Commit 2c518747b9cf45c1b94c570c19912e04476e8eed

Sam Lantinga 2022-09-27T09:56:02

Added microsecond timestamp to sensor values for PS4 and PS5 controllers using the HIDAPI driver

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
diff --git a/include/SDL_events.h b/include/SDL_events.h
index 1836fc0..240a8a8 100644
--- a/include/SDL_events.h
+++ b/include/SDL_events.h
@@ -474,6 +474,7 @@ typedef struct SDL_ControllerSensorEvent
     SDL_JoystickID which; /**< The joystick instance id */
     Sint32 sensor;      /**< The type of the sensor, one of the values of ::SDL_SensorType */
     float data[3];      /**< Up to 3 values from the sensor, as defined in SDL_sensor.h */
+    Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */
 } SDL_ControllerSensorEvent;
 
 /**
@@ -565,6 +566,7 @@ typedef struct SDL_SensorEvent
     Uint32 timestamp;   /**< In milliseconds, populated using SDL_GetTicks() */
     Sint32 which;       /**< The instance ID of the sensor */
     float data[6];      /**< Up to 6 values from the sensor - additional values can be queried using SDL_SensorGetData() */
+    Uint64 timestamp_us; /**< The timestamp of the sensor reading in microseconds, if the hardware provides this information. */
 } SDL_SensorEvent;
 
 /**
diff --git a/include/SDL_gamecontroller.h b/include/SDL_gamecontroller.h
index ace1c16..e32d3e8 100644
--- a/include/SDL_gamecontroller.h
+++ b/include/SDL_gamecontroller.h
@@ -896,6 +896,23 @@ extern DECLSPEC float SDLCALL SDL_GameControllerGetSensorDataRate(SDL_GameContro
 extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values);
 
 /**
+ * Get the current state of a game controller sensor with the timestamp of the last update.
+ *
+ * The number of values and interpretation of the data is sensor dependent.
+ * See SDL_sensor.h for the details for each type of sensor.
+ *
+ * \param gamecontroller The controller to query
+ * \param type The type of sensor to query
+ * \param timestamp A pointer filled with the timestamp in microseconds of the current sensor reading if available, or 0 if not
+ * \param data A pointer filled with the current sensor state
+ * \param num_values The number of values to write to data
+ * \return 0 or -1 if an error occurred.
+ *
+ * \since This function is available since SDL 2.26.0.
+ */
+extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values);
+
+/**
  * Start a rumble effect on a game controller.
  *
  * Each call to this function cancels any previous rumble effect, and calling
diff --git a/include/SDL_sensor.h b/include/SDL_sensor.h
index 6b07183..823cbbb 100644
--- a/include/SDL_sensor.h
+++ b/include/SDL_sensor.h
@@ -267,7 +267,22 @@ extern DECLSPEC SDL_SensorID SDLCALL SDL_SensorGetInstanceID(SDL_Sensor *sensor)
  *
  * \since This function is available since SDL 2.0.9.
  */
-extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values);
+extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor *sensor, float *data, int num_values);
+
+/**
+ * Get the current state of an opened sensor with the timestamp of the last update.
+ *
+ * The number of values and interpretation of the data is sensor dependent.
+ *
+ * \param sensor The SDL_Sensor object to query
+ * \param timestamp A pointer filled with the timestamp in microseconds of the current sensor reading if available, or 0 if not
+ * \param data A pointer filled with the current sensor state
+ * \param num_values The number of values to write to data
+ * \returns 0 or -1 if an error occurred.
+ *
+ * \since This function is available since SDL 2.0.9.
+ */
+extern DECLSPEC int SDLCALL SDL_SensorGetDataWithTimestamp(SDL_Sensor *sensor, Uint64 *timestamp, float *data, int num_values);
 
 /**
  * Close a sensor previously opened with SDL_SensorOpen().
@@ -276,7 +291,7 @@ extern DECLSPEC int SDLCALL SDL_SensorGetData(SDL_Sensor * sensor, float *data, 
  *
  * \since This function is available since SDL 2.0.9.
  */
-extern DECLSPEC void SDLCALL SDL_SensorClose(SDL_Sensor * sensor);
+extern DECLSPEC void SDLCALL SDL_SensorClose(SDL_Sensor *sensor);
 
