback callback, void *userdata)
{
    SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_SWITCH, callback, userdata);
}

static void HIDAPI_DriverSwitch_UnregisterHints(SDL_HintCallback callback, void *userdata)
{
    SDL_DelHintCallback(SDL_HINT_JOYSTICK_HIDAPI_SWITCH, callback, userdata);
}

static SDL_bool HIDAPI_DriverSwitch_IsEnabled(void)
{
    return SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI_SWITCH, SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI, SDL_HIDAPI_DEFAULT));
}

static SDL_bool HIDAPI_DriverSwitch_IsSupportedDevice(SDL_HIDAPI_Device *device, const char *name, SDL_GameControllerType type, Uint16 vendor_id, Uint16 product_id, Uint16 version, int interface_number, int interface_class, int interface_subclass, int interface_protocol)
{
    /* The HORI Wireless Switch Pad enumerates as a HID device when connected via USB
       with the same VID/PID as when connected over Bluetooth but doesn't actually
       support communication over USB. The most reliable way to block this without allowing the
       controller to continually attempt to reconnect is to filter it out by manufactuer/product string.
       Note that the controller does have a different product string when connected over Bluetooth.
     */
    if (SDL_strcmp(name, "HORI Wireless Switch Pad") == 0) {
        return SDL_FALSE;
    }

    /* If it's handled by another driver, it's not handled here */
    if (HIDAPI_DriverNintendoClassic_IsSupportedDevice(device, name, type, vendor_id, product_id, version, interface_number, interface_class, interface_subclass, interface_protocol) ||
        HIDAPI_DriverJoyCons_IsSupportedDevice(device, name, type, vendor_id, product_id, version, interface_number, interface_class, interface_subclass, interface_protocol)) {
        return SDL_FALSE;
    }

    return (type == SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_PRO) ? SDL_TRUE : SDL_FALSE;
}

static void UpdateDeviceIdentity(SDL_HIDAPI_Device *device)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;
    char serial[18];

    switch (ctx->m_eControllerType) {
    case k_eSwitchDeviceInfoControllerType_JoyConLeft:
        HIDAPI_SetDeviceName(device, "Nintendo Switch Joy-Con (L)");
        HIDAPI_SetDeviceProduct(device, USB_VENDOR_NINTENDO, USB_PRODUCT_NINTENDO_SWITCH_JOYCON_LEFT);
        device->type = SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_LEFT;
        break;
    case k_eSwitchDeviceInfoControllerType_JoyConRight:
        HIDAPI_SetDeviceName(device, "Nintendo Switch Joy-Con (R)");
        HIDAPI_SetDeviceProduct(device, USB_VENDOR_NINTENDO, USB_PRODUCT_NINTENDO_SWITCH_JOYCON_RIGHT);
        device->type = SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_RIGHT;
        break;
    case k_eSwitchDeviceInfoControllerType_ProController:
    case k_eSwitchDeviceInfoControllerType_LicProController:
        HIDAPI_SetDeviceName(device, "Nintendo Switch Pro Controller");
        HIDAPI_SetDeviceProduct(device, USB_VENDOR_NINTENDO, USB_PRODUCT_NINTENDO_SWITCH_PRO);
        device->type = SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_PRO;
        break;
    case k_eSwitchDeviceInfoControllerType_HVCLeft:
        HIDAPI_SetDeviceName(device, "Nintendo HVC Controller (1)");
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_HVCRight:
        HIDAPI_SetDeviceName(device, "Nintendo HVC Controller (2)");
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_NESLeft:
        HIDAPI_SetDeviceName(device, "Nintendo NES Controller (L)");
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_NESRight:
        HIDAPI_SetDeviceName(device, "Nintendo NES Controller (R)");
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_SNES:
        HIDAPI_SetDeviceName(device, "Nintendo SNES Controller");
        HIDAPI_SetDeviceProduct(device, USB_VENDOR_NINTENDO, USB_PRODUCT_NINTENDO_SNES_CONTROLLER);
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_N64:
        HIDAPI_SetDeviceName(device, "Nintendo N64 Controller");
        HIDAPI_SetDeviceProduct(device, USB_VENDOR_NINTENDO, USB_PRODUCT_NINTENDO_N64_CONTROLLER);
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_SEGA_Genesis:
        HIDAPI_SetDeviceName(device, "Nintendo SEGA Genesis Controller");
        HIDAPI_SetDeviceProduct(device, USB_VENDOR_NINTENDO, USB_PRODUCT_NINTENDO_SEGA_GENESIS_CONTROLLER);
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    case k_eSwitchDeviceInfoControllerType_Unknown:
        /* We couldn't read the device info for this controller, might not be fully compliant */
        if (device->vendor_id == USB_VENDOR_NINTENDO) {
            switch (device->product_id) {
            case USB_PRODUCT_NINTENDO_SWITCH_JOYCON_LEFT:
                ctx->m_eControllerType = k_eSwitchDeviceInfoControllerType_JoyConLeft;
                HIDAPI_SetDeviceName(device, "Nintendo Switch Joy-Con (L)");
                device->type = SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_LEFT;
                break;
            case USB_PRODUCT_NINTENDO_SWITCH_JOYCON_RIGHT:
                ctx->m_eControllerType = k_eSwitchDeviceInfoControllerType_JoyConRight;
                HIDAPI_SetDeviceName(device, "Nintendo Switch Joy-Con (R)");
                device->type = SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_JOYCON_RIGHT;
                break;
            case USB_PRODUCT_NINTENDO_SWITCH_PRO:
                ctx->m_eControllerType = k_eSwitchDeviceInfoControllerType_ProController;
                HIDAPI_SetDeviceName(device, "Nintendo Switch Pro Controller");
                device->type = SDL_CONTROLLER_TYPE_NINTENDO_SWITCH_PRO;
                break;
            default:
                break;
            }
        }
        return;
    default:
        device->type = SDL_CONTROLLER_TYPE_UNKNOWN;
        break;
    }
    device->guid.data[15] = ctx->m_eControllerType;

