Re: [PATCH v2] HID: hid-steam: Add Deck IMU support

[Vicki Pfau]

On 4/20/24 5:34 AM, Max Maisel wrote:
> The Deck's controller features an accelerometer and gyroscope which
> send their measurement values by default in the main HID input report.
> Expose both sensors to userspace through a separate evdev node as it
> is done by the hid-nintendo and hid-playstation drivers.
> 
> Signed-off-by: Max Maisel <mmm-1@xxxxxxxxxx>
> ---
> 
> Changes in v2:
> * Increased gyroscope range to 32768.
> * Removed comment about factory calibration of sensor values.
> * Removed STEAM_QUIRK_DECK check in steam_raw_event function.
> * Silenced the IMU when gamepad mode is disabled.
> * Added improved fuzz values for the input device.
>   The new values are based on the average deviation from the average
>   sensor values at rest.
> * Rebased onto kernel v6.9-rc4.
> * Improved the test procedure below.
> 
> Test procedure:
> 
> This patch was tested on a Steam Deck running Arch Linux. With it,
> applications using latest SDL2/3 git libraries will pick up the sensors
> without hidraw access. This was tested against the antimicrox gamepad
> mapper.
> 
> Measurement value scaling was tested by logging and comparing sensors
> values between the deck and a dualsense controller.
> For the accelerometer, both controllers were aligned to gravity on all axes
> and the reported values were compared.
> For the gyroscope, both controllers were placed on a makeshift
> rotational plate and the reported absolute angular velocity was compared.
> Furthermore, it was tested that the axes have the same orientation
> between the two controller types.
> Finally, it was tested that the full scale values for both sensor types
> can be reached by doing jerky movements with the deck.
> All observed values matched within a few percent error range.
> 
>  drivers/hid/hid-steam.c | 155 +++++++++++++++++++++++++++++++++++++---
>  1 file changed, 147 insertions(+), 8 deletions(-)
> 
> diff --git a/drivers/hid/hid-steam.c b/drivers/hid/hid-steam.c
> index b08a5ab58528..f166188c21ec 100644
> --- a/drivers/hid/hid-steam.c
> +++ b/drivers/hid/hid-steam.c
> @@ -66,6 +66,14 @@ static LIST_HEAD(steam_devices);
>  #define STEAM_DECK_TRIGGER_RESOLUTION 5461
>  /* Joystick runs are about 5 mm and 32768 units */
>  #define STEAM_DECK_JOYSTICK_RESOLUTION 6553
> +/* Accelerometer has 16 bit resolution and a range of +/- 2g */
> +#define STEAM_DECK_ACCEL_RES_PER_G 16384
> +#define STEAM_DECK_ACCEL_RANGE 32768
> +#define STEAM_DECK_ACCEL_FUZZ 32
> +/* Gyroscope has 16 bit resolution and a range of +/- 2000 dps */
> +#define STEAM_DECK_GYRO_RES_PER_DPS 16
> +#define STEAM_DECK_GYRO_RANGE 32768
> +#define STEAM_DECK_GYRO_FUZZ 1
>  
>  #define STEAM_PAD_FUZZ 256
>  
> @@ -288,6 +296,7 @@ struct steam_device {
>  	struct mutex report_mutex;
>  	unsigned long client_opened;
>  	struct input_dev __rcu *input;
> +	struct input_dev __rcu *sensors;
>  	unsigned long quirks;
>  	struct work_struct work_connect;
>  	bool connected;
> @@ -302,6 +311,7 @@ struct steam_device {
>  	struct work_struct rumble_work;
>  	u16 rumble_left;
>  	u16 rumble_right;
> +	unsigned int sensor_timestamp_us;
>  };
>  
>  static int steam_recv_report(struct steam_device *steam,
> @@ -825,6 +835,74 @@ static int steam_input_register(struct steam_device *steam)
>  	return ret;
>  }
>  
> +static int steam_sensors_register(struct steam_device *steam)
> +{
> +	struct hid_device *hdev = steam->hdev;
> +	struct input_dev *sensors;
> +	int ret;
> +
> +	if (!(steam->quirks & STEAM_QUIRK_DECK))
> +		return 0;
> +
> +	rcu_read_lock();
> +	sensors = rcu_dereference(steam->sensors);
> +	rcu_read_unlock();
> +	if (sensors) {
> +		dbg_hid("%s: already connected\n", __func__);
> +		return 0;
> +	}
> +
> +	sensors = input_allocate_device();
> +	if (!sensors)
> +		return -ENOMEM;
> +
> +	input_set_drvdata(sensors, steam);
> +	sensors->dev.parent = &hdev->dev;
> +
> +	sensors->name = "Steam Deck Motion Sensors";
> +	sensors->phys = hdev->phys;
> +	sensors->uniq = steam->serial_no;
> +	sensors->id.bustype = hdev->bus;
> +	sensors->id.vendor = hdev->vendor;
