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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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86
tools/switch2_usb_probe/probe_build.cmake
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@ -18,6 +18,68 @@ function(switch2_usb_probe_configure target)
${PICO_SDK_PATH}/lib/btstack/platform/embedded)
target_compile_definitions(${target} PRIVATE
CFG_TUSB_CONFIG_FILE="${SWITCH2_USB_PROBE_DIR}/tusb_config.h")
option(SWITCH2_PROBE_TRACE_NATIVE_INPUT
"Trace one completed native USB input report per second without changing its contents" OFF)
if(SWITCH2_PROBE_TRACE_NATIVE_INPUT)
if(NOT SWITCH_PICO_SWITCH2_USB_BRIDGE)
message(FATAL_ERROR "Native input tracing requires the Bluetooth USB bridge")
endif()
target_compile_definitions(${target} PRIVATE SWITCH2_PROBE_TRACE_NATIVE_INPUT=1)
endif()
if(SWITCH2_BRIDGE_WII_INPUT)
set(SWITCH2_WII_IR_SENSITIVITY 3 CACHE STRING "Standard Wii camera sensitivity preset: 2 or 3")
set_property(CACHE SWITCH2_WII_IR_SENSITIVITY PROPERTY STRINGS 2 3)
if(NOT "${SWITCH2_WII_IR_SENSITIVITY}" MATCHES "^[23]$")
message(FATAL_ERROR "SWITCH2_WII_IR_SENSITIVITY must be standard preset 2 or 3")
endif()
target_compile_definitions(bluepad32 PRIVATE
SWITCH_PICO_WII_IR_SENSITIVITY_LEVEL=${SWITCH2_WII_IR_SENSITIVITY})
set(SWITCH2_WII_IR_VIEW_WIDTH 660 CACHE STRING "Native Wii IR viewport width in camera pixels")
set(SWITCH2_WII_IR_VIEW_HEIGHT 370 CACHE STRING "Native Wii IR viewport height in camera pixels")
set(SWITCH2_WII_IR_OFFSET_X 0 CACHE STRING "Native Wii IR viewport horizontal camera offset")
set(SWITCH2_WII_IR_OFFSET_Y -115 CACHE STRING "Native Wii IR viewport vertical offset: -115 below, +115 above")
set(SWITCH2_WII_IR_SPAN_X 1920 CACHE STRING "Native mouse counts across the IR viewport width")
set(SWITCH2_WII_IR_SPAN_Y 1080 CACHE STRING "Native mouse counts across the IR viewport height")
foreach(field VIEW_WIDTH VIEW_HEIGHT OFFSET_X OFFSET_Y SPAN_X SPAN_Y)
if(NOT "${SWITCH2_WII_IR_${field}}" MATCHES "^-?[0-9]+$")
message(FATAL_ERROR "SWITCH2_WII_IR_${field} must be an integer")
endif()
endforeach()
math(EXPR offset_x_twice "2 * ${SWITCH2_WII_IR_OFFSET_X}")
math(EXPR offset_y_twice "2 * ${SWITCH2_WII_IR_OFFSET_Y}")
math(EXPR room_x "1024 - ${SWITCH2_WII_IR_VIEW_WIDTH}")
math(EXPR room_y "768 - ${SWITCH2_WII_IR_VIEW_HEIGHT}")
if(SWITCH2_WII_IR_VIEW_WIDTH LESS 1 OR SWITCH2_WII_IR_VIEW_WIDTH GREATER 1024 OR
SWITCH2_WII_IR_VIEW_HEIGHT LESS 1 OR SWITCH2_WII_IR_VIEW_HEIGHT GREATER 768 OR
offset_x_twice LESS -${room_x} OR offset_x_twice GREATER ${room_x} OR
offset_y_twice LESS -${room_y} OR offset_y_twice GREATER ${room_y} OR
SWITCH2_WII_IR_SPAN_X LESS 1 OR SWITCH2_WII_IR_SPAN_X GREATER 32767 OR
