feat: add profiled DualSense PCM haptics experiment

tests/haptics_transport_probe_native_stubs/btstack.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include <stdint.h>
+
+constexpr uint8_t HCI_EVENT_PACKET = 4;
+constexpr uint8_t HCI_EVENT_NUMBER_OF_COMPLETED_PACKETS = 0x13;
+using hci_con_handle_t = uint16_t;
+struct hci_connection_t {
+    uint8_t num_packets_sent = 0;
+};
+struct btstack_packet_callback_registration_t {
+    void* item = nullptr;
+    void (*callback)(uint8_t, uint16_t, uint8_t*, uint16_t) = nullptr;
+};
+extern "C" {
+void btstack_run_loop_base_poll_data_sources();
+void btstack_run_loop_poll_data_sources_from_irq();
+void hci_add_event_handler(btstack_packet_callback_registration_t* registration);
+hci_connection_t* hci_connection_for_handle(hci_con_handle_t handle);
+int hci_number_free_acl_slots_for_handle(hci_con_handle_t handle);
+}

tests/haptics_transport_probe_native_stubs/cyw43.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+int cyw43_bluetooth_hci_write(uint8_t* buffer, size_t length);
+int cyw43_bluetooth_hci_read(uint8_t* buffer, uint32_t capacity, uint32_t* length);
+#ifdef __cplusplus
+}
+#endif

tests/haptics_transport_probe_native_stubs/pico/critical_section.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <cassert>
+
+struct critical_section_t {
+    bool initialized = false;
+};
+inline unsigned native_probe_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 && native_probe_lock_depth == 0);
+    ++native_probe_lock_depth;
+}
+inline void critical_section_exit(critical_section_t*) {
+    assert(native_probe_lock_depth == 1);
+    --native_probe_lock_depth;
+}

tests/haptics_transport_probe_native_stubs/pico/stdlib.h

@@ -0,0 +1,4 @@
+#pragma once
+
+#include <stdint.h>
+uint64_t time_us_64();

tests/haptics_transport_probe_native_stubs/sdk.cpp

@@ -0,0 +1,19 @@
+#include <btstack.h>
+#include <cyw43.h>
+
+extern int (*native_write)(uint8_t*, size_t);
+extern int (*native_read)(uint8_t*, uint32_t, uint32_t*);
+extern void (*native_poll)();
+
+// Keep definitions separate from test callers, just like the real SDK. Tests
+// exercise GNU ld --wrap, not direct calls to the __wrap_ implementation.
+extern "C" int cyw43_bluetooth_hci_write(uint8_t* buffer, size_t length) {
+    return native_write(buffer, length);
+}
+extern "C" int cyw43_bluetooth_hci_read(uint8_t* buffer, uint32_t capacity,
+                                       uint32_t* length) {
+    return native_read(buffer, capacity, length);
+}
+extern "C" void btstack_run_loop_base_poll_data_sources() {
+    native_poll();
+}