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authorRoderick Colenbrander <roderick@gaikai.com>2023-01-06 04:59:10 +0300
committerJiri Kosina <jkosina@suse.cz>2023-01-18 12:12:49 +0300
commit6f7dbbd5a9d7954971ff42098658a134470ff6c2 (patch)
tree972ba2d46075fac10f8aac310305cf9cd03a9d04
parent12b18bc2b4318e76d9fecb674e377c2c388d3dd4 (diff)
downloadlinux-6f7dbbd5a9d7954971ff42098658a134470ff6c2.tar.xz
HID: playstation: correct DualSense 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 <roderick.colenbrander@sony.com> Signed-off-by: Jiri Kosina <jkosina@suse.cz>
-rw-r--r--drivers/hid/hid-playstation.c18
1 files changed, 10 insertions, 8 deletions
diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c
index 5067515bbcf6..873090f484c5 100644
--- a/drivers/hid/hid-playstation.c
+++ b/drivers/hid/hid-playstation.c
@@ -991,19 +991,22 @@ static int dualsense_get_calibration_data(struct dualsense *ds)
*/
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].bias = 0;
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].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_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].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_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.
@@ -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++) {
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);
+ raw_data, ds->gyro_calib_data[i].sens_denom);
input_report_abs(ds->sensors, ds->gyro_calib_data[i].abs_code, calib_data);
}