SWITCH2_WII_IR_SPAN_Y LESS 1 OR SWITCH2_WII_IR_SPAN_Y GREATER 32767)
message(FATAL_ERROR "Native IR viewport must lie inside the camera; mouse spans must be 1..32767")
endif()
target_compile_definitions(${target} PRIVATE
SWITCH2_WII_IR_SCREEN_CONFIG=${SWITCH2_WII_IR_VIEW_WIDTH},${SWITCH2_WII_IR_VIEW_HEIGHT},${SWITCH2_WII_IR_OFFSET_X},${SWITCH2_WII_IR_OFFSET_Y},${SWITCH2_WII_IR_SPAN_X},${SWITCH2_WII_IR_SPAN_Y})
endif()
option(SWITCH2_PROBE_OMIT_NATIVE_IMU
"Activation experiment: omit only native IMU bytes while retaining advertised features" OFF)
option(SWITCH2_PROBE_ZERO_NATIVE_IMU_PAYLOAD
"Activation experiment: zero native IMU payload while preserving its length" OFF)
if(SWITCH2_PROBE_OMIT_NATIVE_IMU AND SWITCH2_PROBE_ZERO_NATIVE_IMU_PAYLOAD)
message(FATAL_ERROR "Select only one IMU activation experiment")
endif()
if(SWITCH2_PROBE_OMIT_NATIVE_IMU OR SWITCH2_PROBE_ZERO_NATIVE_IMU_PAYLOAD)
if(NOT SWITCH_PICO_SWITCH2_USB_BRIDGE)
message(FATAL_ERROR "Native IMU activation experiments require the Bluetooth USB bridge")
endif()
if(SWITCH2_BRIDGE_WII_INPUT)
message(FATAL_ERROR "Disable IMU ablation experiments for the Wii source bridge")
endif()
endif()
if(SWITCH2_PROBE_OMIT_NATIVE_IMU)
target_compile_definitions(${target} PRIVATE SWITCH2_PROBE_OMIT_NATIVE_IMU=1)
elseif(SWITCH2_PROBE_ZERO_NATIVE_IMU_PAYLOAD)
target_compile_definitions(${target} PRIVATE SWITCH2_PROBE_ZERO_NATIVE_IMU_PAYLOAD=1)
endif()
set(SWITCH2_PROBE_IDENTITY_FILE "" CACHE FILEPATH "64-byte Joy-Con 2 (R) factory-format identity block")
if(SWITCH2_PROBE_IDENTITY_FILE)
@ -130,10 +192,30 @@ function(switch2_usb_probe_configure target)
hardware_flash pico_flash pico_mbedtls_crypto pico_mbedtls_headers tinyusb_device)
pico_enable_stdio_usb(${target} 0)
pico_enable_stdio_uart(${target} 1)
if(SWITCH_PICO_SWITCH2_USB_BRIDGE)
if(SWITCH2_BRIDGE_WII_INPUT)
pico_set_program_name(${target} "Switch 2 Wii IR and native motion bridge")
elseif(SWITCH_PICO_SWITCH2_USB_BRIDGE)
pico_set_program_name(${target} "Switch 2 right Joy-Con Bluetooth bridge")
else()
pico_set_program_name(${target} "Switch 2 USB initialization capture")
endif()
pico_set_program_version(${target} "0.24")
if(SWITCH2_PROBE_OMIT_NATIVE_IMU)
pico_set_program_version(${target} "0.24-no-imu")
elseif(SWITCH2_PROBE_ZERO_NATIVE_IMU_PAYLOAD)
pico_set_program_version(${target} "0.24-zero-imu-payload")
elseif(SWITCH2_BRIDGE_WII_INPUT)
if(SWITCH2_PROBE_TRACE_NATIVE_INPUT)
pico_set_program_version(${target} "0.33-wii-trace")
else()
pico_set_program_version(${target} "0.33-wii")
endif()
elseif(SWITCH_PICO_SWITCH2_USB_BRIDGE)
if(SWITCH2_PROBE_TRACE_NATIVE_INPUT)
pico_set_program_version(${target} "0.25-trace")
else()
pico_set_program_version(${target} "0.25")
endif()
else()
pico_set_program_version(${target} "0.24")
endif()
endfunction()