Accept USB BOOTSEL reboot on the UART firmware

The regular firmware now answers the EP0 vendor INFO and BOOTSEL reboot
requests with the AIO wire protocol, so switch-pico-config reboot bootsel
works when the Pico's USB side is on a PC. Wire constants move to
usb_management_protocol.h; other operations stall.

CMakeLists.txt

@@ -573,6 +573,16 @@ else()
     target_compile_definitions(switch-pico PRIVATE
             SWITCH_PICO_HID_INSTANCE_COUNT=${SWITCH_PICO_UART_CONTROLLERS}
     )
+    if(NOT SWITCH_PICO_SWITCH2_USB_BRIDGE)
+        # INFO + BOOTSEL reboot over EP0 so switch-pico-config can reflash a
+        # UART Pico plugged into a PC. configuration_storage.cpp provides the
+        # protocol CRC; no storage is instantiated.
+        target_compile_definitions(switch-pico PRIVATE SWITCH_PICO_UART_USB_MANAGEMENT=1)
+        target_sources(switch-pico PRIVATE
+                ${SWITCH_PICO_SOURCE_DIR}/usb/uart_usb_management.cpp
+                ${SWITCH_PICO_SOURCE_DIR}/configuration/configuration_storage.cpp
+        )
+    endif()
 endif()
 
 if(NOT SWITCH_PICO_SWITCH2_USB_BRIDGE)

README.md

@@ -2649,24 +2649,36 @@ The firmware acknowledges the endpoint-zero request, waits 50 ms, and then
 calls the Pico ROM `reset_usb_boot()` entry point. Physical BOOTSEL remains the
 fallback if the firmware or USB management path is unavailable.
 
-The regular UART firmware has the same shortcut over its serial link. The
+The regular UART firmware has the same shortcut, reachable two ways:
-host sends the command frame `0xAA 0xFE 0x08 0x01 "BOOTSEL" checksum`; the
+
-firmware verifies the checksum and magic, flushes UART TX, and calls
+- **Over USB** (Pico's USB plugged into the PC, no serial adapter needed): the
-`reset_usb_boot()`. Line noise or a misframed report cannot trigger it. The
+  firmware answers the same EP0 vendor `INFO` and `BOOTSEL reboot` requests as
-Pico can stay plugged into the Switch or a PC; only the UART adapter needs to
+  the AIO, so `switch-pico-config reboot bootsel` works unchanged. Every other
-be connected to the host:
+  management operation is stalled; `status`, profiles and configuration are
+  AIO-only. The Switch never issues vendor requests, so the handler is
+  invisible to the console.
+- **Over UART** (Pico can stay on the Switch or a PC; only the serial adapter
+  is on the host): the host sends `0xAA 0xFE 0x08 0x01 "BOOTSEL" checksum`;
+  the firmware verifies checksum and magic, flushes UART TX, and calls
+  `reset_usb_boot()`. Line noise or a misframed report cannot trigger it.
 
 ```sh
-# One-off reboot, then flash the published image
+# USB side on the PC
+uv run switch-pico-config reboot bootsel
+picotool load -v -x firmware/switch-pico.uf2
+
+# UART adapter on the PC
 uv run controller-uart-bridge --reboot-bootsel /dev/ttyUSB0
 picotool load -v -x firmware/switch-pico.uf2
 
-# Build, publish, reboot the running Pico and flash in one step
+# Build, publish, reboot the running Pico over UART and flash in one step
 uv run python build.py --uart-port /dev/ttyUSB0
 ```
 
-Firmware from before this command ignores the frame; hold BOOTSEL while
+Either way the RPI-RP2 loader appears on whichever USB host the Pico's own
-replugging once to install a build that has it.
+USB port is connected to, so flashing needs that port on the PC. Firmware from
+before these commands ignores both; hold BOOTSEL while replugging once to
+install a build that has them.
 
