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🚀 Project Overview

This project is a C/C++ firmware for the Raspberry Pi Pico W that establishes a full-featured Bluetooth Classic connection with the Sony DualSense (PS5) controller. It demonstrates the extreme portability of the Gamepad-Core library by running the same cross-platform API that powers high-end game engines (Unreal Engine, Godot, O3DE) on a resource-constrained microcontroller.

🎯 Why This Project Exists

This firmware was created to stress-test the portability of the Gamepad-Core library. It proves that the same library running on powerful desktop machines and game engines can also run smoothly on a $6 microcontroller with limited resources.

Key Achievement: A unified codebase for DualSense support across:

• 🖥️ Desktop platforms (Windows, Linux, macOS)
• 🎮 Game engines (Unreal Engine, Godot, O3DE)
• 🔧 Microcontrollers (Pico W, ESP32, and more)

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🎥 Click and watch the example video on YouTube.

✨ Features

✅ Currently Implemented

• Stable Bluetooth Classic Connection: Reliable pairing and connectivity with DualSense controllers
• Persistent Pairing: Stores controller MAC address in Pico W's flash memory for automatic reconnection
• Full Input Reading:
  • Extended reports (0x31) unlocking all advanced features:
    • All buttons and analog sticks
    • Gyroscope and accelerometer data
    • Touchpad input
    • Battery status
• Complete Output Features:
  • 💡 LED Control: Lightbar colors and player LED indicators
  • 📳 Rumble/Haptics: Vibration motor control (soft and heavy)
  • 🎚️ Adaptive Triggers: Full trigger effect system
    • Resistance modes (Feedback, Weapon, Vibration)
    • Dynamic tension effects (Bow, Gallop, Machine)
    • Weapon simulation (GameCube, Semi-Automatic, Automatic)
• Plug-and-Play Integration: Powered by Gamepad-Core's abstraction layer

🎮 Interactive Test Demo

The firmware includes a comprehensive test suite demonstrating all DualSense features:

=======================================================
           DUALSENSE INTEGRATION TEST                  
=======================================================

 [ FACE BUTTONS ]
   (X) Cross    : Heavy Rumble + RED Light
   (O) Circle   : Soft Rumble  + YELLOW Light
   [ ] Square   : Trigger Effect: GAMECUBE (R2)
   /_\ Triangle : Stop All

-------------------------------------------------------

 [ D-PADS & SHOULDERS ]
   [L1]    : Trigger Effect: Gallop (L2)
   [R1]    : Trigger Effect: Machine (R2)
   [UP]    : Trigger Effect: Feedback (Rigid)
   [DOWN]  : Trigger Effect: Bow (Tension)
   [LEFT]  : Trigger Effect: Weapon (Semi)
   [RIGHT] : Trigger Effect: Automatic Gun (Buzz)

=======================================================

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🔧 Hardware Requirements

• Raspberry Pi Pico W (with wireless capabilities)
• Sony DualSense Controller (PS5)
• USB cable for programming the Pico W

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📚 Software Requirements

• Pico SDK (with BTstack integrated)
• Gamepad-Core library (minimalist embedded version)
• CMake 3.20+
• C++20 compatible compiler

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🛠️ Setup Instructions

1. Clone This Repository

git clone https://github.com/rafaelvaloto/Pico_W-Dualsense.git
cd Pico_W-Dualsense && mkdir -p lib/Gamepad-Core

2. Download Gamepad-Core (Minimalist Version)

Clone the minimalist version of Gamepad-Core to a directory outside your Pico project:

# Clone to a separate dependencies folder (not inside the Pico project)
cd ..
git clone --depth 1 https://github.com/rafaelvaloto/Gamepad-Core.git

Your directory structure should look like this:

parent-folder/
├── Pico_W-Dualsense/        # Your Pico project
└── Gamepad-Core/            # Gamepad-Core library (separate)

3. Export for Embedded Systems

Navigate to the Gamepad-Core folder and run the export script, pointing it to your Pico project's lib folder:

cd Gamepad-Core
./export_micro.sh ../Pico_W-Dualsense/lib/Gamepad-Core

This script will:

• Copy necessary headers and source files to your Pico project
• Organize files for embedded compilation
• Remove unnecessary dependencies for microcontroller use

4. Configure SDK Integration (gc_config.h)

Create a gc_config.h file at the root of your Pico project to map Gamepad-Core's internal functions to Pico SDK functions:

//
// Gamepad-Core Configuration for Pico SDK
//
#pragma once

#if defined(GAMEPAD_CORE_EMBEDDED)
    #include "pico/stdlib.h"

    #ifndef gc_sleep_ms
        #define gc_sleep_ms ::sleep_ms
    #endif
#endif

5. Build the Firmware

cd Pico_W-Dualsense
mkdir build && cd build
cmake ..
make

6. Flash to Pico W

1. Hold the BOOTSEL button on your Pico W
2. Connect it to your computer via USB
3. Copy the generated *.uf2 file to the Pico's mass storage device
4. The Pico will automatically reboot and start running the firmware

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7. Serial Debugging and Monitoring

To inspect the Pico W log output and debug DualSense readings in real-time on Linux, you can use minicom connected to the USB serial port.

