diff --git a/.gitignore b/.gitignore index b95424e..9990210 100644 --- a/.gitignore +++ b/.gitignore @@ -7,4 +7,9 @@ debug *.egg-info hid-nintendo.c __pycache__ +Nintendo_Switch_Reverse_Engineering +nxbt +hid-nintendo.c +*.png +switch !.vscode/* diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 54aabb9..0000000 --- a/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2025 Joey Yakimowich-Payne - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. \ No newline at end of file diff --git a/README.md b/README.md index 01b46e6..d3bed2e 100644 --- a/README.md +++ b/README.md @@ -15,8 +15,10 @@ Raspberry Pi Pico firmware that emulates a Switch Pro controller over USB and a 5. Connect the Pico to the Switch (dock USB-A or USB-C OTG); the Switch should see it as a wired Pro Controller. ## Planned features +- IMU support for motion controls (gyro/accelerometer passthrough for controllers that support it to the Switch). ## Limitations +- No motion controls/IMU passthrough yet (planned). - No NFC/amiibo/IR support. - Rumble is best-effort: it depends on the Switch sending rumble and SDL2 being able to drive haptics on your specific controller. - Requires a host computer running the bridge; the Pico is not a Bluetooth/USB host for controllers. @@ -186,9 +188,6 @@ Options: - `--swap-abxy-guid GUID` (repeatable) to flip AB/XY for a specific physical controller (GUID is stable across runs). - `--swap-hotkey x` to pick the runtime hotkey that prompts you to toggle ABXY layout for a specific connected controller (default `x`; empty string disables). - `--sdl-mapping path/to/gamecontrollerdb.txt` to load extra SDL mappings (defaults to `switch_pico_bridge/controller_db/gamecontrollerdb.txt`). -- `--debug-imu` to print raw gyroscope and accelerometer readings every ~200ms (useful for verifying sensor data and troubleshooting). -- `--no-imu` to disable sensor reading entirely (useful for controllers without gyro, or if motion causes issues). -- `--gyro-scale FLOAT` to adjust gyroscope sensitivity (default 1.0; reduce below 1.0 if camera rotates too fast; increase above 1.0 for more sensitivity). ### Runtime hotkeys - By default, pressing `z` in the terminal re-samples every connected controller's sticks and re-applies neutral offsets. Change/disable with `--zero-hotkey`. @@ -229,34 +228,6 @@ with SwitchUARTClient("/dev/cu.usbserial-0001") as client: ### Linux tips - You may need udev permissions for `/dev/ttyUSB*`/`/dev/ttyACM*` (add user to `dialout`/`uucp` or use `udev` rules). -## IMU / Motion Controls - -The bridge supports gyroscope and accelerometer passthrough from controllers that have motion sensors (e.g. the Nintendo Switch Pro Controller, DualSense). Motion data is forwarded to the Pico which injects it into the emulated Switch Pro Controller's HID reports. - -### Requirements -- A controller with gyro/accelerometer support (SDL2 must be able to enable sensors on it). -- The Switch will automatically use motion data once the controller is recognised as a Pro Controller. - -### Gyro bias calibration -On startup, the bridge collects the first 200 gyro readings while the controller is stationary and averages them to compute a per-axis bias (zero-rate offset). Gyro output is zeroed during this ~1 second calibration window, then bias is subtracted from all subsequent readings. Keep the controller still when starting the bridge for best results. Use `--no-gyro-bias` to skip calibration and use raw values directly. - -### CLI flags -- `--debug-imu`: Print raw sensor values (m/s² and rad/s) and converted Switch integer counts every ~200ms. Useful for verifying the sensor is detected and producing sensible data. -- `--no-imu`: Disable IMU entirely. The bridge sends zero motion data to the Pico, which sends zero-filled IMU bytes to the Switch. Buttons and sticks are unaffected. -- `--gyro-scale FLOAT` (default 1.0): Multiply all gyro values by this factor before sending. Reduce below 1.0 if the camera moves too fast; increase above 1.0 for more sensitivity. - -### Troubleshooting -- **Gyro not detected**: Run with `--debug-imu`. If no IMU readings appear, SDL2 cannot see sensors on your controller (may not be supported or driver issue). On Linux, the `hid-nintendo` kernel driver routes Pro Controller IMU to a separate evdev device that SDL2 cannot read; use Windows or macOS for gyro passthrough. -- **Wild camera swinging**: Start with `--gyro-scale 0.3` and increase gradually. Ensure the controller is still during the first second of startup (bias calibration). -- **Verifying Pico output**: Use `python tools/read_pro_imu.py --vid 0x057E --pid 0x2009` to read raw IMU bytes directly from the Pico's USB HID output and confirm non-zero values appear. -- **SDL2 accuracy**: SDL2 (version < 2.32.7) has a known inaccuracy bug with Switch Pro Controller gyro data. Updating the SDL2 shared library to 2.32.7 or later improves accuracy. - -## References -- GP2040-CE (controller firmware ecosystem): https://github.com/OpenStickCommunity/GP2040-CE -- nxbt (Switch controller research/tools): https://github.com/Brikwerk/nxbt -- Nintendo Switch Reverse Engineering notes: https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering -- `hid-nintendo` driver reference: https://github.com/DanielOgorchock/linux/blob/ogorchock/drivers/hid/hid-nintendo.c - ## Troubleshooting - **No input on Switch**: verify UART wiring (Pico GPIO4/5), baud matches both sides, Pico flashed with current firmware, and `Pro Controller Wired Communication` is enabled on the Switch. - **Constant buzzing rumble**: the bridge filters small rumble payloads; ensure baud isn’t dropping bytes. Try lowering rumble scale in `switch_pico_bridge.controller_uart_bridge` if needed. diff --git a/gyro_support_plan.md b/gyro_support_plan.md new file mode 100644 index 0000000..8015b19 --- /dev/null +++ b/gyro_support_plan.md @@ -0,0 +1,49 @@ +# Gyro Support Plan + +## Checklist +- [x] Review current UART input/rumble plumbing (`switch-pico.cpp` and `controller_uart_bridge.py`) to confirm the existing 0xAA input frame (buttons/hat/sticks) and 0xBB rumble return path. +- [x] Map the current firmware IMU hooks (`switch_pro_driver.cpp`/`switch_pro_descriptors.h` `imuData` field, `is_imu_enabled` flag, report construction cadence) and note where IMU payloads should be injected. +- [x] Pull expected IMU packet format, sample cadence (3 samples/report), and unit scaling from references: `Nintendo_Switch_Reverse_Engineering/imu_sensor_notes.md`, `hid-nintendo.c`, and NXBT (`nxbt/controller/protocol.py`). +- [x] Examine GP2040-CE’s motion implementation (e.g., `GP2040-CE/src/addons/imu` and Switch report handling) for framing, calibration defaults, and rate control patterns to reuse. +- [x] Decide on UART motion framing: header/length/checksum scheme, sample packing (likely 3 samples of accel+gyro int16 LE), endian/order, and compatibility with existing 8-byte frames (avoid breaking current host builds). +- [ ] Define Switch-facing IMU payload layout inside `SwitchProReport` (axis order, sign conventions, zero/neutral sample) and ensure it matches the reverse-engineered descriptors. +- [ ] Add firmware-side data structures/buffers for incoming IMU samples (triple-buffer if mirroring Joy-Con 3-sample bursts) and default zeroing when IMU is disabled/missing. +- [ ] Extend UART parser in `switch-pico.cpp` to accept the new motion frame(s), validate checksum, and stash samples atomically alongside button state. +- [ ] Gate IMU injection on the host’s `TOGGLE_IMU` feature flag (`is_imu_enabled`) and ensure reports carry motion data only when enabled; default to zeros otherwise. +- [ ] Apply calibration/scaling constants: choose defaults from references (e.g., 0.06103 dps/LSB gyro, accel per imu_sensor_notes) and document where to adjust for sensor-specific offsets. +- [ ] Update host bridge to enable SDL sensor support (`SDL_GameControllerSetSensorEnabled`, `SDL_CONTROLLERAXIS` vs sensor events) and capture gyro (and accel if needed) at the required rate. +- [ ] Buffer and pack host IMU readings into the agreed UART motion frame, including timestamping/rate smoothing so the firmware sees stable 200 Hz-ish samples (3 per 5 ms report). +- [ ] Keep backward compatibility: allow running without IMU-capable controllers (send zero motion) and keep rumble unchanged. +- [ ] Add logging/metrics: lightweight counters for dropped/late IMU frames and a debug toggle to inspect raw samples. +- [ ] Test matrix: host-only sensor capture sanity check; loopback UART frame validator; firmware USB capture with Switch (or nxbt PC host) verifying IMU report contents and that `TOGGLE_IMU` on/off behaves; regression check that buttons/rumble remain stable. + +## Findings to date +- Firmware: `SwitchProReport.imuData[36]` exists but is always zero; `is_imu_enabled` is set only via `TOGGLE_IMU` feature report; `switch_pro_task` always sends `switch_report`, so IMU injection should happen before the memcmp/send path. +- IMU payload layout (standard 0x30/31/32/33): bytes 13-24 are accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (all Int16 LE); bytes 25-48 repeat two more samples (3 samples total, ~5 ms apart). Matches `imuData[36]` size and `hid-nintendo.c` parsing (`imu_raw_bytes` split into 3 `joycon_imu_data` structs). +- Scaling from references: accel ≈ 0.000244 G/LSB (±8000 mG), gyro ≈ 0.06103 dps/LSB (±2000 dps) or 0.070 dps/LSB with ST’s +15% headroom; Switch internally also uses rev/s conversions. Typical packet cadence ~15 ms with 3 samples (≈200 Hz