 /**
  * Update the current state of the open sensors.
diff --git a/src/dynapi/SDL2.exports b/src/dynapi/SDL2.exports
index d9e3545..c2e903e 100644
--- a/src/dynapi/SDL2.exports
+++ b/src/dynapi/SDL2.exports
@@ -863,3 +863,5 @@
 ++'_SDL_SetPrimarySelectionText'.'SDL2.dll'.'SDL_SetPrimarySelectionText'
 ++'_SDL_GetPrimarySelectionText'.'SDL2.dll'.'SDL_GetPrimarySelectionText'
 ++'_SDL_HasPrimarySelectionText'.'SDL2.dll'.'SDL_HasPrimarySelectionText'
+++'_SDL_GameControllerGetSensorDataWithTimestamp'.'SDL2.dll'.'SDL_GameControllerGetSensorDataWithTimestamp'
+++'_SDL_SensorGetDataWithTimestamp'.'SDL2.dll'.'SDL_SensorGetDataWithTimestamp'
diff --git a/src/dynapi/SDL_dynapi_overrides.h b/src/dynapi/SDL_dynapi_overrides.h
index 2e982b8..fc9255c 100644
--- a/src/dynapi/SDL_dynapi_overrides.h
+++ b/src/dynapi/SDL_dynapi_overrides.h
@@ -889,3 +889,5 @@
 #define SDL_SetPrimarySelectionText SDL_SetPrimarySelectionText_REAL
 #define SDL_GetPrimarySelectionText SDL_GetPrimarySelectionText_REAL
 #define SDL_HasPrimarySelectionText SDL_HasPrimarySelectionText_REAL
+#define SDL_GameControllerGetSensorDataWithTimestamp SDL_GameControllerGetSensorDataWithTimestamp_REAL
+#define SDL_SensorGetDataWithTimestamp SDL_SensorGetDataWithTimestamp_REAL
diff --git a/src/dynapi/SDL_dynapi_procs.h b/src/dynapi/SDL_dynapi_procs.h
index b40efff..f8d858d 100644
--- a/src/dynapi/SDL_dynapi_procs.h
+++ b/src/dynapi/SDL_dynapi_procs.h
@@ -972,3 +972,5 @@ SDL_DYNAPI_PROC(void,SDL_GetJoystickGUIDInfo,(SDL_JoystickGUID a, Uint16 *b, Uin
 SDL_DYNAPI_PROC(int,SDL_SetPrimarySelectionText,(const char *a),(a),return)
 SDL_DYNAPI_PROC(char*,SDL_GetPrimarySelectionText,(void),(),return)
 SDL_DYNAPI_PROC(SDL_bool,SDL_HasPrimarySelectionText,(void),(),return)
+SDL_DYNAPI_PROC(int,SDL_GameControllerGetSensorDataWithTimestamp,(SDL_GameController *a, SDL_SensorType b, Uint64 *c, float *d, int e),(a,b,c,d,e),return)
+SDL_DYNAPI_PROC(int,SDL_SensorGetDataWithTimestamp,(SDL_Sensor *a, Uint64 *b, float *c, int d),(a,b,c,d),return)
diff --git a/src/joystick/SDL_gamecontroller.c b/src/joystick/SDL_gamecontroller.c
index 204ae96..b764980 100644
--- a/src/joystick/SDL_gamecontroller.c
+++ b/src/joystick/SDL_gamecontroller.c
@@ -2441,6 +2441,15 @@ SDL_GameControllerGetSensorDataRate(SDL_GameController *gamecontroller, SDL_Sens
 int
 SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values)
 {
+    return SDL_GameControllerGetSensorDataWithTimestamp(gamecontroller, type, NULL, data, num_values);
+}
+
+/*
+ *  Get the current state of a game controller sensor.
+ */
+int
+SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values)
+{
     SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
     int i;
 
@@ -2454,6 +2463,9 @@ SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorTy
         if (sensor->type == type) {
             num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
             SDL_memcpy(data, sensor->data, num_values*sizeof(*data));
+            if (timestamp) {
+                *timestamp = sensor->timestamp_us;
+            }
             return 0;
         }
     }
diff --git a/src/joystick/SDL_joystick.c b/src/joystick/SDL_joystick.c
index dc89026..a42951c 100644
--- a/src/joystick/SDL_joystick.c
+++ b/src/joystick/SDL_joystick.c
@@ -2983,7 +2983,7 @@ int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick, int touchpad, int finger
     return posted;
 }
 
-int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const float *data, int num_values)
+int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, Uint64 timestamp_us, const float *data, int num_values)
 {
     int i;
     int posted = 0;
@@ -3004,6 +3004,7 @@ int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const
 
                 /* Update internal sensor state */
                 SDL_memcpy(sensor->data, data, num_values*sizeof(*data));
+                sensor->timestamp_us = timestamp_us;
 
                 /* Post the event, if desired */
 #if !SDL_EVENTS_DISABLED
@@ -3015,6 +3016,7 @@ int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const
                     num_values = SDL_min(num_values, SDL_arraysize(event.csensor.data));
                     SDL_memset(event.csensor.data, 0, sizeof(event.csensor.data));
                     SDL_memcpy(event.csensor.data, data, num_values*sizeof(*data));
+                    event.csensor.timestamp_us = timestamp_us;
                     posted = SDL_PushEvent(&event) == 1;
                 }
 #endif /* !SDL_EVENTS_DISABLED */
diff --git a/src/joystick/SDL_joystick_c.h b/src/joystick/SDL_joystick_c.h
index 82311a0..7ed3e63 100644
--- a/src/joystick/SDL_joystick_c.h
+++ b/src/joystick/SDL_joystick_c.h
@@ -160,7 +160,7 @@ extern int SDL_PrivateJoystickButton(SDL_Joystick *joystick,
 extern int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick,
                                        int touchpad, int finger, Uint8 state, float x, float y, float pressure);
 extern int SDL_PrivateJoystickSensor(SDL_Joystick *joystick,
-                                     SDL_SensorType type, const float *data, int num_values);
+                                     SDL_SensorType type, Uint64 timestamp_us, const float *data, int num_values);
 extern void SDL_PrivateJoystickBatteryLevel(SDL_Joystick *joystick,
                                             SDL_JoystickPowerLevel ePowerLevel);
 
