--- v12
+++ v16
@@ -1,49 +1,721 @@
-This patch adds a check for if the rumble queue ringbuffer is empty
-prior to queuing the rumble workqueue. If the current rumble setting is
-using a non-zero amplitude though, it will queue the worker anyway. This
-is because the controller will automatically disable the rumble effect
-if it isn't "refreshed".
+This patch adds support for the controller's IMU. The accelerometer and
+gyro data are both provided to userspace using a second input device.
+The devices can be associated using their uniq value (set to the
+controller's MAC address).
-This change improves bluetooth communication reliability with the
-controller, since it reduces the amount of traffic.
+A large part of this patch's functionality was provided by Carl Mueller.
+
+The IMU device is blacklisted from the joydev input handler.
Signed-off-by: Daniel J. Ogorchock <djogorchock@gmail.com>
---
- drivers/hid/hid-nintendo.c | 7 ++++++-
- 1 file changed, 6 insertions(+), 1 deletion(-)
+ drivers/hid/hid-nintendo.c | 503 ++++++++++++++++++++++++++++++++++++-
+ drivers/input/joydev.c | 10 +
+ 2 files changed, 501 insertions(+), 12 deletions(-)
diff --git a/drivers/hid/hid-nintendo.c b/drivers/hid/hid-nintendo.c
-index 88a853570faf..80f33ab58a5e 100644
+index b914e262e6f64..1e8dc34f39802 100644
--- a/drivers/hid/hid-nintendo.c
+++ b/drivers/hid/hid-nintendo.c
-@@ -378,6 +378,7 @@ struct joycon_ctlr {
+@@ -2,7 +2,7 @@
+ /*
+ * HID driver for Nintendo Switch Joy-Cons and Pro Controllers
+ *
+- * Copyright (c) 2019 Daniel J. Ogorchock <djogorchock@gmail.com>
++ * Copyright (c) 2019-2020 Daniel J. Ogorchock <djogorchock@gmail.com>
+ *
+ * The following resources/projects were referenced for this driver:
+ * https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering
+@@ -26,6 +26,7 @@
+ #include <asm/unaligned.h>
+ #include <linux/delay.h>
+ #include <linux/device.h>
++#include <linux/kernel.h>
+ #include <linux/hid.h>
+ #include <linux/input.h>
+ #include <linux/jiffies.h>
+@@ -115,6 +116,15 @@ static const u16 JC_CAL_USR_RIGHT_DATA_ADDR = 0x801D;
+ static const u16 JC_CAL_FCT_DATA_LEFT_ADDR = 0x603d;
+ static const u16 JC_CAL_FCT_DATA_RIGHT_ADDR = 0x6046;
+
++/* SPI storage addresses of IMU factory calibration data */
++static const u16 JC_IMU_CAL_FCT_DATA_ADDR = 0x6020;
++static const u16 JC_IMU_CAL_FCT_DATA_END = 0x6037;
++#define JC_IMU_CAL_DATA_SIZE \
++ (JC_IMU_CAL_FCT_DATA_END - JC_IMU_CAL_FCT_DATA_ADDR + 1)
++/* SPI storage addresses of IMU user calibration data */
++static const u16 JC_IMU_CAL_USR_MAGIC_ADDR = 0x8026;
++static const u16 JC_IMU_CAL_USR_DATA_ADDR = 0x8028;
++
+ /* The raw analog joystick values will be mapped in terms of this magnitude */
+ static const u16 JC_MAX_STICK_MAG = 32767;
+ static const u16 JC_STICK_FUZZ = 250;
+@@ -125,6 +135,47 @@ static const u16 JC_MAX_DPAD_MAG = 1;
+ static const u16 JC_DPAD_FUZZ /*= 0*/;
+ static const u16 JC_DPAD_FLAT /*= 0*/;
+
++/* Under most circumstances IMU reports are pushed every 15ms; use as default */
++static const u16 JC_IMU_DFLT_AVG_DELTA_MS = 15;
++/* How many samples to sum before calculating average IMU report delta */
++static const u16 JC_IMU_SAMPLES_PER_DELTA_AVG = 300;
++/* Controls how many dropped IMU packets at once trigger a warning message */
++static const u16 JC_IMU_DROPPED_PKT_WARNING = 3;
++
++/*
++ * The controller's accelerometer has a sensor resolution of 16bits and is
++ * configured with a range of +-8000 milliGs. Therefore, the resolution can be
++ * calculated thus: (2^16-1)/(8000 * 2) = 4.096 digits per milliG
++ * Resolution per G (rather than per millliG): 4.096 * 1000 = 4096 digits per G
++ * Alternatively: 1/4096 = .0002441 Gs per digit
++ */
++static const s32 JC_IMU_MAX_ACCEL_MAG = 32767;
++static const u16 JC_IMU_ACCEL_RES_PER_G = 4096;
++static const u16 JC_IMU_ACCEL_FUZZ = 10;
++static const u16 JC_IMU_ACCEL_FLAT /*= 0*/;
++
++/*
++ * The controller's gyroscope has a sensor resolution of 16bits and is
++ * configured with a range of +-2000 degrees/second.