 Flash alternatives: bootsel + drag-drop or `picotool load`.
 Flags:

src/firmware/main.cpp

@@ -8,6 +8,9 @@
 #ifndef SWITCH_PICO_BLUEPAD32
 #include "hardware/uart.h"
 #include "pico/bootrom.h"
+#ifdef SWITCH_PICO_UART_USB_MANAGEMENT
+#include "usb/uart_usb_management.h"
+#endif
 #else
 #include "adapter/adapter_mode_controller.h"
 #include "input/bluepad32_input_backend.h"
@@ -382,6 +385,9 @@ int main() {
                                         SWITCH_PRO_DIGITAL_TRIGGER_THRESHOLD);
             (void)usb_output_driver_task(instance);
         }
+#ifdef SWITCH_PICO_UART_USB_MANAGEMENT
+        uart_usb_management_task();
+#endif
 #endif
         log_usb_state();
     }

src/firmware/usb/uart_usb_management.cpp

@@ -0,0 +1,136 @@
+#include "usb/uart_usb_management.h"
+
+#include <string.h>
+
+#include "pico/bootrom.h"
+#include "pico/time.h"
+
+#include "configuration/configuration_storage.h"
+#include "usb/usb_management_protocol.h"
+#include "usb/usb_output_driver.h"
+
+namespace {
+
+using namespace UsbConfigurationManagement;
+
+// Let the status ACK reach the host before the USB controller disappears.
+constexpr uint32_t kBootselRebootDelayMs = 50;
+constexpr uint8_t kFirmwareVersion[3] = {0, 2, 0};
+
+uint8_t g_request[kRequestHeaderSize]{};
+uint8_t g_response[kResponseHeaderSize + kInfoPayloadSize]{};
+tusb_control_request_t g_pending_setup{};
+bool g_out_pending = false;
+bool g_reboot_requested = false;
+absolute_time_t g_reboot_deadline{};
+
+void write_u16(uint8_t* output, uint16_t value) {
+    output[0] = static_cast<uint8_t>(value);
+    output[1] = static_cast<uint8_t>(value >> 8);
+}
+
+void write_u32(uint8_t* output, uint32_t value) {
+    write_u16(output, static_cast<uint16_t>(value));
+    write_u16(output + 2, static_cast<uint16_t>(value >> 16));
+}
+
+uint16_t read_u16(const uint8_t* input) {
+    return static_cast<uint16_t>(input[0] | (input[1] << 8));
+}
+
+uint32_t read_u32(const uint8_t* input) {
+    return static_cast<uint32_t>(read_u16(input)) |
+           (static_cast<uint32_t>(read_u16(input + 2)) << 16);
+}
+
+// Same envelope as usb_configuration_management.cpp encode_response.
+size_t encode_info() {
+    uint8_t payload[kInfoPayloadSize] = {
+        kFirmwareVersion[0], kFirmwareVersion[1], kFirmwareVersion[2],
+        kBoardPico,
+        static_cast<uint8_t>(usb_output_driver_mode()),
+        usb_output_driver_capabilities(),
+        0, 0,  // No configuration storage on this firmware.
+    };
+    memcpy(g_response, "SPMG", 4);
+    g_response[4] = kProtocolVersion;
+    g_response[5] = static_cast<uint8_t>(Operation::kInfo);
+    g_response[6] = static_cast<uint8_t>(Status::kOk);
+    g_response[7] = 0;
+    write_u16(&g_response[8], kInfoPayloadSize);
+    write_u16(&g_response[10], 0);
+    write_u32(&g_response[12], 0);
+    write_u32(&g_response[16], configuration_crc32(payload, sizeof(payload)));
+    memcpy(&g_response[kResponseHeaderSize], payload, sizeof(payload));
+    return sizeof(g_response);
+}
+
+// Same header validation as usb_configuration_management.cpp decode_request,
+// restricted to the empty-payload BOOTSEL request.
+bool valid_bootsel_request() {
+    return memcmp(g_request, "SPMG", 4) == 0 &&
+           g_request[4] == kProtocolVersion &&
+           g_request[5] == static_cast<uint8_t>(Operation::kBootselReboot) &&
+           g_request[6] == 0 && g_request[7] == 0 &&
+           read_u16(&g_request[8]) == 0 && read_u16(&g_request[10]) == 0 &&
+           read_u32(&g_request[12]) == configuration_crc32(nullptr, 0);
+}
+
+}  // namespace
+
+bool uart_usb_management_vendor_control(uint8_t rhport, uint8_t stage,
+                                        const tusb_control_request_t* request) {
+    if (request == nullptr ||
+        request->bmRequestType_bit.type != TUSB_REQ_TYPE_VENDOR ||
+        request->bmRequestType_bit.recipient != TUSB_REQ_RCPT_DEVICE ||
+        request->wValue != kRequestValue ||
+        request->wIndex != kRequestIndex) {
+        return false;
+    }
+    const Operation operation = static_cast<Operation>(request->bRequest);
+    const bool input = request->bmRequestType_bit.direction == TUSB_DIR_IN;
+
+    if (stage == CONTROL_STAGE_SETUP) {
+        g_out_pending = false;
+        if (input) {
+            if (operation != Operation::kInfo) return false;
+            return tud_control_xfer(rhport, request, g_response,
+                                    static_cast<uint16_t>(encode_info()));
+        }
+        if (operation != Operation::kBootselReboot ||
+            request->wLength != kRequestHeaderSize) {
+            return false;
+        }
+        g_pending_setup = *request;
+        g_out_pending = tud_control_xfer(rhport, request, g_request,
+                                         request->wLength);
+        return g_out_pending;
+    }
+    if (stage == CONTROL_STAGE_DATA) {
+        return true;
+    }
+    if (stage != CONTROL_STAGE_ACK) {
+        return false;
+    }
+    if (input) {
+        return true;
+    }
+    if (!g_out_pending ||
+        memcmp(request, &g_pending_setup, sizeof(*request)) != 0 ||
+        !valid_bootsel_request()) {
+        g_out_pending = false;
+        return false;
+    }
+    g_out_pending = false;
+    if (!g_reboot_requested) {
+        g_reboot_requested = true;
+        g_reboot_deadline = make_timeout_time_ms(kBootselRebootDelayMs);
+    }
+    return true;
+}
+
+void uart_usb_management_task() {
+    if (g_reboot_requested && time_reached(g_reboot_deadline)) {
+        reset_usb_boot(0, 0);
+    }
+}

