@@ -2,7 +2,7 @@
/*
* HID driver for Nintendo Switch Joy-Cons and Pro Controllers
*
- * Copyright (c) 2019 Daniel J. Ogorchock <djogorchock@gmail.com>
+ * Copyright (c) 2019-2020 Daniel J. Ogorchock <djogorchock@gmail.com>
*
* The following resources/projects were referenced for this driver:
* https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering
@@ -26,6 +26,7 @@
#include <asm/unaligned.h>
#include <linux/delay.h>
#include <linux/device.h>
+#include <linux/kernel.h>
#include <linux/hid.h>
#include <linux/input.h>
#include <linux/jiffies.h>
@@ -115,6 +116,15 @@ static const u16 JC_CAL_USR_RIGHT_DATA_ADDR = 0x801D;
static const u16 JC_CAL_FCT_DATA_LEFT_ADDR = 0x603d;
static const u16 JC_CAL_FCT_DATA_RIGHT_ADDR = 0x6046;
+/* SPI storage addresses of IMU factory calibration data */
+static const u16 JC_IMU_CAL_FCT_DATA_ADDR = 0x6020;
+static const u16 JC_IMU_CAL_FCT_DATA_END = 0x6037;
+#define JC_IMU_CAL_DATA_SIZE \
+ (JC_IMU_CAL_FCT_DATA_END - JC_IMU_CAL_FCT_DATA_ADDR + 1)
+/* SPI storage addresses of IMU user calibration data */
+static const u16 JC_IMU_CAL_USR_MAGIC_ADDR = 0x8026;
+static const u16 JC_IMU_CAL_USR_DATA_ADDR = 0x8028;
+
/* The raw analog joystick values will be mapped in terms of this magnitude */
static const u16 JC_MAX_STICK_MAG = 32767;
static const u16 JC_STICK_FUZZ = 250;
@@ -125,6 +135,47 @@ static const u16 JC_MAX_DPAD_MAG = 1;
static const u16 JC_DPAD_FUZZ /*= 0*/;
static const u16 JC_DPAD_FLAT /*= 0*/;
+/* Under most circumstances IMU reports are pushed every 15ms; use as default */
+static const u16 JC_IMU_DFLT_AVG_DELTA_MS = 15;
+/* How many samples to sum before calculating average IMU report delta */
+static const u16 JC_IMU_SAMPLES_PER_DELTA_AVG = 300;
+/* Controls how many dropped IMU packets at once trigger a warning message */
+static const u16 JC_IMU_DROPPED_PKT_WARNING = 3;
+
+/*
+ * The controller's accelerometer has a sensor resolution of 16bits and is
+ * configured with a range of +-8000 milliGs. Therefore, the resolution can be
+ * calculated thus: (2^16-1)/(8000 * 2) = 4.096 digits per milliG
+ * Resolution per G (rather than per millliG): 4.096 * 1000 = 4096 digits per G
+ * Alternatively: 1/4096 = .0002441 Gs per digit
+ */
+static const s32 JC_IMU_MAX_ACCEL_MAG = 32767;
+static const u16 JC_IMU_ACCEL_RES_PER_G = 4096;
+static const u16 JC_IMU_ACCEL_FUZZ = 10;
+static const u16 JC_IMU_ACCEL_FLAT /*= 0*/;
+
+/*
+ * The controller's gyroscope has a sensor resolution of 16bits and is
+ * configured with a range of +-2000 degrees/second.
+ * Digits per dps: (2^16 -1)/(2000*2) = 16.38375
+ * dps per digit: 16.38375E-1 = .0610
+ *
+ * STMicro recommends in the datasheet to add 15% to the dps/digit. This allows
+ * the full sensitivity range to be saturated without clipping. This yields more
+ * accurate results, so it's the technique this driver uses.
+ * dps per digit (corrected): .0610 * 1.15 = .0702
+ * digits per dps (corrected): .0702E-1 = 14.247
+ *
+ * Now, 14.247 truncating to 14 loses a lot of precision, so we rescale the
+ * min/max range by 1000.