++ * Digits per dps: (2^16 -1)/(2000*2) = 16.38375
++ * dps per digit: 16.38375E-1 = .0610
++ *
++ * STMicro recommends in the datasheet to add 15% to the dps/digit. This allows
++ * the full sensitivity range to be saturated without clipping. This yields more
++ * accurate results, so it's the technique this driver uses.
++ * dps per digit (corrected): .0610 * 1.15 = .0702
++ * digits per dps (corrected): .0702E-1 = 14.247
++ *
++ * Now, 14.247 truncating to 14 loses a lot of precision, so we rescale the
++ * min/max range by 1000.
++ */
++static const s32 JC_IMU_PREC_RANGE_SCALE = 1000;
++/* Note: change mag and res_per_dps if prec_range_scale is ever altered */
++static const s32 JC_IMU_MAX_GYRO_MAG = 32767000; /* (2^16-1)*1000 */
++static const u16 JC_IMU_GYRO_RES_PER_DPS = 14247; /* (14.247*1000) */
++static const u16 JC_IMU_GYRO_FUZZ = 10;
++static const u16 JC_IMU_GYRO_FLAT /*= 0*/;
++
+ /* frequency/amplitude tables for rumble */
+ struct joycon_rumble_freq_data {
+ u16 high;
+@@ -259,6 +310,11 @@ struct joycon_stick_cal {
+ s32 center;
+ };
+
++struct joycon_imu_cal {
++ s16 offset[3];
++ s16 scale[3];
++};
++
+ /*
+ * All the controller's button values are stored in a u32.
+ * They can be accessed with bitwise ANDs.
+@@ -306,6 +362,15 @@ struct joycon_subcmd_reply {
+ u8 data[]; /* will be at most 35 bytes */
+ } __packed;
+
++struct joycon_imu_data {
++ s16 accel_x;
++ s16 accel_y;
++ s16 accel_z;
++ s16 gyro_x;
++ s16 gyro_y;
++ s16 gyro_z;
++} __packed;
++
+ struct joycon_input_report {
+ u8 id;
+ u8 timer;
+@@ -315,11 +380,11 @@ struct joycon_input_report {
+ u8 right_stick[3];
+ u8 vibrator_report;
+
+- /*
+- * If support for firmware updates, gyroscope data, and/or NFC/IR
+- * are added in the future, this can be swapped for a union.
+- */
+- struct joycon_subcmd_reply reply;
++ union {
++ struct joycon_subcmd_reply subcmd_reply;
++ /* IMU input reports contain 3 samples */
++ u8 imu_raw_bytes[sizeof(struct joycon_imu_data) * 3];
++ };
+ } __packed;
+
+ #define JC_MAX_RESP_SIZE (sizeof(struct joycon_input_report) + 35)
+@@ -367,6 +432,13 @@ struct joycon_ctlr {
+ struct joycon_stick_cal right_stick_cal_x;
+ struct joycon_stick_cal right_stick_cal_y;
+
++ struct joycon_imu_cal accel_cal;
++ struct joycon_imu_cal gyro_cal;
++
++ /* prevents needlessly recalculating these divisors every sample */
++ s32 imu_cal_accel_divisor[3];
++ s32 imu_cal_gyro_divisor[3];
++
+ /* power supply data */
+ struct power_supply *battery;
+ struct power_supply_desc battery_desc;
+@@ -385,6 +457,16 @@ struct joycon_ctlr {
u16 rumble_lh_freq;
u16 rumble_rl_freq;
u16 rumble_rh_freq;
-+ bool rumble_zero_amp;
++
++ /* imu */
++ struct input_dev *imu_input;
++ bool imu_first_packet_received; /* helps in initiating timestamp */
++ unsigned int imu_timestamp_us; /* timestamp we report to userspace */
++ unsigned int imu_last_pkt_ms; /* used to calc imu report delta */
++ /* the following are used to track the average imu report time delta */
++ unsigned int imu_delta_samples_count;
++ unsigned int imu_delta_samples_sum;
++ unsigned int imu_avg_delta_ms;
};
/* Helper macros for checking controller type */
-@@ -777,7 +778,9 @@ static void joycon_parse_report(struct joycon_ctlr *ctlr,
-
- spin_lock_irqsave(&ctlr->lock, flags);
