feat(switch2_pro): Nintendo Switch 2 Pro Controller BLE emulation - #765
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finger563 wants to merge 29 commits into
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feat(switch2_pro): Nintendo Switch 2 Pro Controller BLE emulation#765finger563 wants to merge 29 commits into
finger563 wants to merge 29 commits into
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✅Static analysis result - no issues found! ✅ |
Contributor
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🟡 Changes recommended
There are several correctness/documentation mismatches and missing error-handling paths (paired-state semantics, pthread config error checking, PSA crypto status handling, and dependency/version alignment) that should be resolved before approval.
Once you've addressed the issues Copilot identified, you can request another Copilot review.
Pull request overview
Adds a new switch2_pro component to ESPP that emulates a Nintendo Switch 2 Pro Controller over BLE (custom GATT + custom pairing/crypto + continuous input streaming), plus a small ble_gatt_server enhancement to support the required GATT/connection-parameter behavior, along with docs and CI coverage for the new example.
Changes:
- Introduces the
components/switch2_procomponent (protocol constants, pairing crypto/self-test, GATT layout, advertising variants, bond persistence, and an input streaming task with backpressure). - Extends
espp::BleGattServerwith a connection-parameters-update callback and an option to disable built-in DIS/BAS services (needed for strict handle layout emulation). - Adds documentation pages, Doxygen inputs, and CI build matrix entries for the new example (ESP32-C6 + ESP32-S3).
File summaries
| File | Description |
|---|---|
| doc/en/ble/switch2_pro.rst | New Sphinx page documenting the Switch 2 Pro BLE emulation component and 5 ms interval patch. |
| doc/en/ble/switch2_pro_example.md | Includes the example README into the docs site. |
| doc/en/ble/index.rst | Adds switch2_pro docs pages to the BLE docs toctree. |
| doc/Doxyfile | Adds Switch2Pro headers and example to Doxygen INPUT/EXAMPLE_PATH. |
| components/switch2_pro/tools/smoke_test_5ms.py | Hardware-free verifier for the 5 ms controller patch (disassembly-based). |
| components/switch2_pro/tools/patch_nimble_5ms.py | Opt-in patcher that edits ESP-IDF controller archives to accept 5 ms intervals. |
| components/switch2_pro/src/switch2_pro.cpp | Core implementation: GATT layout, pairing handling, bond persistence, advertising, and input streaming/backpressure. |
| components/switch2_pro/src/switch2_pro_pairing.cpp | Pairing crypto implementation using PSA Crypto API + self-test. |
| components/switch2_pro/README.md | Component README covering usage, 5 ms patch rationale, and known issues. |
| components/switch2_pro/Kconfig | Adds SWITCH2_PRO_PATCH_NIMBLE_5MS opt-in configuration. |
| components/switch2_pro/include/switch2_pro.hpp | Public API for espp::Switch2Pro and its configuration/streaming behavior. |
| components/switch2_pro/include/switch2_pro_report.hpp | Defines the packed Pro Controller 2 input report helper. |
| components/switch2_pro/include/switch2_pro_protocol.hpp | Protocol constants: UUIDs, command IDs, feature bits, manufacturer data, golden vectors. |
| components/switch2_pro/include/switch2_pro_pairing.hpp | Pairing crypto interface and self-test API. |
| components/switch2_pro/include/switch2_pro_motion.hpp | Embedded captured IMU motion sequence for optional replay. |
| components/switch2_pro/include/switch2_pro_flash.hpp | Embedded captured flash blocks and a simulated flash reader. |
| components/switch2_pro/idf_component.yml | Component Manager manifest for switch2_pro. |
| components/switch2_pro/example/sdkconfig.defaults.esp32c6 | ESP32-C6-specific sdkconfig defaults (libc/toolchain workaround notes). |
| components/switch2_pro/example/sdkconfig.defaults | Example defaults for BLE/NimBLE tuning and patch guidance. |
| components/switch2_pro/example/README.md | Example walkthrough (pairing, streaming, wake/reconnect instructions). |
| components/switch2_pro/example/partitions.csv | Partition table enabling NVS for bond persistence. |
| components/switch2_pro/example/main/switch2_pro_example.cpp | Example app implementing BOOT-as-A and wake-on-press logic. |
| components/switch2_pro/example/main/CMakeLists.txt | Registers the example main component. |
| components/switch2_pro/example/CMakeLists.txt | Example project wiring for ESP-IDF build and components list. |
| components/switch2_pro/DESIGN.md | Design notes, protocol sources/attribution, and patch rationale. |
| components/switch2_pro/CMakeLists.txt | Component build registration + opt-in patch invocation at configure time. |
| components/switch2_pro/.gitignore | Ignores example build artifacts and generated sdkconfig files. |
| components/ble_gatt_server/src/ble_gatt_server_callbacks.cpp | Plumbs NimBLE conn-param-update event into server callbacks. |
| components/ble_gatt_server/include/ble_gatt_server.hpp | Adds conn-param-update callback typedef + togglable DIS/BAS creation/start/deinit. |
| components/ble_gatt_server/include/ble_gatt_server_callbacks.hpp | Declares the new onConnParamsUpdate callback override. |
| .github/workflows/build.yml | Adds CI build matrix entries for switch2_pro/example (C6 + S3). |
Review details
- Files reviewed: 32/32 changed files
- Comments generated: 6
- Review effort level: Lite
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Contributor
There was a problem hiding this comment.
🟡 Changes recommended
Critical synchronization, lifecycle, handshake, and configuration issues remain unresolved.
Once you've addressed the issues Copilot identified, you can request another Copilot review.
