Hi
2021. január 2., szombat 23:31 keltezéssel, Roderick Colenbrander írta:
> From: Roderick Colenbrander <roderick.colenbrander@xxxxxxxx>
>
> The DualSense features an accelerometer and gyroscope. The data is
> embedded into the main HID input reports. Expose both sensors through
> through a separate evdev node.
>
> Signed-off-by: Roderick Colenbrander <roderick.colenbrander@xxxxxxxx>
> [...]
> +static struct input_dev *ps_sensors_create(struct hid_device *hdev, int accel_range, int accel_res,
> + int gyro_range, int gyro_res)
> +{
> + struct input_dev *sensors;
> + int ret;
> +
> + sensors = ps_allocate_input_dev(hdev, "Motion Sensors");
> + if (IS_ERR(sensors))
> + return ERR_PTR(-ENOMEM);
I know that at the moment ENOMEM is the only possible error, but I believe
`return ERR_CAST(sensors);` would be better. (Or even just `return sensors;`.)
> +
> + __set_bit(INPUT_PROP_ACCELEROMETER, sensors->propbit);
> +
> + /* Accelerometer */
> + input_set_abs_params(sensors, ABS_X, -accel_range, accel_range, 16, 0);
> + input_set_abs_params(sensors, ABS_Y, -accel_range, accel_range, 16, 0);
> + input_set_abs_params(sensors, ABS_Z, -accel_range, accel_range, 16, 0);
> + input_abs_set_res(sensors, ABS_X, accel_res);
> + input_abs_set_res(sensors, ABS_Y, accel_res);
> + input_abs_set_res(sensors, ABS_Z, accel_res);
> +
> + /* Gyroscope */
> + input_set_abs_params(sensors, ABS_RX, -gyro_range, gyro_range, 16, 0);
> + input_set_abs_params(sensors, ABS_RY, -gyro_range, gyro_range, 16, 0);
> + input_set_abs_params(sensors, ABS_RZ, -gyro_range, gyro_range, 16, 0);
> + input_abs_set_res(sensors, ABS_RX, gyro_res);
> + input_abs_set_res(sensors, ABS_RY, gyro_res);
> + input_abs_set_res(sensors, ABS_RZ, gyro_res);
> +
> + ret = input_register_device(sensors);
> + if (ret)
> + return ERR_PTR(ret);
> +
> + return sensors;
> +}
> [...]
> +static int dualsense_get_calibration_data(struct dualsense *ds)
> +{
> + short gyro_pitch_bias, gyro_pitch_plus, gyro_pitch_minus;
> + short gyro_yaw_bias, gyro_yaw_plus, gyro_yaw_minus;
> + short gyro_roll_bias, gyro_roll_plus, gyro_roll_minus;
> + short gyro_speed_plus, gyro_speed_minus;
> + short acc_x_plus, acc_x_minus;
> + short acc_y_plus, acc_y_minus;
> + short acc_z_plus, acc_z_minus;
> + int speed_2x;
> + int range_2g;
> + int ret = 0;
> + uint8_t *buf;
> +
> + buf = kzalloc(DS_FEATURE_REPORT_CALIBRATION_SIZE, GFP_KERNEL);
> + if (!buf)
> + return -ENOMEM;
> +
> + ret = hid_hw_raw_request(ds->base.hdev, DS_FEATURE_REPORT_CALIBRATION, buf,
> + DS_FEATURE_REPORT_CALIBRATION_SIZE, HID_FEATURE_REPORT, HID_REQ_GET_REPORT);
I think it would be better if lines were aligned. I have missed this in other patches,
so if you decide to make this change, please do it everywhere.
> + if (ret < 0)
> + goto err_free;
> + else if (ret != DS_FEATURE_REPORT_CALIBRATION_SIZE) {
As per coding style[1], please either use {} for all branches, or just drop the
`else` and maybe add a new line:
```
if (ret < 0)
goto ...
if (ret != ...) {
...
}
```
> + hid_err(ds->base.hdev, "failed to retrieve DualSense calibration info\n");
I think this message could be improved to better pinpoint the exact problem
that triggered it.
