[PATCH 4/4] Input: add motion-tracking ABS_* bits and docs
David Herrmann
dh.herrmann at gmail.com
Tue Dec 17 07:48:54 PST 2013
Motion sensors are getting quite common in mobile devices. To avoid
returning accelerometer data via ABS_X/Y/Z and irritating the Xorg
mouse-driver, this adds separate ABS_* bits for that.
This is needed if gaming devices want to report their normal data plus
accelerometer/gyro data. Usually, ABS_X/Y are already used by analog
sticks, so need separate definitions, anyway.
Signed-off-by: David Herrmann <dh.herrmann at gmail.com>
---
Documentation/input/gamepad.txt | 7 ++
Documentation/input/motion-tracking.txt | 149 ++++++++++++++++++++++++++++++++
include/linux/mod_devicetable.h | 2 +-
include/uapi/linux/input.h | 9 +-
4 files changed, 165 insertions(+), 2 deletions(-)
create mode 100644 Documentation/input/motion-tracking.txt
diff --git a/Documentation/input/gamepad.txt b/Documentation/input/gamepad.txt
index 196dc42..eeda685 100644
--- a/Documentation/input/gamepad.txt
+++ b/Documentation/input/gamepad.txt
@@ -57,6 +57,9 @@ Most gamepads have the following features:
- Rumble
Many devices provide force-feedback features. But are mostly just
simple rumble motors.
+ - Motion-tracking
+ Gamepads may include motion-tracking sensors like accelerometers and
+ gyroscopes.
3. Detection
~~~~~~~~~~~~
@@ -153,5 +156,9 @@ Menu-Pad:
Rumble:
Rumble is adverticed as FF_RUMBLE.
+Motion-tracking:
+ Motion-tracking is defined in ./Documentation/input/motion-tracking.txt and
+ gamepads shall comply to the rules defined there.
+
----------------------------------------------------------------------------
Written 2013 by David Herrmann <dh.herrmann at gmail.com>
diff --git a/Documentation/input/motion-tracking.txt b/Documentation/input/motion-tracking.txt
new file mode 100644
index 0000000..0885c9a
--- /dev/null
+++ b/Documentation/input/motion-tracking.txt
@@ -0,0 +1,149 @@
+ Motion Tracking API
+----------------------------------------------------------------------------
+
+1. Intro
+~~~~~~~~
+Motion tracking devices produce device motion events generated from an
+accelerometer, gyroscope or compass. This data can be returned to user-space
+via input events. This document defines how this data is reported.
+
+2. Devices
+~~~~~~~~~~
+In this document, a "device" is one of:
+ - accelerometer
+ - gyroscope
+ - compass
+
+These devices returned their information via different APIs in the past. To
+unify them and define a common API, a set of input evdev codes was created. Old
+drivers might continue using their API, but developers are encouraged to use
+the input evdev API for new drivers.
+
+2.1 Axes
+~~~~~~~~
+Movement data is usually returned as absolute data for the 3 axes of a device.
+In this context, the three axes are defined as:
+ - X: Axis goes from the left to the right side of the device
+ - Y: Axis goes from the bottom to the top of the device
+ - Z: Axis goes from the back to the front of the device
+
+The front of a device is the side faced to the user. For a mobile-phone it
+would be the screen. For devices without a screen, the front is usually the
+side with the most buttons on it.
+
+ Example: Mobile-Phone
+ +-------------------------------------------------------------------------+
+ | TOP |
+ | |
+ | |
+ | +---------------------------+ |
+ | |\ ________________________ \ .__ |
+ | \ \ \ \ \ |\ |
+ | \ \ \ __ \ \ \ RIGHT|
+ | \ \ \ /| \ \ \__ |
+ | \ \ \ __/ \ \ |\ |
+ | \ \ \ /| \ \ \ (Y Axis) |
+ | \ \ \ __/ (Z axis) \ \ \__ |
+ | \ \ \ /| \ \ |\ |
+ | LEFT \ \ \ / \ \ \ |
+ | \ \ \ FRONT \ \ \ |
+ | \ \ \ \ \ |
+ | \ \ \_______________________\ \ |
+ | \ \ ___ \ |
+ | /\ \ \__\ \ |
+ | __/ \ +---------------------------+ |
+ | /| \|___________________________| |
+ | / BACK |
+ | (X axis) |
+ | ------->------->------->-------> |
+ | |
+ | |
+ | BOTTOM |
+ +-------------------------------------------------------------------------+
+
+Rotation-data is reported as clock-wise rotation on an axis. For a given axes,
+the reported rotation would be:
+ ___
+ /|
+ / | (axis)
+ /
+ .-**-.
+ / / \
+ | / \ | /
+ \ / \|/ (clock-wise rotation)
+ /
+ /
+ /
+
+2.2 Calibration
+~~~~~~~~~~~~~~~
+Motion sensors are often highly sensitive and need precise calibration. Users
+are adviced to perform neutral-point calibration themselves or to implement a
+state-machine to normalize input data automatically.