- if (IS_ENABLED(CONFIG_NINTENDO_FF) && rep->vibrator_report &&
-- (msecs - ctlr->rumble_msecs) >= JC_RUMBLE_PERIOD_MS)
-+ (msecs - ctlr->rumble_msecs) >= JC_RUMBLE_PERIOD_MS &&
-+ (ctlr->rumble_queue_head != ctlr->rumble_queue_tail ||
-+ !ctlr->rumble_zero_amp))
- queue_work(ctlr->rumble_queue, &ctlr->rumble_worker);
-
- /* Parse the battery status */
-@@ -1036,6 +1039,8 @@ static int joycon_set_rumble(struct joycon_ctlr *ctlr, u16 amp_r, u16 amp_l,
- freq_r_high = ctlr->rumble_rh_freq;
- freq_l_low = ctlr->rumble_ll_freq;
- freq_l_high = ctlr->rumble_lh_freq;
-+ /* this flag is used to reduce subcommand traffic */
-+ ctlr->rumble_zero_amp = (amp_l == 0) && (amp_r == 0);
- spin_unlock_irqrestore(&ctlr->lock, flags);
-
- /* right joy-con */
+@@ -569,7 +651,7 @@ static int joycon_request_spi_flash_read(struct joycon_ctlr *ctlr,
+ } else {
+ report = (struct joycon_input_report *)ctlr->input_buf;
+ /* The read data starts at the 6th byte */
+- *reply = &report->reply.data[5];
++ *reply = &report->subcmd_reply.data[5];
+ }
+ return ret;
+ }
+@@ -729,6 +811,94 @@ static int joycon_request_calibration(struct joycon_ctlr *ctlr)
+ return 0;
+ }
+
++/*
++ * These divisors are calculated once rather than for each sample. They are only
++ * dependent on the IMU calibration values. They are used when processing the
++ * IMU input reports.
++ */
++static void joycon_calc_imu_cal_divisors(struct joycon_ctlr *ctlr)
++{
++ int i;
++
++ for (i = 0; i < 3; i++) {
++ ctlr->imu_cal_accel_divisor[i] = ctlr->accel_cal.scale[i] -
++ ctlr->accel_cal.offset[i];
++ ctlr->imu_cal_gyro_divisor[i] = ctlr->gyro_cal.scale[i] -
++ ctlr->gyro_cal.offset[i];
++ }
++}
++
++static const s16 DFLT_ACCEL_OFFSET /*= 0*/;
++static const s16 DFLT_ACCEL_SCALE = 16384;
++static const s16 DFLT_GYRO_OFFSET /*= 0*/;
++static const s16 DFLT_GYRO_SCALE = 13371;
++static int joycon_request_imu_calibration(struct joycon_ctlr *ctlr)
++{
++ u16 imu_cal_addr = JC_IMU_CAL_FCT_DATA_ADDR;
++ u8 *raw_cal;
++ int ret;
++ int i;
++
++ /* check if user calibration exists */
++ if (!joycon_check_for_cal_magic(ctlr, JC_IMU_CAL_USR_MAGIC_ADDR)) {
++ imu_cal_addr = JC_IMU_CAL_USR_DATA_ADDR;
++ hid_info(ctlr->hdev, "using user cal for IMU\n");
++ } else {
++ hid_info(ctlr->hdev, "using factory cal for IMU\n");
++ }
++
++ /* request IMU calibration data */
++ hid_dbg(ctlr->hdev, "requesting IMU cal data\n");
++ ret = joycon_request_spi_flash_read(ctlr, imu_cal_addr,
++ JC_IMU_CAL_DATA_SIZE, &raw_cal);
++ if (ret) {
++ hid_warn(ctlr->hdev,
++ "Failed to read IMU cal, using defaults; ret=%d\n",
++ ret);
++
++ for (i = 0; i < 3; i++) {
++ ctlr->accel_cal.offset[i] = DFLT_ACCEL_OFFSET;
++ ctlr->accel_cal.scale[i] = DFLT_ACCEL_SCALE;
++ ctlr->gyro_cal.offset[i] = DFLT_GYRO_OFFSET;
++ ctlr->gyro_cal.scale[i] = DFLT_GYRO_SCALE;
++ }
++ joycon_calc_imu_cal_divisors(ctlr);
++ return ret;
++ }
++
++ /* IMU calibration parsing */
++ for (i = 0; i < 3; i++) {
++ int j = i * 2;
++
++ ctlr->accel_cal.offset[i] = get_unaligned_le16(raw_cal + j);
++ ctlr->accel_cal.scale[i] = get_unaligned_le16(raw_cal + j + 6);
++ ctlr->gyro_cal.offset[i] = get_unaligned_le16(raw_cal + j + 12);
++ ctlr->gyro_cal.scale[i] = get_unaligned_le16(raw_cal + j + 18);
++ }
++
++ joycon_calc_imu_cal_divisors(ctlr);
++