+ */
+static const s32 JC_IMU_PREC_RANGE_SCALE = 1000;
+/* Note: change mag and res_per_dps if prec_range_scale is ever altered */
+static const s32 JC_IMU_MAX_GYRO_MAG = 32767000; /* (2^16-1)*1000 */
+static const u16 JC_IMU_GYRO_RES_PER_DPS = 14247; /* (14.247*1000) */
+static const u16 JC_IMU_GYRO_FUZZ = 10;
+static const u16 JC_IMU_GYRO_FLAT /*= 0*/;
+
/* frequency/amplitude tables for rumble */
struct joycon_rumble_freq_data {
u16 high;
@@ -259,6 +310,11 @@ struct joycon_stick_cal {
s32 center;
};
+struct joycon_imu_cal {
+ s16 offset[3];
+ s16 scale[3];
+};
+
/*
* All the controller's button values are stored in a u32.
* They can be accessed with bitwise ANDs.
@@ -306,6 +362,15 @@ struct joycon_subcmd_reply {
u8 data[]; /* will be at most 35 bytes */
} __packed;
+struct joycon_imu_data {
+ s16 accel_x;
+ s16 accel_y;
+ s16 accel_z;
+ s16 gyro_x;
+ s16 gyro_y;
+ s16 gyro_z;
+} __packed;
+
struct joycon_input_report {
u8 id;
u8 timer;
@@ -315,11 +380,11 @@ struct joycon_input_report {
u8 right_stick[3];
u8 vibrator_report;
- /*
- * If support for firmware updates, gyroscope data, and/or NFC/IR
- * are added in the future, this can be swapped for a union.
- */
- struct joycon_subcmd_reply reply;
+ union {
+ struct joycon_subcmd_reply subcmd_reply;
+ /* IMU input reports contain 3 samples */
+ u8 imu_raw_bytes[sizeof(struct joycon_imu_data) * 3];
+ };
} __packed;
#define JC_MAX_RESP_SIZE (sizeof(struct joycon_input_report) + 35)
@@ -367,6 +432,13 @@ struct joycon_ctlr {
struct joycon_stick_cal right_stick_cal_x;
struct joycon_stick_cal right_stick_cal_y;
+ struct joycon_imu_cal accel_cal;
+ struct joycon_imu_cal gyro_cal;
+
+ /* prevents needlessly recalculating these divisors every sample */
+ s32 imu_cal_accel_divisor[3];
+ s32 imu_cal_gyro_divisor[3];
+
/* power supply data */
struct power_supply *battery;
struct power_supply_desc battery_desc;
@@ -385,6 +457,16 @@ struct joycon_ctlr {
u16 rumble_lh_freq;
u16 rumble_rl_freq;
u16 rumble_rh_freq;
+
+ /* imu */
+ struct input_dev *imu_input;
+ bool imu_first_packet_received; /* helps in initiating timestamp */
+ unsigned int imu_timestamp_us; /* timestamp we report to userspace */
+ unsigned int imu_last_pkt_ms; /* used to calc imu report delta */
+ /* the following are used to track the average imu report time delta */
+ unsigned int imu_delta_samples_count;
+ unsigned int imu_delta_samples_sum;
+ unsigned int imu_avg_delta_ms;
};
/* Helper macros for checking controller type */
@@ -569,7 +651,7 @@ static int joycon_request_spi_flash_read(struct joycon_ctlr *ctlr,
} else {
report = (struct joycon_input_report *)ctlr->input_buf;
/* The read data starts at the 6th byte */
- *reply = &report->reply.data[5];
+ *reply = &report->subcmd_reply.data[5];
}
return ret;
}
@@ -729,6 +811,94 @@ static int joycon_request_calibration(struct joycon_ctlr *ctlr)
return 0;
}
+/*
+ * These divisors are calculated once rather than for each sample. They are only
+ * dependent on the IMU calibration values. They are used when processing the
+ * IMU input reports.