diff --git a/src/joystick/SDL_sysjoystick.h b/src/joystick/SDL_sysjoystick.h
index 34a1742..a0400c6 100644
--- a/src/joystick/SDL_sysjoystick.h
+++ b/src/joystick/SDL_sysjoystick.h
@@ -64,6 +64,7 @@ typedef struct _SDL_JoystickSensorInfo
     SDL_bool enabled;
     float rate;
     float data[3];      /* If this needs to expand, update SDL_ControllerSensorEvent */
+    Uint64 timestamp_us;
 } SDL_JoystickSensorInfo;
 
 struct _SDL_Joystick
diff --git a/src/joystick/hidapi/SDL_hidapi_ps3.c b/src/joystick/hidapi/SDL_hidapi_ps3.c
index a90d4a3..49913d9 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps3.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps3.c
@@ -487,7 +487,7 @@ HIDAPI_DriverPS3_HandleStatePacket(SDL_Joystick *joystick, SDL_DriverPS3_Context
         sensor_data[0] = HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[41], data[42]));
         sensor_data[1] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[45], data[46]));
         sensor_data[2] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[43], data[44]));
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, sensor_data, SDL_arraysize(sensor_data));
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, sensor_data, SDL_arraysize(sensor_data));
     }
 
     SDL_memcpy(ctx->last_state, data, SDL_min(size, sizeof(ctx->last_state)));
diff --git a/src/joystick/hidapi/SDL_hidapi_ps4.c b/src/joystick/hidapi/SDL_hidapi_ps4.c
index 6b4fee3..40884da 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps4.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps4.c
@@ -84,23 +84,24 @@ typedef struct
     Uint8 ucLeftJoystickY;
     Uint8 ucRightJoystickX;
     Uint8 ucRightJoystickY;
-    Uint8 rgucButtonsHatAndCounter[ 3 ];
+    Uint8 rgucButtonsHatAndCounter[3];
     Uint8 ucTriggerLeft;
     Uint8 ucTriggerRight;
-    Uint8 _rgucPad0[ 3 ];
+    Uint8 rgucTimestamp[2];
+    Uint8 _rgucPad0[1];
     Uint8 rgucGyroX[2];
     Uint8 rgucGyroY[2];
     Uint8 rgucGyroZ[2];
     Uint8 rgucAccelX[2];
     Uint8 rgucAccelY[2];
     Uint8 rgucAccelZ[2];
-    Uint8 _rgucPad1[ 5 ];
+    Uint8 _rgucPad1[5];
     Uint8 ucBatteryLevel;
-    Uint8 _rgucPad2[ 4 ];
+    Uint8 _rgucPad2[4];
     Uint8 ucTouchpadCounter1;
-    Uint8 rgucTouchpadData1[ 3 ];
+    Uint8 rgucTouchpadData1[3];
     Uint8 ucTouchpadCounter2;
-    Uint8 rgucTouchpadData2[ 3 ];
+    Uint8 rgucTouchpadData2[3];
 } PS4StatePacket_t;
 
 typedef struct
@@ -147,6 +148,8 @@ typedef struct {
     Uint8 led_red;
     Uint8 led_green;
     Uint8 led_blue;
+    Uint16 last_timestamp;
+    Uint64 timestamp;
     PS4StatePacket_t last_state;
 } SDL_DriverPS4_Context;
 
@@ -807,6 +810,7 @@ HIDAPI_DriverPS4_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
         HIDAPI_DriverPS4_LoadCalibrationData(device);
     }
     ctx->report_sensors = enabled;
+    ctx->timestamp = 0;
 
     return 0;
 }
@@ -944,17 +948,38 @@ HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, SDL_hid_device *dev, 
     }
 
     if (ctx->report_sensors) {
+        Uint16 timestamp;
+        Uint64 timestamp_us;
         float data[3];
 
+        timestamp = LOAD16(packet->rgucTimestamp[0], packet->rgucTimestamp[1]);
+        if (ctx->timestamp) {
+            Uint16 delta;
+
+            if (ctx->last_timestamp > timestamp) {
+                delta = (SDL_MAX_UINT16 - ctx->last_timestamp + timestamp + 1);
+            } else {
+                delta = (timestamp - ctx->last_timestamp);
+            }
+            ctx->timestamp += delta;
+        } else {
+            ctx->timestamp = timestamp;
+        }
+        ctx->last_timestamp = timestamp;
+
+        /* Sensor timestamp is in 5.33us units */
+        timestamp_us = (ctx->timestamp * 16) / 3;
+
+
         data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
         data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
         data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
 
         data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
         data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
         data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
     }
 
