From 4d8cacf74c5bb49225e61f0b116b12a8fa653e5c Mon Sep 17 00:00:00 2001 From: Nik Rozman Date: Sun, 1 Mar 2026 00:44:19 +0100 Subject: [PATCH] WebUI, telemetry --- air-mouse.ino | 845 ++++++++++++++++++++++++++---------------------- web-config.html | 762 +++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 1226 insertions(+), 381 deletions(-) create mode 100644 web-config.html diff --git a/air-mouse.ino b/air-mouse.ino index 8591aa3..22e16d4 100644 --- a/air-mouse.ino +++ b/air-mouse.ino @@ -1,32 +1,51 @@ /* - * IMU BLE Mouse — Seeed XIAO nRF52840 Sense (v2 — Full Featured) + * IMU BLE Mouse — Seeed XIAO nRF52840 Sense (v3.3) * ================================================================ - * Board BSP : Adafruit nRF52 (NOT Seeed mbed BSP) - * Board manager URL: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json - * Select board: "Seeed XIAO nRF52840 Sense" (listed under Adafruit nRF52) + * Changes vs v3.2: + * - 10 characteristics → 4 (fixes SoftDevice RAM overflow) + * - configAttrTableSize reduced to 1024 + * - All config params merged into one 16-byte ConfigBlob (0x1235) + * - chargeStatus merged into TelemetryPacket._pad (0x1237) + * - ImuStream (0x1238) and Command (0x1236) unchanged + * - Boot-loop detection retained * - * Required Libraries: - * - Seeed Arduino LSM6DS3 - * - Adafruit nRF52 BSP + * ── BLE Config Service (UUID 0x1234) ─────────────────────────────── + * UUID | Len | R/W/N | Description + * ───────|─────|───────|────────────────────────────────────────── + * 0x1235 | 16 | R/W | ConfigBlob — all settings in one write + * 0x1236 | 1 | W | Command: 0x01=Cal 0xFF=FactoryReset + * 0x1237 | 24 | R/N | TelemetryPacket, notified 1 Hz + * 0x1238 | 14 | N | ImuPacket, notified ~100 Hz * - * New in v2: - * 1. BLE Configuration Service — UUID 0x1234 with writable characteristics - * 2. EEPROM persistence — config saved to flash via InternalFileSystem - * 3. BLE calibration trigger — write 0x01 to CAL characteristic - * 4. Motion scaling curve select — LINEAR / SQUARE / SQRT - * 5. Factory Reset command — write 0xFF to CMD characteristic - * 6. Auto-recalibrate on idle — after AUTO_RECAL_MINUTES minutes of stillness - * 7. Axis flip flags — flip X and/or Y via BLE config + * ── ConfigBlob (16 bytes, little-endian) ──────────────────────────── + * float sensitivity [0] + * float deadZone [4] + * float accelStrength [8] + * uint8_t curve [12] 0=LINEAR 1=SQUARE 2=SQRT + * uint8_t axisFlip [13] bit0=flipX bit1=flipY + * uint8_t chargeMode [14] 0=OFF 1=50mA 2=100mA + * uint8_t _pad [15] * - * ── BLE Config Service layout (UUID 0x1234) ──────────────────── - * Characteristic | UUID | Len | Description - * ──────────────────|────────|─────|────────────────────────── - * Sensitivity | 0x1235 | 4 | float, cursor speed - * Dead Zone | 0x1236 | 4 | float, noise floor rad/s - * Accel Strength | 0x1237 | 4 | float, pointer accel - * Curve Select | 0x1238 | 1 | 0=LINEAR 1=SQUARE 2=SQRT - * Axis Flip | 0x1239 | 1 | bit0=flipX bit1=flipY - * Command | 0x123A | 1 | 0x01=Calibrate 0xFF=FactoryReset + * ── TelemetryPacket (24 bytes, little-endian) ──────────────────────── + * uint32_t uptimeSeconds [0] + * uint32_t leftClicks [4] + * uint32_t rightClicks [8] + * float tempCelsius [12] + * float biasRmsRadS [16] + * uint16_t recalCount [20] + * uint8_t chargeStatus [22] 0=discharging 1=charging 2=full + * uint8_t _pad [23] + * + * ── ImuPacket (14 bytes, little-endian) ───────────────────────────── + * int16_t gyroY_mDPS [0] + * int16_t gyroZ_mDPS [2] + * int16_t accelX_mg [4] + * int16_t accelY_mg [6] + * int16_t accelZ_mg [8] + * int8_t moveX [10] + * int8_t moveY [11] + * uint8_t flags [12] bit0=idle bit1=singleTap bit2=doubleTap + * uint8_t _pad [13] */ #include @@ -38,333 +57,396 @@ // ─── Debug ──────────────────────────────────────────────────────────────────── // #define DEBUG +// ─── Boot-loop detection ────────────────────────────────────────────────────── +static uint32_t __attribute__((section(".noinit"))) bootCount; +static uint32_t __attribute__((section(".noinit"))) bootMagic; +static bool safeMode = false; +static bool bootCountCleared = false; + // ─── BLE Standard Services ──────────────────────────────────────────────────── BLEDis bledis; BLEHidAdafruit blehid; BLEBas blebas; -// ─── BLE Config Service & Characteristics ──────────────────────────────────── -BLEService cfgService(0x1234); -BLECharacteristic cfgSensitivity (0x1235); -BLECharacteristic cfgDeadZone (0x1236); -BLECharacteristic cfgAccelStr (0x1237); -BLECharacteristic cfgCurve (0x1238); -BLECharacteristic cfgAxisFlip (0x1239); -BLECharacteristic cfgCommand (0x123A); +// ─── BLE Config Service — 4 