    (void)SDL_snprintf(serial, sizeof(serial), "%.2x-%.2x-%.2x-%.2x-%.2x-%.2x",
                       ctx->m_rgucMACAddress[0],
                       ctx->m_rgucMACAddress[1],
                       ctx->m_rgucMACAddress[2],
                       ctx->m_rgucMACAddress[3],
                       ctx->m_rgucMACAddress[4],
                       ctx->m_rgucMACAddress[5]);
    HIDAPI_SetDeviceSerial(device, serial);
}

static SDL_bool HIDAPI_DriverSwitch_InitDevice(SDL_HIDAPI_Device *device)
{
    SDL_DriverSwitch_Context *ctx;

    ctx = (SDL_DriverSwitch_Context *)SDL_calloc(1, sizeof(*ctx));
    if (!ctx) {
        SDL_OutOfMemory();
        return SDL_FALSE;
    }
    ctx->device = device;
    device->context = ctx;

    ctx->m_nMaxWriteAttempts = GetMaxWriteAttempts(device);
    ctx->m_bSyncWrite = SDL_TRUE;

    if (IsGameCubeFormFactor(device->vendor_id, device->product_id)) {
        /* This is a controller shaped like a GameCube controller, with a large central A button */
        ctx->m_bIsGameCube = SDL_TRUE;
    }

    /* Find out whether or not we can send output reports */
    ctx->m_bInputOnly = SDL_IsJoystickNintendoSwitchProInputOnly(device->vendor_id, device->product_id);
    if (!ctx->m_bInputOnly) {
        /* Initialize rumble data, important for reading device info on the MOBAPAD M073  */
        SetNeutralRumble(&ctx->m_RumblePacket.rumbleData[0]);
        SetNeutralRumble(&ctx->m_RumblePacket.rumbleData[1]);

        BReadDeviceInfo(ctx);
        UpdateDeviceIdentity(device);
    }

    /* Prefer the USB device over the Bluetooth device */
    if (device->is_bluetooth) {
        if (HIDAPI_HasConnectedUSBDevice(device->serial)) {
            return SDL_TRUE;
        }
    } else {
        HIDAPI_DisconnectBluetoothDevice(device->serial);
    }
    return HIDAPI_JoystickConnected(device, NULL);
}

static int HIDAPI_DriverSwitch_GetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_JoystickID instance_id)
{
    return -1;
}

static void HIDAPI_DriverSwitch_SetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_JoystickID instance_id, int player_index)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;

    if (!ctx->joystick) {
        return;
    }

    ctx->m_nPlayerIndex = player_index;

    UpdateSlotLED(ctx);
}

static SDL_bool HIDAPI_DriverSwitch_OpenJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;

    SDL_AssertJoysticksLocked();

    ctx->joystick = joystick;

    ctx->m_bSyncWrite = SDL_TRUE;

    if (!ctx->m_bInputOnly) {
        GetInitialInputMode(ctx);
        ctx->m_nCurrentInputMode = ctx->m_nInitialInputMode;

        /* Initialize rumble data */
        SetNeutralRumble(&ctx->m_RumblePacket.rumbleData[0]);
        SetNeutralRumble(&ctx->m_RumblePacket.rumbleData[1]);

        if (!device->is_bluetooth) {
            if (!BTrySetupUSB(ctx)) {
                SDL_SetError("Couldn't setup USB mode");
                return SDL_FALSE;
            }
        }

        if (!LoadStickCalibration(ctx)) {
            SDL_SetError("Couldn't load stick calibration");
            return SDL_FALSE;
        }

        if (ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_HVCLeft &&
            ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_HVCRight &&
            ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_NESLeft &&
            ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_NESRight &&
            ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_SNES &&
            ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_N64 &&
            ctx->m_eControllerType != k_eSwitchDeviceInfoControllerType_SEGA_Genesis) {
            if (LoadIMUCalibration(ctx)) {
                /* Use the right sensor in the combined Joy-Con pair */
                if (!device->parent ||
                    ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 200.0f);
                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 200.0f);
                }
                if (device->parent &&
                    ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft) {
                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO_L, 200.0f);
                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL_L, 200.0f);
                }
                if (device->parent &&
                    ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO_R, 200.0f);
                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL_R, 200.0f);
                }
            }
        }

        if (!SetVibrationEnabled(ctx, 1)) {
            SDL_SetError("Couldn't enable vibration");
            return SDL_FALSE;
        }

        /* Set desired input mode */
        if (!SetInputMode(ctx, GetDefaultInputMode(ctx))) {
            SDL_SetError("Couldn't set input mode");
            return SDL_FALSE;
        }

        /* Start sending USB reports */
        if (!device->is_bluetooth) {
            /* ForceUSB doesn't generate an ACK, so don't wait for a reply */
            if (!WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_ForceUSB, NULL, 0, SDL_FALSE)) {
                SDL_SetError("Couldn't start USB reports");
                return SDL_FALSE;
            }
        }

        /* Set the LED state */
        if (HasHomeLED(ctx)) {
            if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft ||
                ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
                SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_JOYCON_HOME_LED,
                                    SDL_HomeLEDHintChanged, ctx);
            } else {
                SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_SWITCH_HOME_LED,
                                    SDL_HomeLEDHintChanged, ctx);
            }
        }
    }

    if (AlwaysUsesLabels(device->vendor_id, device->product_id, ctx->m_eControllerType)) {
        ctx->m_bUseButtonLabels = SDL_TRUE;
    } else {
        SDL_AddHintCallback(SDL_HINT_GAMECONTROLLER_USE_BUTTON_LABELS,
                            SDL_GameControllerButtonReportingHintChanged, ctx);
    }

    /* Initialize player index (needed for setting LEDs) */
    ctx->m_nPlayerIndex = SDL_JoystickGetPlayerIndex(joystick);
    ctx->m_bPlayerLights = SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED, SDL_TRUE);
    UpdateSlotLED(ctx);

    SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED,
                        SDL_PlayerLEDHintChanged, ctx);

    /* Initialize the joystick capabilities */
    joystick->nbuttons = 20;
    joystick->naxes = SDL_CONTROLLER_AXIS_MAX;
    joystick->epowerlevel = device->is_bluetooth ? SDL_JOYSTICK_POWER_UNKNOWN : SDL_JOYSTICK_POWER_WIRED;

    /* Set up for input */
    ctx->m_bSyncWrite = SDL_FALSE;
    ctx->m_unLastIMUReset = ctx->m_unLastInput = SDL_GetTicks();
    ctx->m_unIMUUpdateIntervalUS = 5 * 1000; /* Start off at 5 ms update rate */