src/firmware/usb/uart_usb_management.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "tusb.h"
+
+// Minimal EP0 vendor-request management for the regular UART firmware. It
+// answers INFO and accepts BOOTSEL reboot using the same wire protocol as the
+// AIO firmware, so `switch-pico-config reboot bootsel` works when the Pico's
+// USB side is plugged into a PC. Every other operation is stalled.
+bool uart_usb_management_vendor_control(uint8_t rhport, uint8_t stage,
+                                        const tusb_control_request_t* request);
+
+// Main-loop hook: performs a requested BOOTSEL reboot once the USB status
+// stage has had time to complete.
+void uart_usb_management_task();

src/firmware/usb/usb_configuration_management.h

@@ -8,18 +8,14 @@
 #include "input/bluepad32_input_backend.h"
 #include "configuration/configuration_service.h"
 #include "profile/profile_service.h"
+#include "usb/usb_management_protocol.h"
 
 namespace UsbConfigurationManagement {
 
-constexpr uint16_t kRequestValue = 0x5350;
-constexpr uint16_t kRequestIndex = 0x0001;
-constexpr uint8_t kProtocolVersion = 1;
 // INFO-only active mode; never persisted as an AdapterRequestedMode.
 constexpr uint8_t kNativeHubActiveMode = 5;
-constexpr size_t kRequestHeaderSize = 16;
 constexpr uint16_t kSwitch2WakeSchemaVersion = 1;
 constexpr size_t kSwitch2WakePayloadSize = 20;
-constexpr size_t kResponseHeaderSize = 20;
 constexpr size_t kPairingRecordSize = 8;
 constexpr size_t kPairingPayloadHeaderSize = 4;
 constexpr size_t kMaximumRequestSize = 80;
@@ -51,56 +47,6 @@ constexpr size_t kMaximumChunkSize =
 static_assert(kMaximumResponseSize == 837,
               "profile list no longer fits the EP0 response buffer");
 
