feat: Normalize IMU data and use buffers for IMU's

rootfs/usr/share/inputplumber/devices/50-legion_go.yaml

@@ -156,6 +156,15 @@ source_devices:
       product_id: 0x61ee
       interface_num: 2
 
+  # IMU
+  - group: imu
+    iio:
+      name: accel_3d
+      mount_matrix:
+        x: [0, 1, 0]
+        y: [1, 0, 0]
+        z: [0, 0, 1]
+
   # IMU
   - group: imu
     iio:

src/drivers/dualsense/driver.rs

@@ -9,49 +9,11 @@ use crate::drivers::dualsense::{
 };
 
 use super::{
-    event::{AccelerometerEvent, AccelerometerInput, AxisEvent, AxisInput, Event, TouchAxisInput},
+    event::{AxisEvent, AxisInput, Event, InertialInput, IntertialEvent, TouchAxisInput},
     hid_report::{PackedInputDataReport, SetStatePackedOutputData, UsbPackedOutputReport},
+    DS5_ACCEL_TO_SI, DS5_GYRO_TO_RADS, DS5_VID, INPUT_REPORT_BT_SIZE, PIDS,
 };
 
-// Source: https://github.com/torvalds/linux/blob/master/drivers/hid/hid-playstation.c
-pub const DS5_EDGE_NAME: &str = "Sony Interactive Entertainment DualSense Edge Wireless Controller";
-pub const DS5_EDGE_VERSION: u16 = 256;
-pub const DS5_EDGE_VID: u16 = 0x054c;
-pub const DS5_EDGE_PID: u16 = 0x0df2;
-
-pub const DS5_NAME: &str = "Sony Interactive Entertainment DualSense Wireless Controller";
-pub const DS5_VERSION: u16 = 0x8111;
-pub const DS5_VID: u16 = 0x054c;
-pub const DS5_PID: u16 = 0x0ce6;
-
-pub const PIDS: [u16; 2] = [DS5_EDGE_PID, DS5_PID];
-
-pub const FEATURE_REPORT_PAIRING_INFO: u8 = 0x09;
-pub const FEATURE_REPORT_FIRMWARE_INFO: u8 = 0x20;
-pub const FEATURE_REPORT_CALIBRATION: u8 = 0x05;
-
-pub const INPUT_REPORT_USB: u8 = 0x01;
-pub const INPUT_REPORT_USB_SIZE: usize = 64;
-pub const INPUT_REPORT_BT: u8 = 0x31;
-pub const INPUT_REPORT_BT_SIZE: usize = 78;
-pub const OUTPUT_REPORT_USB: u8 = 0x02;
-pub const OUTPUT_REPORT_USB_SIZE: usize = 63;
-pub const OUTPUT_REPORT_USB_SHORT_SIZE: usize = 48;
-pub const OUTPUT_REPORT_BT: u8 = 0x31;
-pub const OUTPUT_REPORT_BT_SIZE: usize = 78;
-
-// Input report axis ranges
-pub const STICK_X_MIN: f64 = u8::MIN as f64;
-pub const STICK_X_MAX: f64 = u8::MAX as f64;
-pub const STICK_Y_MIN: f64 = u8::MIN as f64;
-pub const STICK_Y_MAX: f64 = u8::MAX as f64;
-pub const TRIGGER_MAX: f64 = u8::MAX as f64;
-
-// DualSense hardware limits
-pub const DS5_ACC_RES_PER_G: u32 = 8192;
-pub const DS5_TOUCHPAD_WIDTH: f64 = 1919.0;
-pub const DS5_TOUCHPAD_HEIGHT: f64 = 1079.0;
-
 /// PS5 Dualsense controller driver for reading gamepad input
 pub struct Driver {
     state: Option<PackedInputDataReport>,
@@ -420,18 +382,18 @@ impl Driver {
         }
 