    /* Set up for vertical mode */
    ctx->m_bVerticalMode = SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI_VERTICAL_JOY_CONS, SDL_FALSE);

    return SDL_TRUE;
}

static int HIDAPI_DriverSwitch_ActuallyRumbleJoystick(SDL_DriverSwitch_Context *ctx, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
{
    /* Experimentally determined rumble values. These will only matter on some controllers as tested ones
     * seem to disregard these and just use any non-zero rumble values as a binary flag for constant rumble
     *
     * More information about these values can be found here:
     * https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/rumble_data_table.md
     */
    const Uint16 k_usHighFreq = 0x0074;
    const Uint8 k_ucHighFreqAmp = EncodeRumbleHighAmplitude(high_frequency_rumble);
    const Uint8 k_ucLowFreq = 0x3D;
    const Uint16 k_usLowFreqAmp = EncodeRumbleLowAmplitude(low_frequency_rumble);

    if (low_frequency_rumble || high_frequency_rumble) {
        EncodeRumble(&ctx->m_RumblePacket.rumbleData[0], k_usHighFreq, k_ucHighFreqAmp, k_ucLowFreq, k_usLowFreqAmp);
        EncodeRumble(&ctx->m_RumblePacket.rumbleData[1], k_usHighFreq, k_ucHighFreqAmp, k_ucLowFreq, k_usLowFreqAmp);
    } else {
        SetNeutralRumble(&ctx->m_RumblePacket.rumbleData[0]);
        SetNeutralRumble(&ctx->m_RumblePacket.rumbleData[1]);
    }

    ctx->m_bRumbleActive = (low_frequency_rumble || high_frequency_rumble) ? SDL_TRUE : SDL_FALSE;

    if (!WriteRumble(ctx)) {
        return SDL_SetError("Couldn't send rumble packet");
    }
    return 0;
}

static int HIDAPI_DriverSwitch_SendPendingRumble(SDL_DriverSwitch_Context *ctx)
{
    if (!SDL_TICKS_PASSED(SDL_GetTicks(), ctx->m_unRumbleSent + RUMBLE_WRITE_FREQUENCY_MS)) {
        return 0;
    }

    if (ctx->m_bRumblePending) {
        Uint16 low_frequency_rumble = (Uint16)(ctx->m_unRumblePending >> 16);
        Uint16 high_frequency_rumble = (Uint16)ctx->m_unRumblePending;

#ifdef DEBUG_RUMBLE
        SDL_Log("Sent pending rumble %d/%d, %d ms after previous rumble\n", low_frequency_rumble, high_frequency_rumble, SDL_GetTicks() - ctx->m_unRumbleSent);
#endif
        ctx->m_bRumblePending = SDL_FALSE;
        ctx->m_unRumblePending = 0;

        return HIDAPI_DriverSwitch_ActuallyRumbleJoystick(ctx, low_frequency_rumble, high_frequency_rumble);
    }

    if (ctx->m_bRumbleZeroPending) {
        ctx->m_bRumbleZeroPending = SDL_FALSE;

#ifdef DEBUG_RUMBLE
        SDL_Log("Sent pending zero rumble, %d ms after previous rumble\n", SDL_GetTicks() - ctx->m_unRumbleSent);
#endif
        return HIDAPI_DriverSwitch_ActuallyRumbleJoystick(ctx, 0, 0);
    }

    return 0;
}

static int HIDAPI_DriverSwitch_RumbleJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;

    if (ctx->m_bInputOnly) {
        return SDL_Unsupported();
    }

    if (device->parent) {
        if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft) {
            /* Just handle low frequency rumble */
            high_frequency_rumble = 0;
        } else if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
            /* Just handle high frequency rumble */
            low_frequency_rumble = 0;
        }
    }

    if (ctx->m_bRumblePending) {
        if (HIDAPI_DriverSwitch_SendPendingRumble(ctx) < 0) {
            return -1;
        }
    }

    if (!SDL_TICKS_PASSED(SDL_GetTicks(), ctx->m_unRumbleSent + RUMBLE_WRITE_FREQUENCY_MS)) {
        if (low_frequency_rumble || high_frequency_rumble) {
            Uint32 unRumblePending = ((Uint32)low_frequency_rumble << 16) | high_frequency_rumble;

            /* Keep the highest rumble intensity in the given interval */
            if (unRumblePending > ctx->m_unRumblePending) {
                ctx->m_unRumblePending = unRumblePending;
            }
            ctx->m_bRumblePending = SDL_TRUE;
            ctx->m_bRumbleZeroPending = SDL_FALSE;
        } else {
            /* When rumble is complete, turn it off */
            ctx->m_bRumbleZeroPending = SDL_TRUE;
        }
        return 0;
    }

#ifdef DEBUG_RUMBLE
    SDL_Log("Sent rumble %d/%d\n", low_frequency_rumble, high_frequency_rumble);
#endif

    return HIDAPI_DriverSwitch_ActuallyRumbleJoystick(ctx, low_frequency_rumble, high_frequency_rumble);
}

static int HIDAPI_DriverSwitch_RumbleJoystickTriggers(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
{
    return SDL_Unsupported();
}

static Uint32 HIDAPI_DriverSwitch_GetJoystickCapabilities(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;
    Uint32 result = 0;

    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_ProController && !ctx->m_bInputOnly) {
        /* Doesn't have an RGB LED, so don't return SDL_JOYCAP_LED here */
        result |= SDL_JOYCAP_RUMBLE;
    } else if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft ||
               ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
        result |= SDL_JOYCAP_RUMBLE;
    }
    return result;
}

static int HIDAPI_DriverSwitch_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
{
    return SDL_Unsupported();
}

static int HIDAPI_DriverSwitch_SendJoystickEffect(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, const void *data, int size)
{
    return SDL_Unsupported();
}

static int HIDAPI_DriverSwitch_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;
    Uint8 input_mode;

    if (enabled) {
        input_mode = GetSensorInputMode(ctx);
    } else {
        input_mode = GetDefaultInputMode(ctx);
    }
    SetInputMode(ctx, input_mode);

