Double click support

.gitignore

@@ -5,4 +5,5 @@
 *.claude
 *.vscode
 web/version.js
-samples/
+samples/
+firmware_dfu.zip

model/pointer.FCMacro

@@ -1,290 +1,196 @@
-# IMU Pointer Enclosure
+"""
+IMU Pointer Enclosure — v11.7 (Slimmed Corners & Rounded USB-C)
+"""
 
 import FreeCAD as App
 import FreeCADGui as Gui
 import Part
 from FreeCAD import Base
 
-doc = App.newDocument("pointer")
+doc = App.newDocument("pointer_v11_7")
 
-# Global dimensions
+# ─── DIMENSIONS ───────────────────────────────────────────────────────────────
-L = 115.0
+L, W, H = 115.0, 36.0, 22.0
-W = 36.0
-H = 20.0
 WALL = 3.5
-CR = 3.0
+CR, CR_I = 8.0, 4.5
-TOL = 0.25
+TOL = 0.25 
+EDGE_FILLET = 3.0
 
-# Rail and lid
+USBC_W, USBC_H, USBC_Z = 12.0, 7.0, 5.0 
-RAIL_H = 4.5
+SPLIT_Z = USBC_Z + USBC_H + 2.5 
-RAIL_D = 2.0
-LIP_H = 2.0
-LIP_OVER = 1.5
-LIP_EMBED = 0.2
 
-LID_H = RAIL_H - LIP_H - TOL - 0.55
+# MICRO-DETENT Snap Logic
+TONGUE_H, TONGUE_T = 2.5, 2.0
+GROOVE_H, GROOVE_T = TONGUE_H + TOL, TONGUE_T + TOL
+RIDGE_W = 12.0
+RIDGE_H = 1.2      
+RIDGE_PROUD = 1.0  # Snap ridge protrusion
+RIDGE_Z_OFF = (TONGUE_H - RIDGE_H) / 2.0
 
-# Board dimensions
+# ─── IMU BOARD (+1mm Spacing & Slim Corners) ──────────────────────────────────
-PCB_T = 1.0
+PCB_T, BRD_L, BRD_W = 3.0, 22.6, 19.6
-BRD_L = 21.0
+BRD_X, BRD_Y = WALL, (W - BRD_W) / 2.0
-BRD_W = 17.5
+PLATFORM_H, MIC_EXTRA = 1.5, 2.0
-BRD_X = WALL
+MIC_PCB_T = 2.5          # Thicker PCB section (MEMS mic), rounded up from 2.2
-BRD_Y = (W - BRD_W) / 2
+BUMP_PROUD = 0.3         # Press-fit nub protrusion into board cavity
-
+BUMP_R = 0.6             # Nub radius (half-sphere)
-PLATFORM_H = 0.5
 BRD_Z = WALL + PLATFORM_H
 
-# Clip arms
+# ─── BUTTON & BATTERY ─────────────────────────────────────────────────────────
-ARM_LEN = 5.0
+BAT_L, BAT_W, BAT_H = 50.0, 12.0, 12.0
-ARM_THICK = 1.6
+BAT_X, BAT_Y = BRD_X + BRD_L + 8.0 + 5.0, (W - BAT_W) / 2.0
-ARM_H = BRD_Z + PCB_T + 0.8
-CLIP_TOL = 0.35
-
-# USB-C cutout
-USBC_W = 11.0
-USBC_H = 7.0
-USBC_Z = 4.5
-
-# Battery section
-BAT_L = 50.0
-BAT_W = 12.0
-BAT_H = 12.0
-BAT_X = BRD_X + BRD_L + 8.0
-BAT_Y = (W - BAT_W) / 2
 BAT_CLIP_Y = 8.0
+BTN_X, BTN_CY, BTN_HOLE_R = 28.0, W / 2.0, 10.0
+CAP_SHAFT_R, CAP_SHAFT_H = 9.6, WALL + 1.0   # +1mm taller shaft so cap sits flush
+CAP_RIM_R, CAP_RIM_H = 12.0, 1.5
+CAP_CAVITY_R, CAP_CAVITY_H = 5.2, 2.5        # Hollow cavity replaces nubbin — clears button dome
+BTN_DOME_R, BTN_DOME_SAG = 14.0, 0.6
 
