Commit 12b18bc2 authored by Roderick Colenbrander's avatar Roderick Colenbrander Committed by Jiri Kosina
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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: default avatarRoderick Colenbrander <roderick.colenbrander@sony.com>
Signed-off-by: default avatarJiri Kosina <jkosina@suse.cz>
parent 5e25a8cd

drivers/hid/hid-playstation.c

+10 −8
Original line number Diff line number Diff line
@@ -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);

	}