    SetIMUEnabled(ctx, enabled);
    ctx->m_bReportSensors = enabled;
    ctx->m_unIMUSamples = 0;
    ctx->m_unIMUSampleTimestamp = SDL_GetTicks();

    return 0;
}

static void HandleInputOnlyControllerState(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchInputOnlyControllerStatePacket_t *packet)
{
    Sint16 axis;

    if (packet->rgucButtons[0] != ctx->m_lastInputOnlyState.rgucButtons[0]) {
        Uint8 data = packet->rgucButtons[0];
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_A), (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_B), (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_X), (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_Y), (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSHOULDER, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);

        axis = (data & 0x40) ? 32767 : -32768;
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERLEFT, axis);

        axis = (data & 0x80) ? 32767 : -32768;
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERRIGHT, axis);
    }

    if (packet->rgucButtons[1] != ctx->m_lastInputOnlyState.rgucButtons[1]) {
        Uint8 data = packet->rgucButtons[1];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_BACK, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_START, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSTICK, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSTICK, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_GUIDE, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_MISC1, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
    }

    if (packet->ucStickHat != ctx->m_lastInputOnlyState.ucStickHat) {
        SDL_bool dpad_up = SDL_FALSE;
        SDL_bool dpad_down = SDL_FALSE;
        SDL_bool dpad_left = SDL_FALSE;
        SDL_bool dpad_right = SDL_FALSE;

        switch (packet->ucStickHat) {
        case 0:
            dpad_up = SDL_TRUE;
            break;
        case 1:
            dpad_up = SDL_TRUE;
            dpad_right = SDL_TRUE;
            break;
        case 2:
            dpad_right = SDL_TRUE;
            break;
        case 3:
            dpad_right = SDL_TRUE;
            dpad_down = SDL_TRUE;
            break;
        case 4:
            dpad_down = SDL_TRUE;
            break;
        case 5:
            dpad_left = SDL_TRUE;
            dpad_down = SDL_TRUE;
            break;
        case 6:
            dpad_left = SDL_TRUE;
            break;
        case 7:
            dpad_up = SDL_TRUE;
            dpad_left = SDL_TRUE;
            break;
        default:
            break;
        }
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_DOWN, dpad_down);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_UP, dpad_up);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_RIGHT, dpad_right);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_LEFT, dpad_left);
    }

    if (packet->rgucJoystickLeft[0] != ctx->m_lastInputOnlyState.rgucJoystickLeft[0]) {
        axis = (Sint16)HIDAPI_RemapVal(packet->rgucJoystickLeft[0], SDL_MIN_UINT8, SDL_MAX_UINT8, SDL_MIN_SINT16, SDL_MAX_SINT16);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTX, axis);
    }

    if (packet->rgucJoystickLeft[1] != ctx->m_lastInputOnlyState.rgucJoystickLeft[1]) {
        axis = (Sint16)HIDAPI_RemapVal(packet->rgucJoystickLeft[1], SDL_MIN_UINT8, SDL_MAX_UINT8, SDL_MIN_SINT16, SDL_MAX_SINT16);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTY, axis);
    }

    if (packet->rgucJoystickRight[0] != ctx->m_lastInputOnlyState.rgucJoystickRight[0]) {
        axis = (Sint16)HIDAPI_RemapVal(packet->rgucJoystickRight[0], SDL_MIN_UINT8, SDL_MAX_UINT8, SDL_MIN_SINT16, SDL_MAX_SINT16);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTX, axis);
    }

    if (packet->rgucJoystickRight[1] != ctx->m_lastInputOnlyState.rgucJoystickRight[1]) {
        axis = (Sint16)HIDAPI_RemapVal(packet->rgucJoystickRight[1], SDL_MIN_UINT8, SDL_MAX_UINT8, SDL_MIN_SINT16, SDL_MAX_SINT16);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);
    }

    ctx->m_lastInputOnlyState = *packet;
}

static void HandleSimpleControllerState(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchSimpleStatePacket_t *packet)
{
    Sint16 axis;

    if (packet->rgucButtons[0] != ctx->m_lastSimpleState.rgucButtons[0]) {
        Uint8 data = packet->rgucButtons[0];
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_A), (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_B), (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_X), (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_Y), (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSHOULDER, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);

        axis = (data & 0x40) ? 32767 : -32768;
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERLEFT, axis);

        axis = (data & 0x80) ? 32767 : -32768;
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERRIGHT, axis);
    }

    if (packet->rgucButtons[1] != ctx->m_lastSimpleState.rgucButtons[1]) {
        Uint8 data = packet->rgucButtons[1];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_BACK, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_START, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSTICK, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSTICK, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_GUIDE, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_MISC1, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
    }

    if (packet->ucStickHat != ctx->m_lastSimpleState.ucStickHat) {
        SDL_bool dpad_up = SDL_FALSE;
        SDL_bool dpad_down = SDL_FALSE;
        SDL_bool dpad_left = SDL_FALSE;
        SDL_bool dpad_right = SDL_FALSE;

        switch (packet->ucStickHat) {
        case 0:
            dpad_up = SDL_TRUE;
            break;
        case 1:
            dpad_up = SDL_TRUE;
            dpad_right = SDL_TRUE;
            break;
        case 2:
            dpad_right = SDL_TRUE;
            break;
        case 3:
            dpad_right = SDL_TRUE;
            dpad_down = SDL_TRUE;
            break;
        case 4:
            dpad_down = SDL_TRUE;
            break;
        case 5:
            dpad_left = SDL_TRUE;
            dpad_down = SDL_TRUE;
            break;
        case 6:
            dpad_left = SDL_TRUE;
            break;
        case 7:
            dpad_up = SDL_TRUE;
            dpad_left = SDL_TRUE;
            break;
        default:
            break;
        }
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_DOWN, dpad_down);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_UP, dpad_up);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_RIGHT, dpad_right);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_LEFT, dpad_left);
    }

    axis = ApplySimpleStickCalibration(ctx, 0, 0, packet->sJoystickLeft[0]);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTX, axis);

    axis = ApplySimpleStickCalibration(ctx, 0, 1, packet->sJoystickLeft[1]);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTY, axis);

    axis = ApplySimpleStickCalibration(ctx, 1, 0, packet->sJoystickRight[0]);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTX, axis);

    axis = ApplySimpleStickCalibration(ctx, 1, 1, packet->sJoystickRight[1]);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);

    ctx->m_lastSimpleState = *packet;
}

static void SendSensorUpdate(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SDL_SensorType type, Uint64 timestamp_us, const Sint16 *values)
{
    float data[3];

