126 /* SPI storage addresses of IMU factory calibration data */
131 /* SPI storage addresses of IMU user calibration data */
145 /* Under most circumstances IMU reports are pushed every 15ms; use as default */
147 /* How many samples to sum before calculating average IMU report delta */
149 /* Controls how many dropped IMU packets at once trigger a warning message */
536 		/* IMU input reports contain 3 samples */
625 	/* imu */
629 	unsigned int imu_last_pkt_ms; /* used to calc imu report delta */
630 	/* the following are used to track the average imu report time delta */
1182  * dependent on the IMU calibration values. They are used when processing the
1183  * IMU input reports.
1207 		hid_warn(ctlr->hdev, "inaccurate IMU divisors (%d)\n", divz);  in joycon_calc_imu_cal_divisors()
1224 		hid_info(ctlr->hdev, "using user cal for IMU\n");  in joycon_request_imu_calibration()
1226 		hid_info(ctlr->hdev, "using factory cal for IMU\n");  in joycon_request_imu_calibration()
1229 	/* request IMU calibration data */  in joycon_request_imu_calibration()
1230 	hid_dbg(ctlr->hdev, "requesting IMU cal data\n");  in joycon_request_imu_calibration()
1235 			 "Failed to read IMU cal, using defaults; ret=%d\n",  in joycon_request_imu_calibration()
1248 	/* IMU calibration parsing */  in joycon_request_imu_calibration()
1260 	hid_dbg(ctlr->hdev, "IMU calibration:\n"  in joycon_request_imu_calibration()
1316 	hid_dbg(ctlr->hdev, "enabling IMU\n");  in joycon_enable_imu()
1354 		/* point to next imu sample */  in joycon_input_report_parse_imu_data()
1373 	 * associate with the samples we pass to userspace. The IMU input  in joycon_parse_imu_report()
1382 	 * - The controller samples the IMU every 1.35ms. It then does some of  in joycon_parse_imu_report()
1384 	 * - Each imu input report contains 3 IMU samples, (usually 5ms apart).  in joycon_parse_imu_report()
1398 	 * reports IMU sample batches every 11ms or every 15ms. This rate is  in joycon_parse_imu_report()
1405 	 * time delta between IMU input reports. In testing, this value has  in joycon_parse_imu_report()
1413 	 * samples, so the IMU sampling rate should be avg_time_delta/3. We can  in joycon_parse_imu_report()
1429 		/* avg imu report delta housekeeping */  in joycon_parse_imu_report()
1443 			hid_warn(ctlr->hdev, "calculated avg imu delta of 0\n");  in joycon_parse_imu_report()
1446 		/* useful for debugging IMU sample rate */  in joycon_parse_imu_report()
1458 				 "compensating for %u dropped IMU reports\n",  in joycon_parse_imu_report()
1467 	/* Each IMU input report contains three samples */  in joycon_parse_imu_report()
1525 		 * the orientation of the IMU in the controller. We negate those  in joycon_parse_imu_report()
1767 	/* parse IMU data if present */  in joycon_parse_report()
2062 	/* configure the imu input device */  in joycon_imu_input_create()
2074 	imu_name = devm_kasprintf(&hdev->dev, GFP_KERNEL, "%s (IMU)", ctlr->input->name);  in joycon_imu_input_create()
2082 	/* configure imu axes */  in joycon_imu_input_create()
2516 		/* get IMU calibration data, and parse it */  in joycon_init()
2523 			hid_warn(hdev, "Unable to read IMU calibration data\n");  in joycon_init()
2526 		/* Enable the IMU */  in joycon_init()
2529 			hid_err(hdev, "Failed to enable the IMU; ret=%d\n", ret);  in joycon_init()