-enum class Operation : uint8_t {
-    kInfo = 0x01,
-    kModeSet = 0x02,
-    kReboot = 0x03,
-    kBootselReboot = 0x04,
-    kSwitch2Wake = 0x05,
-    kConfigurationRead = 0x10,
-    kConfigurationBegin = 0x11,
-    kConfigurationChunk = 0x12,
-    kConfigurationCommit = 0x13,
-    kConfigurationReset = 0x14,
-    kTransactionStatus = 0x15,
-    kPairingRead = 0x20,
-    kPairingRefresh = 0x21,
-    kPairingClear = 0x22,
-    kRuntimeDiagnostics = 0x23,
-    kProfileList = 0x30,
-    kProfileSelect = 0x31,
-    kProfileRead = 0x32,
-    kProfileBegin = 0x33,
-    kProfileChunk = 0x34,
-    kProfileCommit = 0x35,
-    kProfileReset = 0x36,
-    kProfileActivate = 0x37,
-    kProfileTransactionStatus = 0x38,
-    kProfilePlaytest = 0x39,
-    kProfileMetadataRead = 0x3a,
-    kProfileMetadataSet = 0x3b,
-    kProfileIdentify = 0x3c,
-    kWiiOrientation = 0x3d,
-    kHapticsExperiment = 0x40,
-    kHapticsTransportProbe = 0x41,
-    kMacroCapture = 0x42,
-    kNativeSwitchRumble = 0x43,
-    kSwitch2MouseCapture = 0x44,
-    kWiiIrGyro = 0x45,
-};
-
-enum class Status : uint8_t {
-    kOk = 0,
-    kPending = 1,
-    kMalformed = 2,
-    kUnsupportedSchema = 3,
-    kTooLarge = 4,
-    kOutOfOrder = 5,
-    kBadCrc = 6,
-    kBusy = 7,
-    kStorageError = 8,
-};
-
 struct DecodedRequest {
     Operation operation = Operation::kInfo;
     const uint8_t* payload = nullptr;

src/firmware/usb/usb_management_protocol.h

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+
+// EP0 vendor-request wire protocol shared by every firmware variant and
+// switch_pico_bridge.config_manager. Keep this header free of adapter,
+// Bluetooth or storage dependencies so the UART firmware can speak the
+// subset it supports.
+namespace UsbConfigurationManagement {
+
+constexpr uint16_t kRequestValue = 0x5350;
+constexpr uint16_t kRequestIndex = 0x0001;
+constexpr uint8_t kProtocolVersion = 1;
+constexpr size_t kRequestHeaderSize = 16;
+constexpr size_t kResponseHeaderSize = 20;
+constexpr size_t kInfoPayloadSize = 8;
+// Board byte of the INFO payload.
+constexpr uint8_t kBoardPico = 1;
+constexpr uint8_t kBoardPico2W = 2;
+
+enum class Operation : uint8_t {
+    kInfo = 0x01,
+    kModeSet = 0x02,
+    kReboot = 0x03,
+    kBootselReboot = 0x04,
+    kSwitch2Wake = 0x05,
+    kConfigurationRead = 0x10,
+    kConfigurationBegin = 0x11,
+    kConfigurationChunk = 0x12,
+    kConfigurationCommit = 0x13,
+    kConfigurationReset = 0x14,
+    kTransactionStatus = 0x15,
+    kPairingRead = 0x20,
+    kPairingRefresh = 0x21,
+    kPairingClear = 0x22,
+    kRuntimeDiagnostics = 0x23,
+    kProfileList = 0x30,
+    kProfileSelect = 0x31,
+    kProfileRead = 0x32,
+    kProfileBegin = 0x33,
+    kProfileChunk = 0x34,
+    kProfileCommit = 0x35,
+    kProfileReset = 0x36,
+    kProfileActivate = 0x37,
+    kProfileTransactionStatus = 0x38,
+    kProfilePlaytest = 0x39,
+    kProfileMetadataRead = 0x3a,
+    kProfileMetadataSet = 0x3b,
+    kProfileIdentify = 0x3c,
+    kWiiOrientation = 0x3d,
+    kHapticsExperiment = 0x40,
+    kHapticsTransportProbe = 0x41,
+    kMacroCapture = 0x42,
+    kNativeSwitchRumble = 0x43,
+    kSwitch2MouseCapture = 0x44,
+    kWiiIrGyro = 0x45,
+};
+
+enum class Status : uint8_t {
+    kOk = 0,
+    kPending = 1,
+    kMalformed = 2,
+    kUnsupportedSchema = 3,
+    kTooLarge = 4,
+    kOutOfOrder = 5,
+    kBadCrc = 6,
+    kBusy = 7,
+    kStorageError = 8,
+};
+
+}  // namespace UsbConfigurationManagement

src/firmware/usb/usb_output_driver.cpp

@@ -17,6 +17,8 @@
 
 #ifdef SWITCH_PICO_BLUEPAD32
 #include "usb/usb_configuration_management.h"
+#elif defined(SWITCH_PICO_UART_USB_MANAGEMENT)
+#include "usb/uart_usb_management.h"
 #endif
 
