jyapayne/switch-pico
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Support Bluepad32 gamepads as native Joy-Con pair sources

Browse source
This commit is contained in:
Joey Yakimowich-Payne 2026-09-12 23:03:15 -06:00
commit a17ca603aa
33 changed files with 2529 additions and 851 deletions
Download patch file Download diff file Expand all files Collapse all files

50
bluepad32_config/parser/uni_hid_parser_switch2.c
View file

@ -6,6 +6,9 @@
// Sensor conversion independently adapted from SDL_hidapi_switch2.c (SDL/Valve).
#include "parser/uni_hid_parser_switch2.h"
#if SWITCH2_BRIDGE_FULL_INPUT
#include "parser/uni_hid_parser_native_motion.h"
#endif
#include <math.h>
#include <stdatomic.h>
@ -125,6 +128,9 @@ typedef struct {
uint8_t memory_length;
sw2_stick_t sticks[2];
int32_t gyro_bias[3];
#if SWITCH2_BRIDGE_FULL_INPUT
bool gyro_calibrated;
#endif
uint8_t extra_buttons, leds;
bool leds_pending;
uint8_t rumble_id, weak, strong;
@ -216,6 +222,9 @@ static void sw2_disarm_timeout(sw2_instance_t* ins) {
}
void uni_hid_parser_switch2_teardown(uni_hid_device_t* d) {
#if SWITCH2_BRIDGE_FULL_INPUT
uni_hid_parser_native_motion_forget(d);
#endif
sw2_instance_t* ins = sw2_instance(d);
if (!ins)
return;
@ -643,13 +652,21 @@ static void sw2_response(sw2_instance_t* ins, const uint8_t* data, uint16_t leng
ins->calibration_done = true;
}
} else if (ins->state == SW2_GYRO_CALIBRATION) {
#if SWITCH2_BRIDGE_FULL_INPUT
ins->gyro_calibrated = true;
#endif
for (unsigned i = 0; i < 3; ++i) {
uint32_t bits = little_endian_read_32(value, 4 * i);
float bias;
memcpy(&bias, &bits, sizeof(bias));
// Erased/invalid flash is not a floating-point sensor value.
if (isfinite(bias) && bias >= -40.0f && bias <= 40.0f)
bool valid = isfinite(bias) && bias >= -40.0f && bias <= 40.0f;
if (valid)
ins->gyro_bias[i] = (int32_t)(bias * (57.295779513f * UNI_IMU_GYRO_RES_PER_DEG_S));
#if SWITCH2_BRIDGE_FULL_INPUT
if (!valid)
ins->gyro_calibrated = false;
#endif
}
}
} else if (ins->state == SW2_PAIR) {
@ -1029,6 +1046,9 @@ void uni_hid_parser_switch2_setup(uni_hid_device_t* d) {
if (!ins || ins->state != SW2_ADMITTED)
return;
ins->handle = d->conn.handle;
#if SWITCH2_BRIDGE_FULL_INPUT
uni_hid_parser_native_motion_reset(d);
#endif
// Standard-compliant 7.5ms minimum; negotiation failure is not setup failure.
int status = gap_update_connection_parameters(ins->handle, 6, 6, 0, 600);
if (status != ERROR_CODE_SUCCESS)
@ -1053,6 +1073,9 @@ bool uni_hid_parser_switch2_identity_address_type(const uni_hid_device_t* d, uin
}
void uni_hid_parser_switch2_init_report(uni_hid_device_t* d) {
#if SWITCH2_BRIDGE_FULL_INPUT
uni_hid_parser_native_motion_begin(d);
#endif
(void)d; // Full snapshots replace state only after their complete length is validated.
}
@ -1066,6 +1089,16 @@ static int32_t sw2_axis(uint16_t raw, const sw2_stick_t* stick, unsigned axis, b
static void sw2_motion(sw2_instance_t* ins, uni_gamepad_t* gp, const uint8_t* report) {
uint32_t timestamp = little_endian_read_32(report, 42);
#if SWITCH2_BRIDGE_FULL_INPUT
if (!timestamp || !uni_hid_parser_native_motion_fresh(ins->device, timestamp, UINT32_MAX))
return;
// Acceleration has a known fixed range and does not need gyro clock
// detection or factory gyro bias. Keep its provenance independent.
gp->accel[0] = uni_imu_scale((int16_t)little_endian_read_16(report, 48), 32767, 8 * UNI_IMU_ACCEL_RES_PER_G);
gp->accel[1] = uni_imu_scale((int16_t)little_endian_read_16(report, 52), 32767, 8 * UNI_IMU_ACCEL_RES_PER_G);
gp->accel[2] = -uni_imu_scale((int16_t)little_endian_read_16(report, 50), 32767, 8 * UNI_IMU_ACCEL_RES_PER_G);
uni_hid_parser_native_motion_accel(ins->device, gp->accel);
#endif
if (!timestamp || (timestamp == ins->sensor_last && !ins->gyro_full_scale))
return;
ins->sensor_last = timestamp;
@ -1099,18 +1132,30 @@ static void sw2_motion(sw2_instance_t* ins, uni_gamepad_t* gp, const uint8_t* re
static const uint8_t axes[3] = {0, 2, 1};
for (unsigned i = 0; i < 3; ++i) {
unsigned axis = axes[i];
#if !SWITCH2_BRIDGE_FULL_INPUT
int32_t accel = (int16_t)little_endian_read_16(report, 48 + 2 * axis);
#endif
int32_t gyro = (int16_t)little_endian_read_16(report, 54 + 2 * axis);
#if !SWITCH2_BRIDGE_FULL_INPUT
gp->accel[i] = uni_imu_scale(accel, 32767, 8 * UNI_IMU_ACCEL_RES_PER_G);
#endif
gp->gyro[i] = uni_imu_scale(gyro, 32767, ins->gyro_full_scale) - ins->gyro_bias[axis];
if (i == 2) {
#if !SWITCH2_BRIDGE_FULL_INPUT
gp->accel[i] = -gp->accel[i];
#endif
gp->gyro[i] = -gp->gyro[i];
}
}
#if SWITCH2_BRIDGE_FULL_INPUT
uni_hid_parser_native_motion_gyro(ins->device, ins->gyro_calibrated ? gp->gyro : NULL);
#endif
}
void uni_hid_parser_switch2_parse_input_report(uni_hid_device_t* d, const uint8_t* report, uint16_t len) {
#if SWITCH2_BRIDGE_FULL_INPUT
uni_hid_parser_native_motion_begin(d);
#endif
sw2_instance_t* ins = sw2_instance(d);
if (!ins || ins->state != SW2_READY || !report || len != SW2_REPORT_SIZE)
return;
@ -1148,6 +1193,9 @@ void uni_hid_parser_switch2_parse_input_report(uni_hid_device_t* d, const uint8_
}
sw2_motion(ins, gp, report);
d->controller.klass = UNI_CONTROLLER_CLASS_GAMEPAD;
#if SWITCH2_BRIDGE_FULL_INPUT
uni_hid_parser_native_motion_accept(d);
#endif
}
void uni_hid_parser_switch2_set_player_leds(uni_hid_device_t* d, uint8_t leds) {