    /* Note the order of components has been shuffled to match PlayStation controllers,
     * since that's our de facto standard from already supporting those controllers, and
     * users will want consistent axis mappings across devices.
     */
    if (type == SDL_SENSOR_GYRO || type == SDL_SENSOR_GYRO_L || type == SDL_SENSOR_GYRO_R) {
        data[0] = -(ctx->m_IMUScaleData.fGyroScaleY * (float)values[1]);
        data[1] = ctx->m_IMUScaleData.fGyroScaleZ * (float)values[2];
        data[2] = -(ctx->m_IMUScaleData.fGyroScaleX * (float)values[0]);
    } else {
        data[0] = -(ctx->m_IMUScaleData.fAccelScaleY * (float)values[1]);
        data[1] = ctx->m_IMUScaleData.fAccelScaleZ * (float)values[2];
        data[2] = -(ctx->m_IMUScaleData.fAccelScaleX * (float)values[0]);
    }

    /* Right Joy-Con flips some axes, so let's flip them back for consistency */
    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
        data[0] = -data[0];
        data[1] = -data[1];
    }

    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft &&
        !ctx->device->parent && !ctx->m_bVerticalMode) {
        /* Mini-gamepad mode, swap some axes around */
        float tmp = data[2];
        data[2] = -data[0];
        data[0] = tmp;
    }

    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight &&
        !ctx->device->parent && !ctx->m_bVerticalMode) {
        /* Mini-gamepad mode, swap some axes around */
        float tmp = data[2];
        data[2] = data[0];
        data[0] = -tmp;
    }

    SDL_PrivateJoystickSensor(joystick, type, timestamp_us, data, 3);
}

static void HandleCombinedControllerStateL(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
{
    Sint16 axis;

    if (packet->controllerState.rgucButtons[1] != ctx->m_lastFullState.controllerState.rgucButtons[1]) {
        Uint8 data = packet->controllerState.rgucButtons[1];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_BACK, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSTICK, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_MISC1, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
    }

    if (packet->controllerState.rgucButtons[2] != ctx->m_lastFullState.controllerState.rgucButtons[2]) {
        Uint8 data = packet->controllerState.rgucButtons[2];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_DOWN, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_UP, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_RIGHT, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_LEFT, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE4, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE2, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSHOULDER, (data & 0x40) ? SDL_PRESSED : SDL_RELEASED);
        axis = (data & 0x80) ? 32767 : -32768;
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERLEFT, axis);
    }

    axis = packet->controllerState.rgucJoystickLeft[0] | ((packet->controllerState.rgucJoystickLeft[1] & 0xF) << 8);
    axis = ApplyStickCalibration(ctx, 0, 0, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTX, axis);

    axis = ((packet->controllerState.rgucJoystickLeft[1] & 0xF0) >> 4) | (packet->controllerState.rgucJoystickLeft[2] << 4);
    axis = ApplyStickCalibration(ctx, 0, 1, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTY, ~axis);
}

static void HandleMiniControllerStateL(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
{
    Sint16 axis;

    if (packet->controllerState.rgucButtons[1] != ctx->m_lastFullState.controllerState.rgucButtons[1]) {
        Uint8 data = packet->controllerState.rgucButtons[1];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_START, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSTICK, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_GUIDE, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
    }

    if (packet->controllerState.rgucButtons[2] != ctx->m_lastFullState.controllerState.rgucButtons[2]) {
        Uint8 data = packet->controllerState.rgucButtons[2];
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_A), (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_Y), (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_X), (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_B), (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSHOULDER, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE2, (data & 0x40) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE4, (data & 0x80) ? SDL_PRESSED : SDL_RELEASED);
    }

    axis = packet->controllerState.rgucJoystickLeft[0] | ((packet->controllerState.rgucJoystickLeft[1] & 0xF) << 8);
    axis = ApplyStickCalibration(ctx, 0, 0, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTY, ~axis);

    axis = ((packet->controllerState.rgucJoystickLeft[1] & 0xF0) >> 4) | (packet->controllerState.rgucJoystickLeft[2] << 4);
    axis = ApplyStickCalibration(ctx, 0, 1, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTX, ~axis);
}

static void HandleCombinedControllerStateR(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
{
    Sint16 axis;

    if (packet->controllerState.rgucButtons[0] != ctx->m_lastFullState.controllerState.rgucButtons[0]) {
        Uint8 data = packet->controllerState.rgucButtons[0];
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_A), (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_B), (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_X), (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_Y), (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE1, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE3, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, (data & 0x40) ? SDL_PRESSED : SDL_RELEASED);
        axis = (data & 0x80) ? 32767 : -32768;
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERRIGHT, axis);
    }

    if (packet->controllerState.rgucButtons[1] != ctx->m_lastFullState.controllerState.rgucButtons[1]) {
        Uint8 data = packet->controllerState.rgucButtons[1];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_START, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSTICK, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_GUIDE, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
    }

    axis = packet->controllerState.rgucJoystickRight[0] | ((packet->controllerState.rgucJoystickRight[1] & 0xF) << 8);
    axis = ApplyStickCalibration(ctx, 1, 0, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTX, axis);

    axis = ((packet->controllerState.rgucJoystickRight[1] & 0xF0) >> 4) | (packet->controllerState.rgucJoystickRight[2] << 4);
    axis = ApplyStickCalibration(ctx, 1, 1, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, ~axis);
}

static void HandleMiniControllerStateR(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
{
    Sint16 axis;

    if (packet->controllerState.rgucButtons[0] != ctx->m_lastFullState.controllerState.rgucButtons[0]) {
        Uint8 data = packet->controllerState.rgucButtons[0];
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_B), (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_Y), (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_A), (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_X), (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSHOULDER, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE1, (data & 0x40) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_PADDLE3, (data & 0x80) ? SDL_PRESSED : SDL_RELEASED);
    }

