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CODE_MAP.md

CODE_MAP.md 32 KB
Histórico Em bruto

OpenPuck firmware — architectural map

nRF52840 / Adafruit Arduino core / TinyUSB. The device impersonates a Valve Steam Controller 2 "puck" over USB and talks to SC2 controllers over a bare-metal nRF52 RADIO (ESB-style, no SoftDevice) protocol. Built with -DCFG_TUD_HID=6.

This map describes what the code actually does. Source comments in this repo are known to be misleading and were ignored.

0. Execution contexts (read this first)

Three contexts matter for every piece of state below:

Context Priority / stack What runs here
loop task Arduino FreeRTOS "loop" task, low priority, ~4 KB stack Everything called from loop(): webusbPoll, g_active->task(), serialConsolePoll, rfDiagTask, rfLinkTask, hapticTask, ledTask, usbMountTask. Also all of the RF radio code (it is driven synchronously from rfLinkTask/rfDiagTask). Also setup().
usbd task TinyUSB "usbd" task, high priority, ~800-byte stack All TinyUSB HID set_report/get_report callbacks, the custom XInput class-driver xfer callbacks, and (in the Adafruit core) HID sendReport queuing context. This is where host→device control transfers are decoded. Stack is tiny — a Serial.printf here can overflow it (the suspected LOCKUP cause), which is why all per-report logging is #if OPK_LOG gated.
ISR Hardware exception HardFault_Handler (fault_diag.cpp). The RADIO is polled, not interrupt-driven — there is no radio ISR.

Key cross-task rule the code relies on: producers that touch the relay rings and the capture ring run under __disable_irq()/PRIMASK; the per-slot HID reply rings are single-producer (usbd) / single-consumer (loop) with volatile head/tail and no lock.

1. Top level — OpenPuck.ino

Entry point + main loop. No input/output logic of its own.

setup() (loop task, boot)

  • genSerial(), ledInit(), seed per-slot RF session addresses, InternalFS.begin(), optional one-time factoryResetOnce(), loadCfg(), loadBonds(), regenerate session addresses for used slots.
  • Decides USB presentation: g_xbox = !modeIsPuck, g_active = controllerFor(g_usbMode).
  • Builds the USB descriptor. Two paths:
    • Dynamic-mount modes (emulated controllers): wakeHidBegin() (HID instance 0, unless clean-PS), g_active->beginPool(), optional usb_web.begin(), usbMountEnable(), usbMountRebuildMap(), usbReenumerate(g_usbMountCount).
    • Static modes (puck/lizard, or any non-dynamic): conditional CDC keep (keepCdc), per-mode serial suffix, ordered interface registration (usb_web IF0 → wake mouse IF1 → 4 puck slots IF2..5 for puck), then attach().
  • Busy-waits up to 3 s for USB mount: for (i<300 && !mounted()) delay(10).
  • hapticInit(), faultDiagBoot(), prints diagnostics.
  • Arms the hardware watchdog: NRF_WDT CRV = 8*32768-1 (~8 s), RUN-in-sleep. If loop() ever stops feeding it, the chip resets.

usbReenumerate(uint8_t k) (loop task)

Tears down and rebuilds the USB config descriptor for k connected slots with no MCU reboot: detach(), delay(20), clearConfiguration(), restore identity/serial, re-add wake mouse + g_active->mountSlots(k) + WebUSB in locked instance order, attach(). Called at boot and by usbMountTask.

loop() (loop task)

  1. Feeds the watchdog (NRF_WDT->RR[0]).
  2. If g_dirty, saveBonds() (flash write in loop context).
  3. Calls, in order: webusbPoll, g_active->task, serialConsolePoll, rfDiagTask, rfLinkTask, hapticTask, ledTask, usbMountTask. #if OPK_LOG wraps each in micros() timing for the WebUSB panel.

State owned

  • g_usbCfgDesc[512] — config-descriptor build buffer (puck composite + WebUSB exceeds 256 B).
  • MODE_SUFFIX[8], s_dynWantWebusb, s_dynWantWakeMouse.
  • g_loopPeriodUs, g_loopWorst, g_loopWorstUs — loop-timing diagnostics (read by webusb).

