unimore/kernel-hacking-2024-linux-steffo
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HID: playstation: correct DualSense gyro bias handling.

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The bias for the gyroscope is not used correctly. The sensor bias
needs to be used in calculation of the 'sensivity' instead of being
an offset.

In practice this has little input on the values as the bias values
tends to be small (+/- 20).

Signed-off-by: Roderick Colenbrander <roderick.colenbrander@sony.com>
Signed-off-by: Jiri Kosina <jkosina@suse.cz>
This commit is contained in:
Roderick Colenbrander 2023-01-05 17:59:10 -08:00 committed by Jiri Kosina
parent 12b18bc2b4
commit 6f7dbbd5a9
1 changed files with 10 additions and 8 deletions
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18
drivers/hid/hid-playstation.c
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@ -991,19 +991,22 @@ static int dualsense_get_calibration_data(struct dualsense *ds)
*/ */
speed_2x = (gyro_speed_plus + gyro_speed_minus); speed_2x = (gyro_speed_plus + gyro_speed_minus);
ds->gyro_calib_data[0].abs_code = ABS_RX; ds->gyro_calib_data[0].abs_code = ABS_RX;
ds->gyro_calib_data[0].bias = gyro_pitch_bias; ds->gyro_calib_data[0].bias = 0;
ds->gyro_calib_data[0].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S; 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[0].sens_denom = abs(gyro_pitch_plus - gyro_pitch_bias) +
abs(gyro_pitch_minus - gyro_pitch_bias);
ds->gyro_calib_data[1].abs_code = ABS_RY; ds->gyro_calib_data[1].abs_code = ABS_RY;
ds->gyro_calib_data[1].bias = gyro_yaw_bias; ds->gyro_calib_data[1].bias = 0;
ds->gyro_calib_data[1].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S; 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[1].sens_denom = abs(gyro_yaw_plus - gyro_yaw_bias) +
abs(gyro_yaw_minus - gyro_yaw_bias);
ds->gyro_calib_data[2].abs_code = ABS_RZ; ds->gyro_calib_data[2].abs_code = ABS_RZ;
ds->gyro_calib_data[2].bias = gyro_roll_bias; ds->gyro_calib_data[2].bias = 0;
ds->gyro_calib_data[2].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S; 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; ds->gyro_calib_data[2].sens_denom = abs(gyro_roll_plus - gyro_roll_bias) +
abs(gyro_roll_minus - gyro_roll_bias);
/* /*
* Set accelerometer calibration and normalization parameters. * Set accelerometer calibration and normalization parameters.
@ -1356,8 +1359,7 @@ static int dualsense_parse_report(struct ps_device *ps_dev, struct hid_report *r
for (i = 0; i < ARRAY_SIZE(ds_report->gyro); i++) { for (i = 0; i < ARRAY_SIZE(ds_report->gyro); i++) {
int raw_data = (short)le16_to_cpu(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, int calib_data = mult_frac(ds->gyro_calib_data[i].sens_numer,
raw_data - ds->gyro_calib_data[i].bias, raw_data, ds->gyro_calib_data[i].sens_denom);
ds->gyro_calib_data[i].sens_denom);
input_report_abs(ds->sensors, ds->gyro_calib_data[i].abs_code, calib_data); input_report_abs(ds->sensors, ds->gyro_calib_data[i].abs_code, calib_data);
} }