WIP: checkpoint Wii native IMU and upstream IR bridge

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.
2026-09-11 17:05:54 -06:00 · 2026-09-11 17:05:54 -06:00 · 9f6dddb790
commit 9f6dddb790
parent 3040c9d294
41 changed files with 7990 additions and 150 deletions
--- a/tests/test_switch2_wii_bridge_native.py
+++ b/tests/test_switch2_wii_bridge_native.py
@ -0,0 +1,74 @@
+from __future__ import annotations
+
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1] / "tools"))
+
+from prepare_libogc_ir import prepare
+
+
+def test_wii_native_bridge_sensor_pointer_and_profile_contract(tmp_path: Path) -> 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"
+    c_compiler = shutil.which("cc")
+    assert c_compiler is not None, "a host C compiler is required"
+    generated = prepare(tmp_path / "libogc_ir.c")
+    ir_object = tmp_path / "libogc_ir.o"
+    subprocess.run(
+        [
+            c_compiler,
+            "-std=c11",
+            "-Wall",
+            "-Wextra",
+            "-Werror",
+            "-pedantic",
+            f"-I{root / 'external'}",
+            "-c",
+            str(generated),
+            "-o",
+            str(ir_object),
+        ],
+        check=True,
+        cwd=root,
+    )
+    executable = tmp_path / "switch2_wii_bridge_test"
+    subprocess.run(
+        [
+            compiler,
+            "-std=c++17",
+            "-Wall",
+            "-Wextra",
+            "-Werror",
+            "-pedantic",
+            "-pthread",
+            "-DSWITCH_PICO_SWITCH2_USB_BRIDGE=1",
+            "-DSWITCH2_BRIDGE_WII_INPUT=1",
+            "-DSWITCH_PICO_BLUEPAD32=1",
+            "-DSWITCH_PICO_ENABLE_BLE=1",
+            "-DSWITCH_PICO_ENABLE_CLASSIC=1",
+            "-DSWITCH_PICO_SWITCH2_MOUSE_CAPTURE=1",
+            "-DSWITCH_PICO_SWITCH2_MOUSE_CAPTURE_NATIVE=1",
+            "-DSWITCH_PICO_WII_IR=1",
+            "-DSWITCH2_BRIDGE_SOURCE_ADDRESS_BYTES=0x02,0,0,0,0,1",
+            f"-I{root / 'tests' / 'switch2_mouse_bridge_native_stubs'}",
+            f"-I{root / 'tests' / 'wii_ir_aiming_native_stubs'}",
+            f"-I{root / 'tools' / 'switch2_usb_probe'}",
+            f"-I{root / 'src' / 'firmware'}",
+            f"-I{root / 'bluepad32_config'}",
+            f"-I{root / 'external'}",
+            str(root / "tests" / "switch2_wii_bridge_test.cpp"),
+            str(root / "tools" / "switch2_usb_probe" / "controller_input.cpp"),
+            str(root / "tools" / "switch2_usb_probe" / "native_imu.cpp"),
+            str(root / "src" / "firmware" / "input" / "wii_ir_pointer.cpp"),
+            str(ir_object),
+            "-o",
+            str(executable),
+        ],
+        check=True,
+        cwd=root,
+    )
+    subprocess.run([str(executable)], check=True, cwd=root)