2. Configuration & identity

config.cpp / config.h — persisted settings (loop task)

  • Owns: g_usbMode, g_xbox, g_chordBtn[3], g_chordDpad[4], g_persistMode, g_bootMode, g_debugCdcThisBoot, g_mDiv, g_mFric, g_type[ET_COUNT] (per-emulated-type button config), g_etype, live mirrors g_abSwap/g_back[4]/g_qamMap/ g_padHaptics/g_ledBright, and the constant g_pollUs = 4000 (250 Hz, fixed). (g_swGyroLegacy is declared here but lives in mode_switch_pro.cpp/swprocfg.bin.)
  • struct Cfg is serialized to /cfg.bin (LittleFS), magic 0xCF. rxWin10, lizKeep, landAll87 and the per-type table travel with it; rsvd0 is the one-shot debug-CDC arm and rsvd1 the ex-rumble-strength slot (both kept so the on-flash layout is unchanged). New fields are appended to the tail (chordDpad[4]) — loadCfg() prefills 0xFF and accepts a file short by only the tail (CFG_LEN_MIN), so an upgrade keeps every existing setting and unwritten tail bytes fall back to defaults.
  • loadCfg() resolves the boot mode policy: one-shot bootMode wins once then clears; else persistMode ? last mode : STEAM(0). Calls applyActiveType().
  • saveCfg, saveMode, armDebugCdcNextBoot, factoryErase (LittleFS format()), factoryResetOnce (git-hash-tagged one-time wipe). All flash I/O — loop context only.
  • applyActiveType() copies g_type[g_etype] into the hot-path live mirrors.

identity.cpp / identity.h (loop task, boot)

  • genSerial() derives g_unit[16] ("FXB...") and g_board[16] ("MXB...") from NRF_FICR->DEVICEID. g_usbSerial[18] holds the per-mode suffixed serial.
  • ATTR83[25] — the constant 0x83-attribute blob (advertises product 0x1304).

build_info.h / git_version.h — compile-time tags only.

3. Bonds & shared link state — bonds.cpp / bonds.h

  • NSLOT = 4. struct Slot { uint8_t rec[24]; bool used; uint8_t resp[63]; uint16_t resp_len; }. rec = [8 uuid][16 serial]. resp/resp_len is the staging buffer for that interface's pending feature-report reply.
  • g_slot[NSLOT] — bond records + per-interface reply staging. Written by the puck feature command channel (usbd task, handleSet 0xA2) and by loadBonds (loop). Read by RF code, webusb, serial console.
  • g_connReplyMs[NSLOT] — millis() of the last F-type reply per slot (the live "controller is alive" timestamp). Written by the RF decode (loop task, rfConnTx). Read everywhere: puck_hid connection presentation, haptic link-up gate, usb_mount connectivity watcher, webusb, serial console.
  • g_dirty (volatile) — set by handleSet (usbd) when a bond is written; consumed by loop() → saveBonds() (defers flash off the usbd task).
  • g_pairing — set by handleSet 0xAD.
  • loadBonds/saveBonds — /bonds.bin LittleFS, loop context.

4. RF stack (bare-metal RADIO)

radio.cpp / radio.h — hardware layer (loop task)

  • Programs NRF_RADIO directly (PHY=Ble_2Mbit, ENDIAN=Big, no whitening, CRC16 poly 0x11021/init 0xFFFF, ESB-DPL framing). No SoftDevice.
  • DMA buffers rfrx[100], rftx[100] (declared >= MAXLEN+2 = 66+). Shared by rf_link.cpp AND rf_diag.cpp with no guarding (see §13).
  • g_rfBase[4]="ibex", g_rfPrefix=0x10, g_rfCh=2 — shared discovery rendezvous.
  • g_sessCh=18 — connected-session channel (global across slots).
  • g_sessBase[NSLOT][4], g_sessPrefix[NSLOT] — per-bond unique session address, derived in rfGenSessionAddr(slot) from bond UUID + FICR DEVICEID (deterministic, stable across reboots; degenerate bytes scrubbed; never equals "ibex").
  • Tunables (g_crcinit, g_whiteiv, g_mode, g_pcnf0/1, g_crcpoly, g_crccnf, g_pid, g_balen, g_prefixRaw, g_statlen) — mutated by the CDC console and by rf_diag's applyCfg/sweeps. rfConfig() reads them on every (re)program.
  • RWAIT_DISABLED() macro: bounded spin-wait for EVENTS_DISABLED, 3000 µs timeout, then bails (never hangs the loop forever).
  • rfSetAddr bit-reverses the base/prefix into BASE0/PREFIX0.

rf_link.cpp / rf_link.h — operational puck protocol (loop task)

The "dongle" role. All driven synchronously from rfLinkTask() in loop().