++ hid_dbg(ctlr->hdev, "IMU calibration:\n"
++ "a_o[0]=%d a_o[1]=%d a_o[2]=%d\n"
++ "a_s[0]=%d a_s[1]=%d a_s[2]=%d\n"
++ "g_o[0]=%d g_o[1]=%d g_o[2]=%d\n"
++ "g_s[0]=%d g_s[1]=%d g_s[2]=%d\n",
++ ctlr->accel_cal.offset[0],
++ ctlr->accel_cal.offset[1],
++ ctlr->accel_cal.offset[2],
++ ctlr->accel_cal.scale[0],
++ ctlr->accel_cal.scale[1],
++ ctlr->accel_cal.scale[2],
++ ctlr->gyro_cal.offset[0],
++ ctlr->gyro_cal.offset[1],
++ ctlr->gyro_cal.offset[2],
++ ctlr->gyro_cal.scale[0],
++ ctlr->gyro_cal.scale[1],
++ ctlr->gyro_cal.scale[2]);
++
++ return 0;
++}
++
+ static int joycon_set_report_mode(struct joycon_ctlr *ctlr)
+ {
+ struct joycon_subcmd_request *req;
+@@ -755,6 +925,19 @@ static int joycon_enable_rumble(struct joycon_ctlr *ctlr)
+ return joycon_send_subcmd(ctlr, req, 1, HZ/4);
+ }
+
++static int joycon_enable_imu(struct joycon_ctlr *ctlr)
++{
++ struct joycon_subcmd_request *req;
++ u8 buffer[sizeof(*req) + 1] = { 0 };
++
++ req = (struct joycon_subcmd_request *)buffer;
++ req->subcmd_id = JC_SUBCMD_ENABLE_IMU;
++ req->data[0] = 0x01; /* note: 0x00 would disable */
++
++ hid_dbg(ctlr->hdev, "enabling IMU\n");
++ return joycon_send_subcmd(ctlr, req, 1, HZ);
++}
++
+ static s32 joycon_map_stick_val(struct joycon_stick_cal *cal, s32 val)
+ {
+ s32 center = cal->center;
+@@ -773,6 +956,224 @@ static s32 joycon_map_stick_val(struct joycon_stick_cal *cal, s32 val)
+ return new_val;
+ }
+
++static void joycon_input_report_parse_imu_data(struct joycon_ctlr *ctlr,
++ struct joycon_input_report *rep,
++ struct joycon_imu_data *imu_data)
++{
++ u8 *raw = rep->imu_raw_bytes;
++ int i;
++
++ for (i = 0; i < 3; i++) {
++ struct joycon_imu_data *data = &imu_data[i];
++
++ data->accel_x = get_unaligned_le16(raw + 0);
++ data->accel_y = get_unaligned_le16(raw + 2);
++ data->accel_z = get_unaligned_le16(raw + 4);
++ data->gyro_x = get_unaligned_le16(raw + 6);
++ data->gyro_y = get_unaligned_le16(raw + 8);
++ data->gyro_z = get_unaligned_le16(raw + 10);
++ /* point to next imu sample */
++ raw += sizeof(struct joycon_imu_data);
++ }
++}
++
++static void joycon_parse_imu_report(struct joycon_ctlr *ctlr,
++ struct joycon_input_report *rep)
++{
++ struct joycon_imu_data imu_data[3] = {0}; /* 3 reports per packet */
++ struct input_dev *idev = ctlr->imu_input;
++ unsigned int msecs = jiffies_to_msecs(jiffies);
++ unsigned int last_msecs = ctlr->imu_last_pkt_ms;
++ int i;
++ int value[6];
++
++ joycon_input_report_parse_imu_data(ctlr, rep, imu_data);
++
++ /*
++ * There are complexities surrounding how we determine the timestamps we
++ * associate with the samples we pass to userspace. The IMU input
++ * reports do not provide us with a good timestamp. There's a quickly
++ * incrementing 8-bit counter per input report, but it is not very
++ * useful for this purpose (it is not entirely clear what rate it
++ * increments at or if it varies based on packet push rate - more on
++ * the push rate below...).
++ *
++ * The reverse engineering work done on the joy-cons and pro controllers
++ * by the community seems to indicate the following:
++ * - The controller samples the IMU every 1.35ms. It then does some of
++ * its own processing, probably averaging the samples out.
++ * - Each imu input report contains 3 IMU samples, (usually 5ms apart).