Review details
Suppressed comments (13)
Previously missed (12) — in code that hasn't changed since the last review.
components/switch2_pro/example/main/switch2_pro_example.cpp:31
- Initialization failures are ignored, including failure of the erase/retry path, so the example proceeds even though this component's advertised reconnect/wake behavior cannot persist a bond. Check the final NVS status before constructing the controller.
components/switch2_pro/include/switch2_pro_report.hpp:82 - At the documented neutral input
v == 0, this expression truncates4095 / 2to 2047, despiteSTICK_CENTERbeing 2048. Consequently every default/reset report encodes both sticks one count off center. Scale each half aroundSTICK_CENTERso the endpoints remain 0/4095 and zero maps exactly to 2048.
components/switch2_pro/src/switch2_pro.cpp:425 - The underlying API returns
falsewhen advertising cannot start, but that result is discarded and success is logged;wake_console()likewise returns true unconditionally. This makes callers believe the wake/discovery advertisement was issued when it was not. Return and propagate the start result throughstart_advertising(),advertise(),wake_console(), and initialization.
components/switch2_pro/src/switch2_pro.cpp:445 wake_console_on_boot_is immutable and remains true after the first successful connection. With the default configuration, every later disconnect therefore immediately advertises the wake variant, and the persistent timer resumes doing so every five seconds, potentially waking a console the user just put to sleep. Use a one-shot wake-pending latch initialized at boot and clear/cancel it on successful connection, as the public configuration contract states.
components/switch2_pro/src/switch2_pro.cpp:788- Byte
0x0bis forced to the rumble-enabled value even whenFEATURE_SELECThas not enabled rumble or has explicitly disabled it. This contradictsPro2InputReport::reset()and the feature-state contract in the header, and sends a feature state different from the negotiated mask.
components/switch2_pro/src/switch2_pro.cpp:853 - A failed
ble_store_write_our_secis logged at INFO as “ready,” and callers continue to mark/save the pairing even though the controller cannot answer the upcoming encryption request. Propagate this failure frominject_ltk()so finalization/reconnect can fail explicitly rather than reporting a usable bond.
components/switch2_pro/src/switch2_pro.cpp:885 - The return values from
nvs_set_blobandnvs_commitare ignored, yet the method logs success and updates the in-memory bond even when persistence failed. This makes pairing appear durable while reconnect/wake fails after reboot. Only publish success after both operations complete successfully.
components/switch2_pro/tools/patch_nimble_5ms.py:205 - Targets with two controller archives are modified one at a time. If the first archive is patched and validation of the second archive fails, the tool exits after leaving the global ESP-IDF installation partially patched. Preflight every archive and create all backups before writing any archive, or roll back already-written archives on failure.
components/switch2_pro/tools/smoke_test_5ms.py:99 - The smoke test documents exit code 2 for tool errors, but failures from
arraiseCalledProcessError, missing tools raiseOSError, andobjdumpfailures are silently treated as empty output; the first two terminate with Python's exit code 1, which is documented as “unpatched.” Catch tool-execution failures and consistently return the indeterminate/error status 2.
components/switch2_pro/DESIGN.md:43 - This states that every link is driven at 5 ms and cannot stream without the patch, contradicting the verified behavior documented elsewhere in this PR: fresh pairing and first-session streaming use 15 ms, while only bonded reconnect/wake starts at 5 ms. Clarify the distinction here because it changes whether the invasive patch is required.
components/switch2_pro/include/switch2_pro.hpp:195 - This says on-change mode is the default, but
Config::continuous_streamingdefaults to true. Update the method documentation so generated API docs describe the actual default behavior.
components/switch2_pro/include/switch2_pro_protocol.hpp:40 - The protocol comment declares this characteristic as
WRITE, butbuild_gatt()intentionally creates it withNIMBLE_PROPERTY::WRITE_NRto match the real controller. Correct the public protocol documentation to avoid sending users toward the wrong GATT layout.
components/switch2_pro/DESIGN.md:85
- This says absolute handles are not strict and “we discover by UUID,” whereas the implementation and required
registerServicesFirst()API are explicitly based on the console using fixed handles without discovery. Resolve this contradiction; it changes whether the exact GATT ordering is a protocol requirement or merely emulation fidelity.
Two proprietary primary services; contiguous handles matter for some console
firmwares (FW 2.0.0+ shifts them +8 for headset audio, so absolute-handle dependence
is not strict — we reproduce the map but discover by UUID).
- Files reviewed: 32/32 changed files
- Comments generated: 9
- Review effort level: Balanced
Contributor
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🔵 Needs a closer look
Multiple critical and moderate issues remain, and merging is gated on an unreleased upstream NimBLE API.
Review details
Suppressed comments (11)
Previously missed (8) — in code that hasn't changed since the last review.
components/switch2_pro/example/main/switch2_pro_example.cpp:31
- This example proceeds even if NVS initialization or the erase/retry fails. The controller will then appear to pair but cannot persist its bond, so the documented reboot reconnect/wake flow breaks. Check both operations and the final initialization result, as the existing NVS initialization pattern does in
components/st25dv/example/main/st25dv_example.cpp:53-59.
components/switch2_pro/example/sdkconfig.defaults:21 - The default target is ESP32-C6, whose CPU supports at most 160 MHz, so these 240 MHz assignments are not valid for the default build and are ignored rather than providing the claimed headroom. Keep 240 MHz in an S3-specific defaults file and configure 160 MHz in
sdkconfig.defaults.esp32c6.
components/switch2_pro/include/switch2_pro_report.hpp:82 - The conversion truncates the normalized midpoint:
axis_to_u12(0.0f)produces 2047 (0x7ff) even thoughSTICK_CENTERand the public API define center as 2048 (0x800). Round the scaled value so a default/centered report encodes the declared midpoint.
components/switch2_pro/src/switch2_pro.cpp:911 - The return values from both NVS writes are ignored, so a full/corrupt flash can make this function log “saved bond” even though reconnect-after-reboot will fail. Check
nvs_set_blobandnvs_commitbefore updating the cached peer fields or reporting success.
components/switch2_pro/tools/patch_nimble_5ms.py:225 - An existing
.originalis reused forever. If ESP-IDF is upgraded in place, the new unpatched archive is patched while the old-version backup remains; a later--restorethen installs an archive from the previous IDF version. Because this branch has already verified that the current archive contains the unpatched pattern, refresh the backup from it before each new patch.
components/switch2_pro/tools/smoke_test_5ms.py:125 - The module documents exit code 2 for tool/extraction errors, but an unavailable
ar/objdumpor failed extraction raises an uncaught subprocess/OSError and Python exits with 1—the same code documented for a valid unpatched controller. This makes automation misclassify verifier failures as an unpatched result; normalize those exceptions to exit 2.
components/switch2_pro/include/switch2_pro.hpp:195 - This documentation says on-change mode is the default, but
Config::continuous_streamingdefaults totrue. Generated API docs therefore describe the opposite runtime behavior.
components/switch2_pro/include/switch2_pro_protocol.hpp:41 - The protocol header documents this characteristic as
WRITE, butbuild_gatt()intentionally creates it asWRITE_NRto match the real controller. Update the public wire-protocol documentation so consumers do not implement the wrong property.
components/switch2_pro/DESIGN.md:94
- This table also says the firmware-update characteristic is
WRITE, while the implementation and its source comment useWRITE_NR. Keep the design reference aligned with the actual GATT table.
