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 <roderick.colenbrander@sony.com>
Signed-off-by: Jiri Kosina <jkosina@suse.cz>

diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c
index 866cc4e94320f2ca4ae0611f0348a176a61d9be9..5067515bbcf69bcbf5f107a4058fc9d8e574b1ec 100644 (file)
--- 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);
        }