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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.
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Joey Yakimowich-Payne 2026-09-11 17:05:54 -06:00
commit 9f6dddb790
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@ -479,6 +479,173 @@ The AIO firmware enables motion automatically for original Wii Remotes with an e
Protocol references: [WiiBrew Wiimote](https://wiibrew.org/wiki/Wiimote), [MotionPlus registers/calibration](https://wiibrew.org/wiki/Wiimote/Extension_Controllers/Wii_Motion_Plus), [Dolphin MotionPlus calibration](https://github.com/dolphin-emu/dolphin/blob/master/Source/Core/Core/HW/WiimoteEmu/MotionPlus.cpp), and [SDL Wii sensor axes](https://github.com/libsdl-org/SDL/blob/main/src/joystick/hidapi/SDL_hidapi_wii.c).
### Experimental native Joy-Con 2 USB output
`SWITCH_PICO_SWITCH2_USB_BRIDGE=ON` selects the separate USB protocol probe in
`tools/switch2_usb_probe`, not the ordinary four-Pro-controller AIO output.
`SWITCH2_BRIDGE_INPUT=JOYCON2` preserves complete packets from one selected right
Joy-Con 2; `SWITCH2_BRIDGE_INPUT=WII` generates native right-Joy-Con reports from
Wii input. Select the physical Bluetooth address with
`SWITCH2_BRIDGE_SOURCE_ADDRESS`.
The Wii source requires Pico 2 W, the Bluepad32 backend, Bluetooth `MIXED` mode,
and the bridge's native capture prerequisites
(`SWITCH_PICO_SWITCH2_MOUSE_CAPTURE=ON` and
`SWITCH_PICO_SWITCH2_MOUSE_CAPTURE_NATIVE=ON`). It enables the Wii camera parser
without the mutually exclusive legacy `SWITCH_PICO_WII_IR_MOUSE` or
`SWITCH_PICO_WII_IR_GYRO` USB experiments.
This research target also requires the probe's validated identity, firmware,
factory-memory and user-calibration inputs, a distinct virtual controller address,
`SWITCH2_PROBE_ACK_SETUP04=ON`, and `SWITCH2_PROBE_USB_INIT=ON`. The
`SWITCH2_PROBE_*_FILE` inputs are checked by `probe_build.cmake`; private captures,
pairing records and firmware backups are not bundled with the source.
Keep a known-good UF2 and use a separate build directory for experiments.
- **Motion:** factory-calibrated Wii acceleration and MotionPlus gyro have
independent freshness counters. Keep the Remote still at startup for at least
1.5 seconds and 64 fresh gyro samples to estimate residual bias. The encoder
integrates real gyro into an orientation quaternion, using fresh near-1g
acceleration to correct tilt drift, and emits the recovered 30-byte native
IMU format. Fresh full-bar observations gently correct relative heading
around world-up, following the sensor-fusion approach used by Dolphin.
The first optical observation anchors the current heading without a jump;
missing/inferred observations do not supply heading corrections. Translation
changes optical bearing too, so this is not an absolute world-yaw reference.
A fixed mounting transform makes a face-up Wii
correspond to the virtual right Joy-Con's rail-down mouse pose. Missing,
stale or uncalibrated sensors withhold IMU/mouse output rather than inventing it.
- **IR:** firmware 0.32 runs the actual libogc Wiiuse IR math pipeline from
[commit `a4064a8`](https://github.com/devkitPro/libogc/blob/a4064a86487c46d8ab76d4fdf99e8059a62c4fa2/wiiuse/ir.c),
not a separately implemented approximation. `tools/prepare_libogc_ir.py`
checks pinned source hashes and extracts seven unchanged functions and their
algorithm constants into a build-local C translation unit. The original
sources remain untouched under `external/libogc_ir/upstream/`.