4147423d-… WRITE firmware update (large)
components/switch2_pro/DESIGN.md:43
- This design statement contradicts the implemented and documented behavior elsewhere: fresh pairing and first-session input run at 15 ms without the patch; only bonded reconnect/wake begins at 5 ms. As written, it incorrectly tells readers that all input streaming requires the controller patch.
The console drives the link at a **5 ms** connection interval — below the 7.5 ms BLE
spec minimum. The controller stack must accept it or the console won't stream input.
components/switch2_pro/DESIGN.md:85
- This says absolute handles are not strict and that UUID discovery is used, but the component and its required
registerServicesFirst()dependency are explicitly built around the console addressing fixed handles without discovery. That contradiction obscures the core GATT-layout requirement.
Two proprietary primary services; contiguous handles matter for some console
firmwares (FW 2.0.0+ shifts them +8 for headset audio, so absolute-handle dependence
is not strict — we reproduce the map but discover by UUID).
- Files reviewed: 33/33 changed files
- Comments generated: 7
- Review effort level: Balanced
Contributor
There was a problem hiding this comment.
🔵 Needs a closer look
Critical patching defects and unresolved concurrency, persistence, wake-state, encoding, and configuration issues require changes and human review.
Review details
Suppressed comments (7)
Previously missed (7) — in code that hasn't changed since the last review.
components/switch2_pro/example/sdkconfig.defaults:21
- The default target is ESP32-C6, whose CPU tops out at 160 MHz, but these common defaults request 240 MHz. The C6 build ignores/coerces this unsupported setting, so the documented performance configuration is not actually applied. Move the 240 MHz settings to S3-specific defaults and configure 160 MHz for C6.
components/switch2_pro/include/switch2_pro.hpp:101 is_paired()can run in the application task while the NimBLE command callback assignspaired_duringFINALISE. Becausepaired_is a plainbool, that is a C++ data race; make it atomic (and load it explicitly at logging/getter sites) or protect it with the connection-state lock.
components/switch2_pro/include/switch2_pro_report.hpp:82- The conversion truncates neutral
0.0to0x7ff, even though this class definesSTICK_CENTERas0x800andreset()uses0.0for centered sticks. Round to the nearest 12-bit value so default reports encode the declared center.
components/switch2_pro/src/switch2_pro.cpp:261 - These diagnostics are owned and updated by the streaming thread, but the NimBLE disconnect callback reads
stream_start_us_,enomem_count_, andwedge_reported_concurrently before stopping the stream. The remaining unsynchronized reads are undefined behavior; take a synchronized snapshot or make every cross-thread diagnostic atomic.
components/switch2_pro/src/switch2_pro.cpp:932 - Both persistence operations are ignored, so a full/read-only NVS partition is still logged as a saved bond even though reconnect after reboot will fail. Check
nvs_set_blobandnvs_commitbefore updating the cached peer or reporting success.
components/switch2_pro/include/switch2_pro.hpp:196 - The API documentation labels on-change mode as the default, but
Config::continuous_streamingdefaults totrue. Update this description so users understand that the component continuously sends every interval unless they opt out.
components/switch2_pro/include/switch2_pro_protocol.hpp:41 - This public protocol comment says the firmware-update characteristic supports
WRITE, butbuild_gatt()creates it withNIMBLE_PROPERTY::WRITE_NR. Documenting the wrong property can produce an incompatible GATT table for consumers reusing these constants.
- Files reviewed: 33/33 changed files
- Comments generated: 3
- Review effort level: Balanced
…r BLE emulation New component that emulates a Nintendo Switch 2 Pro Controller as a BLE peripheral so a real Switch 2 accepts it as a native controller (and can be woken from sleep). Unlike the original Switch (BT Classic HID), the Switch 2 uses a proprietary BLE GATT interface (not HID-over-GATT) and a custom pairing handshake (not SMP), so this builds custom Nintendo GATT services directly on espp::BleGattServer rather than hid_service/hid-rp. This first milestone: - custom GATT service tree (two proprietary services + input/command/response characteristics) with no-SMP security config - Nintendo manufacturer-data advertising (+ wake-flag variant scaffolding) - reverse-engineered pairing crypto (LTK = A1 ^ B1, B2 = AES-128-ECB via PSA Crypto), self-tested against a host-verified known-answer vector at init - Pro Controller 2 input report (0x09) struct incl. the C / GL / GR buttons - opt-in, target-gated NimBLE 5 ms connection-interval patch (tools/ + Kconfig), off by default and never mutating $IDF_PATH silently Builds and links for ESP32-C6. Protocol facts from ndeadly/switch2_controller_research; approach + NimBLE patch adapted (MIT) from zhantss/ESP32-BLE5-NSController-Emulator. See DESIGN.md for milestones 2-4. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…estone 2) The command channel now replies, completing the pairing handshake on the wire and answering the console's init sequence — the part a real console needs to accept the controller. - send device->host responses on the matching notify characteristic (writes on 0x0016 reply on 0x001e, writes on 0x0014 reply on 0x001a) - full 0x15 pairing handshake replies with exact captured framing: exchange addresses (our BT address), exchange keys (fixed B1), confirm (B2 = AES-ECB), finalise ACK — bytes verified against ndeadly's captures - command dispatch: flash/calibration reads (0x02) from a simulated flash, feature-select (0x0c) mask capture, firmware-info (0x10) canned reply, firmware-update (0x0d) ACK to suppress the update prompt, and header-only ACKs for init/LEDs/vibration/battery so the console's state machine advances - simulated flash (switch2_pro_flash.hpp) with neutral stick calibration (placeholder; refine against a capture for exact stick behavior) Builds and links for ESP32-C6. Uncertain-on-hardware bits (exchange-address byte order, calibration contents, firmware-update suppression) are marked in code for refinement against a real console. Next: input report streaming (milestone 3, needs the 5 ms NimBLE patch) and wake-from-sleep (milestone 4). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…iring tests Make the example flashable on ESP32-S3 (what's commonly on hand) and observable enough to see how far pairing with a real Switch 2 gets, since S3 can't accept the console's 5 ms interval and may drop mid/post-pairing. - example defaults to esp32s3 (builds clean; the C6 GCC 15.2 attribute issue is RISC-V-only, so S3 is unaffected) with USB-Serial-JTAG console - connect/disconnect callbacks log the negotiated connection interval, supervision timeout, and disconnect reason — the interval is the 5 ms diagnostic, the reason shows why a link dropped - DEBUG-level hex trace of every command write (0x0014/0x0016) and response (0x001a/0x001e), so the 0x15 pairing exchange is visible on the monitor - re-advertise on disconnect - example README: step-by-step pairing test and what to expect on S3 vs C6 Note: S3 pairing may not complete/hold (5 ms limit); the trace shows how far it gets, which is the useful signal. Full path remains C6/C61 + the NimBLE patch. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…rtisement The controller wasn't visible to the console because the advertisement overflowed the 31-byte legacy limit: flags (3) + name "Pro Controller" (16) + manufacturer data (22) = 41 bytes, so NimBLE dropped/truncated it — and the console filters discovery on the Nintendo manufacturer data, which was the part getting lost. Put flags + manufacturer data (25 bytes, fits) in the primary advertisement and move the device name to the scan response. Flags now 0x06 (LE General Disc + BR/EDR unsupported), matching the captured discovery advertisement. Log the manufacturer-data fit and warn if it still doesn't. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The NS2 now discovers and connects (stable at a 15ms interval — so the 5ms wall isn't hit during pairing on S3), but doesn't start the pairing exchange. We were blind to what it does post-connect (only the two command chars were logged). Attach a tracing callback to every custom characteristic that logs reads, writes (with hex), and notification subscribes at INFO. This shows whether the console is subscribing to our response/input characteristics and what, if anything, it writes — the data needed to find why pairing doesn't start. Hex dump is INFO during bring-up (dial back later). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The console connects but does no value reads/writes/subscribes on our characteristics — consistent with it doing ATT service discovery (invisible to characteristic callbacks) and then declining to proceed. - log the actual handle each service/characteristic landed on vs the real controller's handles (0x000a/0x000e/0x0014/0x0016/0x001a/0x001e). If BleGattServer's GAP/GATT/DeviceInfo/Battery services shifted ours off those handles, and the console keys off them, that's the cause. - enable NimBLE host INFO logging (+ compile-in debug) so GAP/ATT activity (MTU, discovery, connection-parameter updates, subscribes) is visible at the stack level. Diagnostic only; revert the log levels once understood. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Prior round's handle dump read 0x0000 because NimBLE assigns handles only after the server starts; move it to after ble_gatt_server_.start(). Turn the NimBLE host log to DEBUG for its tags only (esp_log_level_set, so ATT discovery/reads/ writes show without flooding other components). Log authentication_complete so we can tell if the console is (unexpectedly) running BLE SMP. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The prior config set CONFIG_BT_NIMBLE_LOG_LEVEL to INFO, which compiles out NimBLE's ATT/GATT-server DEBUG logs entirely — so the console's service discovery / reads / writes never printed regardless of runtime level. Set it to DEBUG and raise the runtime default level. Verified the generated sdkconfig now has CONFIG_BT_NIMBLE_LOG_LEVEL=0 and CONFIG_LOG_DEFAULT_LEVEL=4. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The NS2 does app-level pairing (the 0x15 command exchange), not BLE SMP. Our bonding=true config created BLE bonds; the console then used GATT caching over the bond and skipped service discovery on reconnect, getting stuck after the MTU exchange. Set bonding=false and clear any stored bonds at startup so the console re-discovers our GATT cleanly on each connection. Diagnostics from this round also confirmed our characteristics are shifted off the real controller's handles (command at 0x0033 vs 0x0014) because BleGattServer registers GAP/GATT/DeviceInfo/Battery first — tracked for the likely raw-NimBLE GATT rework if the console keys off fixed handles. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…chive)
The C6 controller archives are GNU-format (long-name symbol/string tables);
macOS's BSD ar fails to extract them ("File exists" on the / and // members),
which silently broke the patcher on macOS. Prefer the RISC-V toolchain's
riscv32-esp-elf-ar (on PATH after the IDF export script), then llvm-ar, then ar;
add an --ar override.
