diff --git a/README.md b/README.md index b039266..8af9fec 100644 --- a/README.md +++ b/README.md @@ -5,17 +5,17 @@ A BLE HID mouse that uses the onboard IMU of a **Seeed XIAO nRF52840 Sense** to ## Features - **6-DoF gyro + accelerometer** via LSM6DS3 with complementary filter -- **Hardware tap detection** — single tap = left click, double tap = right click -- **BLE HID mouse** — works natively on Windows, macOS, Linux, Android, iOS -- **BLE Battery Service** — charge level visible in OS Bluetooth settings -- **Web config UI** (`web/index.html`) — configure over BLE from any Chrome/Edge browser, no app install -- **Flash persistence** — config survives power cycles (LittleFS) -- **Live IMU stream** — 20 Hz gyro/accel data streamed to the web UI visualiser -- **Live telemetry** — temperature, uptime, click counts, gyro bias RMS, recal count -- **Temperature compensation** — gyro drift correction by Δ temperature since last calibration -- **Auto-recalibration** — recalibrates automatically after 5 minutes of idle -- **Configurable charge rate** — OFF / 50 mA slow / 100 mA fast via BQ25100 HICHG pin -- **Boot-loop detection** — 3 rapid reboots trigger safe mode (config service disabled, flash wiped) +- **Hardware tap detection** - single tap = left click, double tap = right click +- **BLE HID mouse** - works natively on Windows, macOS, Linux, Android, iOS +- **BLE Battery Service** - charge level visible in OS Bluetooth settings +- **Web config UI** (`web/index.html`) - configure over BLE from any Chrome/Edge browser, no app install +- **Flash persistence** - config survives power cycles (LittleFS) +- **Live IMU stream** - 20 Hz gyro/accel data streamed to the web UI visualiser +- **Live telemetry** - temperature, uptime, click counts, gyro bias RMS, recal count +- **Temperature compensation** - gyro drift correction by Δ temperature since last calibration +- **Auto-recalibration** - recalibrates automatically after 5 minutes of idle +- **Configurable charge rate** - OFF / 50 mA slow / 100 mA fast via BQ25100 HICHG pin +- **Boot-loop detection** - 3 rapid reboots trigger safe mode (config service disabled, flash wiped) ## Hardware @@ -26,22 +26,22 @@ A BLE HID mouse that uses the onboard IMU of a **Seeed XIAO nRF52840 Sense** to ## LED Status -The XIAO has three user LEDs (active LOW — HIGH = off, LOW = on): +The XIAO has three user LEDs (active LOW - HIGH = off, LOW = on): | LED | Pattern | Meaning | |---|---|---| | Blue | Single pulse every 10 s | BLE connected (heartbeat) | | Green | Single pulse every 10 s | Advertising / not connected (heartbeat) | | Green | Rapid flutter (~10 Hz) | Gyro calibration in progress | -| Red | Fast blink (continuous) | IMU init failed — hardware fault | -| Red | 3 slow blinks on boot | Boot-loop detected — entered safe mode | +| Red | Fast blink (continuous) | IMU init failed - hardware fault | +| Red | 3 slow blinks on boot | Boot-loop detected - entered safe mode | | Red | 6 rapid blinks | Battery critically low (< 3.10 V) | > **Blue** = BLE-related state. **Green** = device activity. **Red** = fault only. ## Web Config UI -Open `web/index.html` in Chrome or Edge (desktop). Requires Web Bluetooth — enable it at `chrome://flags/#enable-web-bluetooth` on Linux. +Open `web/index.html` in Chrome or Edge (desktop). Requires Web Bluetooth - enable it at `chrome://flags/#enable-web-bluetooth` on Linux. **Configurable parameters:** @@ -56,8 +56,8 @@ Open `web/index.html` in Chrome or Edge (desktop). Requires Web Bluetooth — en **Commands:** -- **Calibrate Gyro** — recalculates bias offset; hold the device still on a flat surface for ~1 s -- **Factory Reset** — wipes flash config, restores defaults +- **Calibrate Gyro** - recalculates bias offset; hold the device still on a flat surface for ~1 s +- **Factory Reset** - wipes flash config, restores defaults ## Building diff --git a/model/pointer.FCMacro b/model/pointer.FCMacro index b7e9d26..3736587 100644 --- a/model/pointer.FCMacro +++ b/model/pointer.FCMacro @@ -255,7 +255,7 @@ base = base.fuse( BAT_X + BAT_L, clip_y_start, WALL) ) -# Circular notch in back wall — centred on base +# Circular notch in back wall - centred on base notch_cz = rail_z + LID_H base = base.cut(circular_notch(L, W / 2, notch_cz, NOTCH_R, NOTCH_DEPTH)) diff --git a/platformio.ini b/platformio.ini index 567b99f..cc8410d 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1,4 +1,4 @@ -; ── PlatformIO project configuration ───────────────────────────────────────── +; PlatformIO project configuration ; Board : Seeed XIAO nRF52840 Sense ; Core : Adafruit nRF52 Arduino (via Seeed platform-seeedboards) ; Flash : adafruit-nrfutil over USB serial (same as Arduino IDE) @@ -6,7 +6,7 @@ ; First-time setup: ; pip install adafruit-nrfutil <- upload tool (once, globally) ; pio run -t upload <- build + flash -; ────────────────────────────────────────────────────────────────────────────── +; [platformio] src_dir = source @@ -16,7 +16,7 @@ platform = https://github.com/Seeed-Studio/platform-seeedboards.git board = seeed-xiao-afruitnrf52-nrf52840 framework = arduino -; ── Upload ──────────────────────────────────────────────────────────────────── +; Upload ; The XIAO uses a UF2 bootloader that accepts firmware via adafruit-nrfutil. ; Double-tap the reset button to enter bootloader (red LED pulses) before ; flashing if the board isn't auto-reset by the tool. @@ -25,21 +25,21 @@ upload_speed = 115200 ; Uncomment and set the correct port if auto-detect fails: ; upload_port = COM3 -; ── Build scripts ───────────────────────────────────────────────────────────── +; Build scripts extra_scripts = pre:scripts/git_hash.py -; ── Build flags ─────────────────────────────────────────────────────────────── +; Build flags build_flags = -DARDUINO_Seeed_XIAO_nRF52840_Sense -DNRF52840_XXAA -DTARGET_SEEED_XIAO_NRF52840_SENSE -; ── Libraries ───────────────────────────────────────────────────────────────── +; Libraries ; bluefruit.h, Adafruit_LittleFS.h, InternalFileSystem.h are bundled with ; the Adafruit nRF52 core and do NOT need to be listed here. ; Only external libraries are listed: lib_deps = Seeed-Studio/Seeed Arduino LSM6DS3 @ ^2.0.3 -; ── Serial monitor ──────────────────────────────────────────────────────────── +; Serial monitor monitor_speed = 115200 diff --git a/scripts/git_hash.py b/scripts/git_hash.py index 7a0df77..1446797 100644 --- a/scripts/git_hash.py +++ b/scripts/git_hash.py @@ -8,7 +8,7 @@ Usage: referenced from platformio.ini as: """ import subprocess, os, re -Import("env") # noqa: F821 — PlatformIO injects this +Import("env") # noqa: F821 - PlatformIO injects this def get_git_hash(): try: @@ -27,14 +27,14 @@ def get_git_hash(): git_hash = get_git_hash() print(f"[git_hash] short hash = {git_hash}") -# ── Inject into firmware build ──────────────────────────────────────────────── +# Inject into firmware build env.Append(CPPDEFINES=[("GIT_HASH", f'\\"{git_hash}\\"')]) # noqa: F821 -# ── Write web/version.js ────────────────────────────────────────────────────── +# Write web/version.js web_dir = os.path.join(env.subst("$PROJECT_DIR"), "web") # noqa: F821 ver_file = os.path.join(web_dir, "version.js") os.makedirs(web_dir, exist_ok=True) with open(ver_file, "w") as f: - f.write(f"// Auto-generated by scripts/git_hash.py — do not edit\n") + f.write(f"// Auto-generated by scripts/git_hash.py - do not edit\n") f.write(f"const FIRMWARE_BUILD_HASH = '{git_hash}';\n") print(f"[git_hash] wrote {ver_file}") diff --git a/source/battery.cpp b/source/battery.cpp index bd87788..931507e 100644 --- a/source/battery.cpp +++ b/source/battery.cpp @@ -13,7 +13,7 @@ void initBatteryADC() { pinMode(PIN_VBAT_ENABLE, OUTPUT); digitalWrite(PIN_VBAT_ENABLE, LOW); pinMode(PIN_VBAT_READ, INPUT); analogReference(AR_INTERNAL_3_0); analogReadResolution(12); - // Warm up with a few reads (no delay — just discard results) + // Warm up with a few reads (no delay - just discard results) for (int i=0; i<8; i++) analogRead(PIN_VBAT_READ); } @@ -34,7 +34,7 @@ void updateBattery() { float v = readBatteryVoltage(); int pct = batteryPercent(v); bool chg = (digitalRead(PIN_CHG) == LOW); ChargeStatus status = chg ? (pct >= 99 ? CHGSTAT_FULL : CHGSTAT_CHARGING) : CHGSTAT_DISCHARGING; - // Only write BLE Battery Service when connected — blebas.write() blocks on the + // Only write BLE Battery Service when connected - blebas.write() blocks on the // SoftDevice ATT layer and causes 30-40ms loop stalls when called during advertising. if (Bluefruit.connected()) blebas.write(pct); lastChargeStatus = status; @@ -44,7 +44,7 @@ void updateBattery() { 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]); - // Critical battery alert — only blink when not connected to avoid blocking BLE scheduler. + // Critical battery alert - only blink when not connected to avoid blocking BLE scheduler. // 6 × 160ms = 960ms hard block; skip during active connection. if (status == CHGSTAT_DISCHARGING && v < BATT_CRITICAL && !Bluefruit.connected()) for (int i=0; i<6; i++) { digitalWrite(LED_RED,LOW); delay(80); digitalWrite(LED_RED,HIGH); delay(80); } diff --git a/source/ble_config.cpp b/source/ble_config.cpp index 6f883cf..5829f34 100644 --- a/source/ble_config.cpp +++ b/source/ble_config.cpp @@ -8,7 +8,7 @@ using namespace Adafruit_LittleFS_Namespace; extern File cfgFile; -// ─── BLE Config Service objects ─────────────────────────────────────────────── +// BLE Config Service objects #ifndef GIT_HASH #define GIT_HASH "unknown" #endif @@ -26,7 +26,7 @@ BLECharacteristic cfgGitHash (0x1239); // GitHash R 8 bytes (7-char ha #endif #endif -// ─── Charge mode ────────────────────────────────────────────────────────────── +// Charge mode void applyChargeMode(ChargeMode mode) { switch (mode) { case CHARGE_OFF: pinMode(PIN_HICHG, INPUT_PULLUP); break; @@ -37,7 +37,7 @@ void applyChargeMode(ChargeMode mode) { Serial.print("[CHG] "); Serial.println(n[mode]); } -// ─── Config persistence ─────────────────────────────────────────────────────── +// Config persistence void loadConfig() { InternalFS.begin(); cfgFile.open(CONFIG_FILENAME, FILE_O_READ); @@ -57,11 +57,11 @@ void saveConfig() { cfgFile.open(CONFIG_FILENAME, FILE_O_WRITE); if (cfgFile) { cfgFile.write((uint8_t*)&cfg, sizeof(cfg)); cfgFile.close(); } unsigned long elapsed = millis() - t0; - if (elapsed > 5) { Serial.print("[CFG] Saved ("); Serial.print(elapsed); Serial.println("ms — flash block)"); } + if (elapsed > 5) { Serial.print("[CFG] Saved ("); Serial.print(elapsed); Serial.println("ms - flash block)"); } else { Serial.println("[CFG] Saved"); } } -// ─── ConfigBlob push ───────────────────────────────────────────────────────── +// ConfigBlob push #ifdef FEATURE_CONFIG_SERVICE void pushConfigBlob() { ConfigBlob b; @@ -103,7 +103,7 @@ void factoryReset() { Serial.println("[CFG] Factory reset complete"); } -// ─── BLE callbacks ──────────────────────────────────────────────────────────── +// BLE callbacks #ifdef FEATURE_CONFIG_SERVICE void onConfigBlobWrite(uint16_t h, BLECharacteristic* c, uint8_t* d, uint16_t l) { if (l != sizeof(ConfigBlob)) { Serial.println("[CFG] Bad blob length"); return; } @@ -134,7 +134,7 @@ void onConfigBlobWrite(uint16_t h, BLECharacteristic* c, uint8_t* d, uint16_t l) setupPhysicalButtons(); // reconfigure pins immediately (no restart needed) #endif saveConfig(); - Serial.print("[CFG] Written — sens="); Serial.print(cfg.sensitivity,0); + Serial.print("[CFG] Written - sens="); Serial.print(cfg.sensitivity,0); Serial.print(" dz="); Serial.print(cfg.deadZone,3); Serial.print(" tapThr="); Serial.print(cfg.tapThreshold); Serial.print(" tapAction="); Serial.println(cfg.tapAction); @@ -153,7 +153,7 @@ void onImuStreamCccd(uint16_t conn_hdl, BLECharacteristic* chr, uint16_t value) } #endif -// ─── BLE config service setup ───────────────────────────────────────────────── +// BLE config service setup void setupConfigService() { cfgService.begin(); @@ -170,7 +170,7 @@ void setupConfigService() { cfgCommand.setWriteCallback(onCommandWrite); cfgCommand.begin(); - // Git hash — 8-byte fixed field (7 hex chars + NUL), read-only + // Git hash - 8-byte fixed field (7 hex chars + NUL), read-only cfgGitHash.setProperties(CHR_PROPS_READ); cfgGitHash.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS); cfgGitHash.setFixedLen(8); @@ -206,7 +206,7 @@ void setupConfigService() { } #endif // FEATURE_CONFIG_SERVICE -// ─── Telemetry push ─────────────────────────────────────────────────────────── +// Telemetry push #ifdef FEATURE_TELEMETRY void pushTelemetry(unsigned long now) { telem.uptimeSeconds = now / 1000; diff --git a/source/buttons.cpp b/source/buttons.cpp index bfd4f43..3af0ef2 100644 --- a/source/buttons.cpp +++ b/source/buttons.cpp @@ -7,7 +7,7 @@ extern BLEHidAdafruit blehid; static uint8_t physBtnMask = 0; // bitmask of currently-pressed physical buttons -// ─── Setup ──────────────────────────────────────────────────────────────────── +// Setup void setupPhysicalButtons() { // Release any held physical buttons before reconfiguring if (physBtnMask && Bluefruit.connected()) { blehid.mouseButtonRelease(); } @@ -30,7 +30,7 @@ void setupPhysicalButtons() { } } -// ─── Poll and report ────────────────────────────────────────────────────────── +// Poll and report // Called every loop iteration (before rate limiter) for immediate response. // Uses active-low logic: INPUT_PULLUP, button connects pin to GND. void processPhysicalButtons() { diff --git a/source/config.h b/source/config.h index 0faae6f..7a2ca83 100644 --- a/source/config.h +++ b/source/config.h @@ -1,7 +1,7 @@ #pragma once #include -// ─── Feature Flags ──────────────────────────────────────────────────────────── +// Feature Flags #define FEATURE_CONFIG_SERVICE #define FEATURE_TELEMETRY #define FEATURE_IMU_STREAM @@ -12,10 +12,10 @@ #define FEATURE_BOOT_LOOP_DETECT #define FEATURE_PHYSICAL_BUTTONS -// ─── Debug ──────────────────────────────────────────────────────────────────── +// Debug // #define DEBUG -// ─── ATT table size ─────────────────────────────────────────────────────────── +// ATT table size #define _ATT_BASE 900 #ifdef FEATURE_CONFIG_SERVICE #define _ATT_CFG 100 // +20 for cfgGitHash characteristic @@ -35,7 +35,7 @@ #define ATT_TABLE_SIZE_CALC (_ATT_BASE + _ATT_CFG + _ATT_TELEM + _ATT_STREAM) #define ATT_TABLE_SIZE (ATT_TABLE_SIZE_CALC < 1536 ? 1536 : ATT_TABLE_SIZE_CALC) -// ─── IMU register addresses ─────────────────────────────────────────────────── +// IMU register addresses #define REG_CTRL1_XL 0x10 #define REG_TAP_CFG 0x58 #define REG_TAP_THS_6D 0x59 @@ -46,20 +46,20 @@ #define REG_OUT_TEMP_L 0x20 #define REG_OUT_TEMP_H 0x21 -// ─── Pins ───────────────────────────────────────────────────────────────────── +// Pins #define PIN_VBAT_ENABLE (14) #define PIN_VBAT_READ (32) #define PIN_CHG (23) #define PIN_HICHG (22) -// ─── Persistence ────────────────────────────────────────────────────────────── +// Persistence #define CONFIG_FILENAME "/imu_mouse_cfg.bin" #define CONFIG_MAGIC 0xDEAD123DUL -// ─── Physical button sentinel ───────────────────────────────────────────────── +// Physical button sentinel #define BTN_PIN_NONE 0xFF // Stored in btn*Pin when that button is disabled -// ─── Runtime feature-override flags (cfg.featureFlags bitmask) ─────────────── +// Runtime feature-override flags (cfg.featureFlags bitmask) // These mirror the compile-time FEATURE_* defines but can be toggled at runtime // via the web UI and persisted in flash. Bits not listed here are reserved = 0. #define FLAG_TAP_ENABLED 0x01 // Tap detection active (requires restart) @@ -67,12 +67,12 @@ #define FLAG_AUTO_RECAL_ENABLED 0x04 // Auto-recalibrate after long idle #define FLAG_ALL_DEFAULT (FLAG_TAP_ENABLED | FLAG_TEMP_COMP_ENABLED | FLAG_AUTO_RECAL_ENABLED) -// ─── Enums ──────────────────────────────────────────────────────────────────── +// 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 }; -// ─── Tap action types ───────────────────────────────────────────────────────── +// Tap action types // TAP_ACTION_KEY: fires a raw HID keycode (tapKey) with optional modifier (tapMod). // Modifier byte: bit0=Ctrl, bit1=Shift, bit2=Alt, bit3=GUI (same as HID modifier byte). enum TapAction : uint8_t { @@ -82,7 +82,7 @@ enum TapAction : uint8_t { TAP_ACTION_KEY = 3, }; -// ─── Config (stored in flash) ───────────────────────────────────────────────── +// Config (stored in flash) struct Config { uint32_t magic; float sensitivity; @@ -97,7 +97,7 @@ struct Config { uint8_t tapMod; // HID modifier byte (used when tapAction == TAP_ACTION_KEY) float jerkThreshold; // jerk² threshold for tap-freeze detection uint8_t tapFreezeEnabled; // 1 = enable jerk-based cursor freeze during taps - uint8_t featureFlags; // bitmask of FLAG_* — runtime feature overrides + uint8_t featureFlags; // bitmask of FLAG_* - runtime feature overrides uint8_t btnLeftPin; // BTN_PIN_NONE or Arduino pin number (0-10 = D0-D10) uint8_t btnRightPin; uint8_t btnMiddlePin; @@ -105,7 +105,7 @@ struct Config { extern Config cfg; extern const Config