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Make tap freezing configurable, add toggles to other functions, minor UI changes

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Nik Rozman
2026-03-03 08:49:22 +01:00
parent 8f63d7c0b5
commit dcc50150b8
6 changed files with 97 additions and 41 deletions
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27
source/main.cpp
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@@ -60,7 +60,7 @@ Config cfg;
const Config CFG_DEFAULTS = {
CONFIG_MAGIC, 600.0f, 0.060f, 0.08f, CURVE_LINEAR, 0x00, CHARGE_SLOW,
/*tapThreshold=*/12, /*tapAction=*/TAP_ACTION_LEFT, /*tapKey=*/0, /*tapMod=*/0,
/*jerkThreshold=*/2000.0f
/*jerkThreshold=*/2000.0f, /*tapFreezeEnabled=*/1, /*featureFlags=*/FLAG_ALL_DEFAULT
};
// ─── Telemetry definition ─────────────────────────────────────────────────────
@@ -221,7 +221,7 @@ void setup() {
Serial.println("[OK] IMU ready");
#ifdef FEATURE_TAP_DETECTION
setupTapDetection();
if (cfg.featureFlags & FLAG_TAP_ENABLED) setupTapDetection();
#endif
cachedTempC = readIMUTemp();
@@ -320,7 +320,7 @@ void loop() {
#endif
#ifdef FEATURE_TAP_DETECTION
processTaps(now);
if (cfg.featureFlags & FLAG_TAP_ENABLED) processTaps(now);
#endif
if (now - lastTime < (unsigned long)LOOP_RATE_MS) return;
@@ -340,17 +340,14 @@ void loop() {
#endif
// Gyro reads with optional temperature compensation
float gx, gy, gz;
float correction = 0.0f;
#ifdef FEATURE_TEMP_COMPENSATION
float correction = TEMP_COMP_COEFF_DPS_C * (cachedTempC - calTempC);
gx = (imu.readFloatGyroX() - biasGX - correction) * (PI/180.0f);
gy = (imu.readFloatGyroY() - biasGY - correction) * (PI/180.0f);
gz = (imu.readFloatGyroZ() - biasGZ - correction) * (PI/180.0f);
#else
gx = (imu.readFloatGyroX() - biasGX) * (PI/180.0f);
gy = (imu.readFloatGyroY() - biasGY) * (PI/180.0f);
gz = (imu.readFloatGyroZ() - biasGZ) * (PI/180.0f);
if (cfg.featureFlags & FLAG_TEMP_COMP_ENABLED)
correction = TEMP_COMP_COEFF_DPS_C * (cachedTempC - calTempC);
#endif
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();
@@ -362,8 +359,8 @@ void loop() {
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 = (jerkSq > cfg.jerkThreshold) || (now < shockFreezeUntil);
if (jerkSq > cfg.jerkThreshold) shockFreezeUntil = now + SHOCK_FREEZE_MS;
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
@@ -427,7 +424,7 @@ void loop() {
bool idle = (idleFrames >= IDLE_FRAMES);
#ifdef FEATURE_AUTO_RECAL
if (idle && idleStartMs != 0 && (now - idleStartMs >= AUTO_RECAL_MS)) {
if ((cfg.featureFlags & FLAG_AUTO_RECAL_ENABLED) && idle && idleStartMs != 0 && (now - idleStartMs >= AUTO_RECAL_MS)) {
Serial.println("[AUTO-CAL] Long idle — recalibrating...");
idleStartMs = 0; calibrateGyroBias(); prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); return;
}