This patch is a RFC/POC for the idea of using the iio-subsystem as the
'proper' way to communicate the state of motion enabled controllers to
the Linux internals.
I have started with the hid-sony driver, with support for the SixAxis's
3 Accelerometers. Proper trigger/buffer support will follow shortly, along
with support for the DS4 and PSMove controllers (which have a much more
extensive set of motion hardware).
Once the sensor data is available (over iio) I envision that it will be
considerably easier to write motion tracking, flight control and AHRS
software in a consistant manner.
Hopefully this will become the standard way of connecting controllers,
motion controls and head mounted displays.
---
drivers/hid/hid-sony.c | 175 +++++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 175 insertions(+)
diff --git a/drivers/hid/hid-sony.c b/drivers/hid/hid-sony.c
index 6ca96ce..79afae6 100644
--- a/drivers/hid/hid-sony.c
+++ b/drivers/hid/hid-sony.c
@@ -36,6 +36,7 @@
#include <linux/list.h>
#include <linux/idr.h>
#include <linux/input/mt.h>
+#include <linux/iio/iio.h>
#include "hid-ids.h"
@@ -54,6 +55,7 @@
DUALSHOCK4_CONTROLLER)
#define SONY_BATTERY_SUPPORT (SIXAXIS_CONTROLLER | DUALSHOCK4_CONTROLLER)
#define SONY_FF_SUPPORT (SIXAXIS_CONTROLLER | DUALSHOCK4_CONTROLLER)
+#define SONY_IIO_SUPPORT SIXAXIS_CONTROLLER
#define MAX_LEDS 4
@@ -835,6 +837,23 @@ struct sony_sc {
__u8 led_delay_on[MAX_LEDS];
__u8 led_delay_off[MAX_LEDS];
__u8 led_count;
+
+#if IS_BUILTIN(CONFIG_IIO) || \
+ (IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+ struct iio_dev *indio_dev;
+ __u16 last_acc[3];
+ __u16 last_gyro[3];
+};
+
+enum sony_iio_axis {
+ AXIS_X,
+ AXIS_Y,
+ AXIS_Z,
+};
+
+struct sony_iio {
+ struct sony_sc *sc;
+#endif
};
static __u8 *sixaxis_fixup(struct hid_device *hdev, __u8 *rdesc,
@@ -1047,6 +1066,12 @@ static int sony_raw_event(struct hid_device *hdev, struct hid_report *report,
swap(rd[45], rd[46]);
swap(rd[47], rd[48]);
+#if IS_BUILTIN(CONFIG_IIO) || \
+ (IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+ sc->last_acc[0] = (rd[42] << 8) + rd[41];
+ sc->last_acc[1] = (rd[44] << 8) + rd[43];
+ sc->last_acc[2] = (rd[46] << 8) + rd[45];
+#endif
sixaxis_parse_report(sc, rd, size);
} else if (((sc->quirks & DUALSHOCK4_CONTROLLER_USB) && rd[0] == 0x01 &&
size == 64) || ((sc->quirks & DUALSHOCK4_CONTROLLER_BT)
@@ -1769,6 +1794,136 @@ static void sony_battery_remove(struct sony_sc *sc)
sc->battery_desc.name = NULL;
}
+#if IS_BUILTIN(CONFIG_IIO) || \
+ (IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+
+static int sony_iio_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2,
+ long mask)
+{
+ struct sony_iio *data = iio_priv(indio_dev);
+ int ret;
+ u32 temp;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ *val = data->sc->last_acc[chan->scan_index];
+ return IIO_VAL_INT;
+ case IIO_ANGL_VEL:
+ *val = data->sc->last_gyro[chan->scan_index];
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ *val = 1;
+ return IIO_VAL_INT;
+ case IIO_ANGL_VEL:
+ *val = 1;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ *val = 512;
+ return IIO_VAL_INT;
+ case IIO_ANGL_VEL:
+ *val = 512;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ }
+
+ return -EINVAL;
+}
+
+#define SONY_ACC_CHANNEL(_axis) { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OFFSET), \
+ .scan_index = AXIS_##_axis, \
+}
+
+#define SONY_GYRO_CHANNEL(_axis) { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##_axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_OFFSET), \
+ .scan_index = AXIS_##_axis, \
+}
+
+static const struct iio_chan_spec sony_sixaxis_channels[] = {
+ SONY_ACC_CHANNEL(X),
+ SONY_ACC_CHANNEL(Y),
+ SONY_ACC_CHANNEL(Z),
+};
+
+static const struct iio_info sony_iio_info = {
+ .read_raw = &sony_iio_read_raw,
+ .driver_module = THIS_MODULE,
+};
+
+static int sony_iio_probe(struct sony_sc *sc)
+{
+ struct hid_device *hdev = sc->hdev;
+ struct iio_dev *indio_dev;
+ struct sony_iio *data;
+ int ret;
+
+ indio_dev = iio_device_alloc(sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ sc->indio_dev = indio_dev;
+ data = iio_priv(indio_dev);
+ data->sc = sc;
+
+ indio_dev->dev.parent = &hdev->dev;
+ indio_dev->name = dev_name(&hdev->dev);
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &sony_iio_info;
+ indio_dev->channels = sony_sixaxis_channels;
+ indio_dev->num_channels = 3;
+
+ ret = iio_device_register(indio_dev);
+ if (ret < 0) {
+ hid_err(hdev, "Unable to register iio device\n");
+ goto error_iio_probe;
+ }
+ return 0;
+
+error_iio_probe:
+ kfree(indio_dev);
+ sc->indio_dev = NULL;
+ return ret;
+}
+
+static void sony_iio_remove(struct sony_sc *sc)
+{
+ if (!sc->indio_dev)
+ return;
+
+ iio_device_unregister(sc->indio_dev);
+ kfree(sc->indio_dev);
+ sc->indio_dev = NULL;
+}
+#endif
+
/*
* If a controller is plugged in via USB while already connected via Bluetooth
* it will show up as two devices. A global list of connected controllers and
@@ -2073,6 +2228,15 @@ static int sony_probe(struct hid_device *hdev, const struct hid_device_id *id)
}
}
+#if IS_BUILTIN(CONFIG_IIO) || \
+ (IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+ if (sc->quirks & SONY_IIO_SUPPORT) {
+ ret = sony_iio_probe(sc);
+ if (ret < 0)
+ goto err_stop;
+ }
+#endif
+
if (sc->quirks & SONY_FF_SUPPORT) {
ret = sony_init_ff(sc);
if (ret < 0)
@@ -2087,6 +2251,11 @@ err_stop:
sony_leds_remove(sc);
if (sc->quirks & SONY_BATTERY_SUPPORT)
sony_battery_remove(sc);
+#if IS_BUILTIN(CONFIG_IIO) || \
+ (IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+ if (sc->quirks & SONY_IIO_SUPPORT)
+ sony_iio_remove(sc);
+#endif
sony_cancel_work_sync(sc);
kfree(sc->output_report_dmabuf);
sony_remove_dev_list(sc);
@@ -2107,6 +2276,12 @@ static void sony_remove(struct hid_device *hdev)
sony_battery_remove(sc);
}
+#if IS_BUILTIN(CONFIG_IIO) || \
+ (IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+ if (sc->quirks & SONY_IIO_SUPPORT)
+ sony_iio_remove(sc);
+#endif
+
sony_cancel_work_sync(sc);
kfree(sc->output_report_dmabuf);
--
2.1.4
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