Commit 6f7dbbd5 authored by Roderick Colenbrander's avatar Roderick Colenbrander Committed by Jiri Kosina
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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: default avatarRoderick Colenbrander <roderick.colenbrander@sony.com>
Signed-off-by: default avatarJiri Kosina <jkosina@suse.cz>
parent 12b18bc2

drivers/hid/hid-playstation.c

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

	}