+ */
+static void joycon_calc_imu_cal_divisors(struct joycon_ctlr *ctlr)
+{
+ int i;
+
+ for (i = 0; i < 3; i++) {
+ ctlr->imu_cal_accel_divisor[i] = ctlr->accel_cal.scale[i] -
+ ctlr->accel_cal.offset[i];
+ ctlr->imu_cal_gyro_divisor[i] = ctlr->gyro_cal.scale[i] -
+ ctlr->gyro_cal.offset[i];
+ }
+}
+
+static const s16 DFLT_ACCEL_OFFSET /*= 0*/;
+static const s16 DFLT_ACCEL_SCALE = 16384;
+static const s16 DFLT_GYRO_OFFSET /*= 0*/;
+static const s16 DFLT_GYRO_SCALE = 13371;
+static int joycon_request_imu_calibration(struct joycon_ctlr *ctlr)
+{
+ u16 imu_cal_addr = JC_IMU_CAL_FCT_DATA_ADDR;
+ u8 *raw_cal;
+ int ret;
+ int i;
+
+ /* check if user calibration exists */
+ if (!joycon_check_for_cal_magic(ctlr, JC_IMU_CAL_USR_MAGIC_ADDR)) {
+ imu_cal_addr = JC_IMU_CAL_USR_DATA_ADDR;
+ hid_info(ctlr->hdev, "using user cal for IMU\n");
+ } else {
+ hid_info(ctlr->hdev, "using factory cal for IMU\n");
+ }
+
+ /* request IMU calibration data */
+ hid_dbg(ctlr->hdev, "requesting IMU cal data\n");
+ ret = joycon_request_spi_flash_read(ctlr, imu_cal_addr,
+ JC_IMU_CAL_DATA_SIZE, &raw_cal);
+ if (ret) {
+ hid_warn(ctlr->hdev,
+ "Failed to read IMU cal, using defaults; ret=%d\n",
+ ret);
+
+ for (i = 0; i < 3; i++) {
+ ctlr->accel_cal.offset[i] = DFLT_ACCEL_OFFSET;
+ ctlr->accel_cal.scale[i] = DFLT_ACCEL_SCALE;
+ ctlr->gyro_cal.offset[i] = DFLT_GYRO_OFFSET;
+ ctlr->gyro_cal.scale[i] = DFLT_GYRO_SCALE;
+ }
+ joycon_calc_imu_cal_divisors(ctlr);
+ return ret;
+ }
+
+ /* IMU calibration parsing */
+ for (i = 0; i < 3; i++) {
+ int j = i * 2;
+
+ ctlr->accel_cal.offset[i] = get_unaligned_le16(raw_cal + j);
+ ctlr->accel_cal.scale[i] = get_unaligned_le16(raw_cal + j + 6);
+ ctlr->gyro_cal.offset[i] = get_unaligned_le16(raw_cal + j + 12);
+ ctlr->gyro_cal.scale[i] = get_unaligned_le16(raw_cal + j + 18);
+ }
+
+ joycon_calc_imu_cal_divisors(ctlr);
+
+ hid_dbg(ctlr->hdev, "IMU calibration:\n"
+ "a_o[0]=%d a_o[1]=%d a_o[2]=%d\n"
+ "a_s[0]=%d a_s[1]=%d a_s[2]=%d\n"
+ "g_o[0]=%d g_o[1]=%d g_o[2]=%d\n"
+ "g_s[0]=%d g_s[1]=%d g_s[2]=%d\n",
+ ctlr->accel_cal.offset[0],
+ ctlr->accel_cal.offset[1],
+ ctlr->accel_cal.offset[2],
+ ctlr->accel_cal.scale[0],
+ ctlr->accel_cal.scale[1],
+ ctlr->accel_cal.scale[2],
+ ctlr->gyro_cal.offset[0],
+ ctlr->gyro_cal.offset[1],
+ ctlr->gyro_cal.offset[2],
+ ctlr->gyro_cal.scale[0],
+ ctlr->gyro_cal.scale[1],
+ ctlr->gyro_cal.scale[2]);
+
+ return 0;
+}
+
static int joycon_set_report_mode(struct joycon_ctlr *ctlr)
{
struct joycon_subcmd_request *req;
@@ -755,6 +925,19 @@ static int joycon_enable_rumble(struct joycon_ctlr *ctlr)
return joycon_send_subcmd(ctlr, req, 1, HZ/4);
}
+static int joycon_enable_imu(struct joycon_ctlr *ctlr)
+{
+ struct joycon_subcmd_request *req;
+ u8 buffer[sizeof(*req) + 1] = { 0 };
+
+ req = (struct joycon_subcmd_request *)buffer;
+ req->subcmd_id = JC_SUBCMD_ENABLE_IMU;
+ req->data[0] = 0x01; /* note: 0x00 would disable */
+
+ hid_dbg(ctlr->hdev, "enabling IMU\n");
+ return joycon_send_subcmd(ctlr, req, 1, HZ);
+}
+
static s32 joycon_map_stick_val(struct joycon_stick_cal *cal, s32 val)
{
s32 center = cal->center;
@@ -773,6 +956,224 @@ static s32 joycon_map_stick_val(struct joycon_stick_cal *cal, s32 val)
return new_val;
}
+static void joycon_input_report_parse_imu_data(struct joycon_ctlr *ctlr,
+ struct joycon_input_report *rep,
+ struct joycon_imu_data *imu_data)
+{
+ u8 *raw = rep->imu_raw_bytes;
+ int i;
+
+ for (i = 0; i < 3; i++) {