     SDL_memcpy(&ctx->last_state, packet, sizeof(ctx->last_state));
diff --git a/src/joystick/hidapi/SDL_hidapi_ps5.c b/src/joystick/hidapi/SDL_hidapi_ps5.c
index 3892764..0e41d2e 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps5.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps5.c
@@ -94,6 +94,7 @@ typedef struct
     Uint8 rgucAccelX[2];                /* 21 */
     Uint8 rgucAccelY[2];                /* 23 */
     Uint8 rgucAccelZ[2];                /* 25 */
+    Uint8 rgucSensorTimestamp[4];       /* 27 - 32 bit little endian */
 
 } PS5StatePacketCommon_t;
 
@@ -114,8 +115,8 @@ typedef struct
     Uint8 rgucAccelX[2];                /* 21 */
     Uint8 rgucAccelY[2];                /* 23 */
     Uint8 rgucAccelZ[2];                /* 25 */
-    Uint8 rgucTimer1[4];                /* 27 - 32 bit little endian */
-    Uint8 ucBatteryTemp;                /* 31 */
+    Uint8 rgucSensorTimestamp[4];       /* 27 - 32 bit little endian */
+    Uint8 ucSensorTemp;                 /* 31 */
     Uint8 ucTouchpadCounter1;           /* 32 - high bit clear + counter */
     Uint8 rgucTouchpadData1[3];         /* 33 - X/Y, 12 bits per axis */
     Uint8 ucTouchpadCounter2;           /* 36 - high bit clear + counter */
@@ -145,7 +146,7 @@ typedef struct
     Uint8 rgucAccelX[2];                /* 21 */
     Uint8 rgucAccelY[2];                /* 23 */
     Uint8 rgucAccelZ[2];                /* 25 */
-    Uint8 rgucUnknown1[4];              /* 27 */
+    Uint8 rgucSensorTimestamp[4];       /* 27 - 32 bit little endian */
     Uint8 ucTouchpadCounter1;           /* 31 - high bit clear + counter */
     Uint8 rgucTouchpadData1[3];         /* 32 - X/Y, 12 bits per axis */
     Uint8 ucTouchpadCounter2;           /* 35 - high bit clear + counter */
@@ -225,6 +226,8 @@ typedef struct {
     Uint8 led_green;
     Uint8 led_blue;
     EDS5LEDResetState led_reset_state;
+    Uint32 last_timestamp;
+    Uint64 timestamp;
     union
     {
         PS5SimpleStatePacket_t simple;
@@ -706,21 +709,21 @@ HIDAPI_DriverPS5_CheckPendingLEDReset(SDL_HIDAPI_Device *device)
     SDL_DriverPS5_Context *ctx = (SDL_DriverPS5_Context *)device->context;
     SDL_bool led_reset_complete = SDL_FALSE;
 
-    if (ctx->use_alternate_report) {
-        /* We don't know how to check the timer, just assume it's complete for now */
-        led_reset_complete = SDL_TRUE;
-    } else {
-        const PS5StatePacket_t *packet = &ctx->last_state.full_state;
+    if (ctx->sensors_supported) {
+        const PS5StatePacketCommon_t *packet = &ctx->last_state.state;
 
         /* Check the timer to make sure the Bluetooth connection LED animation is complete */
         const Uint32 connection_complete = 10200000;
-        Uint32 timer = ((Uint32)packet->rgucTimer1[0] <<  0) |
-                       ((Uint32)packet->rgucTimer1[1] <<  8) |
-                       ((Uint32)packet->rgucTimer1[2] << 16) |
-                       ((Uint32)packet->rgucTimer1[3] << 24);
-        if (SDL_TICKS_PASSED(timer, connection_complete)) {
+        Uint32 timestamp = LOAD32(packet->rgucSensorTimestamp[0],
+                                  packet->rgucSensorTimestamp[1],
+                                  packet->rgucSensorTimestamp[2],
+                                  packet->rgucSensorTimestamp[3]);
+        if (SDL_TICKS_PASSED(timestamp, connection_complete)) {
             led_reset_complete = SDL_TRUE;
         }
+    } else {
+        /* We don't know how to check the timer, just assume it's complete for now */
+        led_reset_complete = SDL_TRUE;
     }
 
     if (led_reset_complete) {
@@ -759,8 +762,14 @@ HIDAPI_DriverPS5_SetEnhancedMode(SDL_HIDAPI_Device *device, SDL_Joystick *joysti
             ctx->report_touchpad = SDL_TRUE;
         }
         if (ctx->sensors_supported) {
-            SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
-            SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
+            if (device->is_bluetooth) {
+                /* Bluetooth sensor update rate appears to be 1000 Hz */
+                SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 1000.0f);
+                SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 1000.0f);
+            } else {
+                SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
+                SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
+            }
         }
 
