Hi Alain,
I'm technically still on vacation, but this issue annoyed me a lot. I
had a look at other internal code and I'm relieved the code is
correct. (Well there is one tiny little issue around calibration,
which I will fix, but in practice only causes a tiny, tiny error).
I don't know why I thought it was wrong. Likely I had worked on a
patched kernel with some logic changed which caused these high values.
In any case I mentioned how the ratio was around 60 on my DS4. It
didn't make sense to me, but it is basically: 2000 / 32768 * 1024
(62.5). The 2000 is the range of the sensor, 32768 max value of 16-bit
signed, 1024 the scaling factor we use in the driver.
So basically:+ for (i = 0; i < ARRAY_SIZE(ds4->gyro_calib_data); i++) {
+ if (ds4->gyro_calib_data[i].sens_denom == 0) {
+ hid_warn(hdev, "Invalid gyro calibration data for axis
(%d), disabling calibration.",
+ ds4->gyro_calib_data[i].abs_code);
+ ds4->gyro_calib_data[i].bias = 0;
+ ds4->gyro_calib_data[i].sens_numer = DS4_GYRO_RANGE;
+ ds4->gyro_calib_data[i].sens_denom = S16_MAX;
+ }
+ }
The same for accelerometer.
I will clean up the patch, add some other patches and send them out shortly.
Thanks,
Roderick
On Thu, Jan 5, 2023 at 10:24 AM Alain Carlucci <alain.carlucci@xxxxxxxxx> wrote:
>
> Hi Roderick,
>
> I just tried to see with evtest the values of gyro/accel after
> changing the driver so that follows the suggestion on the dsremap
> website: dividing by two speed_2x:
> speed_2x = (gyro_speed_plus + gyro_speed_minus) >> 1;
>
> The DS4 shows values no higher than 600000 (post-calibration) while
> heavily shaking the joystick. For the record, the calibration is:
>
> gyro_pitch_plus: 8848 gyro_pitch_minus: -8853
> gyro_yaw_plus: 8833 gyro_yaw_minus: -8827
> gyro_roll_plus: 8856 gyro_roll_minus: -8841
> gyro_speed_plus: 540 gyro_speed_minus: 540
> acc_x_plus: 8107 acc_x_minus: -8107
> acc_y_plus: 8259 acc_y_minus: -8259
> acc_z_plus: 8187 acc_z_minus: -8186
>
> This is an example of the output:
>
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 128610
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 95747
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 61321
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 28864
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 874
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -27802
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -54949
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -82064
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -110398
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -138107
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -170345
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -205239
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -242320
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -281525
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -318043
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -356748
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -394453
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -430628
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -465428
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -496105
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -526469
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -551897
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -554865
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -522127
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -450933
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -323041
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -180404
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value -44859
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 71006
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 148353
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 202209
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 242757
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 274183
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 298456
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 316106
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 331569
> Event: time [...], type 3 (EV_ABS), code 3 (ABS_RX), value 338942
>
> Thanks,
> Alain