+ struct joycon_imu_data *data = &imu_data[i];
+
+ data->accel_x = get_unaligned_le16(raw + 0);
+ data->accel_y = get_unaligned_le16(raw + 2);
+ data->accel_z = get_unaligned_le16(raw + 4);
+ data->gyro_x = get_unaligned_le16(raw + 6);
+ data->gyro_y = get_unaligned_le16(raw + 8);
+ data->gyro_z = get_unaligned_le16(raw + 10);
+ /* point to next imu sample */
+ raw += sizeof(struct joycon_imu_data);
+ }
+}
+
+static void joycon_parse_imu_report(struct joycon_ctlr *ctlr,
+ struct joycon_input_report *rep)
+{
+ struct joycon_imu_data imu_data[3] = {0}; /* 3 reports per packet */
+ struct input_dev *idev = ctlr->imu_input;
+ unsigned int msecs = jiffies_to_msecs(jiffies);
+ unsigned int last_msecs = ctlr->imu_last_pkt_ms;
+ int i;
+ int value[6];
+
+ joycon_input_report_parse_imu_data(ctlr, rep, imu_data);
+
+ /*
+ * There are complexities surrounding how we determine the timestamps we
+ * associate with the samples we pass to userspace. The IMU input
+ * reports do not provide us with a good timestamp. There's a quickly
+ * incrementing 8-bit counter per input report, but it is not very
+ * useful for this purpose (it is not entirely clear what rate it
+ * increments at or if it varies based on packet push rate - more on
+ * the push rate below...).
+ *
+ * The reverse engineering work done on the joy-cons and pro controllers
+ * by the community seems to indicate the following:
+ * - The controller samples the IMU every 1.35ms. It then does some of
+ * its own processing, probably averaging the samples out.
+ * - Each imu input report contains 3 IMU samples, (usually 5ms apart).
+ * - In the standard reporting mode (which this driver uses exclusively)
+ * input reports are pushed from the controller as follows:
+ * * joy-con (bluetooth): every 15 ms
+ * * joy-cons (in charging grip via USB): every 15 ms
+ * * pro controller (USB): every 15 ms
+ * * pro controller (bluetooth): every 8 ms (this is the wildcard)
+ *
+ * Further complicating matters is that some bluetooth stacks are known
+ * to alter the controller's packet rate by hardcoding the bluetooth
+ * SSR for the switch controllers (android's stack currently sets the
+ * SSR to 11ms for both the joy-cons and pro controllers).
+ *
+ * In my own testing, I've discovered that my pro controller either
+ * reports IMU sample batches every 11ms or every 15ms. This rate is
+ * stable after connecting. It isn't 100% clear what determines this
+ * rate. Importantly, even when sending every 11ms, none of the samples
+ * are duplicates. This seems to indicate that the time deltas between
+ * reported samples can vary based on the input report rate.
+ *
+ * The solution employed in this driver is to keep track of the average
+ * time delta between IMU input reports. In testing, this value has
+ * proven to be stable, staying at 15ms or 11ms, though other hardware
+ * configurations and bluetooth stacks could potentially see other rates
+ * (hopefully this will become more clear as more people use the
+ * driver).
+ *
+ * Keeping track of the average report delta allows us to submit our
+ * timestamps to userspace based on that. Each report contains 3
+ * samples, so the IMU sampling rate should be avg_time_delta/3. We can
+ * also use this average to detect events where we have dropped a
+ * packet. The userspace timestamp for the samples will be adjusted
+ * accordingly to prevent unwanted behvaior.
