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Add stateful HD-rumble decoder with TinyUSB report normalization

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Decode Nintendo HD-rumble words once in firmware into conventional low/high magnitudes and normalize stripped control SET_REPORT vs complete interrupt OUT reports through one path.
This commit is contained in:
Joey Yakimowich-Payne 2026-08-29 22:12:24 -06:00
commit bce94d38ce
21 changed files with 902 additions and 180 deletions
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50
bluepad32_input_backend.cpp
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@ -2,7 +2,6 @@
#include <limits.h>
#include <stddef.h>
#include <string.h>
#include <btstack_run_loop.h>
#include <pico/critical_section.h>
@ -23,10 +22,6 @@ constexpr uint16_t kRumbleDurationMs = 50;
constexpr uint32_t kRumblePollIntervalMs = 5;
constexpr uint kRumbleQueueDepth = 8;
struct RumblePacket {
uint8_t bytes[8];
};
critical_section_t g_state_lock;
queue_t g_rumble_queue;
SwitchInputState g_shared_state;
@ -172,28 +167,9 @@ SwitchInputState map_gamepad(const uni_gamepad_t& gamepad) {
return state;
}
void decode_rumble(const uint8_t bytes[8], uint8_t* left_magnitude, uint8_t* right_magnitude) {
static constexpr uint8_t kNeutralPacket[8] = {0x00, 0x01, 0x40, 0x40, 0x00, 0x01, 0x40, 0x40};
if (memcmp(bytes, kNeutralPacket, sizeof(kNeutralPacket)) == 0) {
*left_magnitude = 0;
*right_magnitude = 0;
return;
}
uint16_t right_raw = static_cast<uint16_t>(((bytes[1] & 0x03) << 8) | bytes[0]);
uint16_t left_raw = static_cast<uint16_t>(((bytes[5] & 0x03) << 8) | bytes[4]);
if (left_raw < 8 && right_raw < 8) {
left_raw = 0;
right_raw = 0;
}
*left_magnitude = static_cast<uint8_t>((left_raw * UINT8_MAX + 511) / 1023);
*right_magnitude = static_cast<uint8_t>((right_raw * UINT8_MAX + 511) / 1023);
}
void process_rumble_timer(btstack_timer_source_t* timer) {
RumblePacket packet{};
RumblePacket latest{};
SwitchRumbleOutput packet{};
SwitchRumbleOutput latest{};
bool have_packet = false;
while (queue_try_remove(&g_rumble_queue, &packet)) {
latest = packet;
@ -202,13 +178,9 @@ void process_rumble_timer(btstack_timer_source_t* timer) {
if (have_packet && g_active_device != nullptr &&
g_active_device->report_parser.play_dual_rumble != nullptr) {
uint8_t left_magnitude = 0;
uint8_t right_magnitude = 0;
decode_rumble(latest.bytes, &left_magnitude, &right_magnitude);
// Bluepad orders the weak (high-frequency) motor before the strong
// (low-frequency) motor; the project decoder names those right/left.
g_active_device->report_parser.play_dual_rumble(
g_active_device, 0, kRumbleDurationMs, right_magnitude, left_magnitude);
g_active_device, 0, kRumbleDurationMs,
latest.high_frequency_magnitude, latest.low_frequency_magnitude);
}
btstack_run_loop_set_timer(timer, kRumblePollIntervalMs);
@ -337,7 +309,7 @@ void bluepad32_input_backend_init() {
}
critical_section_init(&g_state_lock);
queue_init(&g_rumble_queue, sizeof(RumblePacket), kRumbleQueueDepth);
queue_init(&g_rumble_queue, sizeof(SwitchRumbleOutput), kRumbleQueueDepth);
g_shared_state = make_neutral_state();
g_shared_controller_active = false;
g_shared_generation = 0;
@ -387,16 +359,14 @@ void bluepad32_input_backend_report_sent() {
g_consumed_generation = g_last_snapshot_generation;
}
void bluepad32_input_backend_queue_rumble(const uint8_t rumble[8]) {
if (!g_initialized || rumble == nullptr) {
void bluepad32_input_backend_queue_rumble(const SwitchRumbleOutput& rumble) {
if (!g_initialized) {
return;
}
RumblePacket packet{};
memcpy(packet.bytes, rumble, sizeof(packet.bytes));
if (!queue_try_add(&g_rumble_queue, &packet)) {
RumblePacket discarded{};
if (!queue_try_add(&g_rumble_queue, &rumble)) {
SwitchRumbleOutput discarded{};
(void)queue_try_remove(&g_rumble_queue, &discarded);
(void)queue_try_add(&g_rumble_queue, &packet);
(void)queue_try_add(&g_rumble_queue, &rumble);
}
}