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HID: playstation: add DualSense accelerometer and gyroscope support.

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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 <roderick.colenbrander@sony.com>
Reviewed-by: Barnabás Pőcze <pobrn@protonmail.com>
Signed-off-by: Benjamin Tissoires <benjamin.tissoires@redhat.com>
This commit is contained in:
Roderick Colenbrander 2021-02-07 13:49:00 -08:00 committed by Benjamin Tissoires
parent f6bb05fcb2
commit 402987c5d9
1 changed files with 203 additions and 0 deletions
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203
drivers/hid/hid-playstation.c
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@ -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);