         /* Switch into enhanced report mode */
@@ -989,6 +998,7 @@ HIDAPI_DriverPS5_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
         HIDAPI_DriverPS5_LoadCalibrationData(device);
     }
     ctx->report_sensors = enabled;
+    ctx->timestamp = 0;
 
     return 0;
 }
@@ -1180,17 +1190,40 @@ HIDAPI_DriverPS5_HandleStatePacketCommon(SDL_Joystick *joystick, SDL_hid_device 
     SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);
 
     if (ctx->report_sensors) {
+        Uint32 timestamp;
+        Uint64 timestamp_us;
         float data[3];
 
+        timestamp = LOAD32(packet->rgucSensorTimestamp[0],
+                           packet->rgucSensorTimestamp[1],
+                           packet->rgucSensorTimestamp[2],
+                           packet->rgucSensorTimestamp[3]);
+        if (ctx->timestamp) {
+            Uint32 delta;
+
+            if (ctx->last_timestamp > timestamp) {
+                delta = (SDL_MAX_UINT32 - ctx->last_timestamp + timestamp + 1);
+            } else {
+                delta = (timestamp - ctx->last_timestamp);
+            }
+            ctx->timestamp += delta;
+        } else {
+            ctx->timestamp = timestamp;
+        }
+        ctx->last_timestamp = timestamp;
+
+        /* Sensor timestamp is in 0.33us units */
+        timestamp_us = ctx->timestamp / 3;
+
         data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
         data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
         data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
 
         data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
         data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
         data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
     }
 }
 
diff --git a/src/joystick/hidapi/SDL_hidapi_steam.c b/src/joystick/hidapi/SDL_hidapi_steam.c
index 6df6512..9f4bb72 100644
--- a/src/joystick/hidapi/SDL_hidapi_steam.c
+++ b/src/joystick/hidapi/SDL_hidapi_steam.c
@@ -1241,12 +1241,12 @@ HIDAPI_DriverSteam_UpdateDevice(SDL_HIDAPI_Device *device)
                 values[0] = (ctx->m_state.sGyroX / 32768.0f) * (2000.0f * (M_PI / 180.0f));
                 values[1] = (ctx->m_state.sGyroZ / 32768.0f) * (2000.0f * (M_PI / 180.0f));
                 values[2] = (ctx->m_state.sGyroY / 32768.0f) * (2000.0f * (M_PI / 180.0f));
-                SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, values, 3);
+                SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, values, 3);
 
                 values[0] = (ctx->m_state.sAccelX / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
                 values[1] = (ctx->m_state.sAccelZ / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
                 values[2] = (-ctx->m_state.sAccelY / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
-                SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, values, 3);
+                SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, values, 3);
             }
 
             ctx->m_last_state = ctx->m_state;
diff --git a/src/joystick/hidapi/SDL_hidapi_switch.c b/src/joystick/hidapi/SDL_hidapi_switch.c
index 8a7c9f0..55641d7 100644
--- a/src/joystick/hidapi/SDL_hidapi_switch.c
+++ b/src/joystick/hidapi/SDL_hidapi_switch.c
@@ -1797,7 +1797,7 @@ static void SendSensorUpdate(SDL_Joystick *joystick, SDL_DriverSwitch_Context *c
         data[0] = -tmp;
     }
 
-    SDL_PrivateJoystickSensor(joystick, type, data, 3);
+    SDL_PrivateJoystickSensor(joystick, type, 0, data, 3);
 }
 
 static void HandleCombinedControllerStateL(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
diff --git a/src/joystick/hidapi/SDL_hidapi_wii.c b/src/joystick/hidapi/SDL_hidapi_wii.c
index fbf8a83..3f40fcc 100644
--- a/src/joystick/hidapi/SDL_hidapi_wii.c
+++ b/src/joystick/hidapi/SDL_hidapi_wii.c
@@ -1151,7 +1151,7 @@ static void HandleNunchuckButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
         values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
         values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
         values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL_L, values, 3);
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL_L, 0, values, 3);
     }
 }
 
@@ -1191,7 +1191,7 @@ static void HandleMotionPlusData(SDL_DriverWii_Context *ctx, SDL_Joystick *joyst
         values[0] = -((float)z / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
         values[1] = ((float)x / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
         values[2] = ((float)y / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
-        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, values, 3);
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, values, 3);
     }
 }
 
@@ -1212,7 +1212,7 @@ static void HandleWiiRemoteAccelData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
     values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
     values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
     values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
-    SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, values, 3);
+    SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, values, 3);
 }
 