characteristics only ───────────────────────────── +BLEService cfgService (0x1234); +BLECharacteristic cfgBlob (0x1235); // ConfigBlob R/W 16 bytes +BLECharacteristic cfgCommand (0x1236); // Command W 1 byte +BLECharacteristic cfgTelemetry (0x1237); // Telemetry R/N 24 bytes 1 Hz +BLECharacteristic cfgImuStream (0x1238); // ImuStream N 14 bytes ~100 Hz // ─── IMU ────────────────────────────────────────────────────────────────────── LSM6DS3 imu(I2C_MODE, 0x6A); -// ─── Pin Definitions ────────────────────────────────────────────────────────── +#define LSM6DS3_CTRL1_XL 0x10 +#define LSM6DS3_TAP_CFG 0x58 +#define LSM6DS3_TAP_THS_6D 0x59 +#define LSM6DS3_INT_DUR2 0x5A +#define LSM6DS3_WAKE_UP_THS 0x5B +#define LSM6DS3_MD1_CFG 0x5E +#define LSM6DS3_TAP_SRC 0x1C +#define LSM6DS3_OUT_TEMP_L 0x20 +#define LSM6DS3_OUT_TEMP_H 0x21 + +// ─── Pins ───────────────────────────────────────────────────────────────────── #define PIN_VBAT_ENABLE (14) #define PIN_VBAT_READ (32) -#define PIN_CHG (17) +#define PIN_CHG (23) +#define PIN_HICHG (22) -// ─── EEPROM / Persistence ───────────────────────────────────────────────────── -#define CONFIG_FILENAME "/imu_mouse_cfg.bin" -#define CONFIG_MAGIC 0xDEAD1234UL +// ─── Persistence ────────────────────────────────────────────────────────────── +#define CONFIG_FILENAME "/imu_mouse_cfg.bin" +#define CONFIG_MAGIC 0xDEAD1238UL // bumped — struct layout unchanged but version tag updated using namespace Adafruit_LittleFS_Namespace; File cfgFile(InternalFS); -// ─── Motion Scaling Curves ──────────────────────────────────────────────────── -enum CurveType : uint8_t { - CURVE_LINEAR = 0, - CURVE_SQUARE = 1, - CURVE_SQRT = 2 -}; +// ─── Enums ──────────────────────────────────────────────────────────────────── +enum CurveType : uint8_t { CURVE_LINEAR=0, CURVE_SQUARE=1, CURVE_SQRT=2 }; +enum ChargeMode : uint8_t { CHARGE_OFF=0, CHARGE_SLOW=1, CHARGE_FAST=2 }; +enum ChargeStatus: uint8_t { CHGSTAT_DISCHARGING=0, CHGSTAT_CHARGING=1, CHGSTAT_FULL=2 }; -// ─── Config Struct (persisted) ──────────────────────────────────────────────── +// ─── Config ─────────────────────────────────────────────────────────────────── struct Config { - uint32_t magic; - float sensitivity; - float deadZone; - float accelStrength; - CurveType curve; - uint8_t axisFlip; // bit0=flipX, bit1=flipY + uint32_t magic; + float sensitivity; + float deadZone; + float accelStrength; + CurveType curve; + uint8_t axisFlip; + ChargeMode chargeMode; }; - Config cfg; +const Config CFG_DEFAULTS = { CONFIG_MAGIC, 600.0f, 0.060f, 0.08f, CURVE_LINEAR, 0x00, CHARGE_SLOW }; -// ─── Default Parameters ─────────────────────────────────────────────────────── -const Config CFG_DEFAULTS = { - CONFIG_MAGIC, - 600.0f, // sensitivity - 0.060f, // dead zone - 0.08f, // accel strength - CURVE_LINEAR, - 0x00 // no flips +// ─── ConfigBlob (what goes over BLE — no magic field) ───────────────────────── +struct __attribute__((packed)) ConfigBlob { + float sensitivity; + float deadZone; + float accelStrength; + uint8_t curve; + uint8_t axisFlip; + uint8_t chargeMode; + uint8_t _pad; }; +static_assert(sizeof(ConfigBlob) == 16, "ConfigBlob must be 16 bytes"); -// ─── Fixed Parameters ───────────────────────────────────────────────────────── -const float ALPHA = 0.96f; -const int LOOP_RATE_MS = 10; -const int BIAS_SAMPLES = 200; -const int IDLE_FRAMES = 150; +// ─── TelemetryPacket ────────────────────────────────────────────────────────── +struct __attribute__((packed)) TelemetryPacket { + uint32_t uptimeSeconds; + uint32_t leftClicks; + uint32_t rightClicks; + float tempCelsius; + float biasRmsRadS; + uint16_t recalCount; + uint8_t chargeStatus; // replaces old _pad — no extra characteristic needed + uint8_t _pad; +}; +static_assert(sizeof(TelemetryPacket) == 24, "TelemetryPacket must be 24 bytes"); -// Auto-recalibrate: recalibrate after this many minutes of continuous idle -const unsigned long AUTO_RECAL_MINUTES = 5; -const unsigned long AUTO_RECAL_MS = AUTO_RECAL_MINUTES * 60UL * 1000UL; +// ─── ImuPacket ──────────────────────────────────────────────────────────────── +struct __attribute__((packed)) ImuPacket { + int16_t gyroY_mDPS; + int16_t gyroZ_mDPS; + int16_t accelX_mg; + int16_t accelY_mg; + int16_t accelZ_mg; + int8_t moveX; + int8_t moveY; + uint8_t flags; + uint8_t _pad; +}; +static_assert(sizeof(ImuPacket) == 14, "ImuPacket must be 14 bytes"); -const unsigned long BATT_REPORT_MS = 10000; -const unsigned long HEARTBEAT_MS = 2000; -const int HEARTBEAT_DUR = 30; - -const float BATT_FULL = 4.20f; -const float BATT_EMPTY = 3.00f; -const float BATT_CRITICAL = 3.10f; +// ─── Tuning constants ───────────────────────────────────────────────────────── +const