feat: add profiled DualSense PCM haptics experiment

tests/haptics_experiment_native_stubs/btstack.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <stdint.h>
+
+struct btstack_timer_source_t {
+    void (*process)(btstack_timer_source_t*) = nullptr;
+    void* context = nullptr;
+    uint64_t timeout_us = 0;
+};
+
+constexpr uint8_t ERROR_CODE_SUCCESS = 0;
+enum gap_connection_type_t {
+    GAP_CONNECTION_INVALID, GAP_CONNECTION_ACL, GAP_CONNECTION_LE, GAP_CONNECTION_SCO
+};
+gap_connection_type_t gap_get_connection_type(uint16_t handle);
+
+void btstack_run_loop_set_timer_handler(
+    btstack_timer_source_t* timer, void (*handler)(btstack_timer_source_t*));
+void btstack_run_loop_set_timer(btstack_timer_source_t* timer, uint32_t timeout_ms);
+void btstack_run_loop_add_timer(btstack_timer_source_t* timer);
+int btstack_run_loop_remove_timer(btstack_timer_source_t* timer);
+uint16_t l2cap_get_remote_mtu_for_local_cid(uint16_t cid);
+uint8_t l2cap_request_can_send_now_event(uint16_t cid);
+uint8_t l2cap_send(uint16_t cid, const uint8_t* data, uint16_t size);

tests/haptics_experiment_native_stubs/pico/critical_section.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <cassert>
+
+struct critical_section_t {
+    bool initialized = false;
+};
+
+inline unsigned native_haptics_lock_depth = 0;
+
+inline void critical_section_init(critical_section_t* section) {
+    assert(!section->initialized);
+    section->initialized = true;
+}
+inline void critical_section_enter_blocking(critical_section_t* section) {
+    assert(section->initialized);
+    assert(native_haptics_lock_depth == 0);
+    ++native_haptics_lock_depth;
+}
+inline void critical_section_exit(critical_section_t*) {
+    assert(native_haptics_lock_depth == 1);
+    --native_haptics_lock_depth;
+}

tests/haptics_experiment_native_stubs/pico/stdlib.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <stdint.h>
+
+uint64_t time_us_64();
+
+// Match SDK section spelling so the RAM build compiles the real annotations.
+#define __not_in_flash(group) __attribute__((section(".time_critical." group)))
+#define __time_critical_func(name) __not_in_flash(#name) name

tests/haptics_experiment_native_stubs/uni.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <btstack.h>
+
+struct uni_hid_device_s;
+typedef struct uni_hid_device_s uni_hid_device_t;
+
+struct uni_report_parser_t {
+    void (*play_dual_rumble)(uni_hid_device_t*, uint16_t, uint16_t,
+                             uint8_t, uint8_t) = nullptr;
+};
+
+enum uni_bt_conn_protocol_t {
+    UNI_BT_CONN_PROTOCOL_NONE,
+    UNI_BT_CONN_PROTOCOL_BR_EDR,
+    UNI_BT_CONN_PROTOCOL_BLE,
+};
+
+struct uni_bt_conn_t {
+    uint16_t handle = 0;
+    uint16_t control_cid = 0;
+    uint16_t interrupt_cid = 0;
+    bool connected = false;
+    uni_bt_conn_protocol_t protocol = UNI_BT_CONN_PROTOCOL_NONE;
+};
+
+struct uni_circular_buffer_t {
+    unsigned queued = 0;
+};
+uint8_t uni_circular_buffer_is_empty(const uni_circular_buffer_t* buffer);
+
+struct uni_hid_device_s {
+    uint16_t vendor_id = 0;
+    uint16_t product_id = 0;
+    uni_report_parser_t report_parser;
+    uni_bt_conn_t conn;
+    uni_circular_buffer_t outgoing_buffer;
+
+    // Fake parser/link state. The module only sees the real fields above.
+    uint16_t remote_mtu = 143;
+    gap_connection_type_t connection_type = GAP_CONNECTION_ACL;
+    bool parser_rumble_active = false;
+    bool parser_rumble_delayed = false;
+    btstack_timer_source_t parser_timer;
+    bool notification_pending = false;
+    bool credit = true;
+};