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([2a01:e34:eea6:7961:1234::5a1]) by smtp.gmail.com with ESMTPSA id i7sm1480452wmq.2.2021.01.28.06.48.24 (version=TLS1_3 cipher=TLS_AES_128_GCM_SHA256 bits=128/128); Thu, 28 Jan 2021 06:48:25 -0800 (PST) Reply-To: benjamin.tissoires@redhat.com Subject: Re: [PATCH v4 05/13] HID: playstation: add DualSense accelerometer and gyroscope support. To: Roderick Colenbrander , Jiri Kosina Cc: linux-input@vger.kernel.org, Chris Ye , Roderick Colenbrander References: <20210117234435.180294-1-roderick@gaikai.com> <20210117234435.180294-6-roderick@gaikai.com> From: Benjamin Tissoires Message-ID: Date: Thu, 28 Jan 2021 15:48:19 +0100 User-Agent: Mozilla/5.0 (X11; Linux x86_64; rv:78.0) Gecko/20100101 Thunderbird/78.5.1 MIME-Version: 1.0 In-Reply-To: <20210117234435.180294-6-roderick@gaikai.com> Content-Type: text/plain; charset=utf-8; format=flowed Content-Language: en-US Content-Transfer-Encoding: 7bit Precedence: bulk List-ID: X-Mailing-List: linux-input@vger.kernel.org Hi Roderick, On 1/18/21 12:44 AM, Roderick Colenbrander wrote: > From: Roderick Colenbrander > > 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 > --- > 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); >