Hi Roderick,
On 1/18/21 12:44 AM, Roderick Colenbrander wrote:
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>
---
drivers/hid/hid-playstation.c | 166 ++++++++++++++++++++++++++++++++++
1 file changed, 166 insertions(+)
diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c
index 64d6d736c435..ef8da272cf59 100644
--- a/drivers/hid/hid-playstation.c
+++ b/drivers/hid/hid-playstation.c
@@ -32,9 +32,19 @@ struct ps_device {
int (*parse_report)(struct ps_device *dev, struct hid_report *report, u8 *data, int size);
};
+/* Calibration data for playstation motion sensors. */
+struct ps_calibration_data {
+ int abs_code;
+ short bias;
+ int sens_numer;
+ int sens_denom;
+};
+
#define DS_INPUT_REPORT_USB 0x01
#define DS_INPUT_REPORT_USB_SIZE 64
+#define DS_FEATURE_REPORT_CALIBRATION 0x05
+#define DS_FEATURE_REPORT_CALIBRATION_SIZE 41
#define DS_FEATURE_REPORT_PAIRING_INFO 0x09
#define DS_FEATURE_REPORT_PAIRING_INFO_SIZE 20
@@ -68,13 +78,27 @@ struct ps_device {
#define DS_TOUCH_POINT_INACTIVE BIT(7)
/* DualSense hardware limits */
+#define DS_ACC_RES_PER_G 8192
+#define DS_ACC_RANGE (4*DS_ACC_RES_PER_G)
+#define DS_GYRO_RES_PER_DEG_S 1024
+#define DS_GYRO_RANGE (2048*DS_GYRO_RES_PER_DEG_S)
#define DS_TOUCHPAD_WIDTH 1920
#define DS_TOUCHPAD_HEIGHT 1080
struct dualsense {
struct ps_device base;
struct input_dev *gamepad;
+ struct input_dev *sensors;
struct input_dev *touchpad;
+
+ /* Calibration data for accelerometer and gyroscope. */
+ struct ps_calibration_data accel_calib_data[3];
+ struct ps_calibration_data gyro_calib_data[3];
+
+ /* Timestamp for sensor data */
+ bool sensor_timestamp_initialized;
+ uint32_t prev_sensor_timestamp;
+ uint32_t sensor_timestamp_us;
};
struct dualsense_touch_point {
@@ -312,6 +336,96 @@ static struct input_dev *ps_touchpad_create(struct hid_device *hdev, int width,
return touchpad;
}
+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 = ps_get_report(ds->base.hdev, DS_FEATURE_REPORT_CALIBRATION, buf,
+ DS_FEATURE_REPORT_CALIBRATION_SIZE);
+ if (ret) {
+ hid_err(ds->base.hdev, "Failed to retrieve DualSense calibration info: %d\n", ret);
+ 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.
+ */
+ 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.
+ */
+ 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;
@@ -343,6 +457,7 @@ 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;
+ uint32_t sensor_timestamp;
unsigned long flags;
int i;
@@ -387,6 +502,44 @@ 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 < ARRAY_SIZE(ds_report->gyro); i++) {
+ 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);
+
+ input_report_abs(ds->sensors, ds->gyro_calib_data[i].abs_code, calib_data);
+ }
+
+ /* Parse and calibrate accelerometer data. */
+ for (i = 0; i < ARRAY_SIZE(ds_report->accel); i++) {
+ 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);
+
+ 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 = DIV_ROUND_CLOSEST(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 += DIV_ROUND_CLOSEST(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 < ARRAY_SIZE(ds_report->points); i++) {
struct dualsense_touch_point *point = &ds_report->points[i];
bool active = (point->contact & DS_TOUCH_POINT_INACTIVE) ? false : true;
@@ -476,12 +629,25 @@ 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) {
+ 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,
Looks like you got a bad rebase here. I have the following complain when
compiling this series up to this patch:
drivers/hid/hid-playstation.c: In function 'dualsense_create':
drivers/hid/hid-playstation.c:644:16: error: implicit declaration of function 'ps_sensors_create' [-Werror=implicit-function-declaration]
644 | ds->sensors = ps_sensors_create(hdev, DS_ACC_RANGE, DS_ACC_RES_PER_G,
| ^~~~~~~~~~~~~~~~~
drivers/hid/hid-playstation.c:644:14: warning: assignment to 'struct input_dev *' from 'int' makes pointer from integer without a cast [-Wint-conversion]
644 | ds->sensors = ps_sensors_create(hdev, DS_ACC_RANGE, DS_ACC_RES_PER_G,
| ^
The function ps_sensors_create() gets added in "HID: playstation: add
DualSense lightbar support", which seems like a mistake.
Cheers,
Benjamin
+ DS_GYRO_RANGE, DS_GYRO_RES_PER_DEG_S);
+ 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);