+
+Kernel devices may perform their own calibration and/or normalization. However,
+this is usually sparse and, if implemented, transparent to the user.
+
+There is currently no way to feed calibration data into the kernel in a generic
+way. Proposals welcome!
+
+2.3 Units
+~~~~~~~~~
+(NOTE: This section describes an experimental API. Currently, no device complies
+to these rules so this might change in the future.)
+
+Reported data shall be returned as:
+ - Acceleration: 1/1000 m per s^2
+ - Rotation: 1/1000 degree per second
+
+However, for most devices the reported units are unknown (more precisely: no
+one has the time to measure them and figure them out). Therefore, user-space
+shall use abs-minimum and abs-maximum to calculate relative data and use that
+instead. Devices which return wrong units may be fixed in the future to comply
+to these rules.
+
+3.1 Accelerometer
+~~~~~~~~~~~~~~~~~
+Accelerometers measure movement acceleration of devices. Any combination of the
+three available axes can be used. Usually, all three are supported.
+
+Data is provided as absolute acceleration. A positive integer defines the
+acceleration in the direction of an axis. A negative integer defines
+acceleration in the opposite direction.
+
+The evdev ABS codes used are:
+ - ABS_ACCEL_X: X axis
+ - ABS_ACCEL_Y: Y axis
+ - ABS_ACCEL_Z: Z axis
+
+3.2 Gyroscope
+~~~~~~~~~~~~~
+A gyroscope measures rotational speed (*not* acceleration!). Any combination of
+the three available axes can be used. Usually, all three are supported.
+
+Data is provided as absolute speed. A positive integer defines the rotational
+speed in clock-wise order around a given axis. A negative integer defines it in
+counter-clock-wise order.
+
+The evdev ABS codes used are:
+ - ABS_GYRO_X: X axis (also: Pitch)
+ - ABS_GYRO_Y: Y axis (also: Roll)
+ - ABS_GYRO_Z: Z axis (also: Azimuth/Yaw)
+
+3.3 Compass
+~~~~~~~~~~~
+(NOTE: No compass device currently uses the evdev input subsystem. Thus, this
+API is only a proposal, it hasn't been implemented, yet.)
+
+A compass measures the ambient magnetic field of the three defined axes. This
+makes the data self-contained and independent of the current device position.
+Any combination of the three axes can be used. Usually all three are supported,
+otherwise, it's not really useful as a compass.
+
+Proposed evdev ABS codes are:
+ - ABS_COMPASS_X: X axis
+ - ABS_COMPASS_Y: Y axis
+ - ABS_COMPASS_Z: Z axis
+
+----------------------------------------------------------------------------
+ Written 2013 by David Herrmann <dh.herrmann at gmail.com>
diff --git a/include/linux/mod_devicetable.h b/include/linux/mod_devicetable.h
index 45e9214..329aa30 100644
--- a/include/linux/mod_devicetable.h
+++ b/include/linux/mod_devicetable.h
@@ -277,7 +277,7 @@ struct pcmcia_device_id {
#define INPUT_DEVICE_ID_KEY_MIN_INTERESTING 0x71
#define INPUT_DEVICE_ID_KEY_MAX 0x2ff
#define INPUT_DEVICE_ID_REL_MAX 0x0f
-#define INPUT_DEVICE_ID_ABS_MAX 0x3f
+#define INPUT_DEVICE_ID_ABS_MAX 0x4f
#define INPUT_DEVICE_ID_MSC_MAX 0x07
#define INPUT_DEVICE_ID_LED_MAX 0x0f
#define INPUT_DEVICE_ID_SND_MAX 0x07
diff --git a/include/uapi/linux/input.h b/include/uapi/linux/input.h
index 1856461..e4c3596 100644
--- a/include/uapi/linux/input.h
+++ b/include/uapi/linux/input.h
@@ -869,12 +869,19 @@ struct input_keymap_entry {
#define ABS_MAX 0x3f
#define ABS_CNT (ABS_MAX+1)
+#define ABS_ACCEL_X 0x40 /* Accelerometer X axis */
+#define ABS_ACCEL_Y 0x41 /* Accelerometer Y axis */
+#define ABS_ACCEL_Z 0x42 /* Accelerometer Z axis */
+#define ABS_GYRO_X 0x43 /* Gyroscope X axis */
+#define ABS_GYRO_Y 0x44 /* Gyroscope Y axis */
+#define ABS_GYRO_Z 0x45 /* Gyroscope Z axis */
+
/*
* Due to API restrictions the legacy evdev API only supports ABS values up to
* ABS_MAX/CNT. Use the extended *ABS2 ioctls to operate on any ABS values in
* between ABS_MAX and ABS_MAX2.
*/
-#define ABS_MAX2 0x3f
+#define ABS_MAX2 0x4f
#define ABS_CNT2 (ABS_MAX2+1)
/*
--
1.8.5.1
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