feat(wdi): Wheelchair Digital Interface component (device role: USB + BLE) by finger563 · Pull Request #788 · esp-cpp/espp

finger563 · 2026-09-12T03:08:32Z

What

New wdi component implementing the Open-Mobility-Hub Wheelchair HID spec (v3.2) — a standard interface between a powered wheelchair and an app/accessory over USB or BLE. This PR is the device role (the app / accessory that drives the chair) over both transports; the host role (the wheelchair) is a follow-up.

Layers

Protocol core (detail/wdi_protocol.hpp) — host-testable, ESP-free: the five reports (Control/Feedback/Request-Feedback/Keepalive/Keepalive-Response) as structs with serialize()/parse(), the ControlBit/FeedbackBit enums, manufacturer IDs, keepalive timing. LE fields; the 128-bit Host UUID stays big-endian per spec.
HID report descriptor (wdi_hid.hpp) — the vendor (usage page 0xFF00) descriptor built with hid-rp.
Device role core (WdiDevice, wdi.hpp) — transport-agnostic: a send callback + handle_output(), with the keepalive state machine (poll() emits keepalives when due; send_control/request_feedback reset the timer). No internal timer, so it's host-testable via an injected clock.
BLE peripheral (WdiBlePeripheral, wdi_ble.hpp) — the WDI GATT service on ble_gatt_server + ble_example/.
USB HID device (WdiUsbPeripheral, wdi_usb.hpp) — the WDI HID descriptor on espp::UsbDevice (Input reports out; Output reports in via HidFunction::on_receive) + usb_example/.

Host library / interop

The protocol core is bundled into the espp host library: C++ via wdi/include, Python via espp.wdi bindings (ControlReport/FeedbackReport/HostUuid + enums, serialize/parse) — enough to build/test a WDI host on a PC. Tests: test/wdi_protocol_host_test.cpp, test/wdi_device_host_test.cpp, test/wdi_hid_host_test.cpp, python/wdi_test.py.

Notes

Both examples build clean on IDF v6.1 / esp32s3. Wheelchairs are safety-critical: the component can emulate a WDI device for development — see the README's safety note. Host role (USB Host HID + BLE central) to follow.

🤖 Generated with Claude Code

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New `wdi` component implementing the Open-Mobility-Hub Wheelchair HID spec (v3.2). This first commit is the host-testable, ESP-free protocol core shared by every transport (USB / BLE) and role (device / host): - The five HID reports (Control 0x01, Feedback 0x02, Request Feedback 0x03, Keepalive 0x04, Keepalive Response 0x05) as structs with serialize()/parse(). - ControlBit / FeedbackBit bitfield enums, ManufacturerId, keepalive timing constants, and the shared HID report descriptor (usage page 0xFF00) built with std::to_array so its length is deduced. - Little-endian report fields; the 128-bit Host UUID kept big-endian per spec. - Host unit test covering report round-trips, nibble packing (speed/profile, velocity), release/zero reports, wrong-size rejection, the descriptor shape, and the big-endian manufacturer id. Builds + passes with plain c++ -std=c++20 -Wall -Wextra -Werror. Component skeleton (CMakeLists / idf_component.yml / README) registers the include dir; the device role (USB HID + BLE peripheral) and host role follow. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

WdiDevice is the app / accessory side of the WDI interface. Transport-agnostic: a `send` callback puts a report on the wire (USB HID Input report or BLE notify), and handle_output() consumes the host's reports (Feedback 0x02, Keepalive Response 0x05). It owns the keepalive state machine: - send_control() / send_release() / request_feedback() / send_keepalive() build and transmit the reports; Control / Request-Feedback / Keepalive all reset the keepalive timer (per spec), and a failed send does NOT reset it. - poll() emits a Keepalive when the interval (~233 ms) has elapsed since the last transmit; ms_until_keepalive() reports the remaining time. No internal timer -- call poll() from an espp::Timer / Task on device (kept out of the core so it is host-testable). Time comes from a caller-supplied clock (default steady ms). - handle_output() parses + routes Feedback / Keepalive Response, stores the host UUID + last feedback, and ignores wrong-direction / malformed reports. Depends only on the C++20 stdlib + the protocol core, so it is unit-tested on a host (fake clock + mock send): control-resets-timer, keepalive timing edges, request-feedback reset, failed-send behavior, and feedback/UUID routing. Passes under -Wall -Wextra -Werror. USB / BLE transport bindings + examples follow. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

