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feat(native-usb): add 32-frame HD gameplay rumble and USB flight diagnostics

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Preserve native frequency/amplitude timelines for DualSense PCM output,
remove the unsupported 64-frame path, and retain compatibility rumble for
other controllers. Use the validated 300 MHz sampling phase and restrict
non-bondable Classic discovery autoconnect to previously paired peers.

Buffer native-hub UART stdout and release USB IRQs around port-reset
callbacks. Add observer liveness and pre-SETUP root-response observations
without changing recovery behavior. Cover transport and haptics boundaries.

Record the user-accepted 0.108 trial: controls remained responsive and
rumble felt fine. Instrumentation changes timing; the disconnect root
cause and long-term reliability remain unqualified.

Validation: 624 tests, 11 affected firmware/probe builds, and on-device
concurrent USB and HD-auto-start checks. Private captures, generated
images, and unrelated working-tree files are intentionally excluded.
This commit is contained in:
Joey Yakimowich-Payne 2026-09-19 17:03:46 -06:00
commit 80b788099b
46 changed files with 2873 additions and 412 deletions
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21
tests/test_haptics_experiment_native.py
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@ -7,10 +7,7 @@ import pytest
@pytest.mark.parametrize("ram", [0, 1], ids=["flash", "sram"])
@pytest.mark.parametrize("packet_frames", [32, 64], ids=["32frames", "64frames"])
def test_haptics_experiment_native(
tmp_path: Path, ram: int, packet_frames: int
) -> None:
def test_haptics_experiment_native(tmp_path: Path, ram: int) -> None:
root = Path(__file__).resolve().parents[1]
compiler = shutil.which("c++") or shutil.which("g++")
assert compiler is not None, "a host C++ compiler is required"
@ -27,16 +24,10 @@ def test_haptics_experiment_native(
"-pedantic",
"-DSWITCH_PICO_HAPTICS_EXPERIMENT=1",
f"-DSWITCH_PICO_HAPTICS_EXPERIMENT_RAM={ram}",
f"-DSWITCH_PICO_HD_PACKET_FRAMES={packet_frames}",
*(
[
"-DSWITCH_PICO_CYW43_PACKET_READ=1",
"-DSWITCH_PICO_HCI_CREDIT_BATCH=1",
"-DSWITCH_PICO_SYS_CLOCK_MHZ=300",
]
if packet_frames == 32
else []
),
"-DSWITCH_PICO_HD_PACKET_FRAMES=32",
"-DSWITCH_PICO_CYW43_PACKET_READ=1",
"-DSWITCH_PICO_HCI_CREDIT_BATCH=1",
"-DSWITCH_PICO_SYS_CLOCK_MHZ=300",
f"-I{root / 'tests' / 'haptics_experiment_native_stubs'}",
f"-I{root / 'src' / 'firmware'}",
str(root / "tests" / "haptics_experiment_test.cpp"),
@ -52,7 +43,7 @@ def test_haptics_experiment_native(
)
subprocess.run([str(executable), str(corpus)], check=True, cwd=root)
reports = corpus.read_bytes()
assert len(reports) == (18432 // packet_frames) * 143
assert len(reports) == (18432 // 32) * 143
# Independent standard-library CRC across real module-generated packets:
# A2 is covered once, CRC itself excluded, and stored little-endian.
for offset in range(0, len(reports), 143):