Upstream owns bar selection, missing-dot recovery, smoothing, glitch counters
and bounded screen mapping. It runs once per new camera report, including
while USB output is disabled; its frame-count behavior is not replaced by
custom timing or association thresholds.
The separate native adapter supplies mirrored raw X, unchanged raw Y, and
gravity roll in degrees. It converts upstream smoothed `sx/sy` changes into
signed16 relative mouse reports with once-only consumption. A first native
baseline waits for an accepted upstream position rather than its initial
glitch-held origin; USB stalls, freshness loss and reconnects discard stale
native movement. Brief upstream missing/glitch holds produce no invented
movement. Relative output is not gated on upstream's bounded `ir.valid`,
because the adapter does not know the actual host cursor position.
Optical heading confidence excludes upstream-rejected glitches and inferred
endpoints. The native IMU encoder and heading observer remain project code;
they are not a verbatim Dolphin port. Legacy IR modes retain their old trackers.
Native USB still provides no absolute cursor-position feedback or automatic
synchronization; host sensitivity and initial cursor location still matter.
- **Controls:** stored profiles map ordinary controller buttons; IR does not
create left/right clicks or turn button 1 into a desktop-mouse clutch.
This is one virtual **right** Joy-Con, so left-only controls require profile
remapping if needed. A mapped right stick takes precedence; otherwise a
Nunchuk's mapped left stick supplies the single virtual stick using the
calibration advertised to the console. Configure profiles in normal AIO
firmware before using this probe.
After Bluetooth setup, press a mapped face button (A with the tested profile)
if the Switch has not assigned the controller. The button used to wake the
Wii may be consumed during setup; observed activation changes player LEDs
from mask 0 to 1. No automatic button press is injected.
- **Feedback/pairing:** built-in cue commands become bounded Wii on/off rumble
patterns, not HD frequency/audio emulation. USB completion follows Core 1
driver dispatch. Holding BOOTSEL for two seconds opens pairing; this probe
never routes a long hold to clear pairings.
- **Qualification:** genuine Joy-Con passthrough mouse operation is confirmed
on Switch with firmware 0.24. Earlier Wii builds deliver accepted native mouse
and IMU reports, but pointing remained unreliable. Their custom tracker tests
did not establish equivalence to upstream. Firmware 0.32 replaces that native
tracker with the pinned upstream pipeline. Source identity and all seven
retained function bodies are verified; the actual C code has been replayed
on 495 recorded camera snapshots. All final 100 steady observations produced
valid smoothed full-bar output. That 10Hz, zero-roll replay does not establish
full-rate timing or improved console behavior; hardware qualification remains pending.
Firmware 0.33 adds a camera-only sensitivity-level-2 trial after an on/off
comparison retained one detection with the bar off. The upstream tracking
code is unchanged. Both default level 3 and selected level 2 have been
exercised through the real parser's complete camera-register setup; reduced
interference and usable range still require a hardware comparison.
**In progress; Wii pointing work is paused.** Firmware 0.33 was flashed and
verified with persistent storage unchanged, but the level-2 on/off comparison
has not been run. Erratic tracking, tracking loss and ineffective vertical
movement remain unresolved; this checkpoint is not a completed Wii pointer.