Verified end-to-end on IDF 6.0.1: ble_ll_conn.c.o has exactly one 7.5ms-floor
pattern; patch -> 5ms -> restore round-trips cleanly. Confirms the 5 ms patch
applies on IDF 6.0.1, not just the 5.5.3 the reference used.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…cesFirst Points the esp-nimble-cpp submodule at esp-cpp's feat/register-services-first (also fast-forwards it to upstream h2zero 2.5.0). This pulls in the new opt-in NimBLEServer::registerServicesFirst() API that switch2_pro needs to place its Nintendo services at the low attribute handles a real console addresses by fixed handle. Upstream PR: h2zero/esp-nimble-cpp#443. Do not merge this espp change until that PR is merged and released; the pin will then move to a released commit. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Surface NimBLE's BLE_GAP_EVENT_CONN_UPDATE via a new optional conn_params_update_callback on BleGattServer::Callbacks, forwarded from a BleGattServerCallbacks::onConnParamsUpdate override. Lets applications observe connection-parameter updates (interval/latency/timeout) as they complete. Additive and optional; existing users are unaffected. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…, docs, CI Complete the switch2_pro component so a real Nintendo Switch 2 accepts it as a native Pro Controller. Verified end-to-end on ESP32-C6: pairing, encrypted link, continuous input streaming (~62 Hz, matching a real controller), reconnect, and wake-from-sleep. Highlights: - Streaming model: set_input_report() stores latest state; a driver-owned task streams it (continuous by default, on-change fallback) with real backpressure keyed on the host mbuf pool (NimBLE NOTIFY_TX fires at handoff, not over-air, so it can't gate a backlog — the pool level can). - Correct report/init: firmware-info identity, always-0x38 byte 0x0b, all-zero IMU motion block, feature-mask restore on reconnect, exact GATT handle layout via NimBLEServer::registerServicesFirst(). - Reconnect + wake: bonded reconnect and 0x81 wake advertisement (public wake_console() API); needs the opt-in 5 ms controller patch (off by default). - Tooling: patch_nimble_5ms.py (C6/C61/C2/H2 NimBLE + S3/C3 BTDM) and hardware-free smoke_test_5ms.py verifier. - Docs (doc/en/ble/switch2_pro*, Doxyfile), CI matrix (C6 + S3), example, and README/DESIGN updated. C6 is the supported target; ESP32-S3 builds and pairs but does not yet stream reliably (closed BTDM controller) — documented as a known issue / fast-follow. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- confirm(): check psa_crypto_init()/psa_cipher_encrypt() status and out_len; log and return zeroed output on failure instead of a silent partial block. - init(): check esp_pthread_set_cfg() and warn if the streaming thread can't get its configured stack/prio/core. - disconnect: stop clearing paired_ — is_paired() reports bond/handshake existence which survives a disconnect (use is_connected()/is_input_streaming() for session state). - flash read: use std::find_if instead of a raw block-search loop (cppcheck). - docs: refresh the class-level status comment (no longer a "skeleton"); fix the send_ack() doc to match the on-air bytes (0x10/0x78, no payload). - manifest: note the unreleased esp-nimble-cpp registerServicesFirst() dependency. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- data races: make the cross-thread session state atomic (input_subscribed_, active_conn_handle_, enabled_features_) and move the grouped per-session counter/link-baseline resets out of on_subscribe into the streaming thread's session-start, so they stay single-writer. - lifecycle: in ~Switch2Pro() stop/join the wake timer and detach the this-capturing GAP/GATT callbacks (+ stop advertising) before members are destroyed, so a late callback can't touch freed state. - pairing: gate FINALISE on an in-order handshake (pairing_stage_ must reach 3: address-exchange -> key-exchange -> confirm) so a malformed/out-of-order peer can't persist an all-zero/partial bond. - portability: #error if CONFIG_BT_NIMBLE_EXT_ADV is enabled (this component uses the legacy advertising path). - register the component in upload_components.yml; fix alphabetical ordering in build.yml and Doxyfile (switch2_pro before sx126x; headers main/protocol/report). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- init(): guard against a second call (assigning to a joinable std::thread would std::terminate) — treat an already-initialized instance as a no-op. - Disconnect telemetry: make stream_start_us_, enomem_count_, wedge_reported_ atomic (read on the disconnect/host thread while the stream thread writes). - inject_ltk()/inject_pairing_ltk(): return success; on a nonzero ble_store_write_our_sec result, log an error and let callers know the link cannot encrypt instead of logging "ready". - save_bond(): check nvs_set_blob/nvs_commit; on failure log an error and keep the in-memory bond for this boot (reconnect after reboot won't work). - example: fail fast on nvs_flash_init()/erase errors (reconnect depends on NVS). - Stick packing: round instead of truncate so a neutral axis maps to the declared midpoint 2048 (not 2047); +/-1 still map to 0/4095. - CPU frequency: move out of the base defaults (240 MHz is invalid for the default C6 target) into per-target files — esp32c6 = 160 MHz, esp32s3 = 240. - patch_nimble_5ms.py: require exactly one old / zero new pattern to patch (and exactly one new / zero old for the already-patched case) — no ambiguous or mixed-object patching. - smoke_test_5ms.py: map string sys.exit() and unexpected errors to exit code 2 so "error" is distinct from the "unpatched" (1) result, per the documented contract. - Docs: continuous_streaming is the default (fix inverted comment); firmware- update characteristic is WRITE_NR, not WRITE; refresh the class-level S3 status. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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🔵 Needs a closer look
Unresolved critical and moderate issues affect 5 ms support, streaming reliability, and address handling.
Review details
Suppressed comments (6)
Previously missed (3) — in code that hasn't changed since the last review.
components/switch2_pro/src/switch2_pro.cpp:136
- The static-random fallback ignores both NimBLE return values and then logs success. If either call fails, pairing proceeds with an address that may not match the persisted identity, defeating reconnect/wake; fail
init()instead of claiming the stable address was installed.
This issue also appears on line 467 of the same file.
components/switch2_pro/src/switch2_pro.cpp:807
interval_tick_is never reset when a stream stops, so with a divisor greater than 1 a new subscription may wait up to N−1 intervals for its first report despite the idle path promising a fresh initial send. Reset the phase on the first tick of each streaming run.
components/switch2_pro/src/switch2_pro.cpp:820- This pacing relies on the application's FreeRTOS tick rate, but component consumers do not inherit the example's
CONFIG_FREERTOS_HZ=1000. At the normal 100 Hz setting, 5 ms and 15 ms sleeps round to roughly 10 ms and 20 ms, so the published component cannot provide its documented per-connection-interval stream cadence. Either enforce/document the required tick configuration for consumers or use a high-resolution pacing mechanism.
components/switch2_pro/src/switch2_pro.cpp:254
- This comment still says the console remains at 15 ms and only reconnect obtains 5 ms in
CONNECT_IND, directly contradicting the newly documented fresh-sessionLL_CONNECTION_UPDATEto 5 ms. Keeping this beside the connection callback will misdirect future protocol work; describe both the fresh-session update and reconnect paths.
// NOTE: we deliberately do NOT initiate a connection-parameter update here.
