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fix: reduce IMU latency and refine native rumble response

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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
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99
tests/switch_pro_driver_context_test.cpp
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@ -714,6 +714,102 @@ void test_uart_parser_is_pure() {
"failed UART parse modified its output reference");
}
void test_motion_backpressure_retries_without_advancing_state() {
for (bool rejected_transfer : {false, true}) {
initialize_contexts();
send_feature(0, TOGGLE_IMU, 2);
send_feature(1, TOGGLE_IMU, 2);
now_ms = 6;
switch_pro_task(0);
switch_pro_task(1);
ControllerState moving{};
moving.motion_sample_count = 1;
moving.motion_samples[0] = {100, 200, 300, 20000, 0, 0};
switch_pro_set_input(0, moving, SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD,
SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD);
switch_pro_set_input(1, moving, SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD,
SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD);
const auto before = get_current_report(0, "missing pre-send report");
hid_ready[0] = rejected_transfer;
hid_report_succeeds[0] = !rejected_transfer;
now_ms = 21;
expect(!switch_pro_task(0), "blocked motion transfer was counted as sent");
const auto blocked = get_current_report(0, "missing blocked report");
expect(blocked.timestamp == before.timestamp &&
std::memcmp(blocked.imuData, before.imuData, sizeof(blocked.imuData)) == 0,
"blocked motion advanced timestamp or quaternion payload");
hid_ready[0] = true;
hid_report_succeeds[0] = true;
now_ms = 22;
expect(switch_pro_task(0), "overdue motion waited another 15 ms after USB became ready");
expect(switch_pro_task(1), "reference motion did not send");
const auto recovered = copy_switch_report(latest_regular_report(0));
const auto reference = copy_switch_report(latest_regular_report(1));
expect(recovered.timestamp == reference.timestamp &&
std::memcmp(recovered.imuData, reference.imuData, sizeof(reference.imuData)) == 0,
"retry integrated an unsent quaternion sample twice");
now_ms = 23;
expect(!switch_pro_task(0), "retry recovery emitted motion faster than its 15 ms cadence");
}
}
void test_control_replies_do_not_postpone_motion() {
initialize_contexts();
send_feature(0, TOGGLE_IMU, 1);
now_ms = 6;
switch_pro_task(0);
ControllerState moving{};
moving.motion_sample_count = 1;
moving.motion_samples[0].gyro_z = 1000;
switch_pro_set_input(0, moving, SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD,
SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD);
now_ms = 21;
expect(switch_pro_task(0), "initial motion report missing");
send_feature(0, GET_CONTROLLER_STATE, 0);
now_ms = 35;
expect(!switch_pro_task(0), "control response counted as motion");
moving.motion_samples[0].gyro_z = 2000;
switch_pro_set_input(0, moving, SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD,
SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD);
now_ms = 36;
expect(switch_pro_task(0), "control response postponed the independent motion deadline");
const auto current = copy_switch_report(latest_regular_report(0));
expect(read_int16_le(current.imuData + 10) == 2000 && current.timestamp == 6,
"overdue motion did not use the freshest input");
initialize_contexts();
now_ms = 15;
send_feature(0, GET_CONTROLLER_STATE, 0);
switch_pro_task(0);
now_ms = 16;
send_feature(0, GET_CONTROLLER_STATE, 0);
expect(switch_pro_task(0), "successive control replies starved overdue motion");
now_ms = 22;
expect(!switch_pro_task(0), "pending control response counted as motion");
expect(sent_reports[sent_report_count - 1].data[0] == REPORT_OUTPUT_21,
"motion fairness discarded the pending control reply");
}
void test_motion_cadence_survives_usb_poll_quantization() {
initialize_contexts();
for (now_ms = 1; now_ms <= 120; ++now_ms) {
hid_ready[0] = now_ms % 8 == 0;
switch_pro_task(0);
}
expect(reports_for_instance(0) == 8,
"8 ms USB polling stretched the 15 ms motion clock");
const auto report = copy_switch_report(latest_regular_report(0));
expect(report.timestamp == 24, "motion clock did not represent 24 samples in 120 ms");
hid_ready[0] = true;
now_ms = 121;
expect(!switch_pro_task(0), "motion sent an extra unscheduled sample group");
now_ms = 300;
expect(switch_pro_task(0), "motion did not recover after a long USB stall");
const auto recovered = copy_switch_report(latest_regular_report(0));
expect(recovered.timestamp == 60, "motion timer did not skip missing periods");
expect(!switch_pro_task(0), "motion replayed a stale catch-up burst");
}
} // namespace
extern "C" absolute_time_t get_absolute_time(void) {
@ -765,6 +861,9 @@ int main() {
test_protocol_neutral_trigger_threshold();
test_custom_trigger_thresholds_are_isolated();
test_uart_parser_is_pure();
test_motion_backpressure_retries_without_advancing_state();
test_control_replies_do_not_postpone_motion();
test_motion_cadence_survives_usb_poll_quantization();
if (failures != 0) {
std::cerr << failures << " driver context test(s) failed\n";
return 1;