float ALPHA = 0.96f; +const int LOOP_RATE_MS = 10; +const int BIAS_SAMPLES = 200; +const int IDLE_FRAMES = 150; +const float TEMP_COMP_COEFF_DPS_C = 0.004f; +const unsigned long AUTO_RECAL_MS = 5UL * 60UL * 1000UL; +const unsigned long BATT_REPORT_MS = 10000; +const unsigned long TELEMETRY_MS = 1000; +const unsigned long HEARTBEAT_MS = 2000; +const int HEARTBEAT_DUR = 30; +const unsigned long CLICK_HOLD_MS = 40; +const unsigned long DOUBLE_TAP_WINDOW_MS = 400; +const unsigned long BOOT_SAFE_MS = 5000; +const float BATT_FULL = 4.20f; +const float BATT_EMPTY = 3.00f; +const float BATT_CRITICAL = 3.10f; // ─── State ──────────────────────────────────────────────────────────────────── -float angleX = 0.0f, angleY = 0.0f; -float accumX = 0.0f, accumY = 0.0f; -float biasGX = 0.0f, biasGY = 0.0f, biasGZ = 0.0f; -int idleFrames = 0; -bool pendingCal = false; // set by BLE write callback -bool pendingReset = false; // set by BLE write callback +float angleX = 0, angleY = 0; +float accumX = 0, accumY = 0; +float biasGX = 0, biasGY = 0, biasGZ = 0; +float calTempC = 25.0f; +float cachedTempC = 25.0f; -unsigned long lastTime = 0; -unsigned long lastBattTime = 0; -unsigned long lastHeartbeat = 0; -unsigned long idleStartMs = 0; // when continuous idle began (0 = not idle) +TelemetryPacket telem = {}; -// ─── EEPROM Helpers ─────────────────────────────────────────────────────────── +bool imuStreamEnabled = false; +bool tapPending = false; +bool clickButtonDown = false; +uint8_t clickButton = 0; +unsigned long tapSeenMs = 0; +unsigned long clickDownMs = 0; + +bool pendingCal = false; +bool pendingReset = false; + +int idleFrames = 0; +unsigned long idleStartMs = 0; +unsigned long lastTime = 0; +unsigned long lastBattTime = 0; +unsigned long lastHeartbeat = 0; +unsigned long lastTelemetry = 0; +unsigned long bootStartMs = 0; + +// ─── I2C helpers ────────────────────────────────────────────────────────────── +void imuWriteReg(uint8_t reg, uint8_t val) { + Wire.beginTransmission(0x6A); Wire.write(reg); Wire.write(val); Wire.endTransmission(); +} +uint8_t imuReadReg(uint8_t reg) { + Wire.beginTransmission(0x6A); Wire.write(reg); Wire.endTransmission(false); + Wire.requestFrom((uint8_t)0x6A, (uint8_t)1); + return Wire.available() ? Wire.read() : 0; +} + +// ─── Temperature ────────────────────────────────────────────────────────────── +float readIMUTemp() { + int16_t raw = (int16_t)((imuReadReg(LSM6DS3_OUT_TEMP_H) << 8) | imuReadReg(LSM6DS3_OUT_TEMP_L)); + return 25.0f + (float)raw / 256.0f; +} + +// ─── Tap detection ──────────────────────────────────────────────────────────── +void setupTapDetection() { + imuWriteReg(LSM6DS3_CTRL1_XL, 0x60); + imuWriteReg(LSM6DS3_TAP_CFG, 0x8E); + imuWriteReg(LSM6DS3_TAP_THS_6D, 0x08); + imuWriteReg(LSM6DS3_INT_DUR2, 0x77); + imuWriteReg(LSM6DS3_WAKE_UP_THS, 0x80); + imuWriteReg(LSM6DS3_MD1_CFG, 0x48); + Serial.println("[TAP] Engine configured — single=LEFT, double=RIGHT"); +} + +// ─── Charge mode ────────────────────────────────────────────────────────────── +void applyChargeMode(ChargeMode mode) { + switch (mode) { + case CHARGE_OFF: pinMode(PIN_HICHG, INPUT_PULLUP); break; + case CHARGE_SLOW: pinMode(PIN_HICHG, OUTPUT); digitalWrite(PIN_HICHG, HIGH); break; + case CHARGE_FAST: pinMode(PIN_HICHG, OUTPUT); digitalWrite(PIN_HICHG, LOW); break; + } + const char* n[] = {"OFF (~0mA)", "SLOW (50mA)", "FAST (100mA)"}; + Serial.print("[CHG] "); Serial.println(n[mode]); +} + +// ─── Config persistence ─────────────────────────────────────────────────────── void loadConfig() { InternalFS.begin(); cfgFile.open(CONFIG_FILENAME, FILE_O_READ); if (cfgFile) { - cfgFile.read(&cfg, sizeof(cfg)); - cfgFile.close(); - if (cfg.magic != CONFIG_MAGIC) { - Serial.println("[CFG] Bad magic — using defaults"); - cfg = CFG_DEFAULTS; - } else { - Serial.println("[CFG] Loaded from flash"); - } - } else { - Serial.println("[CFG] No file — using defaults"); - cfg = CFG_DEFAULTS; - } + cfgFile.read(&cfg, sizeof(cfg)); cfgFile.close(); + if (cfg.magic != CONFIG_MAGIC) { cfg = CFG_DEFAULTS; Serial.println("[CFG] Defaults (bad magic)"); } + else { Serial.println("[CFG] Loaded from flash"); } + } else { cfg = CFG_DEFAULTS; Serial.println("[CFG] Defaults (no file)"); } } void saveConfig() { InternalFS.remove(CONFIG_FILENAME); cfgFile.open(CONFIG_FILENAME, FILE_O_WRITE); - if (cfgFile) { - cfgFile.write((uint8_t*)&cfg, sizeof(cfg)); - cfgFile.close(); - Serial.println("[CFG] Saved to flash"); - } else { - Serial.println("[CFG] ERROR: could not open file for write"); - } + if (cfgFile) { cfgFile.write((uint8_t*)&cfg, sizeof(cfg)); cfgFile.close(); Serial.println("[CFG] Saved"); } + else { Serial.println("[CFG] ERROR: write failed"); } +} + +// Push current config as a ConfigBlob to the BLE characteristic +void pushConfigBlob() { + ConfigBlob blob; + blob.sensitivity = cfg.sensitivity; + blob.deadZone = cfg.deadZone; + blob.accelStrength = cfg.accelStrength; + blob.curve = (uint8_t)cfg.curve; + blob.axisFlip = cfg.axisFlip; + blob.chargeMode = (uint8_t)cfg.chargeMode; + blob._pad = 0; + cfgBlob.write((uint8_t*)&blob, sizeof(blob)); } void factoryReset() { - Serial.println("[CFG] Factory reset!"); - cfg = CFG_DEFAULTS; + cfg = CFG_DEFAULTS; saveConfig(); + applyChargeMode(cfg.chargeMode); + if (!safeMode) pushConfigBlob(); + telem = {}; + Serial.println("[CFG] Factory reset complete"); +} + +// ─── BLE callbacks ──────────────────────────────────────────────────────────── +// Single callback handles the whole config blob +void onConfigBlobWrite(uint16_t h, BLECharacteristic* c, uint8_t* d, uint16_t l) { + if (l != sizeof(ConfigBlob)) { Serial.println("[CFG] Bad blob length"); return; } + ConfigBlob* b = (ConfigBlob*)d; + cfg.sensitivity = b->sensitivity; + cfg.deadZone = b->deadZone; + cfg.accelStrength = b->accelStrength; + if (b->curve <= 2) cfg.curve = (CurveType)b->curve; + cfg.axisFlip = b->axisFlip; + if (b->chargeMode <= 2) { + cfg.chargeMode = (ChargeMode)b->chargeMode; + applyChargeMode(cfg.chargeMode); + } saveConfig(); - // Push defaults back to BLE characteristics - cfgSensitivity.write((uint8_t*)&cfg.sensitivity, 4); - cfgDeadZone.write ((uint8_t*)&cfg.deadZone, 4); - cfgAccelStr.write ((uint8_t*)&cfg.accelStrength, 4); - cfgCurve.write ((uint8_t*)&cfg.curve, 1); - cfgAxisFlip.write ((uint8_t*)&cfg.axisFlip, 1); + Serial.print("[CFG] Blob written — sens="); Serial.print(cfg.sensitivity); + Serial.print(" dz="); Serial.print(cfg.deadZone, 3); + Serial.print(" curve="); Serial.print(cfg.curve); + Serial.print(" chg="); Serial.println(cfg.chargeMode); } -// ─── BLE Write Callbacks ────────────────────────────────────────────────────── -void onSensitivityWrite(uint16_t conn_hdl, BLECharacteristic* chr, - uint8_t* data, uint16_t len) { - if (len == 4) { memcpy(&cfg.sensitivity, data, 4); saveConfig(); } -} -void onDeadZoneWrite(uint16_t conn_hdl, BLECharacteristic* chr, - uint8_t* data, uint16_t len) { - if (len == 4) { memcpy(&cfg.deadZone, data, 4); saveConfig(); } -} -void onAccelStrWrite(uint16_t conn_hdl, BLECharacteristic* chr, - uint8_t* data, uint16_t len) { - if (len == 4) { memcpy(&cfg.accelStrength, data, 4); saveConfig(); } -} -void onCurveWrite(uint16_t conn_hdl, BLECharacteristic* chr, - uint8_t* data, uint16_t len) { - if (len == 1 && data[0] <= 2) { - cfg.curve = (CurveType)data[0]; - saveConfig(); - Serial.print("[CFG] Curve -> "); Serial.println(cfg.curve); - } -} -void onAxisFlipWrite(uint16_t conn_hdl, BLECharacteristic* chr, - uint8_t* data, uint16_t len) { - if (len == 1) { - cfg.axisFlip = data[0]; - saveConfig(); - Serial.print("[CFG] AxisFlip -> 0x"); Serial.println(cfg.axisFlip, HEX); - } -} -void onCommandWrite(uint16_t conn_hdl, BLECharacteristic* chr, - uint8_t* data, uint16_t len) { - if (len < 1) return; - if (data[0] == 0x01) { - pendingCal = true; - Serial.println("[CMD] Calibration requested via BLE"); - } else if (data[0] == 0xFF) { - pendingReset = true; - Serial.println("[CMD] Factory reset requested via BLE"); - } +void onCommandWrite(uint16_t h, BLECharacteristic* c, uint8_t* d, uint16_t l) { + if (l < 1) return; + if (d[0] == 0x01) pendingCal = true; + if (d[0] == 0xFF) pendingReset = true; } -// ─── BLE Config Service Setup ───────────────────────────────────────────────── +void onImuStreamCccd(uint16_t conn_hdl, BLECharacteristic* chr, uint16_t value) { + imuStreamEnabled = (value == BLE_GATT_HVX_NOTIFICATION); + Serial.print("[STREAM] "); Serial.println(imuStreamEnabled ? "ON" : "OFF"); +} + +// ─── BLE service setup ──────────────────────────────────────────────────────── void setupConfigService() { cfgService.begin(); - // Each characteristic: READ | WRITE, no response needed for writes - auto props = CHR_PROPS_READ | CHR_PROPS_WRITE; - - cfgSensitivity.setProperties(props); - cfgSensitivity.setPermission(SECMODE_OPEN, SECMODE_OPEN); - cfgSensitivity.setFixedLen(4); - cfgSensitivity.setWriteCallback(onSensitivityWrite); - cfgSensitivity.begin(); - cfgSensitivity.write((uint8_t*)&cfg.sensitivity, 4); - - cfgDeadZone.setProperties(props); - cfgDeadZone.setPermission(SECMODE_OPEN, SECMODE_OPEN); - cfgDeadZone.setFixedLen(4); - cfgDeadZone.setWriteCallback(onDeadZoneWrite); - cfgDeadZone.begin(); - cfgDeadZone.write((uint8_t*)&cfg.deadZone, 4); - - cfgAccelStr.setProperties(props); - cfgAccelStr.setPermission(SECMODE_OPEN, SECMODE_OPEN); - cfgAccelStr.setFixedLen(4); - cfgAccelStr.setWriteCallback(onAccelStrWrite); - cfgAccelStr.begin(); - cfgAccelStr.write((uint8_t*)&cfg.accelStrength, 4); - - cfgCurve.setProperties(props); - cfgCurve.setPermission(SECMODE_OPEN, SECMODE_OPEN); - cfgCurve.setFixedLen(1); - cfgCurve.setWriteCallback(onCurveWrite); - cfgCurve.begin(); - cfgCurve.write((uint8_t*)&cfg.curve, 1); - - cfgAxisFlip.setProperties(props); - cfgAxisFlip.setPermission(SECMODE_OPEN, SECMODE_OPEN); - cfgAxisFlip.setFixedLen(1); - cfgAxisFlip.setWriteCallback(onAxisFlipWrite); - cfgAxisFlip.begin(); - cfgAxisFlip.write((uint8_t*)&cfg.axisFlip, 1); + // ConfigBlob — R/W 16 bytes + cfgBlob.