// It cannot lower us below 7.5 ms anyway (NimBLE floors ble_gap_update_params
// at the spec minimum), the console keeps 15 ms regardless, and the real 5 ms
// arrives in the console's CONNECT_IND on reconnect (needs the controller
// patch), not via an update. On the ESP32-S3 BTDM controller, kicking off an
components/switch2_pro/src/switch2_pro.cpp:295
- The PR's own successful log shows this callback firing after encryption with the manually injected LTK, without BLE SMP. Thus its occurrence does not imply that the console ran SMP; update the comment so this diagnostic is interpreted correctly.
callbacks.authentication_complete_callback = [this](const NimBLEConnInfo &info) {
// If this fires, the console ran BLE SMP (which the research says it should
// NOT do). Encrypted={}, bonded={} tells us what security state it reached.
components/switch2_pro/src/switch2_pro.cpp:467
- The underlying API reports whether advertising actually started, but this result is discarded. Consequently
wake_console()always returns true and leaveswake_pending_latched even when no wake advertisement is on air, contradicting its public contract. Return and propagate this status (and clear the latch on failure).
ble_gatt_server_.start_advertising(params);
- Files reviewed: 34/35 changed files
- Comments generated: 8
- Review effort level: Balanced
…S3/C3 patch Follow-up review round. - Disconnect telemetry: snapshot stream_start_us_ once (the stream thread can reset it to 0 between the condition and the calculation, e.g. when unsubscribe precedes disconnect, yielding an uptime-sized "streamed" value). - Correct the "5 ms is only for reconnect/wake" framing everywhere: the console drops even a FRESH session to 5 ms ~1.5 s after subscription, so sustained input needs sub-spec support too; only the initial pairing handshake runs at 15 ms. Updated CMakeLists warning, Kconfig help, README status/rate wording, example README, the continuous_stream_divisor doc (rate depends on the live interval — ~62/200 Hz), and the .rst 5 ms section (split by chip family). - Remove the unverified S3/C3 binary-patch fallback (reviewer + esp-idf#18467 + our own testing: patching r_llc_con_upd_param_in_range alone doesn't enable 5 ms on the pre-fix S3). patch_nimble_5ms.py / smoke_test_5ms.py now support only the open NimBLE chips (C6/C61/C2/H2); CMake errors if the patch is enabled on S3/C3, pointing to the official CONFIG_BT_CTRL_BLE_MIN_CONN_INTERVAL_ENABLE. Docs updated accordingly; RE notes remain in git history. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- Static-random address fallback: check NimBLE setOwnAddr/setOwnAddrType return values and fail init() if the stable address can't be installed (proceeding with a mismatched/unstable address silently breaks pairing and reconnect/wake). - wake_console(): start_advertising() now returns whether advertising actually started; wake_console() propagates that and clears the wake_pending_ latch on failure instead of always returning true. - interval_tick_ is now reset at the start of each streaming run, so with a continuous_stream_divisor > 1 a new subscription always sends on its first tick (was carrying phase across runs, delaying the first report up to N-1 intervals). - FreeRTOS tick rate: warn at init (and document in the README) when CONFIG_FREERTOS_HZ < 1000, since sub-15 ms / 5 ms stream pacing is tick- quantised and coarsens on a consumer build that didn't set 1000 Hz. - Comments: the connect-callback note no longer claims the console stays at 15 ms / only gets 5 ms via CONNECT_IND — it also sends a fresh-session LL_CONNECTION_UPDATE to 5 ms; the auth-complete comment no longer implies the callback firing means the console ran SMP (it fires on our injected-LTK encryption in the normal non-SMP flow). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Addressed the 6 suppressed comments from the latest Copilot review in 7405d33 (these were flagged in the review body rather than as resolvable threads):
S3 build is clean. All inline review threads remain resolved. |
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Copilot couldn't run its full agentic review because it didn't start before the timeout. Make sure your repository has a runner available, or add a copilot-code-review.yml file specifying one with the runs-on attribute. See the docs for more details.
Pull request overview
Copilot reviewed 34 out of 35 changed files in this pull request and generated 7 comments.
Suppressed comments (1)
components/switch2_pro/tools/smoke_test_5ms.py:1
- The
objdumpinvocation ignores the return code. Ifobjdumpfails (wrong binary for arch, corrupted object, permission issues),stdoutmay be empty and the script could report an incorrect/indeterminate verdict without surfacing the actual failure cause. Consider usingcheck=Trueand/or explicitly checkingreturncodeand raising a clear error so failures reliably map to exit code 2.
- patch_nimble_5ms.py: run `ar r` from the temp dir with the bare object basename so the archive member name stays exactly `ble_ll_conn.c.o` (passing a full path could store it as the member name on some ar variants, breaking later extraction/builds). - smoke_test_5ms.py: check objdump's return code and raise (→ exit 2) instead of treating empty output as an indeterminate verdict. - Kconfig: the 5 ms patch option is C6/C61/C2/H2 only; the help no longer claims an S3/C3 fallback (CMake already errors there), pointing S3/C3 at the official CONFIG_BT_CTRL_BLE_MIN_CONN_INTERVAL_ENABLE. - ble_gatt_server: conn_params_update_callback now takes `const NimBLEConnInfo&` (consistent with the other callbacks); set_builtin_info_services_enabled() ignores post-init() calls with a warning instead of silently leaving services created-but-never-started. - switch2_pro_pairing: initialise PSA once via std::call_once instead of on every confirm() call. - idf_component.yml: use https:// (not git://) for the repository URL. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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🟡 Changes recommended
The manifest permits an incompatible dependency, and initialization can succeed despite advertising failure.
Once you've addressed the issues Copilot identified, you can request another Copilot review.
Review details
Suppressed comments (4)
components/switch2_pro/idf_component.yml:35
- This dependency range can resolve to 2.3.0, but
switch2_pro.cppunconditionally callsNimBLEServer::registerServicesFirst(), which is only in the still-open upstream PR #443 and is not in that release. A registry build using the manifest will fail to compile. Before publishing this component, constrain the dependency to the first released version containing that API.
h2zero/esp-nimble-cpp:
version: '>=2.3.0'
components/switch2_pro/include/switch2_pro.hpp:64
- The documentation tells users to feed real IMU data “via the report,” but
Pro2InputReportexposes no motion setter or mutable byte access (data()is const), so this is not currently possible. Either add a bounded API for the 40-byte motion block or remove this guidance.
