wip: park audio-crackle investigation + haptic/OLED defaults + debug tooling
Preserves in-progress work that had been sitting uncommitted in the working tree (predates this session) so it is protected in git history. This is NOT a verified/shipped fix — it is parked. Audio path is unverified on hardware and still carries debug instrumentation. - src/audio.cpp: drop the 512->480 resampler and retime the 0x36 frame to a true 10ms/100Hz grid (SAMPLE_SIZE 64->60, 480-sample buffer) to chase the ~45kHz-vs-48kHz speaker underrun theory behind the crackle; dynamic speaker sub-report offset; debug printf + Opus-frame-dump instrumentation. - src/config.cpp: default audio_buffer_length 64->16; auto_haptics_enable default 1 (Fallback) -> 0 (Off). - src/oled.cpp: chunked non-blocking SPI flush (issue #7 OLED-stall angle) and a battery-% midpoint display tweak. - scripts/: audio debug helpers (opus-dump decode, pi audio test, sine ch1/2). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
MarcelineVPQ
co-authored by
Claude Opus 4.8
Claude Opus 4.8
parent
71cead401d
commit
84393c00e8
@@ -0,0 +1,73 @@
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#!/usr/bin/env python3
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"""Decode raw Opus frames captured from firmware serial output.
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Reads [OPUS_FRAME_N] hex lines from stdin or a file, decodes each frame
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with libopus, and writes the result as a WAV file + prints a summary
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(peak amplitude, zero-crossing rate) to diagnose encoder output quality.
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"""
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import ctypes
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import struct
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import sys
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import wave
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import re
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lib = ctypes.cdll.LoadLibrary("libopus.so.0")
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SAMPLE_RATE = 48000
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CHANNELS = 2
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FRAME_SIZE = 480 # 10ms at 48kHz
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# Create decoder
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err = ctypes.c_int(0)
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decoder = lib.opus_decoder_create(SAMPLE_RATE, CHANNELS, ctypes.byref(err))
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if err.value != 0:
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print(f"opus_decoder_create failed: {err.value}", file=sys.stderr)
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sys.exit(1)
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infile = sys.argv[1] if len(sys.argv) > 1 else "/tmp/ds5_opus.log"
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with open(infile) as f:
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lines = f.readlines()
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frames = []
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for line in lines:
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m = re.match(r'\[OPUS_FRAME_\d+\]\s+([0-9a-fA-F]+)', line.strip())
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if m:
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frames.append(bytes.fromhex(m.group(1)))
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if not frames:
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print("No [OPUS_FRAME_N] lines found in input.", file=sys.stderr)
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sys.exit(1)
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print(f"Found {len(frames)} Opus frames, decoding...")
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all_pcm = b""
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for i, frame_data in enumerate(frames):
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pcm = (ctypes.c_int16 * (FRAME_SIZE * CHANNELS))()
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ret = lib.opus_decode(
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decoder,
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frame_data, len(frame_data),
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pcm, FRAME_SIZE,
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0 # no FEC
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)
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if ret < 0:
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errstr = lib.opus_strerror(ret)
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print(f" Frame {i+1}: DECODE ERROR {ret} ({ctypes.string_at(errstr).decode()})")
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continue
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samples = list(pcm)
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peak = max(abs(s) for s in samples)
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nonzero = sum(1 for s in samples if s != 0)
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print(f" Frame {i+1}: {ret} samples decoded, peak={peak}, nonzero={nonzero}/{len(samples)}")
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print(f" TOC=0x{frame_data[0]:02x} first 8 bytes: {frame_data[:8].hex()}")
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all_pcm += struct.pack(f"<{ret * CHANNELS}h", *samples[:ret * CHANNELS])
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outpath = "/tmp/ds5_opus_decoded.wav"
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with wave.open(outpath, "w") as wf:
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wf.setnchannels(CHANNELS)
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wf.setsampwidth(2)
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wf.setframerate(SAMPLE_RATE)
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wf.writeframes(all_pcm)
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print(f"\nDecoded audio written to {outpath}")
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print(f"Play with: aplay {outpath}")
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print(f"View spectrogram: sox {outpath} -n spectrogram -o /tmp/ds5_opus_spectrogram.png")
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@@ -0,0 +1,146 @@
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#!/usr/bin/env python3
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"""Send a 440 Hz sine to the DualSense speaker over Bluetooth from a Linux host
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(Raspberry Pi), via raw /dev/hidraw writes — replicating the DS5Dongle firmware's
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0x36 audio report BYTE-FOR-BYTE (same Opus settings, same SetStateData, same CRC).
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Purpose: test whether a NON-tunneled BT path (Pi's BlueZ over a real UART) delivers
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clean audio to the DS5 speaker, vs the Pico 2 W's BT-over-gSPI tunnel. If clean here,
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the Pico's tunnel is the crackle culprit.