  • rfLinkTask(): host-frame beacons (session keepalive E1 on g_sessCh, discovery E1 on ch2), rfConnStep() poll loop, USB remote-wakeup on a fresh RF connection, QoS channel hop, per-second stat aggregation. Gated off during a 2.5 s post-disconnect cooldown (g_connCooldown).
  • rfConnStep(): cycle gate fires once per g_pollUs (250 Hz); on each fire it polls every warm slot back-to-back (so N controllers all run at full rate). Cold slots (silent > 5 s) retry only every 2 s. Per slot it flushes one relay entry and sends a bare E3 poll (real-puck behavior; legacy E7/GET path is toggle-able).
  • rfConnTx(ch, s1, payload, plen, rxWinUs): the core TX-then-RX primitive. TXes one frame on the current slot's session address, then busy-waits for a reply (while(!EVENTS_END && micros()-t0 < win), win = g_rxWin default 2000 µs, or a tiny override like 80 µs for no-ACK relays). On a CRC-good F-type reply it: samples RSSI, updates g_connReplyMs/g_linkRssi, calls hapticOnReconnect on a gap, and decodes the 0x45 input report into g_in[g_curSlot] (buttons, sticks, triggers, trackpads, IMU). Also handles: Steam-button short-press remote wakeup, Steam+Y 2 s power-off chord, back-4 mode-switch chord (face + D-pad, saveMode + NVIC_SystemReset), and status reports 0x43 (battery → g_battery/g_batteryState) / 0x44 → dispatched via g_active->onAuxReport.
  • g_curSlot — the slot the poll loop is currently driving. Set by rfConnStep before each TX; read by the decode, the relay flush, haptics, stats, webusb.
  • Shared output state (all volatile, written here, read by puck_hid/webusb): g_linkRssi[NSLOT], g_battery[NSLOT], g_batteryState[NSLOT].
  • Per-second readouts: g_f1ps, g_newps, g_pollsps, g_pollPeriodUs.
  • Many runtime toggles (g_pollGet, g_e7announce, g_e1keepalive, g_rxWin, g_e3mode, g_qos, …) set from the console/webusb.
  • Buffers: uses the shared rftx/rfrx (radio.h). The 0x45 TLV walk bounds every read against the received length and sizeof(rfrx) (explicit guards against runaway idx and reads past the buffer — the documented stack-smash/LOCKUP class).

triton.cpp / triton.h — decoded controller input

  • g_in[NSLOT] (struct PuckInput): the decoded SC2 input per slot — buttons, lx/ly/rx/ry, lt/rt, lpx/lpy/rpx/rpy, accel ax/ay/az, gyro gx/gy/gz. Written by rf_link (loop task) once per fresh 0x45; read by every USB personality's task() (loop) and by webusb. No lock (single writer, loop-context readers; the usbd-task readers in mode_switch_pro read it too — benign).
  • TB_* button masks, inline decoders s16off/u16off/trigU8/btnsOf, imuFrom45.

rf_diag.cpp / rf_diag.h — RE / calibration tooling (loop task)

Channel sniffers, raw capture/replay, beacon/respond, config sweeps — all driven from rfDiagTask() and CDC-console start hooks. Reprograms the same NRF_RADIO and shares rfrx/rftx with rf_link with zero mutual exclusion (relies on the design assumption that diag modes are off during normal operation). Buffers: g_replay[48], g_hostTx[48] (len 0x22=34), pl[48] in rfBeaconOnce (copy clamped to 48 into rftx). Spin-waits: RWAIT_DISABLED() (3000 µs) ×1–3 per call; a 500 µs RX window in rfBeaconOnce. rfReplayOnce runs every loop with no rate gate while armed. Notable: rfCapPoll copies 48 bytes into g_replay but sets g_replayLen=32.

5. Controller abstraction — controllers.cpp / controllers.h

  • IController interface: begin, onReport45, onAuxReport, task, wakeEvent, isPuck, and the dynamic-mount hooks dynamicMount/maxSlots/usbIdentity/ beginPool/mountSlots.
  • g_active — the one controller for this boot.
  • controllerFor(mode) maps g_usbMode → singleton (Steam & Lizard share g_steamPuck; PS5/PS5_GAME share g_ps5Ctl; HIDGYRO/DS4_GAME share g_hidGyroCtl).
  • Dispatch model: PUSH modes (puck/lizard, Xbox) build+send their host report inside onReport45 (loop task, called from rf_link). STREAM modes (Switch Hori/Pro, PS5, HIDGYRO) ignore onReport45 and emit from task() reading g_in[].

6. Puck personality — puck_hid.cpp / puck_hid.h (MODE_STEAM + MODE_LIZARD)

The 28DE:1304 puck identity with four HID slot interfaces (interface N = bond slot N).