CFG_DEFAULTS; -// ─── ConfigBlob (over BLE, 25 bytes) ───────────────────────────────────────── +// ConfigBlob (over BLE, 25 bytes) struct __attribute__((packed)) ConfigBlob { float sensitivity; // [0] float deadZone; // [4] @@ -119,14 +119,14 @@ struct __attribute__((packed)) ConfigBlob { uint8_t tapMod; // [18] HID modifier uint8_t tapFreezeEnabled; // [19] 1 = enable jerk-based cursor freeze during taps float jerkThreshold; // [20] jerk² tap-freeze threshold - uint8_t featureFlags; // [24] FLAG_* bitmask — runtime feature overrides + uint8_t featureFlags; // [24] FLAG_* bitmask - runtime feature overrides uint8_t btnLeftPin; // [25] BTN_PIN_NONE or Arduino pin (0-10 = D0-D10) uint8_t btnRightPin; // [26] uint8_t btnMiddlePin; // [27] }; static_assert(sizeof(ConfigBlob) == 28, "ConfigBlob must be 28 bytes"); -// ─── TelemetryPacket (24 bytes) ─────────────────────────────────────────────── +// TelemetryPacket (24 bytes) #ifdef FEATURE_TELEMETRY struct __attribute__((packed)) TelemetryPacket { uint32_t uptimeSeconds; // [0] @@ -143,7 +143,7 @@ static_assert(sizeof(TelemetryPacket) == 28, "TelemetryPacket must be 28 bytes") extern TelemetryPacket telem; #endif -// ─── ImuPacket (14 bytes) ───────────────────────────────────────────────────── +// ImuPacket (14 bytes) #ifdef FEATURE_IMU_STREAM struct __attribute__((packed)) ImuPacket { int16_t gyroX_mDPS; // [0] pitch axis (nod up/down → cursor Y) @@ -159,7 +159,7 @@ struct __attribute__((packed)) ImuPacket { static_assert(sizeof(ImuPacket) == 14, "ImuPacket must be 14 bytes"); #endif -// ─── Tuning constants ───────────────────────────────────────────────────────── +// Tuning constants extern const float ALPHA; extern const int LOOP_RATE_MS; extern const int BIAS_SAMPLES; @@ -185,7 +185,7 @@ extern const float BATT_CRITICAL; extern const unsigned long AUTO_RECAL_MS; #endif -// ─── Global state ───────────────────────────────────────────────────────────── +// Global state extern float angleX, angleY; extern float accumX, accumY; extern float gravX, gravY, gravZ; diff --git a/source/imu.cpp b/source/imu.cpp index 2b431ca..3341827 100644 --- a/source/imu.cpp +++ b/source/imu.cpp @@ -4,7 +4,7 @@ LSM6DS3 imu(I2C_MODE, 0x6A); -// ─── I2C helpers ────────────────────────────────────────────────────────────── +// I2C helpers void imuWriteReg(uint8_t reg, uint8_t val) { // LSM6DS3 is on Wire1 (internal I2C, SDA=P0.17, SCL=P0.16), NOT Wire (external pins 4/5) Wire1.beginTransmission(0x6A); Wire1.write(reg); Wire1.write(val); Wire1.endTransmission(); @@ -16,13 +16,13 @@ uint8_t imuReadReg(uint8_t reg) { return Wire1.available() ? Wire1.read() : 0; } -// ─── Temperature ────────────────────────────────────────────────────────────── +// Temperature float readIMUTemp() { int16_t raw = (int16_t)((imuReadReg(REG_OUT_TEMP_H) << 8) | imuReadReg(REG_OUT_TEMP_L)); return 25.0f + (float)raw / 256.0f; } -// ─── Calibration ────────────────────────────────────────────────────────────── +// Calibration void calibrateGyroBias() { Serial.println("[CAL] Hold still..."); double sx=0, sy=0, sz=0; @@ -51,7 +51,7 @@ void calibrateGyroBias() { Serial.print(","); Serial.println(biasGZ,4); } -// ─── Motion curve ───────────────────────────────────────────────────────────── +// Motion curve float applyCurve(float v) { switch (cfg.curve) { case CURVE_SQUARE: return (v >= 0 ? 1.f : -1.f) * v * v; diff --git a/source/main.cpp b/source/main.cpp index 809d5c3..7dd0dfe 100644 --- a/source/main.cpp +++ b/source/main.cpp @@ -1,27 +1,12 @@ /* - * IMU BLE Mouse — Seeed XIAO nRF52840 Sense (v3.4) + * IMU BLE Mouse - Seeed XIAO nRF52840 Sense (v3.4) * ================================================================ - * Feature flags — comment out any line to disable that feature. - * ATT table size is computed automatically from enabled features. - * Start with minimal flags to isolate the SoftDevice RAM issue, - * then re-enable one at a time. - * * MINIMUM (just working mouse, no BLE config): * leave only FEATURE_BATTERY_MONITOR + FEATURE_BOOT_LOOP_DETECT * * RECOMMENDED first test: * enable FEATURE_CONFIG_SERVICE, keep TAP + STREAM + TELEMETRY off * - * ── Feature flag index ─────────────────────────────────────────── - * FEATURE_CONFIG_SERVICE Custom GATT service (ConfigBlob + Command) - * FEATURE_TELEMETRY +24-byte notify characteristic, 1 Hz - * FEATURE_IMU_STREAM +14-byte notify characteristic, ~10 Hz - * FEATURE_TAP_DETECTION LSM6DS3 hardware tap engine → L/R clicks - * FEATURE_TEMP_COMPENSATION Gyro drift correction by temperature delta - * FEATURE_AUTO_RECAL Recalibrate after AUTO_RECAL_MS idle - * FEATURE_BATTERY_MONITOR ADC battery read + BLE Battery Service - * FEATURE_BOOT_LOOP_DETECT .noinit crash counter → safe mode - * * Dependencies: * FEATURE_TELEMETRY requires FEATURE_CONFIG_SERVICE * FEATURE_IMU_STREAM requires FEATURE_CONFIG_SERVICE @@ -40,24 +25,24 @@ #include "Wire.h" #include "sleep.h" -// ─── Boot-loop detection ────────────────────────────────────────────────────── +// Boot-loop detection #ifdef FEATURE_BOOT_LOOP_DETECT static uint32_t __attribute__((section(".noinit"))) bootCount; static uint32_t __attribute__((section(".noinit"))) bootMagic; #endif -// ─── BLE Standard Services ──────────────────────────────────────────────────── +// BLE Standard Services BLEDis bledis; BLEHidAdafruit blehid; #ifdef FEATURE_BATTERY_MONITOR BLEBas blebas; #endif -// ─── Persistence ────────────────────────────────────────────────────────────── +// Persistence using namespace Adafruit_LittleFS_Namespace; File cfgFile(InternalFS); -// ─── Config definitions ─────────────────────────────────────────────────────── +// Config definitions Config cfg; const Config CFG_DEFAULTS = { CONFIG_MAGIC, 600.0f, 0.060f, 0.08f, CURVE_LINEAR, 0x00, CHARGE_SLOW, @@ -66,12 +51,12 @@ const Config CFG_DEFAULTS = { /*btnLeftPin=*/BTN_PIN_NONE, /*btnRightPin=*/BTN_PIN_NONE, /*btnMiddlePin=*/BTN_PIN_NONE }; -// ─── Telemetry definition ───────────────────────────────────────────────────── +// Telemetry definition #ifdef FEATURE_TELEMETRY TelemetryPacket telem = {}; #endif -// ─── Tuning constants ───────────────────────────────────────────────────────── +// Tuning constants const float ALPHA = 0.96f; const int LOOP_RATE_MS = 10; const int BIAS_SAMPLES = 200; @@ -97,7 +82,7 @@ const float BATT_CRITICAL = 3.10f; const unsigned long AUTO_RECAL_MS = 5UL * 60UL * 1000UL; #endif -// ─── Global state definitions ───────────────────────────────────────────────── +// Global state definitions float angleX = 0, angleY = 0; float accumX = 0, accumY = 0; // Low-pass filtered gravity estimate in device frame (for roll-independent axis projection) @@ -132,10 +117,7 @@ uint32_t loopStalls = 0; // loop iterations where dt > 20ms (behind sch bool pendingCal = false; bool pendingReset = false; -// ── Jerk-based shock detection — freeze cursor during tap impacts ──────────── -// Jerk = da/dt (rate of change of acceleration). Normal mouse rotation produces -// smooth accel changes (low jerk); a tap is a sharp impulse (very high jerk). -// This cleanly separates taps from any intentional motion regardless of speed. +// Jerk-based shock detection - freeze cursor during tap impacts, doesn't work well yet! unsigned long shockFreezeUntil = 0; float prevAx = 0, prevAy = 0, prevAz = 0; // previous frame's accel for Δa const unsigned long SHOCK_FREEZE_MS = 80; // hold freeze after last spike @@ -161,7 +143,7 @@ unsigned long bootStartMs = 0; bool safeMode = false; bool bootCountCleared = false; -// ─── Advertising ───────────────────────────────────────────────────────────── +// Advertising static void startAdvertising() { Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE); Bluefruit.Advertising.addTxPower(); @@ -177,7 +159,7 @@ static void startAdvertising() { Bluefruit.Advertising.start(0); } -// ─── Setup ──────────────────────────────────────────────────────────────────── +// Setup void setup() { Serial.begin(115200); unsigned long serialWait = millis(); @@ -188,14 +170,14 @@ void setup() { pinMode(LED_GREEN, OUTPUT); digitalWrite(LED_GREEN, HIGH); pinMode(LED_BLUE, OUTPUT); digitalWrite(LED_BLUE, HIGH); - // ── Boot-loop detection ─────────────────────────────────────────────────── + // Boot-loop detection #ifdef FEATURE_BOOT_LOOP_DETECT 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 — safe mode (no config service)"); + Serial.println("[BOOT] Boot loop - safe mode (no config service)"); 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); } // fault: red } @@ -214,7 +196,7 @@ void