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Pair the DS5 first (bluetoothctl), then run as root (hidraw needs RW):
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sudo python3 pi_ds5_audio_test.py [seconds] [--headset] [--audbuf N]
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"""
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import ctypes, struct, math, sys, os, glob, time
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# ---- libopus via ctypes (same loader style as decode_opus_dump.py) ----
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opus = ctypes.cdll.LoadLibrary("libopus.so.0")
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opus.opus_encoder_create.restype = ctypes.c_void_p
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opus.opus_encoder_create.argtypes = [ctypes.c_int32, ctypes.c_int, ctypes.c_int,
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ctypes.POINTER(ctypes.c_int)]
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opus.opus_encode_float.restype = ctypes.c_int32
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opus.opus_encode_float.argtypes = [ctypes.c_void_p, ctypes.POINTER(ctypes.c_float),
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ctypes.c_int, ctypes.POINTER(ctypes.c_ubyte),
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ctypes.c_int32]
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# opus_encoder_ctl is variadic; leave argtypes unset and pass c_int values.
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OPUS_APPLICATION_AUDIO = 2049
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OPUS_SET_BITRATE_REQUEST = 4002
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OPUS_SET_VBR_REQUEST = 4006
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OPUS_SET_COMPLEXITY_REQUEST = 4010
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RATE, CH, FRAME, OPUS_BYTES = 48000, 2, 480, 200 # 480 = 10 ms; 200 B = 160 kbps CBR
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def make_encoder():
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err = ctypes.c_int(0)
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enc = opus.opus_encoder_create(RATE, CH, OPUS_APPLICATION_AUDIO, ctypes.byref(err))
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if err.value != 0 or not enc:
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sys.exit(f"opus_encoder_create failed: {err.value}")
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enc_p = ctypes.c_void_p(enc)
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# match firmware core1_entry(): 160 kbps, CBR, complexity 0
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opus.opus_encoder_ctl(enc_p, OPUS_SET_BITRATE_REQUEST, ctypes.c_int(OPUS_BYTES*8*100))
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opus.opus_encoder_ctl(enc_p, OPUS_SET_VBR_REQUEST, ctypes.c_int(0))
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opus.opus_encoder_ctl(enc_p, OPUS_SET_COMPLEXITY_REQUEST, ctypes.c_int(0))
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return enc_p
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# ---- 63-byte SetStateData, verbatim from firmware src/state_mgr.cpp ----
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STATE_DATA = bytes([
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0xfd, 0xf7, 0x00, 0x00,
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0x7f, 0x64, # VolHeadphonesMax, VolSpeaker
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0x40, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a,
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0x07, 0x00, 0x00, 0x02, 0x01,
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0x00,
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0xff, 0xd7, 0x00, # RGB
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]) + bytes(16) # trailing zeros -> 63 total
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assert len(STATE_DATA) == 63
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# ---- CRC-32, 0xA2-seeded, verbatim from firmware src/utils.h ----
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def ds_crc32(data):
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crc = (~0xEADA2D49) & 0xFFFFFFFF
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for b in data:
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crc ^= b
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for _ in range(8):
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if crc & 1: crc = (crc >> 1) ^ 0xEDB88320
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else: crc >>= 1
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return (~crc) & 0xFFFFFFFF
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REPORT_SIZE, SAMPLE_SIZE = 398, 64 # original firmware layout
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def build_packet(payload, seq, counter, headset, audbuf):
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pkt = bytearray(REPORT_SIZE)
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pkt[0] = 0x36
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pkt[1] = (seq & 0x0F) << 4
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pkt[2] = 0x11 | 0x80 # 0x91
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pkt[3] = 7
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pkt[4] = 0xFE # audio enable, mic OFF
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for i in range(5, 10): pkt[i] = audbuf & 0xFF
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pkt[10] = counter & 0xFF
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pkt[11] = 0x10 | 0x80 # 0x90 SetStateData
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pkt[12] = 63
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pkt[13:76] = STATE_DATA
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pkt[76] = 0x12 | 0x80 # 0x92 haptic
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pkt[77] = SAMPLE_SIZE # haptic data pkt[78..141] = 0 (silent)
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pkt[142] = (0x16 if headset else 0x13) | 0x80 # 0x96 headset / 0x93 speaker
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pkt[143] = OPUS_BYTES
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pkt[144:144+OPUS_BYTES] = payload
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struct.pack_into("<I", pkt, REPORT_SIZE-4, ds_crc32(pkt[:REPORT_SIZE-4]))
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return bytes(pkt)
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def find_ds5_hidraw():
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for ue in glob.glob("/sys/class/hidraw/hidraw*/device/uevent"):
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txt = open(ue).read().upper()
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if "054C" in txt and ("0CE6" in txt or "0DF2" in txt):
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return "/dev/" + ue.split("/")[4]
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return None
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def main():
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headset = "--headset" in sys.argv
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audbuf = int(sys.argv[sys.argv.index("--audbuf")+1]) if "--audbuf" in sys.argv else 64
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pos = [a for a in sys.argv[1:] if not a.startswith("--") and a.isdigit()]
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secs = int(pos[0]) if pos else 15
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node = find_ds5_hidraw()
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if not node:
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sys.exit("DualSense hidraw node not found — paired & connected? (bluetoothctl)")
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print(f"DS5 hidraw: {node} | output: {'HEADSET' if headset else 'SPEAKER'} | "
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f"AudBuf={audbuf} | {secs}s")
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enc = make_encoder()
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pcm = (ctypes.c_float * (FRAME*CH))()
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out = (ctypes.c_ubyte * OPUS_BYTES)()
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# Pre-build every packet so the timed send loop is pure I/O (no compute jitter).