> + ret = -EINVAL;
> + goto err_free;
> + }
> +
> + gyro_pitch_bias = get_unaligned_le16(&buf[1]);
> + gyro_yaw_bias = get_unaligned_le16(&buf[3]);
> + gyro_roll_bias = get_unaligned_le16(&buf[5]);
> + gyro_pitch_plus = get_unaligned_le16(&buf[7]);
> + gyro_pitch_minus = get_unaligned_le16(&buf[9]);
> + gyro_yaw_plus = get_unaligned_le16(&buf[11]);
> + gyro_yaw_minus = get_unaligned_le16(&buf[13]);
> + gyro_roll_plus = get_unaligned_le16(&buf[15]);
> + gyro_roll_minus = get_unaligned_le16(&buf[17]);
> + gyro_speed_plus = get_unaligned_le16(&buf[19]);
> + gyro_speed_minus = get_unaligned_le16(&buf[21]);
> + acc_x_plus = get_unaligned_le16(&buf[23]);
> + acc_x_minus = get_unaligned_le16(&buf[25]);
> + acc_y_plus = get_unaligned_le16(&buf[27]);
> + acc_y_minus = get_unaligned_le16(&buf[29]);
> + acc_z_plus = get_unaligned_le16(&buf[31]);
> + acc_z_minus = get_unaligned_le16(&buf[33]);
> +
> + /* Set gyroscope calibration and normalization parameters.
> + * Data values will be normalized to 1/DS_GYRO_RES_PER_DEG_S degree/s.
> + */
A small note, as written in [2], the preferred style of multi-line comments is different,
so you might want to change the comments. If you decide to make this change, please
do it everywhere.
> + speed_2x = (gyro_speed_plus + gyro_speed_minus);
> + ds->gyro_calib_data[0].abs_code = ABS_RX;
> + ds->gyro_calib_data[0].bias = gyro_pitch_bias;
> + ds->gyro_calib_data[0].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S;
> + ds->gyro_calib_data[0].sens_denom = gyro_pitch_plus - gyro_pitch_minus;
> +
> + ds->gyro_calib_data[1].abs_code = ABS_RY;
> + ds->gyro_calib_data[1].bias = gyro_yaw_bias;
> + ds->gyro_calib_data[1].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S;
> + ds->gyro_calib_data[1].sens_denom = gyro_yaw_plus - gyro_yaw_minus;
> +
> + ds->gyro_calib_data[2].abs_code = ABS_RZ;
> + ds->gyro_calib_data[2].bias = gyro_roll_bias;
> + ds->gyro_calib_data[2].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S;
> + ds->gyro_calib_data[2].sens_denom = gyro_roll_plus - gyro_roll_minus;
> +
> + /* Set accelerometer calibration and normalization parameters.
> + * Data values will be normalized to 1/DS_ACC_RES_PER_G G.
^
Minor thing, but I believe it should be 'g', not 'G'?
> + */
> + range_2g = acc_x_plus - acc_x_minus;
> + ds->accel_calib_data[0].abs_code = ABS_X;
> + ds->accel_calib_data[0].bias = acc_x_plus - range_2g / 2;
> + ds->accel_calib_data[0].sens_numer = 2*DS_ACC_RES_PER_G;
> + ds->accel_calib_data[0].sens_denom = range_2g;
> +
> + range_2g = acc_y_plus - acc_y_minus;
> + ds->accel_calib_data[1].abs_code = ABS_Y;
> + ds->accel_calib_data[1].bias = acc_y_plus - range_2g / 2;
> + ds->accel_calib_data[1].sens_numer = 2*DS_ACC_RES_PER_G;
> + ds->accel_calib_data[1].sens_denom = range_2g;
> +
> + range_2g = acc_z_plus - acc_z_minus;
> + ds->accel_calib_data[2].abs_code = ABS_Z;
> + ds->accel_calib_data[2].bias = acc_z_plus - range_2g / 2;
> + ds->accel_calib_data[2].sens_numer = 2*DS_ACC_RES_PER_G;
> + ds->accel_calib_data[2].sens_denom = range_2g;
> +
> +err_free:
> + kfree(buf);
> + return ret;
> +}
> +
> static int dualsense_get_mac_address(struct dualsense *ds)
> {
> uint8_t *buf;
> @@ -319,6 +469,7 @@ static int dualsense_parse_report(struct ps_device *ps_dev, struct hid_report *r
> struct dualsense_input_report *ds_report;
> uint8_t battery_data, battery_capacity, charging_status, value;
> int battery_status;
> + uint16_t sensor_timestamp;
> unsigned long flags;
> int i;
>
> @@ -361,6 +512,44 @@ static int dualsense_parse_report(struct ps_device *ps_dev, struct hid_report *r
> input_report_key(ds->gamepad, BTN_MODE, ds_report->buttons[2] & DS_BUTTONS2_PS_HOME);
> input_sync(ds->gamepad);
>
> + /* Parse and calibrate gyroscope data. */
> + for (i = 0; i < 3; i++) {
I think `i < ARRAY_SIZE(...)` would be better.