setup() { Bluefruit.begin(1, 0); Bluefruit.setTxPower(4); Bluefruit.setName(safeMode ? "IMU Mouse (safe)" : "IMU Mouse"); - Bluefruit.Periph.setConnInterval(16, 32); // 20-40ms — wider interval reduces SoftDevice TX stalls + Bluefruit.Periph.setConnInterval(16, 32); // 20-40ms - wider interval reduces SoftDevice TX stalls Wire1.begin(); // LSM6DS3 is on internal I2C bus (Wire1), must init before imu.begin() if (imu.begin() != 0) { @@ -242,8 +224,6 @@ void setup() { // Seed previous-accel for jerk detection so first frame doesn't spike prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); - // Sleep manager init: must come after calibrateGyroBias() and imu.begin(). - // Unconditional — sleep.h is always included, no feature flag needed. sleepManagerInit(); bledis.setManufacturer("Seeed Studio"); @@ -266,7 +246,7 @@ void setup() { #endif startAdvertising(); - Serial.print("[OK] Advertising — features:"); + Serial.print("[OK] Advertising - features:"); #ifdef FEATURE_CONFIG_SERVICE Serial.print(" CFG"); #endif @@ -301,7 +281,7 @@ void setup() { lastTime = lastBattTime = lastHeartbeat = lastTelemetry = millis(); } -// ─── Loop ───────────────────────────────────────────────────────────────────── +// Loop void loop() { unsigned long now = millis(); @@ -309,7 +289,7 @@ void loop() { #ifdef FEATURE_BOOT_LOOP_DETECT if (!bootCountCleared && (now - bootStartMs >= BOOT_SAFE_MS)) { bootCount = 0; bootCountCleared = true; - Serial.println("[BOOT] Stable — counter cleared"); + Serial.println("[BOOT] Stable - counter cleared"); } #endif @@ -341,11 +321,6 @@ void loop() { #ifdef FEATURE_PHYSICAL_BUTTONS processPhysicalButtons(); #endif - - // Sleep manager runs every iteration — must not be gated by LOOP_RATE_MS - // because it needs to catch the imuWakeFlag set by the ISR promptly. - // Pass idle=false when in IMU_LP (idleFrames is stale since gyro reads - // are skipped); the manager tracks its own idle timestamp internally. { bool idle_for_sleep = (sleepStage == SLEEP_IMU_LP) ? true : (idleFrames >= IDLE_FRAMES); @@ -369,8 +344,6 @@ void loop() { #endif // Gyro reads with optional temperature compensation. - // (sleepManagerUpdate above already returns early when in IMU_LP/DEEP) - float correction = 0.0f; #ifdef FEATURE_TEMP_COMPENSATION if (cfg.featureFlags & FLAG_TEMP_COMP_ENABLED) @@ -384,17 +357,14 @@ void loop() { float ay = imu.readFloatAccelY(); float az = imu.readFloatAccelZ(); - // ── Jerk-based shock detection — freeze cursor during tap impacts ──────── - // Jerk = da/dt. Normal rotation = smooth accel changes (low jerk); - // a tap is a sharp impulse (very high jerk). + // Jerk-based shock detection - freeze cursor during tap impacts, doesn't work well yet float jx = (ax - prevAx) / dt, jy = (ay - prevAy) / dt, jz = (az - prevAz) / dt; float jerkSq = jx*jx + jy*jy + jz*jz; prevAx = ax; prevAy = ay; prevAz = az; bool shocked = cfg.tapFreezeEnabled && ((jerkSq > cfg.jerkThreshold) || (now < shockFreezeUntil)); if (cfg.tapFreezeEnabled && jerkSq > cfg.jerkThreshold) shockFreezeUntil = now + SHOCK_FREEZE_MS; - // Complementary filter — gx=pitch axis, gz=yaw axis on this board layout - // During shock: gyro-only integration to avoid accel spike corrupting angles + // Complementary filter if (shocked) { angleX += gx * dt; angleY += gz * dt; @@ -403,12 +373,7 @@ void loop() { angleY = ALPHA*(angleY + gz*dt) + (1.0f - ALPHA)*atan2f(ay, sqrtf(ax*ax + az*az)); } - // ── Gravity-based axis decomposition ────────────────────────────────────── - // Low-pass filter accel to get a stable gravity estimate in device frame. - // This lets us project angular velocity onto world-aligned axes regardless - // of how the device is rolled. Device forward (pointing) axis = X. - // Confirmed by diagnostics: GX=roll, GY=nod, GZ=pan in user's hold. - // Skip update during shock to protect the gravity estimate from tap spikes. + // Gravity-based axis decomposition const float GRAV_LP = 0.05f; if (!shocked) { gravX += GRAV_LP * (ax - gravX); @@ -420,8 +385,6 @@ void loop() { if (gN < 0.3f) gN = 1.0f; float gnx = gravX/gN, gny = gravY/gN, gnz = gravZ/gN; - // Screen-right = cross(forward, up) = cross([1,0,0], [gnx,gny,gnz]) - // = [0, -gnz, gny] float ry = -gnz, rz = gny; float rN = sqrtf(ry*ry + rz*rz); if (rN < 0.01f) { ry = -1.0f; rz = 0.0f; rN = 1.0f; } @@ -433,11 +396,9 @@ void loop() { float pitchRate = -(gy*ry + gz*rz); // Projected rates amplify residual gyro bias (especially GY drift on pitch axis). - // Use a wider dead zone for pitch to prevent constant cursor drift at rest. float fYaw = (fabsf(yawRate) > cfg.deadZone) ? yawRate : 0.0f; float fPitch = (fabsf(pitchRate) > cfg.deadZone * 3.0f) ? pitchRate : 0.0f; - // DIAG: print every 500ms to debug gravity projection — remove when confirmed #ifdef DEBUG { static unsigned long lastDiag = 0; if (now - lastDiag >= 500) { lastDiag = now; @@ -456,18 +417,16 @@ void loop() { #ifdef FEATURE_AUTO_RECAL if ((cfg.featureFlags & FLAG_AUTO_RECAL_ENABLED) && idle && idleStartMs != 0 && (now - idleStartMs >= AUTO_RECAL_MS)) { - Serial.println("[AUTO-CAL] Long idle — recalibrating..."); + Serial.println("[AUTO-CAL] Long idle - recalibrating..."); idleStartMs = 0; calibrateGyroBias(); prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); return; } #endif - // (sleep manager already called above, before LOOP_RATE_MS gate) - int8_t moveX = 0, moveY = 0; uint8_t flags = 0; if (shocked) { - // Shock freeze — discard accumulated sub-pixel motion and suppress output + // Shock freeze - discard accumulated sub-pixel motion and suppress output accumX = accumY = 0.0f; flags |= 0x08; // bit3 = shock freeze active } else if (idle) { @@ -491,7 +450,7 @@ void loop() { lastImuStream = now; if (now < streamBackoffUntil) { - // Backing off — host TX buffer congested, skip to avoid 100ms block + // Backing off - host TX buffer congested, skip to avoid 100ms block } else { ImuPacket pkt; pkt.gyroX_mDPS = (int16_t)constrain(gx*(180.f/PI)*1000.f, -32000, 32000); @@ -512,7 +471,7 @@ void loop() { if (streamConsecFails >= STREAM_BACKOFF_THRESH) { streamBackoffUntil = now + STREAM_BACKOFF_MS; streamConsecFails = 0; - Serial.print("[STREAM] TX congested — backing off "); + Serial.print("[STREAM] TX congested - backing off "); Serial.print(STREAM_BACKOFF_MS); Serial.println("ms"); } } diff --git a/source/sleep.cpp b/source/sleep.cpp index f7e35bd..9e26e3a 100644 --- a/source/sleep.cpp +++ b/source/sleep.cpp @@ -1,8 +1,3 @@ -/* - * sleep.cpp — IMU Mouse low-power manager (LSM6DS3TR-C + nRF52840) - * See sleep.h for full documentation. - */ - #include "sleep.h" #include "imu.h" // config.h REG_* macros #include // sd_app_evt_wait() @@ -15,7 +10,6 @@ #define SLP_WAKE_UP_DUR 0x5C #define SLP_WAKE_UP_SRC 0x1B -// LSM6DS3 I2C address — SA0 tied LOW on XIAO Sense → 0x6A (NOT 0x6B) #define LSM_ADDR 0x6A #define XL_ODR_26HZ 0x20 @@ -33,14 +27,14 @@ static unsigned long lpEnteredMs = 0; // when IMU LP was entered (for recal static bool wasIdle = false; static uint8_t savedCtrl1XL = XL_ODR_416HZ; static uint8_t savedCtrl2G = G_ODR_416HZ; -static volatile bool pendingWakeSettle = false; // always set on wake — 120ms blackout +static volatile bool pendingWakeSettle = false; // always set on wake - 120ms blackout static volatile bool pendingWakeRecal = false; // set only when recal is also needed // Only force recalibration after waking from deep sleep, or after the gyro // has been off long enough for thermal drift to matter (~5 minutes). static constexpr unsigned long RECAL_AFTER_LP_MS = 5UL * 60UL * 1000UL; -// I2C helpers — Wire1 at 0x6A (SA0 LOW on XIAO nRF52840 Sense) +// I2C helpers - Wire1 at 0x6A (SA0 LOW on XIAO nRF52840 Sense) static uint8_t lsmRead(uint8_t reg) { Wire1.beginTransmission(LSM_ADDR); Wire1.write(reg); @@ -65,40 +59,37 @@ static void imuInt1ISR() { static void armWakeupInterrupt() { lsmWrite(SLP_WAKE_UP_DUR, (uint8_t)((SLEEP_WAKEUP_DUR & 0x03) << 4)); - // Preserve bit7 (tap single/double enable) written by tap.cpp + // Preserve bit7 (tap single/double enable) uint8_t wuth = lsmRead(REG_WAKE_UP_THS); wuth = (wuth & 0xC0) | (SLEEP_WAKEUP_THS & 0x3F); lsmWrite(REG_WAKE_UP_THS, wuth); - // INTERRUPTS_ENABLE=1, SLOPE_FDS=0 (HP filter is gated in LP — must be 0) + // INTERRUPTS_ENABLE=1, SLOPE_FDS=0 (HP filter is gated in LP - must be 0) uint8_t tcfg = lsmRead(REG_TAP_CFG); tcfg |= (1 << 7); tcfg &= ~(1 << 4); lsmWrite(REG_TAP_CFG, tcfg); - // OR in INT1_WU (bit5), preserve tap routing bits uint8_t md1 = lsmRead(REG_MD1_CFG); md1 |= (1 << 