Install minicom (if not already installed):

sudo apt install minicom

With the Pico W running the firmware and connected via USB, execute the following command (the default Pico SDK baud rate is 115200):

sudo minicom -b 115200 -D /dev/ttyACM0

Note: The exact port may vary depending on your system configuration or connection order. To find the correct port, you can use the command ls /dev/ttyACM*.

Useful Minicom Shortcuts:

• Exit: Press Ctrl+A, release, press X, and select Yes.
• Clear screen: Press Ctrl+A, release, press C.

📖 How It Works

Bluetooth Connection Flow

1. Pairing Mode: On first run, the Pico W enters pairing mode
2. Controller Discovery: Put your DualSense in pairing mode (hold PS + Share buttons)
3. Connection: The controller connects and the pairing key is stored in flash
4. Auto-Reconnect: On subsequent power-ups, the Pico automatically reconnects to the paired controller

Report ID 0x31 - Advanced Features

The firmware automatically configures the DualSense to use Report ID 0x31, which unlocks:

• Full sensor data (gyro, accelerometer)
• Touchpad input
• Battery status
• Support for all output features (haptics, LEDs, adaptive triggers)

Integration with BTstack

The packet_handler in src/pico_w_platform.h processes L2CAP packets from the controller:

• 0x31 packets: Read with offset 2 (extended input)

Data is copied directly to the Context->Buffer of Gamepad-Core, which handles all protocol decoding and abstraction.

Output Features via Bluetooth

The firmware uses Gamepad-Core's output buffer system to send commands back to the DualSense:

• LED commands: Set lightbar RGB colors and player indicators
• Rumble commands: Control left/right motors independently
• Trigger effects: Configure adaptive triggers with various resistance patterns

All output features use the same 0x31 report format for bidirectional communication.

Main Loop Architecture

    auto HardwareInfo = std::make_unique<pico_platform>();
    IPlatformHardwareInfo::SetInstance(std::move(HardwareInfo));
    printf("Hardware initialized OK\n");

    using namespace policy_device;
    initialize_device();
    auto& registry = get_instance();
    printf("Device initialized OK\n");

    init_bluetooth();
    printf("Bluetooth initialized OK\n");

    int blink_cnt = 0;
    while(true) {
        if (blink_cnt++ % 50 == 0) cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
        if (blink_cnt % 50 == 25) cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);

        if (auto* gamepad = registry.GetLibrary(0)) {
            gamepad->UpdateInput(0.016f);
            FInputContext* input = gamepad->GetMutableDeviceContext()->GetInputState();
            if (input->bCross) {
                cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
                printf("Cross button pressed\n");
            } else if (input->bCircle) {
                cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
                printf("Circle button pressed\n");
            } else if (input->bSquare) {
                cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
                printf("Square button pressed\n");
            } else if (input->bTriangle) {
                cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
                printf("Triangle button pressed\n");
            }
        }
        sleep_ms(16);
    }

Library processing (PlugAndPlay and Updates) occurs in the main loop, ensuring operations requiring mutexes or delays don't block the Bluetooth interrupt handler.

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🎮 About Gamepad-Core

Gamepad-Core is a revolutionary DualSense & DualShock library designed for true cross-platform portability:

Core Philosophy

• ✅ Pure C++20: No external dependencies
• ✅ Engine Agnostic: Works with any game engine or framework
• ✅ Platform Independent: One codebase for all platforms
• ✅ Embedded Ready: Runs on microcontrollers with minimal resources

Proven Compatibility

• Game Engines: Unreal Engine 5, Godot 4, O3DE
• Operating Systems: Windows, Linux, macOS, PlayStation
• Microcontrollers: Raspberry Pi Pico W, ESP32, and more

Architecture Highlights

• Clean Abstraction: Simple API for complex controller features
• Buffer Management: Efficient input/output buffer handling
• Event System: Callback-based controller events
• Minimal Footprint: Optimized for embedded systems

→ Visit Gamepad-Core Repository

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🔬 Technical Details

Supported DualSense Features

Feature	Status
Buttons (×17)	✅ Fully Working
Analog Sticks (L/R)	✅ Fully Working
Triggers (L2/R2)	✅ Fully Working
D-Pad	✅ Fully Working
Gyroscope	✅ Fully Working
Accelerometer	✅ Fully Working
Touchpad	✅ Fully Working
Battery Status	✅ Fully Working
Lightbar RGB	✅ Fully Working
Player LED	✅ Fully Working
Rumble Motors	✅ Fully Working
Adaptive Triggers	✅ Fully Working
Audio	❌ Not planned

Legend: ✅ = Fully working | ❌ = Not implemented

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🤝 Contributing

Contributions are welcome! Whether it's:

• Optimizing performance
• Adding support for other controllers (DualShock 4, Nintendo Pro, etc.)
• Improving documentation
• Adding new trigger effects
• Implementing audio support

Feel free to open issues or submit pull requests.

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📜 License

This project is licensed under the MIT License - see the LICENSE file for details.

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🙏 Acknowledgments

• BTstack: Bluetooth stack for embedded systems
• Raspberry Pi Pico SDK: Official SDK for RP2040
• Gamepad-Core: The cross-platform magic behind this project

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📬 Contact & Support

• Author: Rafael Valoto
• Repository Issues: Report a Bug
• Gamepad-Core Issues: Library Support

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