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n_frames = secs * 100
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packets, seq, counter, samp = [], 0, 0, 0
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first_nb = None
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for _ in range(n_frames):
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for i in range(FRAME):
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v = 0.5 * math.sin(2*math.pi*440.0*samp/RATE)
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pcm[i*2] = v; pcm[i*2+1] = v; samp += 1
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nb = opus.opus_encode_float(enc, pcm, FRAME, out, OPUS_BYTES)
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if nb < 0: sys.exit(f"opus_encode_float error {nb}")
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if first_nb is None: first_nb = nb
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payload = bytes(out[:nb]) + bytes(OPUS_BYTES - nb) if nb < OPUS_BYTES else bytes(out[:OPUS_BYTES])
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packets.append(build_packet(payload, seq, counter, headset, audbuf))
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seq = (seq+1) & 0x0F; counter = (counter+1) & 0xFF
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print(f"Encoded {len(packets)} frames (first frame {first_nb} B — expect ~200 for CBR). Streaming...")
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fd = os.open(node, os.O_RDWR)
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short = 0
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t0 = time.monotonic()
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for n, pkt in enumerate(packets):
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try:
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w = os.write(fd, pkt)
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except OSError as e:
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print(f"write failed at frame {n}: {e}"); break
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if w != REPORT_SIZE: short += 1
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target = t0 + (n+1)*0.01 # 10 ms grid -> 100 pkt/s
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dt = target - time.monotonic()
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if dt > 0: time.sleep(dt)
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os.close(fd)
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print(f"Done — {n+1} frames sent (~{(n+1)/100:.1f}s).", end="")
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print(f" WARNING: {short} short writes (hidraw truncating the 398 B report!)" if short else " All writes full-length.")
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if __name__ == "__main__":
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main()
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@@ -0,0 +1,45 @@
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#!/usr/bin/env python3
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"""Send a 440 Hz sine wave on channels 1+2 only (speaker), silence on 3+4 (haptic).
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Usage: python3 scripts/sine_ch12.py [seconds]
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"""
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import subprocess, struct, math, sys, re
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RATE = 48000
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FREQ = 440
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DURATION = int(sys.argv[1]) if len(sys.argv) > 1 else 5
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CHANNELS = 4
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SAMPLES = RATE * DURATION
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# Generate 4-channel S16_LE: sine on ch1+ch2, silence on ch3+ch4
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data = bytearray()
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for i in range(SAMPLES):
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val = int(6000 * math.sin(2 * math.pi * FREQ * i / RATE)) # ~-15 dBFS (was 32767 / 0 dBFS) — clipping test
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s = struct.pack('<h', val)
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data += s + s + b'\x00\x00' + b'\x00\x00' # L, R, hapL=0, hapR=0
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# Auto-detect the dongle's ALSA card — it enumerates as "DualSense Wireless
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# Controller", and the card number shifts across reboots, so never hardcode it.
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def find_dualsense_card():
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out = subprocess.check_output(['aplay', '-l'], text=True)
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for line in out.splitlines():
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m = re.match(r'card (\d+):', line)
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if m and 'DualSense' in line:
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return int(m.group(1))
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return None
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card = find_dualsense_card()
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if card is None:
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print("DualSense dongle not found in `aplay -l` — paired and enumerated?", file=sys.stderr)
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sys.exit(1)
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device = f'hw:{card},0'
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print(f"Playing to {device} (DualSense dongle)")
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proc = subprocess.Popen(
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['aplay', '-D', device, '-f', 'S16_LE', '-c', '4', '-r', '48000', '-'],
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stdin=subprocess.PIPE
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)
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proc.stdin.write(data)
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proc.stdin.close()
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proc.wait()
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print(f"Played {DURATION}s of {FREQ} Hz sine on ch1+ch2 (speaker only)")
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