+ */
+ if (!ctlr->imu_first_packet_received) {
+ ctlr->imu_timestamp_us = 0;
+ ctlr->imu_delta_samples_count = 0;
+ ctlr->imu_delta_samples_sum = 0;
+ ctlr->imu_avg_delta_ms = JC_IMU_DFLT_AVG_DELTA_MS;
+ ctlr->imu_first_packet_received = true;
+ } else {
+ unsigned int delta = msecs - last_msecs;
+ unsigned int dropped_pkts;
+ unsigned int dropped_threshold;
+
+ /* avg imu report delta housekeeping */
+ ctlr->imu_delta_samples_sum += delta;
+ ctlr->imu_delta_samples_count++;
+ if (ctlr->imu_delta_samples_count >=
+ JC_IMU_SAMPLES_PER_DELTA_AVG) {
+ ctlr->imu_avg_delta_ms = ctlr->imu_delta_samples_sum /
+ ctlr->imu_delta_samples_count;
+ /* don't ever want divide by zero shenanigans */
+ if (ctlr->imu_avg_delta_ms == 0) {
+ ctlr->imu_avg_delta_ms = 1;
+ hid_warn(ctlr->hdev,
+ "calculated avg imu delta of 0\n");
+ }
+ ctlr->imu_delta_samples_count = 0;
+ ctlr->imu_delta_samples_sum = 0;
+ }
+
+ /* useful for debugging IMU sample rate */
+ hid_dbg(ctlr->hdev,
+ "imu_report: ms=%u last_ms=%u delta=%u avg_delta=%u\n",
+ msecs, last_msecs, delta, ctlr->imu_avg_delta_ms);
+
+ /* check if any packets have been dropped */
+ dropped_threshold = ctlr->imu_avg_delta_ms * 3 / 2;
+ dropped_pkts = (delta - min(delta, dropped_threshold)) /
+ ctlr->imu_avg_delta_ms;
+ ctlr->imu_timestamp_us += 1000 * ctlr->imu_avg_delta_ms;
+ if (dropped_pkts > JC_IMU_DROPPED_PKT_WARNING) {
+ hid_warn(ctlr->hdev,
+ "compensating for %u dropped IMU reports\n",
+ dropped_pkts);
+ hid_warn(ctlr->hdev,
+ "delta=%u avg_delta=%u\n",
+ delta, ctlr->imu_avg_delta_ms);
+ }
+ }
+ ctlr->imu_last_pkt_ms = msecs;
+
+ /* Each IMU input report contains three samples */
+ for (i = 0; i < 3; i++) {
+ input_event(idev, EV_MSC, MSC_TIMESTAMP,
+ ctlr->imu_timestamp_us);
+
+ /*
+ * These calculations (which use the controller's calibration
+ * settings to improve the final values) are based on those
+ * found in the community's reverse-engineering repo (linked at
+ * top of driver). For hid-nintendo, we make sure that the final
+ * value given to userspace is always in terms of the axis
+ * resolution we provided.
+ *
+ * Currently only the gyro calculations subtract the calibration
+ * offsets from the raw value itself. In testing, doing the same
+ * for the accelerometer raw values decreased accuracy.
+ *
+ * Note that the gyro values are multiplied by the
+ * precision-saving scaling factor to prevent large inaccuracies
+ * due to truncation of the resolution value which would
+ * otherwise occur. To prevent overflow (without resorting to 64
+ * bit integer math), the mult_frac macro is used.
