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

Add DualSense native pair and Wii-only IMU settling

Browse source
This commit is contained in:
Joey Yakimowich-Payne 2026-09-12 22:06:50 -06:00
commit ab70536fdf
31 changed files with 2617 additions and 77 deletions
Download patch file Download diff file Expand all files Collapse all files

319
patches/bluepad32-sdl3-imu.patch
View file

@ -518,14 +518,154 @@ diff --git a/src/components/bluepad32/parser/uni_hid_parser_ds4.c b/src/componen
int32_t calib_data =
mult_frac(ins->accel_calib_data[i].sens_numer, raw_data, ins->accel_calib_data[i].sens_denom);
ctl->gamepad.accel[i] = calib_data;
diff --git a/src/components/bluepad32/include/parser/uni_hid_parser_ds5.h b/src/components/bluepad32/include/parser/uni_hid_parser_ds5.h
--- a/src/components/bluepad32/include/parser/uni_hid_parser_ds5.h
+++ b/src/components/bluepad32/include/parser/uni_hid_parser_ds5.h
@@ -7,6 +7,7 @@
#define UNI_HID_PARSER_DS5_H
#include <stdint.h>
+#include <stdbool.h>
#include "parser/uni_hid_parser.h"
@@ -33,6 +34,25 @@
uint8_t weak_magnitude,
uint8_t strong_magnitude);
void uni_hid_parser_ds5_device_dump(struct uni_hid_device_s* d);
+
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+typedef struct {
+ uint32_t report_sequence;
+ uint32_t motion_sequence;
+ bool motion_valid;
+} uni_ds5_bridge_snapshot_t;
+// Only the Bluetooth owner may call this. False means no complete CRC-checked
+// input report; motion_valid additionally requires factory calibration and a
+// forward-moving sensor timestamp. Counters never advance on accessor reads.
+bool uni_hid_parser_ds5_bridge_snapshot(struct uni_hid_device_s* d, uni_ds5_bridge_snapshot_t* out);
+// Bounded native bridge writer: false means not submitted (never queued).
+// The existing duration timer retries OFF for at most 2 seconds, then closes
+// a stuck connection without deleting its bond. No application ACK exists.
+bool uni_hid_parser_ds5_bridge_rumble(struct uni_hid_device_s* d, uint16_t duration_ms,
+ uint8_t right, uint8_t left);
+// Disconnect/delete retire delayed and duration timers before parser memory reuse.
+void uni_hid_parser_ds5_bridge_teardown(struct uni_hid_device_s* d);
+#endif
// Unique to DualSense. Not part of the "hid_parser" interface
// Warning: Adaptive trigger API is experimental. It might change in the future without further notice.
diff --git a/src/components/bluepad32/parser/uni_hid_parser_ds5.c b/src/components/bluepad32/parser/uni_hid_parser_ds5.c
--- a/src/components/bluepad32/parser/uni_hid_parser_ds5.c
+++ b/src/components/bluepad32/parser/uni_hid_parser_ds5.c
@@ -487,17 +487,17 @@
@@ -106,6 +106,14 @@
uint32_t fw_version;
uint16_t update_version;
bool use_vibration2;
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ uni_ds5_bridge_snapshot_t bridge;
+ uint32_t sensor_timestamp;
+ bool have_sensor_timestamp;
+ bool calibration_valid;
+ bool input_valid;
+ uint32_t bridge_stop_deadline_ms;
+#endif
struct ds5_calibration_data gyro_calib_data[3];
struct ds5_calibration_data accel_calib_data[3];
@@ -228,7 +236,29 @@
_Static_assert(sizeof(ds5_feature_report_calibration_t) == DS5_FEATURE_REPORT_CALIBRATION_SIZE, "Invalid size");
static ds5_instance_t* get_ds5_instance(uni_hid_device_t* d);
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+// Bluetooth HID CRC includes its transaction byte, omitted by the parser API.