-# Circular notch
+PCB_BOT_Z = SPLIT_Z + 1.5
-NOTCH_R     = (USBC_W + TOL) / 2
+POST_H = BRD_Z + PCB_T + MIC_EXTRA + 3.0 - 4.0  # Lowered 4mm for button PCB + button thickness
-NOTCH_DEPTH = WALL + 2.0
+POST_OFFS_X, POST_OFFS_Y = 4.0, 11.0
+LH_R, LH_X, LH_Y_OFFS = 1.5, L - WALL - 3.0, 4.0
+BPCB_L, BPCB_W = 16.0, 16.0
 
+# ─── HELPERS ──────────────────────────────────────────────────────────────────
 
-# Circular notch helper
-def circular_notch(face_x, cy, cz, r, depth):
-    circle = Part.makeCircle(r, Base.Vector(face_x, cy, cz), Base.Vector(1, 0, 0))
-    face = Part.Face(Part.Wire(circle))
-    return face.extrude(Base.Vector(-depth, 0, 0))
-
-
-# Rounded box helper
-def rbox(lx, ly, lz, ox=0, oy=0, oz=0, r=CR):
-    b = Part.makeBox(lx, ly, lz, Base.Vector(ox, oy, oz))
-    try:
-        vert = [e for e in b.Edges
-                if abs(e.Vertexes[0].Z - e.Vertexes[1].Z) > lz * 0.9]
-        if vert:
-            b = b.makeFillet(r, vert)
-    except Exception:
-        pass
-    return b
-
-
-# Simple box helper
 def box(lx, ly, lz, ox=0, oy=0, oz=0):
     return Part.makeBox(lx, ly, lz, Base.Vector(ox, oy, oz))
 
+def rbox(lx, ly, lz, ox=0, oy=0, oz=0, r=CR):
+    b = box(lx, ly, lz, ox, oy, oz)
+    try:
+        edges = [e for e in b.Edges if abs(e.Vertexes[0].X - e.Vertexes[1].X) < 1e-3 and abs(e.Vertexes[0].Y - e.Vertexes[1].Y) < 1e-3]
+        return b.makeFillet(r, edges) if edges else b
+    except: return b
 
-# Rounded slot helper
+def cyl(r, h, cx=0, cy=0, cz=0):
-def rounded_slot(depth, w, h, ox, oy, oz, r=None):
+    return Part.makeCylinder(r, h, Base.Vector(cx, cy, cz))
-    if r is None:
-        r = h / 2.0
 
-    r = min(r, h / 2.0, w / 2.0)
+def fillet_horiz(solid, r, z_test):
+    try:
+        edges = [e for e in solid.Edges if abs(e.Vertexes[0].Z - e.Vertexes[1].Z) < 0.2 and abs((e.Vertexes[0].Z + e.Vertexes[1].Z)/2 - z_test) < 1.5]
+        return solid.makeFillet(r, edges) if edges else solid
+    except: return solid
 
-    import math
+def make_slim_corner(cx, cy, ix, iy):
+    pw = 0.8  # Much slimmer wall thickness (was 1.5/1.6)
+    sl = 4.0  # Slightly shorter side length
+    h = PLATFORM_H + PCB_T + 0.5
+    
+    x0, y0 = (cx if ix>0 else cx-sl), (cy if iy>0 else cy-pw)
+    w1 = box(sl, pw, h, x0, y0, WALL)
+    
+    x1, y1 = (cx if ix>0 else cx-pw), (cy if iy>0 else cy-sl)
+    w2 = box(pw, sl, h, x1, y1, WALL)
+    
+    px, py = (cx if ix>0 else cx-sl), (cy if iy>0 else cy-sl)
+    plat = box(sl, sl, PLATFORM_H, px, py, WALL)
+    
+    return plat.fuse(w1).fuse(w2)
 