Replace the hand-rolled report-descriptor bytes with an idiomatic hid-rp descriptor (new wdi_hid.hpp): a custom vendor usage page (0xFF00) + one report item per report id, using the same raw-vendor-usage idiom as the espp switch-pro descriptor. Removed the hand-written kReportDescriptor from the dependency-free core (detail/wdi_protocol.hpp) — only the USB HID transport needs a descriptor (BLE carries the same reports as GATT characteristics), so wdi_hid.hpp (which pulls in hid-rp) is separate and the core / BLE path stays hid-rp-free. hid-rp is header-only + stdlib-only, so wdi_hid.hpp is still host-testable (add hid-rp as -isystem so its non-Werror-clean third-party headers don't break -Werror). The new host test asserts the built descriptor's structure (vendor page, 5 report ids, per-report counts 18/19/1/1/16, 3 Input + 2 Output items); it comes out to the same 55 bytes as the hand-verified descriptor. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

Make the WDI core available off-device for CI/interop testing and for building a WDI host (the wheelchair side) on a PC to test a real peripheral against: - C++ host library: add components/wdi/include to ESPP_INCLUDES (header-only; no sources). WdiDevice + the protocol structs are now on the host lib's include path. hid-rp (for wdi_hid.hpp) is already an ESPP include. - Python: hand-written pybind11 bindings (lib/python_bindings/wdi_bindings.cpp, registered via py_init_wdi in module.cpp, added to ESPP_PYTHON_SOURCES) exposing espp.wdi.{ReportId, ControlBit, FeedbackBit, ManufacturerId, ControlReport, FeedbackReport, HostUuid} with serialize()/parse() -- enough to build/test a WDI host from Python. Kept out of the generated bindings (like dispatcher_bindings). Compiles clean against pybind11. - python/wdi_test.py: Python mirror of the C++ host test (report round-trips, nibble packing, host-uuid big-endian, and a parse-Control/build-Feedback host-side round-trip). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

WdiBlePeripheral (wdi_ble.hpp) wraps the transport-agnostic WdiDevice with the WDI GATT service on esp-nimble-cpp / espp::BleGattServer: - Service 10A50001-…, characteristics 10A5000{6..A}. Control / Request-Feedback / Keepalive are READ|NOTIFY (device→central); Feedback / Keepalive-Response are READ|WRITE_NR (central→device). - WdiDevice's send is wired to characteristic notify(); the write characteristics' NimBLECharacteristicCallbacks route received bytes into WdiDevice.handle_output(). App API forwards send_control / request_feedback / poll / host_uuid. Adds ble_example/ (esp32s3): brings up BleGattServer, installs + advertises the WDI service, and sweeps a demo joystick with drive-enable while polling keepalives. Builds clean on IDF v6.1 (67% flash free). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

