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HID: nintendo: add IMU support
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> Acked-by: Dmitry Torokhov <dmitry.torokhov@gmail.com> Signed-off-by: Jiri Kosina <jkosina@suse.cz>
This commit is contained in:
Daniel J. Ogorchock
Jiri Kosina
parent
83d640c4f8
commit
4ff5b10840
@ -2,7 +2,7 @@
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/*
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* HID driver for Nintendo Switch Joy-Cons and Pro Controllers
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*
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* Copyright (c) 2019 Daniel J. Ogorchock <djogorchock@gmail.com>
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* Copyright (c) 2019-2020 Daniel J. Ogorchock <djogorchock@gmail.com>
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*
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* The following resources/projects were referenced for this driver:
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* https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering
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@ -26,6 +26,7 @@
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#include <asm/unaligned.h>
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#include <linux/delay.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/hid.h>
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#include <linux/input.h>
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#include <linux/jiffies.h>
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@ -115,6 +116,15 @@ static const u16 JC_CAL_USR_RIGHT_DATA_ADDR = 0x801D;
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static const u16 JC_CAL_FCT_DATA_LEFT_ADDR = 0x603d;
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static const u16 JC_CAL_FCT_DATA_RIGHT_ADDR = 0x6046;
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/* SPI storage addresses of IMU factory calibration data */
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static const u16 JC_IMU_CAL_FCT_DATA_ADDR = 0x6020;
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static const u16 JC_IMU_CAL_FCT_DATA_END = 0x6037;
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#define JC_IMU_CAL_DATA_SIZE \
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(JC_IMU_CAL_FCT_DATA_END - JC_IMU_CAL_FCT_DATA_ADDR + 1)
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/* SPI storage addresses of IMU user calibration data */
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static const u16 JC_IMU_CAL_USR_MAGIC_ADDR = 0x8026;
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static const u16 JC_IMU_CAL_USR_DATA_ADDR = 0x8028;
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/* The raw analog joystick values will be mapped in terms of this magnitude */
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static const u16 JC_MAX_STICK_MAG = 32767;
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static const u16 JC_STICK_FUZZ = 250;
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@ -125,6 +135,47 @@ static const u16 JC_MAX_DPAD_MAG = 1;
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static const u16 JC_DPAD_FUZZ /*= 0*/;
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static const u16 JC_DPAD_FLAT /*= 0*/;
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/* Under most circumstances IMU reports are pushed every 15ms; use as default */
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static const u16 JC_IMU_DFLT_AVG_DELTA_MS = 15;
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/* How many samples to sum before calculating average IMU report delta */
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static const u16 JC_IMU_SAMPLES_PER_DELTA_AVG = 300;
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/* Controls how many dropped IMU packets at once trigger a warning message */
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static const u16 JC_IMU_DROPPED_PKT_WARNING = 3;
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/*
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* The controller's accelerometer has a sensor resolution of 16bits and is
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* configured with a range of +-8000 milliGs. Therefore, the resolution can be
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* calculated thus: (2^16-1)/(8000 * 2) = 4.096 digits per milliG
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* Resolution per G (rather than per millliG): 4.096 * 1000 = 4096 digits per G
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* Alternatively: 1/4096 = .0002441 Gs per digit
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*/
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static const s32 JC_IMU_MAX_ACCEL_MAG = 32767;
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static const u16 JC_IMU_ACCEL_RES_PER_G = 4096;
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static const u16 JC_IMU_ACCEL_FUZZ = 10;
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static const u16 JC_IMU_ACCEL_FLAT /*= 0*/;
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/*
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* The controller's gyroscope has a sensor resolution of 16bits and is
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* configured with a range of +-2000 degrees/second.
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* Digits per dps: (2^16 -1)/(2000*2) = 16.38375
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* dps per digit: 16.38375E-1 = .0610
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*
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* STMicro recommends in the datasheet to add 15% to the dps/digit. This allows
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* the full sensitivity range to be saturated without clipping. This yields more
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* accurate results, so it's the technique this driver uses.
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* dps per digit (corrected): .0610 * 1.15 = .0702
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* digits per dps (corrected): .0702E-1 = 14.247
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*
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* Now, 14.247 truncating to 14 loses a lot of precision, so we rescale the
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* min/max range by 1000.
