ROG Ally: Hall effect interference correction

src/hhd/device/rog_ally/__init__.py

@@ -7,7 +7,9 @@
     Emitter,
     Event,
     HHDPlugin,
+    fix_hall_interference,
     load_relative_yaml,
+    get_hall_interference_config,
     get_outputs_config,
     get_limits_config,
     fix_limits,
@@ -40,7 +42,7 @@ def open(
         self.prev = None
 
     def settings(self) -> HHDSettings:
-        from .base import LIMIT_DEFAULTS
+        from .base import HALL_DEFAULTS, LIMIT_DEFAULTS
 
         base = {"controllers": {"rog_ally": load_relative_yaml("controllers.yml")}}
         base["controllers"]["rog_ally"]["children"]["controller_mode"].update(
@@ -51,16 +53,24 @@ def settings(self) -> HHDSettings:
         base["controllers"]["rog_ally"]["children"]["limits"] = get_limits_config(
             LIMIT_DEFAULTS(self.ally_x)
         )
+        base["controllers"]["rog_ally"]["children"][
+            "hall_interference"
+        ] = get_hall_interference_config(HALL_DEFAULTS)
 
         if not self.xbox:
             del base["controllers"]["rog_ally"]["children"]["swap_xbox"]
 
         return base
 
     def update(self, conf: Config):
-        from .base import LIMIT_DEFAULTS
+        from .base import HALL_DEFAULTS, LIMIT_DEFAULTS
 
         fix_limits(conf, "controllers.rog_ally.limits", LIMIT_DEFAULTS(self.ally_x))
+        fix_hall_interference(
+            conf,
+            "controllers.rog_ally.hall_interference",
+            HALL_DEFAULTS,
+        )
 
         new_conf = conf["controllers.rog_ally"]
         if new_conf == self.prev:

src/hhd/device/rog_ally/base.py

@@ -2,7 +2,7 @@
 import select
 import time
 from threading import Event as TEvent
-from typing import Sequence, Literal
+from typing import Sequence
 
 from hhd.controller import DEBUG_MODE, Axis, Event, Multiplexer, can_read
 from hhd.controller.lib.hide import unhide_all
@@ -123,6 +123,36 @@
 )
 
 
+def _clamp_axis(v: float) -> float:
+    return max(-1.0, min(1.0, v))
+
+
+def _edge_gain_center(x: float) -> float:
+    # Full effect near center, smoothly fades near extremes.
+    g = max(0.0, 1.0 - abs(x))
+    return g * g
+
+
+def _remap_deadzone(v: float, d: float) -> float:
+    av = abs(v)
+    if av <= d:
+        return 0.0
+    if d >= 1.0:
+        return 0.0
+    out = (av - d) / (1.0 - d)
+    return -out if v < 0 else out
+
+
+HALL_DEFAULTS = {
+    "ls_idle_x": -0.15,
+    "lt_corr_x": 0.28,
+    "rs_idle_x": 0.10,
+    "ls_deadzone": 0.15,
+    "rs_deadzone": 0.05,
+    "remap_deadzone": True,
+}
+
+
 class AllyHidraw(GenericGamepadHidraw):
     def __init__(self, *args, kconf={}, rgb_boot, rgb_charging, **kwargs) -> None:
         super().__init__(*args, **kwargs)
@@ -339,6 +369,40 @@ def controller_loop(
     swap_armoury = conf.get("swap_armory", False)
     swap_xbox = conf.get("swap_xbox", False) and xbox
 