sampling). +- NXBT reference: only injects IMU when `imu_enabled` flag is true; drops a 36-byte sample block at offset 14 (0-based) in the report. Example data is static; good for offset confirmation. +- GP2040-CE reference: Switch Pro driver mirrors this project—`imuData` zeroed, no motion handling yet. No reusable IMU framing, but report/keepalive cadence matches. + +## UART IMU framing decision (breaking change OK) +- New host→Pico frame (versioned) replaces the old 8-byte 0xAA packet: + - Byte0: `0xAA` header + - Byte1: `0x02` version + - Byte2: `payload_len` (44 for the layout below) + - Byte3-4: buttons LE (same masks as before) + - Byte5: hat + - Byte6-9: sticks `lx, ly, rx, ry` (0-255 as before) + - Byte10: `imu_sample_count` (host should send 3; firmware may accept 0-3) + - Byte11-46: IMU samples, 3 blocks of 12 bytes each: + - For sample i: `accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z` (all int16 LE, Pro Controller axis/sign convention) + - Byte47: checksum = (sum of bytes 0 through the last payload byte) & 0xFF +- Host behavior: always populate 3 samples per packet (~200 Hz, 5 ms spacing) with reference/default scaling; send zeros and `imu_sample_count=0` if IMU unavailable/disabled. Buttons/sticks unchanged. +- Firmware behavior: parse the new frame, validate `payload_len` and checksum, then atomically store button/stick plus up to `imu_sample_count` samples. If `is_imu_enabled` is true, copy samples into `switch_report.imuData` in the 3× sample layout; otherwise zero the IMU block. +- Axis orientation: match Pro Controller orientation (no additional flips beyond standard report ordering). + +## Open Questions +- All answered: + - Include both accelerometer and gyro (full IMU). + - Reference/default scaling is acceptable (no per-device calibration). + - Mirror 3-sample bursts (~200 Hz, 5 ms spacing). + - Use Pro Controller axis orientation/sign. + - Breaking UART framing change is acceptable (use the versioned packet above). diff --git a/pyproject.toml b/pyproject.toml index 9f8a3df..2fcf4e5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,7 +11,7 @@ requires-python = ">=3.9" authors = [{ name = "Switch Pico Maintainers" }] dependencies = [ "pyserial", - "PySDL3", + "pysdl2", "rich", ] diff --git a/src/switch_pico_bridge/controller_uart_bridge.py b/src/switch_pico_bridge/controller_uart_bridge.py index c1db5b1..280601a 100644 --- a/src/switch_pico_bridge/controller_uart_bridge.py +++ b/src/switch_pico_bridge/controller_uart_bridge.py @@ -16,18 +16,18 @@ Features inspired by ``host/controller_bridge.py``: from __future__ import annotations import argparse -import ctypes import os import sys import time import urllib.request from dataclasses import dataclass, field -from ctypes import create_string_buffer +from ctypes import create_string_buffer, c_float from pathlib import Path from typing import Dict, List, Optional, Tuple from serial import SerialException -import sdl3 +import sdl2 +import sdl2.ext from rich.console import Console from rich.prompt import Prompt from rich.table import Table @@ -36,8 +36,6 @@ from .switch_pico_uart import ( UART_BAUD, MS2_PER_G, RAD_TO_DEG, - ACCEL_LSB_PER_G, - GYRO_LSB_PER_RAD_S, SENSOR_ACCEL, SENSOR_GYRO, IMU_SAMPLES_PER_REPORT, @@ -58,9 +56,12 @@ RUMBLE_STUCK_TIMEOUT = 0.60 # continuous same-energy rumble will be stopped aft RUMBLE_MIN_ACTIVE = 0.40 # below this, rumble is treated as off/noise RUMBLE_SCALE = 1.0 CONTROLLER_DB_URL_DEFAULT = "https://raw.githubusercontent.com/mdqinc/SDL_GameControllerDB/refs/heads/master/gamecontrollerdb.txt" -SDL_TRUE = True -SDL_EVENT_GAMEPAD_SENSOR_UPDATE = getattr(sdl3, "SDL_EVENT_GAMEPAD_SENSOR_UPDATE", 0x658) + +SDL_TRUE = getattr(sdl2, "SDL_TRUE", 1) +SDL_CONTROLLERSENSORUPDATE = getattr(sdl2, "SDL_CONTROLLERSENSORUPDATE", 0x658) GYRO_BIAS_SAMPLES = 200 +GYRO_DEADZONE_COUNTS = 0 +# Keep a small window of IMU samples to pack into the next report IMU_BUFFER_SIZE = 32 @@ -121,41 +122,41 @@ def parse_hotkey(value: str) -> str: def set_hint(name: str, value: str) -> None: - """Set an SDL hint safely even if the constant is missing.""" + """Set an SDL hint safely even if the constant is missing in PySDL2.""" try: - sdl3.SDL_SetHint(name.encode(), value.encode()) + sdl2.SDL_SetHint(name.encode(), value.encode()) except Exception: pass BUTTON_MAP = { # Direct mapping to the Switch PRO mask definitions in switch_pro_descriptors.h - sdl3.SDL_GAMEPAD_BUTTON_SOUTH: SwitchButton.B, - sdl3.SDL_GAMEPAD_BUTTON_EAST: SwitchButton.A, - sdl3.SDL_GAMEPAD_BUTTON_WEST: SwitchButton.Y, - sdl3.SDL_GAMEPAD_BUTTON_NORTH: SwitchButton.X, - sdl3.SDL_GAMEPAD_BUTTON_LEFT_SHOULDER: SwitchButton.L, - sdl3.SDL_GAMEPAD_BUTTON_RIGHT_SHOULDER: SwitchButton.R, - sdl3.SDL_GAMEPAD_BUTTON_BACK: SwitchButton.MINUS, - sdl3.SDL_GAMEPAD_BUTTON_START: SwitchButton.PLUS, - sdl3.SDL_GAMEPAD_BUTTON_GUIDE: SwitchButton.HOME, - sdl3.SDL_GAMEPAD_BUTTON_MISC1: SwitchButton.CAPTURE, - sdl3.SDL_GAMEPAD_BUTTON_LEFT_STICK: SwitchButton.LCLICK, - sdl3.SDL_GAMEPAD_BUTTON_RIGHT_STICK: SwitchButton.RCLICK, + sdl2.SDL_CONTROLLER_BUTTON_A: SwitchButton.A, + sdl2.SDL_CONTROLLER_BUTTON_B: SwitchButton.B, + sdl2.SDL_CONTROLLER_BUTTON_X: SwitchButton.X, + sdl2.SDL_CONTROLLER_BUTTON_Y: SwitchButton.Y, + sdl2.SDL_CONTROLLER_BUTTON_LEFTSHOULDER: SwitchButton.L, + sdl2.SDL_CONTROLLER_BUTTON_RIGHTSHOULDER: SwitchButton.R, + sdl2.SDL_CONTROLLER_BUTTON_BACK: SwitchButton.MINUS, + sdl2.SDL_CONTROLLER_BUTTON_START: SwitchButton.PLUS, + sdl2.SDL_CONTROLLER_BUTTON_GUIDE: SwitchButton.HOME, + sdl2.SDL_CONTROLLER_BUTTON_MISC1: SwitchButton.CAPTURE, + sdl2.SDL_CONTROLLER_BUTTON_LEFTSTICK: SwitchButton.LCLICK, + sdl2.SDL_CONTROLLER_BUTTON_RIGHTSTICK: SwitchButton.RCLICK, } DPAD_BUTTONS = { - sdl3.SDL_GAMEPAD_BUTTON_DPAD_UP: "up", - sdl3.SDL_GAMEPAD_BUTTON_DPAD_DOWN: "down", - sdl3.SDL_GAMEPAD_BUTTON_DPAD_LEFT: "left", - sdl3.SDL_GAMEPAD_BUTTON_DPAD_RIGHT: "right", + sdl2.SDL_CONTROLLER_BUTTON_DPAD_UP: "up", + sdl2.SDL_CONTROLLER_BUTTON_DPAD_DOWN: "down", + sdl2.SDL_CONTROLLER_BUTTON_DPAD_LEFT: "left", + sdl2.SDL_CONTROLLER_BUTTON_DPAD_RIGHT: "right", } STICK_AXIS_LABELS = ( - (sdl3.SDL_GAMEPAD_AXIS_LEFTX, "LX"), - (sdl3.SDL_GAMEPAD_AXIS_LEFTY, "LY"), - (sdl3.SDL_GAMEPAD_AXIS_RIGHTX, "RX"), - (sdl3.SDL_GAMEPAD_AXIS_RIGHTY, "RY"), + (sdl2.SDL_CONTROLLER_AXIS_LEFTX, "LX"), + (sdl2.SDL_CONTROLLER_AXIS_LEFTY, "LY"), + (sdl2.SDL_CONTROLLER_AXIS_RIGHTX, "RX"), + (sdl2.SDL_CONTROLLER_AXIS_RIGHTY, "RY"), ) STICK_AXES = tuple(axis for axis, _ in STICK_AXIS_LABELS) @@ -200,26 +201,26 @@ def interactive_pairing( return mappings -def apply_rumble(controller: sdl3.SDL_Gamepad, payload: bytes) -> float: +def apply_rumble(controller: sdl2.SDL_GameController, payload: bytes) -> float: """Apply rumble payload to SDL controller and return max normalized energy.""" left_norm, right_norm = decode_rumble(payload) max_norm = max(left_norm, right_norm) # Treat small rumble as "off" to avoid idle buzz. if max_norm < RUMBLE_MIN_ACTIVE: - sdl3.SDL_RumbleGamepad(controller, 0, 0, 0) + sdl2.SDL_GameControllerRumble(controller, 0, 0, 0) return 0.0 # Attenuate to feel closer to a real controller; cap at ~25% strength. scale = RUMBLE_SCALE low = int(min(1.0, left_norm * scale) * 0xFFFF) # SDL: low_frequency_rumble high = int(min(1.0, right_norm * scale) * 0xFFFF) # SDL: high_frequency_rumble duration = 10 - sdl3.SDL_RumbleGamepad(controller, low, high, duration) + sdl2.SDL_GameControllerRumble(controller, low, high, duration) return max_norm @dataclass class ControllerContext: - controller: sdl3.SDL_Gamepad + controller: sdl2.SDL_GameController instance_id: int controller_index: int stable_id: str @@ -245,7 +246,6 @@ class ControllerContext: last_rumble_energy: float = 0.0 rumble_active: bool = False axis_offsets: Dict[int, int] = field(default_factory=dict) - swap_abxy: bool = False sensors_supported: bool = False sensors_enabled: bool = False imu_samples: List[IMUSample] = field(default_factory=list) @@ -258,11 +258,11 @@ class ControllerContext: last_debug_imu_print: float = 0.0 -def capture_stick_offsets(controller: sdl3.SDL_Gamepad) -> Dict[int, int]: +def capture_stick_offsets(controller: sdl2.SDL_GameController) -> Dict[int, int]: """Sample the current stick axes so they can be treated as the neutral center.""" offsets: Dict[int, int] = {} for axis in STICK_AXES: - offsets[axis] = int(sdl3.SDL_GetGamepadAxis(controller, axis)) + offsets[axis] = int(sdl2.SDL_GameControllerGetAxis(controller, axis)) return offsets @@ -283,53 +283,6 @@ def calibrate_axis_value(value: int, axis: int, ctx: ControllerContext) -> int: return max(-32768, min(32767, value - offset)) -def clamp_int16(value: float) -> int: - return int(max(-32768.0, min(32767.0, round(value)))) - - -def convert_accel_to_raw(m_s2: float) -> int: - return clamp_int16((m_s2 / MS2_PER_G) * ACCEL_LSB_PER_G) - - -def convert_gyro_to_raw(rad_s: float, scale: float = 1.0) -> int: - return clamp_int16(rad_s * GYRO_LSB_PER_RAD_S * scale) - - -def initialize_controller_sensors(ctx: ControllerContext, console: Console) -> None: - """Enable SDL accelerometer and gyroscope on the controller if available.""" - if not all( - hasattr(sdl3, name) - for name in ( - "SDL_GamepadHasSensor", - "SDL_SetGamepadSensorEnabled", - "SDL_GetGamepadSensorData", - ) - ): - ctx.sensors_supported = False - ctx.sensors_enabled = False - return - if SENSOR_ACCEL is None or SENSOR_GYRO is None: - ctx.sensors_supported = False - return - accel_ok = bool(sdl3.SDL_GamepadHasSensor(ctx.controller, SENSOR_ACCEL)) - gyro_ok = bool(sdl3.SDL_GamepadHasSensor(ctx.controller, SENSOR_GYRO)) - ctx.sensors_supported = accel_ok and gyro_ok - if not ctx.sensors_supported: - console.print( - f"[yellow]Controller {ctx.controller_index} has no accelerometer/gyro sensors[/yellow]" - ) - return - accel_enabled = sdl3.SDL_SetGamepadSensorEnabled( - ctx.controller, SENSOR_ACCEL, SDL_TRUE - ) - gyro_enabled = sdl3.SDL_SetGamepadSensorEnabled(ctx.controller, SENSOR_GYRO, SDL_TRUE) - ctx.sensors_enabled = accel_enabled and gyro_enabled - if not ctx.sensors_enabled: - console.print( - f"[yellow]Controller {ctx.controller_index} failed to enable sensors[/yellow]" - ) - - class HotkeyMonitor: """Platform-aware helper that watches for configured hotkeys without blocking the main loop.""" @@ -380,10 +333,9 @@ class HotkeyMonitor: import termios import tty - fd = sys.stdin.fileno() - self._fd = fd - self._orig_termios = termios.tcgetattr(fd) - tty.setcbreak(fd) + self._fd = sys.stdin.fileno() + self._orig_termios = termios.tcgetattr(self._fd) + tty.setcbreak(self._fd) self._active = True self._started = True self._print_instructions() @@ -450,12 +402,8 @@ class HotkeyMonitor: def _read_key(self) -> Optional[str]: if self._platform == "nt": - if self._msvcrt is None: - return None - kbhit = getattr(self._msvcrt, "kbhit", None) - getwch = getattr(self._msvcrt, "getwch", None) - if callable(kbhit) and callable(getwch) and kbhit(): - ch = str(getwch()) + if self._msvcrt and self._msvcrt.kbhit(): + ch = self._msvcrt.getwch() if ch == "\x03": raise KeyboardInterrupt return ch @@ -498,7 +446,7 @@ def zero_all_context_sticks( def controller_display_name(ctx: ControllerContext) -> str: """Return a human-readable controller name.""" - name = sdl3.SDL_GetGamepadName(ctx.controller) + name = sdl2.SDL_GameControllerName(ctx.controller) if not name: return "Unknown" if isinstance(name, bytes): @@ -515,9 +463,12 @@ def toggle_abxy_for_context( "[yellow]Global --swap-abxy is enabled; disable it to use per-controller toggles.[/yellow]" ) return - swapped = ctx.swap_abxy + swapped = ctx.stable_id in config.swap_abxy_ids action = "standard" if swapped else "swapped" - ctx.swap_abxy = not swapped + if swapped: + config.swap_abxy_ids.discard(ctx.stable_id) + else: + config.swap_abxy_ids.add(ctx.stable_id) console.print( f"[cyan]Controller {ctx.controller_index} ({controller_display_name(ctx)}, inst {ctx.instance_id}) now using {action} ABXY layout.[/cyan]" ) @@ -546,7 +497,7 @@ def prompt_swap_abxy_controller( table.add_column("GUID") table.add_column("Layout", justify="center") for idx, ctx in enumerate(controllers): - swapped = config.swap_abxy_global or ctx.swap_abxy + swapped = config.swap_abxy_global or (ctx.stable_id in config.swap_abxy_ids) state = "Swapped" if swapped else "Standard" if config.swap_abxy_global: state += " (global)" @@ -578,15 +529,15 @@ def prompt_swap_abxy_controller( toggle_abxy_for_context(ctx, config, console) -def open_controller(instance_id: int) -> Tuple[sdl3.SDL_Gamepad, int, str]: +def open_controller(index: int) -> Tuple[sdl2.SDL_GameController, int, str]: """Open an SDL GameController by index and return it with instance ID and GUID string.""" - controller = sdl3.SDL_OpenGamepad(instance_id) + controller = sdl2.SDL_GameControllerOpen(index) if not controller: raise RuntimeError( - f"Failed to open controller {instance_id}: {sdl3.SDL_GetError().decode()}" + f"Failed to open controller {index}: {sdl2.SDL_GetError().decode()}" ) - joystick = sdl3.SDL_GetGamepadJoystick(controller) - instance_id = sdl3.SDL_GetJoystickID(joystick) + joystick = sdl2.SDL_GameControllerGetJoystick(controller) + instance_id = sdl2.SDL_JoystickInstanceID(joystick) guid_str = guid_string_from_joystick(joystick) return controller, instance_id, guid_str @@ -599,19 +550,19 @@ def try_open_uart(port: str, baud: int) -> Optional[PicoUART]: return None -def guid_string_from_joystick(joystick: sdl3.SDL_Joystick) -> str: +def guid_string_from_joystick(joystick: sdl2.SDL_Joystick) -> str: """Return a GUID string for an already-open joystick.""" - guid = sdl3.SDL_GetJoystickGUID(joystick) + guid = sdl2.SDL_JoystickGetGUID(joystick) buf = create_string_buffer(33) - sdl3.SDL_GUIDToString(guid, buf, 33) + sdl2.SDL_JoystickGetGUIDString(guid, buf, 33) return buf.value.decode().lower() if buf.value else "" -def guid_string_for_instance_id(instance_id: int) -> str: - """Return a GUID string for a joystick instance ID without opening it.""" - guid = sdl3.SDL_GetJoystickGUIDForID(instance_id) +def guid_string_for_device_index(index: int) -> str: + """Return a GUID string for a joystick device index without opening it.""" + guid = sdl2.SDL_JoystickGetDeviceGUID(index) buf = create_string_buffer(33) - sdl3.SDL_GUIDToString(guid, buf, 33) + sdl2.SDL_JoystickGetGUIDString(guid, buf, 33) return buf.value.decode().lower() if buf.value else "" @@ -654,8 +605,8 @@ def build_arg_parser() -> argparse.ArgumentParser: parser.add_argument( "--frequency", type=float, - default=500.0, - help="Report send frequency per controller (Hz, default 500)", + default=66.7, + help="Report send frequency per controller (Hz, default ~66.7 => ~15ms)", ) parser.add_argument( "--deadzone", @@ -760,18 +711,18 @@ def build_arg_parser() -> argparse.ArgumentParser: parser.add_argument( "--debug-imu", action="store_true", - help="Print raw IMU sensor readings and converted values for debugging.", - ) - parser.add_argument( - "--no-imu", - action="store_true", - help="Disable IMU/sensor reading entirely. Useful for controllers without gyro.", + help="Print raw IMU readings (float and converted int16) for debugging.", ) parser.add_argument( "--gyro-scale", type=float, default=1.0, - help="Scale factor for gyro sensitivity (default 1.0). Reduce below 1.0 if camera moves too fast.", + help="Scale factor for gyro sensitivity (default 1.0). Reduce to < 1.0 if camera moves too fast.", + ) + parser.add_argument( + "--no-gyro-bias", + action="store_true", + help="Disable automatic gyro bias calibration at startup.", ) return parser @@ -782,7 +733,7 @@ def poll_controller_buttons( """Update button/hat state based on current SDL controller readings.""" changed = False for sdl_button, switch_bit in button_map.items(): - pressed = bool(sdl3.SDL_GetGamepadButton(ctx.controller, sdl_button)) + pressed = bool(sdl2.SDL_GameControllerGetButton(ctx.controller, sdl_button)) previous = ctx.button_state.get(sdl_button) if previous == pressed: continue @@ -795,7 +746,7 @@ def poll_controller_buttons( dpad_changed = False for sdl_button, name in DPAD_BUTTONS.items(): - pressed = bool(sdl3.SDL_GetGamepadButton(ctx.controller, sdl_button)) + pressed = bool(sdl2.SDL_GameControllerGetButton(ctx.controller, sdl_button)) if ctx.dpad[name] == pressed: continue ctx.dpad[name] = pressed @@ -818,28 +769,9 @@ class BridgeConfig: swap_abxy_indices: set[int] swap_abxy_ids: set[str] swap_abxy_global: bool - debug_imu: bool = False - no_imu: bool = False - gyro_scale: float = 1.0 - - -class DisplayIndexAllocator: - """Assigns stable 0-based display indices to controllers, recycling freed slots.""" - - def __init__(self) -> None: - self._next: int = 0 - self._free: List[int] = [] - - def allocate(self) -> int: - if self._free: - return self._free.pop(0) - idx = self._next - self._next += 1 - return idx - - def release(self, idx: int) -> None: - self._free.append(idx) - self._free.sort() + debug_imu: bool + gyro_scale: float + no_gyro_bias: bool @dataclass @@ -853,7 +785,150 @@ class PairingState: ignore_port_desc: List[str] = field(default_factory=list) include_port_desc: List[str] = field(default_factory=list) include_port_mfr: List[str] = field(default_factory=list) - display_index_alloc: DisplayIndexAllocator = field(default_factory=DisplayIndexAllocator) + + +def clamp_int16(value: float) -> int: + return int(max(-32768, min(32767, round(value)))) + + +def read_sensor_triplet( + controller: sdl2.SDL_GameController, sensor_type: int +) -> Optional[Tuple[float, float, float]]: + if not hasattr(sdl2, "SDL_GameControllerGetSensorData"): + return None + data = (c_float * 3)() + result = sdl2.SDL_GameControllerGetSensorData(controller, sensor_type, data, 3) + if result != 0: + return None + return float(data[0]), float(data[1]), float(data[2]) + + +def convert_accel_to_raw(accel_ms2: float) -> int: + g_units = accel_ms2 / MS2_PER_G + return clamp_int16(g_units * 4000.0) + + +def convert_gyro_to_raw(gyro_rad: float, scale: float = 1.0) -> int: + # SDL reports gyroscope data in radians/second; convert to dps then to Switch counts. + dps = gyro_rad * RAD_TO_DEG + # 0.070 dps/LSB is approx 14.28 LSB/dps. + counts = clamp_int16((dps / 0.061) * scale) + if abs(counts) < GYRO_DEADZONE_COUNTS: + return 0 + return counts + + +def initialize_controller_sensors(ctx: ControllerContext, console: Console) -> None: + if not all( + hasattr(sdl2, name) + for name in ( + "SDL_GameControllerHasSensor", + "SDL_GameControllerSetSensorEnabled", + "SDL_GameControllerGetSensorData", + ) + ): + return + + if SENSOR_ACCEL is None or SENSOR_GYRO is None: + return + + accel_supported = bool( + sdl2.SDL_GameControllerHasSensor(ctx.controller, SENSOR_ACCEL) + ) + gyro_supported = bool(sdl2.SDL_GameControllerHasSensor(ctx.controller, SENSOR_GYRO)) + ctx.sensors_supported = accel_supported and gyro_supported + if not ctx.sensors_supported: + console.print( + f"[yellow]Controller {ctx.controller_index} has no accelerometer/gyro sensors[/yellow]" + ) + return + + accel_enabled = ( + sdl2.SDL_GameControllerSetSensorEnabled(ctx.controller, SENSOR_ACCEL, SDL_TRUE) + == 