> +	sensors->id.product = hdev->product;
> +	sensors->id.version = hdev->version;
> +
> +	__set_bit(INPUT_PROP_ACCELEROMETER, sensors->propbit);
> +	__set_bit(EV_MSC, sensors->evbit);
> +	__set_bit(MSC_TIMESTAMP, sensors->mscbit);
> +
> +	input_set_abs_params(sensors, ABS_X, -STEAM_DECK_ACCEL_RANGE,
> +			STEAM_DECK_ACCEL_RANGE, STEAM_DECK_ACCEL_FUZZ, 0);
> +	input_set_abs_params(sensors, ABS_Y, -STEAM_DECK_ACCEL_RANGE,
> +			STEAM_DECK_ACCEL_RANGE, STEAM_DECK_ACCEL_FUZZ, 0);
> +	input_set_abs_params(sensors, ABS_Z, -STEAM_DECK_ACCEL_RANGE,
> +			STEAM_DECK_ACCEL_RANGE, STEAM_DECK_ACCEL_FUZZ, 0);
> +	input_abs_set_res(sensors, ABS_X, STEAM_DECK_ACCEL_RES_PER_G);
> +	input_abs_set_res(sensors, ABS_Y, STEAM_DECK_ACCEL_RES_PER_G);
> +	input_abs_set_res(sensors, ABS_Z, STEAM_DECK_ACCEL_RES_PER_G);
> +
> +	input_set_abs_params(sensors, ABS_RX, -STEAM_DECK_GYRO_RANGE,
> +			STEAM_DECK_GYRO_RANGE, STEAM_DECK_GYRO_FUZZ, 0);
> +	input_set_abs_params(sensors, ABS_RY, -STEAM_DECK_GYRO_RANGE,
> +			STEAM_DECK_GYRO_RANGE, STEAM_DECK_GYRO_FUZZ, 0);
> +	input_set_abs_params(sensors, ABS_RZ, -STEAM_DECK_GYRO_RANGE,
> +			STEAM_DECK_GYRO_RANGE, STEAM_DECK_GYRO_FUZZ, 0);
> +	input_abs_set_res(sensors, ABS_RX, STEAM_DECK_GYRO_RES_PER_DPS);
> +	input_abs_set_res(sensors, ABS_RY, STEAM_DECK_GYRO_RES_PER_DPS);
> +	input_abs_set_res(sensors, ABS_RZ, STEAM_DECK_GYRO_RES_PER_DPS);
> +
> +	ret = input_register_device(sensors);
> +	if (ret)
> +		goto sensors_register_fail;
> +
> +	rcu_assign_pointer(steam->sensors, sensors);
> +	return 0;
> +
> +sensors_register_fail:
> +	input_free_device(sensors);
> +	return ret;
> +}
> +
>  static void steam_input_unregister(struct steam_device *steam)
>  {
>  	struct input_dev *input;
> @@ -838,6 +916,24 @@ static void steam_input_unregister(struct steam_device *steam)
>  	input_unregister_device(input);
>  }
>  
> +static void steam_sensors_unregister(struct steam_device *steam)
> +{
> +	struct input_dev *sensors;
> +
> +	if (!(steam->quirks & STEAM_QUIRK_DECK))
> +		return;
> +
> +	rcu_read_lock();
> +	sensors = rcu_dereference(steam->sensors);
> +	rcu_read_unlock();
> +
> +	if (!sensors)
> +		return;
> +	RCU_INIT_POINTER(steam->sensors, NULL);
> +	synchronize_rcu();
> +	input_unregister_device(sensors);
> +}
> +
>  static void steam_battery_unregister(struct steam_device *steam)
>  {
>  	struct power_supply *battery;
> @@ -890,18 +986,28 @@ static int steam_register(struct steam_device *steam)
>  	spin_lock_irqsave(&steam->lock, flags);
>  	client_opened = steam->client_opened;
>  	spin_unlock_irqrestore(&steam->lock, flags);
> +
>  	if (!client_opened) {
>  		steam_set_lizard_mode(steam, lizard_mode);
>  		ret = steam_input_register(steam);
> -	} else
> -		ret = 0;
> +		if (ret != 0)
> +			goto steam_register_input_fail;
> +		ret = steam_sensors_register(steam);
> +		if (ret != 0)
> +			goto steam_register_sensors_fail;
> +	}
> +	return 0;
>  
> +steam_register_sensors_fail:
> +	steam_input_unregister(steam);
> +steam_register_input_fail:
>  	return ret;
>  }
>  
>  static void steam_unregister(struct steam_device *steam)
>  {
>  	steam_battery_unregister(steam);
> +	steam_sensors_unregister(steam);
>  	steam_input_unregister(steam);
>  	if (steam->serial_no[0]) {
>  		hid_info(steam->hdev, "Steam Controller '%s' disconnected",
> @@ -1010,6 +1116,7 @@ static int steam_client_ll_open(struct hid_device *hdev)
>  	steam->client_opened++;
>  	spin_unlock_irqrestore(&steam->lock, flags);
>  
> +	steam_sensors_unregister(steam);
>  	steam_input_unregister(steam);
>  
>  	return 0;
> @@ -1030,6 +1137,7 @@ static void steam_client_ll_close(struct hid_device *hdev)
>  	if (connected) {
>  		steam_set_lizard_mode(steam, lizard_mode);
>  		steam_input_register(steam);
> +		steam_sensors_register(steam);
>  	}
>  }
>  
> @@ -1121,6 +1229,7 @@ static int steam_probe(struct hid_device *hdev,
>  	INIT_DELAYED_WORK(&steam->mode_switch, steam_mode_switch_cb);
>  	INIT_LIST_HEAD(&steam->list);
>  	INIT_WORK(&steam->rumble_work, steam_haptic_rumble_cb);
> +	steam->sensor_timestamp_us = 0;
>  
>  	/*
>  	 * With the real steam controller interface, do not connect hidraw.
