From: Roderick Colenbrander Date: Fri, 6 Jan 2023 01:59:10 +0000 (-0800) Subject: HID: playstation: correct DualSense gyro bias handling. X-Git-Url: http://git.maquefel.me/?a=commitdiff_plain;h=6f7dbbd5a9d7954971ff42098658a134470ff6c2;p=linux.git 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 Signed-off-by: Jiri Kosina --- diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c index 5067515bbcf69..873090f484c54 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); }