Native Wii camera and viewport settings are build-time parameters, not stored profile changes:
| CMake option | Default | Meaning |
| --- | ---: | --- |
| `SWITCH2_WII_IR_SENSITIVITY` | `3` | Standard camera preset `2` or `3`; lower sensitivity may reduce interference and range |
| `SWITCH2_WII_IR_VIEW_WIDTH` | `660` | Viewport width in camera pixels |
| `SWITCH2_WII_IR_VIEW_HEIGHT` | `370` | Viewport height in camera pixels |
| `SWITCH2_WII_IR_OFFSET_X` | `0` | Horizontal offset from the camera center |
| `SWITCH2_WII_IR_OFFSET_Y` | `-115` | Below-screen bar; use `115` for above-screen |
| `SWITCH2_WII_IR_SPAN_X` | `1920` | Native mouse counts across viewport width |
| `SWITCH2_WII_IR_SPAN_Y` | `1080` | Native mouse counts across viewport height |
The 660 x 370 viewport and +/-115 vertical placement follow libogc's 16:9
defaults; they are not a measurement of the attached camera or screen. Spans
are **mouse counts**, not guaranteed display pixels. The viewport must remain
inside the 1024 x 768 camera image. For example, configure the existing native
Wii build with `cmake -S . -B build-switch2-usb-wii -DSWITCH2_WII_IR_OFFSET_Y=-115`,
then build normally. Trace builds sample raw IR diagnostics at 10Hz; diagnostic
flag bits 3/4 additionally indicate viewport inclusion and full optical reference.
Offsets locate the nominal screen rectangle and its diagnostics; a constant
offset alone cannot recenter a relative host cursor. Viewport dimensions and
mouse-count spans determine movement scale, but absolute pointing remains unsynchronized.
For the lower-sensitivity trial, configure with
`cmake -S . -B build-switch2-usb-wii -DSWITCH2_WII_IR_SENSITIVITY=2`, then build.
The parser logs the selected level after camera setup completes. Other firmware
builds retain standard level 3 unless explicitly configured otherwise.
**Port provenance and licensing:** see `external/libogc_ir/UPSTREAM.json` and
`external/libogc_ir/NOTICE.txt`. The component retains its full GPLv3 license
and libogc-specific independent-module linking exception; independent project
code is not relicensed. Preserve component notices and corresponding source
when distributing the firmware. The only C-language compatibility adjustment
is an equivalent disabled debug macro accepting one-argument calls in strict
C11; algorithm bodies and constants are unchanged. Transport/report decoding
is provided by the existing Bluepad32 path, not copied Wiiuse I/O stubs.
Do not edit generated `build*/libogc_ir.c` or the pinned original files to tune
tracking. Changes to upstream require an explicit pin/manifest update; native
protocol adaptations belong in the separate adapter.
Both native bridge sources support the existing software **BOOTSEL reboot**
without erasing pairings, profiles or configuration. The standalone USB diagnostic
probe does not. Connect the bridge to a PC and disconnect any genuine USB right
Joy-Con 2 before running this from the repository:
```sh
uv run python - <<'PY'
import usb.core
from switch_pico_bridge.config_manager import request_bootsel_reboot
devices = list(usb.core.find(find_all=True, idVendor=0x057e, idProduct=0x2066))
if len(devices) != 1:
raise SystemExit("Connect exactly one native bridge (057e:2066).")
request_bootsel_reboot(devices[0])
print("Rebooting into USB BOOTSEL mode.")
PY
```
USB access requires permission to the matching `/dev/bus/usb` device. With
multiple bridges, select the intended PyUSB device by its `bus` and `address`
instead of sending to every matching device. The ordinary
`switch-pico-config reboot bootsel` CLI uses management discovery, which this
native USB identity deliberately does not expose; the direct helper above needs
no discovery request or interface claim.
Only vendor-device OUT `0x40`, request `0x04`, value `0x5350`, index `1`, with the
existing validated 16-byte management envelope is accepted. The shared handler
validates and dispatches at the control status ACK, then the existing 50 ms guard
enters ROM USB boot mode. Invalid envelopes cannot schedule a reboot. Nintendo's
separate request `0x04`, value `0x0276`, index `0`, length `0` remains an ordinary
setup acknowledgement. No configuration writes or extra management capabilities
are enabled in native mode.
### Switch 2 controller input
The AIO firmware implements the proprietary BLE protocol for Nintendo `057E:2069` (Pro), `057E:2067` (left Joy-Con 2), and `057E:2066` (right Joy-Con 2). This is controller **input** support, distinct from the existing Switch 2 console-wake feature and from emulating a native Switch 2 USB controller.