WdiUsbPeripheral (wdi_usb.hpp) wraps the transport-agnostic WdiDevice with an espp::UsbDevice HID interface using the WDI report descriptor (wdi_hid.hpp): - Control / Request-Feedback / Keepalive are HID Input reports (device->host via write_hid_report()); Feedback / Keepalive-Response are HID Output reports (host->device) delivered through HidFunction::on_receive (has_out_endpoint) -- the usb_device HID-OUT support merged with switch_pro (#787). The report id is byte 0 of the received span; the rest is routed to WdiDevice.handle_output(). - App API forwards send_control / request_feedback / poll / host_uuid. Adds usb_example/ (esp32s3): enumerates as a WDI HID device and sweeps a demo joystick with drive-enable while polling keepalives. Console on UART0 (native USB goes to TinyUSB). Builds clean on IDF v6.1 (58% flash free). feat/wdi is rebased on main (which now has the usb_device HID-OUT extension). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

github-actions · 2026-09-12T03:09:17Z

✅Static analysis result - no issues found! ✅

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🟡 Changes recommended

Critical protocol, safety, transport, dependency, and integration issues remain unresolved.

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Pull request overview

Adds the WDI v3.2 device-role component for USB HID and BLE, including protocol logic, peripherals, bindings, examples, and tests.

Changes:

Implements report serialization, parsing, HID descriptors, and device state management.
Adds BLE and USB peripheral adapters with ESP32 examples.
Adds C++/Python bindings and host-side tests.

File summaries

File	Description and final review notes
`python/wdi_test.py`	Python binding tests. moderate (1 vote): not included in automated Python testing.
`lib/python_bindings/wdi_bindings.cpp`	WDI Python API bindings.
`lib/python_bindings/module.cpp`	Registers WDI bindings.
`lib/espp.cmake`	Host include and binding integration.
`components/wdi/usb_example/sdkconfig.defaults`	USB/TinyUSB configuration.
`components/wdi/usb_example/main/wdi_usb_example.cpp`	USB example. critical (2 votes): starts with forward motion enabled; default should send a release and make motion opt-in.
`components/wdi/usb_example/main/CMakeLists.txt`	USB example dependencies.
`components/wdi/usb_example/CMakeLists.txt`	USB example project configuration.
`components/wdi/test/wdi_protocol_host_test.cpp`	Protocol host tests.
`components/wdi/test/wdi_hid_host_test.cpp`	HID descriptor tests.
`components/wdi/test/wdi_device_host_test.cpp`	Device-state host tests.
`components/wdi/README.md`	Component documentation and safety guidance.
`components/wdi/include/wdi.hpp`	Device state machine. critical (1 vote): enforce the 100 ms release interval; synchronize cross-task state, callbacks, and keepalive timestamps; persist and validate host identity before transmitting.
`components/wdi/include/wdi_usb.hpp`	USB peripheral wrapper.
`components/wdi/include/wdi_hid.hpp`	HID descriptor. critical (2 votes): expose required per-report fields and usages instead of opaque byte arrays.
`components/wdi/include/wdi_ble.hpp`	BLE peripheral. critical (1 vote): persist and validate host identity, stop reports on mismatch, and delay advertising. critical (1 vote): add mandatory characteristics 0x02–0x05 and the report map.
`components/wdi/include/detail/wdi_protocol.hpp`	Protocol reports and serialization. nit (2 votes): correct the `Modifier`/`vendor1` comment. moderate (1 vote): reject or represent reserved velocity fractions as unknown.
`components/wdi/idf_component.yml`	Registry metadata. critical (3 votes): declare public NimBLE, HID-RP, and USB dependencies. moderate (1 vote): add examples to build CI and the component to the upload allowlist. moderate (1 vote): add the component to the explicit upload list. nit (1 vote): accurately describe the implemented device role. nit (2 votes) and moderate (1 vote): add documentation, Doxygen, build-matrix, and publishing entries.
`components/wdi/CMakeLists.txt`	Component build metadata. critical (3 votes): declare `esp-nimble-cpp`, `hid-rp`, and `usb_device` as public dependencies.
`components/wdi/ble_example/sdkconfig.defaults.esp32s3`	ESP32-S3 BLE configuration.
`components/wdi/ble_example/sdkconfig.defaults`	BLE configuration.
`components/wdi/ble_example/partitions.csv`	BLE partition layout.
`components/wdi/ble_example/main/wdi_ble_example.cpp`	BLE example. critical (2 votes): starts with forward motion enabled; default should send a release and make motion opt-in.
`components/wdi/ble_example/main/CMakeLists.txt`	BLE example dependencies.
`components/wdi/ble_example/CMakeLists.txt`	BLE example project configuration. moderate (1 vote): add both examples to the build matrix.