+ */
+ value[0] = mult_frac((JC_IMU_PREC_RANGE_SCALE *
+ (imu_data[i].gyro_x -
+ ctlr->gyro_cal.offset[0])),
+ ctlr->gyro_cal.scale[0],
+ ctlr->imu_cal_gyro_divisor[0]);
+ value[1] = mult_frac((JC_IMU_PREC_RANGE_SCALE *
+ (imu_data[i].gyro_y -
+ ctlr->gyro_cal.offset[1])),
+ ctlr->gyro_cal.scale[1],
+ ctlr->imu_cal_gyro_divisor[1]);
+ value[2] = mult_frac((JC_IMU_PREC_RANGE_SCALE *
+ (imu_data[i].gyro_z -
+ ctlr->gyro_cal.offset[2])),
+ ctlr->gyro_cal.scale[2],
+ ctlr->imu_cal_gyro_divisor[2]);
+
+ value[3] = ((s32)imu_data[i].accel_x *
+ ctlr->accel_cal.scale[0]) /
+ ctlr->imu_cal_accel_divisor[0];
+ value[4] = ((s32)imu_data[i].accel_y *
+ ctlr->accel_cal.scale[1]) /
+ ctlr->imu_cal_accel_divisor[1];
+ value[5] = ((s32)imu_data[i].accel_z *
+ ctlr->accel_cal.scale[2]) /
+ ctlr->imu_cal_accel_divisor[2];
+
+ hid_dbg(ctlr->hdev, "raw_gyro: g_x=%d g_y=%d g_z=%d\n",
+ imu_data[i].gyro_x, imu_data[i].gyro_y,
+ imu_data[i].gyro_z);
+ hid_dbg(ctlr->hdev, "raw_accel: a_x=%d a_y=%d a_z=%d\n",
+ imu_data[i].accel_x, imu_data[i].accel_y,
+ imu_data[i].accel_z);
+
+ /*
+ * The right joy-con has 2 axes negated, Y and Z. This is due to
+ * the orientation of the IMU in the controller. We negate those
+ * axes' values in order to be consistent with the left joy-con
+ * and the pro controller:
+ * X: positive is pointing toward the triggers
+ * Y: positive is pointing to the left
+ * Z: positive is pointing up (out of the buttons/sticks)
+ * The axes follow the right-hand rule.
+ */
+ if (jc_type_is_joycon(ctlr) && jc_type_has_right(ctlr)) {
+ int j;
+
+ /* negate all but x axis */
+ for (j = 1; j < 6; ++j) {
+ if (j == 3)
+ continue;
+ value[j] *= -1;
+ }
+ }
+
+ input_report_abs(idev, ABS_RX, value[0]);
+ input_report_abs(idev, ABS_RY, value[1]);
+ input_report_abs(idev, ABS_RZ, value[2]);
+ input_report_abs(idev, ABS_X, value[3]);
+ input_report_abs(idev, ABS_Y, value[4]);
+ input_report_abs(idev, ABS_Z, value[5]);
+ input_sync(idev);
+ /* convert to micros and divide by 3 (3 samples per report). */
+ ctlr->imu_timestamp_us += ctlr->imu_avg_delta_ms * 1000 / 3;
+ }
+}
+
static void joycon_parse_report(struct joycon_ctlr *ctlr,
struct joycon_input_report *rep)
{
@@ -921,6 +1322,10 @@ static void joycon_parse_report(struct joycon_ctlr *ctlr,
spin_unlock_irqrestore(&ctlr->lock, flags);
wake_up(&ctlr->wait);
}
+
+ /* parse IMU data if present */
+ if (rep->id == JC_INPUT_IMU_DATA)
+ joycon_parse_imu_report(ctlr, rep);
}
static void joycon_rumble_worker(struct work_struct *work)
@@ -1104,6 +1509,7 @@ static int joycon_input_create(struct joycon_ctlr *ctlr)
{
struct hid_device *hdev;
const char *name;
+ const char *imu_name;
int ret;
int i;
@@ -1112,18 +1518,24 @@ static int joycon_input_create(struct joycon_ctlr *ctlr)
switch (hdev->product) {
case USB_DEVICE_ID_NINTENDO_PROCON:
name = "Nintendo Switch Pro Controller";
+ imu_name = "Nintendo Switch Pro Controller IMU";
break;
case USB_DEVICE_ID_NINTENDO_CHRGGRIP:
- if (jc_type_has_left(ctlr))
+ if (jc_type_has_left(ctlr)) {
name = "Nintendo Switch Left Joy-Con (Grip)";
- else
+ imu_name = "Nintendo Switch Left Joy-Con IMU (Grip)";
+ } else {
name = "Nintendo Switch Right Joy-Con (Grip)";
+ imu_name = "Nintendo Switch Right Joy-Con IMU (Grip)";
+ }
break;
case USB_DEVICE_ID_NINTENDO_JOYCONL:
name = "Nintendo Switch Left Joy-Con";
+ imu_name = "Nintendo Switch Left Joy-Con IMU";
break;
case USB_DEVICE_ID_NINTENDO_JOYCONR:
name = "Nintendo Switch Right Joy-Con";
+ imu_name = "Nintendo Switch Right Joy-Con IMU";