+    hall_mode = conf.get("hall_interference.mode", "default")
+    hall_enabled = hall_mode != "disabled"
+    if hall_mode == "manual":
+        hall_ls_idle_x = conf.get(
+            "hall_interference.manual.ls_idle_x", HALL_DEFAULTS["ls_idle_x"]
+        )
+        hall_lt_corr_x = conf.get(
+            "hall_interference.manual.lt_corr_x", HALL_DEFAULTS["lt_corr_x"]
+        )
+        hall_rs_idle_x = conf.get(
+            "hall_interference.manual.rs_idle_x", HALL_DEFAULTS["rs_idle_x"]
+        )
+        hall_ls_deadzone = conf.get(
+            "hall_interference.manual.ls_deadzone", HALL_DEFAULTS["ls_deadzone"]
+        )
+        hall_rs_deadzone = conf.get(
+            "hall_interference.manual.rs_deadzone", HALL_DEFAULTS["rs_deadzone"]
+        )
+        hall_remap_deadzone = conf.get(
+            "hall_interference.manual.remap_deadzone",
+            bool(HALL_DEFAULTS["remap_deadzone"]),
+        )
+    else:
+        hall_ls_idle_x = HALL_DEFAULTS["ls_idle_x"]
+        hall_lt_corr_x = HALL_DEFAULTS["lt_corr_x"]
+        hall_rs_idle_x = HALL_DEFAULTS["rs_idle_x"]
+        hall_ls_deadzone = HALL_DEFAULTS["ls_deadzone"]
+        hall_rs_deadzone = HALL_DEFAULTS["rs_deadzone"]
+        hall_remap_deadzone = bool(HALL_DEFAULTS["remap_deadzone"])
+
+    rt_now = 0.0
+    ls_y_now = 0.0
+    rs_y_now = 0.0
+
     # Imu
     d_imu = CombinedImu(conf["imu_hz"].to(int), ALLY_MAPPINGS, gyro_scale="0.000266")
     d_timer = HrtimerTrigger(conf["imu_hz"].to(int), [HrtimerTrigger.IMU_NAMES])
@@ -474,6 +538,109 @@ def prepare(m):
                     evs.extend(d.produce(r))
             evs.extend(d_vend.produce(r))
 
+            if hall_enabled:
+                ls_x_seen = False
+                ls_y_seen = False
+                rs_x_seen = False
+                rs_y_seen = False
+                rt_seen = False
+                for ev in evs:
+                    if ev["type"] != "axis":
+                        continue
+                    elif ev["code"] == "rt":
+                        rt_now = max(0.0, float(ev["value"]))
+                        rt_seen = True
+                    elif ev["code"] == "ls_x":
+                        ls_x_now = float(ev["value"])
+                        ls_x_seen = True
+                    elif ev["code"] == "ls_y":
+                        ls_y_now = float(ev["value"])
+                        ls_y_seen = True
+                    elif ev["code"] == "rs_x":
+                        rs_x_now = float(ev["value"])
+                        rs_x_seen = True
+                    elif ev["code"] == "rs_y":
+                        rs_y_now = float(ev["value"])
+                        rs_y_seen = True
+
+                trigger_corr_x = hall_lt_corr_x * rt_now
+                ls_idle_gain = _edge_gain_center(ls_x_now)
+                rs_idle_gain = _edge_gain_center(rs_x_now)
+
+                ls_x_corr = _clamp_axis(
+                    ls_x_now - hall_ls_idle_x * ls_idle_gain + trigger_corr_x
+                )
+                ls_y_corr = _clamp_axis(ls_y_now)
+                ls_in_deadzone = (
+                    abs(ls_x_corr) < hall_ls_deadzone
+                    and abs(ls_y_corr) < hall_ls_deadzone
+                )
+
+                rs_x_corr = _clamp_axis(rs_x_now - hall_rs_idle_x * rs_idle_gain)
+                rs_y_corr = _clamp_axis(rs_y_now)
+                rs_in_deadzone = (
+                    abs(rs_x_corr) < hall_rs_deadzone
+                    and abs(rs_y_corr) < hall_rs_deadzone
+                )
+
+                if hall_remap_deadzone and not ls_in_deadzone:
+                    ls_x_corr = _clamp_axis(_remap_deadzone(ls_x_corr, hall_ls_deadzone))
+                    ls_y_corr = _clamp_axis(_remap_deadzone(ls_y_corr, hall_ls_deadzone))
+
+                if hall_remap_deadzone and not rs_in_deadzone:
+                    rs_x_corr = _clamp_axis(_remap_deadzone(rs_x_corr, hall_rs_deadzone))
+                    rs_y_corr = _clamp_axis(_remap_deadzone(rs_y_corr, hall_rs_deadzone))
+
+                for ev in evs:
+                    if ev["type"] != "axis":
+                        continue
+                    if ev["code"] == "ls_x":
+                        ev["value"] = 0.0 if ls_in_deadzone else ls_x_corr
+                    elif ev["code"] == "ls_y":
+                        ev["value"] = 0.0 if ls_in_deadzone else ls_y_corr
+                    elif ev["code"] == "rs_x":
+                        ev["value"] = 0.0 if rs_in_deadzone else rs_x_corr
+                    elif ev["code"] == "rs_y":
+                        ev["value"] = 0.0 if rs_in_deadzone else rs_y_corr
+
+                # Keep stick axes consistent when only one axis was reported this frame,
+                # and propagate trigger-driven LS correction even if sticks were unchanged.
+                if rt_seen or ls_x_seen or ls_y_seen:
+                    if not ls_x_seen:
+                        evs.append(
+                            {
+                                "type": "axis",
+                                "code": "ls_x",
+                                "value": 0.0 if ls_in_deadzone else ls_x_corr,
+                            }
+                        )
+                    if not ls_y_seen:
+                        evs.append(
+                            {
+                                "type": "axis",
+                                "code": "ls_y",
+                                "value": 0.0 if ls_in_deadzone else ls_y_corr,
+                            }
+                        )
+
+                if rs_x_seen or rs_y_seen:
+                    if not rs_x_seen:
+                        evs.append(
+                            {
+                                "type": "axis",
+                                "code": "rs_x",
+                                "value": 0.0 if rs_in_deadzone else rs_x_corr,
+                            }
+                        )
+                    if not rs_y_seen:
+                        evs.append(
+                            {
+                                "type": "axis",
+                                "code": "rs_y",
+                                "value": 0.0 if rs_in_deadzone else rs_y_corr,
+                            }
+                        )
+
             evs = multiplexer.process(evs)
             if evs:
                 if debug:

src/hhd/device/rog_ally/controllers.yml

@@ -75,3 +75,5 @@ children:
     tags: [advanced]
     title: RGB During Charging Asleep
     default: False
+
+  hall_interference:

src/hhd/plugins/__init__.py

@@ -1,7 +1,10 @@
 from .conf import Config
 from .inputs import gen_gyro_state, get_gyro_config, get_gyro_state, get_touchpad_config
 from .outputs import (
+    fix_hall_interference,
     fix_limits,
+    get_hall_interference,
+    get_hall_interference_config,
     get_limits,
     get_limits_config,
     get_outputs,
@@ -39,7 +42,10 @@
     "HHDLocale",
     "HHDLocaleRegister",
     "get_limits_config",
+    "get_hall_interference_config",
     "get_limits",
+    "get_hall_interference",
     "get_gid",
     "fix_limits",
+    "fix_hall_interference",
 ]

src/hhd/plugins/hall_interference.yml

@@ -0,0 +1,92 @@
+type: mode
+tags: [non-essential]
+title: Hall Effect Interference Correction
+hint: >-
+  Compensates left stick Hall trigger interference and stick idle drift.
+
+default: disabled
+modes:
+  disabled:
+    type: container
+    title: Disabled
+    hint: >-
+      Disables Hall interference correction.
+  default:
+    type: container
+    title: Default
+    hint: >-
+      Uses built-in correction coefficients and deadzone.
+  manual:
+    type: container
+    title: Manual
+    hint: >-
+      Set LS/RS idle offsets and LT-to-LS correction manually.
+    children:
+      ls_idle_x:
+        type: float
+        title: Left Stick Idle X
+        hint: >-
+          Constant offset removed from left stick X around center.
+        min: -0.5
+        max: 0.5
+        smin: -500
+        smax: 500
+        step: 0.01
+
+      lt_corr_x:
+        type: float
+        title: LT Correction For LS X
+        hint: >-
+          Additional correction applied to left stick X as LT is pressed.
+          Uses RT axis input internally on devices where LT/RT are reversed.
+        min: -0.5
+        max: 0.5
+        smin: -500
+        smax: 500
+        step: 0.01
+
+      rs_idle_x:
+        type: float
+        title: Right Stick Idle X
+        hint: >-
+          Constant offset removed from right stick X around center.
+        min: -0.5
+        max: 0.5
+        smin: -500
+        smax: 500
+        step: 0.01
+
+      ls_deadzone:
+        type: float
+        title: Left Stick Deadzone
+        hint: >-
+          Values below this absolute magnitude are clamped to zero on left stick X/Y.
+        min: 0
+        max: 0.3
+        smin: 0
+        smax: 300
+        step: 0.01
+
+      rs_deadzone:
+        type: float
+        title: Right Stick Deadzone
+        hint: >-
+          Values below this absolute magnitude are clamped to zero on right stick X.
+        min: 0
+        max: 0.3
+        smin: 0
+        smax: 300
+        step: 0.01
+
+      remap_deadzone:
+        type: bool
+        title: Remove Deadzone From Scale
+        hint: >-
+          Rescales outputs outside deadzone to keep full range.
+          Uses (value - deadzone) / (1 - deadzone) with sign.
+
+      reset:
+        type: action
+        title: Reset to Default
+        hint: >-
+          Reset manual Hall interference values to default.