0 + ) + gyro_enabled = ( + sdl2.SDL_GameControllerSetSensorEnabled(ctx.controller, SENSOR_GYRO, SDL_TRUE) + == 0 + ) + ctx.sensors_enabled = accel_enabled and gyro_enabled + if not ctx.sensors_enabled: + console.print( + f"[yellow]Controller {ctx.controller_index} failed to enable sensors[/yellow]" + ) + + +def handle_sensor_update(event: sdl2.SDL_Event, contexts: Dict[int, ControllerContext], config: BridgeConfig) -> None: + ctx = contexts.get(event.csensor.which) + if not ctx: + return + + sensor_type = event.csensor.sensor + data = event.csensor.data + + if sensor_type == SENSOR_ACCEL: + ctx.last_accel = (data[0], data[1], data[2]) + return + + if sensor_type != SENSOR_GYRO: + return + + # Process Gyro update (and combine with last accel) + gyro = (data[0], data[1], data[2]) + + if not ctx.gyro_bias_locked and ctx.gyro_bias_samples < GYRO_BIAS_SAMPLES: + ctx.gyro_bias_x += gyro[0] + ctx.gyro_bias_y += gyro[1] + ctx.gyro_bias_z += gyro[2] + ctx.gyro_bias_samples += 1 + if ctx.gyro_bias_samples >= GYRO_BIAS_SAMPLES: + ctx.gyro_bias_x /= ctx.gyro_bias_samples + ctx.gyro_bias_y /= ctx.gyro_bias_samples + ctx.gyro_bias_z /= ctx.gyro_bias_samples + ctx.gyro_bias_locked = True + + bias_x = ctx.gyro_bias_x if ctx.gyro_bias_locked else 0.0 + bias_y = ctx.gyro_bias_y if ctx.gyro_bias_locked else 0.0 + bias_z = ctx.gyro_bias_z if ctx.gyro_bias_locked else 0.0 + + # Use last known accel + accel = ctx.last_accel + + # Map SDL sensor axes to Pro Controller axes: gravity should land on Z. + accel_raw_x = convert_accel_to_raw(accel[0]) + accel_raw_y = convert_accel_to_raw(accel[1]) + accel_raw_z = convert_accel_to_raw(accel[2]) + gyro_raw_x = convert_gyro_to_raw(gyro[0] - bias_x, config.gyro_scale) + gyro_raw_y = convert_gyro_to_raw(gyro[1] - bias_y, config.gyro_scale) + gyro_raw_z = convert_gyro_to_raw(gyro[2] - bias_z, config.gyro_scale) + + # Map SDL axes to Pro axes to match the native Pro USB output: + # Pro accel: ax = SDL_, ay = SDL_Z, az = SDL_Y (gravity). + # Pro gyro: gx = SDL_X, gy = SDL_Z, gz = SDL_Y. + sample = IMUSample( + accel_x=-accel_raw_z, + accel_y=-accel_raw_x, + accel_z=accel_raw_y, + gyro_x=convert_gyro_to_raw(-(gyro[2] - bias_z), config.gyro_scale), + gyro_y=convert_gyro_to_raw(-(gyro[0] - bias_x), config.gyro_scale), + gyro_z=convert_gyro_to_raw(gyro[1] - bias_y, config.gyro_scale), + ) + ctx.imu_samples.append(sample) + if len(ctx.imu_samples) > IMU_BUFFER_SIZE: + ctx.imu_samples = ctx.imu_samples[-IMU_BUFFER_SIZE:] + + if config.debug_imu: + now = time.monotonic() + if now - ctx.last_debug_imu_print > 0.2: + ctx.last_debug_imu_print = now + print( + f"[IMU dbg idx={ctx.controller_index}] " + f"accel_ms2=({accel[0]:.3f},{accel[1]:.3f},{accel[2]:.3f}) " + f"gyro_dps=({gyro[0]:.3f},{gyro[1]:.3f},{gyro[2]:.3f}) " + f"bias_dps=({bias_x:.3f},{bias_y:.3f},{bias_z:.3f}) " + f"raw=({sample.accel_x},{sample.accel_y},{sample.accel_z};" + f"{sample.gyro_x},{sample.gyro_y},{sample.gyro_z})" + ) def load_button_maps( @@ -869,16 +944,16 @@ def load_button_maps( mappings_to_load.extend(args.sdl_mapping) button_map_default = dict(BUTTON_MAP) button_map_swapped = dict(BUTTON_MAP) - button_map_swapped[sdl3.SDL_GAMEPAD_BUTTON_SOUTH] = SwitchButton.A - button_map_swapped[sdl3.SDL_GAMEPAD_BUTTON_EAST] = SwitchButton.B - button_map_swapped[sdl3.SDL_GAMEPAD_BUTTON_WEST] = SwitchButton.X - button_map_swapped[sdl3.SDL_GAMEPAD_BUTTON_NORTH] = SwitchButton.Y + button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_A] = SwitchButton.B + button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_B] = SwitchButton.A + button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_X] = SwitchButton.Y + button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_Y] = SwitchButton.X swap_abxy_indices = { idx for idx in args.swap_abxy_index if idx is not None and idx >= 0 } for mapping_path in mappings_to_load: try: - loaded = sdl3.SDL_AddGamepadMappingsFromFile(mapping_path.encode()) + loaded = sdl2.SDL_GameControllerAddMappingsFromFile(mapping_path.encode()) console.print( f"[green]Loaded {loaded} SDL mapping(s) from {mapping_path}[/green]" ) @@ -886,7 +961,7 @@ def load_button_maps( console.print( f"[red]Failed to load SDL mapping {mapping_path}: {exc}[/red]" ) - return button_map_default, button_map_swapped, swap_abxy_indices + geturn button_map_default, button_map_swapped, swap_abxy_indices def build_bridge_config(console: Console, args: argparse.Namespace) -> BridgeConfig: @@ -911,83 +986,77 @@ def build_bridge_config(console: Console, args: argparse.Namespace) -> BridgeCon swap_abxy_ids=set(swap_abxy_guids), # filled later once stable IDs are known swap_abxy_global=bool(args.swap_abxy), debug_imu=bool(args.debug_imu), - no_imu=bool(args.no_imu), - gyro_scale=float(args.gyro_scale), + gyro_scale=args.gyro_scale, + no_gyro_bias=args.no_gyro_bias, ) def initialize_sdl(parser: argparse.ArgumentParser) -> None: """Set SDL hints and initialize subsystems needed for controllers.""" - sdl3.SDL_SetHint(sdl3.SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS, b"1") + sdl2.SDL_SetHint(sdl2.SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS, b"1") set_hint("SDL_JOYSTICK_HIDAPI", "1") set_hint("SDL_JOYSTICK_HIDAPI_SWITCH", "1") - if not sdl3.SDL_Init(sdl3.SDL_INIT_GAMEPAD | sdl3.SDL_INIT_JOYSTICK): - parser.error(f"SDL init failed: {sdl3.SDL_GetError().decode(errors='ignore')}") + # Use controller button labels so Nintendo layouts (ABXY) map correctly on Linux. + set_hint("SDL_GAMECONTROLLER_USE_BUTTON_LABELS", "1") + if ( + sdl2.SDL_Init( + sdl2.SDL_INIT_GAMECONTROLLER + | sdl2.SDL_INIT_JOYSTICK + | sdl2.SDL_INIT_EVERYTHING + ) + != 0 + ): + parser.error(f"SDL init failed: {sdl2.SDL_GetError().decode(errors='ignore')}") def detect_controllers( console: Console, args: argparse.Namespace, parser: argparse.ArgumentParser ) -> Tuple[List[int], Dict[int, str]]: """Detect available controllers and return usable indices and names.""" - controller_ids: List[int] = [] + controller_indices: List[int] = [] controller_names: Dict[int, str] = {} - count = ctypes.c_int(0) - joystick_ids = sdl3.SDL_GetJoysticks(ctypes.byref(count)) - if not joystick_ids: - if count.value < 0: - parser.error(f"SDL error: {sdl3.SDL_GetError().decode()}") - return controller_ids, controller_names + controller_count = sdl2.SDL_NumJoysticks() + if controller_count < 0: + parser.error(f"SDL error: {sdl2.SDL_GetError().decode()}") include_controller_name = [n.lower() for n in args.include_controller_name] - display_counter = 0 - for i in range(count.value): - instance_id = joystick_ids[i] - if sdl3.SDL_IsGamepad(instance_id): - name = sdl3.SDL_GetGamepadNameForID(instance_id) - name_str = ( - name.decode() if isinstance(name, bytes) else str(name) if name else "Unknown" - ) + for index in range(controller_count): + if sdl2.SDL_IsGameController(index): + name = sdl2.SDL_GameControllerNameForIndex(index) + name_str = name.decode() if isinstance(name, bytes) else str(name) if include_controller_name and all( substr not in name_str.lower() for substr in include_controller_name ): console.print( - f"[yellow]Skipping controller ({name_str}) due to name filter[/yellow]" + f"[yellow]Skipping controller {index} ({name_str}) due to name filter[/yellow]" ) continue - console.print(f"[cyan]Detected controller {display_counter}: ({name_str})[/cyan]") - display_counter += 1 - controller_ids.append(instance_id) - controller_names[instance_id] = name_str + console.print(f"[cyan]Detected controller {index}: {name_str}[/cyan]") + controller_indices.append(index) + controller_names[index] = name_str else: - name = sdl3.SDL_GetJoystickNameForID(instance_id) - name_str = ( - name.decode() if isinstance(name, bytes) else str(name) if name else "Unknown" - ) + name = sdl2.SDL_JoystickNameForIndex(index) + name_str = name.decode() if isinstance(name, bytes) else str(name) if include_controller_name and all( substr not in name_str.lower() for substr in include_controller_name ): console.print( - f"[yellow]Skipping joystick {instance_id} ({name_str}) due to name filter[/yellow]" + f"[yellow]Skipping joystick {index} ({name_str}) due to name filter[/yellow]" ) continue console.print( - f"[yellow]Found joystick {instance_id} (not a GameController): {name_str}[/yellow]" + f"[yellow]Found joystick {index} (not a GameController): {name_str}[/yellow]" ) - sdl3.SDL_free(joystick_ids) - return controller_ids, controller_names + return controller_indices, controller_names def list_controllers_with_guids( console: Console, parser: argparse.ArgumentParser ) -> None: """Print detected controllers with their GUID strings and exit.""" - count = ctypes.c_int(0) - joystick_ids = sdl3.SDL_GetJoysticks(ctypes.byref(count)) - if not joystick_ids: - if count.value < 0: - parser.error(f"SDL error: {sdl3.SDL_GetError().decode()}") - console.print("[yellow]No controllers detected.[/yellow]") - return - if count.value == 0: + count = sdl2.SDL_NumJoysticks() + if count < 0: + parser.error(f"SDL error: {sdl2.SDL_GetError().decode()}") + if count == 0: console.print("[yellow]No controllers detected.