Review details

Suppressed comments (7)

components/wdi/ble_example/CMakeLists.txt:22

Neither newly added example is present in the build matrix (build.yml), so the claimed BLE and USB example builds are not exercised by CI and compile/configuration regressions can merge unnoticed. Add matrix entries for both components/wdi/ble_example and components/wdi/usb_example (the repository adds one entry per example project).

project(wdi_ble_example)

set(CMAKE_CXX_STANDARD 20)

components/wdi/idf_component.yml:11

The two new example paths are not present in .github/workflows/build.yml, and components/wdi is not present in .github/workflows/upload_components.yml. Consequently neither transport example is compiled by the example matrix, and the component is excluded from the registry dry-run/release allowlist despite being advertised in this manifest. Add both examples to build CI and add components/wdi to the upload list.

examples:
  - path: ble_example
  - path: usb_example

components/wdi/idf_component.yml:11

upload_components.yml uses an explicit allowlist for both PR dry-run validation and release publication, but no components/wdi entry is added in this PR. As a result, this new manifest will never be validated or uploaded by the repository's component publishing workflow; add the component to that list.

examples:
  - path: ble_example
  - path: usb_example

components/wdi/idf_component.yml:3

The manifest description says this component provides host roles over USB and BLE, while the PR explicitly leaves USB Host HID and BLE central support for a follow-up and the README marks that role unimplemented. Published metadata should describe the currently implemented protocol core and device role rather than overstate the available API.

description: "Wheelchair Digital Interface (WDI / Open-Mobility-Hub Wheelchair HID): report protocol + device and host roles over USB and BLE"

components/wdi/idf_component.yml:11

This new component is not referenced by .github/workflows/build.yml, .github/workflows/upload_components.yml, or doc/Doxyfile, and no doc/en WDI page exists. Consequently the advertised documentation URL is dead, the examples are absent from the normal build matrix, and the component is absent from the explicit publishing allowlist. Add the required documentation, Doxygen, build, and upload entries before publishing the component.

documentation: "https://esp-cpp.github.io/espp/wdi/wdi.html"
examples:
  - path: ble_example
  - path: usb_example

components/wdi/include/detail/wdi_protocol.hpp:219

The velocity fraction reserves nibble values 0xA–0xF, but this parser accepts them and velocity_mph() then reports impossible values such as 15.5 mph for 0xF. Reject reserved fractions when parsing/serializing, or represent them as unknown so the helper cannot expose an invalid speed.

    r.speed = static_cast<uint8_t>((p[12] >> 4) & 0x0F);
    r.profile = static_cast<uint8_t>(p[12] & 0x0F);
    r.velocity_whole = static_cast<uint8_t>((p[13] >> 4) & 0x0F);
    r.velocity_tenths = static_cast<uint8_t>(p[13] & 0x0F);

python/wdi_test.py:5

This new binding test is not part of the automated Python test command: pyproject.toml runs rtps_bindings_smoke.py and dispatcher_test.py, but never wdi_test.py. Add this script to the wheel/CI smoke test so the newly exposed espp.wdi API is checked instead of remaining a manual-only test.

"""WDI (Wheelchair Digital Interface) Python binding test.