  • PUCK_HID_DESC[] / PUCK_LIZARD_HID_DESC[] — the cloned puck report descriptors (mouse 0x40 + keyboard 0x41 + vendor FF00 with 63-byte feature reports).
  • hid[NSLOT] — the four Adafruit_USBD_HID slot objects.

usbd-task code (HID callbacks, 800-byte stack)

  • handleSet(slot, rid, type, b, n) (via setcb0..3): host→device reports.
    • OUTPUT reports 0x80–0x89: stamp g_steamAliveMs (Steam-alive heartbeat), hapLogAdd, and for 0x80–0x86 relay to the controller via relayEnqueue (gated by hapticRelaySlotOk, lizardActive, post-resume mute, haptic82Blocked).
    • FEATURE report 0x01 = raw passthrough → relayEnqueue(cmd,…); 0x9F → hapticSendShutdown.
    • FEATURE command channel: 0x83 (attrs), 0xAE (strings), 0xB4 (connection state), 0xAD (pairing), 0xA2 (write/clear g_slot[slot] → sets g_dirty), 0xA3 (read slot). Each writes the reply into S.resp[63] / S.resp_len.
  • handleGet(slot, rid, type, buf, reqlen) (via getcb0..3): returns the staged S.resp (≤63 bytes), stamps g_steamAliveMs in Steam mode, hapLogAdd(0xFC,…).

loop-task code

  • onReport45(slot, rep, fresh, bodyTlen) (from rf_link): suspended/post-resume gating, then either rfLizard (lizard, slot 0 only) or hid[slot].sendReport(0x45, rep+1, blen) (blen clamped ≤ 45).
  • onAuxReport(slot, rid, data, n): forwards controller 0x43/0x44 verbatim to hid[slot] (how Steam reads battery).
  • task(): post-resume edge stamp; per-slot connection presentation — edge-triggered 0x79 (1-byte conn state), periodic 0x7B (12-byte status with RSSI patched from g_linkRssi), and a synthesized 14-byte 0x43 battery report from g_battery/g_batteryState every 2 s (for SDL's full-length requirement). Also wakeNudgeTask().
  • wakeEvent() / wakeNudgeTask(): queue + deliver a net-zero mouse jiggle to wake the host (prefers the boot wake-mouse; falls back to per-slot gamepad jiggle). g_nudgeStep[NSLOT], g_nudgeMs[NSLOT].

Shared state owned here

  • g_steamAliveMs (last Steam OUTPUT/heartbeat; written in usbd & loop) and the derived lizardActive() — the single source of truth gating both the USB input path and the haptic relay. g_resumeMs (post-resume mute). g_fwdNewOnly. g_autoLizard.
  • Cross-task: S.resp/S.resp_len written in handleSet (usbd) and read in handleGet (usbd) — same task. g_slot[slot].rec/used + g_dirty written in usbd, flushed in loop. g_steamAliveMs/g_resumeMs written in both contexts, no lock.

7. Lizard desktop driver — mode_lizard.cpp / mode_lizard.h (loop task)

  • rfLizard(r, mdev, kdev, mrid, krid) — not an IController; called from puck_hid::onReport45 (loop task). Turns a raw 0x45 into keyboard+mouse:
    • Right pad → mouse motion (velocity/friction/sub-pixel glide; dx/dy clamped ±127). mdev->sendReport(mrid, &m, 5) (hid_mouse_report_t = 5 bytes).
    • Left pad → wheel (dw clamped ±15). Buttons from pad-click / trigger thresholds.
    • Keyboard: modifiers + up to 6 keycodes; krep[8] (boot-keyboard layout), kdev->sendReport(krid, krep, 8).
    • MODE_LIZARD-only consumer-control: mdev->sendReport(0x03, &cc, 1).
  • All state is loop-local statics; no USB callbacks; no shared cross-task state.

8. XInput personality — mode_xinput.cpp / mode_xinput.h (g_xboxCtl)

Dynamic-mount, PUSH-style. Custom TinyUSB vendor class driver (0xFF/0x5D/0x01) plus a boot mouse for the right pad.