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*/
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static const s32 JC_IMU_PREC_RANGE_SCALE = 1000;
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/* Note: change mag and res_per_dps if prec_range_scale is ever altered */
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static const s32 JC_IMU_MAX_GYRO_MAG = 32767000; /* (2^16-1)*1000 */
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static const u16 JC_IMU_GYRO_RES_PER_DPS = 14247; /* (14.247*1000) */
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static const u16 JC_IMU_GYRO_FUZZ = 10;
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static const u16 JC_IMU_GYRO_FLAT /*= 0*/;
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/* frequency/amplitude tables for rumble */
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struct joycon_rumble_freq_data {
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u16 high;
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@ -259,6 +310,11 @@ struct joycon_stick_cal {
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s32 center;
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};
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struct joycon_imu_cal {
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s16 offset[3];
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s16 scale[3];
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};
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/*
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* All the controller's button values are stored in a u32.
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* They can be accessed with bitwise ANDs.
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@ -306,6 +362,15 @@ struct joycon_subcmd_reply {
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u8 data[]; /* will be at most 35 bytes */
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} __packed;
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struct joycon_imu_data {
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s16 accel_x;
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s16 accel_y;
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s16 accel_z;
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s16 gyro_x;
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s16 gyro_y;
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s16 gyro_z;
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} __packed;
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struct joycon_input_report {
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u8 id;
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u8 timer;
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@ -315,11 +380,11 @@ struct joycon_input_report {
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u8 right_stick[3];
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u8 vibrator_report;
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/*
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* If support for firmware updates, gyroscope data, and/or NFC/IR
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* are added in the future, this can be swapped for a union.
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*/
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struct joycon_subcmd_reply reply;
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union {
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struct joycon_subcmd_reply subcmd_reply;
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/* IMU input reports contain 3 samples */
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u8 imu_raw_bytes[sizeof(struct joycon_imu_data) * 3];
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};
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} __packed;
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#define JC_MAX_RESP_SIZE (sizeof(struct joycon_input_report) + 35)
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@ -367,6 +432,13 @@ struct joycon_ctlr {
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struct joycon_stick_cal right_stick_cal_x;
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struct joycon_stick_cal right_stick_cal_y;
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struct joycon_imu_cal accel_cal;
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struct joycon_imu_cal gyro_cal;
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/* prevents needlessly recalculating these divisors every sample */
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s32 imu_cal_accel_divisor[3];
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s32 imu_cal_gyro_divisor[3];
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/* power supply data */
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struct power_supply *battery;
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struct power_supply_desc battery_desc;
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@ -385,6 +457,16 @@ struct joycon_ctlr {
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u16 rumble_lh_freq;
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u16 rumble_rl_freq;
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u16 rumble_rh_freq;
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/* imu */
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struct input_dev *imu_input;
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bool imu_first_packet_received; /* helps in initiating timestamp */
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unsigned int imu_timestamp_us; /* timestamp we report to userspace */
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unsigned int imu_last_pkt_ms; /* used to calc imu report delta */
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/* the following are used to track the average imu report time delta */
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unsigned int imu_delta_samples_count;
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unsigned int imu_delta_samples_sum;
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unsigned int imu_avg_delta_ms;
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};
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/* Helper macros for checking controller type */
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@ -569,7 +651,7 @@ static int joycon_request_spi_flash_read(struct joycon_ctlr *ctlr,
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} else {
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report = (struct joycon_input_report *)ctlr->input_buf;
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/* The read data starts at the 6th byte */
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*reply = &report->reply.data[5];
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*reply = &report->subcmd_reply.data[5];
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}
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return ret;
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}
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@ -729,6 +811,94 @@ static int joycon_request_calibration(struct joycon_ctlr *ctlr)
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return 0;
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}
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/*
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* These divisors are calculated once rather than for each sample. They are only
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* dependent on the IMU calibration values. They are used when processing the
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* IMU input reports.