++ * - In the standard reporting mode (which this driver uses exclusively)
++ * input reports are pushed from the controller as follows:
++ * * joy-con (bluetooth): every 15 ms
++ * * joy-cons (in charging grip via USB): every 15 ms
++ * * pro controller (USB): every 15 ms
++ * * pro controller (bluetooth): every 8 ms (this is the wildcard)
++ *
++ * Further complicating matters is that some bluetooth stacks are known
++ * to alter the controller's packet rate by hardcoding the bluetooth
++ * SSR for the switch controllers (android's stack currently sets the
++ * SSR to 11ms for both the joy-cons and pro controllers).
++ *
++ * In my own testing, I've discovered that my pro controller either
++ * reports IMU sample batches every 11ms or every 15ms. This rate is
++ * stable after connecting. It isn't 100% clear what determines this
++ * rate. Importantly, even when sending every 11ms, none of the samples
++ * are duplicates. This seems to indicate that the time deltas between
++ * reported samples can vary based on the input report rate.
++ *
++ * The solution employed in this driver is to keep track of the average
++ * time delta between IMU input reports. In testing, this value has
++ * proven to be stable, staying at 15ms or 11ms, though other hardware
++ * configurations and bluetooth stacks could potentially see other rates
++ * (hopefully this will become more clear as more people use the
++ * driver).
++ *
++ * Keeping track of the average report delta allows us to submit our
++ * timestamps to userspace based on that. Each report contains 3
++ * samples, so the IMU sampling rate should be avg_time_delta/3. We can
++ * also use this average to detect events where we have dropped a
++ * packet. The userspace timestamp for the samples will be adjusted
++ * accordingly to prevent unwanted behvaior.
++ */
++ if (!ctlr->imu_first_packet_received) {
++ ctlr->imu_timestamp_us = 0;
++ ctlr->imu_delta_samples_count = 0;
++ ctlr->imu_delta_samples_sum = 0;
++ ctlr->imu_avg_delta_ms = JC_IMU_DFLT_AVG_DELTA_MS;
++ ctlr->imu_first_packet_received = true;
++ } else {
++ unsigned int delta = msecs - last_msecs;
++ unsigned int dropped_pkts;
++ unsigned int dropped_threshold;
++
++ /* avg imu report delta housekeeping */
++ ctlr->imu_delta_samples_sum += delta;
++ ctlr->imu_delta_samples_count++;
++ if (ctlr->imu_delta_samples_count >=
++ JC_IMU_SAMPLES_PER_DELTA_AVG) {
++ ctlr->imu_avg_delta_ms = ctlr->imu_delta_samples_sum /
++ ctlr->imu_delta_samples_count;
++ /* don't ever want divide by zero shenanigans */
++ if (ctlr->imu_avg_delta_ms == 0) {
++ ctlr->imu_avg_delta_ms = 1;
++ hid_warn(ctlr->hdev,
++ "calculated avg imu delta of 0\n");
++ }
++ ctlr->imu_delta_samples_count = 0;
++ ctlr->imu_delta_samples_sum = 0;
++ }
++
++ /* useful for debugging IMU sample rate */
++ hid_dbg(ctlr->hdev,
++ "imu_report: ms=%u last_ms=%u delta=%u avg_delta=%u\n",
++ msecs, last_msecs, delta, ctlr->imu_avg_delta_ms);
++
++ /* check if any packets have been dropped */
++ dropped_threshold = ctlr->imu_avg_delta_ms * 3 / 2;
++ dropped_pkts = (delta - min(delta, dropped_threshold)) /
++ ctlr->imu_avg_delta_ms;
++ ctlr->imu_timestamp_us += 1000 * ctlr->imu_avg_delta_ms;
++ if (dropped_pkts > JC_IMU_DROPPED_PKT_WARNING) {
++ hid_warn(ctlr->hdev,
++ "compensating for %u dropped IMU reports\n",
++ dropped_pkts);
++ hid_warn(ctlr->hdev,
++ "delta=%u avg_delta=%u\n",
++ delta, ctlr->imu_avg_delta_ms);
++ }
++ }
++ ctlr->imu_last_pkt_ms = msecs;
++
++ /* Each IMU input report contains three samples */
++ for (i = 0; i < 3; i++) {
++ input_event(idev, EV_MSC, MSC_TIMESTAMP,
++ ctlr->imu_timestamp_us);
++
++ /*
++ * These calculations (which use the controller's calibration
++ * settings to improve the final values) are based on those
++ * found in the community's reverse-engineering repo (linked at
++ * top of driver). For hid-nintendo, we make sure that the final
++ * value given to userspace is always in terms of the axis
++ * resolution we provided.
++ *
++ * Currently only the gyro calculations subtract the calibration
++ * offsets from the raw value itself. In testing, doing the same
++ * for the accelerometer raw values decreased accuracy.
++ *
++ * Note that the gyro values are multiplied by the
++ * precision-saving scaling factor to prevent large inaccuracies
++ * due to truncation of the resolution value which would
++ * otherwise occur. To prevent overflow (without resorting to 64
++ * bit integer math), the mult_frac macro is used.
