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[76.87.77.78]) by smtp.gmail.com with ESMTPSA id a141sm16578991pfa.189.2021.02.07.13.49.18 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 07 Feb 2021 13:49:18 -0800 (PST) From: Roderick Colenbrander To: Jiri Kosina , Benjamin Tissoires Cc: linux-input@vger.kernel.org, Chris Ye , =?utf-8?q?Bar?= =?utf-8?b?bmFiw6FzIFDFkWN6ZQ==?= , =?utf-8?q?Samuel_=C4=8Cavoj?= , =?utf-8?q?Florian_M=C3=A4rkl?= , Roderick Colenbrander Subject: [PATCH v6 05/13] HID: playstation: add DualSense accelerometer and gyroscope support. Date: Sun, 7 Feb 2021 13:49:00 -0800 Message-Id: <20210207214908.79573-6-roderick@gaikai.com> X-Mailer: git-send-email 2.26.2 In-Reply-To: <20210207214908.79573-1-roderick@gaikai.com> References: <20210207214908.79573-1-roderick@gaikai.com> MIME-Version: 1.0 Precedence: bulk List-ID: X-Mailing-List: linux-input@vger.kernel.org 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 | 203 ++++++++++++++++++++++++++++++++++ 1 file changed, 203 insertions(+) diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c index 30ae9434240c..b09ec604cd27 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 { @@ -293,6 +317,43 @@ static int ps_get_report(struct hid_device *hdev, uint8_t report_id, uint8_t *bu return 0; } +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_CAST(sensors); + + __set_bit(INPUT_PROP_ACCELEROMETER, sensors->propbit); + __set_bit(EV_MSC, sensors->evbit); + __set_bit(MSC_TIMESTAMP, sensors->mscbit); + + /* 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, unsigned int num_contacts) { @@ -321,6 +382,96 @@ 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; @@ -352,6 +503,7 @@ 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; @@ -396,6 +548,44 @@ 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; @@ -485,12 +675,25 @@ 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, + 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);