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feat: drive native DualSense haptics from Switch HD rumble

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This commit is contained in:
Joey Yakimowich-Payne 2026-09-05 13:23:25 -06:00
commit 6188fcb517
23 changed files with 1836 additions and 182 deletions
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9
CMakeLists.txt
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@ -30,6 +30,11 @@ 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)
option(SWITCH_PICO_HD_RUMBLE
"Auto-arm native Switch HD rumble for a DualSense in slot zero" OFF)
if(SWITCH_PICO_HD_RUMBLE)
set(SWITCH_PICO_HAPTICS_EXPERIMENT ON)
endif()
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"
@ -157,6 +162,7 @@ if(SWITCH_PICO_INPUT_BACKEND STREQUAL "BLUEPAD32")
if(SWITCH_PICO_HAPTICS_EXPERIMENT)
target_sources(switch-pico PRIVATE
${SWITCH_PICO_SOURCE_DIR}/input/haptics_experiment.cpp
${SWITCH_PICO_SOURCE_DIR}/input/switch_hd_rumble_synth.cpp
${SWITCH_PICO_SOURCE_DIR}/input/haptics_transport_probe.cpp)
target_compile_definitions(switch-pico PRIVATE
SWITCH_PICO_HAPTICS_EXPERIMENT=1
@ -171,6 +177,9 @@ if(SWITCH_PICO_INPUT_BACKEND STREQUAL "BLUEPAD32")
"LINKER:--wrap=cyw43_bluetooth_hci_read"
"LINKER:--wrap=btstack_run_loop_base_poll_data_sources")
endif()
if(SWITCH_PICO_HD_RUMBLE)
target_compile_definitions(switch-pico PRIVATE SWITCH_PICO_HD_RUMBLE=1)
endif()
else()
target_compile_definitions(switch-pico PRIVATE
SWITCH_PICO_HID_INSTANCE_COUNT=1