++ */
++ value[0] = mult_frac((JC_IMU_PREC_RANGE_SCALE *
++ (imu_data[i].gyro_x -
++ ctlr->gyro_cal.offset[0])),
++ ctlr->gyro_cal.scale[0],
++ ctlr->imu_cal_gyro_divisor[0]);
++ value[1] = mult_frac((JC_IMU_PREC_RANGE_SCALE *
++ (imu_data[i].gyro_y -
++ ctlr->gyro_cal.offset[1])),
++ ctlr->gyro_cal.scale[1],
++ ctlr->imu_cal_gyro_divisor[1]);
++ value[2] = mult_frac((JC_IMU_PREC_RANGE_SCALE *
++ (imu_data[i].gyro_z -
++ ctlr->gyro_cal.offset[2])),
++ ctlr->gyro_cal.scale[2],
++ ctlr->imu_cal_gyro_divisor[2]);
++
++ value[3] = ((s32)imu_data[i].accel_x *
++ ctlr->accel_cal.scale[0]) /
++ ctlr->imu_cal_accel_divisor[0];
++ value[4] = ((s32)imu_data[i].accel_y *
++ ctlr->accel_cal.scale[1]) /
++ ctlr->imu_cal_accel_divisor[1];
++ value[5] = ((s32)imu_data[i].accel_z *
++ ctlr->accel_cal.scale[2]) /
++ ctlr->imu_cal_accel_divisor[2];
++
++ hid_dbg(ctlr->hdev, "raw_gyro: g_x=%d g_y=%d g_z=%d\n",
++ imu_data[i].gyro_x, imu_data[i].gyro_y,
++ imu_data[i].gyro_z);
++ hid_dbg(ctlr->hdev, "raw_accel: a_x=%d a_y=%d a_z=%d\n",
++ imu_data[i].accel_x, imu_data[i].accel_y,
++ imu_data[i].accel_z);
++
++ /*
++ * The right joy-con has 2 axes negated, Y and Z. This is due to
++ * the orientation of the IMU in the controller. We negate those
++ * axes' values in order to be consistent with the left joy-con
++ * and the pro controller:
++ * X: positive is pointing toward the triggers
++ * Y: positive is pointing to the left
++ * Z: positive is pointing up (out of the buttons/sticks)
++ * The axes follow the right-hand rule.
++ */
++ if (jc_type_is_joycon(ctlr) && jc_type_has_right(ctlr)) {
++ int j;
++
++ /* negate all but x axis */
++ for (j = 1; j < 6; ++j) {
++ if (j == 3)
++ continue;
++ value[j] *= -1;
++ }
++ }
++
++ input_report_abs(idev, ABS_RX, value[0]);
++ input_report_abs(idev, ABS_RY, value[1]);
++ input_report_abs(idev, ABS_RZ, value[2]);
++ input_report_abs(idev, ABS_X, value[3]);
++ input_report_abs(idev, ABS_Y, value[4]);
++ input_report_abs(idev, ABS_Z, value[5]);
++ input_sync(idev);
++ /* convert to micros and divide by 3 (3 samples per report). */
++ ctlr->imu_timestamp_us += ctlr->imu_avg_delta_ms * 1000 / 3;
++ }
++}
++
+ static void joycon_parse_report(struct joycon_ctlr *ctlr,
+ struct joycon_input_report *rep)
+ {
+@@ -921,6 +1322,10 @@ static void joycon_parse_report(struct joycon_ctlr *ctlr,
+ spin_unlock_irqrestore(&ctlr->lock, flags);
+ wake_up(&ctlr->wait);
+ }
++
++ /* parse IMU data if present */
++ if (rep->id == JC_INPUT_IMU_DATA)
++ joycon_parse_imu_report(ctlr, rep);
+ }
+
+ static void joycon_rumble_worker(struct work_struct *work)
+@@ -1104,6 +1509,7 @@ static int joycon_input_create(struct joycon_ctlr *ctlr)
+ {
+ struct hid_device *hdev;
+ const char *name;
++ const char *imu_name;
+ int ret;
+ int i;
+
+@@ -1112,18 +1518,24 @@ static int joycon_input_create(struct joycon_ctlr *ctlr)
+ switch (hdev->product) {
+ case USB_DEVICE_ID_NINTENDO_PROCON:
+ name = "Nintendo Switch Pro Controller";
++ imu_name = "Nintendo Switch Pro Controller IMU";
+ break;
+ case USB_DEVICE_ID_NINTENDO_CHRGGRIP:
+- if (jc_type_has_left(ctlr))