[/yellow]") return table = Table(title="Detected Controllers (GUIDs)") @@ -995,20 +1064,18 @@ def list_controllers_with_guids( table.add_column("Type") table.add_column("Name") table.add_column("GUID") - for i in range(count.value): - instance_id = joystick_ids[i] - is_gc = sdl3.SDL_IsGamepad(instance_id) + for idx in range(count): + is_gc = sdl2.SDL_IsGameController(idx) name = ( - sdl3.SDL_GetGamepadNameForID(instance_id) + sdl2.SDL_GameControllerNameForIndex(idx) if is_gc - else sdl3.SDL_GetJoystickNameForID(instance_id) + else sdl2.SDL_JoystickNameForIndex(idx) ) - name_str = name.decode() if isinstance(name, bytes) else str(name) if name else "Unknown" - guid_str = guid_string_for_instance_id(instance_id) + name_str = name.decode() if isinstance(name, bytes) else str(name) + guid_str = guid_string_for_device_index(idx) table.add_row( - str(instance_id), "GameController" if is_gc else "Joystick", name_str, guid_str + str(idx), "GameController" if is_gc else "Joystick", name_str, guid_str ) - sdl3.SDL_free(joystick_ids) console.print(table) @@ -1098,7 +1165,7 @@ def assign_port_for_index( return port_choice -def ports_in_use(pairing: PairingState, contexts: Dict[int, ControllerContext]) -> set[str]: +def ports_in_use(pairing: PairingState, contexts: Dict[int, ControllerContext]) -> set: """Return a set of UART paths currently reserved or mapped.""" used = set(pairing.mapping_by_index.values()) used.update(ctx.port for ctx in contexts.values() if ctx.port) @@ -1131,7 +1198,7 @@ def handle_removed_port( ctx.uart.close() except Exception: pass - sdl3.SDL_RumbleGamepad(ctx.controller, 0, 0, 0) + sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0) ctx.uart = None ctx.port = None ctx.rumble_active = False @@ -1214,78 +1281,72 @@ def open_initial_contexts( """Open initial controllers and UARTs for detected indices.""" contexts: Dict[int, ControllerContext] = {} uarts: List[PicoUART] = [] - for instance_id in controller_indices: - if not sdl3.SDL_IsGamepad(instance_id): - name = sdl3.SDL_GetJoystickNameForID(instance_id) - name_str = name.decode() if isinstance(name, bytes) else str(name) if name else "Unknown" + for index in controller_indices: + if index >= sdl2.SDL_NumJoysticks() or not sdl2.SDL_IsGameController(index): + name = sdl2.SDL_JoystickNameForIndex(index) + name_str = name.decode() if isinstance(name, bytes) else str(name) console.print( - f"[yellow]ID {instance_id} is not a GameController ({name_str}). Trying raw open failed.[/yellow]" + f"[yellow]Index {index} is not a GameController ({name_str}). Trying raw open failed.[/yellow]" ) continue - display_idx = pairing.display_index_alloc.allocate() - port = assign_port_for_index(pairing, display_idx, console) + port = assign_port_for_index(pairing, index, console) if port is None and not pairing.auto_pairing_enabled: - pairing.display_index_alloc.release(display_idx) continue try: - controller, opened_instance_id, guid = open_controller(instance_id) + controller, instance_id, guid = open_controller(index) except Exception as exc: - console.print(f"[red]Failed to open controller {display_idx}: {exc}[/red]") - pairing.display_index_alloc.release(display_idx) + console.print(f"[red]Failed to open controller {index}: {exc}[/red]") continue stable_id = guid - should_swap = ( - display_idx in config.swap_abxy_indices or stable_id in config.swap_abxy_ids - ) + if index in config.swap_abxy_indices: + config.swap_abxy_ids.add(stable_id) uart = open_uart_or_warn(port, args.baud, console) if port else None if uart: uarts.append(uart) console.print( - f"[green]Controller {display_idx} (id {stable_id}, inst {opened_instance_id}) paired to {port}[/green]" + f"[green]Controller {index} (id {stable_id}, inst {instance_id}) paired to {port}[/green]" ) elif port: console.print( - f"[yellow]Controller {display_idx} (id {stable_id}, inst {opened_instance_id}) waiting for UART {port}[/yellow]" + f"[yellow]Controller {index} (id {stable_id}, inst {instance_id}) waiting for UART {port}[/yellow]" ) else: console.print( - f"[yellow]Controller {display_idx} (id {stable_id}, inst {opened_instance_id}) connected; waiting for an available UART[/yellow]" + f"[yellow]Controller {index} (id {stable_id}, inst {instance_id}) connected; waiting for an available UART[/yellow]" ) ctx = ControllerContext( controller=controller, - instance_id=opened_instance_id, - controller_index=display_idx, + instance_id=instance_id, + controller_index=index, stable_id=stable_id, port=port, uart=uart, - swap_abxy=should_swap, ) - if not config.no_imu: - initialize_controller_sensors(ctx, console) if config.zero_sticks: zero_context_sticks(ctx, console) - contexts[opened_instance_id] = ctx + initialize_controller_sensors(ctx, console) + contexts[instance_id] = ctx return contexts, uarts def handle_axis_motion( - event: sdl3.SDL_Event, contexts: Dict[int, ControllerContext], config: BridgeConfig + event: sdl2.SDL_Event, contexts: Dict[int, ControllerContext], config: BridgeConfig ) -> None: """Process axis motion event into stick/trigger state.""" - ctx = contexts.get(event.gaxis.which) + ctx = contexts.get(event.caxis.which) if not ctx: return - axis = event.gaxis.axis - value = calibrate_axis_value(event.gaxis.value, axis, ctx) - if axis == sdl3.SDL_GAMEPAD_AXIS_LEFTX: + axis = event.caxis.axis + value = calibrate_axis_value(event.caxis.value, axis, ctx) + if axis == sdl2.SDL_CONTROLLER_AXIS_LEFTX: ctx.report.lx = axis_to_stick(value, config.deadzone_raw) - elif axis == sdl3.SDL_GAMEPAD_AXIS_LEFTY: + elif axis == sdl2.SDL_CONTROLLER_AXIS_LEFTY: ctx.report.ly = axis_to_stick(value, config.deadzone_raw) - elif axis == sdl3.SDL_GAMEPAD_AXIS_RIGHTX: + elif axis == sdl2.SDL_CONTROLLER_AXIS_RIGHTX: ctx.report.rx = axis_to_stick(value, config.deadzone_raw) - elif axis == sdl3.SDL_GAMEPAD_AXIS_RIGHTY: + elif axis == sdl2.SDL_CONTROLLER_AXIS_RIGHTY: ctx.report.ry = axis_to_stick(value, config.deadzone_raw) - elif axis == sdl3.SDL_GAMEPAD_AXIS_LEFT_TRIGGER: + elif axis == sdl2.SDL_CONTROLLER_AXIS_TRIGGERLEFT: pressed = trigger_to_button(value, config.trigger_threshold) if pressed != ctx.last_trigger_state["left"]: if pressed: @@ -1293,7 +1354,7 @@ def handle_axis_motion( else: ctx.report.buttons &= ~SwitchButton.ZL ctx.last_trigger_state["left"] = pressed - elif axis == sdl3.SDL_GAMEPAD_AXIS_RIGHT_TRIGGER: + elif axis == sdl2.SDL_CONTROLLER_AXIS_TRIGGERRIGHT: pressed = trigger_to_button(value, config.trigger_threshold) if pressed != ctx.last_trigger_state["right"]: if pressed: @@ -1303,125 +1364,22 @@ def handle_axis_motion( ctx.last_trigger_state["right"] = pressed -def handle_sensor_update( - event: sdl3.SDL_Event, - contexts: Dict[int, ControllerContext], - config: BridgeConfig, -) -> None: - """Process SDL sensor update event into IMU samples.""" - ctx = contexts.get(event.gsensor.which) - if ctx is None or not ctx.sensors_enabled or config.no_imu: - return - - sensor_type = event.gsensor.sensor - data = event.gsensor.data - - if sensor_type == SENSOR_ACCEL: - ctx.last_accel = (float(data[0]), float(data[1]), float(data[2])) - return - - if sensor_type != SENSOR_GYRO: - return - - gx, gy, gz = float(data[0]), float(data[1]), float(data[2]) - - if not ctx.gyro_bias_locked: - if ctx.gyro_bias_samples < GYRO_BIAS_SAMPLES: - ctx.gyro_bias_x += gx - ctx.gyro_bias_y += gy - ctx.gyro_bias_z += gz - ctx.gyro_bias_samples += 1 - if ctx.gyro_bias_samples >= GYRO_BIAS_SAMPLES: - n = ctx.gyro_bias_samples - ctx.gyro_bias_x /= n - ctx.gyro_bias_y /= n - ctx.gyro_bias_z /= n - ctx.gyro_bias_locked = True - - if not ctx.gyro_bias_locked: - bx, by, bz = 0.0, 0.0, 0.0 - else: - bx, by, bz = ctx.gyro_bias_x, ctx.gyro_bias_y, ctx.gyro_bias_z - - ux, uy, uz = gx, gy, gz - ux -= bx - uy -= by - uz -= bz - - ax, ay, az = ctx.last_accel - # SDL (hidapi_switch.c SendSensorUpdate) remaps Nintendo's native axes to match - # PlayStation convention before emitting sensor events: - # SDL_out[0] (X) = -(Nintendo_Y * scale) - # SDL_out[1] (Y) = +(Nintendo_Z * scale) - # SDL_out[2] (Z) = -(Nintendo_X * scale) - # We must reverse that to recover Nintendo-native values: - # Nintendo_X = -SDL_Z - # Nintendo_Y = -SDL_X - # Nintendo_Z = +SDL_Y - sample = IMUSample( - accel_x=convert_accel_to_raw(-az), - accel_y=convert_accel_to_raw(-ax), - accel_z=convert_accel_to_raw(ay), - gyro_x=convert_gyro_to_raw(-uz, config.gyro_scale), - gyro_y=convert_gyro_to_raw(-ux, config.gyro_scale), - gyro_z=convert_gyro_to_raw(uy, config.gyro_scale), - ) - - ctx.imu_samples.append(sample) - if len(ctx.imu_samples) > IMU_BUFFER_SIZE: - ctx.imu_samples = ctx.imu_samples[-IMU_BUFFER_SIZE:] - - if config.debug_imu: - now = time.monotonic() - if now - ctx.last_debug_imu_print > 0.2: - ctx.last_debug_imu_print = now - print( - f"[IMU idx={ctx.controller_index}] " - f"accel_m_s2=({ax:.3f},{ay:.3f},{az:.3f}) " - f"gyro_rad_s=({gx:.3f},{gy:.3f},{gz:.3f}) " - f"bias_rad_s=({bx:.4f},{by:.4f},{bz:.4f}) " - f"raw=({sample.accel_x},{sample.accel_y},{sample.accel_z};" - f"{sample.gyro_x},{sample.gyro_y},{sample.gyro_z})" - ) - - -ABXY_SWAP_COMBO = frozenset({ - sdl3.SDL_GAMEPAD_BUTTON_LEFT_SHOULDER, - sdl3.SDL_GAMEPAD_BUTTON_RIGHT_SHOULDER, - sdl3.SDL_GAMEPAD_BUTTON_BACK, - sdl3.SDL_GAMEPAD_BUTTON_START, -}) - - -def _check_abxy_swap_combo( - ctx: ControllerContext, - config: BridgeConfig, - console: Console, -) -> None: - """Toggle ABXY layout when LB+RB+SELECT+START are all held.""" - if not all(ctx.button_state.get(b) for b in ABXY_SWAP_COMBO): - return - toggle_abxy_for_context(ctx, config, console) - sdl3.SDL_RumbleGamepad(ctx.controller, 0xAAAA, 0xAAAA, 200) - - def handle_button_event( - event: sdl3.SDL_Event, + event: sdl2.SDL_Event, config: BridgeConfig, contexts: Dict[int, ControllerContext], - console: Console, ) -> None: """Process button events into report/dpad state.""" - ctx = contexts.get(event.gbutton.which) + ctx = contexts.get(event.cbutton.which) if not ctx: return current_button_map = ( config.button_map_swapped - if (config.swap_abxy_global or ctx.swap_abxy) + if (config.swap_abxy_global or ctx.stable_id in config.swap_abxy_ids) else config.button_map_default ) - button = event.gbutton.button - pressed = event.type == sdl3.SDL_EVENT_GAMEPAD_BUTTON_DOWN + button = event.cbutton.button + pressed = event.type == sdl2.SDL_CONTROLLERBUTTONDOWN if button in current_button_map: bit = current_button_map[button] if pressed: @@ -1432,12 +1390,10 @@ def handle_button_event( elif button in DPAD_BUTTONS: ctx.dpad[DPAD_BUTTONS[button]] = pressed ctx.report.hat = str_to_dpad(ctx.dpad) - if pressed and button in ABXY_SWAP_COMBO: - _check_abxy_swap_combo(ctx, config, console) def handle_device_added( - event: sdl3.SDL_Event, + event: sdl2.SDL_Event, args: argparse.Namespace, pairing: PairingState, contexts: Dict[int, ControllerContext], @@ -1446,85 +1402,71 @@ def handle_device_added( config: BridgeConfig, ) -> None: """Handle controller hotplug by opening and pairing UART if possible.""" - sdl_id = event.gdevice.which - if sdl_id in contexts: + idx = event.cdevice.which + # If we already have a context for this logical index, ignore the duplicate event. + if any(c.controller_index == idx for c in contexts.values()): return - if not sdl3.SDL_IsGamepad(sdl_id): - name = sdl3.SDL_GetJoystickNameForID(sdl_id) - name_str = name.decode() if isinstance(name, bytes) else str(name) if name else "Unknown" + port = assign_port_for_index(pairing, idx, console) + if port is None and not pairing.auto_pairing_enabled: + return + if idx >= sdl2.SDL_NumJoysticks() or not sdl2.SDL_IsGameController(idx): + name = sdl2.SDL_JoystickNameForIndex(idx) + name_str = name.decode() if isinstance(name, bytes) else str(name) console.print( - f"[yellow]Device {sdl_id} is not a GameController ({name_str}).[/yellow]" + f"[yellow]Index {idx} is not a GameController ({name_str}). Trying raw open failed.[/yellow]" ) return - display_idx = pairing.display_index_alloc.allocate() - port = assign_port_for_index(pairing, display_idx, console) - if port is None and not pairing.auto_pairing_enabled: - pairing.display_index_alloc.release(display_idx) - return try: - controller, instance_id, guid = open_controller(sdl_id) + controller, instance_id, guid = open_controller(idx) except Exception as exc: - console.print(f"[red]Hotplug open failed for controller {display_idx}: {exc}[/red]") - pairing.display_index_alloc.release(display_idx) + console.print(f"[red]Hotplug open failed for controller {idx}: {exc}[/red]") return stable_id = guid - should_swap = display_idx in config.swap_abxy_indices or stable_id in config.swap_abxy_ids + # Promote any index-based swap flags to stable IDs on first sight. + if idx in config.swap_abxy_indices: + config.swap_abxy_ids.add(stable_id) uart = open_uart_or_warn(port, args.baud, console) if port else None if uart: uarts.append(uart) console.print( - f"[green]Controller {display_idx} (id {stable_id}, inst {instance_id}) paired to {port}[/green]" + f"[green]Controller {idx} (id {stable_id}, inst {instance_id}) paired to {port}[/green]" ) elif port: console.print( - f"[yellow]Controller {display_idx} (id {stable_id}, inst {instance_id}) waiting for UART {port}[/yellow]" + f"[yellow]Controller {idx} (id {stable_id}, inst {instance_id}) waiting for UART {port}[/yellow]" ) else: console.print( - f"[yellow]Controller {display_idx} (id {stable_id}, inst {instance_id}) connected; waiting for an available UART[/yellow]" + f"[yellow]Controller {idx} (id {stable_id}, inst {instance_id}) connected; waiting for an available UART[/yellow]" ) ctx = ControllerContext( controller=controller, instance_id=instance_id, - controller_index=display_idx, + controller_index=idx, stable_id=stable_id, port=port, uart=uart, - swap_abxy=should_swap, ) - if not config.no_imu: - initialize_controller_sensors(ctx, console) if config.zero_sticks: zero_context_sticks(ctx, console) + initialize_controller_sensors(ctx, console) contexts[instance_id] = ctx def handle_device_removed( - event: sdl3.SDL_Event, + event: sdl2.SDL_Event, pairing: PairingState, contexts: Dict[int, ControllerContext], - uarts: List[PicoUART], console: Console, ) -> None: """Handle controller removal and release any auto-assigned UART.""" - instance_id = event.gdevice.which + instance_id = event.cdevice.which ctx = contexts.pop(instance_id, None) if not ctx: return console.print( - f"[yellow]Controller {ctx.controller_index} (id {ctx.stable_id}) removed[/yellow]" + f"[yellow]Controller {instance_id} (id {ctx.stable_id}) removed[/yellow]" ) - # Close the UART handle *before* returning the port to the pool so the - # next consumer can actually open it (Windows holds the port exclusively). - if ctx.uart: - try: - ctx.uart.close() - except Exception: - pass - if ctx.uart in uarts: - uarts.remove(ctx.uart) - ctx.uart = None - sdl3.SDL_RumbleGamepad(ctx.controller, 0, 0, 0) if ctx.controller_index in pairing.auto_assigned_indices: # Return auto-paired UART back to the pool so a future device can use it. freed = pairing.mapping_by_index.pop(ctx.controller_index, None) @@ -1532,8 +1474,7 @@ def handle_device_removed( if freed and freed not in pairing.available_ports: pairing.available_ports.append(freed) console.print(f"[cyan]Released UART {freed} back to pool[/cyan]") - pairing.display_index_alloc.release(ctx.controller_index) - sdl3.SDL_CloseGamepad(ctx.controller) + sdl2.SDL_GameControllerClose(ctx.controller) def service_contexts( @@ -1548,10 +1489,11 @@ def service_contexts( for ctx in list(contexts.values()): current_button_map = ( config.button_map_swapped - if (config.swap_abxy_global or ctx.swap_abxy) + if (config.swap_abxy_global or ctx.stable_id in config.swap_abxy_ids) else config.button_map_default ) poll_controller_buttons(ctx, current_button_map) + # collect_imu_sample(ctx, config) <-- Removed, using event loop # Reconnect UART if needed. if ctx.port and ctx.uart is None and (now - ctx.last_reopen_attempt) > 1.0: ctx.last_reopen_attempt = now @@ -1566,13 +1508,11 @@ def service_contexts( continue try: if now - ctx.last_send >= config.interval: - if ctx.sensors_enabled and not config.no_imu: - count = min(len(ctx.imu_samples), IMU_SAMPLES_PER_REPORT) - if count > 0: - ctx.report.imu_samples = ctx.imu_samples[:count] - ctx.imu_samples = ctx.imu_samples[count:] - else: - ctx.report.imu_samples = [] + # Consume up to 3 samples from the head of the queue (FIFO) + count = min(len(ctx.imu_samples), IMU_SAMPLES_PER_REPORT) + if count > 0: + ctx.report.imu_samples = ctx.imu_samples[:count] + ctx.imu_samples = ctx.imu_samples[count:] else: ctx.report.imu_samples = [] ctx.uart.send_report(ctx.report) @@ -1594,14 +1534,14 @@ def service_contexts( ctx.last_rumble_energy = energy ctx.last_rumble = now elif ctx.rumble_active and (now - ctx.last_rumble) > RUMBLE_IDLE_TIMEOUT: - sdl3.SDL_RumbleGamepad(ctx.controller, 0, 0, 0) + sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0) ctx.rumble_active = False ctx.last_rumble_energy = 0.0 elif ( ctx.rumble_active and (now - ctx.last_rumble_change) > RUMBLE_STUCK_TIMEOUT ): - sdl3.SDL_RumbleGamepad(ctx.controller, 0, 0, 0) + sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0) ctx.rumble_active = False ctx.last_rumble_energy = 0.0 except SerialException as exc: @@ -1610,7 +1550,7 @@ def service_contexts( ctx.uart.close() except Exception: pass - sdl3.SDL_RumbleGamepad(ctx.controller, 0, 0, 0) + sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0) ctx.uart = None ctx.rumble_active = False ctx.last_rumble_energy = 0.0 @@ -1629,31 +1569,33 @@ def run_bridge_loop( hotkey: Optional[HotkeyMonitor] = None, ) -> None: """Main event loop for bridging controllers to UART and handling rumble.""" - event = sdl3.SDL_Event() + event = sdl2.SDL_Event() port_scan_interval = 2.0 last_port_scan = time.monotonic() running = True while running: - while sdl3.SDL_PollEvent(ctypes.byref(event)): - if event.type == sdl3.SDL_EVENT_QUIT: + while sdl2.SDL_PollEvent(event): + if event.type == sdl2.SDL_QUIT: running = False break - if event.type == sdl3.SDL_EVENT_GAMEPAD_AXIS_MOTION: + if event.type == sdl2.SDL_CONTROLLERAXISMOTION: handle_axis_motion(event, contexts, config) elif event.type in ( - sdl3.SDL_EVENT_GAMEPAD_BUTTON_DOWN, - sdl3.SDL_EVENT_GAMEPAD_BUTTON_UP, + sdl2.SDL_CONTROLLERBUTTONDOWN, + sdl2.SDL_CONTROLLERBUTTONUP, ): - handle_button_event(event, config, contexts, console) - elif event.type == SDL_EVENT_GAMEPAD_SENSOR_UPDATE: + handle_button_event(event, config, contexts) + elif event.type in (sdl2.SDL_CONTROLLERBUTTONDOWN, sdl2.SDL_CONTROLLERBUTTONUP): + handle_button_event(event, args, config, contexts) + elif event.type == SDL_CONTROLLERSENSORUPDATE: handle_sensor_update(event, contexts, config) - elif event.type == sdl3.SDL_EVENT_GAMEPAD_ADDED: + elif event.type == sdl2.SDL_CONTROLLERDEVICEADDED: handle_device_added( event, args, pairing, contexts, uarts, console, config ) - elif event.type == sdl3.SDL_EVENT_GAMEPAD_REMOVED: - handle_device_removed(event, pairing, contexts, uarts, console) + elif event.type == sdl2.SDL_CONTROLLERDEVICEREMOVED: + gandle_device_removed(event, pairing, contexts, console) now = time.monotonic() if now - last_port_scan > port_scan_interval: @@ -1670,16 +1612,16 @@ def run_bridge_loop( zero_all_context_sticks(contexts, console) elif key == config.swap_hotkey: prompt_swap_abxy_controller(contexts, config, console, hotkey) - sdl3.SDL_Delay(1) + sdl2.SDL_Delay(1) def cleanup(contexts: Dict[int, ControllerContext], uarts: List[PicoUART]) -> None: """Gracefully close controllers, UARTs, and SDL subsystems.""" for ctx in