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE); + cfgBlob.setPermission(SECMODE_OPEN, SECMODE_OPEN); + cfgBlob.setFixedLen(sizeof(ConfigBlob)); + cfgBlob.setWriteCallback(onConfigBlobWrite); + cfgBlob.begin(); + pushConfigBlob(); + // Command — W 1 byte cfgCommand.setProperties(CHR_PROPS_WRITE); cfgCommand.setPermission(SECMODE_OPEN, SECMODE_OPEN); cfgCommand.setFixedLen(1); cfgCommand.setWriteCallback(onCommandWrite); cfgCommand.begin(); + + // Telemetry — R/N 24 bytes + cfgTelemetry.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY); + cfgTelemetry.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS); + cfgTelemetry.setFixedLen(sizeof(TelemetryPacket)); + cfgTelemetry.begin(); + cfgTelemetry.write((uint8_t*)&telem, sizeof(telem)); + + // ImuStream — N 14 bytes + cfgImuStream.setProperties(CHR_PROPS_NOTIFY); + cfgImuStream.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS); + cfgImuStream.setFixedLen(sizeof(ImuPacket)); + cfgImuStream.setCccdWriteCallback(onImuStreamCccd); + cfgImuStream.begin(); } // ─── Battery ────────────────────────────────────────────────────────────────── float readBatteryVoltage() { - pinMode(PIN_VBAT_ENABLE, OUTPUT); - digitalWrite(PIN_VBAT_ENABLE, LOW); - delay(1); - + pinMode(PIN_VBAT_ENABLE, OUTPUT); digitalWrite(PIN_VBAT_ENABLE, LOW); delay(1); pinMode(PIN_VBAT_READ, INPUT); - analogReference(AR_INTERNAL_3_0); - analogReadResolution(12); - for (int i = 0; i < 5; i++) { analogRead(PIN_VBAT_READ); delay(1); } - - int32_t raw = 0; - for (int i = 0; i < 16; i++) raw += analogRead(PIN_VBAT_READ); - raw /= 16; - + analogReference(AR_INTERNAL_3_0); analogReadResolution(12); + for (int i=0; i<5; i++) { analogRead(PIN_VBAT_READ); delay(1); } + int32_t raw=0; for (int i=0; i<16; i++) raw += analogRead(PIN_VBAT_READ); raw /= 16; digitalWrite(PIN_VBAT_ENABLE, HIGH); - analogReference(AR_DEFAULT); - analogReadResolution(10); - - float v = (raw / 4096.0f) * 3.0f * 2.0f; - - Serial.print("[BATT DBG] raw="); Serial.print(raw); - Serial.print(" ("); Serial.print(v, 3); Serial.print("V)"); - Serial.print(" CHG pin="); Serial.println(digitalRead(PIN_CHG)); - return v; -} - -int batteryPercent(float v) { - return (int) constrain((v - BATT_EMPTY) / (BATT_FULL - BATT_EMPTY) * 100.0f, 0, 100); + analogReference(AR_DEFAULT); analogReadResolution(10); + return (raw / 4096.0f) * 3.0f * 2.0f; } +int batteryPercent(float v) { return (int)constrain((v - BATT_EMPTY) / (BATT_FULL - BATT_EMPTY) * 100.f, 0, 100); } void updateBattery() { - float v = readBatteryVoltage(); - int pct = batteryPercent(v); - bool charging = (digitalRead(PIN_CHG) == LOW); - + float v = readBatteryVoltage(); int pct = batteryPercent(v); + bool chg = (digitalRead(PIN_CHG) == LOW); + ChargeStatus status = chg ? (pct >= 99 ? CHGSTAT_FULL : CHGSTAT_CHARGING) : CHGSTAT_DISCHARGING; blebas.write(pct); - - Serial.print("[BATT] "); - Serial.print(v, 2); Serial.print("V "); - Serial.print(pct); Serial.print("%"); - if (charging) Serial.print(" [CHARGING]"); - else if (pct >= 99) Serial.print(" [FULL]"); - else if (v < BATT_CRITICAL) Serial.print(" [CRITICAL - CHARGE NOW]"); - else Serial.print(" [ON BATTERY]"); - Serial.println(); - - if (!charging && v < BATT_CRITICAL) { - pinMode(LED_RED, OUTPUT); - for (int i = 0; i < 6; i++) { - digitalWrite(LED_RED, LOW); delay(80); - digitalWrite(LED_RED, HIGH); delay(80); - } - } + // chargeStatus is now pushed via telemetry packet — no separate characteristic + telem.chargeStatus = (uint8_t)status; + const char* st[] = {"discharging","charging","full"}; + Serial.print("[BATT] "); Serial.print(v,2); Serial.print("V "); + Serial.print(pct); Serial.print("% "); Serial.println(st[status]); + if (status == CHGSTAT_DISCHARGING && v < BATT_CRITICAL) + for (int i=0; i<6; i++) { digitalWrite(LED_RED,LOW); delay(80); digitalWrite(LED_RED,HIGH); delay(80); } } -// ─── Gyro Calibration ───────────────────────────────────────────────────────── +// ─── Calibration ───────────────────────────────────────────────────────────── void calibrateGyroBias() { - Serial.println("[CAL] Hold still — calibrating gyro bias..."); - pinMode(LED_BLUE, OUTPUT); - - double sumX = 0, sumY = 0, sumZ = 0; - for (int i = 0; i < BIAS_SAMPLES; i++) { - sumX += imu.readFloatGyroX(); - sumY += imu.readFloatGyroY(); - sumZ += imu.readFloatGyroZ(); - digitalWrite(LED_BLUE, (i % 20 < 10)); - delay(5); + Serial.println("[CAL] Hold still..."); + double sx=0, sy=0, sz=0; + for (int i=0; i= 0.0f ? 