119 /* SPI storage addresses of IMU factory calibration data */
124 /* SPI storage addresses of IMU user calibration data */
138 /* Under most circumstances IMU reports are pushed every 15ms; use as default */
140 /* How many samples to sum before calculating average IMU report delta */
142 /* Controls how many dropped IMU packets at once trigger a warning message */
397 		/* IMU input reports contain 3 samples */
473 	/* imu */
477 	unsigned int imu_last_pkt_ms; /* used to calc imu report delta */
478 	/* the following are used to track the average imu report time delta */
894  * dependent on the IMU calibration values. They are used when processing the
895  * IMU input reports.
919 		hid_warn(ctlr->hdev, "inaccurate IMU divisors (%d)\n", divz);  in joycon_calc_imu_cal_divisors()
936 		hid_info(ctlr->hdev, "using user cal for IMU\n");  in joycon_request_imu_calibration()
938 		hid_info(ctlr->hdev, "using factory cal for IMU\n");  in joycon_request_imu_calibration()
941 	/* request IMU calibration data */  in joycon_request_imu_calibration()
942 	hid_dbg(ctlr->hdev, "requesting IMU cal data\n");  in joycon_request_imu_calibration()
947 			 "Failed to read IMU cal, using defaults; ret=%d\n",  in joycon_request_imu_calibration()
960 	/* IMU calibration parsing */  in joycon_request_imu_calibration()
972 	hid_dbg(ctlr->hdev, "IMU calibration:\n"  in joycon_request_imu_calibration()
1028 	hid_dbg(ctlr->hdev, "enabling IMU\n");  in joycon_enable_imu()
1066 		/* point to next imu sample */  in joycon_input_report_parse_imu_data()
1085 	 * associate with the samples we pass to userspace. The IMU input  in joycon_parse_imu_report()
1094 	 * - The controller samples the IMU every 1.35ms. It then does some of  in joycon_parse_imu_report()
1096 	 * - Each imu input report contains 3 IMU samples, (usually 5ms apart).  in joycon_parse_imu_report()
1110 	 * reports IMU sample batches every 11ms or every 15ms. This rate is  in joycon_parse_imu_report()
1117 	 * time delta between IMU input reports. In testing, this value has  in joycon_parse_imu_report()
1125 	 * samples, so the IMU sampling rate should be avg_time_delta/3. We can  in joycon_parse_imu_report()
1141 		/* avg imu report delta housekeeping */  in joycon_parse_imu_report()
1155 			hid_warn(ctlr->hdev, "calculated avg imu delta of 0\n");  in joycon_parse_imu_report()
1158 		/* useful for debugging IMU sample rate */  in joycon_parse_imu_report()
1170 				 "compensating for %u dropped IMU reports\n",  in joycon_parse_imu_report()
1179 	/* Each IMU input report contains three samples */  in joycon_parse_imu_report()
1237 		 * the orientation of the IMU in the controller. We negate those  in joycon_parse_imu_report()
1455 	/* parse IMU data if present */  in joycon_parse_report()
1701 		imu_name = "Nintendo Switch Pro Controller IMU";  in joycon_input_create()
1706 			imu_name = "Nintendo Switch Left Joy-Con IMU (Grip)";  in joycon_input_create()
1709 			imu_name = "Nintendo Switch Right Joy-Con IMU (Grip)";  in joycon_input_create()
1714 		imu_name = "Nintendo Switch Left Joy-Con IMU";  in joycon_input_create()
1718 		imu_name = "Nintendo Switch Right Joy-Con IMU";  in joycon_input_create()
1803 	/* configure the imu input device */  in joycon_input_create()
1817 	/* configure imu axes */  in joycon_input_create()
2178 	/* get IMU calibration data, and parse it */  in joycon_init()
2185 		hid_warn(hdev, "Unable to read IMU calibration data\n");  in joycon_init()
2202 	/* Enable the IMU */  in joycon_init()
2205 		hid_err(hdev, "Failed to enable the IMU; ret=%d\n", ret);  in joycon_init()