 #ifdef SWITCH_PICO_USB_OUTPUT_MODES
@@ -390,6 +392,8 @@ extern "C" bool tud_vendor_control_xfer_cb(
 #ifdef SWITCH_PICO_BLUEPAD32
     return usb_configuration_management_vendor_control(rhport, stage,
                                                        request);
+#elif defined(SWITCH_PICO_UART_USB_MANAGEMENT)
+    return uart_usb_management_vendor_control(rhport, stage, request);
 #else
     (void)rhport;
     (void)stage;

src/switch_pico_bridge/config_manager.py

@@ -164,6 +164,8 @@ CAPABILITY_INPUT = 1 << 0
 CAPABILITY_RUMBLE = 1 << 1
 CAPABILITY_MOTION = 1 << 2
 CAPABILITY_MASK = CAPABILITY_INPUT | CAPABILITY_RUMBLE | CAPABILITY_MOTION
+# USB management info byte 3.
+BOARD_NAMES = {1: "Pico", 2: "Pico 2 W"}
 PAIRING_RECORD_SIZE = 8
 PAIRING_RECORD_CAPACITY = 16
 TRANSPORT_UNKNOWN = 0
@@ -5489,7 +5491,7 @@ def main(argv: Sequence[str] | None = None) -> int:
             configuration = read_configuration(device)
             version = ".".join(str(part) for part in info.firmware_version)
             print(f"Firmware: {version}")
-            print(f"Board: Pico 2 W ({info.board})")
+            print(f"Board: {BOARD_NAMES.get(info.board, 'unknown')} ({info.board})")
             print(
                 "Requested USB mode: "
                 f"{REQUESTED_MODE_NAMES[configuration.requested_mode]}"

tests/native_stubs/pico/bootrom.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void reset_usb_boot(uint32_t usb_activity_gpio_pin_mask,
+                    uint32_t disable_interface_mask);
+
+#ifdef __cplusplus
+}
+#endif

tests/native_stubs/pico/time.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <stdbool.h>
 #include <stdint.h>
 
 #ifdef __cplusplus
@@ -12,6 +13,8 @@ typedef struct {
 
 absolute_time_t get_absolute_time(void);
 uint32_t to_ms_since_boot(absolute_time_t time);
+absolute_time_t make_timeout_time_ms(uint32_t milliseconds);
+bool time_reached(absolute_time_t time);
 
 #ifdef __cplusplus
 }

tests/native_stubs/tusb.h

@@ -25,6 +25,11 @@ enum {
     TUSB_DIR_IN = 1,
     TUSB_DESC_ENDPOINT = 5,
     TUSB_DESC_STRING = 3,
+    TUSB_REQ_RCPT_DEVICE = 0,
+    TUSB_REQ_TYPE_VENDOR = 2,
+    CONTROL_STAGE_SETUP = 0,
+    CONTROL_STAGE_DATA = 1,
+    CONTROL_STAGE_ACK = 2,
 };
 
 #pragma pack(push, 1)
@@ -64,13 +69,23 @@ static inline uint8_t tu_edpt_dir(uint8_t endpoint) {
 }
 
 typedef struct {
-    uint8_t bmRequestType;
+    union {
+        struct {
+            uint8_t recipient : 5;
+            uint8_t type : 2;
+            uint8_t direction : 1;
+        } bmRequestType_bit;
+        uint8_t bmRequestType;
+    };
     uint8_t bRequest;
     uint16_t wValue;
     uint16_t wIndex;
     uint16_t wLength;
 } tusb_control_request_t;
 