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*/
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static void joycon_calc_imu_cal_divisors(struct joycon_ctlr *ctlr)
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{
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int i;
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for (i = 0; i < 3; i++) {
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ctlr->imu_cal_accel_divisor[i] = ctlr->accel_cal.scale[i] -
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ctlr->accel_cal.offset[i];
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ctlr->imu_cal_gyro_divisor[i] = ctlr->gyro_cal.scale[i] -
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ctlr->gyro_cal.offset[i];
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}
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}
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static const s16 DFLT_ACCEL_OFFSET /*= 0*/;
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static const s16 DFLT_ACCEL_SCALE = 16384;
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static const s16 DFLT_GYRO_OFFSET /*= 0*/;
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static const s16 DFLT_GYRO_SCALE = 13371;
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static int joycon_request_imu_calibration(struct joycon_ctlr *ctlr)
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{
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u16 imu_cal_addr = JC_IMU_CAL_FCT_DATA_ADDR;
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u8 *raw_cal;
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int ret;
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int i;
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/* check if user calibration exists */
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if (!joycon_check_for_cal_magic(ctlr, JC_IMU_CAL_USR_MAGIC_ADDR)) {
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imu_cal_addr = JC_IMU_CAL_USR_DATA_ADDR;
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hid_info(ctlr->hdev, "using user cal for IMU\n");
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} else {
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hid_info(ctlr->hdev, "using factory cal for IMU\n");
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}
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/* request IMU calibration data */
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hid_dbg(ctlr->hdev, "requesting IMU cal data\n");
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ret = joycon_request_spi_flash_read(ctlr, imu_cal_addr,
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JC_IMU_CAL_DATA_SIZE, &raw_cal);
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if (ret) {
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hid_warn(ctlr->hdev,
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"Failed to read IMU cal, using defaults; ret=%d\n",
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ret);
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for (i = 0; i < 3; i++) {
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ctlr->accel_cal.offset[i] = DFLT_ACCEL_OFFSET;
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ctlr->accel_cal.scale[i] = DFLT_ACCEL_SCALE;
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ctlr->gyro_cal.offset[i] = DFLT_GYRO_OFFSET;
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ctlr->gyro_cal.scale[i] = DFLT_GYRO_SCALE;
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}
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joycon_calc_imu_cal_divisors(ctlr);
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return ret;
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}
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/* IMU calibration parsing */
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for (i = 0; i < 3; i++) {
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int j = i * 2;
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ctlr->accel_cal.offset[i] = get_unaligned_le16(raw_cal + j);
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ctlr->accel_cal.scale[i] = get_unaligned_le16(raw_cal + j + 6);
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ctlr->gyro_cal.offset[i] = get_unaligned_le16(raw_cal + j + 12);
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ctlr->gyro_cal.scale[i] = get_unaligned_le16(raw_cal + j + 18);
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}
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joycon_calc_imu_cal_divisors(ctlr);
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hid_dbg(ctlr->hdev, "IMU calibration:\n"
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"a_o[0]=%d a_o[1]=%d a_o[2]=%d\n"
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"a_s[0]=%d a_s[1]=%d a_s[2]=%d\n"
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"g_o[0]=%d g_o[1]=%d g_o[2]=%d\n"
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"g_s[0]=%d g_s[1]=%d g_s[2]=%d\n",
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ctlr->accel_cal.offset[0],
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ctlr->accel_cal.offset[1],
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ctlr->accel_cal.offset[2],
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ctlr->accel_cal.scale[0],
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ctlr->accel_cal.scale[1],
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ctlr->accel_cal.scale[2],
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ctlr->gyro_cal.offset[0],
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ctlr->gyro_cal.offset[1],
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ctlr->gyro_cal.offset[2],
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ctlr->gyro_cal.scale[0],
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ctlr->gyro_cal.scale[1],
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ctlr->gyro_cal.scale[2]);
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return 0;
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}
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static int joycon_set_report_mode(struct joycon_ctlr *ctlr)
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{
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struct joycon_subcmd_request *req;
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@ -755,6 +925,19 @@ static int joycon_enable_rumble(struct joycon_ctlr *ctlr)
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return joycon_send_subcmd(ctlr, req, 1, HZ/4);
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}
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static int joycon_enable_imu(struct joycon_ctlr *ctlr)
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{
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struct joycon_subcmd_request *req;
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u8 buffer[sizeof(*req) + 1] = { 0 };
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req = (struct joycon_subcmd_request *)buffer;
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req->subcmd_id = JC_SUBCMD_ENABLE_IMU;
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req->data[0] = 0x01; /* note: 0x00 would disable */
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hid_dbg(ctlr->hdev, "enabling IMU\n");
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return joycon_send_subcmd(ctlr, req, 1, HZ);
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}
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static s32 joycon_map_stick_val(struct joycon_stick_cal *cal, s32 val)
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{
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s32 center = cal->center;
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@ -773,6 +956,224 @@ static s32 joycon_map_stick_val(struct joycon_stick_cal *cal, s32 val)
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return new_val;
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}
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static void joycon_input_report_parse_imu_data(struct joycon_ctlr *ctlr,
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struct joycon_input_report *rep,
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struct joycon_imu_data *imu_data)
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{
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u8 *raw = rep->imu_raw_bytes;
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int i;
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for (i = 0; i < 3; i++) {
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struct joycon_imu_data *data = &imu_data[i];