  • usbd-task code (custom class driver g_xiDriver, returned via usbd_app_driver_get_cb): xi_init, xi_reset, xi_open (claims interface → g_usbToBond[u], arms OUT endpoint with a 32-byte xfer), xi_ctrl, xi_xfer. xi_xfer decodes the host rumble OUT report (outBuf[0]==0x00 && [1]==0x08) and calls hapticSteamRumble(lo, hi, slot) directly from the usbd task, then re-arms the 32-byte OUT xfer. No HID feature/get/set callbacks in this mode.
  • loop-task code: onReport45 → rfXboxGamepad(slot, rep) (+ rfXboxMouse for slot 0); xinputSend fills S.inBuf (20 bytes filled of the 32-byte buffer) and usbd_edpt_xfer(0, epIn, r, 20); task() is the stuck-rumble watchdog (2.5 s → hapticSteamRumble(0,0,s)).
  • Buffers: XiSlot.inBuf[32], XiSlot.outBuf[32]; XInput report = 20 bytes; descriptor = XINPUT_DESC_LEN 40 bytes; mouse report = 5 bytes.
  • Cross-task: g_xiSlot[NSLOT] — inUse/rumbleLow/rumbleHigh/rumbleMs volatile, but itf/epIn/epOut not volatile. usbd writes endpoint/rumble fields, loop reads them and touches the IN endpoint. No lock. hapticSteamRumble reached from both usbd (xi_xfer) and loop (task) — safety relies on the relay ring's PRIMASK guard.

9. Switch personalities

mode_switch_hori.cpp / mode_switch_hori.h (g_switchHori)

HORIPAD (0F0D:0092). Dynamic-mount, STREAM-style, plain 8-byte report, no report callbacks registered → no usbd-task user code at all.

  • task() (loop): rate-gated, switchBuildHoripad(slot, p[8]) from g_in[], sendReport(0, p, 8) (8 bytes, no report id). All build state loop-local.

mode_switch_pro.cpp / mode_switch_pro.h (g_switchPro)

Switch Pro (057E:2009). Dynamic-mount, STREAM-style + a full handshake/subcommand state machine. This mode registers an OUT/set-report callback (setReportCallback(NULL, JC_SETCB[s])).

  • usbd-task code (800-byte stack, the deepest USB-callback path in the firmware): jcSet0..3 → jcSetCommon → jcRumble (decodes amplitudes, dedupes, calls hapticSteamRumble(lo,hi,bond) from usbd) and jcSubcmd (builds a 63-byte 0x21 reply: BT pairing, device info, SPI read via spiRead, SPI write via jcSpiWrite, report-mode set). jcSubcmd's local p[63] plus jcInputPrefix/spiRead is the heaviest stack user on the 800-byte stack. jcEnq (usbd) is the ring producer. jcSpiWrite is RAM-only (writes g_userCal[slot][], sets a dirty flag) — deliberately no flash I/O in the callback.
  • loop-task code: beginPool (LittleFS loads, descriptor setup), task() — deferred flash save (saveUserCal when dirty + 250 ms), drains one queued reply per slot via sendReport(rid, data, 63), else rate-gated switchProBuild(slot, p[63])
    • sendReport(0x30, p, 63).
  • Buffers: JC_REPLEN = 63 (all input/reply reports are 63 payload bytes); reply ring g_jcQ[NSLOT][8] of {rid, data[63]}; g_userCal[NSLOT][0x100]; g_spiStickCal[18]; g_jcMac[NSLOT][6]; config file b[2] (swprocfg.bin v2 = [ver][g_swGyroLegacy]; the report rate is fixed at USB_STREAM_MS).
  • Cross-task shared data:
    • Reply ring g_jcQ / g_jcQh / g_jcQt — SPSC (usbd produces, loop consumes); head/tail volatile, ring body not volatile.
    • g_swProReportMode[] — written usbd (jcSubcmd) + loop (mountSlots), read loop; not volatile.
    • g_userCal[][] + g_userCalDirty/g_userCalDirtyMs — g_userCal written/read in usbd, read in loop (saveUserCal); only the dirty flag/ts are volatile → a loop-side save can race a usbd-side write (no lock).
    • g_jcTimer[] — incremented in both contexts, not atomic (benign).
    • g_in[bond] — read from both jcInputPrefix (usbd) and switchProBuild (loop).

10. PlayStation personalities

mode_ps5.cpp / mode_ps5.h (g_ps5Ctl, MODE_PS5 + MODE_PS5_GAME)

DualSense (054C:0CE6). Dynamic-mount, STREAM-style. Registers get+set report callbacks (setReportCallback(PS5_GETCB[s], PS5_SETCB[s])).