+static bool ds5_bridge_crc_valid(const uint8_t* report, uint16_t len, uint8_t transaction) {
+ uint32_t crc = uni_crc32_le(0xffffffff, &transaction, 1);
+ crc = ~uni_crc32_le(crc, report, len - 4);
+ const uint8_t* expected = &report[len - 4];
+ return crc == ((uint32_t)expected[0] | ((uint32_t)expected[1] << 8) |
+ ((uint32_t)expected[2] << 16) | ((uint32_t)expected[3] << 24));
+}
+
+bool uni_hid_parser_ds5_bridge_snapshot(uni_hid_device_t* d, uni_ds5_bridge_snapshot_t* out) {
+ if (d == NULL || out == NULL || d->controller_type != CONTROLLER_TYPE_PS5Controller ||
+ d->report_parser.setup != uni_hid_parser_ds5_setup)
+ return false;
+ const ds5_instance_t* ins = get_ds5_instance(d);
+ if (ins->state != DS5_STATE_READY || !ins->input_valid)
+ return false;
+ *out = ins->bridge;
+ return true;
+}
+#endif
static void ds5_send_output_report(uni_hid_device_t* d, ds5_output_report_t* out);
+static void ds5_prepare_output_report(uni_hid_device_t* d, ds5_output_report_t* out);
static void ds5_send_enable_lightbar_report(uni_hid_device_t* d);
static void ds5_request_pairing_info_report(uni_hid_device_t* d);
static void ds5_request_firmware_version_report(uni_hid_device_t* d);
@@ -390,6 +420,9 @@
void uni_hid_parser_ds5_init_report(uni_hid_device_t* d) {
uni_controller_t* ctl = &d->controller;
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ get_ds5_instance(d)->input_valid = false;
+#endif
memset(ctl, 0, sizeof(*ctl));
ctl->klass = UNI_CONTROLLER_CLASS_GAMEPAD;
@@ -423,10 +456,19 @@
void uni_hid_parser_ds5_parse_feature_report(uni_hid_device_t* d, const uint8_t* report, uint16_t len) {
ds5_instance_t* ins = get_ds5_instance(d);
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (report == NULL || len == 0)
+ return;
+#endif
uint8_t report_id = report[0];
switch (report_id) {
case DS5_FEATURE_REPORT_PAIRING_INFO:
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (len != DS5_FEATURE_REPORT_PAIRING_INFO_SIZE ||
+ !ds5_bridge_crc_valid(report, len, 0xa3))
+ break;
+#endif
if (len != DS5_FEATURE_REPORT_PAIRING_INFO_SIZE) {
loge("DS5: Unexpected pairing info size: got %d, want: %d\n", len,
DS5_FEATURE_REPORT_PAIRING_INFO_SIZE);
@@ -444,6 +486,11 @@
break;
case DS5_FEATURE_REPORT_FIRMWARE_VERSION: {
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (len != DS5_FEATURE_REPORT_FIRMWARE_VERSION_SIZE ||
+ !ds5_bridge_crc_valid(report, len, 0xa3))
+ break;
+#endif
if (len != DS5_FEATURE_REPORT_FIRMWARE_VERSION_SIZE) {
loge("DS5: Unexpected firmware version size: got %d, want: %d\n", len,
DS5_FEATURE_REPORT_FIRMWARE_VERSION_SIZE);
@@ -476,6 +523,11 @@
int speed_2x;
int range_2g;
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (len != DS5_FEATURE_REPORT_CALIBRATION_SIZE ||
+ !ds5_bridge_crc_valid(report, len, 0xa3))
+ break;
+#endif
if (len != DS5_FEATURE_REPORT_CALIBRATION_SIZE) {
loge("DS5: Unexpected calibration size: got %d, want: %d\n", len, DS5_FEATURE_REPORT_CALIBRATION_SIZE);
/* fallthrough */
@@ -487,25 +539,38 @@
// Set gyroscope calibration and normalization parameters.
// Data values will be normalized to 1/DS_GYRO_RES_PER_DEG_S degree/s.
speed_2x = r->gyro_speed_plus + r->gyro_speed_minus;
- ins->gyro_calib_data[0].bias = 0;
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ ins->calibration_valid = speed_2x > 0;
+ ins->bridge.motion_valid = false;
+#endif
+ ins->gyro_calib_data[0].bias = r->gyro_pitch_bias;
ins->gyro_calib_data[0].sens_numer = speed_2x * DS5_GYRO_RES_PER_DEG_S;
ins->gyro_calib_data[0].sens_denom =
@ -542,7 +682,47 @@ diff --git a/src/components/bluepad32/parser/uni_hid_parser_ds5.c b/src/componen
ins->gyro_calib_data[2].sens_numer = speed_2x * DS5_GYRO_RES_PER_DEG_S;
ins->gyro_calib_data[2].sens_denom =
abs(r->gyro_roll_plus - r->gyro_roll_bias) + abs(r->gyro_roll_minus - r->gyro_roll_bias);
@@ -617,12 +617,12 @@
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ // Both extrema are measured relative to the same factory bias.