++ if (jc_type_has_left(ctlr)) {
+ name = "Nintendo Switch Left Joy-Con (Grip)";
+- else
++ imu_name = "Nintendo Switch Left Joy-Con IMU (Grip)";
++ } else {
+ name = "Nintendo Switch Right Joy-Con (Grip)";
++ imu_name = "Nintendo Switch Right Joy-Con IMU (Grip)";
++ }
+ break;
+ case USB_DEVICE_ID_NINTENDO_JOYCONL:
+ name = "Nintendo Switch Left Joy-Con";
++ imu_name = "Nintendo Switch Left Joy-Con IMU";
+ break;
+ case USB_DEVICE_ID_NINTENDO_JOYCONR:
+ name = "Nintendo Switch Right Joy-Con";
++ imu_name = "Nintendo Switch Right Joy-Con IMU";
+ break;
+ default: /* Should be impossible */
+ hid_err(hdev, "Invalid hid product\n");
+@@ -1207,6 +1619,55 @@ static int joycon_input_create(struct joycon_ctlr *ctlr)
+ if (ret)
+ return ret;
+
++ /* configure the imu input device */
++ ctlr->imu_input = devm_input_allocate_device(&hdev->dev);
++ if (!ctlr->imu_input)
++ return -ENOMEM;
++
++ ctlr->imu_input->id.bustype = hdev->bus;
++ ctlr->imu_input->id.vendor = hdev->vendor;
++ ctlr->imu_input->id.product = hdev->product;
++ ctlr->imu_input->id.version = hdev->version;
++ ctlr->imu_input->uniq = ctlr->mac_addr_str;
++ ctlr->imu_input->name = imu_name;
++ input_set_drvdata(ctlr->imu_input, ctlr);
++
++ /* configure imu axes */
++ input_set_abs_params(ctlr->imu_input, ABS_X,
++ -JC_IMU_MAX_ACCEL_MAG, JC_IMU_MAX_ACCEL_MAG,
++ JC_IMU_ACCEL_FUZZ, JC_IMU_ACCEL_FLAT);
++ input_set_abs_params(ctlr->imu_input, ABS_Y,
++ -JC_IMU_MAX_ACCEL_MAG, JC_IMU_MAX_ACCEL_MAG,
++ JC_IMU_ACCEL_FUZZ, JC_IMU_ACCEL_FLAT);
++ input_set_abs_params(ctlr->imu_input, ABS_Z,
++ -JC_IMU_MAX_ACCEL_MAG, JC_IMU_MAX_ACCEL_MAG,
++ JC_IMU_ACCEL_FUZZ, JC_IMU_ACCEL_FLAT);
++ input_abs_set_res(ctlr->imu_input, ABS_X, JC_IMU_ACCEL_RES_PER_G);
++ input_abs_set_res(ctlr->imu_input, ABS_Y, JC_IMU_ACCEL_RES_PER_G);
++ input_abs_set_res(ctlr->imu_input, ABS_Z, JC_IMU_ACCEL_RES_PER_G);
++
++ input_set_abs_params(ctlr->imu_input, ABS_RX,
++ -JC_IMU_MAX_GYRO_MAG, JC_IMU_MAX_GYRO_MAG,
++ JC_IMU_GYRO_FUZZ, JC_IMU_GYRO_FLAT);
++ input_set_abs_params(ctlr->imu_input, ABS_RY,
++ -JC_IMU_MAX_GYRO_MAG, JC_IMU_MAX_GYRO_MAG,
++ JC_IMU_GYRO_FUZZ, JC_IMU_GYRO_FLAT);
++ input_set_abs_params(ctlr->imu_input, ABS_RZ,
++ -JC_IMU_MAX_GYRO_MAG, JC_IMU_MAX_GYRO_MAG,
++ JC_IMU_GYRO_FUZZ, JC_IMU_GYRO_FLAT);
++
++ input_abs_set_res(ctlr->imu_input, ABS_RX, JC_IMU_GYRO_RES_PER_DPS);
++ input_abs_set_res(ctlr->imu_input, ABS_RY, JC_IMU_GYRO_RES_PER_DPS);
++ input_abs_set_res(ctlr->imu_input, ABS_RZ, JC_IMU_GYRO_RES_PER_DPS);
++
++ __set_bit(EV_MSC, ctlr->imu_input->evbit);
++ __set_bit(MSC_TIMESTAMP, ctlr->imu_input->mscbit);
++ __set_bit(INPUT_PROP_ACCELEROMETER, ctlr->imu_input->propbit);
++
++ ret = input_register_device(ctlr->imu_input);
++ if (ret)
++ return ret;
++
+ return 0;
+ }
+
+@@ -1465,7 +1926,7 @@ static int joycon_read_info(struct joycon_ctlr *ctlr)
+ report = (struct joycon_input_report *)ctlr->input_buf;
+
+ for (i = 4, j = 0; j < 6; i++, j++)
+- ctlr->mac_addr[j] = report->reply.data[i];
++ ctlr->mac_addr[j] = report->subcmd_reply.data[i];
+
+ ctlr->mac_addr_str = devm_kasprintf(&ctlr->hdev->dev, GFP_KERNEL,
