jyapayne/switch-pico
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

feat: drive native DualSense haptics from Switch HD rumble

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

48
tests/usb_configuration_management_test.cpp
View file

@ -728,18 +728,21 @@ std::vector<uint8_t> read_haptics_payload() {
require(usb_configuration_management_vendor_control(
0, CONTROL_STAGE_SETUP, &request),
"experiment diagnostics IN was rejected");
require(control_payload.size() == kResponseHeaderSize + 72 &&
require(control_payload.size() == kResponseHeaderSize + 84 &&
control_payload[5] == 0x40 &&
control_payload[6] == static_cast<uint8_t>(Status::kOk) &&
control_payload[7] == 0 &&
read_u16(control_payload, 8) == 72 &&
read_u16(control_payload, 10) == 2,
"experiment schema-2 envelope is invalid");
read_u16(control_payload, 8) == 84 &&
read_u16(control_payload, 10) == 3,
"experiment schema-3 envelope is invalid");
std::vector<uint8_t> payload(
control_payload.begin() + kResponseHeaderSize, control_payload.end());
require(read_u32(control_payload, 16) ==
configuration_crc32(payload.data(), payload.size()),
"experiment response CRC is invalid");
require(payload[71] == 0 && payload[73] == 0 &&
payload[74] == 0 && payload[75] == 0,
"experiment reserved payload bytes must remain zero");
return payload;
}
@ -783,13 +786,13 @@ void test_haptics_experiment_requests() {
0, CONTROL_STAGE_SETUP, &request),
"malformed experiment control size was accepted");
}
std::vector<uint8_t> expected(72, 0);
std::vector<uint8_t> expected(84, 0);
expected[69] = 0xff;
#ifndef SWITCH_PICO_HAPTICS_EXPERIMENT
expected[68] = 6;
require(read_haptics_payload() == expected,
"disabled firmware must expose only the unsupported snapshot");
for (uint8_t action : {0, 1}) {
for (uint8_t action : {0, 1, 2}) {
next_out_payload = make_request(Operation::kHapticsExperiment, {action, 0});
tusb_control_request_t request = setup_request(
Operation::kHapticsExperiment, TUSB_DIR_OUT,
@ -799,9 +802,7 @@ void test_haptics_experiment_requests() {
"disabled firmware accepted experiment control");
}
#else
require(read_haptics_payload() == expected,
"enabled firmware must initially be idle without a selected slot");
perform_haptics_out(2, 0, false);
perform_haptics_out(3, 0, false);
perform_haptics_out(1, 4, false);
perform_haptics_out(0, 0xff, false);
require(haptics_request_count == 0,
@ -820,15 +821,15 @@ void test_haptics_experiment_requests() {
require(haptics_request_count == 0,
"bad CRC control reached the experiment service");
perform_haptics_out(1, 2);
perform_haptics_out(2, 2);
auto payload = read_haptics_payload();
require(payload[68] == 1 && payload[69] == 2 &&
read_u32(payload, 0) == 1 && read_u32(payload, 16) == 0 &&
haptics_request_count == 1,
require(payload[68] == 1 && payload[69] == 2 && payload[72] == 1 &&
read_u32(payload, 0) == 1 && read_u32(payload, 16) == 0,
"USB acceptance must remain pending until the service starts");
perform_haptics_out(1, 1, false);
perform_haptics_out(2, 1, false);
payload = read_haptics_payload();
require(payload[68] == 1 && payload[69] == 2 &&
require(payload[68] == 1 && payload[69] == 2 && payload[72] == 1 &&
read_u32(payload, 0) == 1,
"busy start overwrote the accepted run");
@ -836,7 +837,7 @@ void test_haptics_experiment_requests() {
current_haptics = {
1, 0x11223344, 0xffff0000, 103, 101, 2, 3, 106, 4,
123, 22000, 11001, 9876, 0xfffffff0, 0x30, 0x76543210,
1100000, HapticsExperimentState::kRunning, 2, 0,
1100000, HapticsExperimentState::kRunning, 2, 0, 1, 0x89abcdef, 0x12345678,
};
const uint32_t fields[] = {
1, 0x11223344, 0xffff0000, 103, 101, 2, 3, 106, 4,
@ -847,15 +848,19 @@ void test_haptics_experiment_requests() {
}
expected[68] = 2;
expected[69] = 2;
expected[72] = 1;
write_u32(&expected, 76, 0x89abcdef);
write_u32(&expected, 80, 0x12345678);
require(read_haptics_payload() == expected,
"schema-2 timing fields are not in little-endian wire order");
"schema-3 timing and gameplay mode fields are not in wire order");
perform_haptics_out(0, 2);
payload = read_haptics_payload();
require(payload[68] == 2 && read_u32(payload, 0) == 1,
require(payload[68] == 2 && payload[72] == 1 && read_u32(payload, 0) == 1,
"USB stop ACK must not fabricate terminal completion");
current_haptics.state = HapticsExperimentState::kStopped;
require(read_haptics_payload()[68] == 4,
payload = read_haptics_payload();
require(payload[68] == 4 && payload[72] == 1,
"service stop transition was not observable");
next_out_payload = make_request(Operation::kHapticsExperiment, {1, 3});
@ -879,7 +884,7 @@ void test_haptics_experiment_requests() {
current_haptics.last_error = 3;
payload = read_haptics_payload();
require(payload[68] == 5 && payload[69] == 3 && payload[70] == 3 &&
read_u32(payload, 0) == 2,
read_u32(payload, 0) == 2 && payload[72] == 0,
"asynchronous connection failure lost request correlation");
#endif
}
@ -1163,17 +1168,18 @@ void bluepad32_input_backend_diagnostics(
#ifdef SWITCH_PICO_HAPTICS_EXPERIMENT
bool haptics_experiment_request(uint8_t action, uint8_t slot) {
++haptics_request_count;
if (action == 1 &&
if ((action == 1 || action == 2) &&
(current_haptics.state == HapticsExperimentState::kPending ||
current_haptics.state == HapticsExperimentState::kRunning)) {
return false;
}
if (action == 1) {
if (action == 1 || action == 2) {
const uint32_t run_id = current_haptics.run_id + 1;
current_haptics = {};
current_haptics.run_id = run_id;
current_haptics.slot = slot;
current_haptics.state = HapticsExperimentState::kPending;
current_haptics.mode = action == 2 ? 1 : 0;
}
return true;
}