    if (packet->controllerState.rgucButtons[1] != ctx->m_lastFullState.controllerState.rgucButtons[1]) {
        Uint8 data = packet->controllerState.rgucButtons[1];
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_START, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSTICK, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
        SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_GUIDE, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
    }

    axis = packet->controllerState.rgucJoystickRight[0] | ((packet->controllerState.rgucJoystickRight[1] & 0xF) << 8);
    axis = ApplyStickCalibration(ctx, 1, 0, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTY, axis);

    axis = ((packet->controllerState.rgucJoystickRight[1] & 0xF0) >> 4) | (packet->controllerState.rgucJoystickRight[2] << 4);
    axis = ApplyStickCalibration(ctx, 1, 1, axis);
    SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTX, axis);
}

static void HandleFullControllerState(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet) SDL_NO_THREAD_SAFETY_ANALYSIS /* We unlock and lock the device lock to be able to change IMU state */
{
    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft) {
        if (ctx->device->parent || ctx->m_bVerticalMode) {
            HandleCombinedControllerStateL(joystick, ctx, packet);
        } else {
            HandleMiniControllerStateL(joystick, ctx, packet);
        }
    } else if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
        if (ctx->device->parent || ctx->m_bVerticalMode) {
            HandleCombinedControllerStateR(joystick, ctx, packet);
        } else {
            HandleMiniControllerStateR(joystick, ctx, packet);
        }
    } else {
        Sint16 axis;

        if (packet->controllerState.rgucButtons[0] != ctx->m_lastFullState.controllerState.rgucButtons[0]) {
            Uint8 data = packet->controllerState.rgucButtons[0];
            SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_A), (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_B), (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_X), (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, RemapButton(ctx, SDL_CONTROLLER_BUTTON_Y), (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSHOULDER, (data & 0x40) ? SDL_PRESSED : SDL_RELEASED);
            axis = (data & 0x80) ? 32767 : -32768;
            SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERRIGHT, axis);
        }

        if (packet->controllerState.rgucButtons[1] != ctx->m_lastFullState.controllerState.rgucButtons[1]) {
            Uint8 data = packet->controllerState.rgucButtons[1];
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_BACK, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_START, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_RIGHTSTICK, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSTICK, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);

            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_GUIDE, (data & 0x10) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_MISC1, (data & 0x20) ? SDL_PRESSED : SDL_RELEASED);
        }

        if (packet->controllerState.rgucButtons[2] != ctx->m_lastFullState.controllerState.rgucButtons[2]) {
            Uint8 data = packet->controllerState.rgucButtons[2];
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_DOWN, (data & 0x01) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_UP, (data & 0x02) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_RIGHT, (data & 0x04) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_DPAD_LEFT, (data & 0x08) ? SDL_PRESSED : SDL_RELEASED);
            SDL_PrivateJoystickButton(joystick, SDL_CONTROLLER_BUTTON_LEFTSHOULDER, (data & 0x40) ? SDL_PRESSED : SDL_RELEASED);
            axis = (data & 0x80) ? 32767 : -32768;
            SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_TRIGGERLEFT, axis);
        }

        axis = packet->controllerState.rgucJoystickLeft[0] | ((packet->controllerState.rgucJoystickLeft[1] & 0xF) << 8);
        axis = ApplyStickCalibration(ctx, 0, 0, axis);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTX, axis);

        axis = ((packet->controllerState.rgucJoystickLeft[1] & 0xF0) >> 4) | (packet->controllerState.rgucJoystickLeft[2] << 4);
        axis = ApplyStickCalibration(ctx, 0, 1, axis);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_LEFTY, ~axis);

        axis = packet->controllerState.rgucJoystickRight[0] | ((packet->controllerState.rgucJoystickRight[1] & 0xF) << 8);
        axis = ApplyStickCalibration(ctx, 1, 0, axis);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTX, axis);

        axis = ((packet->controllerState.rgucJoystickRight[1] & 0xF0) >> 4) | (packet->controllerState.rgucJoystickRight[2] << 4);
        axis = ApplyStickCalibration(ctx, 1, 1, axis);
        SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, ~axis);
    }

    /* High nibble of battery/connection byte is battery level, low nibble is connection status
     * LSB of connection nibble is USB/Switch connection status
     */
    if (packet->controllerState.ucBatteryAndConnection & 0x1) {
        SDL_PrivateJoystickBatteryLevel(joystick, SDL_JOYSTICK_POWER_WIRED);
    } else {
        /* LSB of the battery nibble is used to report charging.
         * The battery level is reported from 0(empty)-8(full)
         */
        int level = (packet->controllerState.ucBatteryAndConnection & 0xE0) >> 4;
        if (level == 0) {
            SDL_PrivateJoystickBatteryLevel(joystick, SDL_JOYSTICK_POWER_EMPTY);
        } else if (level <= 2) {
            SDL_PrivateJoystickBatteryLevel(joystick, SDL_JOYSTICK_POWER_LOW);
        } else if (level <= 6) {
            SDL_PrivateJoystickBatteryLevel(joystick, SDL_JOYSTICK_POWER_MEDIUM);
        } else {
            SDL_PrivateJoystickBatteryLevel(joystick, SDL_JOYSTICK_POWER_FULL);
        }
    }

    if (ctx->m_bReportSensors) {
        SDL_bool bHasSensorData = (packet->imuState[0].sAccelZ != 0 ||
                                   packet->imuState[0].sAccelY != 0 ||
                                   packet->imuState[0].sAccelX != 0);
        if (bHasSensorData) {
            const Uint32 IMU_UPDATE_RATE_SAMPLE_FREQUENCY = 1000;
            Uint64 timestamp[3];

            ctx->m_bHasSensorData = SDL_TRUE;