         // Accelerometer events
-        events.push(Event::Accelerometer(AccelerometerEvent::Accelerometer(
-            AccelerometerInput {
-                x: state.accel_x.to_primitive(),
-                y: state.accel_y.to_primitive(),
-                z: state.accel_z.to_primitive(),
+        events.push(Event::Accelerometer(IntertialEvent::Accelerometer(
+            InertialInput {
+                x: state.accel_x.to_primitive() as f64 * DS5_ACCEL_TO_SI,
+                y: state.accel_y.to_primitive() as f64 * DS5_ACCEL_TO_SI,
+                z: state.accel_z.to_primitive() as f64 * DS5_ACCEL_TO_SI,
             },
         )));
-        events.push(Event::Accelerometer(AccelerometerEvent::Gyro(
-            AccelerometerInput {
-                x: state.pitch.to_primitive(),
-                y: state.yaw.to_primitive(),
-                z: state.roll.to_primitive(),
+        events.push(Event::Accelerometer(IntertialEvent::Gyroscope(
+            InertialInput {
+                x: state.pitch.to_primitive() as f64 * DS5_GYRO_TO_RADS,
+                y: state.yaw.to_primitive() as f64 * DS5_GYRO_TO_RADS,
+                z: state.roll.to_primitive() as f64 * DS5_GYRO_TO_RADS,
             },
         )));
 

src/drivers/dualsense/event.rs

@@ -2,7 +2,7 @@
 #[derive(Clone, Debug)]
 pub enum Event {
     Button(ButtonEvent),
-    Accelerometer(AccelerometerEvent),
+    Accelerometer(IntertialEvent),
     Axis(AxisEvent),
     Trigger(TriggerEvent),
 }
@@ -78,18 +78,18 @@ pub enum TriggerEvent {
     R2(TriggerInput),
 }
 
-/// AccelerometerInput represents the state of the accelerometer (x, y, z) values
+/// InertialInput represents the state of the IMU (x, y, z) values
 #[derive(Clone, Debug)]
-pub struct AccelerometerInput {
-    pub x: i16,
-    pub y: i16,
-    pub z: i16,
+pub struct InertialInput {
+    pub x: f64,
+    pub y: f64,
+    pub z: f64,
 }
 
 /// AccelerometerEvent has data from the accelerometer
 #[derive(Clone, Debug)]
-pub enum AccelerometerEvent {
-    Accelerometer(AccelerometerInput),
+pub enum IntertialEvent {
+    Accelerometer(InertialInput),
     /// Pitch, yaw, roll
-    Gyro(AccelerometerInput),
+    Gyroscope(InertialInput),
 }

src/drivers/dualsense/hid_report.rs

@@ -5,7 +5,7 @@ use std::{error::Error, fmt::Display};
 
 use packed_struct::prelude::*;
 
-use super::driver::*;
+use super::{INPUT_REPORT_BT, INPUT_REPORT_BT_SIZE, INPUT_REPORT_USB, INPUT_REPORT_USB_SIZE};
 
 /// DualSense input report for USB and Bluetooth
 #[derive(Debug, Copy, Clone)]

src/drivers/dualsense/mod.rs

@@ -4,3 +4,45 @@ pub mod hid_report;
 #[cfg(test)]
 mod hid_report_test;
 pub mod report_descriptor;
+
+// Source: https://github.com/torvalds/linux/blob/master/drivers/hid/hid-playstation.c
+pub const DS5_EDGE_NAME: &str = "Sony Interactive Entertainment DualSense Edge Wireless Controller";
+pub const DS5_EDGE_VERSION: u16 = 256;
+pub const DS5_EDGE_VID: u16 = 0x054c;
+pub const DS5_EDGE_PID: u16 = 0x0df2;
+
+pub const DS5_NAME: &str = "Sony Interactive Entertainment DualSense Wireless Controller";
+pub const DS5_VERSION: u16 = 0x8111;
+pub const DS5_VID: u16 = 0x054c;
+pub const DS5_PID: u16 = 0x0ce6;
+
+pub const PIDS: [u16; 2] = [DS5_EDGE_PID, DS5_PID];
+
+pub const FEATURE_REPORT_PAIRING_INFO: u8 = 0x09;
+pub const FEATURE_REPORT_FIRMWARE_INFO: u8 = 0x20;
+pub const FEATURE_REPORT_CALIBRATION: u8 = 0x05;
+
+pub const INPUT_REPORT_USB: u8 = 0x01;
+pub const INPUT_REPORT_USB_SIZE: usize = 64;
+pub const INPUT_REPORT_BT: u8 = 0x31;
+pub const INPUT_REPORT_BT_SIZE: usize = 78;
+pub const OUTPUT_REPORT_USB: u8 = 0x02;
+pub const OUTPUT_REPORT_USB_SIZE: usize = 63;
+pub const OUTPUT_REPORT_USB_SHORT_SIZE: usize = 48;
+pub const OUTPUT_REPORT_BT: u8 = 0x31;
+pub const OUTPUT_REPORT_BT_SIZE: usize = 78;
+
+// Input report axis ranges
+pub const STICK_X_MIN: f64 = u8::MIN as f64;
+pub const STICK_X_MAX: f64 = u8::MAX as f64;
+pub const STICK_Y_MIN: f64 = u8::MIN as f64;
+pub const STICK_Y_MAX: f64 = u8::MAX as f64;
+pub const TRIGGER_MAX: f64 = u8::MAX as f64;
+
+// DualSense hardware limits
+pub const DS5_ACCEL_TO_SI: f64 = 0.00119710083;
+pub const DS5_SI_TO_ACCEL: f64 = 0.101971621;
+pub const DS5_GYRO_TO_RADS: f64 = 0.00001706026;
+pub const DS5_RADS_TO_GYRO: f64 = 57.29577951;
+pub const DS5_TOUCHPAD_WIDTH: f64 = 1919.0;
+pub const DS5_TOUCHPAD_HEIGHT: f64 = 1079.0;