 static void HandleButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *joystick, WiiButtonData *data)
diff --git a/src/joystick/iphoneos/SDL_mfijoystick.m b/src/joystick/iphoneos/SDL_mfijoystick.m
index dbd1d8c..72f2ffb 100644
--- a/src/joystick/iphoneos/SDL_mfijoystick.m
+++ b/src/joystick/iphoneos/SDL_mfijoystick.m
@@ -1064,14 +1064,14 @@ IOS_MFIJoystickUpdate(SDL_Joystick *joystick)
                         data[0] = rate.x;
                         data[1] = rate.z;
                         data[2] = -rate.y;
-                        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+                        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, data, 3);
                     }
                     if (motion.hasGravityAndUserAcceleration) {
                         GCAcceleration accel = motion.acceleration;
                         data[0] = -accel.x * SDL_STANDARD_GRAVITY;
                         data[1] = -accel.y * SDL_STANDARD_GRAVITY;
                         data[2] = -accel.z * SDL_STANDARD_GRAVITY;
-                        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+                        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, data, 3);
                     }
                 }
             }
diff --git a/src/sensor/SDL_sensor.c b/src/sensor/SDL_sensor.c
index 161026b..ba86528 100644
--- a/src/sensor/SDL_sensor.c
+++ b/src/sensor/SDL_sensor.c
@@ -307,7 +307,7 @@ SDL_SensorFromInstanceID(SDL_SensorID instance_id)
  * Checks to make sure the sensor is valid.
  */
 static int
-SDL_PrivateSensorValid(SDL_Sensor * sensor)
+SDL_PrivateSensorValid(SDL_Sensor *sensor)
 {
     int valid;
 
@@ -325,7 +325,7 @@ SDL_PrivateSensorValid(SDL_Sensor * sensor)
  * Get the friendly name of this sensor
  */
 const char *
-SDL_SensorGetName(SDL_Sensor * sensor)
+SDL_SensorGetName(SDL_Sensor *sensor)
 {
     if (!SDL_PrivateSensorValid(sensor)) {
         return NULL;
@@ -338,7 +338,7 @@ SDL_SensorGetName(SDL_Sensor * sensor)
  * Get the type of this sensor
  */
 SDL_SensorType
-SDL_SensorGetType(SDL_Sensor * sensor)
+SDL_SensorGetType(SDL_Sensor *sensor)
 {
     if (!SDL_PrivateSensorValid(sensor)) {
         return SDL_SENSOR_INVALID;
@@ -351,7 +351,7 @@ SDL_SensorGetType(SDL_Sensor * sensor)
  * Get the platform dependent type of this sensor
  */
 int
-SDL_SensorGetNonPortableType(SDL_Sensor * sensor)
+SDL_SensorGetNonPortableType(SDL_Sensor *sensor)
 {
     if (!SDL_PrivateSensorValid(sensor)) {
         return -1;
@@ -364,7 +364,7 @@ SDL_SensorGetNonPortableType(SDL_Sensor * sensor)
  * Get the instance id for this opened sensor
  */
 SDL_SensorID
-SDL_SensorGetInstanceID(SDL_Sensor * sensor)
+SDL_SensorGetInstanceID(SDL_Sensor *sensor)
 {
     if (!SDL_PrivateSensorValid(sensor)) {
         return -1;
@@ -377,7 +377,16 @@ SDL_SensorGetInstanceID(SDL_Sensor * sensor)
  * Get the current state of this sensor
  */
 int
-SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values)
+SDL_SensorGetData(SDL_Sensor *sensor, float *data, int num_values)
+{
+    return SDL_SensorGetDataWithTimestamp(sensor, NULL, data, num_values);
+}
+
+/*
+ * Get the current state of this sensor
+ */
+int
+SDL_SensorGetDataWithTimestamp(SDL_Sensor *sensor, Uint64 *timestamp, float *data, int num_values)
 {
     if (!SDL_PrivateSensorValid(sensor)) {
         return -1;
@@ -385,6 +394,9 @@ SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values)
 
     num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
     SDL_memcpy(data, sensor->data, num_values*sizeof(*data));
+    if (timestamp) {
+        *timestamp = sensor->timestamp_us;
+    }
     return 0;
 }
 
@@ -392,7 +404,7 @@ SDL_SensorGetData(SDL_Sensor * sensor, float *data, int num_values)
  * Close a sensor previously opened with SDL_SensorOpen()
  */
 void
-SDL_SensorClose(SDL_Sensor * sensor)
+SDL_SensorClose(SDL_Sensor *sensor)
 {
     SDL_Sensor *sensorlist;
     SDL_Sensor *sensorlistprev;
@@ -478,7 +490,7 @@ SDL_SensorQuit(void)
 /* These are global for SDL_syssensor.c and SDL_events.c */
 
 int
-SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values)
+SDL_PrivateSensorUpdate(SDL_Sensor *sensor, Uint64 timestamp_us, float *data, int num_values)
 {
     int posted;
 
@@ -487,6 +499,7 @@ SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values)
     /* Update internal sensor state */
     num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
     SDL_memcpy(sensor->data, data, num_values*sizeof(*data));
+    sensor->timestamp_us = timestamp_us;
 
     /* Post the event, if desired */
     posted = 0;
@@ -498,6 +511,7 @@ SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values)
         num_values = SDL_min(num_values, SDL_arraysize(event.sensor.data));
         SDL_memset(event.sensor.data, 0, sizeof(event.sensor.data));
         SDL_memcpy(event.sensor.data, data, num_values*sizeof(*data));
+        event.sensor.timestamp_us = timestamp_us;
         posted = SDL_PushEvent(&event) == 1;
     }
 #endif /* !SDL_EVENTS_DISABLED */
diff --git a/src/sensor/SDL_sensor_c.h b/src/sensor/SDL_sensor_c.h
index f116a06..92b93fe 100644
--- a/src/sensor/SDL_sensor_c.h
+++ b/src/sensor/SDL_sensor_c.h
@@ -37,7 +37,7 @@ extern int SDL_SensorInit(void);
 extern void SDL_SensorQuit(void);
 