/// Replay captured IMU motion frames in the input reports' motion block. Once
/// the console enables the IMU feature (it does during standard init), every
/// report carries a 40-byte motion block. **Off (default): the block is sent
/// all-zero**, which the console accepts (verified on hardware, and what the
/// zhantss emulator ships). On: replay a captured 128-frame resting sequence —
/// but it loops (~2 s at 62 Hz) so its embedded timestamps jump backwards at
/// the wrap; prefer feeding real IMU data via the report instead.
components/switch2_pro/include/switch2_pro.hpp:72
- This public configuration documentation still presents the ESP32-S3 transmit stall as current, although the component README and PR status say it is resolved in ESP-IDF v6.1. That can incorrectly steer supported S3 users toward on-change mode; describe it as an optional reduced-traffic mode instead.
/// a real controller — verified stable and lag-free on the C6-class chips
/// (open NimBLE controller) at the console's 15 ms / 62 Hz. **Off =
/// on-change:** notify only when the app's button/stick state changes, plus a
/// low-rate keepalive — a reduced-traffic fallback that partially masks the
/// ESP32-S3 BTDM controller's tx-servicing bug (see README "Known issues").
doc/Doxyfile:451
PairingCryptois a documented public type inswitch2_pro_pairing.hppand is re-exported byswitch2_pro.hpp, but this header is omitted from Doxygen input and the Switch2Pro API page. As a result, its generated API reference is missing. Add the header here and includeinc/switch2_pro_pairing.incfromdoc/en/ble/switch2_pro.rst.
- Files reviewed: 34/35 changed files
- Comments generated: 1
- Review effort level: Balanced
- init() now fails if advertising doesn't start: advertise() returns bool (propagating start_advertising()'s result through all three variants) and init() returns false instead of logging success while undiscoverable. - Config docs: continuous_streaming no longer presents the S3 tx-stall as current (fixed in v6.1) — on-change is described as an optional reduced-traffic mode; stream_imu_motion no longer claims a per-report motion input path that doesn't exist (the driver owns the motion block; a live-IMU setter is future work). - Docs: add switch2_pro_pairing.hpp to the Doxygen input and include switch2_pro_pairing.inc in the API reference so PairingCrypto is documented. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Addressed the suppressed comments from the latest Copilot review in 69b8c21:
S3 build is clean; all inline review threads are resolved. |
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🔵 Needs a closer look
Unresolved dependency, notification accounting, and initialization lifecycle issues require correction and human validation.
Review details
Suppressed comments (3)
Previously missed (1) — in code that hasn't changed since the last review.
components/switch2_pro/src/switch2_pro.cpp:75
- NimBLE emits
BLE_GAP_EVENT_NOTIFY_TXfor every notification attempt, including immediate failures, and passes that failure incode. Ignoringcodemakes ENOMEM attempts incrementtx_completions_and refreshlast_tx_complete_us_, so the wedge telemetry reports failed sends as successful completions and can never show a stale completion while retries continue. Pass the status through and update completion state only whencode == 0.
components/switch2_pro/idf_component.yml:35
- This constraint currently allows the released 2.3–2.5 packages, but none contains
NimBLEServer::registerServicesFirst(); upstream PR #443 is still open. A registry/Component Manager build will therefore select a valid dependency version and then fail atswitch2_pro.cpp:363. Before publishing this component, either pin the fork commit that provides the API or wait for its release and raise this version floor to that release.
h2zero/esp-nimble-cpp:
version: '>=2.3.0'
components/switch2_pro/include/switch2_pro_report.hpp:22
- These offsets are described as
byte0..byte2, butdata()includes the counter and power bytes and every setter below writes the button fields at offsets 2–4. Calling out the actual wire/report offsets avoids consumers interpreting or modifying the wrong bytes.
/// Button bits (matching the reverse-engineered layout):
/// byte0: 0x80 RStick 0x40 Plus 0x20 ZR 0x10 R 0x08 X 0x04 Y 0x02 A 0x01 B
/// byte1: 0x80 LStick 0x40 Minus 0x20 ZL 0x10 L 0x08 Up 0x04 Left 0x02 Right 0x01 Down
/// byte2: 0x10 C 0x08 GL 0x04 GR 0x02 Capture 0x01 Home
- Files reviewed: 34/35 changed files
- Comments generated: 1
- Review effort level: Balanced
- init(): start the periodic wake re-advertiser only AFTER the initial advertisement succeeds. Previously start_wake_timer() ran before advertise(); if advertise() then failed and init() returned false, the timer was left running and could later call advertise() on an object the caller believes failed to initialize. (boot_wake_pending_ is still latched before the first advertisement so it uses the wake variant.) - on_notify_tx(): take the NimBLE NOTIFY_TX status. NimBLE fires this event for every notification attempt including immediate failures (e.g. ENOMEM) with the outcome in `code`; only advance the completion telemetry (tx_completions_, last_tx_complete_us_) when status == 0, so failed sends no longer look like successful over-air completions in the wedge diagnostics. The flow-control slot is freed either way. - Clarify the input-report button-bits comment to reference the actual report offsets (2/3/4), matching set_bit() — data()[0]/[1] are counter/power. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Addressed the suppressed comments from the latest Copilot review in bb9b74d:
S3 build is clean; all inline review threads are resolved. |
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
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🟡 Changes recommended
Two moderate dependency and wake/reconnect issues remain unresolved.
Once you've addressed the issues Copilot identified, you can request another Copilot review.
Review details
Suppressed comments (3)
components/switch2_pro/idf_component.yml:35
- The declared minimum still allows released esp-nimble-cpp 2.3.0, but that release does not provide
NimBLEServer::registerServicesFirst(), so Component Manager consumers will fail to compile at the call inswitch2_pro.cpp. Upstream PR #443 is still open; before publishing this component, require the first released version containing that API and update the submodule pin accordingly.
version: '>=2.3.0'
components/switch2_pro/include/switch2_pro_motion.hpp:13
- This describes replay as unconditional, but
Config::stream_imu_motiondefaults to false andsend_input_report()leaves the motion block zeroed in that mode. Clarify that this sequence is replayed only when the option is enabled so the public header matches runtime behavior.