  • usbd task: ps5GetCommon (GET_FEATURE: 0x03→47 B, 0x05 motion-calib via psNeutralCalib writing through buf[33]→returns 40, 0x09 MAC 6 B→19, 0x20 fw→63 B; each memset(buf,0,reqlen) first); ps5SetCommon (OUTPUT 0x02 rumble → hapticSteamRumble(p[3]*257, p[2]*257, bond) from usbd, reads g_usbToBond[slot]).
  • loop task: task() rate-gated → ps5Build(u, bond, p[63]) from g_in[bond] (per-slot seq[]), sendReport(0x01, p, 63). Touch packed at out+32 (8 bytes).
  • Buffers: input report p[63]; g_ps5Mac[NSLOT][6].

mode_hidgyro.cpp / mode_hidgyro.h (g_hidGyroCtl, MODE_HIDGYRO + MODE_DS4_GAME)

DS4-layout (054C:05C4) + gyro. Same structure as PS5.

  • usbd task: hidGyroGetCommon (GET_FEATURE: 0x02 calib via psNeutralCalib→36, 0x12 MAC 6→15, 0x81 MAC 6→6, 0xA3 fw→48); hidGyroSetCommon (OUTPUT 0x05 rumble → hapticSteamRumble(p[4]*257, p[3]*257, bond) from usbd).
  • loop task: task() → hidGyroBuild(u, bond, p[63]) from g_in[bond], sendReport(0x01, p, 63); touch via touchPackPads(out+34,…) (8 bytes).
  • Buffers: input report p[63]; g_ds4Mac[NSLOT][6].

Both PS modes: g_usbToBond[] read in usbd without a lock (bounds-checked); the calib helper psNeutralCalib writes 34 bytes (buf[6..33]) while callers return 36/40 (remainder zeroed by the prior memset).

gamepad_util.cpp / gamepad_util.h — shared report-builders (called from loop task)

swStick, psNeutralCalib (writes through buf[33]), trackpad→touch mappers (touchPackPads writes 8 bytes = two 4-byte points), psButtonsFromSteam (back-paddle/ QAM/chord remap), psShouldersByte, psHatNibble, psFaceNibble, tritonFromCode. Reads g_qamMap/g_abSwap/g_back[]. Pure transforms, no buffers beyond callers'.

11. Haptics & host→controller relay — haptics.cpp / haptics.h

The central cross-task data structure: the relay rings.

  • g_rq[NSLOT][RELAY_QLEN] (RELAY_QLEN = 32), struct RelayMsg { uint8_t rid, len; uint8_t data[RELAY_MAXP=60]; }, with volatile g_rqHead[NSLOT] / g_rqTail[NSLOT]. One ring per bond slot. Multi-producer (usbd-task HID callbacks: puck_hid handleSet, the mode rumble callbacks; plus loop-context console/test injectors), single-consumer per slot (rfConnFlushRelay on that slot's poll turn, loop task).
  • relayEnqueue(rid, payload, plen, slot): producers serialize under __get_PRIMASK() / __disable_irq() / __set_PRIMASK. slot==0xFF broadcasts to all rings. Full ring → evict the oldest (keeps the most recent meaningful frame).
  • rfConnFlushRelay(ch, s1) (loop, from rfConnStep): drains one entry from g_curSlot's ring, frames it as an E3 sub-TLV (type-01 form for 0x9F/LED-0x2D, legacy type-05 otherwise), hapLogAdd(0xFE,…), TXes via rfConnTx(…, 80) (no-ACK).
  • rfConnQueueHapticRelay() (loop): injects test/stop haptics only on an idle cycle.

Other haptic state (mostly loop task, some volatile flags)

  • g_testHaptic, g_hapticStop (volatile), g_hapticBlockOn, g_hapticBlockMs, g_hapticBlockUntil[NSLOT], g_relayOp, g_relaySub.
  • hapticSendShutdown() — bursts 0x9F "off!" ({6f 66 66 21}) ×3 broadcast.
  • hapticSteamRumble(low, high, slot) — builds a 9-byte 0x80 report (×RUMBLE_SCALE_PCT), relayEnqueue(0x80, p, 9, slot); called from usbd (mode rumble callbacks) and loop. Per-slot stuck-rumble tracking g_rumble80On/Ms[NSLOT].
  • haptic82Blocked/hapticLinkUp/hapticRelaySlotOk — link-up + block gates (read g_connReplyMs, g_slot).
  • hapticOnReconnect(slot) — arms the per-slot block + schedules g_reinitLeft re-init shots; hapticCancelPendingOn voids queued ON entries under PRIMASK.
  • hapticReinit(slot) — enqueues the captured 0x81/0x87 settings re-init sequence.
  • hapticTask() (loop): per-slot link-edge detect → hapticOnReconnect; fires scheduled re-init; autonomous controller power-off on a persisted USB suspend (SUSPEND_OFF_MS = 4000 ms, VBUS-gated) → hapticSendShutdown; stuck-rumble watchdog (2.5 s); idle-clear re-init.
  • hapInit() resets all rings/flags at boot.

