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feat: add profiled DualSense PCM haptics experiment

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This commit is contained in:
Joey Yakimowich-Payne 2026-09-05 12:03:34 -06:00
commit 0c626fb3b3
29 changed files with 4469 additions and 5 deletions
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30
CMakeLists.txt
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@ -26,6 +26,10 @@ endif()
option(SWITCH_PICO_LOG "Enable UART debug logging" OFF)
option(SWITCH_PICO_ADAPTER_FEASIBILITY
"Build the automatic Switch/XInput feasibility prototype" OFF)
option(SWITCH_PICO_HAPTICS_EXPERIMENT
"Enable the host-triggered DualSense PCM transport experiment" OFF)
option(SWITCH_PICO_HAPTICS_EXPERIMENT_RAM
"Execute the haptics experiment hot path from SRAM" ON)
set(SWITCH_PICO_INPUT_BACKEND "UART" CACHE STRING "Controller input backend")
set_property(CACHE SWITCH_PICO_INPUT_BACKEND PROPERTY STRINGS UART BLUEPAD32)
if(NOT SWITCH_PICO_INPUT_BACKEND STREQUAL "UART"
@ -45,6 +49,11 @@ if(SWITCH_PICO_ADAPTER_FEASIBILITY
message(FATAL_ERROR
"SWITCH_PICO_ADAPTER_FEASIBILITY requires the BLUEPAD32 backend")
endif()
if(SWITCH_PICO_HAPTICS_EXPERIMENT
AND NOT SWITCH_PICO_INPUT_BACKEND STREQUAL "BLUEPAD32")
message(FATAL_ERROR
"SWITCH_PICO_HAPTICS_EXPERIMENT requires the BLUEPAD32 backend")
endif()
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
@ -135,14 +144,33 @@ if(SWITCH_PICO_INPUT_BACKEND STREQUAL "BLUEPAD32")
else()
set(SWITCH2_WAKE_CONFIGURED_VALUE 0)
endif()
# The experiment yields after one received packet; its transport wrapper
# explicitly reschedules remaining input so timers run between packets.
target_compile_definitions(switch-pico PRIVATE
SWITCH_PICO_BLUEPAD32=1
SWITCH_PICO_HID_INSTANCE_COUNT=4
SWITCH_PICO_USB_OUTPUT_MODES=1
PICO_FLASH_ASSUME_CORE1_SAFE=0
PICO_BTSTACK_CYW43_MAX_HCI_PROCESS_LOOP_COUNT=16
PICO_BTSTACK_CYW43_MAX_HCI_PROCESS_LOOP_COUNT=$<IF:$<BOOL:${SWITCH_PICO_HAPTICS_EXPERIMENT}>,1,16>
SWITCH2_WAKE_CONFIGURED=${SWITCH2_WAKE_CONFIGURED_VALUE}
)
if(SWITCH_PICO_HAPTICS_EXPERIMENT)
target_sources(switch-pico PRIVATE
${SWITCH_PICO_SOURCE_DIR}/input/haptics_experiment.cpp
${SWITCH_PICO_SOURCE_DIR}/input/haptics_transport_probe.cpp)
target_compile_definitions(switch-pico PRIVATE
SWITCH_PICO_HAPTICS_EXPERIMENT=1
SWITCH_PICO_HAPTICS_EXPERIMENT_RAM=$<BOOL:${SWITCH_PICO_HAPTICS_EXPERIMENT_RAM}>)
target_compile_definitions(bluepad32 PRIVATE
SWITCH_PICO_HAPTICS_EXPERIMENT=1)
# These boundaries are defined in different SDK translation units from
# their callers. GNU ld --wrap intercepts unresolved symbol references;
# an LTO build must verify actual caller edges, not just wrapper symbols.
target_link_options(switch-pico PRIVATE
"LINKER:--wrap=cyw43_bluetooth_hci_write"
"LINKER:--wrap=cyw43_bluetooth_hci_read"
"LINKER:--wrap=btstack_run_loop_base_poll_data_sources")
endif()
else()
target_compile_definitions(switch-pico PRIVATE
SWITCH_PICO_HID_INSTANCE_COUNT=1