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HID: playstation: correct DualShock4 gyro bias handling.

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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>
This commit is contained in:
Roderick Colenbrander 2023-01-05 17:59:09 -08:00 committed by Jiri Kosina
parent 5e25a8cdbe
commit 12b18bc2b4
1 changed files with 10 additions and 8 deletions
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18
drivers/hid/hid-playstation.c
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@ -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);
}