@@ -286,6 +286,8 @@ struct dualsense_output_report {
#define DS4_INPUT_REPORT_USB 0x01
#define DS4_INPUT_REPORT_USB_SIZE 64
+#define DS4_FEATURE_REPORT_CALIBRATION 0x02
+#define DS4_FEATURE_REPORT_CALIBRATION_SIZE 37
#define DS4_FEATURE_REPORT_FIRMWARE_INFO 0xa3
#define DS4_FEATURE_REPORT_FIRMWARE_INFO_SIZE 49
#define DS4_FEATURE_REPORT_PAIRING_INFO 0x12
@@ -305,13 +307,27 @@ struct dualsense_output_report {
#define DS4_BATTERY_STATUS_FULL 11
/* DualShock4 hardware limits */
+#define DS4_ACC_RES_PER_G 8192
+#define DS4_ACC_RANGE (4*DS_ACC_RES_PER_G)
+#define DS4_GYRO_RES_PER_DEG_S 1024
+#define DS4_GYRO_RANGE (2048*DS_GYRO_RES_PER_DEG_S)
#define DS4_TOUCHPAD_WIDTH 1920
#define DS4_TOUCHPAD_HEIGHT 942
struct dualshock4 {
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 dualshock4_touch_point {
@@ -334,9 +350,16 @@ struct dualshock4_input_report_common {
uint8_t rx, ry;
uint8_t buttons[3];
uint8_t z, rz;
- uint8_t reserved[20];
+
+ /* Motion sensors */
+ __le16 sensor_timestamp;
+ uint8_t sensor_temperature;
+ __le16 gyro[3]; /* x, y, z */
+ __le16 accel[3]; /* x, y, z */
+ uint8_t reserved2[5];
+
uint8_t status[2];
- uint8_t reserved2;
+ uint8_t reserved3;
} __packed;
static_assert(sizeof(struct dualshock4_input_report_common) == 32);
@@ -1531,6 +1554,97 @@ static struct ps_device *dualsense_create(struct hid_device *hdev)
return ERR_PTR(ret);
}
+static int dualshock4_get_calibration_data(struct dualshock4 *ds4)
+{
+ struct hid_device *hdev = ds4->base.hdev;
+ 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(DS4_FEATURE_REPORT_CALIBRATION_SIZE, GFP_KERNEL);
+ if (!buf)
+ return -ENOMEM;
+
+ ret = ps_get_report(hdev, DS4_FEATURE_REPORT_CALIBRATION, buf,
+ DS4_FEATURE_REPORT_CALIBRATION_SIZE);
+ if (ret) {
+ hid_err(hdev, "Failed to retrieve DualShock4 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/DS4_GYRO_RES_PER_DEG_S degree/s.
+ */
+ speed_2x = (gyro_speed_plus + gyro_speed_minus);
+ ds4->gyro_calib_data[0].abs_code = ABS_RX;
+ ds4->gyro_calib_data[0].bias = gyro_pitch_bias;
+ ds4->gyro_calib_data[0].sens_numer = speed_2x*DS4_GYRO_RES_PER_DEG_S;
+ ds4->gyro_calib_data[0].sens_denom = gyro_pitch_plus - gyro_pitch_minus;
+
+ ds4->gyro_calib_data[1].abs_code = ABS_RY;
+ ds4->gyro_calib_data[1].bias = gyro_yaw_bias;
+ ds4->gyro_calib_data[1].sens_numer = speed_2x*DS4_GYRO_RES_PER_DEG_S;
+ ds4->gyro_calib_data[1].sens_denom = gyro_yaw_plus - gyro_yaw_minus;
+
+ ds4->gyro_calib_data[2].abs_code = ABS_RZ;
+ ds4->gyro_calib_data[2].bias = gyro_roll_bias;
+ ds4->gyro_calib_data[2].sens_numer = speed_2x*DS4_GYRO_RES_PER_DEG_S;
+ ds4->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/DS4_ACC_RES_PER_G g.