+ ins->gyro_calib_data[0].sens_denom =
+ abs(r->gyro_pitch_plus - r->gyro_pitch_bias) + abs(r->gyro_pitch_minus - r->gyro_pitch_bias);
+#endif
// Sanity check gyro calibration data. This is needed to prevent crashes
// during report handling of virtual, clone or broken devices not implementing
// calibration data properly.
for (size_t i = 0; i < ARRAY_SIZE(ins->gyro_calib_data); i++) {
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (ins->gyro_calib_data[i].sens_denom <= 0)
+ ins->calibration_valid = false;
+#endif
if (ins->gyro_calib_data[i].sens_denom == 0) {
loge("Invalid gyro calibration data for axis (%d), disabling calibration for axis = %d\n", i);
ins->gyro_calib_data[i].bias = 0;
@@ -535,6 +600,10 @@
// during report handling of virtual, clone or broken devices not implementing calibration
// data properly.
for (size_t i = 0; i < ARRAY_SIZE(ins->accel_calib_data); i++) {
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (ins->accel_calib_data[i].sens_denom <= 0)
+ ins->calibration_valid = false;
+#endif
if (ins->accel_calib_data[i].sens_denom == 0) {
loge("Invalid accelerometer calibration data for axis (%d), disabling calibration for axis=%d\n",
i);
@@ -557,6 +626,11 @@
void uni_hid_parser_ds5_parse_input_report(uni_hid_device_t* d, const uint8_t* report, uint16_t len) {
ds5_instance_t* ins = get_ds5_instance(d);
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ ins->input_valid = false;
+ if (report == NULL || len != 78 || !ds5_bridge_crc_valid(report, len, 0xa1))
+ return;
+#endif
// Don't process reports until state is ready. Prevents possible div-by-0 on calibration
// and ignores other warnings.
if (ins->state != DS5_STATE_READY)
@@ -617,12 +691,12 @@
ctl->gamepad.buttons |= BUTTON_THUMB_R; // Thumb R
if (r->buttons[2] & 0x01)
ctl->gamepad.misc_buttons |= MISC_BUTTON_SYSTEM; // PS
@ -558,7 +738,7 @@ diff --git a/src/components/bluepad32/parser/uni_hid_parser_ds5.c b/src/componen
int32_t calib_data =
mult_frac(ins->gyro_calib_data[i].sens_numer, raw_data, ins->gyro_calib_data[i].sens_denom);
ctl->gamepad.gyro[i] = calib_data;
@@ -630,7 +630,7 @@
@@ -630,12 +704,29 @@
// Accel
for (size_t i = 0; i < ARRAY_SIZE(r->accel); i++) {
@ -567,6 +747,119 @@ diff --git a/src/components/bluepad32/parser/uni_hid_parser_ds5.c b/src/componen
int32_t calib_data =
mult_frac(ins->accel_calib_data[i].sens_numer, raw_data, ins->accel_calib_data[i].sens_denom);
ctl->gamepad.accel[i] = calib_data;
}
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ ins->input_valid = true;
+ if (++ins->bridge.report_sequence == 0)
+ ++ins->bridge.report_sequence;
+ const uint32_t timestamp = r->sensor_timestamp;
+ const uint32_t delta = timestamp - ins->sensor_timestamp;
+ ins->bridge.motion_valid = false;
+ if (!ins->have_sensor_timestamp || (delta != 0 && delta < 0x80000000u)) {
+ ins->sensor_timestamp = timestamp;
+ ins->have_sensor_timestamp = true;
+ if (ins->calibration_valid) {
+ if (++ins->bridge.motion_sequence == 0)
+ ++ins->bridge.motion_sequence;
+ ins->bridge.motion_valid = true;
+ }
+ }
+#endif
// Value goes from 0 to 10. Make it from 0 to 250.
