From 12b18bc2b4318e76d9fecb674e377c2c388d3dd4 Mon Sep 17 00:00:00 2001 From: Roderick Colenbrander Date: Thu, 5 Jan 2023 17:59:09 -0800 Subject: HID: playstation: correct DualShock4 gyro bias handling. 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 Signed-off-by: Jiri Kosina --- drivers/hid/hid-playstation.c | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) (limited to 'drivers/hid/hid-playstation.c') diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c index 866cc4e94320..5067515bbcf6 100644 --- a/drivers/hid/hid-playstation.c +++ b/drivers/hid/hid-playstation.c @@ -1815,19 +1815,22 @@ static int dualshock4_get_calibration_data(struct dualshock4 *ds4) */ 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].bias = 0; 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[0].sens_denom = abs(gyro_pitch_plus - gyro_pitch_bias) + + abs(gyro_pitch_minus - gyro_pitch_bias); ds4->gyro_calib_data[1].abs_code = ABS_RY; - ds4->gyro_calib_data[1].bias = gyro_yaw_bias; + ds4->gyro_calib_data[1].bias = 0; 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[1].sens_denom = abs(gyro_yaw_plus - gyro_yaw_bias) + + abs(gyro_yaw_minus - gyro_yaw_bias); ds4->gyro_calib_data[2].abs_code = ABS_RZ; - ds4->gyro_calib_data[2].bias = gyro_roll_bias; + ds4->gyro_calib_data[2].bias = 0; 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; + ds4->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. @@ -2178,8 +2181,7 @@ static int dualshock4_parse_report(struct ps_device *ps_dev, struct hid_report * 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); + raw_data, ds4->gyro_calib_data[i].sens_denom); input_report_abs(ds4->sensors, ds4->gyro_calib_data[i].abs_code, calib_data); } -- cgit v1.2.3