 /* Internal event queueing functions */
-extern int SDL_PrivateSensorUpdate(SDL_Sensor *sensor, float *data, int num_values);
+extern int SDL_PrivateSensorUpdate(SDL_Sensor *sensor, Uint64 timestamp_us, float *data, int num_values);
 
 #endif /* SDL_sensor_c_h_ */
 
diff --git a/src/sensor/SDL_syssensor.h b/src/sensor/SDL_syssensor.h
index cabbab6..6e601a2 100644
--- a/src/sensor/SDL_syssensor.h
+++ b/src/sensor/SDL_syssensor.h
@@ -37,6 +37,7 @@ struct _SDL_Sensor
     SDL_SensorType type;            /* Type of the sensor */
     int non_portable_type;          /* Platform dependent type of the sensor */
 
+    Uint64 timestamp_us;            /* The timestamp of the last sensor update */
     float data[16];                 /* The current state of the sensor */
 
     struct _SDL_SensorDriver *driver;
diff --git a/src/sensor/android/SDL_androidsensor.c b/src/sensor/android/SDL_androidsensor.c
index e6cfc23..27fb04c 100644
--- a/src/sensor/android/SDL_androidsensor.c
+++ b/src/sensor/android/SDL_androidsensor.c
@@ -174,7 +174,7 @@ SDL_ANDROID_SensorUpdate(SDL_Sensor *sensor)
     if (ALooper_pollAll(0, NULL, &events, (void**)&source) == LOOPER_ID_USER) {
         SDL_zero(event);
         while (ASensorEventQueue_getEvents(sensor->hwdata->eventqueue, &event, 1) > 0) {
-            SDL_PrivateSensorUpdate(sensor, event.data, SDL_arraysize(event.data));
+            SDL_PrivateSensorUpdate(sensor, 0, event.data, SDL_arraysize(event.data));
         }
     }
 }
diff --git a/src/sensor/coremotion/SDL_coremotionsensor.m b/src/sensor/coremotion/SDL_coremotionsensor.m
index 7165f6a..735ecf5 100644
--- a/src/sensor/coremotion/SDL_coremotionsensor.m
+++ b/src/sensor/coremotion/SDL_coremotionsensor.m
@@ -162,7 +162,7 @@ SDL_COREMOTION_SensorUpdate(SDL_Sensor *sensor)
                 data[1] = -acceleration.y * SDL_STANDARD_GRAVITY;
                 data[2] = -acceleration.z * SDL_STANDARD_GRAVITY;
                 if (SDL_memcmp(data, sensor->hwdata->data, sizeof(data)) != 0) {
-                    SDL_PrivateSensorUpdate(sensor, data, SDL_arraysize(data));
+                    SDL_PrivateSensorUpdate(sensor, 0, data, SDL_arraysize(data));
                     SDL_memcpy(sensor->hwdata->data, data, sizeof(data));
                 }
             }
@@ -178,7 +178,7 @@ SDL_COREMOTION_SensorUpdate(SDL_Sensor *sensor)
                 data[1] = rotationRate.y;
                 data[2] = rotationRate.z;
                 if (SDL_memcmp(data, sensor->hwdata->data, sizeof(data)) != 0) {
-                    SDL_PrivateSensorUpdate(sensor, data, SDL_arraysize(data));
+                    SDL_PrivateSensorUpdate(sensor, 0, data, SDL_arraysize(data));
                     SDL_memcpy(sensor->hwdata->data, data, sizeof(data));
                 }
             }
diff --git a/src/sensor/vita/SDL_vitasensor.c b/src/sensor/vita/SDL_vitasensor.c
index 5235e9b..a049811 100644
--- a/src/sensor/vita/SDL_vitasensor.c
+++ b/src/sensor/vita/SDL_vitasensor.c
@@ -154,7 +154,24 @@ SDL_VITA_SensorUpdate(SDL_Sensor *sensor)
     {
         if (sensor->hwdata->counter < motionState[i].counter)
         {
+            unsigned int timestamp = motionState[i].timestamp;
+
             sensor->hwdata->counter = motionState[i].counter;
+
+            if (sensor->hwdata->timestamp_us) {
+                unsigned int delta;
+                if (sensor->hwdata->last_timestamp > timestamp) {
+                    SDL_COMPILE_TIME_ASSERT(sizeof(timestamp) == sizeof(Uint32));
+                    delta = (SDL_MAX_UINT32 - sensor->hwdata->last_timestamp + timestamp + 1);
+                } else {
+                    delta = (timestamp - sensor->hwdata->last_timestamp);
+                }
+                sensor->hwdata->timestamp_us += delta;
+            } else {
+                sensor->hwdata->timestamp_us = timestamp;
+            }
+            sensor->hwdata->last_timestamp = timestamp;
+
             switch (sensor->type)
             {
                 case SDL_SENSOR_ACCEL:
@@ -163,10 +180,7 @@ SDL_VITA_SensorUpdate(SDL_Sensor *sensor)
                     data[0] = motionState[i].accelerometer.x * SDL_STANDARD_GRAVITY;
                     data[1] = motionState[i].accelerometer.y * SDL_STANDARD_GRAVITY;
                     data[2] = motionState[i].accelerometer.z * SDL_STANDARD_GRAVITY;
-                    if (SDL_memcmp(data, sensor->hwdata->data, sizeof(data)) != 0) {
-                       SDL_PrivateSensorUpdate(sensor, data, SDL_arraysize(data));
-                       SDL_memcpy(sensor->hwdata->data, data, sizeof(data));
-                    }
+                    SDL_PrivateSensorUpdate(sensor, sensor->hwdata->timestamp_us, data, SDL_arraysize(data));
                 }
                 break;
                 case SDL_SENSOR_GYRO:
@@ -175,10 +189,7 @@ SDL_VITA_SensorUpdate(SDL_Sensor *sensor)
                     data[0] = motionState[i].gyro.x;
                     data[1] = motionState[i].gyro.y;
                     data[2] = motionState[i].gyro.z;
-                    if (SDL_memcmp(data, sensor->hwdata->data, sizeof(data)) != 0) {
-                       SDL_PrivateSensorUpdate(sensor, data, SDL_arraysize(data));
-                       SDL_memcpy(sensor->hwdata->data, data, sizeof(data));
-                    }
+                    SDL_PrivateSensorUpdate(sensor, sensor->hwdata->timestamp_us, data, SDL_arraysize(data));
                 }
                 break;
                 default:
diff --git a/src/sensor/vita/SDL_vitasensor.h b/src/sensor/vita/SDL_vitasensor.h
index 2fca628..a7d6d29 100644
--- a/src/sensor/vita/SDL_vitasensor.h
+++ b/src/sensor/vita/SDL_vitasensor.h
@@ -23,8 +23,9 @@
 /* The private structure used to keep track of a sensor */
 struct sensor_hwdata
 {
-    float data[3];
     Uint32 counter;
+    unsigned int last_timestamp;
+    Uint64 timestamp_us;
 };
 