// The +1 is to avoid having a value of 0, which means "battery unavailable".
ctl->battery = (r->status & DS5_STATUS_BATTERY_CAPACITY) * 25 + 1;
@@ -721,6 +812,69 @@
}
}
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+static void on_ds5_bridge_rumble_off(btstack_timer_source_t* timer) {
+ uni_hid_device_t* d = timer->context;
+ ds5_instance_t* ins = get_ds5_instance(d);
+ if (uni_hid_parser_ds5_bridge_rumble(d, 0, 0, 0))
+ return;
+ if ((int32_t)(btstack_run_loop_get_time_ms() - ins->bridge_stop_deadline_ms) >= 0) {
+ // A stuck output path must not leave a live vibrating connection.
+ // Disconnect preserves its bond; lifecycle teardown retires this timer.
+ uni_hid_device_disconnect(d);
+ return;
+ }
+ btstack_run_loop_set_timer(timer, 5);
+ btstack_run_loop_add_timer(timer);
+}
+
+bool uni_hid_parser_ds5_bridge_rumble(uni_hid_device_t* d, uint16_t duration_ms,
+ uint8_t right, uint8_t left) {
+ if (d == NULL || d->report_parser.setup != uni_hid_parser_ds5_setup || duration_ms > 1000)
+ return false;
+ ds5_instance_t* ins = get_ds5_instance(d);
+ if (ins->state != DS5_STATE_READY || d->conn.interrupt_cid == 0 ||
+ !l2cap_can_send_packet_now(d->conn.interrupt_cid))
+ return false;
+ ds5_output_report_t out = {
+ .valid_flag0 = DS5_FLAG0_HAPTICS_SELECT,
+ .motor_right = duration_ms == 0 ? 0 : right,
+ .motor_left = duration_ms == 0 ? 0 : left,
+ };
+ if (ins->use_vibration2)
+ out.valid_flag2 |= DS5_FLAG2_COMPATIBLE_VIBRATION2;
+ else
+ out.valid_flag0 |= DS5_FLAG0_COMPATIBLE_VIBRATION;
+ ds5_prepare_output_report(d, &out);
+ // Never put a timed ON packet in the generic FIFO. A later retry evaluates
+ // the current cue phase; it cannot drain a backlog of expired vibration.
+ if (l2cap_send(d->conn.interrupt_cid, (uint8_t*)&out, sizeof(out)) != ERROR_CODE_SUCCESS)
+ return false;
+ btstack_run_loop_remove_timer(&ins->rumble_timer_delayed_start);
+ btstack_run_loop_remove_timer(&ins->rumble_timer_duration);
+ ins->rumble_state = duration_ms == 0 ? DS5_STATE_RUMBLE_DISABLED : DS5_STATE_RUMBLE_IN_PROGRESS;
+ if (duration_ms != 0) {
+ ins->bridge_stop_deadline_ms = btstack_run_loop_get_time_ms() + duration_ms + 2000;
+ ins->rumble_timer_duration.context = d;
+ ins->rumble_timer_duration.process = on_ds5_bridge_rumble_off;
+ btstack_run_loop_set_timer(&ins->rumble_timer_duration, duration_ms);
+ btstack_run_loop_add_timer(&ins->rumble_timer_duration);
+ }
+ return true; // Source transport submission, never an application ACK.
+}
+
+void uni_hid_parser_ds5_bridge_teardown(uni_hid_device_t* d) {
+ if (d == NULL || d->report_parser.setup != uni_hid_parser_ds5_setup)
+ return;
+ ds5_instance_t* ins = get_ds5_instance(d);
+ btstack_run_loop_remove_timer(&ins->rumble_timer_delayed_start);
+ btstack_run_loop_remove_timer(&ins->rumble_timer_duration);
+ ins->rumble_state = DS5_STATE_RUMBLE_DISABLED;
+ ins->input_valid = false;
+ ins->bridge.motion_valid = false;
+}
+#endif
+
void uni_hid_parser_ds5_device_dump(uni_hid_device_t* d) {
ds5_instance_t* ins = get_ds5_instance(d);
logi("\tDS5: FW version: %#x, HW version: %#x, update version: %#x, use vibration2: %d\n", ins->fw_version,
@@ -734,7 +888,7 @@
return (ds5_instance_t*)&d->parser_data[0];
}
-static void ds5_send_output_report(uni_hid_device_t* d, ds5_output_report_t* out) {
+static void ds5_prepare_output_report(uni_hid_device_t* d, ds5_output_report_t* out) {
