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ARCHITECTURE.zephyr.md

ARCHITECTURE.zephyr.md 5.1 KB
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OpenPuck — Zephyr RTOS port

This is the Zephyr port of the OpenPuck firmware (originally Arduino / Adafruit-nRF52 / TinyUSB, in ../OpenPuck). It targets mainline Zephyr (v4.4.99) on adafruit_feather_nrf52840/nrf52840/uf2.

Build

./zbuild.sh                 # uses ~/zephyrproject + ~/zephyr-sdk-1.0.1 via the venv
# or, with env set up:
west build -b adafruit_feather_nrf52840/nrf52840/uf2 OpenPuckZephyr

Output build/zephyr/zephyr.uf2 flashes via the existing double-tap-reset DFU procedure (the uf2 board variant reserves the Adafruit bootloader region and uses app base 0x26000).

Migration strategy: compatibility shims

The reverse-engineered radio/protocol/mode logic is the value of this firmware and the part most dangerous to rewrite. So instead of rewriting it, the port keeps those ~8000 lines near-verbatim and supplies a thin compatibility layer in src/compat/:

Shim Replaces Backing
Arduino.h / arduino_compat.cpp Arduino core micros() via Cortex-M DWT cycle counter; millis()/delay() via kernel; GPIO via nrf_gpio; Serial via console; NRF_* registers + CMSIS via nrfx MDK (<nrfx.h>)
Adafruit_LittleFS.h / InternalFileSystem.h / littlefs_shim.cpp Adafruit LittleFS Zephyr fs (LittleFS) mounted on storage_partition
Adafruit_TinyUSB.h TinyUSB / Adafruit USBD Zephyr USBD (see USB status below)

The NRF_RADIO/NRF_WDT/NRF_FICR/NRF_CLOCK register code ports essentially unchanged because Zephyr's hal_nordic ships the same Nordic MDK. CONFIG_BT, CONFIG_IEEE802154, and the 802.15.4 radio driver are disabled so the RADIO peripheral is free for the bare-metal protocol.

Status

Compiles + links + produces a UF2, with the real setup()/loop() entry (main.cpp, ported from OpenPuck.ino). Every module is in the build: radio, rf_link, rf_diag, triton, gamepad_util, haptics, controllers, puck_hid, all six modes (lizard, xinput, switch_hori, switch_pro, ps5, hidgyro), webusb_config, serial_console, usb_mount, wake_hid, config, bonds.

Functional (compiles + linked into the UF2; hardware-verification pending)

  • Build pipeline, persistence (LittleFS), config + bond load/save, the radio register layer, the RF protocol state machines, and all mode report-building logic.
  • HFXO started explicitly in setup(); WDT driven directly via NRF_WDT.
  • USB is wired (not inert): a real usbd_context (usb_device_setup.cpp) brings the stack up via the TinyUSB shim's attach(). It registers, per active mode, only the classes that mode used:
    • HID — a 5-node zephyr,hid-device pool (app.overlay); the shim (usb_glue.cpp) binds Adafruit_USBD_HID objects in begin() order, sendReport→hid_device_submit_report, get/set/output reports dispatched to the modes. Covers puck/lizard slots, switch (hori/pro), ps5, hidgyro, the wake mouse, and the Xbox right-pad mouse.
    • CDC ACM — the board console; serial_cdc_glue.cpp wires the debug console's input + output to it.
    • WebUSB — a custom vendor class (usb_webusb_class.cpp) bridged to byte rings, plus a BOS WebUSB platform capability + landing-page URL.
    • XInput — a custom vendor class (usb_xinput_class.cpp): the FF/5D/01 interface + magic blob + interrupt IN/OUT; mode_xinput feeds the 20-byte report and decodes the OUT rumble packet.
  • Per-mode interface selection (the reboot-to-reenumerate concession) is done by blocklisting the unused class instances in usb_device_setup.cpp, which also keeps within the nRF52840's 8 IN-endpoint budget.

Remaining / to confirm on hardware (none hardware-verified here)

  1. Everything USB needs real-hardware verification — enumeration, the per-mode class-instance names (hid_0..hid_4, cdc_acm_0, opk_webusb_0, opk_xinput_0), endpoint assignment, and the per-mode endpoint budget.
  2. XInput is single-controller. Multi-controller XInput (one interface per connected pad, as the Arduino dynamic-mount did) is a follow-up.
  3. Dynamic mount. The variable connected-controller count without reboot is collapsed to a fixed per-mode set + reboot-to-reenumerate (the concession below). The usb_mount watcher is compiled but its re-enumeration is inert.
  4. MS OS 2.0 / WinUSB auto-binding for WebUSB on Windows is not added (the WebUSB BOS + URL are). The browser panel works where the OS lets a page claim a vendor interface; Windows may need a manual WinUSB association.
  5. Wake-on-Windows nuance: the boot-mouse wake interface is a generic HID node (protocol-code = "none"); for Windows to arm it as a wake source the wake node likely needs protocol-code = "mouse".

Behavioral concession (documented)

Zephyr's USBD descriptor set is fixed once the stack is enabled. The Arduino firmware's dynamic re-enumeration without reboot (usbReenumerate, variable connected-controller count) does not map; it collapses to reboot-to- reenumerate, which was already the firmware's mode-switch path. Per-mode interface sets are achieved by registering only that mode's classes at init.