jyapayne/switch-pico
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WIP: checkpoint Wii native IMU and upstream IR bridge

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Pause Wii pointing work with firmware 0.33-wii-trace installed. Preserve the pinned libogc IR pipeline, calibrated native IMU, software BOOTSEL, and standard camera sensitivity trial.

Tracking instability, tracking loss, and ineffective vertical movement remain unresolved. Level-2 camera filtering is not hardware-qualified. Nine targeted regression tests pass; firmware and persistent storage were verified after flashing.
This commit is contained in:
Joey Yakimowich-Payne 2026-09-11 17:05:54 -06:00
commit 9f6dddb790
41 changed files with 7990 additions and 150 deletions
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47
CMakeLists.txt
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@ -146,6 +146,7 @@ if(SWITCH_PICO_SWITCH2_MOUSE_CAPTURE)
SWITCH_PICO_SWITCH2_MOUSE_CAPTURE=1
SWITCH_PICO_SWITCH2_MOUSE_CAPTURE_NATIVE=$<BOOL:${SWITCH_PICO_SWITCH2_MOUSE_CAPTURE_NATIVE}>)
endif()
set(SWITCH2_BRIDGE_WII_INPUT OFF)
if(SWITCH_PICO_SWITCH2_USB_BRIDGE)
if(NOT SWITCH_PICO_INPUT_BACKEND STREQUAL "BLUEPAD32"
OR NOT SWITCH_PICO_ENABLE_BLE
@ -157,8 +158,19 @@ if(SWITCH_PICO_SWITCH2_USB_BRIDGE)
if(SWITCH_PICO_WII_IR_MOUSE OR SWITCH_PICO_WII_IR_GYRO)
message(FATAL_ERROR "Switch 2 USB bridge owns USB; Wii IR USB experiments cannot be combined")
endif()
set(SWITCH2_BRIDGE_INPUT "JOYCON2" CACHE STRING "Native bridge source: JOYCON2 or WII")
set_property(CACHE SWITCH2_BRIDGE_INPUT PROPERTY STRINGS JOYCON2 WII)
if(SWITCH2_BRIDGE_INPUT STREQUAL "WII")
if(NOT SWITCH_PICO_ENABLE_CLASSIC)
message(FATAL_ERROR "Wii native bridge requires Bluetooth MIXED mode")
endif()
set(SWITCH2_BRIDGE_WII_INPUT ON)
add_compile_definitions(SWITCH2_BRIDGE_WII_INPUT=1 SWITCH_PICO_WII_IR=1)
elseif(NOT SWITCH2_BRIDGE_INPUT STREQUAL "JOYCON2")
message(FATAL_ERROR "SWITCH2_BRIDGE_INPUT must be JOYCON2 or WII")
endif()
set(SWITCH2_BRIDGE_SOURCE_ADDRESS "" CACHE STRING
"Physical right Joy-Con 2 Bluetooth source address (xx:xx:xx:xx:xx:xx)")
"Physical Bluetooth controller source address (xx:xx:xx:xx:xx:xx)")
string(TOLOWER "${SWITCH2_BRIDGE_SOURCE_ADDRESS}" bridge_source_address)
string(LENGTH "${bridge_source_address}" bridge_source_address_length)
if(NOT bridge_source_address_length EQUAL 17
@ -335,16 +347,41 @@ if(SWITCH_PICO_SWITCH2_USB_BRIDGE)
message(FATAL_ERROR "Switch 2 USB bridge requires the initialized probe with factory and user calibration captures")
endif()
target_sources(switch-pico PRIVATE
${SWITCH2_USB_PROBE_DIR}/bootsel.cpp
${SWITCH2_USB_PROBE_DIR}/controller_input.cpp)
if(SWITCH2_BRIDGE_WII_INPUT)
set(LIBOGC_IR_PREP_SCRIPT ${CMAKE_CURRENT_LIST_DIR}/tools/prepare_libogc_ir.py)
set(LIBOGC_IR_GENERATED ${CMAKE_CURRENT_BINARY_DIR}/libogc_ir.c)
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS
${LIBOGC_IR_PREP_SCRIPT}
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/UPSTREAM.json
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/ir.h
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/license_libogc.txt
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/libogc_license.txt
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/upstream/ir.c
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/upstream/ir.h
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/upstream/wiiuse.h
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/upstream/wiiuse_internal.h
${CMAKE_CURRENT_LIST_DIR}/external/libogc_ir/upstream/definitions.h)
execute_process(
COMMAND ${Python3_EXECUTABLE} ${LIBOGC_IR_PREP_SCRIPT} --output ${LIBOGC_IR_GENERATED}
RESULT_VARIABLE LIBOGC_IR_PREP_RESULT)
if(NOT LIBOGC_IR_PREP_RESULT EQUAL 0)
message(FATAL_ERROR "Preparing the pinned libogc IR pipeline failed")
endif()
target_include_directories(switch-pico PRIVATE ${CMAKE_CURRENT_LIST_DIR}/external)
target_sources(switch-pico PRIVATE ${SWITCH2_USB_PROBE_DIR}/native_imu.cpp ${LIBOGC_IR_GENERATED})
endif()
target_compile_definitions(switch-pico PRIVATE
SWITCH2_BRIDGE_SOURCE_ADDRESS_BYTES=${SWITCH2_BRIDGE_SOURCE_ADDRESS_BYTES})
else()
target_sources(switch-pico PRIVATE ${SWITCH_PICO_SOURCE_DIR}/main.cpp)
endif()
if(SWITCH_PICO_WII_IR_MOUSE OR SWITCH_PICO_WII_IR_GYRO)
target_sources(switch-pico PRIVATE
${SWITCH_PICO_SOURCE_DIR}/input/wii_ir_pointer.cpp
${SWITCH_PICO_SOURCE_DIR}/input/wii_ir_tracker.cpp)
if(SWITCH_PICO_WII_IR_MOUSE OR SWITCH_PICO_WII_IR_GYRO OR SWITCH2_BRIDGE_WII_INPUT)
target_sources(switch-pico PRIVATE ${SWITCH_PICO_SOURCE_DIR}/input/wii_ir_pointer.cpp)
if(NOT SWITCH2_BRIDGE_WII_INPUT)
target_sources(switch-pico PRIVATE ${SWITCH_PICO_SOURCE_DIR}/input/wii_ir_tracker.cpp)
endif()
endif()
if(SWITCH_PICO_WII_IR_MOUSE)
target_sources(switch-pico PRIVATE