src/drivers/flydigi_vader_4_pro/driver.rs

@@ -284,16 +284,16 @@ impl Driver {
         // Accelerometer events
         events.push(Event::Inertia(InertialEvent::Accelerometer(
             InertialInput {
-                x: -state.accel_x.to_primitive(),
-                y: state.accel_y.to_primitive(),
-                z: state.accel_z.to_primitive(),
+                x: -state.accel_x.to_primitive() as f64,
+                y: state.accel_y.to_primitive() as f64,
+                z: state.accel_z.to_primitive() as f64,
             },
         )));
         // Gyro events. They need to be rotated in order for them to be read properly
-        events.push(Event::Inertia(InertialEvent::Gyro(InertialInput {
-            x: -(state.gyro_x.to_primitive() as i32 * 1143239 / i16::MAX as i32) as i16,
-            y: -(state.get_y() as i32 * 1143239 / i16::MAX as i32) as i16,
-            z: -(state.gyro_z.to_primitive() as i32 * 17873 / i16::MAX as i32) as i16,
+        events.push(Event::Inertia(InertialEvent::Gyroscope(InertialInput {
+            x: -(state.gyro_x.to_primitive() as f64 * 1143239.0 / i16::MAX as f64),
+            y: -(state.get_y() as f64 * 1143239.0 / i16::MAX as f64),
+            z: -(state.gyro_z.to_primitive() as f64 * 17873.0 / i16::MAX as f64),
         })));
         events
     }

src/drivers/flydigi_vader_4_pro/event.rs

@@ -69,16 +69,16 @@ pub enum ButtonEvent {
 /// [InertialInput] represents the state of the IMU (x, y, z) values
 #[derive(Clone, Debug)]
 pub struct InertialInput {
-    pub x: i16,
-    pub y: i16,
-    pub z: i16,
+    pub x: f64,
+    pub y: f64,
+    pub z: f64,
 }
 
 /// [InertialEvent] has data from the IMU
 #[derive(Clone, Debug)]
 pub enum InertialEvent {
     Accelerometer(InertialInput),
-    Gyro(InertialInput),
+    Gyroscope(InertialInput),
 }
 
 /// [JoystickInput] is a double  (x, y) axis

src/drivers/horipad_steam/driver.rs

@@ -3,33 +3,20 @@ use std::{error::Error, ffi::CString};
 use hidapi::HidDevice;
 use packed_struct::{types::SizedInteger, PackedStruct};
 
-use crate::{drivers::horipad_steam::hid_report::Direction, udev::device::UdevDevice};
+use crate::{
+    drivers::horipad_steam::{hid_report::Direction, HORIPAD_ACCEL_TO_SI, HORIPAD_GYRO_TO_RADS},
+    udev::device::UdevDevice,
+};
 
 use super::{
     event::{
         BinaryInput, ButtonEvent, Event, InertialEvent, InertialInput, JoystickEvent,
         JoystickInput, TriggerEvent, TriggerInput,
     },
     hid_report::PackedInputDataReport,
+    HID_TIMEOUT, PACKET_SIZE, PIDS, REPORT_ID, VID,
 };
 