+ "%02X:%02X:%02X:%02X:%02X:%02X",
+@@ -1480,7 +1941,7 @@ static int joycon_read_info(struct joycon_ctlr *ctlr)
+ hid_info(ctlr->hdev, "controller MAC = %s\n", ctlr->mac_addr_str);
+
+ /* Retrieve the type so we can distinguish for charging grip */
+- ctlr->ctlr_type = report->reply.data[2];
++ ctlr->ctlr_type = report->subcmd_reply.data[2];
+
+ return 0;
+ }
+@@ -1521,7 +1982,7 @@ static int joycon_ctlr_handle_event(struct joycon_ctlr *ctlr, u8 *data,
+ data[0] != JC_INPUT_SUBCMD_REPLY)
+ break;
+ report = (struct joycon_input_report *)data;
+- if (report->reply.id == ctlr->subcmd_ack_match)
++ if (report->subcmd_reply.id == ctlr->subcmd_ack_match)
+ match = true;
+ break;
+ default:
+@@ -1651,6 +2112,16 @@ static int nintendo_hid_probe(struct hid_device *hdev,
+ hid_warn(hdev, "Analog stick positions may be inaccurate\n");
+ }
+
++ /* get IMU calibration data, and parse it */
++ ret = joycon_request_imu_calibration(ctlr);
++ if (ret) {
++ /*
++ * We can function with default calibration, but it may be
++ * inaccurate. Provide a warning, and continue on.
++ */
++ hid_warn(hdev, "Unable to read IMU calibration data\n");
++ }
++
+ /* Set the reporting mode to 0x30, which is the full report mode */
+ ret = joycon_set_report_mode(ctlr);
+ if (ret) {
+@@ -1665,6 +2136,13 @@ static int nintendo_hid_probe(struct hid_device *hdev,
+ goto err_mutex;
+ }
+
++ /* Enable the IMU */
++ ret = joycon_enable_imu(ctlr);
++ if (ret) {
++ hid_err(hdev, "Failed to enable the IMU; ret=%d\n", ret);
++ goto err_mutex;
++ }
++
+ ret = joycon_read_info(ctlr);
+ if (ret) {
+ hid_err(hdev, "Failed to retrieve controller info; ret=%d\n",
+@@ -1757,3 +2235,4 @@ module_hid_driver(nintendo_hid_driver);
+ MODULE_LICENSE("GPL");
+ MODULE_AUTHOR("Daniel J. Ogorchock <djogorchock@gmail.com>");
+ MODULE_DESCRIPTION("Driver for Nintendo Switch Controllers");
++
+diff --git a/drivers/input/joydev.c b/drivers/input/joydev.c
+index 947d440a3be63..b45ddb4570028 100644
+--- a/drivers/input/joydev.c
++++ b/drivers/input/joydev.c
+@@ -758,6 +758,12 @@ static void joydev_cleanup(struct joydev *joydev)
+ #define USB_VENDOR_ID_THQ 0x20d6
+ #define USB_DEVICE_ID_THQ_PS3_UDRAW 0xcb17
+
++#define USB_VENDOR_ID_NINTENDO 0x057e
++#define USB_DEVICE_ID_NINTENDO_JOYCONL 0x2006
++#define USB_DEVICE_ID_NINTENDO_JOYCONR 0x2007
++#define USB_DEVICE_ID_NINTENDO_PROCON 0x2009
++#define USB_DEVICE_ID_NINTENDO_CHRGGRIP 0x200E
++
+ #define ACCEL_DEV(vnd, prd) \
+ { \
+ .flags = INPUT_DEVICE_ID_MATCH_VENDOR | \
+@@ -789,6 +795,10 @@ static const struct input_device_id joydev_blacklist[] = {
+ ACCEL_DEV(USB_VENDOR_ID_SONY, USB_DEVICE_ID_SONY_PS4_CONTROLLER_2),
+ ACCEL_DEV(USB_VENDOR_ID_SONY, USB_DEVICE_ID_SONY_PS4_CONTROLLER_DONGLE),
+ ACCEL_DEV(USB_VENDOR_ID_THQ, USB_DEVICE_ID_THQ_PS3_UDRAW),
++ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_PROCON),
++ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_CHRGGRIP),
++ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_JOYCONL),
++ ACCEL_DEV(USB_VENDOR_ID_NINTENDO, USB_DEVICE_ID_NINTENDO_JOYCONR),
+ { /* sentinel */ }
+ };
+
--
-2.28.0
+2.33.0