contexts.values(): - sdl3.SDL_CloseGamepad(ctx.controller) + sdl2.SDL_GameControllerClose(ctx.controller) for uart in uarts: uart.close() - sdl3.SDL_Quit() + sdl2.SDL_Quit() def main() -> None: diff --git a/src/switch_pico_bridge/switch_pico_uart.py b/src/switch_pico_bridge/switch_pico_uart.py index 81b2f54..eb4fa25 100644 --- a/src/switch_pico_bridge/switch_pico_uart.py +++ b/src/switch_pico_bridge/switch_pico_uart.py @@ -12,7 +12,6 @@ depending on SDL. It mirrors the framing in ``switch-pico.cpp``: from __future__ import annotations -import math import struct import time import threading @@ -24,28 +23,9 @@ import serial from serial.tools import list_ports, list_ports_common UART_HEADER = 0xAA -UART_PROTOCOL_VERSION = 0x02 RUMBLE_HEADER = 0xBB RUMBLE_TYPE_RUMBLE = 0x01 UART_BAUD = 921600 -IMU_SAMPLES_PER_REPORT = 3 - -MS2_PER_G = 9.80665 -RAD_TO_DEG = 180.0 / math.pi -ACCEL_LSB_PER_G = 4096.0 -GYRO_LSB_PER_RAD_S = 818.5 - -try: - import sdl3 as _sdl3 # type: ignore[import-not-found] - - _sensor_accel = getattr(_sdl3, "SDL_SENSOR_ACCEL", 1) - _sensor_gyro = getattr(_sdl3, "SDL_SENSOR_GYRO", 2) -except ImportError: - _sensor_accel = 1 - _sensor_gyro = 2 - -SENSOR_ACCEL: int = _sensor_accel -SENSOR_GYRO: int = _sensor_gyro class SwitchButton(IntFlag): @@ -82,9 +62,9 @@ def _is_usb_serial_path(path: str) -> bool: """Heuristic for USB serial path prefixes.""" lower = path.lower() usb_prefixes = ( - "/dev/ttyusb", # Linux USB serial - "/dev/ttyacm", # Linux CDC ACM - "/dev/cu.usb", # macOS cu/tty USB adapters + "/dev/ttyusb", # Linux USB serial + "/dev/ttyacm", # Linux CDC ACM + "/dev/cu.usb", # macOS cu/tty USB adapters "/dev/tty.usb", ) if lower.startswith(usb_prefixes): @@ -164,7 +144,6 @@ def first_serial_port( return None return ports[0]["device"] - def clamp_byte(value: Union[int, float]) -> int: """Clamp a numeric value to the 0-255 byte range.""" return max(0, min(255, int(value))) @@ -223,21 +202,6 @@ def str_to_dpad(flags: Mapping[str, bool]) -> SwitchDpad: return SwitchDpad.CENTER -def compute_checksum(data: bytes) -> int: - """Compute UART checksum as sum of bytes modulo 256.""" - return sum(data) & 0xFF - - -@dataclass -class IMUSample: - accel_x: int = 0 - accel_y: int = 0 - accel_z: int = 0 - gyro_x: int = 0 - gyro_y: int = 0 - gyro_z: int = 0 - - @dataclass class SwitchReport: buttons: int = 0 @@ -246,38 +210,13 @@ class SwitchReport: ly: int = 128 rx: int = 128 ry: int = 128 - imu_samples: List[IMUSample] = field(default_factory=list) def to_bytes(self) -> bytes: - """Serialize the report into UART v2 framed packet format.""" - count = min(len(self.imu_samples), IMU_SAMPLES_PER_REPORT) - payload = struct.pack( - " None: @@ -328,15 +267,15 @@ class PicoUART: del self._buffer[:start] return None - frame = self._buffer[start : start + 11] - checksum = compute_checksum(bytes(frame[:10])) + frame = self._buffer[start:start + 11] + checksum = sum(frame[:10]) & 0xFF if frame[1] == RUMBLE_TYPE_RUMBLE and checksum == frame[10]: payload = bytes(frame[2:10]) - del self._buffer[: start + 11] + del self._buffer[:start + 11] return payload - del self._buffer[: start + 1] + del self._buffer[:start + 1] def close(self) -> None: """Close the UART connection.""" @@ -495,20 +434,14 @@ class SwitchUARTClient: self.state.move_right_stick(x, y) self.send() - def press_for( - self, duration: float, *buttons: SwitchButton | SwitchDpad | int - ) -> None: + def press_for(self, duration: float, *buttons: SwitchButton | SwitchDpad | int) -> None: """Press buttons/hat for a duration, then release.""" self.press(*buttons) time.sleep(max(0.0, duration)) self.release(*buttons) def move_left_stick_for( - self, - x: Union[int, float], - y: Union[int, float], - duration: float, - neutral_after: bool = True, + self, x: Union[int, float], y: Union[int, float], duration: float, neutral_after: bool = True ) -> None: """Move left stick for a duration, optionally returning it to neutral afterward.""" self.move_left_stick(x, y) @@ -518,11 +451,7 @@ class SwitchUARTClient: self.send() def move_right_stick_for( - self, - x: Union[int, float], - y: Union[int, float], - duration: float, - neutral_after: bool = True, + self, x: Union[int, float], y: Union[int, float], duration: float, neutral_after: bool = True ) -> None: """Move right stick for a duration, optionally returning it to neutral afterward.""" self.move_right_stick(x, y) diff --git a/switch-pico.cpp b/switch-pico.cpp index 22beaef..51f99d3 100644 --- a/switch-pico.cpp +++ b/switch-pico.cpp @@ -1,4 +1,4 @@ -#include +ginclude #include #include "bsp/board.h" #include "hardware/uart.h" @@ -86,26 +86,21 @@ static bool poll_uart_frames() { } } - if (index >= sizeof(buffer)) { - index = 0; - expected_len = 0; - } - buffer[index++] = byte; if (index == 3) { - expected_len = static_cast(buffer[2] + 4u); - if (expected_len < 12 || expected_len > sizeof(buffer)) { + // We just stored payload_len; compute expected frame length (payload + header/version/len/checksum). + expected_len = static_cast(buffer[2] + 4); + if (expected_len > sizeof(buffer) || expected_len < 8) { index = 0; expected_len = 0; continue; } } - if (expected_len > 0 && index >= expected_len) { + if (expected_len && index >= expected_len) { SwitchInputState parsed{}; if (switch_pro_apply_uart_packet(buffer, expected_len, &parsed)) { g_user_state = parsed; - new_data = true; LOG_PRINTF("[UART] packet buttons=0x%04x hat=%u lx=%u ly=%u rx=%u ry=%u\n", (parsed.button_a ? SWITCH_PRO_MASK_A : 0) | (parsed.button_b ? SWITCH_PRO_MASK_B : 0) | @@ -122,16 +117,16 @@ static bool poll_uart_frames() { (parsed.button_l3 ? SWITCH_PRO_MASK_L3 : 0) | (parsed.button_r3 ? SWITCH_PRO_MASK_R3 : 0), parsed.dpad_up ? SWITCH_PRO_HAT_UP : - parsed.dpad_down ? SWITCH_PRO_HAT_DOWN : - parsed.dpad_left ? SWITCH_PRO_HAT_LEFT : - parsed.dpad_right ? SWITCH_PRO_HAT_RIGHT : SWITCH_PRO_HAT_NOTHING, - parsed.lx >> 8, parsed.ly >> 8, parsed.rx >> 8, parsed.ry >> 8); + parsed.dpad_down ? SWITCH_PRO_HAT_DOWN : + parsed.dpad_left ? SWITCH_PRO_HAT_LEFT : + parsed.dpad_right ? SWITCH_PRO_HAT_RIGHT : SWITCH_PRO_HAT_NOTHING, + parsed.lx >> 8, parsed.ly >> 8, parsed.rx >> 8, parsed.ry >> 8); } index = 0; expected_len = 0; + new_data = true; } } - return new_data; } @@ -168,9 +163,12 @@ int main() { while (true) { tud_task(); // USB device tasks bool new_data = poll_uart_frames(); // Pull controller state from UART1 - (void)new_data; SwitchInputState state = g_user_state; switch_pro_set_input(state); + bool should_update = new_data; + if (should_update) { + switch_pro_set_input(state); + } switch_pro_task(); // Push state to the Switch host log_usb_state(); } diff --git a/switch_pro_driver.cpp b/switch_pro_driver.cpp index ee68f68..432f88b 100644 --- a/switch_pro_driver.cpp +++ b/switch_pro_driver.cpp @@ -14,8 +14,8 @@ #define LOG_PRINTF(...) ((void)0) #endif -// force a report to be sent every X ms -#define SWITCH_PRO_KEEPALIVE_TIMER 5 +// force a report to be sent every X ms (roughly matches Pro Controller cadence) +#define SWITCH_PRO_KEEPALIVE_TIMER 15 static SwitchInputState g_input_state{ false, false, false, false, @@ -184,32 +184,6 @@ static std::map spi_flash_data = { static inline uint16_t scale16To12(uint16_t pos) { return pos >> 4; } -static void fill_imu_report_data(const SwitchInputState& state) { - if (state.imu_sample_count == 0) { - memset(switch_report.imuData, 0x00, sizeof(switch_report.imuData)); - return; - } - uint8_t sample_count = state.imu_sample_count > 3 ? 3 : state.imu_sample_count; - // If fewer than 3 samples, duplicate the last one to fill all 3 slots - uint8_t* dst = switch_report.imuData; - for (uint8_t i = 0; i < 3; ++i) { - const SwitchImuSample& s = (i < sample_count) ? state.imu_samples[i] : state.imu_samples[sample_count - 1]; - dst[0] = static_cast(s.accel_x & 0xFF); - dst[1] = static_cast((s.accel_x >> 8) & 0xFF); - dst[2] = static_cast(s.accel_y & 0xFF); - dst[3] = static_cast((s.accel_y >> 8) & 0xFF); - dst[4] = static_cast(s.accel_z & 0xFF); - dst[5] = static_cast((s.accel_z >> 8) & 0xFF); - dst[6] = static_cast(s.gyro_x & 0xFF); - dst[7] = static_cast((s.gyro_x >> 8) & 0xFF); - dst[8] = static_cast(s.gyro_y & 0xFF); - dst[9] = static_cast((s.gyro_y >> 8) & 0xFF); - dst[10] = static_cast(s.gyro_z & 0xFF); - dst[11] = static_cast((s.gyro_z >> 8) & 0xFF); - dst += 12; - } -} - static SwitchInputState make_neutral_state() { SwitchInputState s{}; s.lx = SWITCH_PRO_JOYSTICK_MID; @@ -220,6 +194,38 @@ static SwitchInputState make_neutral_state() { return s; } +static void fill_imu_report_data(const SwitchInputState& state) { + // Include IMU data when the host provided samples; otherwise zero. + if (state.imu_sample_count == 0) { + memset(switch_report.imuData, 0x00, sizeof(switch_report.imuData)); + return; + } + + uint8_t sample_count = state.imu_sample_count > 3 ? 