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

fix: reduce IMU latency and refine native rumble response

Browse source
This commit is contained in:
Joey Yakimowich-Payne 2026-09-05 14:36:36 -06:00
commit 65e635dc2b
9 changed files with 257 additions and 73 deletions
Download patch file Download diff file Expand all files Collapse all files

36
tests/switch_hd_rumble_synth_test.cpp
View file

@ -42,7 +42,11 @@ std::vector<uint8_t> render(SwitchHdRumbleSynth& synth, uint64_t first,
}
double wave(double cycles, uint16_t amplitude = 32768) {
return 95.25 * std::sin(kTau * cycles) * amplitude / 32768;
return 127.0 * std::sin(kTau * cycles) * std::pow(amplitude / 32768.0, 0.8);
}
double feedback_wave(double cycles, uint16_t amplitude = 32768) {
return 63.5 * std::sin(kTau * cycles) * amplitude / 32768;
}
template <typename Function>
@ -110,7 +114,7 @@ void test_physical_frequency_and_channels() {
}
}
expect(std::abs(peak_frequency - frequency) <= 0.5 &&
peak_amplitude > 92 && peak_amplitude < 99,
peak_amplitude > 123 && peak_amplitude < 132,
"DFT peak matches physical frequency including extreme indices");
}
}
@ -124,10 +128,10 @@ void test_linear_mix_headroom() {
frame.actuators[1] = one_side(1, state(64, 32768, 64, 32768)).actuators[1];
synth.push(frame, 0);
const auto pcm = render(synth, 0, 150);
expect_wave(pcm, 0, [](size_t n) { return 2 * wave(160.0 * n / 3000) / 1.5; },
expect_wave(pcm, 0, [](size_t n) { return wave(160.0 * n / 3000); },
"coherent full-scale bands use headroom without waveform clipping");
expect_wave(pcm, 1, [](size_t n) {
return (wave(160.0 * n / 3000) + wave(320.0 * n / 3000)) / 1.5;
return (wave(160.0 * n / 3000) + wave(320.0 * n / 3000)) / 2;
}, "full-scale two-band balance is preserved by the joint gain ceiling");
int sum = 0;
for (size_t n = 0; n < pcm.size() / 2; ++n) {
@ -141,7 +145,15 @@ void test_linear_mix_headroom() {
expect_wave(render(synth, 0, 150), 0, [](size_t n) {
return 127.0 * (2 * std::sin(kTau * 160.0 * n / 3000) +
std::sin(kTau * 320.0 * n / 3000)) / 3;
}, "headroom-limited boost retains a 2:1 band amplitude ratio");
}, "joint limiting preserves the two-band amplitude ratio");
synth.reset(0);
synth.push(one_side(0, state(64, 8192, 64, 4096)), 0);
expect_wave(render(synth, 0, 150), 0, [](size_t n) {
const double peak = 127.0 * std::pow(0.375, 0.8);
return peak * (2 * std::sin(kTau * 160.0 * n / 3000) +
std::sin(kTau * 320.0 * n / 3000)) / 3;
}, "quiet-effect curve preserves band balance instead of independently boosting voices");
synth.reset(0);
synth.push(one_side(0, state(127, 0, 127, 0)), 0);
@ -235,14 +247,14 @@ void test_feedback_returns_to_live_host() {
auto pcm = render(synth, 0, 64);
expect_wave(pcm, 0, [](size_t n) {
if (n >= 16 && n < 30) {
return wave(320.0 * n / 3000) / 1.5;
return feedback_wave(320.0 * n / 3000);
}
const double cycles = n < 24 ? n * 160.0 / 3000
: (24 * 160.0 + (n - 24) * 320.0) / 3000;
return wave(cycles, n < 24 ? 32768 : 16384);
}, "partial feedback expiry returns to live host state and host phase");
expect_wave(pcm, 1, [](size_t n) {
return n >= 16 && n < 30 ? wave(320.0 * n / 3000) / 1.5 : 0;
return n >= 16 && n < 30 ? feedback_wave(320.0 * n / 3000) : 0;
}, "feedback overrides both sides only for its actual duration");
synth.reset(0);
@ -254,10 +266,10 @@ void test_feedback_returns_to_live_host() {
pcm = render(synth, 0, 60);
expect_wave(pcm, 0, [](size_t n) {
if (n < 12) {
return wave(160.0 * n / 3000, static_cast<uint16_t>((128u * 32768 + 127) / 255)) / 1.5;
return feedback_wave(160.0 * n / 3000, static_cast<uint16_t>((128u * 32768 + 127) / 255));
}
const bool feedback = n >= 24 && n < 36;
return wave((feedback ? 320.0 : 160.0) * n / 3000) / (feedback ? 1.5 : 1);
return feedback ? feedback_wave(320.0 * n / 3000) : wave(160.0 * n / 3000);
}, "zero magnitudes and zero duration cancel override without cancelling host");
synth.reset(0);
@ -265,7 +277,7 @@ void test_feedback_returns_to_live_host() {
synth.feedback(0, 80000, 0, 255);
pcm = render(synth, 0, 270);
expect_wave(pcm, 0, [](size_t n) {
return n < 240 ? wave(320.0 * n / 3000) / 1.5 : 0;
return n < 240 ? feedback_wave(320.0 * n / 3000) : 0;
}, "feedback expiry cannot resurrect an expired host effect");
}
@ -301,7 +313,7 @@ void test_late_commands_and_clock_rollover() {
pcm = render(synth, 0, 30);
expect_wave(pcm, 0, [](size_t n) {
if (n >= 12 && n < 15) {
return wave(320.0 * n / 3000) / 1.5;
return feedback_wave(320.0 * n / 3000);
}
return wave(160.0 * n / 3000, n < 9 ? 32768 : 16384);
}, "64-bit microsecond clock rollover preserves order and duration");
@ -330,7 +342,7 @@ void test_stall_and_overflow() {
"fresh effect after giant stall is accepted");
const auto fresh = render(skipped, far + 64, 150);
const double fresh_amplitude = spectral_amplitude(fresh, 0, 160);
expect(fresh_amplitude > 93 && fresh_amplitude < 98,
expect(fresh_amplitude > 124 && fresh_amplitude < 131,
"fresh 160 Hz effect resumes at full band amplitude after giant stall");
expect_wave(fresh, 1, [](size_t) { return 0; },
"resuming after stall does not activate the other actuator");