+ */
+ range_2g = acc_x_plus - acc_x_minus;
+ ds4->accel_calib_data[0].abs_code = ABS_X;
+ ds4->accel_calib_data[0].bias = acc_x_plus - range_2g / 2;
+ ds4->accel_calib_data[0].sens_numer = 2*DS4_ACC_RES_PER_G;
+ ds4->accel_calib_data[0].sens_denom = range_2g;
+
+ range_2g = acc_y_plus - acc_y_minus;
+ ds4->accel_calib_data[1].abs_code = ABS_Y;
+ ds4->accel_calib_data[1].bias = acc_y_plus - range_2g / 2;
+ ds4->accel_calib_data[1].sens_numer = 2*DS4_ACC_RES_PER_G;
+ ds4->accel_calib_data[1].sens_denom = range_2g;
+
+ range_2g = acc_z_plus - acc_z_minus;
+ ds4->accel_calib_data[2].abs_code = ABS_Z;
+ ds4->accel_calib_data[2].bias = acc_z_plus - range_2g / 2;
+ ds4->accel_calib_data[2].sens_numer = 2*DS4_ACC_RES_PER_G;
+ ds4->accel_calib_data[2].sens_denom = range_2g;
+
+err_free:
+ kfree(buf);
+ return ret;
+}
+
static int dualshock4_get_firmware_info(struct dualshock4 *ds4)
{
uint8_t *buf;
@@ -1587,6 +1701,7 @@ static int dualshock4_parse_report(struct ps_device *ps_dev, struct hid_report *
struct dualshock4_touch_report *touch_reports;
uint8_t battery_capacity, num_touch_reports, value;
int battery_status, i, j;
+ uint16_t sensor_timestamp;
unsigned long flags;
/*
@@ -1634,6 +1749,44 @@ static int dualshock4_parse_report(struct ps_device *ps_dev, struct hid_report *
input_report_key(ds4->gamepad, BTN_MODE, ds4_report->buttons[2] & DS_BUTTONS2_PS_HOME);
input_sync(ds4->gamepad);
+ /* Parse and calibrate gyroscope data. */
+ for (i = 0; i < ARRAY_SIZE(ds4_report->gyro); i++) {
+ int raw_data = (short)le16_to_cpu(ds4_report->gyro[i]);
+ int calib_data = mult_frac(ds4->gyro_calib_data[i].sens_numer,
+ raw_data - ds4->gyro_calib_data[i].bias,
+ ds4->gyro_calib_data[i].sens_denom);
+
+ input_report_abs(ds4->sensors, ds4->gyro_calib_data[i].abs_code, calib_data);
+ }
+
+ /* Parse and calibrate accelerometer data. */
+ for (i = 0; i < ARRAY_SIZE(ds4_report->accel); i++) {
+ int raw_data = (short)le16_to_cpu(ds4_report->accel[i]);
+ int calib_data = mult_frac(ds4->accel_calib_data[i].sens_numer,
+ raw_data - ds4->accel_calib_data[i].bias,
+ ds4->accel_calib_data[i].sens_denom);
+
+ input_report_abs(ds4->sensors, ds4->accel_calib_data[i].abs_code, calib_data);
+ }
+
+ /* Convert timestamp (in 5.33us unit) to timestamp_us */
+ sensor_timestamp = le16_to_cpu(ds4_report->sensor_timestamp);
+ if (!ds4->sensor_timestamp_initialized) {
+ ds4->sensor_timestamp_us = DIV_ROUND_CLOSEST(sensor_timestamp*16, 3);
+ ds4->sensor_timestamp_initialized = true;
+ } else {
+ uint16_t delta;
+
+ if (ds4->prev_sensor_timestamp > sensor_timestamp)
+ delta = (U16_MAX - ds4->prev_sensor_timestamp + sensor_timestamp + 1);
+ else
+ delta = sensor_timestamp - ds4->prev_sensor_timestamp;
+ ds4->sensor_timestamp_us += DIV_ROUND_CLOSEST(delta*16, 3);
+ }
+ ds4->prev_sensor_timestamp = sensor_timestamp;
+ input_event(ds4->sensors, EV_MSC, MSC_TIMESTAMP, ds4->sensor_timestamp_us);
+ input_sync(ds4->sensors);
+
for (i = 0; i < num_touch_reports; i++) {
struct dualshock4_touch_report *touch_report = &touch_reports[i];
@@ -1748,12 +1901,25 @@ static struct ps_device *dualshock4_create(struct hid_device *hdev)
if (ret)
return ERR_PTR(ret);
+ ret = dualshock4_get_calibration_data(ds4);
+ if (ret) {
+ hid_err(hdev, "Failed to get calibration data from DualShock4\n");
+ goto err;
+ }
+
ds4->gamepad = ps_gamepad_create(hdev, NULL);
if (IS_ERR(ds4->gamepad)) {
ret = PTR_ERR(ds4->gamepad);
goto err;
}
+ ds4->sensors = ps_sensors_create(hdev, DS4_ACC_RANGE, DS4_ACC_RES_PER_G,
+ DS4_GYRO_RANGE, DS4_GYRO_RES_PER_DEG_S);
+ if (IS_ERR(ds4->sensors)) {
+ ret = PTR_ERR(ds4->sensors);
+ goto err;
+ }
+
ds4->touchpad = ps_touchpad_create(hdev, DS4_TOUCHPAD_WIDTH, DS4_TOUCHPAD_HEIGHT, 2);
if (IS_ERR(ds4->touchpad)) {
ret = PTR_ERR(ds4->touchpad);
Support accelerometer and gyroscope as separate input devices similar how DualSense and hid-sony do it. Signed-off-by: Roderick Colenbrander <roderick.colenbrander@sony.com> --- drivers/hid/hid-playstation.c | 170 +++++++++++++++++++++++++++++++++- 1 file changed, 168 insertions(+), 2 deletions(-)