ds5_instance_t* ins = get_ds5_instance(d);
out->transaction_type = (HID_MESSAGE_TYPE_DATA << 4) | HID_REPORT_TYPE_OUTPUT;
@@ -748,7 +902,10 @@
ins->output_seq = 0;
out->crc32 = ~uni_crc32_le(0xffffffff, (uint8_t*)out, sizeof(*out) - 4);
-
+}
+
+static void ds5_send_output_report(uni_hid_device_t* d, ds5_output_report_t* out) {
+ ds5_prepare_output_report(d, out);
uni_hid_device_send_intr_report(d, (uint8_t*)out, sizeof(*out));
}
diff --git a/src/components/bluepad32/parser/uni_hid_parser_psmove.c b/src/components/bluepad32/parser/uni_hid_parser_psmove.c
--- a/src/components/bluepad32/parser/uni_hid_parser_psmove.c
+++ b/src/components/bluepad32/parser/uni_hid_parser_psmove.c
@ -2939,7 +3232,7 @@ diff --git a/src/components/bluepad32/uni_hid_device.c b/src/components/bluepad3
#include "parser/uni_hid_parser_wii.h"
#include "parser/uni_hid_parser_xboxone.h"
#include "platform/uni_platform.h"
@@ -447,6 +448,13 @@
@@ -447,6 +448,17 @@
return;
}
@ -2949,11 +3242,15 @@ diff --git a/src/components/bluepad32/uni_hid_device.c b/src/components/bluepad3
+ uni_hid_parser_switch2_teardown(d);
+ if (d->report_parser.setup == uni_hid_parser_wii_setup)
+ uni_hid_parser_wii_teardown(d);
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (d->report_parser.setup == uni_hid_parser_ds5_setup)
+ uni_hid_parser_ds5_bridge_teardown(d);
+#endif
+
// Disconnect child first
if (d->child)
uni_hid_device_disconnect(d->child);
@@ -465,9 +473,9 @@
@@ -465,9 +477,9 @@
// Cleanup
if (!uni_hid_device_is_virtual_device(d)) {
type = gap_get_connection_type(d->conn.handle);
@ -2965,7 +3262,7 @@ diff --git a/src/components/bluepad32/uni_hid_device.c b/src/components/bluepad3
uni_bt_bredr_disconnect(d);
else
loge("uni_hid_device_disconnect: Unknown GAP connection type: %d\n", type);
@@ -490,6 +498,13 @@
@@ -490,6 +502,17 @@
loge("uni_hid_device_delete: invalid hid device: NULL\n");
return;
}
@ -2975,11 +3272,15 @@ diff --git a/src/components/bluepad32/uni_hid_device.c b/src/components/bluepad3
+ uni_hid_parser_switch2_teardown(d);
+ if (d->report_parser.setup == uni_hid_parser_wii_setup)
+ uni_hid_parser_wii_teardown(d);
+#if SWITCH2_BRIDGE_DUALSENSE_INPUT
+ if (d->report_parser.setup == uni_hid_parser_ds5_setup)
+ uni_hid_parser_ds5_bridge_teardown(d);
+#endif
+
// Delete child first
if (d->child)
@@ -655,6 +670,7 @@
@@ -655,6 +678,7 @@
d->report_parser.setup = uni_hid_parser_psmove_setup;
d->report_parser.init_report = uni_hid_parser_psmove_init_report;
d->report_parser.parse_input_report = uni_hid_parser_psmove_parse_input_report;
@ -2987,7 +3288,7 @@ diff --git a/src/components/bluepad32/uni_hid_device.c b/src/components/bluepad3
d->report_parser.set_lightbar_color = uni_hid_parser_psmove_set_lightbar_color;
d->report_parser.play_dual_rumble = uni_hid_parser_psmove_play_dual_rumble;
logi("Device detected as PS Move: 0x%02x\n", type);
@@ -718,6 +734,15 @@
@@ -718,6 +742,15 @@
d->report_parser.device_dump = uni_hid_parser_switch_device_dump;
logi("Device detected as Nintendo Switch Pro controller: 0x%02x\n", type);
break;
@ -3003,7 +3304,7 @@ diff --git a/src/components/bluepad32/uni_hid_device.c b/src/components/bluepad3
case CONTROLLER_TYPE_SteamController:
d->report_parser.setup = uni_hid_parser_steam_setup;
d->report_parser.init_report = uni_hid_parser_steam_init_report;
@@ -809,7 +834,11 @@
@@ -809,7 +842,11 @@
return;
}