3 : state.imu_sample_count; + uint8_t* dst = switch_report.imuData; + // Map host IMU axes (host already sends Pro-oriented X,Z,Y) into report layout: + // Report order per sample: accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z. + for (uint8_t i = 0; i < 3; ++i) { + SwitchImuSample sample{}; + if (i < sample_count) { + sample = state.imu_samples[i]; + } + dst[0] = static_cast(sample.accel_x & 0xFF); + dst[1] = static_cast((sample.accel_x >> 8) & 0xFF); + dst[2] = static_cast(sample.accel_y & 0xFF); + dst[3] = static_cast((sample.accel_y >> 8) & 0xFF); + dst[4] = static_cast(sample.accel_z & 0xFF); + dst[5] = static_cast((sample.accel_z >> 8) & 0xFF); + dst[6] = static_cast(sample.gyro_x & 0xFF); + dst[7] = static_cast((sample.gyro_x >> 8) & 0xFF); + dst[8] = static_cast(sample.gyro_y & 0xFF); + dst[9] = static_cast((sample.gyro_y >> 8) & 0xFF); + dst[10] = static_cast(sample.gyro_z & 0xFF); + dst[11] = static_cast((sample.gyro_z >> 8) & 0xFF); + dst += 12; + } +} + static void send_identify() { memset(report_buffer, 0x00, sizeof(report_buffer)); report_buffer[0] = REPORT_USB_INPUT_81; @@ -521,6 +527,7 @@ void switch_pro_init() { last_report_counter = 0; handshake_counter = 0; is_ready = false; + is_imu_enabled = true; // default on to allow IMU during host bring-up/debug is_initialized = false; is_report_queued = false; report_sent = false; @@ -624,8 +631,10 @@ void switch_pro_task() { uint16_t report_size = sizeof(switch_report); if (tud_hid_ready() && send_report(0, inputReport, report_size) == true ) { memcpy(last_report, inputReport, report_size); - g_input_state.imu_sample_count = 0; report_sent = true; + // Clear IMU samples so they aren't repeated in the next report + // if no new data arrives. + g_input_state.imu_sample_count = 0; } last_report_timer = now; @@ -644,32 +653,41 @@ void switch_pro_task() { } bool switch_pro_apply_uart_packet(const uint8_t* packet, uint8_t length, SwitchInputState* out_state) { - // v2 format: 0xAA + 0x02 + payload_len + payload... + checksum - if (length < 12) { - return false; - } - if (packet[0] != 0xAA) { + // Packet v2 format: + // 0:0xAA header + // 1:version (0x02) + // 2:payload_len (bytes 3..3+len-1) + // 3-4: buttons LE + // 5: hat + // 6-9: lx, ly, rx, ry (0-255) + // 10: imu_sample_count (0-3) + // 11-46: up to 3 samples of accel/gyro (int16 LE each axis) + // 47: checksum (sum of bytes 0..46) & 0xFF + if (length < 8 || packet[0] != 0xAA) { return false; } + if (packet[1] != 0x02) { return false; } uint8_t payload_len = packet[2]; - if ((uint16_t)payload_len + 4u != length) { + uint16_t expected_len = static_cast(payload_len) + 4; // header+version+len+checksum + if (length < expected_len) { + return false; + } + + uint16_t checksum_end = static_cast(3 + payload_len - 1); // last payload byte + uint16_t checksum_index = static_cast(3 + payload_len); + if (checksum_index >= length) { return false; } uint16_t sum = 0; - for (uint16_t i = 0; i < (uint16_t)(3u + payload_len); ++i) { - sum += packet[i]; + for (uint16_t i = 0; i <= checksum_end; ++i) { + sum = static_cast(sum + packet[i]); } - if ((sum & 0xFF) != packet[length - 1]) { - return false; - } - - // payload: buttons(2 LE), hat, lx, ly, rx, ry, imu_count, [imu_samples...] - if (payload_len < 8) { + if ((sum & 0xFF) != packet[checksum_index]) { return false; } @@ -680,34 +698,28 @@ bool switch_pro_apply_uart_packet(const uint8_t* packet, uint8_t length, SwitchI out.ly = packet[7]; out.rx = packet[8]; out.ry = packet[9]; - uint8_t imu_count = packet[10]; - if (imu_count > 3) { - imu_count = 3; - } - - uint16_t required_payload_len = static_cast(8u + static_cast(imu_count) * 12u); - if (payload_len < required_payload_len) { - return false; - } auto expand_axis = [](uint8_t v) -> uint16_t { return static_cast(v) << 8 | v; }; SwitchInputState state = make_neutral_state(); - state.imu_sample_count = imu_count; + + state.imu_sample_count = std::min(packet[10], 3); auto read_int16 = [](const uint8_t* src) -> int16_t { return static_cast(static_cast(src[0]) | (static_cast(src[1]) << 8)); }; - for (uint8_t i = 0; i < imu_count; ++i) { - const uint8_t* base = &packet[11 + i * 12]; - state.imu_samples[i].accel_x = read_int16(base + 0); - state.imu_samples[i].accel_y = read_int16(base + 2); - state.imu_samples[i].accel_z = read_int16(base + 4); - state.imu_samples[i].gyro_x = read_int16(base + 6); - state.imu_samples[i].gyro_y = read_int16(base + 8); - state.imu_samples[i].gyro_z = read_int16(base + 10); + + const uint8_t* imu_base = &packet[11]; + for (uint8_t i = 0; i < state.imu_sample_count; ++i) { + const uint8_t* sample_ptr = imu_base + (i * 12); + state.imu_samples[i].accel_x = read_int16(sample_ptr + 0); + state.imu_samples[i].accel_y = read_int16(sample_ptr + 2); + state.imu_samples[i].accel_z = read_int16(sample_ptr + 4); + state.imu_samples[i].gyro_x = read_int16(sample_ptr + 6); + state.imu_samples[i].gyro_y = read_int16(sample_ptr + 8); + state.imu_samples[i].gyro_z = read_int16(sample_ptr + 10); } switch (out.hat) { @@ -742,10 +754,11 @@ bool switch_pro_apply_uart_packet(const uint8_t* packet, uint8_t length, SwitchI state.rx = expand_axis(out.rx); state.ry = expand_axis(out.ry); - if (!out_state) { - return false; + if (out_state) { + *out_state = state; + } else { + switch_pro_set_input(state); } - *out_state = state; return true; } @@ -842,9 +855,9 @@ bool tud_control_request_cb(uint8_t rhport, tusb_control_request_t const * reque void tud_mount_cb(void) { LOG_PRINTF("[USB] mount_cb\n"); last_host_activity_ms = to_ms_since_boot(get_absolute_time()); - forced_ready = false; - is_ready = false; - is_initialized = false; + forced_ready = true; + is_ready = true; + is_initialized = true; } void tud_umount_cb(void) { diff --git a/switch_pro_driver.h b/switch_pro_driver.h index 951d68b..929a455 100644 --- a/switch_pro_driver.h +++ b/switch_pro_driver.h @@ -44,8 +44,7 @@ typedef struct { uint16_t ly; uint16_t rx; uint16_t ry; - - uint8_t imu_sample_count; // 0-3 + uint8_t imu_sample_count; SwitchImuSample imu_samples[3]; } SwitchInputState; diff --git a/tests/__init__.py b/tests/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/tests/test_uart_protocol.py b/tests/test_uart_protocol.py deleted file mode 100644 index be3f8bd..0000000 --- a/tests/test_uart_protocol.py +++ /dev/null @@ -1,120 +0,0 @@ -"""Tests for UART v2 protocol serialization in switch_pico_uart.""" - -import struct -import pytest -from switch_pico_bridge.switch_pico_uart import ( - SwitchReport, - IMUSample, - SwitchDpad, - UART_HEADER, - UART_PROTOCOL_VERSION, - ACCEL_LSB_PER_G, - GYRO_LSB_PER_RAD_S, - MS2_PER_G, - compute_checksum, -) - - -def test_v2_frame_with_imu_samples(): - """V2 frame with 3 IMU samples should be 48 bytes with correct layout.""" - r = SwitchReport( - buttons=0, - imu_samples=[ - IMUSample(100, -200, 4096, 50, -50, 0), - IMUSample(101, -201, 4097, 51, -51, 1), - IMUSample(102, -202, 4098, 52, -52, 2), - ], - ) - data = r.to_bytes() - assert len(data) == 48, f"Expected 48 bytes, got {len(data)}" - assert data[0] == UART_HEADER # 0xAA - assert data[1] == UART_PROTOCOL_VERSION # 0x02 - assert data[2] == 44 # payload_len - assert data[10] == 3 # imu_count - # Verify checksum - assert data[-1] == compute_checksum(data[:-1]) - # Verify first sample accel_x (int16 LE at byte 11) - ax0 = struct.unpack_from("3 IMU samples should cap at 3.""" - samples = [IMUSample(i, 0, 0, 0, 0, 0) for i in range(5)] - r = SwitchReport(imu_samples=samples) - data = r.to_bytes() - assert len(data) == 48 # 3 samples, not 5 - assert data[10] == 3 - assert data[2] == 44 # payload_len for 3 samples diff --git a/tools/read_pro_imu.py b/tools/read_pro_imu.py old mode 100755 new mode 100644 index c9abdf1..cc81ee9 --- a/tools/read_pro_imu.py +++ b/tools/read_pro_imu.py @@ -10,14 +10,11 @@ import struct import sys from typing import List, Tuple +import hid # from pyhidapi + DEFAULT_VENDOR_ID = 0x057E DEFAULT_PRODUCT_ID = 0x2009 # Switch Pro Controller (USB) -try: - import hid # from pyhidapi -except ImportError: - hid = None - def list_devices(filter_vid=None, filter_pid=None): devices = hid.enumerate() @@ -45,62 +42,23 @@ def find_device(vendor_id: int, product_id: int): def main(): - parser = argparse.ArgumentParser( - description="Read raw 0x30 reports (IMU) from a Switch Pro Controller / Pico." - ) - parser.add_argument( - "--vid", - type=lambda x: int(x, 0), - default=DEFAULT_VENDOR_ID, - help="Vendor ID (default 0x057E)", - ) - parser.add_argument( - "--pid", - type=lambda x: int(x, 0), - default=DEFAULT_PRODUCT_ID, - help="Product ID (default 0x2009)", - ) + parser = argparse.ArgumentParser(description="Read raw 0x30 reports (IMU) from a Switch Pro Controller / Pico.") + parser.add_argument("--vid", type=lambda x: int(x, 0), default=DEFAULT_VENDOR_ID, help="Vendor ID (default 0x057E)") + parser.add_argument("--pid", type=lambda x: int(x, 0), default=DEFAULT_PRODUCT_ID, help="Product ID (default 0x2009)") parser.add_argument("--path", help="Explicit HID path to open (overrides VID/PID).") - parser.add_argument( - "--count", - type=int, - default=0, - help="Stop after this many 0x30 reports (0 = infinite).", - ) - parser.add_argument( - "--timeout", type=int, default=3000, help="Read timeout ms (default 3000)." - ) - parser.add_argument( - "--list", action="store_true", help="List detected HID devices and exit." - ) - parser.add_argument( - "--plot", - action="store_true", - help="Plot accel/gyro traces after capture (requires matplotlib).", - ) - parser.add_argument( - "--save-prefix", - help="If set, save accel/gyro plots as '_accel.png' and '_gyro.png'.", - ) + parser.add_argument("--count", type=int, default=0, help="Stop after this many 0x30 reports (0 = infinite).") + parser.add_argument("--timeout", type=int, default=3000, help="Read timeout ms (default 3000).") + parser.add_argument("--list", action="store_true", help="List detected HID devices and exit.") + parser.add_argument("--plot", action="store_true", help="Plot accel/gyro traces after capture (requires matplotlib).") + parser.add_argument("--save-prefix", help="If set, save accel/gyro plots as '_accel.png' and '_gyro.png'.") args = parser.parse_args() - if hid is None: - print( - "pyhidapi is required for this tool. 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