Exercises the espp.wdi protocol core (ControlReport / FeedbackReport / HostUuid
serialize+parse, bitfields, enums) -- the Python mirror of
components/wdi/test/wdi_protocol_host_test.cpp. This is also how a WDI *host* (the

Files reviewed: 25/25 changed files
Comments generated: 13
Review effort level: Lite

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+  }
+
+  /// @brief Send an all-zero "release" Control report (neutral joystick, no flags).
+  bool send_release() { return send_control(wdi::ControlReport{}); }


+    case wdi::ReportId::KeepaliveResponse:
+      if (auto uuid = wdi::HostUuid::parse(payload)) {
+        host_uuid_ = *uuid;
+        if (config_.on_keepalive_response)
+          config_.on_keepalive_response(*uuid);


+      break;
+    default:
+      return false; // host->device reports are not sent by the device
+    }


Address review feedback + static analysis on the WDI device role. - wdi_hid.hpp: rebuild the report descriptor to describe the REAL report fields (Control = 2x SInt8 axes + 4x 32-bit flag fields; Feedback = 3x 32-bit flags + packed speed/profile, velocity, odometer + 4 reserved bytes; etc.) instead of opaque byte arrays, so a host can introspect it. static_asserts tie the field decomposition to the protocol core's report sizes so the descriptor and serialize()/parse() can't drift. Descriptor is now 156 bytes. - wdi_ble.hpp: add the HID-over-GATT characteristics the WDI spec defines (10A50002 Report Map, 10A50003 HID Information, 10A50004 HID Control Point, 10A50005 Protocol Mode). The Report Map serves the SAME descriptor as USB, so BLE reports are introspectable too. notify_report() made const. - wdi.hpp: fix data races between the transport RX task and the app task - last_tx_ms_ is atomic; host_uuid_ / last_feedback_ are mutex-guarded. - detail/wdi_protocol.hpp: HostUuid::serialize() returns by const reference (returnByReference); clarify the vendor1 Modifier comment (the spec defines a vendor-scope Modifier bit distinct from standard1's). - examples: send a neutral release first and do NOT assert DriveEnable in the demo sweep (a spec-compliant chair ignores motion without DriveEnable), so the test pattern can't command motion on connect. - suppressions.txt: scope unreadVariable/redundantAssignment for the host tests (cppcheck can't see reads through the injected-clock std::function). - README: document the field-accurate descriptor, the HOGP characteristics, and the per-transport component dependencies. Descriptor + all host tests pass; usb_example (58% free) and ble_example (67% free) build clean on IDF v6.1 esp32s3. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

…tion The Report Map characteristic serves the HID descriptor over BLE too, so the descriptor is not USB-only. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

finger563 · 2026-09-12T04:31:56Z

Addressed the review + static-analysis feedback in the latest commits. Summary of dispositions:

Fixed

Opaque HID descriptor → rebuilt wdi_hid.hpp to describe the real fields (Control = 2× SInt8 axes + 4× 32-bit flag fields; Feedback = 3× 32-bit flags + speed/profile + velocity + odometer + 4 reserved; etc.), with static_asserts tying the field decomposition to the protocol-core report sizes so descriptor and serialize()/parse() can't drift. Descriptor is now 156 bytes.
Missing HID-over-GATT characteristics → added 10A50002 Report Map (serving the same descriptor as USB), 10A50003 HID Information, 10A50004 HID Control Point, 10A50005 Protocol Mode to WdiBlePeripheral.
Thread-safety (handle_output vs getters; keepalive timer) → last_tx_ms_ is atomic; host_uuid_/last_feedback_ are mutex-guarded.
HostUuid::serialize() returnByReference, notify_report() made const, useStlAlgorithm in the test.
Example safety → examples send a neutral release first and no longer assert DriveEnable in the demo sweep (a spec-compliant chair ignores motion without it), so the test pattern can't command motion on connect.
Test-harness cppcheck false positives (unreadVariable/redundantAssignment through the injected-clock std::function) scoped in suppressions.txt.

Clarified (not a bug)

vendor1 "Modifier" comment: the spec defines a vendor-scope Modifier at bit 0 of the VendorSpecific field, distinct from ControlBit::Modifier in standard1 — both exist. Comment reworded to make that explicit rather than changed.
Component REQUIRES/manifest deps: kept the core at REQUIRES base_component by design so a protocol-only (or single-transport) consumer doesn't pull in the BLE + USB stacks. The transport headers' dependencies are now documented in a README table and declared by each example.

