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feat: coordinate native rumble with deadline-aware scheduling

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Joey Yakimowich-Payne 2026-09-06 15:12:06 -06:00
commit dcc97e05ba
28 changed files with 1079 additions and 106 deletions
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24
README.md
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@ -363,13 +363,23 @@ states refresh at 40 ms. XInput uses held low/left-160-Hz and high/right-320-Hz
effects until explicitly stopped. Standalone Joy-Cons downmix each band by
dominant amplitude, choosing left on ties; logical Joy-Con pairing is not added.
Nintendo and DualSense native sends share a fixed-capacity **deadline-aware
host scheduler**. Real stop transitions take priority, pending packets use
earliest-deadline order with rotating ties, and earlier periodic deadlines
protect the last available controller ACL credit. Grants and releases are
connection-generation-bound; LED handoffs and reconnects do not retain stale
permissions. This schedules HCI submission, not the radio's on-air slots.
The standard firmware does **not** disable Bluetooth sniff/power-saving mode.
**Qualification is incomplete.** The optimized Pro-only build passed 1,025
distinct commands at 125 Hz with no loss or congestion. Separate held-state
testing coalesced 505 of 513 commands into eight state changes plus refreshes,
also without loss; the user confirmed both actuators, both bands and clean
stops. Mixed held-effect traffic also passed at approximately 125 Hz per
controller. Continuously changing both streams at that rate still loses Pro
commands and DualSense audio slots; transport experiments remain unqualified.
stops. On the final deadline-scheduler build, a 16.6-second mixed held-effect
test received 2,049 commands per controller with no Pro command drops and one
DualSense audio-slot skip. This result was accepted for the current setup.
Continuously changing both streams at 125 Hz still loses Pro commands and
DualSense audio slots; lossless high-rate transport is not claimed.
Joy-Con hardware, four-controller operation, captured game effects and physical
actuator timing are not qualified by the native regression suite. See
[SWITCH_FAMILY_HD_RUMBLE_PLAN.md](SWITCH_FAMILY_HD_RUMBLE_PLAN.md) for the exact
@ -770,15 +780,15 @@ linked binary, not from the larger debug-bearing ELF or UF2 transport file:
| Resource | Used or reserved | Device capacity |
|---|---:|---:|
| Executable flash image | 777,656 bytes | 4 MiB |
| Executable flash image | 786,864 bytes | 4 MiB |
| Indexed profile arenas | 256 KiB | 4 MiB flash |
| Adapter configuration | 8 KiB | 4 MiB flash |
| BTstack bonds | 8 KiB | 4 MiB flash |
| RP2350 terminal sector | 4 KiB | 4 MiB flash |
| Allocated/reserved SRAM, including heap and stacks | 139,344 bytes | 520 KiB |
| Allocated/reserved SRAM, including heap and stacks | 139,616 bytes | 520 KiB |
The executable plus persistent reservations consume 1,060,280 bytes of flash,
leaving 3,134,024 bytes. Allocated SRAM sections leave 393,136 bytes of link-time
The executable plus persistent reservations consume 1,069,488 bytes of flash,
leaving 3,124,816 bytes. Allocated SRAM sections leave 392,864 bytes of link-time
headroom; this is not a runtime heap high-water measurement. Core 0 has a
4 KiB stack, and Core 1 uses a dedicated 16 KiB stack in main SRAM for nested
catalog migration/compaction rather than overflowing its 4 KiB scratch bank.