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data->accel_x = get_unaligned_le16(raw + 0);
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data->accel_y = get_unaligned_le16(raw + 2);
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data->accel_z = get_unaligned_le16(raw + 4);
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data->gyro_x = get_unaligned_le16(raw + 6);
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data->gyro_y = get_unaligned_le16(raw + 8);
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data->gyro_z = get_unaligned_le16(raw + 10);
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/* point to next imu sample */
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raw += sizeof(struct joycon_imu_data);
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}
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}
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static void joycon_parse_imu_report(struct joycon_ctlr *ctlr,
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struct joycon_input_report *rep)
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{
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struct joycon_imu_data imu_data[3] = {0}; /* 3 reports per packet */
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struct input_dev *idev = ctlr->imu_input;
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unsigned int msecs = jiffies_to_msecs(jiffies);
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unsigned int last_msecs = ctlr->imu_last_pkt_ms;
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int i;
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int value[6];
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joycon_input_report_parse_imu_data(ctlr, rep, imu_data);
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/*
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* There are complexities surrounding how we determine the timestamps we
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* associate with the samples we pass to userspace. The IMU input
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* reports do not provide us with a good timestamp. There's a quickly
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* incrementing 8-bit counter per input report, but it is not very
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* useful for this purpose (it is not entirely clear what rate it
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* increments at or if it varies based on packet push rate - more on
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* the push rate below...).
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*
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* The reverse engineering work done on the joy-cons and pro controllers
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* by the community seems to indicate the following:
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* - The controller samples the IMU every 1.35ms. It then does some of
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* its own processing, probably averaging the samples out.
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* - Each imu input report contains 3 IMU samples, (usually 5ms apart).
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* - In the standard reporting mode (which this driver uses exclusively)
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* input reports are pushed from the controller as follows:
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* * joy-con (bluetooth): every 15 ms
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* * joy-cons (in charging grip via USB): every 15 ms
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* * pro controller (USB): every 15 ms
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* * pro controller (bluetooth): every 8 ms (this is the wildcard)
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*
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* Further complicating matters is that some bluetooth stacks are known
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* to alter the controller's packet rate by hardcoding the bluetooth
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* SSR for the switch controllers (android's stack currently sets the
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* SSR to 11ms for both the joy-cons and pro controllers).
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*
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* In my own testing, I've discovered that my pro controller either
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* reports IMU sample batches every 11ms or every 15ms. This rate is
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* stable after connecting. It isn't 100% clear what determines this
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* rate. Importantly, even when sending every 11ms, none of the samples
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* are duplicates. This seems to indicate that the time deltas between
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* reported samples can vary based on the input report rate.
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*
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* The solution employed in this driver is to keep track of the average
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* time delta between IMU input reports. In testing, this value has
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* proven to be stable, staying at 15ms or 11ms, though other hardware
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* configurations and bluetooth stacks could potentially see other rates
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* (hopefully this will become more clear as more people use the
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* driver).
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*
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* Keeping track of the average report delta allows us to submit our
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* timestamps to userspace based on that. Each report contains 3
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* samples, so the IMU sampling rate should be avg_time_delta/3. We can
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* also use this average to detect events where we have dropped a
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* packet. The userspace timestamp for the samples will be adjusted
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* accordingly to prevent unwanted behvaior.
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*/
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if (!ctlr->imu_first_packet_received) {
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ctlr->imu_timestamp_us = 0;
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ctlr->imu_delta_samples_count = 0;
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ctlr->imu_delta_samples_sum = 0;
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ctlr->imu_avg_delta_ms = JC_IMU_DFLT_AVG_DELTA_MS;
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ctlr->imu_first_packet_received = true;
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} else {
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unsigned int delta = msecs - last_msecs;
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unsigned int dropped_pkts;
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unsigned int dropped_threshold;
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/* avg imu report delta housekeeping */
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ctlr->imu_delta_samples_sum += delta;
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ctlr->imu_delta_samples_count++;
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if (ctlr->imu_delta_samples_count >=
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JC_IMU_SAMPLES_PER_DELTA_AVG) {
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ctlr->imu_avg_delta_ms = ctlr->imu_delta_samples_sum /
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ctlr->imu_delta_samples_count;
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/* don't ever want divide by zero shenanigans */
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if (ctlr->imu_avg_delta_ms == 0) {
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||||
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 */ }
|
||||
};
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user