From d1d54eaa4144ea85680fceed4d5c0533a33ce432 Mon Sep 17 00:00:00 2001
From: awalol <awalolcn@gmail.com>
Date: Thu, 30 Apr 2026 14:25:31 +0800
Subject: [PATCH 1/2] add watchdog

---
 CMakeLists.txt |  2 +-
 src/bt.cpp     |  5 -----
 src/main.cpp   | 31 +++++++++++++++++++++++++++----
 3 files changed, 28 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2f2dd82..e9b4679 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -96,7 +96,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(ds5-bridge
         pico_stdlib
         pico_multicore
-        hardware_interp
+        hardware_watchdog
         hardware_timer
         pico_btstack_classic
 #        pico_cyw43_arch_threadsafe_background
diff --git a/src/bt.cpp b/src/bt.cpp
index 49a35bf..1d90494 100644
--- a/src/bt.cpp
+++ b/src/bt.cpp
@@ -81,11 +81,6 @@ void bt_l2cap_init() {
 }
 
 int bt_init() {
-    if (cyw43_arch_init()) {
-        printf("Failed to initialize CYW43\n");
-        return 1;
-    }
-
     critical_section_init(&queue_lock);
 
     bt_l2cap_init();
diff --git a/src/main.cpp b/src/main.cpp
index a60b55e..3984c2f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -10,6 +10,7 @@
 #include "audio.h"
 #include "hardware/clocks.h"
 #include "hardware/vreg.h"
+#include "hardware/watchdog.h"
 #include "pico/cyw43_arch.h"
 
 int reportSeqCounter = 0;
@@ -99,24 +100,46 @@ int main() {
     vreg_set_voltage(VREG_VOLTAGE_1_20);
     sleep_ms(1000);
     set_sys_clock_khz(320000, true);
-    board_init();
 
+    board_init();
     tusb_rhport_init_t dev_init = {
         .role = TUSB_ROLE_DEVICE,
-        .speed = TUSB_SPEED_AUTO
+        .speed = TUSB_SPEED_FULL
     };
     tusb_init(BOARD_TUD_RHPORT, &dev_init);
-
     tud_disconnect();
-
     board_init_after_tusb();
 
+    if (cyw43_arch_init()) {
+        printf("Failed to initialize CYW43\n");
+        return 1;
+    }
+    cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, false);
+
+    if (watchdog_caused_reboot()) {
+        printf("Rebooted by Watchdog!\n");
+        // 当崩溃重启以后，闪三下灯
+        for (int i = 0;i < 6;i++) {
+            if (i % 2 == 0) {
+                cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
+            }else {
+                cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, false);
+            }
+            sleep_ms(500);
+        }
+    } else {
+        printf("Clean boot\n");
+    }
+
     bt_init();
     bt_register_data_callback(on_bt_data);
 
     audio_init();
 
+    watchdog_enable(1000, true);
+
     while (1) {
+        watchdog_update();
         cyw43_arch_poll();
         tud_task();
         audio_loop();

From 5b04cbda801572e8722452b2a93f260d2a0e0ac4 Mon Sep 17 00:00:00 2001
From: awalol <awalolcn@gmail.com>
Date: Thu, 30 Apr 2026 14:44:25 +0800
Subject: [PATCH 2/2] fix: audio resampler_out buffer overflow. static queue
 element

---
 src/audio.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/audio.cpp b/src/audio.cpp
index b88a3f5..08fc256 100644
--- a/src/audio.cpp
+++ b/src/audio.cpp
@@ -75,7 +75,7 @@ void audio_loop() {
         audio_buf[audio_buf_pos++] = raw[i * INPUT_CHANNELS] / 32768.0f * (volume[0] - 1.0f);
         audio_buf[audio_buf_pos++] = raw[i * INPUT_CHANNELS + 1] / 32768.0f * (volume[0] - 1.0f);
         if (audio_buf_pos == 512 * 2) {
-            audio_raw_element element{};
+            static audio_raw_element element{};
             memcpy(element.data,audio_buf,512 * 2 * 4);
             if (queue_is_full(&audio_fifo)){
                 queue_try_remove(&audio_fifo,NULL);
@@ -91,7 +91,7 @@ void audio_loop() {
     }
 
     // 3. 48kHz -> 3kHz 重采样
-    WDL_ResampleSample out_buf[SAMPLE_SIZE]; // 64 floats = 32帧 × 2ch
+    static WDL_ResampleSample out_buf[SAMPLE_SIZE]; // 64 floats = 32帧 × 2ch
     int out_frames = resampler.ResampleOut(out_buf, nframes, SAMPLE_SIZE / OUTPUT_CHANNELS, OUTPUT_CHANNELS);
 
     static int8_t haptic_buf[SAMPLE_SIZE];
@@ -169,7 +169,7 @@ void core1_entry() {
     resampler_audio.SetFeedMode(true);
 
     while (true) {
-        audio_raw_element audio_element{};
+        static audio_raw_element audio_element{};
         queue_remove_blocking(&audio_fifo,&audio_element);
         // 将 512 frames 重采样成 480 frames 以解决噪音问题。感谢 @Junhoo
         WDL_ResampleSample *in_buf;
@@ -177,9 +177,9 @@ void core1_entry() {
         for (int i = 0; i < nframes * 2;i++) {
             in_buf[i] = audio_element.data[i];
         }
-        WDL_ResampleSample out_buf[200];
+        static WDL_ResampleSample out_buf[480 * 2];
         resampler_audio.ResampleOut(out_buf,nframes,480,2);
-        opus_element opus_element{};
+        static opus_element opus_element{};
         (void)opus_encode_float(encoder,out_buf,480,opus_element.data,200);
         if (queue_is_full(&opus_fifo)) {
             queue_try_remove(&opus_fifo,NULL);