5); lsmWrite(REG_MD1_CFG, md1); // Clear any stale latch BEFORE re-arming the edge interrupt. - // If INT1 is already high from a previous event, RISING will never fire - // because no low→high edge will occur. Reading WAKE_UP_SRC de-asserts INT1. (void)lsmRead(SLP_WAKE_UP_SRC); - // Small delay to let the INT1 line settle low before we arm the edge detect delay(2); - // Re-attach with RISING — guaranteed clean edge now that latch is cleared + // Re-attach with RISING - guaranteed clean edge now that latch is cleared detachInterrupt(digitalPinToInterrupt(IMU_INT1_PIN)); attachInterrupt(digitalPinToInterrupt(IMU_INT1_PIN), imuInt1ISR, RISING); - imuWakeFlag = false; // discard any flag set before the re-arm + imuWakeFlag = false; - Serial.print("[SLEEP] armWakeup — TAP_CFG=0x"); Serial.print(lsmRead(REG_TAP_CFG), HEX); +#ifdef DEBUG + Serial.print("[SLEEP] armWakeup - TAP_CFG=0x"); Serial.print(lsmRead(REG_TAP_CFG), HEX); Serial.print(" MD1_CFG=0x"); Serial.print(lsmRead(REG_MD1_CFG), HEX); Serial.print(" WAKE_UP_THS=0x"); Serial.println(lsmRead(REG_WAKE_UP_THS), HEX); +#endif } -// Disarm — restore registers for normal HP operation static void disarmWakeupInterrupt() { // Restore SLOPE_FDS=1 for tap detection HP filter path uint8_t tcfg = lsmRead(REG_TAP_CFG); @@ -127,10 +118,10 @@ static void enterImuLP() { lpEnteredMs = millis(); sleepStage = SLEEP_IMU_LP; - Serial.print("[SLEEP] IMU LP entered — idle for "); + Serial.print("[SLEEP] IMU LP entered - idle for "); Serial.print((millis() - idleEnteredMs) / 1000); Serial.println("s"); - // Full register readback — confirms chip actually accepted all writes +#ifdef DEBUG Serial.print("[SLEEP] CTRL1_XL=0x"); Serial.print(lsmRead(REG_CTRL1_XL), HEX); Serial.print(" CTRL2_G=0x"); Serial.print(lsmRead(SLP_CTRL2_G), HEX); Serial.print(" CTRL6_C=0x"); Serial.print(lsmRead(SLP_CTRL6_C), HEX); @@ -139,10 +130,7 @@ static void enterImuLP() { Serial.print(" MD1_CFG=0x"); Serial.print(lsmRead(REG_MD1_CFG), HEX); Serial.print(" WAKE_UP_THS=0x"); Serial.print(lsmRead(REG_WAKE_UP_THS), HEX); Serial.print(" WAKE_UP_DUR=0x"); Serial.println(lsmRead(SLP_WAKE_UP_DUR), HEX); - // Expected when working: - // CTRL1_XL=0x2_ (ODR=26Hz, _ = FS bits) CTRL2_G=0x0_ (ODR=off) - // CTRL6_C bit4=1 (XL_HM_MODE) CTRL7_G bit7=1 (G_HM_MODE) - // TAP_CFG=0x80 MD1_CFG=0x20 WAKE_UP_THS=0x01 +#endif } // Enter deep sleep @@ -151,7 +139,7 @@ static void enterDeepSleep() { if (sleepStage < SLEEP_IMU_LP) enterImuLP(); sleepStage = SLEEP_DEEP; - Serial.println("[SLEEP] Deep sleep — WFE on INT1"); + Serial.println("[SLEEP] Deep sleep - WFE on INT1"); Serial.flush(); digitalWrite(LED_RED, LOW); delay(80); digitalWrite(LED_RED, HIGH); @@ -199,7 +187,7 @@ void sleepManagerWakeIMU() { accumX = accumY = 0.0f; // Reseed gravity from current accel so projection is correct immediately. // Can't call imu.readFloat* here (gyro not fully settled), but accel is - // already running — read it directly via Wire1. + // already running - read it directly via Wire1. // Simpler: just reset to neutral [0,0,1] and let the LP filter converge // over the first ~20 frames (200 ms) of real use. gravX = 0.0f; gravY = 0.0f; gravZ = 1.0f; @@ -209,9 +197,9 @@ void sleepManagerWakeIMU() { sleepStage = SLEEP_AWAKE; if (needsRecal) - Serial.println("[SLEEP] Awake — gyro settling, recal needed"); + Serial.println("[SLEEP] Awake - gyro settling, recal needed"); else - Serial.println("[SLEEP] Awake — short LP, reusing existing bias"); + Serial.println("[SLEEP] Awake - short LP, reusing existing bias"); } // Public: init @@ -223,11 +211,11 @@ void sleepManagerInit() { uint8_t whoami = imuReadReg(0x0F); Serial.print("[SLEEP] WHO_AM_I=0x"); Serial.print(whoami, HEX); if (whoami == 0x6A) Serial.println(" (OK)"); - else Serial.println(" (WRONG — I2C not working, sleep disabled)"); + else Serial.println(" (WRONG - I2C not working, sleep disabled)"); if (whoami != 0x6A) return; // don't arm anything if we can't talk to the IMU - Serial.print("[SLEEP] Init — INT1 pin="); Serial.print(IMU_INT1_PIN); + Serial.print("[SLEEP] Init - INT1 pin="); Serial.print(IMU_INT1_PIN); Serial.print(", WU_THS="); Serial.print(SLEEP_WAKEUP_THS); Serial.print(" (~"); Serial.print(SLEEP_WAKEUP_THS * 7.8f, 0); Serial.print(" mg)"); Serial.print(", IMU_LP after "); Serial.print(SLEEP_IMU_IDLE_MS / 1000); Serial.print("s"); @@ -242,7 +230,7 @@ bool sleepManagerUpdate(unsigned long nowMs, bool idle, bool bleConnected) { // ISR wakeup if (imuWakeFlag) { imuWakeFlag = false; - Serial.print("[SLEEP] INT1 fired — stage="); Serial.println((int)sleepStage); + Serial.print("[SLEEP] INT1 fired - stage="); Serial.println((int)sleepStage); if (sleepStage == SLEEP_DEEP || sleepStage == SLEEP_IMU_LP) { sleepManagerWakeIMU(); } else { @@ -269,12 +257,12 @@ bool sleepManagerUpdate(unsigned long nowMs, bool idle, bool bleConnected) { if (sleepStage == SLEEP_IMU_LP) { // Periodic log: confirms loop is running, shows live INT1 pin level and // WAKE_UP_SRC register. If INT1_pin never goes high after movement, the - // wakeup engine is not generating an interrupt — check register values. + // wakeup engine is not generating an interrupt - check register values. static unsigned long lastLpLog = 0; if (nowMs - lastLpLog >= 5000) { lastLpLog = nowMs; unsigned long lpSecs = idleEnteredMs ? (nowMs - idleEnteredMs) / 1000 : 0; - Serial.print("[SLEEP] LP tick — idle="); Serial.print(lpSecs); + Serial.print("[SLEEP] LP tick - idle="); Serial.print(lpSecs); Serial.print("s INT1="); Serial.print(digitalRead(IMU_INT1_PIN)); Serial.print(" WAKE_UP_SRC=0x"); Serial.println(lsmRead(SLP_WAKE_UP_SRC), HEX); } @@ -290,7 +278,7 @@ bool sleepManagerUpdate(unsigned long nowMs, bool idle, bool bleConnected) { // AWAKE path if (!idle) { if (wasIdle) { - Serial.println("[SLEEP] Motion — idle timer reset"); + Serial.println("[SLEEP] Motion - idle timer reset"); } wasIdle = false; idleEnteredMs = 0; diff --git a/source/sleep.h b/source/sleep.h index d909d98..a261edb 100644 --- a/source/sleep.h +++ b/source/sleep.h @@ -1,43 +1,7 @@ -/* - * sleep.h — IMU Mouse low-power manager - * ===================================================================== - * Two-stage sleep strategy for the Seeed XIAO nRF52840 Sense: - * - * STAGE 1 — IMU low-power (entered after SLEEP_IMU_IDLE_MS of no motion) - * • Gyroscope powered down (CTRL2_G ODR = 0000) - * • Accelerometer → LP 26 Hz (CTRL1_XL ODR = 0010, XL_HM_MODE=1) - * • LSM6DS3 wakeup-interrupt armed (MD1_CFG INT1_WU=1) - * • nRF52840 stays awake, BLE advertising/connected continues - * • Current: ~0.19 mA accel only vs ~0.90 mA combo HP - * - * STAGE 2 — System deep sleep (entered after SLEEP_DEEP_IDLE_MS of no motion) - * • Only entered when BLE is NOT connected (i.e. no web-UI/host attached) - * • Gyro still off, accel still in LP - * • nRF52840 goes into sd_app_evt_wait() — SoftDevice manages radio - * • Wake: IMU INT1 GPIO interrupt → ISR sets wakeFlag, loop resumes - * • On wake: gyro re-enabled, full-rate accel restored, bias re-calibrated - * - * Integration - * ----------- - * 1. #include "sleep.h" in main.cpp (already done below) - * 2. Call sleepManagerInit() once in setup(), after imu.begin(). - * 3. Call sleepManagerUpdate(now, idle, Bluefruit.connected()) - * at the top of loop() (before the early-return on LOOP_RATE_MS). - * 4. The manager returns immediately; it never blocks the loop. - * - * Pin assignment - * -------------- - * LSM6DS3 INT1 → XIAO P0.11 (digital pin 3 on the 10-pin header) - * Change IMU_INT1_PIN below if your wiring differs. - * ===================================================================== - */ - #pragma once #include -// ── Tuning ────────────────────────────────────────────────────────────────── -// Time of no-motion before each sleep stage kicks in. -// These are deliberately conservative — tighten to taste. +// Tuning #ifndef SLEEP_IMU_IDLE_MS #define SLEEP_IMU_IDLE_MS (10UL * 1000UL) // 10 s → gyro off, accel LP #endif @@ -46,64 +10,30 @@ #endif // LSM6DS3 wakeup threshold: 1 LSB = 7.8 mg at ±2 g FS (±2g range). -// The wakeup engine uses a slope filter (difference between consecutive samples -// at 26 Hz, so each sample is ~38 ms apart). -// Too low = wakes on keyboard/desk vibration. Too high = misses gentle pick-up. -// 8 LSB × 7.8 mg ≈ 62 mg — filters desk vibration, fires on deliberate movement. -// Raise to 12–16 if still waking from vibration; lower to 4 if too sluggish. #ifndef SLEEP_WAKEUP_THS #define SLEEP_WAKEUP_THS 16 // 0–63 #endif // Number of consecutive 26 Hz samples that