And I would add a `static_assert(ARRAY_SIZE(ds_report->gyro) == ARRAY_SIZE(ds->gyro_calib_data))`
somewhere around here just to be safe. Or define a new constant like `DS_GYRO_DIMS`
and use that to define the arrays. Or both. *
> + int raw_data = (short)le16_to_cpu(ds_report->gyro[i]);
> + int calib_data = mult_frac(ds->gyro_calib_data[i].sens_numer,
> + raw_data - ds->gyro_calib_data[i].bias,
> + ds->gyro_calib_data[i].sens_denom);
I believe it would be better if the second and third lines was aligned. **
> +
> + input_report_abs(ds->sensors, ds->gyro_calib_data[i].abs_code, calib_data);
> + }
> +
> + /* Parse and calibrate accelerometer data. */
> + for (i = 0; i < 3; i++) {
Same here. *
> + int raw_data = (short)le16_to_cpu(ds_report->accel[i]);
> + int calib_data = mult_frac(ds->accel_calib_data[i].sens_numer,
> + raw_data - ds->accel_calib_data[i].bias,
> + ds->accel_calib_data[i].sens_denom);
Same here. **
> +
> + input_report_abs(ds->sensors, ds->accel_calib_data[i].abs_code, calib_data);
> + }
> +
> + /* Convert timestamp (in 0.33us unit) to timestamp_us */
> + sensor_timestamp = le32_to_cpu(ds_report->sensor_timestamp);
> + if (!ds->sensor_timestamp_initialized) {
> + ds->sensor_timestamp_us = sensor_timestamp / 3;
> + ds->sensor_timestamp_initialized = true;
> + } else {
> + uint32_t delta;
> +
> + if (ds->prev_sensor_timestamp > sensor_timestamp)
> + delta = (U32_MAX - ds->prev_sensor_timestamp + sensor_timestamp + 1);
> + else
> + delta = sensor_timestamp - ds->prev_sensor_timestamp;
> + ds->sensor_timestamp_us += delta / 3;
> + }
> + ds->prev_sensor_timestamp = sensor_timestamp;
> + input_event(ds->sensors, EV_MSC, MSC_TIMESTAMP, ds->sensor_timestamp_us);
> + input_sync(ds->sensors);
> +
> for (i = 0; i < 2; i++) {
> bool active = (ds_report->points[i].contact & DS_TOUCH_POINT_INACTIVE) ? false : true;
>
> @@ -446,12 +635,25 @@ static struct ps_device *dualsense_create(struct hid_device *hdev)
> }
> snprintf(hdev->uniq, sizeof(hdev->uniq), "%pMR", ds->base.mac_address);
>
> + ret = dualsense_get_calibration_data(ds);
> + if (ret < 0) {
> + hid_err(hdev, "Failed to get calibration data from DualSense\n");
> + goto err;
> + }
> +
> ds->gamepad = ps_gamepad_create(hdev);
> if (IS_ERR(ds->gamepad)) {
> ret = PTR_ERR(ds->gamepad);
> goto err;
> }
>
> + ds->sensors = ps_sensors_create(hdev, DS_ACC_RANGE, DS_ACC_RES_PER_G,
> + DS_GYRO_RANGE, DS_GYRO_RES_PER_DEG_S);
I believe it would be better if the second line was aligned to the `h` in 'hdev'.
> + if (IS_ERR(ds->sensors)) {
> + ret = PTR_ERR(ds->sensors);
> + goto err;
> + }
> +
> ds->touchpad = ps_touchpad_create(hdev, DS_TOUCHPAD_WIDTH, DS_TOUCHPAD_HEIGHT, 2);
> if (IS_ERR(ds->touchpad)) {
> ret = PTR_ERR(ds->touchpad);
>
[1]: https://www.kernel.org/doc/html/latest/process/coding-style.html#placing-braces-and-spaces
[2]: https://www.kernel.org/doc/html/latest/process/coding-style.html#commenting
Regards,
Barnabás Pőcze