break;
default: /* Should be impossible */
hid_err(hdev, "Invalid hid product\n");
@@ -1207,6 +1619,55 @@ static int joycon_input_create(struct joycon_ctlr *ctlr)
if (ret)
return ret;
+ /* configure the imu input device */
+ ctlr->imu_input = devm_input_allocate_device(&hdev->dev);
+ if (!ctlr->imu_input)
+ return -ENOMEM;
+
+ ctlr->imu_input->id.bustype = hdev->bus;
+ ctlr->imu_input->id.vendor = hdev->vendor;
+ ctlr->imu_input->id.product = hdev->product;
+ ctlr->imu_input->id.version = hdev->version;
+ ctlr->imu_input->uniq = ctlr->mac_addr_str;
+ ctlr->imu_input->name = imu_name;
+ input_set_drvdata(ctlr->imu_input, ctlr);
+
+ /* configure imu axes */
+ input_set_abs_params(ctlr->imu_input, ABS_X,
+ -JC_IMU_MAX_ACCEL_MAG, JC_IMU_MAX_ACCEL_MAG,
+ JC_IMU_ACCEL_FUZZ, JC_IMU_ACCEL_FLAT);
+ input_set_abs_params(ctlr->imu_input, ABS_Y,
+ -JC_IMU_MAX_ACCEL_MAG, JC_IMU_MAX_ACCEL_MAG,
+ JC_IMU_ACCEL_FUZZ, JC_IMU_ACCEL_FLAT);
+ input_set_abs_params(ctlr->imu_input, ABS_Z,
+ -JC_IMU_MAX_ACCEL_MAG, JC_IMU_MAX_ACCEL_MAG,
+ JC_IMU_ACCEL_FUZZ, JC_IMU_ACCEL_FLAT);
+ input_abs_set_res(ctlr->imu_input, ABS_X, JC_IMU_ACCEL_RES_PER_G);
+ input_abs_set_res(ctlr->imu_input, ABS_Y, JC_IMU_ACCEL_RES_PER_G);
+ input_abs_set_res(ctlr->imu_input, ABS_Z, JC_IMU_ACCEL_RES_PER_G);
+
+ input_set_abs_params(ctlr->imu_input, ABS_RX,
+ -JC_IMU_MAX_GYRO_MAG, JC_IMU_MAX_GYRO_MAG,
+ JC_IMU_GYRO_FUZZ, JC_IMU_GYRO_FLAT);
+ input_set_abs_params(ctlr->imu_input, ABS_RY,
+ -JC_IMU_MAX_GYRO_MAG, JC_IMU_MAX_GYRO_MAG,
+ JC_IMU_GYRO_FUZZ, JC_IMU_GYRO_FLAT);
+ input_set_abs_params(ctlr->imu_input, ABS_RZ,
+ -JC_IMU_MAX_GYRO_MAG, JC_IMU_MAX_GYRO_MAG,
+ JC_IMU_GYRO_FUZZ, JC_IMU_GYRO_FLAT);
+
+ input_abs_set_res(ctlr->imu_input, ABS_RX, JC_IMU_GYRO_RES_PER_DPS);
+ input_abs_set_res(ctlr->imu_input, ABS_RY, JC_IMU_GYRO_RES_PER_DPS);
+ input_abs_set_res(ctlr->imu_input, ABS_RZ, JC_IMU_GYRO_RES_PER_DPS);
+
+ __set_bit(EV_MSC, ctlr->imu_input->evbit);
+ __set_bit(MSC_TIMESTAMP, ctlr->imu_input->mscbit);
+ __set_bit(INPUT_PROP_ACCELEROMETER, ctlr->imu_input->propbit);
+
+ ret = input_register_device(ctlr->imu_input);
+ if (ret)
+ return ret;
+
return 0;
}
@@ -1465,7 +1926,7 @@ static int joycon_read_info(struct joycon_ctlr *ctlr)
report = (struct joycon_input_report *)ctlr->input_buf;
for (i = 4, j = 0; j < 6; i++, j++)
- ctlr->mac_addr[j] = report->reply.data[i];
+ ctlr->mac_addr[j] = report->subcmd_reply.data[i];
ctlr->mac_addr_str = devm_kasprintf(&ctlr->hdev->dev, GFP_KERNEL,
"%02X:%02X:%02X:%02X:%02X:%02X",
@@ -1480,7 +1941,7 @@ static int joycon_read_info(struct joycon_ctlr *ctlr)
hid_info(ctlr->hdev, "controller MAC = %s\n", ctlr->mac_addr_str);
/* Retrieve the type so we can distinguish for charging grip */
- ctlr->ctlr_type = report->reply.data[2];
+ ctlr->ctlr_type = report->subcmd_reply.data[2];
return 0;
}
@@ -1521,7 +1982,7 @@ static int joycon_ctlr_handle_event(struct joycon_ctlr *ctlr, u8 *data,
data[0] != JC_INPUT_SUBCMD_REPLY)
break;
report = (struct joycon_input_report *)data;
- if (report->reply.id == ctlr->subcmd_ack_match)
+ if (report->subcmd_reply.id == ctlr->subcmd_ack_match)
match = true;
break;
default:
@@ -1651,6 +2112,16 @@ static int nintendo_hid_probe(struct hid_device *hdev,
hid_warn(hdev, "Analog stick positions may be inaccurate\n");
}
+ /* get IMU calibration data, and parse it */
+ ret = joycon_request_imu_calibration(ctlr);
+ if (ret) {
+ /*
+ * We can function with default calibration, but it may be
+ * inaccurate. Provide a warning, and continue on.