+bool tud_control_xfer(uint8_t rhport, tusb_control_request_t const* request,
+                      void* buffer, uint16_t length);
+
 bool tud_hid_n_ready(uint8_t instance);
 bool tud_hid_n_report(uint8_t instance, uint8_t report_id,
                       const void* report, uint16_t length);

tests/test_uart_usb_management_native.py

@@ -0,0 +1,78 @@
+"""The UART firmware's EP0 management must interoperate with config_manager."""
+
+from __future__ import annotations
+
+import shutil
+import subprocess
+from pathlib import Path
+
+import pytest
+
+from switch_pico_bridge import config_manager
+
+
+@pytest.fixture(scope="module")
+def harness(tmp_path_factory: pytest.TempPathFactory) -> Path:
+    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"
+    executable = tmp_path_factory.mktemp("uart_usb_management") / "harness"
+    subprocess.run(
+        [
+            compiler,
+            "-std=c++17",
+            "-Wall",
+            "-Wextra",
+            "-Werror",
+            "-pedantic",
+            "-DSWITCH_PICO_HID_INSTANCE_COUNT=4",
+            f"-I{root / 'tests' / 'native_stubs'}",
+            f"-I{root / 'src' / 'firmware'}",
+            str(root / "src" / "firmware" / "usb" / "uart_usb_management.cpp"),
+            str(root / "src" / "firmware" / "configuration" / "configuration_storage.cpp"),
+            str(root / "tests" / "uart_usb_management_test.cpp"),
+            "-o",
+            str(executable),
+        ],
+        check=True,
+        cwd=root,
+    )
+    return executable
+
+
+def run(harness: Path, *args: str) -> str:
+    return subprocess.run(
+        [str(harness), *args], check=True, capture_output=True, text=True
+    ).stdout.strip()
+
+
+def test_info_response_parses_as_a_regular_pico(harness: Path) -> None:
+    response = bytes.fromhex(run(harness, "info"))
+    envelope = config_manager.parse_response(response, config_manager.OP_INFO)
+    assert envelope.status == config_manager.STATUS_OK
+    version = tuple(envelope.payload[:3])
+    board, active_mode, capabilities = envelope.payload[3:6]
+    assert version == (0, 2, 0)
+    assert config_manager.BOARD_NAMES[board] == "Pico"
+    assert config_manager.ACTIVE_MODE_NAMES[active_mode] == "Switch"
+    assert capabilities & config_manager.CAPABILITY_INPUT
+    assert capabilities & ~config_manager.CAPABILITY_MASK == 0
+
+
+def test_bootsel_request_from_config_manager_reboots_after_status_stage(
+    harness: Path,
+) -> None:
+    request = config_manager.encode_request(config_manager.OP_BOOTSEL_REBOOT, b"")
+    assert run(harness, "bootsel", request.hex()) == "accepted=1 early=0 reboot=1"
+
+
+def test_corrupted_bootsel_request_is_rejected_without_rebooting(harness: Path) -> None:
+    request = bytearray(config_manager.encode_request(config_manager.OP_BOOTSEL_REBOOT, b""))
+    request[-1] ^= 0x01  # break the payload CRC
+    assert run(harness, "bootsel", bytes(request).hex()) == "accepted=0 early=0 reboot=0"
+    wrong_operation = config_manager.encode_request(config_manager.OP_REBOOT, b"")
+    assert run(harness, "bootsel", wrong_operation.hex()) == "accepted=0 early=0 reboot=0"
+
+
+def test_unsupported_operations_are_stalled(harness: Path) -> None:
+    assert run(harness, "other", str(config_manager.OP_CONFIGURATION_READ)) == "accepted=0"

