diff mbox series

[4/5] HID: playstation: correct DualShock4 gyro bias handling.

Message ID 20230106015910.3031670-5-roderick.colenbrander@sony.com (mailing list archive)
State New, archived
Delegated to: Jiri Kosina
Headers show
Series HID: playstation: various DS4 and DualSense fixes | expand

Commit Message

Roderick Colenbrander Jan. 6, 2023, 1:59 a.m. UTC 
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>
---
 drivers/hid/hid-playstation.c | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

Comments

Jiri Kosina Jan. 18, 2023, 9:12 a.m. UTC | #1 
On Thu, 5 Jan 2023, Roderick Colenbrander wrote:

> 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>

Applied to for-6.3/sony.
diff mbox series

Patch

diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c
index 11bb6caf7412..1001eab6ff75 100644
--- a/drivers/hid/hid-playstation.c
+++ b/drivers/hid/hid-playstation.c
@@ -1848,19 +1848,22 @@  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);
 
 	/*
 	 * Sanity check gyro calibration data. This is needed to prevent crashes
@@ -2241,8 +2244,7 @@  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);
 	}