            /* We got three IMU samples, calculate the IMU update rate and timestamps */
            ctx->m_unIMUSamples += 3;
            if (ctx->m_unIMUSamples >= IMU_UPDATE_RATE_SAMPLE_FREQUENCY) {
                Uint32 now = SDL_GetTicks();
                Uint32 elapsed = (now - ctx->m_unIMUSampleTimestamp);

                if (elapsed > 0) {
                    ctx->m_unIMUUpdateIntervalUS = (elapsed * 1000) / ctx->m_unIMUSamples;
                }
                ctx->m_unIMUSamples = 0;
                ctx->m_unIMUSampleTimestamp = now;
            }

            ctx->m_ulTimestampUS += ctx->m_unIMUUpdateIntervalUS;
            timestamp[0] = ctx->m_ulTimestampUS;
            ctx->m_ulTimestampUS += ctx->m_unIMUUpdateIntervalUS;
            timestamp[1] = ctx->m_ulTimestampUS;
            ctx->m_ulTimestampUS += ctx->m_unIMUUpdateIntervalUS;
            timestamp[2] = ctx->m_ulTimestampUS;

            if (!ctx->device->parent ||
                ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO, timestamp[0], &packet->imuState[2].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL, timestamp[0], &packet->imuState[2].sAccelX);

                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO, timestamp[1], &packet->imuState[1].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL, timestamp[1], &packet->imuState[1].sAccelX);

                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO, timestamp[2], &packet->imuState[0].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL, timestamp[2], &packet->imuState[0].sAccelX);
            }

            if (ctx->device->parent &&
                ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft) {
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO_L, timestamp[0], &packet->imuState[2].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL_L, timestamp[0], &packet->imuState[2].sAccelX);

                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO_L, timestamp[1], &packet->imuState[1].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL_L, timestamp[1], &packet->imuState[1].sAccelX);

                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO_L, timestamp[2], &packet->imuState[0].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL_L, timestamp[2], &packet->imuState[0].sAccelX);
            }
            if (ctx->device->parent &&
                ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO_R, timestamp[0], &packet->imuState[2].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL_R, timestamp[0], &packet->imuState[2].sAccelX);

                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO_R, timestamp[1], &packet->imuState[1].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL_R, timestamp[1], &packet->imuState[1].sAccelX);

                SendSensorUpdate(joystick, ctx, SDL_SENSOR_GYRO_R, timestamp[2], &packet->imuState[0].sGyroX);
                SendSensorUpdate(joystick, ctx, SDL_SENSOR_ACCEL_R, timestamp[2], &packet->imuState[0].sAccelX);
            }

        } else if (ctx->m_bHasSensorData) {
            /* Uh oh, someone turned off the IMU? */
            const Uint32 IMU_RESET_DELAY_MS = 3000;
            Uint32 now = SDL_GetTicks();

            if (SDL_TICKS_PASSED(now, ctx->m_unLastIMUReset + IMU_RESET_DELAY_MS)) {
                SDL_HIDAPI_Device *device = ctx->device;

                if (device->updating) {
                    SDL_UnlockMutex(device->dev_lock);
                }

                SetIMUEnabled(ctx, SDL_TRUE);

                if (device->updating) {
                    SDL_LockMutex(device->dev_lock);
                }
                ctx->m_unLastIMUReset = now;
            }

        } else {
            /* We have never gotten IMU data, probably not supported on this device */
        }
    }

    ctx->m_lastFullState = *packet;
}

static SDL_bool HIDAPI_DriverSwitch_UpdateDevice(SDL_HIDAPI_Device *device)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;
    SDL_Joystick *joystick = NULL;
    int size;
    int packet_count = 0;
    Uint32 now = SDL_GetTicks();

    if (device->num_joysticks > 0) {
        joystick = SDL_JoystickFromInstanceID(device->joysticks[0]);
    }

    while ((size = ReadInput(ctx)) > 0) {
#ifdef DEBUG_SWITCH_PROTOCOL
        HIDAPI_DumpPacket("Nintendo Switch packet: size = %d", ctx->m_rgucReadBuffer, size);
#endif
        ++packet_count;
        ctx->m_unLastInput = now;

        if (!joystick) {
            continue;
        }

        if (ctx->m_rgucReadBuffer[0] == k_eSwitchInputReportIDs_SubcommandReply) {
            continue;
        }

        if (ctx->m_bInputOnly) {
            HandleInputOnlyControllerState(joystick, ctx, (SwitchInputOnlyControllerStatePacket_t *)&ctx->m_rgucReadBuffer[0]);
        } else {
            ctx->m_nCurrentInputMode = ctx->m_rgucReadBuffer[0];

            switch (ctx->m_rgucReadBuffer[0]) {
            case k_eSwitchInputReportIDs_SimpleControllerState:
                HandleSimpleControllerState(joystick, ctx, (SwitchSimpleStatePacket_t *)&ctx->m_rgucReadBuffer[1]);
                break;
            case k_eSwitchInputReportIDs_FullControllerState:
            case k_eSwitchInputReportIDs_FullControllerAndMcuState:
                HandleFullControllerState(joystick, ctx, (SwitchStatePacket_t *)&ctx->m_rgucReadBuffer[1]);
                break;
            default:
                break;
            }
        }
    }

    if (joystick) {
        if (packet_count == 0) {
            if (!ctx->m_bInputOnly && !device->is_bluetooth &&
                ctx->device->product_id != USB_PRODUCT_NINTENDO_SWITCH_JOYCON_GRIP) {
                const Uint32 INPUT_WAIT_TIMEOUT_MS = 100;
                if (SDL_TICKS_PASSED(now, ctx->m_unLastInput + INPUT_WAIT_TIMEOUT_MS)) {
                    /* Steam may have put the controller back into non-reporting mode */
                    SDL_bool wasSyncWrite = ctx->m_bSyncWrite;

                    ctx->m_bSyncWrite = SDL_TRUE;
                    WriteProprietary(ctx, k_eSwitchProprietaryCommandIDs_ForceUSB, NULL, 0, SDL_FALSE);
                    ctx->m_bSyncWrite = wasSyncWrite;
                }
            } else if (device->is_bluetooth) {
                const Uint32 INPUT_WAIT_TIMEOUT_MS = 3000;
                if (SDL_TICKS_PASSED(now, ctx->m_unLastInput + INPUT_WAIT_TIMEOUT_MS)) {
                    /* Bluetooth may have disconnected, try reopening the controller */
                    size = -1;
                }
            }
        }

        if (ctx->m_bRumblePending || ctx->m_bRumbleZeroPending) {
            HIDAPI_DriverSwitch_SendPendingRumble(ctx);
        } else if (ctx->m_bRumbleActive &&
                   SDL_TICKS_PASSED(now, ctx->m_unRumbleSent + RUMBLE_REFRESH_FREQUENCY_MS)) {
#ifdef DEBUG_RUMBLE
            SDL_Log("Sent continuing rumble, %d ms after previous rumble\n", now - ctx->m_unRumbleSent);
#endif
            WriteRumble(ctx);
        }
    }