/// when replayed in sequence. The console enables IMU during init and every real
/// report carries this 40-byte block; we replay this sequence (looping) so our
/// stream matches the device rather than sending an empty or non-monotonic block.
components/switch2_pro/src/switch2_pro.cpp:379
- These dynamically allocated callbacks are not owned by NimBLE:
NimBLECharacteristic::setCallbacks()only stores the raw pointer, and the characteristic destructor deletes descriptors but not its callback. Every controller teardown therefore leaks oneChannelCallbacksper attached characteristic. Keep the callback objects in an owning container onSwitch2Proand pass their raw pointers to NimBLE.
auto attach = [this](NimBLECharacteristic *c, const char *name, int role) {
c->setCallbacks(new ChannelCallbacks(this, name, role));
};
- Files reviewed: 34/35 changed files
- Comments generated: 1
- Review effort level: Balanced
- Clear the wake latches (wake_pending_ / boot_wake_pending_) only after an encrypted session is confirmed (authentication_complete with encrypted=true), not on the raw GAP connect event. A console we just woke can connect and then drop before encryption/init completes; clearing on connect made the ensuing disconnect fall back to the passive reconnect advertisement instead of keeping the wake variant on the air. The wake timer only advertises while disconnected and self-cancels once boot_wake_pending_ clears, so this is safe. - Own the per-characteristic ChannelCallbacks objects in a member vector instead of leaking a `new` on every setCallbacks(). NimBLECharacteristic::setCallbacks() only stores the raw pointer and never deletes it, so each teardown previously leaked one callback per characteristic. Deleted via the virtual base after ble_gatt_server_.deinit() tears the characteristics down. - switch2_pro_motion.hpp: note the sequence is replayed only when Config::stream_imu_motion is enabled (default false sends a zeroed block). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Addressed the suppressed comments from the latest Copilot review in 88b264a:
(Also rebased onto your |
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Warning
Do not merge until h2zero/esp-nimble-cpp#443 is merged and released.
This PR bumps the
esp-nimble-cppsubmodule to a branch commit that carries the newNimBLEServer::registerServicesFirst()API (needed for the exact GATT handle layout).Once #443 is released, the submodule pin moves to the released commit and the manifest
dependency is bumped. Opening now for review.
Summary
Adds a new
switch2_procomponent that emulates a Nintendo Switch 2 Pro Controllerover BLE so a real Switch 2 console accepts it as a native controller — pairing,
encrypted link, continuous input streaming, reconnect, and wake-from-sleep. Built on
espp::BleGattServer(NimBLE); implements the reverse-engineered Nintendo custom GATTinterface (not HID-over-GATT) and the console's custom pairing handshake (not BLE SMP).
Status
verified against a real console. Pairs (full battery + correct icon), streams input
lag-free at ~62 Hz, buttons/sticks register on "Test Input Devices", and reconnect +
wake-from-sleep work without re-pairing.
console (pairing, continuous lag-free input, reconnect, wake). The S3 needs the
console's sub-spec 5 ms interval, which is now official in ESP-IDF via
CONFIG_BT_CTRL_BLE_MIN_CONN_INTERVAL_ENABLE(default on; ESP32-S3 Bluedroid Controller Support for 5ms Connection Interval (Nintendo Switch Pro2 Controller Compatibility) (IDFGH-17532) espressif/esp-idf#18467,backported to v6.0/v5.5/v5.4/v5.3) — no binary patch required on a current IDF. The
earlier "closed BTDM controller degrades the encrypted stream" finding was on the
pre-fix (v6.0.1) controller lib; v6.1 ships an updated lib and the stream now holds
(see Testing below).
What's included
switch2_procomponent: pairing crypto (known-answer verified) + LTK injection,the exact GATT handle layout, the full console init/command sequence, NVS bond
persistence, continuous input streaming with real (mbuf-pool-based) backpressure, and
a
wake_console()API.ble_gatt_serverenhancement:conn_params_update_callback.esp-nimble-cppsubmodule bump forregisterServicesFirst()(see the warning above).sustained input in every mode — the console drops even the fresh session to 5 ms
mid-stream — plus reconnect/wake):
CONFIG_BT_CTRL_BLE_MIN_CONN_INTERVAL_ENABLE(ESP-IDF ≥ v6.1). A configure-time CMake check warns if it (or the legacy patch) is
missing on an older IDF.
SWITCH2_PRO_PATCH_NIMBLE_5MScontroller patch (off bydefault — the open NimBLE controller has no equivalent config option yet) + a
hardware-free
smoke_test_5ms.pyverifier.doc/en/ble/switch2_pro*, Doxyfile), CI matrix entries (C6 + S3), example, andDESIGN/README.
Testing
all working; input stays lag-free at the console's cadence.
fresh pair → input testing → power the console off and back on → reconnect +
input still working — with the official option (no patch). Annotated log below.
esp32c6andesp32s3. The 5 ms patch is off bydefault so CI builds do not mutate the IDF install.
The S3 log also revised a protocol assumption: the console does renegotiate the
fresh session down to 5 ms (
CONN PARAMS UPDATE: itvl=5.00ms, ~1.5 s aftersubscription), rather than staying at 15 ms. That timed switch — which the pre-v6.1 S3
controller couldn't apply — is the unified root cause of the old "~3 s tx-stall", and it
is the same sub-spec-interval requirement as reconnect/wake, just arriving mid-session.
ESP32-S3 / v6.1 session log (repetitive heartbeat lines elided)
Attribution / scope
Interoperability only — no Nintendo or Espressif binaries are included. The pairing
"authentication" relies on a published fixed key (a possession check, not per-device
attestation). Protocol reverse-engineering credit: the community, principally
ndeadly/switch2_controller_research; the NimBLE 5 ms patch technique is adapted (MIT)
from zhantss/ESP32-BLE5-NSController-Emulator.
🤖 Generated with Claude Code