must exceed the threshold. -// 2 samples = ~77 ms of sustained movement required before wakeup fires. -// This is the most effective filter against single-shot vibration spikes -// (keyboard strikes, desk bumps) which are impulsive rather than sustained. #ifndef SLEEP_WAKEUP_DUR #define SLEEP_WAKEUP_DUR 2 // 0–3 #endif // GPIO pin connected to LSM6DS3 INT1. -// On XIAO nRF52840 Sense, INT1 = P0.11 (internal trace, not on user header). -// The Adafruit nRF52 BSP exposes this as PIN_LSM6DS3TR_C_INT1 — always use -// that constant, never a bare number whose Arduino index is BSP-dependent. #ifndef IMU_INT1_PIN #define IMU_INT1_PIN PIN_LSM6DS3TR_C_INT1 #endif -// ── Public state (read-only from main.cpp) ─────────────────────────────────── +// Public state (read-only from main.cpp) enum SleepStage : uint8_t { SLEEP_AWAKE = 0, // normal full-rate operation - SLEEP_IMU_LP = 1, // gyro off, accel LP — nRF awake - SLEEP_DEEP = 2, // system WFE — BLE disconnected only + SLEEP_IMU_LP = 1, // gyro off, accel LP - nRF awake + SLEEP_DEEP = 2, // system WFE - BLE disconnected only }; extern volatile SleepStage sleepStage; -extern volatile bool imuWakeFlag; // set by INT1 ISR, cleared by manager +extern volatile bool imuWakeFlag; -// ── API ────────────────────────────────────────────────────────────────────── - -/** - * Call once in setup() after imu.begin(). - * Configures INT1 GPIO and arms the LSM6DS3 wakeup interrupt (always-on, - * even in normal mode — it simply won't fire unless the device is still). - */ void sleepManagerInit(); - -/** - * Call every loop() iteration. - * @param nowMs millis() timestamp - * @param idle true when the motion pipeline reports no cursor movement - * @param bleConnected Bluefruit.connected() - * - * Returns true if the caller should skip IMU reads this iteration - * (i.e. we are in SLEEP_IMU_LP or just woke up and are re-initialising). - */ bool sleepManagerUpdate(unsigned long nowMs, bool idle, bool bleConnected); - -/** - * Re-arms the LSM6DS3 after wake-from-deep-sleep. - * Called internally by sleepManagerUpdate(); exposed so calibrateGyroBias() - * can also call it if it needs to know sleep state. - */ void sleepManagerWakeIMU(); \ No newline at end of file diff --git a/source/tap.cpp b/source/tap.cpp index 725121a..6e78171 100644 --- a/source/tap.cpp +++ b/source/tap.cpp @@ -6,12 +6,12 @@ extern BLEHidAdafruit blehid; -// ─── Tap detection setup ────────────────────────────────────────────────────── +// Tap detection setup // REG_TAP_THS_6D bits[4:0] = tapThreshold (1–31); 1 LSB = FS/32 = 62.5 mg at ±2g. // REG_INT_DUR2 at ODR=416 Hz: -// SHOCK[7:6] = 2 → 38 ms max tap duration -// QUIET[5:4] = 2 → 19 ms refractory after tap -// DUR[3:0] = 6 → 115 ms max inter-tap window for double detection +// SHOCK[7:6] = 2 → 38 ms max tap duration +// QUIET[5:4] = 2 → 19 ms refractory after tap +// DUR[3:0] = 6 → 115 ms max inter-tap window for double detection void applyTapThreshold() { uint8_t thr = cfg.tapThreshold; if (thr < 1) thr = 1; @@ -30,18 +30,7 @@ void setupTapDetection() { Serial.print(" (~"); Serial.print(cfg.tapThreshold * 62.5f, 0); Serial.println(" mg)"); } -// ─── Tap processing ─────────────────────────────────────────────────────────── -// Only double-tap is mapped to an action. Single-tap is ignored (it always fires -// before the double is confirmed and cannot be reliably disambiguated on this -// hardware without an unacceptable latency penalty). -// -// The LSM6DS3 sets SINGLE_TAP immediately on first contact — we wait until -// DOUBLE_TAP is set (within the hardware DUR window of 115 ms) before acting. -// An additional TAP_CONFIRM_MS guard ensures the TAP_SRC register has settled. -// -// IMPORTANT: call mouseButtonPress(bitmask) — single arg only. The two-arg -// overload takes (conn_hdl, buttons) and sends the wrong button value. - +// Tap processing static enum { TAP_IDLE, TAP_PENDING, TAP_EXECUTING } tapState = TAP_IDLE; static unsigned long tapPendingMs = 0; static uint8_t pendingButton = 0; // 0 = key action pending @@ -83,7 +72,7 @@ static void fireTapAction(unsigned long now) { } void processTaps(unsigned long now) { - // ── Release ─────────────────────────────────────────────────────────────── + // Release if (tapState == TAP_EXECUTING) { if (now - clickDownMs >= CLICK_HOLD_MS) { if (pendingButton) { @@ -99,7 +88,7 @@ void processTaps(unsigned long now) { return; } - // ── Poll TAP_SRC ────────────────────────────────────────────────────────── + // Poll TAP_SRC uint8_t tapSrc = imuReadReg(REG_TAP_SRC); bool tapIA = !!(tapSrc & 0x40); bool doubleTap = !!(tapSrc & 0x10); diff --git a/web/app.js b/web/app.js index d5334c9..d376e2e 100644 --- a/web/app.js +++ b/web/app.js @@ -1,4 +1,4 @@ -// ── UUIDs ──────────────────────────────────────────────────────────────────── +// UUIDs // v3.3: 4 characteristics instead of 10 const SVC_UUID = '00001234-0000-1000-8000-00805f9b34fb'; const CHR = { @@ -25,11 +25,11 @@ let device=null, server=null, chars={}, userDisconnected=false; let currentChargeStatus=0, currentBattPct=null, currentBattVoltage=null; let advancedMode = localStorage.getItem('advanced') === 'true'; -// ── GATT write queue (prevents "operation already in progress") ─────────────── +// GATT write queue (prevents "operation already in progress") // Serialises all GATT writes. Features: -// • Per-operation 3s timeout — hangs don't block the queue forever -// • Max depth of 2 pending ops — drops excess writes when device goes silent -// • gattQueueReset() flushes on disconnect so a reconnect starts clean +// • Per-operation 3s timeout - hangs don't block the queue forever +// • Max depth of 2 pending ops - drops excess writes when device goes silent +// • gattQueueReset() flushes on disconnect so a reconnect starts clean const GATT_TIMEOUT_MS = 3000; const GATT_MAX_DEPTH = 2; let _gattQueue = Promise.resolve(); @@ -45,7 +45,7 @@ function _withTimeout(promise, ms) { function _enqueue(fn) { if (_gattDepth >= GATT_MAX_DEPTH) { - return Promise.reject(new Error('GATT queue full — device unreachable?')); + return Promise.reject(new Error('GATT queue full - device unreachable?')); } _gattDepth++; const p = _gattQueue.then(() => _withTimeout(fn(), GATT_TIMEOUT_MS)); @@ -62,7 +62,7 @@ function gattQueueReset() { _gattDepth = 0; } -// ── Logging ────────────────────────────────────────────────────────────────── +// Logging (function() { const _methods = { log: '', warn: 'warn', error: 'err' }; for (const [method, type] of Object.entries(_methods)) { @@ -85,7 +85,7 @@ function log(msg, type='') { const p2=n=>String(n).padStart(2,'0'), p3=n=>String(n).padStart(3,'0'); function cssVar(n) { return getComputedStyle(document.documentElement).getPropertyValue(n).trim(); } -// ── Connection ─────────────────────────────────────────────────────────────── +// Connection async function doConnect() { if (!navigator.bluetooth) { log('Web Bluetooth not supported.','err'); return; } userDisconnected = false; @@ -131,27 +131,27 @@ async function discoverServices() { // Read firmware git hash and check against web build hash await checkHashMatch(); - // Telemetry notify (1 Hz) — also carries chargeStatus + // Telemetry notify (1 Hz) - also carries chargeStatus chars.telemetry.addEventListener('characteristicvaluechanged', e => parseTelemetry(e.target.value)); await chars.telemetry.startNotifications(); // Initial read so values show immediately. Also force updateChargeUI() here // because parseTelemetry() only calls it on a *change*, and currentChargeStatus - // starts at 0 (discharging) — so a discharging device would never trigger the + // starts at 0 (discharging) - so a discharging device would never trigger the // update and ciStatus would stay at '--'. parseTelemetry(await chars.telemetry.readValue()); updateChargeUI(); - // IMU stream — subscribed on demand via play button + // IMU stream - subscribed on demand via play button chars.imuStream.addEventListener('characteristicvaluechanged', e => parseImuStream(e.target.value)); log('Config service ready (4 chars)','ok'); } catch(e) { log(`Service discovery failed: ${e.message}`,'err'); // Safe mode device might not have config service - if (e.message.includes('not found')) log('Device may be in safe mode — basic mouse only','warn'); + if (e.message.includes('not found')) log('Device may be in safe mode - basic mouse only','warn'); } - // Battery service (standard — always present) + // Battery service (standard - always present) try { const bsvc = await