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From: Roderick Colenbrander <roderick@gaikai.com>
To: Jiri Kosina <jikos@kernel.org>,
	Benjamin Tissoires <benjamin.tissoires@redhat.com>
Cc: linux-input@vger.kernel.org, Chris Ye <lzye@google.com>,
	Roderick Colenbrander <roderick.colenbrander@sony.com>
Subject: [PATCH 05/13] HID: playstation: add DualSense accelerometer and gyroscope support.
Date: Fri, 18 Dec 2020 22:23:28 -0800	[thread overview]
Message-ID: <20201219062336.72568-6-roderick@gaikai.com> (raw)
In-Reply-To: <20201219062336.72568-1-roderick@gaikai.com>

From: Roderick Colenbrander <roderick.colenbrander@sony.com>

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@sony.com>
---
 drivers/hid/hid-playstation.c | 197 ++++++++++++++++++++++++++++++++++
 1 file changed, 197 insertions(+)

diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c
index 7e622b02ee30..ea64f73e0b84 100644
--- a/drivers/hid/hid-playstation.c
+++ b/drivers/hid/hid-playstation.c
@@ -29,8 +29,18 @@ 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_FEATURE_REPORT_CALIBRATION		5
+#define DS_FEATURE_REPORT_CALIBRATION_SIZE	41
 #define DS_FEATURE_REPORT_PAIRING_INFO		9
 #define DS_FEATURE_REPORT_PAIRING_INFO_SIZE	19
 
@@ -57,13 +67,27 @@ struct ps_device {
 #define DS_STATUS_CHARGING_SHIFT	4
 
 /* 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 {
@@ -244,6 +268,41 @@ static struct input_dev *ps_gamepad_create(struct hid_device *hdev)
 	return gamepad;
 }
 
+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);
+
+	__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 struct input_dev *ps_touchpad_create(struct hid_device *hdev, int width, int height,
 		int num_contacts)
 {
@@ -272,6 +331,92 @@ 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 = hid_hw_raw_request(ds->base.hdev, DS_FEATURE_REPORT_CALIBRATION, buf,
+			DS_FEATURE_REPORT_CALIBRATION_SIZE, HID_FEATURE_REPORT, HID_REQ_GET_REPORT);
+	if (ret < 0)
+		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;
@@ -303,6 +448,7 @@ 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;
 
@@ -345,6 +491,44 @@ 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++) {
+		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 < 3; 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 = 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);
+
 	input_report_key(ds->touchpad, BTN_LEFT, ds_report->buttons[2] & DS_BUTTONS2_TOUCHPAD);
 	for (i = 0; i < 2; i++) {
 		bool active = (ds_report->points[i].contact & 0x80) ? false : true;
@@ -429,12 +613,25 @@ 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);
+	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);
-- 
2.26.2


  parent reply	other threads:[~2020-12-19  6:25 UTC|newest]

Thread overview: 43+ messages / expand[flat|nested]  mbox.gz  Atom feed  top
2020-12-19  6:23 [PATCH 00/13] HID: new driver for PS5 'DualSense' controller Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 01/13] HID: playstation: initial DualSense USB support Roderick Colenbrander
2020-12-27 16:23   ` Barnabás Pőcze
2020-12-27 23:04     ` Roderick Colenbrander
2020-12-29 19:12       ` Barnabás Pőcze
2020-12-31  0:08   ` Barnabás Pőcze
2020-12-31  1:08     ` Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 02/13] HID: playstation: use DualSense MAC address as unique identifier Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 03/13] HID: playstation: add DualSense battery support Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 04/13] HID: playstation: add DualSense touchpad support Roderick Colenbrander
2020-12-26  2:14   ` Samuel Čavoj
2020-12-26 22:27     ` Roderick Colenbrander
2020-12-29 19:49   ` Barnabás Pőcze
2020-12-29 21:44     ` Roderick Colenbrander
2020-12-19  6:23 ` Roderick Colenbrander [this message]
2020-12-19  6:23 ` [PATCH 06/13] HID: playstation: track devices in list Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 07/13] HID: playstation: add DualSense Bluetooth support Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 08/13] HID: playstation: add DualSense classic rumble support Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 09/13] HID: playstation: add DualSense lightbar support Roderick Colenbrander
2020-12-27 14:41   ` Barnabás Pőcze
2020-12-28 21:26     ` Roderick Colenbrander
2020-12-29 18:59       ` Barnabás Pőcze
2020-12-29 19:54         ` Roderick Colenbrander
2020-12-29 20:22           ` Barnabás Pőcze
2020-12-19  6:23 ` [PATCH 10/13] HID: playstation: add microphone mute support for DualSense Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 11/13] HID: playstation: add DualSense player LEDs support Roderick Colenbrander
2020-12-26 19:27   ` Samuel Čavoj
2020-12-26 23:07     ` Roderick Colenbrander
2020-12-27 14:27   ` Barnabás Pőcze
2020-12-28 22:02     ` Roderick Colenbrander
2020-12-29 18:49       ` Barnabás Pőcze
2020-12-19  6:23 ` [PATCH 12/13] HID: playstation: DualSense set LEDs to default player id Roderick Colenbrander
2020-12-27  0:08   ` Samuel Čavoj
2020-12-27 23:07     ` Roderick Colenbrander
2020-12-19  6:23 ` [PATCH 13/13] HID: playstation: report DualSense hardware and firmware version Roderick Colenbrander
2020-12-27 17:06   ` Barnabás Pőcze
2020-12-27 22:21     ` Roderick Colenbrander
2020-12-27 22:27       ` Roderick Colenbrander
2020-12-27 22:37         ` Barnabás Pőcze
2020-12-28 22:45           ` Roderick Colenbrander
2020-12-29 15:10             ` Barnabás Pőcze
2020-12-19  8:38 ` [PATCH 00/13] HID: new driver for PS5 'DualSense' controller Bastien Nocera
2020-12-19 22:39   ` Roderick.Colenbrander

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