tests/uart_usb_management_test.cpp

@@ -0,0 +1,108 @@
+// Host harness for the UART firmware's EP0 management handler. Drives the
+// TinyUSB control stages the way usbd does and reports what reached the
+// (stubbed) ROM. Request/response bytes cross stdin/stdout as hex so the
+// Python test can build them with config_manager itself.
+//
+//   uart_usb_management_test info            -> prints INFO response hex
+//   uart_usb_management_test bootsel <hex>   -> prints "accepted=<0|1> reboot=<0|1>"
+//   uart_usb_management_test other <op>      -> prints "accepted=<0|1>" for an IN request
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <string>
+#include <vector>
+
+#include "tusb.h"
+#include "pico/bootrom.h"
+#include "pico/time.h"
+#include "usb/uart_usb_management.h"
+#include "usb/usb_output_driver.h"
+
+namespace {
+
+void* g_xfer_buffer = nullptr;
+uint16_t g_xfer_length = 0;
+int g_reboots = 0;
+uint64_t g_now_ms = 1000;
+
+std::vector<uint8_t> parse_hex(const char* text) {
+    std::vector<uint8_t> bytes;
+    for (size_t i = 0; text[i] != '\0' && text[i + 1] != '\0'; i += 2) {
+        bytes.push_back(static_cast<uint8_t>(strtoul(std::string(text + i, 2).c_str(), nullptr, 16)));
+    }
+    return bytes;
+}
+
+tusb_control_request_t make_request(uint8_t direction, uint8_t operation, uint16_t length) {
+    tusb_control_request_t request{};
+    request.bmRequestType = static_cast<uint8_t>((direction << 7) | (TUSB_REQ_TYPE_VENDOR << 5));
+    request.bRequest = operation;
+    request.wValue = 0x5350;
+    request.wIndex = 0x0001;
+    request.wLength = length;
+    return request;
+}
+
+}  // namespace
+
+extern "C" bool tud_control_xfer(uint8_t, tusb_control_request_t const*, void* buffer, uint16_t length) {
+    g_xfer_buffer = buffer;
+    g_xfer_length = length;
+    return true;
+}
+
+extern "C" void reset_usb_boot(uint32_t, uint32_t) { ++g_reboots; }
+
+extern "C" absolute_time_t make_timeout_time_ms(uint32_t milliseconds) {
+    return absolute_time_t{g_now_ms + milliseconds};
+}
+
+extern "C" bool time_reached(absolute_time_t time) { return g_now_ms >= time.milliseconds; }
+
+AdapterUsbMode usb_output_driver_mode() { return AdapterUsbMode::kSwitch; }
+uint8_t usb_output_driver_capabilities() {
+    return USB_OUTPUT_CAPABILITY_INPUT | USB_OUTPUT_CAPABILITY_RUMBLE | USB_OUTPUT_CAPABILITY_MOTION;
+}
+
+int main(int argc, char** argv) {
+    if (argc < 2) return 2;
+    const std::string mode = argv[1];
+    if (mode == "info" || mode == "other") {
+        const uint8_t operation = mode == "info" ? 0x01 : static_cast<uint8_t>(strtoul(argv[2], nullptr, 0));
+        const tusb_control_request_t request = make_request(TUSB_DIR_IN, operation, 837);
+        const bool accepted = uart_usb_management_vendor_control(0, CONTROL_STAGE_SETUP, &request);
+        if (mode == "other") {
+            printf("accepted=%d\n", accepted ? 1 : 0);
+            return 0;
+        }
+        if (!accepted) return 1;
+        uart_usb_management_vendor_control(0, CONTROL_STAGE_ACK, &request);
+        const uint8_t* bytes = static_cast<const uint8_t*>(g_xfer_buffer);
+        for (uint16_t i = 0; i < g_xfer_length; ++i) printf("%02x", bytes[i]);
+        printf("\n");
+        return 0;
+    }
+    if (mode == "bootsel" && argc >= 3) {
+        const std::vector<uint8_t> payload = parse_hex(argv[2]);
+        const tusb_control_request_t request =
+            make_request(TUSB_DIR_OUT, 0x04, static_cast<uint16_t>(payload.size()));
+        bool accepted = uart_usb_management_vendor_control(0, CONTROL_STAGE_SETUP, &request);
+        if (accepted) {
+            if (g_xfer_length < payload.size()) return 3;
+            memcpy(g_xfer_buffer, payload.data(), payload.size());
+            accepted = uart_usb_management_vendor_control(0, CONTROL_STAGE_DATA, &request) &&
+                       uart_usb_management_vendor_control(0, CONTROL_STAGE_ACK, &request);
+        }
+        // The reboot must wait for the status stage, then fire exactly once.
+        uart_usb_management_task();
+        const int early = g_reboots;
+        g_now_ms += 49;
+        uart_usb_management_task();
+        const int before_deadline = g_reboots;
+        g_now_ms += 1;
+        uart_usb_management_task();
+        printf("accepted=%d early=%d reboot=%d\n", accepted ? 1 : 0, early + before_deadline, g_reboots);
+        return 0;
+    }
+    return 2;
+}