    /* Reconnect the Bluetooth device once the USB device is gone */
    if (device->num_joysticks == 0 && device->is_bluetooth && packet_count > 0 &&
        !HIDAPI_HasConnectedUSBDevice(device->serial)) {
        HIDAPI_JoystickConnected(device, NULL);
    }

    if (size < 0 && device->num_joysticks > 0) {
        /* Read error, device is disconnected */
        HIDAPI_JoystickDisconnected(device, device->joysticks[0]);
    }
    return size >= 0;
}

static void HIDAPI_DriverSwitch_CloseJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
{
    SDL_DriverSwitch_Context *ctx = (SDL_DriverSwitch_Context *)device->context;

    if (!ctx->m_bInputOnly) {
        /* Restore simple input mode for other applications */
        if (!ctx->m_nInitialInputMode ||
            ctx->m_nInitialInputMode == k_eSwitchInputReportIDs_SimpleControllerState) {
            SetInputMode(ctx, k_eSwitchInputReportIDs_SimpleControllerState);
        }
    }

    SDL_DelHintCallback(SDL_HINT_GAMECONTROLLER_USE_BUTTON_LABELS,
                        SDL_GameControllerButtonReportingHintChanged, ctx);

    if (ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft ||
        ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
        SDL_DelHintCallback(SDL_HINT_JOYSTICK_HIDAPI_JOYCON_HOME_LED,
                            SDL_HomeLEDHintChanged, ctx);
    } else {
        SDL_DelHintCallback(SDL_HINT_JOYSTICK_HIDAPI_SWITCH_HOME_LED,
                            SDL_HomeLEDHintChanged, ctx);
    }

    SDL_DelHintCallback(SDL_HINT_JOYSTICK_HIDAPI_SWITCH_PLAYER_LED,
                        SDL_PlayerLEDHintChanged, ctx);

    ctx->joystick = NULL;
}

static void HIDAPI_DriverSwitch_FreeDevice(SDL_HIDAPI_Device *device)
{
}

SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverNintendoClassic = {
    SDL_HINT_JOYSTICK_HIDAPI_NINTENDO_CLASSIC,
    SDL_TRUE,
    HIDAPI_DriverNintendoClassic_RegisterHints,
    HIDAPI_DriverNintendoClassic_UnregisterHints,
    HIDAPI_DriverNintendoClassic_IsEnabled,
    HIDAPI_DriverNintendoClassic_IsSupportedDevice,
    HIDAPI_DriverSwitch_InitDevice,
    HIDAPI_DriverSwitch_GetDevicePlayerIndex,
    HIDAPI_DriverSwitch_SetDevicePlayerIndex,
    HIDAPI_DriverSwitch_UpdateDevice,
    HIDAPI_DriverSwitch_OpenJoystick,
    HIDAPI_DriverSwitch_RumbleJoystick,
    HIDAPI_DriverSwitch_RumbleJoystickTriggers,
    HIDAPI_DriverSwitch_GetJoystickCapabilities,
    HIDAPI_DriverSwitch_SetJoystickLED,
    HIDAPI_DriverSwitch_SendJoystickEffect,
    HIDAPI_DriverSwitch_SetJoystickSensorsEnabled,
    HIDAPI_DriverSwitch_CloseJoystick,
    HIDAPI_DriverSwitch_FreeDevice,
};

SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverJoyCons = {
    SDL_HINT_JOYSTICK_HIDAPI_JOY_CONS,
    SDL_TRUE,
    HIDAPI_DriverJoyCons_RegisterHints,
    HIDAPI_DriverJoyCons_UnregisterHints,
    HIDAPI_DriverJoyCons_IsEnabled,
    HIDAPI_DriverJoyCons_IsSupportedDevice,
    HIDAPI_DriverSwitch_InitDevice,
    HIDAPI_DriverSwitch_GetDevicePlayerIndex,
    HIDAPI_DriverSwitch_SetDevicePlayerIndex,
    HIDAPI_DriverSwitch_UpdateDevice,
    HIDAPI_DriverSwitch_OpenJoystick,
    HIDAPI_DriverSwitch_RumbleJoystick,
    HIDAPI_DriverSwitch_RumbleJoystickTriggers,
    HIDAPI_DriverSwitch_GetJoystickCapabilities,
    HIDAPI_DriverSwitch_SetJoystickLED,
    HIDAPI_DriverSwitch_SendJoystickEffect,
    HIDAPI_DriverSwitch_SetJoystickSensorsEnabled,
    HIDAPI_DriverSwitch_CloseJoystick,
    HIDAPI_DriverSwitch_FreeDevice,
};

SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverSwitch = {
    SDL_HINT_JOYSTICK_HIDAPI_SWITCH,
    SDL_TRUE,
    HIDAPI_DriverSwitch_RegisterHints,
    HIDAPI_DriverSwitch_UnregisterHints,
    HIDAPI_DriverSwitch_IsEnabled,
    HIDAPI_DriverSwitch_IsSupportedDevice,
    HIDAPI_DriverSwitch_InitDevice,
    HIDAPI_DriverSwitch_GetDevicePlayerIndex,
    HIDAPI_DriverSwitch_SetDevicePlayerIndex,
    HIDAPI_DriverSwitch_UpdateDevice,
    HIDAPI_DriverSwitch_OpenJoystick,
    HIDAPI_DriverSwitch_RumbleJoystick,
    HIDAPI_DriverSwitch_RumbleJoystickTriggers,
    HIDAPI_DriverSwitch_GetJoystickCapabilities,
    HIDAPI_DriverSwitch_SetJoystickLED,
    HIDAPI_DriverSwitch_SendJoystickEffect,
    HIDAPI_DriverSwitch_SetJoystickSensorsEnabled,
    HIDAPI_DriverSwitch_CloseJoystick,
    HIDAPI_DriverSwitch_FreeDevice,
};

#endif /* SDL_JOYSTICK_HIDAPI_SWITCH */

#endif /* SDL_JOYSTICK_HIDAPI */

/* vi: set ts=4 sw=4 expandtab: */
