jyapayne/switch-pico
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It's connecting!!

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Joey Yakimowich-Payne 2025-11-20 17:17:47 -07:00
commit 2225e70e5e
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GPG key ID: 6BFE655FA5ABD1E1
7 changed files with 322 additions and 45 deletions
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126
switch-pico.cpp
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@ -11,6 +11,20 @@
#define UART_TX_PIN 4
#define UART_RX_PIN 5
static bool g_last_mounted = false;
static bool g_last_ready = false;
// Track the latest state provided by UART or the autopilot.
static SwitchInputState g_user_state;
#ifdef SWITCH_PICO_AUTOTEST
static bool g_autopilot_active = true;
static uint32_t g_autopilot_counter = 0;
static absolute_time_t g_autopilot_last_tick = {0};
static bool g_uart_activity = false;
static bool g_ready_logged = false;
#endif
static void init_uart_input() {
uart_init(UART_ID, BAUD_RATE);
gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART);
@ -52,12 +66,104 @@ static void poll_uart_frames() {
buffer[index++] = byte;
if (index >= sizeof(buffer)) {
switch_pro_apply_uart_packet(buffer, sizeof(buffer));
SwitchInputState parsed{};
if (switch_pro_apply_uart_packet(buffer, sizeof(buffer), &parsed)) {
g_user_state = parsed;
printf("[UART] packet buttons=0x%04x hat=%u lx=%u ly=%u rx=%u ry=%u\n",
(parsed.button_a ? SWITCH_PRO_MASK_A : 0) |
(parsed.button_b ? SWITCH_PRO_MASK_B : 0) |
(parsed.button_x ? SWITCH_PRO_MASK_X : 0) |
(parsed.button_y ? SWITCH_PRO_MASK_Y : 0) |
(parsed.button_l ? SWITCH_PRO_MASK_L : 0) |
(parsed.button_r ? SWITCH_PRO_MASK_R : 0) |
(parsed.button_zl ? SWITCH_PRO_MASK_ZL : 0) |
(parsed.button_zr ? SWITCH_PRO_MASK_ZR : 0) |
(parsed.button_plus? SWITCH_PRO_MASK_PLUS: 0) |
(parsed.button_minus?SWITCH_PRO_MASK_MINUS:0) |
(parsed.button_home?SWITCH_PRO_MASK_HOME:0) |
(parsed.button_capture?SWITCH_PRO_MASK_CAPTURE:0) |
(parsed.button_l3 ? SWITCH_PRO_MASK_L3 : 0) |
(parsed.button_r3 ? SWITCH_PRO_MASK_R3 : 0),
parsed.dpad_up ? SWITCH_PRO_HAT_UP :
parsed.dpad_down ? SWITCH_PRO_HAT_DOWN :
parsed.dpad_left ? SWITCH_PRO_HAT_LEFT :
parsed.dpad_right ? SWITCH_PRO_HAT_RIGHT : SWITCH_PRO_HAT_NOTHING,
parsed.lx >> 8, parsed.ly >> 8, parsed.rx >> 8, parsed.ry >> 8);
}
#ifdef SWITCH_PICO_AUTOTEST
g_uart_activity = true;
#endif
index = 0;
}
}
}
#ifdef SWITCH_PICO_AUTOTEST
// Replays the Switch-Fightstick grip-screen sequence: press L+R twice, then A twice.
static SwitchInputState autopilot_state(const SwitchInputState& fallback) {
if (!g_autopilot_active || g_uart_activity) {
g_autopilot_active = false;
return fallback;
}
if (!tud_mounted()) {
g_autopilot_counter = 0;
g_autopilot_last_tick = {0};
return fallback;
}
absolute_time_t now = get_absolute_time();
if (!to_us_since_boot(g_autopilot_last_tick)) {
g_autopilot_last_tick = now;
}
// Run at ~1ms cadence similar to the LUFA fightstick timing.
if (absolute_time_diff_us(g_autopilot_last_tick, now) < 1000) {
return fallback;
}
g_autopilot_last_tick = now;
SwitchInputState state = fallback;
state.lx = SWITCH_PRO_JOYSTICK_MID;
state.ly = SWITCH_PRO_JOYSTICK_MID;
state.rx = SWITCH_PRO_JOYSTICK_MID;
state.ry = SWITCH_PRO_JOYSTICK_MID;
// Fire L+R twice then A twice, loop every ~300ms to keep trying.
uint32_t step = g_autopilot_counter % 300;
if (step == 25 || step == 50) {
state.button_l = true;
state.button_r = true;
} else if (step == 75 || step == 100) {
state.button_a = true;
}
g_autopilot_counter++;
return state;
}
#endif
static void log_usb_state() {
bool mounted = tud_mounted();
bool ready = switch_pro_is_ready();
if (mounted != g_last_mounted) {
g_last_mounted = mounted;
printf("[USB] %s\n", mounted ? "mounted" : "unmounted");
}
if (ready != g_last_ready) {
g_last_ready = ready;
printf("[SWITCH] driver %s\n", ready ? "ready (handshake OK)" : "not ready");
}
#ifdef SWITCH_PICO_AUTOTEST
if (ready && !g_ready_logged) {
g_ready_logged = true;
printf("[AUTO] ready -> autopilot active=%s\n", g_autopilot_active ? "true" : "false");
}
#endif
}
int main() {
board_init();
stdio_init_all();
@ -66,11 +172,27 @@ int main() {
tusb_init();
switch_pro_init();
switch_pro_set_input(neutral_input());
g_user_state = neutral_input();
switch_pro_set_input(g_user_state);
printf("[BOOT] switch-pico starting (UART0 log @ 115200)\n");
printf("[INFO] AUTOTEST=%s UART1 pins TX=%d RX=%d baud=%d\n",
#ifdef SWITCH_PICO_AUTOTEST
"ON"
#else
"OFF"
#endif
, UART_TX_PIN, UART_RX_PIN, BAUD_RATE);
while (true) {
tud_task(); // USB device tasks
poll_uart_frames(); // Pull controller state from UART1
SwitchInputState state = g_user_state;
#ifdef SWITCH_PICO_AUTOTEST
state = autopilot_state(state);
#endif
switch_pro_set_input(state);
switch_pro_task(); // Push state to the Switch host
log_usb_state();
}
}