-// Report ID
-pub const REPORT_ID: u8 = 0x07;
-
-// Input report size
-const PACKET_SIZE: usize = 287;
-
-// HID buffer read timeout
-const HID_TIMEOUT: i32 = 10;
-
-// Input report axis ranges
-pub const JOY_AXIS_MAX: f64 = 255.0;
-pub const JOY_AXIS_MIN: f64 = 0.0;
-pub const TRIGGER_AXIS_MAX: f64 = 255.0;
-
-pub const VID: u16 = 0x0F0D;
-pub const PIDS: [u16; 2] = [0x0196, 0x01AB];
-
 #[derive(Debug, Clone, Default)]
 struct DPadState {
     up: bool,
@@ -289,15 +276,15 @@ impl Driver {
         // Accelerometer events
         events.push(Event::Inertia(InertialEvent::Accelerometer(
             InertialInput {
-                x: -state.accel_x.to_primitive(),
-                y: state.accel_y.to_primitive(),
-                z: -state.accel_z.to_primitive(),
+                x: -state.accel_x.to_primitive() as f64 * HORIPAD_ACCEL_TO_SI,
+                y: state.accel_y.to_primitive() as f64 * HORIPAD_ACCEL_TO_SI,
+                z: -state.accel_z.to_primitive() as f64 * HORIPAD_ACCEL_TO_SI,
             },
         )));
-        events.push(Event::Inertia(InertialEvent::Gyro(InertialInput {
-            x: -state.pitch.to_primitive(),
-            y: state.yaw.to_primitive(),
-            z: -state.roll.to_primitive(),
+        events.push(Event::Inertia(InertialEvent::Gyroscope(InertialInput {
+            x: -state.pitch.to_primitive() as f64 * HORIPAD_GYRO_TO_RADS,
+            y: state.yaw.to_primitive() as f64 * HORIPAD_GYRO_TO_RADS,
+            z: -state.roll.to_primitive() as f64 * HORIPAD_GYRO_TO_RADS,
         })));
 
         log::trace!("Got events: {events:?}");

src/drivers/horipad_steam/event.rs

@@ -69,16 +69,16 @@ pub enum ButtonEvent {
 /// [InertialInput] represents the state of the IMU (x, y, z) values
 #[derive(Clone, Debug)]
 pub struct InertialInput {
-    pub x: i16,
-    pub y: i16,
-    pub z: i16,
+    pub x: f64,
+    pub y: f64,
+    pub z: f64,
 }
 
 /// [InertialEvent] has data from the IMU
 #[derive(Clone, Debug)]
 pub enum InertialEvent {
     Accelerometer(InertialInput),
-    Gyro(InertialInput),
+    Gyroscope(InertialInput),
 }
 
 /// [JoystickInput] is a double  (x, y) axis

src/drivers/horipad_steam/hid_report.rs

@@ -1,6 +1,6 @@
 use packed_struct::prelude::*;
 
-use super::driver::REPORT_ID;
+use super::REPORT_ID;
 
 #[derive(PrimitiveEnum_u8, Clone, Copy, PartialEq, Debug, Default)]
 pub enum Direction {

src/drivers/horipad_steam/mod.rs

@@ -4,3 +4,25 @@ pub mod hid_report;
 #[cfg(test)]
 pub mod hid_report_test;
 pub mod report_descriptor;
+
+// Report ID
+pub const REPORT_ID: u8 = 0x07;
+
+// Input report size
+pub const PACKET_SIZE: usize = 287;
+
+// HID buffer read timeout
+pub const HID_TIMEOUT: i32 = 10;
+
+// Input report axis ranges
+pub const JOY_AXIS_MAX: f64 = 255.0;
+pub const JOY_AXIS_MIN: f64 = 0.0;
+pub const TRIGGER_AXIS_MAX: f64 = 255.0;
+
+pub const VID: u16 = 0x0F0D;
+pub const PIDS: [u16; 2] = [0x0196, 0x01AB];
+
+pub const HORIPAD_ACCEL_TO_SI: f64 = 0.00059855041;
+pub const HORIPAD_SI_TO_ACCEL: f64 = 0.101971621;
+pub const HORIPAD_GYRO_TO_RADS: f64 = 0.00106422393;
+pub const HORIPAD_RADS_TO_GYRO: f64 = 57.29577951;