Commit 402987c5 authored by Roderick Colenbrander's avatar Roderick Colenbrander Committed by Benjamin Tissoires
Browse files

HID: playstation: add DualSense accelerometer and gyroscope support. 



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: default avatarRoderick Colenbrander <roderick.colenbrander@sony.com>
Reviewed-by: default avatarBarnabás Pőcze <pobrn@protonmail.com>
Signed-off-by: default avatarBenjamin Tissoires <benjamin.tissoires@redhat.com>
parent f6bb05fc

drivers/hid/hid-playstation.c

+203 −0
Original line number Diff line number Diff line
@@ -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);