Diagnostic capture ring (#if OPK_LOG only)

  • g_hapLog[HAPLOG_N=4096] of {ms, slot, rid, n, b[16]} (~80 KB). hapLogAdd written from both usbd and loop, guarded by PRIMASK; g_hapHead is uint16_t. Drained to WebUSB via hapLogResetDrain/hapLogPull (loop) and 'H' console dump. Compiled out entirely in production (OPK_LOG=0), reclaiming the RAM.

12. USB infrastructure

usb_mount.cpp / usb_mount.h — dynamic re-enumeration watcher (loop task)

  • g_usbMountCount, g_usbToBond[NSLOT] (usbSlot→bond, -1 unused), g_bondToUsb[NSLOT] (inverse). g_usbToBond is the routing map the usbd-task rumble callbacks read to map a USB output back to a bond slot.
  • No TinyUSB callbacks here despite the name — it's a poll-driven state machine.
  • usbMountTask() (loop): connectedMask() (slots with a reply < CONN_UP_MS=1200 ms), debounce MOUNT_DEBOUNCE_MS=2000 ms, and on a steady change commitOrder() (rewrites both maps + count) then usbReenumerate(g_usbMountCount) (detach/rebuild/attach, no reboot). Order-preserving so existing instances keep their index.
  • No delay() here (the detach delay lives in usbReenumerate). Maps rewritten non-atomically just before re-attach; consumers tolerate the brief window.

wake_hid.cpp / wake_hid.h — boot-mouse wake source

  • WAKE_HID_DESC = boot mouse, g_wakeHid, g_wakeHidPresent.
  • wakeHidBegin (setup), wakeHidAddInterface (re-enumerate build), wakeHidPresent, wakeHidReady, wakeHidMove(dx,dy) → g_wakeHid.mouseReport(0,0,dx,dy,0,0) (buttons always 0). Poll interval 10 ms. No buffers/delays/loops; only shared state is the one flag set once at begin.

webusb_config.cpp / webusb_config.h — browser config channel (loop task)

  • Adafruit_USBD_WebUSB usb_web. No vendor callbacks — fully polled from webusbPoll() in loop() (the library buffers the vendor RX). So nothing here runs on the usbd 800-byte stack.
  • webusbSendBlob() builds a 115-byte status blob (p[2+WB_PAYLEN(113)], header A5 113 11) reading a large set of diagnostic globals (g_curSlot, g_connReplyMs, g_battery, g_linkRssi, g_in[0] IMU, g_slot, g_type, loop/poll stats, …) — unsynchronized reads of RF-owned state, but cosmetic (torn reads at most).
  • webusbPoll() command parser (static buf[16]): 0x01 send blob; 0x02 field value mutates config tunables (writes g_type, g_mDiv/Fric, g_rxWin (clamped 600..3000), g_hapticBlockMs (≤60 s), etc., then applyActiveType/saveCfg/swProSaveCfg); 0x03 mode→saveMode+reset; 0x07→hapticReinit; 0x08→hapticSendShutdown; 0x0A ("ERS")→factoryErase+reset; 0x0B/0x0C→DFU; capture drain (OPK_LOG). Each reset/DFU path does delay(40) then NVIC_SystemReset() (harmless — reboots).

fw_update.cpp / fw_update.h — staged firmware update (loop task + boot)

  • WebUSB ops 0x20 begin / 0x21 chunk / 0x22 verify+commit / 0x24 abort stage a new app image into unused flash below the meta page at 0xEC000 (top of the app region); strictly sequential offsets, duplicate chunks re-acked without rewriting (flash words are written once per erase). One page erase max per loop() pass (~85 ms CPU stall).
  • fwupEnd() CRC32s the staged flash (heartbeat-beaten so the wedge reporter stays quiet), sanity-checks the vector table, then commits the one-page meta record — the single arming action. Idempotent on retry (lost-ack safe).
  • fwupApplyIfArmed() (first line of setup()): re-validates everything, then ramApply() — a .data-section (RAM-resident) copier, IRQs off, WDT force-started and fed — erases the app (vector page FIRST), writes it (vector page LAST, first word dead-last), verifies word-for-word, rewrites the bootloader settings page to the drag-and-drop state (BANK_VALID_APP, crc-check off), erases meta, resets. Any interruption leaves the board app-less → UF2 bootloader, never a half image.

serial_console.cpp / serial_console.h — CDC debug CLI (loop task)

  • serialConsolePoll() drains available CDC bytes into static char line[24] (bounded), dispatches single-letter commands on newline (first match wins). Commands mutate the radio tunables, rf_link toggles, rf_diag flags, config (E/F/W/K/Q → saveCfg), and inject relays (J/t). No blocking reads; delay() only before resets.
  • Note: C and H each appear twice in the chain — the second occurrence of each is dead code (unreachable).