> @@ -1380,12 +1489,12 @@ static void steam_do_input_event(struct steam_device *steam,
>   *  18-19 | s16   | ABS_HAT0Y | left-pad Y value
>   *  20-21 | s16   | ABS_HAT1X | right-pad X value
>   *  22-23 | s16   | ABS_HAT1Y | right-pad Y value
> - *  24-25 | s16   | --        | accelerometer X value
> - *  26-27 | s16   | --        | accelerometer Y value
> - *  28-29 | s16   | --        | accelerometer Z value
> - *  30-31 | s16   | --        | gyro X value
> - *  32-33 | s16   | --        | gyro Y value
> - *  34-35 | s16   | --        | gyro Z value
> + *  24-25 | s16   | IMU ABS_X | accelerometer X value
> + *  26-27 | s16   | IMU ABS_Z | accelerometer Y value
> + *  28-29 | s16   | IMU ABS_Y | accelerometer Z value
> + *  30-31 | s16   | IMU ABS_RX | gyro X value
> + *  32-33 | s16   | IMU ABS_RZ | gyro Y value
> + *  34-35 | s16   | IMU ABS_RY | gyro Z value
>   *  36-37 | s16   | --        | quaternion W value
>   *  38-39 | s16   | --        | quaternion X value
>   *  40-41 | s16   | --        | quaternion Y value
> @@ -1546,6 +1655,32 @@ static void steam_do_deck_input_event(struct steam_device *steam,
>  	input_sync(input);
>  }
>  
> +static void steam_do_deck_sensors_event(struct steam_device *steam,
> +		struct input_dev *sensors, u8 *data)
> +{
> +	/*
> +	 * The deck input report is received every 4 ms on average,
> +	 * with a jitter of +/- 4 ms even though the USB descriptor claims
> +	 * that it uses 1 kHz.
> +	 * Since the HID report does not include a sensor timestamp,
> +	 * use a fixed increment here.
> +	 */
> +	steam->sensor_timestamp_us += 4000;
> +
> +	if (!steam->gamepad_mode)
> +		return;
> +
> +	input_event(sensors, EV_MSC, MSC_TIMESTAMP, steam->sensor_timestamp_us);
> +	input_report_abs(sensors, ABS_X, steam_le16(data + 24));
> +	input_report_abs(sensors, ABS_Z, -steam_le16(data + 26));
> +	input_report_abs(sensors, ABS_Y, steam_le16(data + 28));
> +	input_report_abs(sensors, ABS_RX, steam_le16(data + 30));
> +	input_report_abs(sensors, ABS_RZ, -steam_le16(data + 32));
> +	input_report_abs(sensors, ABS_RY, steam_le16(data + 34));
> +
> +	input_sync(sensors);
> +}
> +
>  /*
>   * The size for this message payload is 11.
>   * The known values are:
> @@ -1583,6 +1718,7 @@ static int steam_raw_event(struct hid_device *hdev,
>  {
>  	struct steam_device *steam = hid_get_drvdata(hdev);
>  	struct input_dev *input;
> +	struct input_dev *sensors;
>  	struct power_supply *battery;
>  
>  	if (!steam)
> @@ -1628,6 +1764,9 @@ static int steam_raw_event(struct hid_device *hdev,
>  		input = rcu_dereference(steam->input);
>  		if (likely(input))
>  			steam_do_deck_input_event(steam, input, data);
> +		sensors = rcu_dereference(steam->sensors);
> +		if (likely(sensors))
> +			steam_do_deck_sensors_event(steam, sensors, data);
>  		rcu_read_unlock();
>  		break;
>  	case ID_CONTROLLER_WIRELESS:
> 
> base-commit: 0bbac3facb5d6cc0171c45c9873a2dc96bea9680

Looks good.

Reviewed-by: Vicki Pfau <vi@xxxxxxxxxxx>