server.getPrimaryService('battery_service'); const bch = await bsvc.getCharacteristic('battery_level'); @@ -167,7 +167,7 @@ async function discoverServices() { } catch(e) { log('Battery service unavailable','warn'); } } -// ── Firmware / web hash mismatch banner ────────────────────────────────────── +// Firmware / web hash mismatch banner async function checkHashMatch() { const banner = document.getElementById('hashMismatchBanner'); if (!chars.gitHash) return; @@ -199,20 +199,20 @@ async function checkHashMatch() { ].join(';'); banner.innerHTML = `⚠` + - `FIRMWARE / WEB MISMATCH — ` + - `firmware ${fwHash} · web ${webHash} — ` + + `FIRMWARE / WEB MISMATCH - ` + + `firmware ${fwHash} · web ${webHash} - ` + `flash firmware or reload the page after a pio run` + ``; } -// ── ConfigBlob read / write ────────────────────────────────────────────────── +// ConfigBlob read / write // ConfigBlob layout (25 bytes LE): -// float sensitivity [0], float deadZone [4], float accelStrength [8] -// uint8 curve [12], uint8 axisFlip [13], uint8 chargeMode [14] -// uint8 tapThreshold [15], uint8 tapAction [16], uint8 tapKey [17], uint8 tapMod [18], uint8 tapFreezeEnabled [19] -// float jerkThreshold [20], uint8 featureFlags [24] +// float sensitivity [0], float deadZone [4], float accelStrength [8] +// uint8 curve [12], uint8 axisFlip [13], uint8 chargeMode [14] +// uint8 tapThreshold [15], uint8 tapAction [16], uint8 tapKey [17], uint8 tapMod [18], uint8 tapFreezeEnabled [19] +// float jerkThreshold [20], uint8 featureFlags [24] async function readConfigBlob() { if (!chars.configBlob) return; @@ -238,7 +238,7 @@ async function readConfigBlob() { if (view.byteLength >= 25) { config.featureFlags = view.getUint8(24); } else { - config.featureFlags = FLAG_ALL_DEFAULT; // old firmware — assume all on + config.featureFlags = FLAG_ALL_DEFAULT; // old firmware - assume all on } if (view.byteLength >= 28) { config.btnLeftPin = view.getUint8(25); @@ -248,7 +248,7 @@ async function readConfigBlob() { config.btnLeftPin = config.btnRightPin = config.btnMiddlePin = 0xFF; // disabled } applyConfigToUI(); - log(`Config loaded — sens=${config.sensitivity.toFixed(0)} dz=${config.deadZone.toFixed(3)} tapThr=${config.tapThreshold}`,'ok'); + log(`Config loaded - sens=${config.sensitivity.toFixed(0)} dz=${config.deadZone.toFixed(3)} tapThr=${config.tapThreshold}`,'ok'); } catch(e) { log(`Config read error: ${e.message}`,'err'); } } @@ -284,7 +284,7 @@ function applyConfigToUI() { updatePinDiagram(); } -// ── XIAO pin diagram ────────────────────────────────────────────────────────── +// XIAO pin diagram function updatePinDiagram() { const st = getComputedStyle(document.documentElement); const COL_L = st.getPropertyValue('--ok').trim(); @@ -362,11 +362,11 @@ async function _doWriteConfigBlob() { try { await gattWrite(chars.configBlob, buf); - log(`Config written — sens=${config.sensitivity.toFixed(0)} tapThr=${config.tapThreshold} tapAction=${config.tapAction}`,'ok'); + log(`Config written - sens=${config.sensitivity.toFixed(0)} tapThr=${config.tapThreshold} tapAction=${config.tapAction}`,'ok'); } catch(e) { log(`Config write failed: ${e.message}`,'err'); } } -// ── Individual control handlers ─────────────────────────────────────────────── +// Individual control handlers // These update the local config shadow then write the full blob function setCurve(val) { @@ -397,7 +397,7 @@ function setChargeModeUI(val) { function onCapTapChange(enabled) { writeConfigBlob(); - log('Tap detection ' + (enabled ? 'enabled' : 'disabled') + ' — restart device to apply', 'warn'); + log('Tap detection ' + (enabled ? 'enabled' : 'disabled') + ' - restart device to apply', 'warn'); } function onTapFreezeChange(enabled) { @@ -430,7 +430,7 @@ function onTapKeyInput() { async function sendCalibrate() { if (!chars.command) return; - try { await gattCmd(chars.command, new Uint8Array([0x01])); log('Calibration sent — hold still!','warn'); } + try { await gattCmd(chars.command, new Uint8Array([0x01])); log('Calibration sent - hold still!','warn'); } catch(e) { log(`Calibrate failed: ${e.message}`,'err'); } } function confirmReset() { document.getElementById('overlay').classList.add('show'); } @@ -444,22 +444,22 @@ async function doReset() { } catch(e) { log(`Reset failed: ${e.message}`,'err'); } } -// ── Telemetry ──────────────────────────────────────────────────────────────── -// TelemetryPacket (28 bytes LE — backwards compatible with 24-byte v3.3): -// uint32 uptime [0], uint32 leftClicks [4], uint32 rightClicks [8] -// float temp [12], float biasRms [16] -// uint16 recalCount [20], uint8 chargeStatus [22], uint8 pad [23] -// float battVoltage [24] (new in v3.4, absent on older firmware) +// Telemetry +// TelemetryPacket (28 bytes LE - backwards compatible with 24-byte v3.3): +// uint32 uptime [0], uint32 leftClicks [4], uint32 rightClicks [8] +// float temp [12], float biasRms [16] +// uint16 recalCount [20], uint8 chargeStatus [22], uint8 pad [23] +// float battVoltage [24] (new in v3.4, absent on older firmware) function parseTelemetry(dv) { let view; try { view = dv instanceof DataView ? new DataView(dv.buffer, dv.byteOffset, dv.byteLength) : new DataView(dv); - } catch(e) { log(`parseTelemetry: DataView wrap failed — ${e.message}`,'err'); return; } + } catch(e) { log(`parseTelemetry: DataView wrap failed - ${e.message}`,'err'); return; } if (view.byteLength < 24) { const bytes = new Uint8Array(view.buffer, view.byteOffset, view.byteLength); const hex = Array.from(bytes).map(b=>b.toString(16).padStart(2,'0')).join(' '); - log(`TELEM: expected 24-28B, got ${view.byteLength}B — MTU too small? raw: ${hex}`,'err'); + log(`TELEM: expected 24-28B, got ${view.byteLength}B - MTU too small? raw: ${hex}`,'err'); return; } @@ -473,7 +473,7 @@ function parseTelemetry(dv) { recalCount = view.getUint16(20, true); chargeStatus= view.getUint8(22); if (view.byteLength >= 28) battVoltage = view.getFloat32(24, true); - } catch(e) { log(`parseTelemetry: parse error at offset — ${e.message}`,'err'); return; } + } catch(e) { log(`parseTelemetry: parse error at offset - ${e.message}`,'err'); return; } document.getElementById('telTemp').textContent = temp.toFixed(1)+'°'; document.getElementById('telUptime').textContent = formatUptime(uptime); @@ -504,7 +504,7 @@ function clearTelemetry() { document.getElementById(id).textContent='--'); } -// ── Battery & Charge UI ─────────────────────────────────────────────────────── +// Battery & Charge UI function updateBatteryBar(pct, status) { document.getElementById('battBar').style.display='flex'; document.getElementById('battPct').textContent=pct+'%'; @@ -528,7 +528,7 @@ function updateChargeUI() { if (currentBattPct!==null) updateBatteryBar(currentBattPct, currentChargeStatus); } -// ── Advanced toggle ─────────────────────────────────────────────────────── +// Advanced toggle function toggleAdvanced(on) { advancedMode = on; localStorage.setItem('advanced', on); @@ -538,7 +538,7 @@ function toggleAdvanced(on) { document.getElementById('chargeInfo').style.gridTemplateColumns = on ? '1fr 1fr 1fr 1fr' : '1fr 1fr 1fr'; } -// ── IMU Debug Recorder ──────────────────────────────────────────────────────── +// IMU Debug Recorder let debugModalOpen = false; let debugRecording = false; let debugBuffer = []; @@ -631,7 +631,7 @@ function clearDebugRec() { document.getElementById('debugRecCount').textContent = '0 samples'; } -// ── Param display ───────────────────────────────────────────────────────────── +// Param display function updateDisplay(key, val) { const map = { sensitivity: ['valSensitivity', v=>parseFloat(v).toFixed(0)], @@ -644,7 +644,7 @@ function updateDisplay(key, val) { document.getElementById(id).textContent = fmt(val); } -// ── Status UI ──────────────────────────────────────────────────────────────── +// Status UI function setStatus(state) { const pill=document.getElementById('statusPill'); document.getElementById('statusText').textContent={connected:'CONNECTED',connecting:'CONNECTING…',disconnected:'DISCONNECTED'}[state]; @@ -673,7 +673,7 @@ function onDisconnected() { document.getElementById('badgeCharging').classList.remove('show'); document.getElementById('badgeFull').classList.remove('show'); imuSubscribed = false; vizPaused = true; vizUpdateIndicator(); streamDiagReset(); - document.getElementById('orientLabel').textContent = '— not streaming —'; + document.getElementById('orientLabel').textContent = '- not streaming -'; document.getElementById('hashMismatchBanner').style.display = 'none'; clearTelemetry(); if (!userDisconnected && document.getElementById('autoReconnect').checked && savedDevice) { @@ -695,11 +695,11 @@ function onDisconnected() { } } -// ── IMU Stream + Visualiser ────────────────────────────────────────────────── +// IMU Stream + Visualiser // ImuPacket (14 bytes LE): -// int16 gyroX_mDPS [0], int16 gyroZ_mDPS [2] -// int16 accelX_mg [4], int16 accelY_mg [6], int16 accelZ_mg [8] -// int8 moveX [10], int8 moveY [11], uint8 flags [12], uint8 pad [13] +// int16 gyroX_mDPS [0], int16 gyroZ_mDPS [2] +// int16 accelX_mg [4], int16 accelY_mg [6], int16 accelZ_mg [8] +// int8 moveX [10], int8 moveY [11], uint8 flags [12], uint8 pad [13] const canvas = document.getElementById('vizCanvas'); const ctx = canvas.getContext('2d'); const TRAIL_LEN = 120; @@ -707,7 +707,7 @@ let cursorX = canvas.width/2, cursorY = canvas.height/2, trail = []; let vizPaused = true; let imuSubscribed = false; -// ── Stream diagnostics ──────────────────────────────────────────────────────── +// Stream diagnostics let streamPktCount = 0; // packets received this second let streamPktTotal = 0; // lifetime packet count let streamLastPktT = 0; // timestamp of last packet (for gap detection) @@ -722,7 +722,7 @@ function streamDiagReset() { function streamDiagPkt() { const now = Date.now(); - // Gap detection — warn if >300ms since last packet while streaming + // Gap detection - warn if >300ms since last packet while streaming if (streamLastPktT) { const gap = now - streamLastPktT; if (gap > 300) log(`[STREAM] gap ${gap}ms (pkt #${streamPktTotal})`, 'warn'); @@ -731,10 +731,10 @@ function streamDiagPkt() { streamPktCount++; streamPktTotal++; - // Reset freeze watchdog — 1.5s without a packet = freeze + // Reset freeze watchdog - 1.5s without a packet = freeze if (streamFreezeTimer) clearTimeout(streamFreezeTimer); streamFreezeTimer = setTimeout(() => { - log(`[STREAM] FROZEN — no packet for 1.5s (total rx: ${streamPktTotal})`, 'err'); + log(`[STREAM] FROZEN - no packet for 1.5s (total rx: ${streamPktTotal})`, 'err'); streamFreezeTimer = null; }, 1500); @@ -750,7 +750,7 @@ function streamDiagPkt() { // Roll compensation is done entirely in firmware (calibrateGyroBias computes // rollSin/rollCos from boot-pose accel and applies the rotation before moveX/moveY). -// The web visualiser just uses moveX/moveY directly — no re-rotation needed here. +// The web visualiser just uses moveX/moveY directly - no re-rotation needed here. function resetOrient() {} // kept for call-site compatibility function vizUpdateIndicator() { @@ -782,7 +782,7 @@ async function vizSetPaused(paused) { await chars.imuStream.stopNotifications(); imuSubscribed = false; streamDiagReset(); - document.getElementById('orientLabel').textContent = '— not streaming —'; + document.getElementById('orientLabel').textContent = '- not streaming -'; } catch(e) { log(`IMU stream stop failed: ${e.message}`,'err'); } } vizUpdateIndicator(); @@ -792,7 +792,7 @@ function parseImuStream(dv) { let view; try { view = dv instanceof DataView ? new DataView(dv.buffer, dv.byteOffset, dv.byteLength) : new DataView(dv); - } catch(e) { log(`parseImuStream: DataView wrap failed — ${e.message}`,'err'); return; } + } catch(e) { log(`parseImuStream: DataView wrap failed - ${e.message}`,'err'); return; } if (view.byteLength < 14) { const bytes = new Uint8Array(view.buffer, view.byteOffset, view.byteLength); @@ -811,7 +811,7 @@ function parseImuStream(dv) { moveX = view.getInt8(10); moveY = view.getInt8(11); flags = view.getUint8(12); - } catch(e) { log(`parseImuStream: parse error — ${e.message}`,'err'); return; } + } catch(e) { log(`parseImuStream: parse error - ${e.message}`,'err'); return; } // Feed debug recorder (even when viz is paused) feedDebugRow(gyroX, gyroZ, accelX, accelY, accelZ, moveX, moveY, flags); @@ -826,7 +826,7 @@ function parseImuStream(dv) { updateAxisBar('gz', -gyroX, 30000); if (!idle) { - // moveX/moveY are already roll-corrected by firmware — use them directly + // moveX/moveY are already roll-corrected by firmware - use them directly cursorX = Math.max(4, Math.min(canvas.width - 4, cursorX + moveX * 1.5)); cursorY = Math.max(4, Math.min(canvas.height - 4, cursorY + moveY * 1.5)); } @@ -894,7 +894,7 @@ function drawInitState() { ctx.fillStyle=cssVar('--canvas-idle-text');ctx.font='10px Share Tech Mono,monospace'; ctx.textAlign='center';ctx.fillText('connect to activate stream',W/2,H/2+4);ctx.textAlign='left'; } -// ── 3D Orientation Viewer ───────────────────────────────────────────────────── +// 3D Orientation Viewer // Device box: L=115mm (X), W=36mm (Y), H=20mm (Z) // Complementary filter mirrors firmware: α=0.96, dt from packet rate (~50ms) const ORIENT_ALPHA = 0.96; @@ -932,7 +932,7 @@ function initOrientViewer() { orientEdges = new THREE.LineSegments(new THREE.EdgesGeometry(geo), edgeMat); orientMesh.add(orientEdges); - // "Front" face marker — small arrow along +X (length axis) + // "Front" face marker - small arrow along +X (length axis) const arrowGeo = new THREE.ConeGeometry(0.02, 0.07, 6); arrowGeo.rotateZ(-Math.PI / 2); arrowGeo.translate(DEVICE_L / 2 + 0.04, 0, 0); @@ -982,7 +982,7 @@ function orientFeedIMU(ax, ay, az, gyX_mDPS, gyZ_mDPS) { qAccel.copy(orientQ); } - // Gyro integration — firmware sends gyroX (pitch) and gyroZ (yaw), mDPS + // Gyro integration - firmware sends gyroX (pitch) and gyroZ (yaw), mDPS // Map to Three.js axes: gyroZ→world Y, gyroX→world X const gyRad = gyX_mDPS * (Math.PI / 180) / 1000; const gzRad = gyZ_mDPS * (Math.PI / 180) / 1000; @@ -1001,7 +1001,7 @@ function orientFeedIMU(ax, ay, az, gyX_mDPS, gyZ_mDPS) { orientRenderer.render(orientScene, orientCamera); } -// ── Theme ───────────────────────────────────────────────────────────────────── +// Theme const THEMES = ['auto','dark','light']; const THEME_LABELS = {auto:'AUTO',dark:'DARK',light:'LIGHT'}; let themeIdx = 0; diff --git a/web/index.html b/web/index.html index 0c395a7..9d781db 100644 --- a/web/index.html +++ b/web/index.html @@ -39,7 +39,7 @@
- +
Motion Parameters
@@ -51,7 +51,7 @@
600
-
Dead Zone
Noise floor (rad/s) — raise to reduce drift
+
Dead Zone
Noise floor (rad/s) - raise to reduce drift
0.060
@@ -134,7 +134,7 @@
- +
Tap Configuration
@@ -146,7 +146,7 @@
-
Tap Freeze Sensitivity
Jerk² threshold — lower = more aggressive cursor freeze during taps
+
Tap Freeze Sensitivity
Jerk² threshold - lower = more aggressive cursor freeze during taps
2000
@@ -183,7 +183,7 @@
Physical Buttons
- +
@@ -301,7 +301,7 @@
- +
Live Cursor Visualiser
@@ -350,7 +350,7 @@
Device Orientation
-
— not streaming —
+
- not streaming -
Live Telemetry
diff --git a/web/style.css b/web/style.css index 4f222e0..8f5c493 100644 --- a/web/style.css +++ b/web/style.css @@ -34,7 +34,7 @@ --tap-right: rgba(255,61,113,0.35); } - /* ── Light theme (explicit) ──────────────────────────────────────────────── */ + /* Light theme (explicit) */ :root.theme-light { --bg: #f0f2f5; --panel: #ffffff; @@ -66,7 +66,7 @@ } - /* ── Auto light (OS hint; explicit class overrides) ──────────────────────── */ + /* Auto light (OS hint; explicit class overrides) */ @media (prefers-color-scheme: light) { :root:not(.theme-dark) { --bg: #f0f2f5; @@ -153,7 +153,7 @@ .col-mid { display:grid; gap:12px; } .col-right { display:grid; gap:12px; position:sticky; top:80px; } - /* ── XIAO pin diagram ─────────────────────────────────────── */ + /* XIAO pin diagram */ .xiao-wrap { display:flex; flex-direction:column; align-items:center; padding:8px 0 14px; } .pin-legend { display:flex; gap:20px; justify-content:center; font-family:var(--mono); font-size:9px; margin-top:10px; letter-spacing:0.08em; } .pleg.left { color:var(--ok); } @@ -161,7 +161,7 @@ .pleg.mid { color:var(--accent); } .xiao-divider { border:none; border-top:1px solid var(--border); margin:0 -20px 12px; } - /* ── Responsive ───────────────────────────────────────────── */ + /* Responsive */ @media (max-width:1100px) { main { grid-template-columns:1fr 380px; grid-template-rows:auto auto; } .col-left { grid-column:1; grid-row:1; } @@ -288,7 +288,7 @@ .btn-confirm { border-color:var(--accent2); color:var(--accent2); } .btn-confirm:hover { background:var(--accent2); color:var(--bg); } - /* ── Debug modal ────────────────────────────────────────────────────────── */ + /* Debug modal */ .debug-modal { max-width:720px; padding:20px; border-color:var(--accent); } .debug-modal h3 { color:var(--accent); margin-bottom:0; } .debug-header { display:flex; justify-content:space-between; align-items:center; margin-bottom:14px; }