13. Status & fault

status_led.cpp / status_led.h (loop task)

Drives two GPIO pins (LED_BUILTIN + pin 24) together. ledWakePulse() lights them and stamps g_pulseMs; ledTask() clears after PULSE_MS=500. No buffers/delays/radio.

fault_diag.cpp / fault_diag.h

  • HardFault_Handler() (ISR / exception context) — a strong override of the weak default: sets GPREGRET2 = 0xFA then NVIC_SystemReset(). The only ISR/handler in the codebase.
  • faultDiagArmIntentionalReset() sets GPREGRET2 = 0xB1 before a deliberate reset.
  • faultDiagBoot() (loop) reads RESETREAS + GPREGRET2, classifies the last boot (PIN / WATCHDOG / LOCKUP / HARDFAULT / REBOOT / SOFT / WAKE / POWERON / UNKNOWN), clears GPREGRET2. Accessors faultDiagReason/…ResetReas/…ReasonStr feed WebUSB.

14. Cross-task shared state — consolidated

State touched by both the loop task and the usbd task (the synchronization-critical set):

State Writer(s) Reader(s) Synchronization
g_rq[NSLOT][32] relay rings + g_rqHead/Tail (haptics) usbd HID callbacks (handleSet, mode rumble cbs) + loop (console/test/hapticTask) loop rfConnFlushRelay Producers under PRIMASK; volatile head/tail; ring body not volatile; SPSC-drain per slot
g_slot[NSLOT].rec/used/resp (bonds) usbd handleSet (0xA2 / reply staging) + loop (loadBonds) loop RF/webusb/console, usbd handleGet resp is same-task (usbd); g_dirty (volatile) defers the flash write to loop
g_dirty usbd handleSet loop loop() → saveBonds volatile flag
g_padStick[2] (config, trackpad→stick live mirror) loop applyActiveType() (boot + WebUSB setter) loop mode builders via slotSticks; usbd jcInputPrefix (switch pro) none; plain uint8_t byte writes, worst case one stale frame (same shape as g_abSwap/g_back[])
g_in[NSLOT] (decoded input) loop rf_link decode loop mode task()/onReport45; usbd jcInputPrefix (switch pro); webusb none (single writer; readers tolerate staleness)
g_connReplyMs[NSLOT] loop rf_link loop puck_hid/usb_mount/haptics/webusb; usbd haptic gates none (plain unsigned long)
g_battery/g_batteryState/g_linkRssi[NSLOT] loop rf_link loop puck_hid task/webusb declared volatile
g_usbToBond[NSLOT] (usb_mount) loop usbMountTask/commitOrder usbd rumble callbacks (ps5/hidgyro/xinput) + loop modes none; bounds-checked; non-atomic rewrite just before re-attach
g_jcQ/g_jcQh/g_jcQt (switch pro reply ring) usbd jcEnq loop task() volatile head/tail, SPSC; body not volatile
g_userCal[NSLOT][0x100] + dirty flags (switch pro) usbd jcSpiWrite usbd spiRead, loop saveUserCal only dirty flag/ts volatile; g_userCal itself unguarded (loop save can race usbd write)
g_xiSlot[NSLOT] (xinput) usbd class driver (eps, rumble) loop xinputSend/task inUse/rumble* volatile; itf/epIn/epOut not volatile; no lock
g_swProReportMode[NSLOT] usbd jcSubcmd + loop mountSlots loop task not volatile
g_steamAliveMs / g_resumeMs (puck_hid) usbd handleSet/handleGet + loop task both none
g_hapLog[4096] (OPK_LOG) usbd + loop hapLogAdd loop drain PRIMASK in hapLogAdd
rfrx[100]/rftx[100] + NRF_RADIO loop rf_link AND loop rf_diag same no guard — relies on diag-modes-off assumption (both are loop task, so no preemption between them, but no arbitration of radio state)

hapticSteamRumble() is the one app function legitimately entered from the usbd task (via the ps5/hidgyro/xinput/switch-pro rumble callbacks) as well as the loop task; its safety rests entirely on relayEnqueue's PRIMASK guard.