 /* vi: set ts=4 sw=4 expandtab: */
diff --git a/src/sensor/windows/SDL_windowssensor.c b/src/sensor/windows/SDL_windowssensor.c
index 21b119d..b2edffc 100644
--- a/src/sensor/windows/SDL_windowssensor.c
+++ b/src/sensor/windows/SDL_windowssensor.c
@@ -171,7 +171,7 @@ static HRESULT STDMETHODCALLTYPE ISensorEventsVtbl_OnDataUpdated(ISensorEvents *
                         values[0] = (float)valueX.dblVal * SDL_STANDARD_GRAVITY;
                         values[1] = (float)valueY.dblVal * SDL_STANDARD_GRAVITY;
                         values[2] = (float)valueZ.dblVal * SDL_STANDARD_GRAVITY;
-                        SDL_PrivateSensorUpdate(SDL_sensors[i].sensor_opened, values, 3);
+                        SDL_PrivateSensorUpdate(SDL_sensors[i].sensor_opened, 0, values, 3);
                     }
                     break;
                 case SDL_SENSOR_GYRO:
@@ -186,7 +186,7 @@ static HRESULT STDMETHODCALLTYPE ISensorEventsVtbl_OnDataUpdated(ISensorEvents *
                         values[0] = (float)valueX.dblVal * DEGREES_TO_RADIANS;
                         values[1] = (float)valueY.dblVal * DEGREES_TO_RADIANS;
                         values[2] = (float)valueZ.dblVal * DEGREES_TO_RADIANS;
-                        SDL_PrivateSensorUpdate(SDL_sensors[i].sensor_opened, values, 3);
+                        SDL_PrivateSensorUpdate(SDL_sensors[i].sensor_opened, 0, values, 3);
                     }
                     break;
                 default:
diff --git a/test/testgamecontroller.c b/test/testgamecontroller.c
index 8ecdcd1..93942b1 100644
--- a/test/testgamecontroller.c
+++ b/test/testgamecontroller.c
@@ -592,12 +592,13 @@ loop(void *arg)
 #define VERBOSE_SENSORS
 #ifdef VERBOSE_SENSORS
         case SDL_CONTROLLERSENSORUPDATE:
-            SDL_Log("Controller %d sensor %s: %.2f, %.2f, %.2f\n",
+            SDL_Log("Controller %d sensor %s: %.2f, %.2f, %.2f (%"SDL_PRIu64")\n",
                 event.csensor.which,
                 GetSensorName((SDL_SensorType)event.csensor.sensor),
                 event.csensor.data[0],
                 event.csensor.data[1],
-                event.csensor.data[2]);
+                event.csensor.data[2],
+                event.csensor.timestamp_us);
             break;
 #endif /* VERBOSE_SENSORS */