Deferred to a follow-up (tracked)

100 ms release-timing rule: this is an app-level send-cadence constraint; enforcing it inside the library would require inserting artificial delays and could mask real app bugs, so it's left as the caller's responsibility (documented).
Host-UUID save / mismatch handling + 15 s advertising delay: a reconnection-security feature (persist the first host UUID, gate transmission on mismatch, delay re-advertising). Larger than this PR's scope; planned as a follow-up.
Docs page / Doxyfile / CI wiring for the whole wdi component is added in the stacked host-role PR feat(wdi): host role (WdiHost) — USB Host HID + BLE central #792.

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NimBLEService::createCharacteristic() can return nullptr (e.g. out of memory). Guard all of the WDI characteristics before dereferencing them (setValue / setCallbacks), bailing with a logged error, instead of an unconditional null-deref. Addresses a review comment. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

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Pull request overview

Copilot reviewed 26 out of 26 changed files in this pull request and generated 13 comments.

…nst) Now that notify_report() is const, the make_device_config() helper only calls const members, so cppcheck flags it as const-able. Make it const. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

Address the second review round: - FeedbackReport::serialize() clamps velocity_tenths to 9 so an out-of-range value can't encode an invalid 10..15 nibble. - Python bindings: parse() takes py::bytes instead of std::string, so a Python str can't be passed and silently UTF-8-encoded into wrong bytes; add <array>. - wdi_hid_host_test.cpp: correct the "non-overlapping" comment on count_item. Protocol + HID host tests pass; bindings syntax-check against pybind11. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

…mBLEService::start() NimBLE v2 starts every service when the server starts; NimBLEService::start() is a deprecated no-op. Keep start() for API symmetry with make_service() but make it an explicit no-op instead of calling the deprecated API. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

finger563 · 2026-09-12T14:17:30Z

Self-review follow-up (pushed): WdiBlePeripheral::start() no longer calls the deprecated no-op NimBLEService::start(). The device-role code was reviewed alongside the host role (protocol packing, RFC-4122 nibbles, keepalive math, peripheral notify/onWrite threading all verified); the substantive findings were on the host side and landed in #791/#792.

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Pull request overview

Copilot reviewed 26 out of 26 changed files in this pull request and generated 4 comments.

… comment) - README dependency table / manifest description: this PR ships the protocol core + device role; the host-role headers it lists are delivered by the stacked follow-up PR -- say so instead of implying they exist here. - Python bindings: check the PyBytes_AsStringAndSize() return and propagate the TypeError CPython raised (py::error_already_set) instead of building a span from an unset pointer. - CMakeLists comment: base_component is required because the transport role classes derive from BaseComponent; the protocol core and the WdiDevice / WdiHost cores are dependency-free (the old comment said wdi.hpp used Logger). Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

Keep this branch's wording for the WDI README dependency table and manifest description: the device-role PR said the host-role headers arrive in a follow-up, and this PR is that follow-up. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DFjjnq3XCTRAXENSxsCxJU

finger563 and others added 6 commits September 11, 2026 20:38

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finger563 mentioned this pull request Sep 12, 2026

feat(usb_host): espp::UsbHost component (USB Host HID) #791

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finger563 mentioned this pull request Sep 12, 2026

feat(wdi): host role (WdiHost) — USB Host HID + BLE central #792

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Copilot started reviewing on behalf of finger563 September 12, 2026 16:37 View session

finger563 merged commit 6dee023 into main Sep 12, 2026
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finger563 deleted the feat/wdi branch September 12, 2026 17:23

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finger563 commented Sep 12, 2026

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✅Static analysis result - no issues found! ✅

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🟡 Changes recommended

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