1.0f : -1.0f) * v * v; - case CURVE_SQRT: - return (v >= 0.0f ? 1.0f : -1.0f) * sqrtf(fabsf(v)); - case CURVE_LINEAR: - default: - return v; + case CURVE_SQUARE: return (v>=0 ? 1.f : -1.f) * v * v; + case CURVE_SQRT: return (v>=0 ? 1.f : -1.f) * sqrtf(fabsf(v)); + default: return v; } } +float applyAcceleration(float d) { return d * (1.0f + fabsf(d) * cfg.accelStrength); } -// ─── BLE Advertising ────────────────────────────────────────────────────────── +// ─── Tap state machine ──────────────────────────────────────────────────────── +void processTaps(unsigned long now) { + if (clickButtonDown && (now - clickDownMs >= CLICK_HOLD_MS)) { + blehid.mouseButtonPress(clickButton, false); + clickButtonDown = false; clickButton = 0; + } + uint8_t tapSrc = imuReadReg(LSM6DS3_TAP_SRC); + bool singleTap = (tapSrc & 0x20) != 0; + bool doubleTap = (tapSrc & 0x10) != 0; + bool tapEvent = (tapSrc & 0x40) != 0; + if (!tapEvent) { + if (tapPending && (now - tapSeenMs >= DOUBLE_TAP_WINDOW_MS)) { + tapPending = false; + if (!clickButtonDown) { + Serial.println("[TAP] Single → LEFT"); + blehid.mouseButtonPress(MOUSE_BUTTON_LEFT, true); + clickButton = MOUSE_BUTTON_LEFT; clickButtonDown = true; clickDownMs = now; + telem.leftClicks++; + } + } + return; + } + if (doubleTap && !clickButtonDown) { + tapPending = false; + Serial.println("[TAP] Double → RIGHT"); + blehid.mouseButtonPress(MOUSE_BUTTON_RIGHT, true); + clickButton = MOUSE_BUTTON_RIGHT; clickButtonDown = true; clickDownMs = now; + telem.rightClicks++; + return; + } + if (singleTap && !tapPending && !clickButtonDown) { tapPending = true; tapSeenMs = now; } +} + +// ─── Telemetry ──────────────────────────────────────────────────────────────── +void pushTelemetry(unsigned long now) { + telem.uptimeSeconds = now / 1000; + telem.tempCelsius = cachedTempC; + // telem.chargeStatus is updated in updateBattery() + cfgTelemetry.write ((uint8_t*)&telem, sizeof(telem)); + cfgTelemetry.notify((uint8_t*)&telem, sizeof(telem)); +} + +// ─── Advertising ───────────────────────────────────────────────────────────── void startAdvertising() { Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE); Bluefruit.Advertising.addTxPower(); @@ -378,169 +460,170 @@ void startAdvertising() { Bluefruit.Advertising.start(0); } -// ───────────────────────────────────────────────────────────────────────────── +// ─── Setup ──────────────────────────────────────────────────────────────────── void setup() { Serial.begin(115200); - while (!Serial) delay(10); + unsigned long serialWait = millis(); + while (!Serial && (millis() - serialWait < 2000)) { delay(10); } pinMode(PIN_CHG, INPUT_PULLUP); pinMode(LED_RED, OUTPUT); digitalWrite(LED_RED, HIGH); pinMode(LED_BLUE, OUTPUT); digitalWrite(LED_BLUE, HIGH); - // ── Load persisted config ───────────────────────────────────────────────── - loadConfig(); - - // ── IMU ─────────────────────────────────────────────────────────────────── - if (imu.begin() != 0) { - Serial.println("[ERROR] IMU init failed."); - while (1) { digitalWrite(LED_RED, !digitalRead(LED_RED)); delay(100); } + // ── Boot-loop detection ─────────────────────────────────────────────────── + if (bootMagic != 0xCAFEBABE) { bootMagic = 0xCAFEBABE; bootCount = 0; } + bootCount++; + Serial.print("[BOOT] count="); Serial.println(bootCount); + if (bootCount >= 3) { + bootCount = 0; safeMode = true; + Serial.println("[BOOT] Boot loop detected — safe mode"); + InternalFS.begin(); InternalFS.remove(CONFIG_FILENAME); + for (int i=0; i<3; i++) { digitalWrite(LED_RED,LOW); delay(150); digitalWrite(LED_RED,HIGH); delay(150); } } - Serial.println("[OK] IMU initialised"); + loadConfig(); + applyChargeMode(cfg.chargeMode); + + // 1024 is sufficient for 4 characteristics (was 3072/2048 — both overflowed) + Bluefruit.configAttrTableSize(1024); + + Bluefruit.begin(1, 0); + Bluefruit.setTxPower(4); + Bluefruit.setName(safeMode ? "IMU Mouse (safe)" : "IMU Mouse"); + Bluefruit.Periph.setConnInterval(6, 12); + + if (imu.begin() != 0) { + Serial.println("[ERROR] IMU init failed"); + while(1) { digitalWrite(LED_RED, !digitalRead(LED_RED)); delay(100); } + } + Serial.println("[OK] IMU ready"); + + setupTapDetection(); + cachedTempC = readIMUTemp(); updateBattery(); calibrateGyroBias(); - // ── BLE ─────────────────────────────────────────────────────────────────── - Bluefruit.begin(); - Bluefruit.setTxPower(4); - Bluefruit.setName("IMU Mouse"); - Bluefruit.Periph.setConnInterval(6, 12); - bledis.setManufacturer("Seeed Studio"); bledis.setModel("XIAO nRF52840 Sense"); bledis.begin(); blehid.begin(); - blebas.begin(); - blebas.write(100); + blebas.begin(); blebas.write(100); - // Config service must begin AFTER Bluefruit.begin() - setupConfigService(); + if (!safeMode) { + setupConfigService(); + Serial.println("[OK] Config service started (4 characteristics)"); + } else { + Serial.println("[SAFE] Config service skipped — basic mouse only"); + } startAdvertising(); - Serial.println("[OK] BLE advertising — pair 'IMU Mouse' on your host"); - Serial.println(" Config service UUID 0x1234 available for tuning"); + Serial.print("[OK] Advertising as '"); + Serial.print(safeMode ? "IMU Mouse (safe)" : "IMU Mouse"); + Serial.println("'"); - lastTime = millis(); - lastBattTime = millis(); - lastHeartbeat = millis(); - idleStartMs = 0; + bootStartMs = millis(); + lastTime = lastBattTime = lastHeartbeat = lastTelemetry = millis(); } -// ───────────────────────────────────────────────────────────────────────────── +// ─── Loop ───────────────────────────────────────────────────────────────────── void loop() { unsigned long now = millis(); - // ── Deferred commands (from BLE callbacks, safe to run on main thread) ──── - if (pendingCal) { - pendingCal = false; - calibrateGyroBias(); - } - if (pendingReset) { - pendingReset = false; - factoryReset(); + if (!bootCountCleared && (now - bootStartMs >= BOOT_SAFE_MS)) { + bootCount = 0; bootCountCleared = true; + Serial.println("[BOOT] Stable — boot counter cleared"); } - // ── Heartbeat LED ───────────────────────────────────────────────────────── + if (pendingCal) { pendingCal = false; calibrateGyroBias(); } + if (pendingReset) { pendingReset = false; factoryReset(); } + + // Heartbeat LED if (now - lastHeartbeat >= HEARTBEAT_MS) { lastHeartbeat = now; int led = Bluefruit.connected() ? LED_BLUE : LED_RED; - digitalWrite(led, LOW); - delay(HEARTBEAT_DUR); - digitalWrite(led, HIGH); + digitalWrite(led, LOW); delay(HEARTBEAT_DUR); digitalWrite(led, HIGH); } - // ── Battery ─────────────────────────────────────────────────────────────── - if (now - lastBattTime >= BATT_REPORT_MS) { - lastBattTime = now; - updateBattery(); - } + if (now - lastBattTime >= BATT_REPORT_MS) { lastBattTime = now; updateBattery(); } + + processTaps(now); - // ── IMU rate limit ──────────────────────────────────────────────────────── if (now - lastTime < (unsigned long)LOOP_RATE_MS) return; - float dt = (now - lastTime) / 1000.0f; lastTime = now; if (dt <= 0.0f || dt > 0.5f) return; - // ── Read IMU ────────────────────────────────────────────────────────────── - float gx = (imu.readFloatGyroX() - biasGX) * (PI / 180.0f); - float gy = (imu.readFloatGyroY() - biasGY) * (PI / 180.0f); - float gz = (imu.readFloatGyroZ() - biasGZ) * (PI / 180.0f); + cachedTempC = readIMUTemp(); + + if (!safeMode && (now - lastTelemetry >= TELEMETRY_MS)) { + lastTelemetry = now; pushTelemetry(now); + } + + float tempDelta = cachedTempC - calTempC; + float correction = TEMP_COMP_COEFF_DPS_C * tempDelta; + + float gx = (imu.readFloatGyroX() - biasGX - correction) * (PI/180.0f); + float gy = (imu.readFloatGyroY() - biasGY - correction) * (PI/180.0f); + float gz = (imu.readFloatGyroZ() - biasGZ - correction) * (PI/180.0f); float ax = imu.readFloatAccelX(); float ay = imu.readFloatAccelY(); float az = imu.readFloatAccelZ(); - // ── Complementary filter ────────────────────────────────────────────────── - angleX = ALPHA * (angleX + gx * dt) + (1.0f - ALPHA) * atan2f(ax, sqrtf(ay*ay + az*az)); - angleY = ALPHA * (angleY + gy * dt) + (1.0f - ALPHA) * atan2f(ay, sqrtf(ax*ax + az*az)); + angleX = ALPHA*(angleX + gx*dt) + (1.0f - ALPHA)*atan2f(ax, sqrtf(ay*ay + az*az)); + angleY = ALPHA*(angleY + gy*dt) + (1.0f - ALPHA)*atan2f(ay, sqrtf(ax*ax + az*az)); - // ── Dead zone ───────────────────────────────────────────────────────────── - float filteredGy = (fabsf(gy) > cfg.deadZone) ? gy : 0.0f; - float filteredGz = (fabsf(gz) > cfg.deadZone) ? gz : 0.0f; - - // ── Idle detection + auto-recalibrate ───────────────────────────────────── - bool moving = (filteredGy != 0.0f || filteredGz != 0.0f); - if (moving) { - idleFrames = 0; - idleStartMs = 0; - } else { - idleFrames++; - if (idleStartMs == 0) idleStartMs = now; // mark start of idle streak - } + float fGy = (fabsf(gy) > cfg.deadZone) ? gy : 0.0f; + float fGz = (fabsf(gz) > cfg.deadZone) ? gz : 0.0f; + bool moving = (fGy != 0.0f || fGz != 0.0f); + if (moving) { idleFrames = 0; idleStartMs = 0; } + else { idleFrames++; if (idleStartMs == 0) idleStartMs = now; } bool idle = (idleFrames >= IDLE_FRAMES); - // Auto-recalibrate after AUTO_RECAL_MS of continuous stillness if (idle && idleStartMs != 0 && (now - idleStartMs >= AUTO_RECAL_MS)) { - Serial.println("[AUTO-CAL] Long idle detected — recalibrating..."); - idleStartMs = 0; // reset so we don't retrigger immediately - calibrateGyroBias(); - return; + Serial.println("[AUTO-CAL] Long idle — recalibrating..."); + idleStartMs = 0; calibrateGyroBias(); return; } + int8_t moveX = 0, moveY = 0; + uint8_t flags = 0; + if (idle) { - accumX = 0.0f; - accumY = 0.0f; -#ifdef DEBUG - Serial.println("[IDLE]"); -#endif - return; + accumX = accumY = 0.0f; + flags |= 0x01; + } else { + float rawX = applyAcceleration(applyCurve(-fGz * cfg.sensitivity * dt)); + float rawY = applyAcceleration(applyCurve( fGy * cfg.sensitivity * dt)); + if (cfg.axisFlip & 0x01) rawX = -rawX; + if (cfg.axisFlip & 0x02) rawY = -rawY; + accumX += rawX; accumY += rawY; + moveX = (int8_t)constrain((int)accumX, -127, 127); + moveY = (int8_t)constrain((int)accumY, -127, 127); + accumX -= moveX; accumY -= moveY; + if (Bluefruit.connected() && (moveX != 0 || moveY != 0)) blehid.mouseMove(moveX, moveY); } - // ── Delta + curve + acceleration + sub-pixel accumulation ───────────────── - float rawX = -filteredGz * cfg.sensitivity * dt; - float rawY = filteredGy * cfg.sensitivity * dt; - - rawX = applyCurve(rawX); - rawY = applyCurve(rawY); - - rawX = applyAcceleration(rawX); - rawY = applyAcceleration(rawY); - - // ── Axis flip ───────────────────────────────────────────────────────────── - if (cfg.axisFlip & 0x01) rawX = -rawX; // flip X - if (cfg.axisFlip & 0x02) rawY = -rawY; // flip Y - - accumX += rawX; - accumY += rawY; - - int8_t moveX = (int8_t) constrain((int)accumX, -127, 127); - int8_t moveY = (int8_t) constrain((int)accumY, -127, 127); - - accumX -= moveX; - accumY -= moveY; - - // ── BLE HID ─────────────────────────────────────────────────────────────── - if (Bluefruit.connected() && (moveX != 0 || moveY != 0)) { - blehid.mouseMove(moveX, moveY); + if (!safeMode && imuStreamEnabled && Bluefruit.connected()) { + ImuPacket pkt; + pkt.gyroY_mDPS = (int16_t)constrain(gy*(180.f/PI)*1000.f, -32000, 32000); + pkt.gyroZ_mDPS = (int16_t)constrain(gz*(180.f/PI)*1000.f, -32000, 32000); + pkt.accelX_mg = (int16_t)constrain(ax*1000.f, -32000, 32000); + pkt.accelY_mg = (int16_t)constrain(ay*1000.f, -32000, 32000); + pkt.accelZ_mg = (int16_t)constrain(az*1000.f, -32000, 32000); + pkt.moveX = moveX; + pkt.moveY = moveY; + pkt.flags = flags; + pkt._pad = 0; + cfgImuStream.notify((uint8_t*)&pkt, sizeof(pkt)); } #ifdef DEBUG - Serial.print("gy:"); Serial.print(gy, 3); - Serial.print(" gz:"); Serial.print(gz, 3); - Serial.print(" | mx:"); Serial.print(moveX); - Serial.print(" my:"); Serial.println(moveY); + Serial.print("T="); Serial.print(cachedTempC,1); + Serial.print(" gy="); Serial.print(gy,3); + Serial.print(" gz="); Serial.print(gz,3); + Serial.print(" mx="); Serial.print(moveX); + Serial.print(" my="); Serial.println(moveY); #endif } diff --git a/web-config.html b/web-config.html new file mode 100644 index 0000000..86d9c1c --- /dev/null +++ b/web-config.html @@ -0,0 +1,762 @@ + + + + + +IMU Mouse // Config Terminal + + + + + +
+
+ +
BLE Config Terminal v3.3
+
+
+ +
DISCONNECTED
+ + +
+
+ +
+
+ +
Motion Parameters
+
+
+
Sensitivity
Cursor speed multiplier
+ +
600
+
+
+
Dead Zone
Noise floor (rad/s) — raise to reduce drift
+ +
0.060
+
+
+
Accel Strength
Pointer acceleration multiplier
+ +
0.08
+
+
+ +
Motion Curve
+
+
+
Scaling Curve
Response shape for input magnitude
+
+ + + +
+
+
+
Proportional.
Predictable.
+
Precision at slow,
power at fast.
+
Coarse fast,
fine near target.
+
+
+ +
Battery Charging
+
+
+
Charge Mode
BQ25100 ISET via P0.13 (HICHG)
+
+ + + +
+
+
+
--
Status
+
--
Current
+
--%
Level
+
+
+ +
Axis Configuration
+
+
+
Flip X Axis
+
Invert left / right
+ +
+
+
Flip Y Axis
+
Invert up / down
+ +
+
+ +
Device Commands
+
+ + +
+ +
Event Log
+
+ +
+ +
+ +
Live Cursor Visualiser
+
+
+
IMU Stream
+
● LIVE
+
+
+ +
+
+
+
+
+
GY (up/down)0
+
+
+
+
GZ (left/right)0
+
+
+
+
+ Dot = cursor position. Trail fades over time. Cyan flash = left click, red flash = right click. +
+
+ +
Live Telemetry
+
+
--
Temperature °C
+
--
Uptime
+
0
Left Clicks
+
0
Right Clicks
+
--
Bias RMS (rad/s)
+
0
Recal Count
+
+ +
+
+ +
+
+

⚠ Factory Reset

+

Erase all stored configuration from flash and restore factory defaults. This cannot be undone.

+
+ + +
+
+
+ + + + \ No newline at end of file