+ */
+ hid_warn(hdev, "Unable to read IMU calibration data\n");
+ }
+
/* Set the reporting mode to 0x30, which is the full report mode */
ret = joycon_set_report_mode(ctlr);
if (ret) {
@@ -1665,6 +2136,13 @@ static int nintendo_hid_probe(struct hid_device *hdev,
goto err_mutex;
}
+ /* Enable the IMU */
+ ret = joycon_enable_imu(ctlr);
+ if (ret) {
+ hid_err(hdev, "Failed to enable the IMU; ret=%d\n", ret);
+ goto err_mutex;
+ }
+
ret = joycon_read_info(ctlr);
if (ret) {
hid_err(hdev, "Failed to retrieve controller info; ret=%d\n",
@@ -1757,3 +2235,4 @@ module_hid_driver(nintendo_hid_driver);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Daniel J. Ogorchock <djogorchock@gmail.com>");
MODULE_DESCRIPTION("Driver for Nintendo Switch Controllers");
+
@@ -758,6 +758,12 @@ static void joydev_cleanup(struct joydev *joydev)
#define USB_VENDOR_ID_THQ 0x20d6
#define USB_DEVICE_ID_THQ_PS3_UDRAW 0xcb17
+#define USB_VENDOR_ID_NINTENDO 0x057e
+#define USB_DEVICE_ID_NINTENDO_JOYCONL 0x2006
+#define USB_DEVICE_ID_NINTENDO_JOYCONR 0x2007
+#define USB_DEVICE_ID_NINTENDO_PROCON 0x2009
+#define USB_DEVICE_ID_NINTENDO_CHRGGRIP 0x200E
+
#define ACCEL_DEV(vnd, prd) \
{ \
.flags = INPUT_DEVICE_ID_MATCH_VENDOR | \
@@ -789,6 +795,10 @@ static const struct input_device_id joydev_blacklist[] = {
ACCEL_DEV(USB_VENDOR_ID_SONY, USB_DEVICE_ID_SONY_PS4_CONTROLLER_2),
ACCEL_DEV(USB_VENDOR_ID_SONY, USB_DEVICE_ID_SONY_PS4_CONTROLLER_DONGLE),
ACCEL_DEV(USB_VENDOR_ID_THQ, USB_DEVICE_ID_THQ_PS3_UDRAW),
+ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_PROCON),
+ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_CHRGGRIP),
+ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_JOYCONL),
+ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_JOYCONR),
{ /* sentinel */ }
};
This patch adds support for the controller's IMU. The accelerometer and gyro data are both provided to userspace using a second input device. The devices can be associated using their uniq value (set to the controller's MAC address). A large part of this patch's functionality was provided by Carl Mueller. The IMU device is blacklisted from the joydev input handler. Signed-off-by: Daniel J. Ogorchock <djogorchock@gmail.com> --- drivers/hid/hid-nintendo.c | 503 ++++++++++++++++++++++++++++++++++++- drivers/input/joydev.c | 10 + 2 files changed, 501 insertions(+), 12 deletions(-)