-    cy = oy + w / 2.0
+# ═════════════════════════════════════════════════════════════════════════════
-    cz = oz + h / 2.0
+#  CONSTRUCTION
-    hw = w / 2.0 - r
+# ═════════════════════════════════════════════════════════════════════════════
 
-    def pt(cx, cy_v, cz_v, angle_deg, radius):
+# BOTTOM SHELL
-        a = math.radians(angle_deg)
+bot_shell = fillet_horiz(rbox(L, W, SPLIT_Z + TONGUE_H), EDGE_FILLET, 0.0)
-        return Base.Vector(
+bot_shell = bot_shell.cut(rbox(L-WALL*2, W-WALL*2, SPLIT_Z, WALL, WALL, WALL, r=CR_I))
-            cx,
+bot_shell = bot_shell.cut(rbox(L-TONGUE_T*2, W-TONGUE_T*2, TONGUE_H+2, TONGUE_T, TONGUE_T, SPLIT_Z, r=CR-TONGUE_T))
-            cy_v + radius * math.cos(a),
-            cz_v + radius * math.sin(a)
-        )
 
-    l_start = pt(ox, cy - hw, cz, 270, r)
+# Internal Fusions (Using Slim L-bracket style for MCU)
-    l_mid = pt(ox, cy - hw, cz, 180, r)
+for cx, cy, ix, iy in [(BRD_X, BRD_Y, 1, 1), (BRD_X+BRD_L, BRD_Y, -1, 1), (BRD_X, BRD_Y+BRD_W, 1, -1), (BRD_X+BRD_L, BRD_Y+BRD_W, -1, -1)]:
-    l_end = pt(ox, cy - hw, cz, 90, r)
+    bot_shell = bot_shell.fuse(make_slim_corner(cx, cy, ix, iy))
-    arc_left = Part.Arc(l_start, l_mid, l_end).toShape()
 
-    line_top = Part.makeLine(
+# Press-fit nubs — half-sphere on each L-bracket's inner Y-facing wall (w1)
-        l_end,
+bump_z = BRD_Z + 1.0 + BUMP_R           # Bottom of nub sits 1mm above platform
-        pt(ox, cy + hw, cz, 90, r)
+pw = 0.8; sl = 4.0                      # Must match make_slim_corner
-    )
+for cx, cy, ix, iy in [(BRD_X, BRD_Y, 1, 1), (BRD_X+BRD_L, BRD_Y, -1, 1),
+                        (BRD_X, BRD_Y+BRD_W, 1, -1), (BRD_X+BRD_L, BRD_Y+BRD_W, -1, -1)]:
+    # w1 wall centre X: midpoint of the sl-long wall extending from corner
+    mid_x = cx + ix * sl / 2.0
+    # w1 inner face Y: the face that looks toward the board centre
+    face_y = cy if iy > 0 else cy - pw  # wall origin Y
+    inner_y = face_y + pw if iy > 0 else face_y  # the side facing inward
+    # iy>0 → bump faces +Y (inward), iy<0 → bump faces -Y (inward)
+    # Actually: iy>0 means corner is at low-Y side, wall inner face = face_y+pw, bump goes +Y
+    #           iy<0 means corner is at high-Y side, wall inner face = face_y, bump goes -Y
+    sph = Part.makeSphere(BUMP_R, Base.Vector(mid_x, inner_y, bump_z))
+    cs = BUMP_R + 0.5
+    # Clip: keep only the half protruding inward (toward board centre)
+    if iy > 0:
+        clip = box(cs*2, cs, cs*2, mid_x - cs, inner_y, bump_z - cs)
+    else:
+        clip = box(cs*2, cs, cs*2, mid_x - cs, inner_y - cs, bump_z - cs)
+    half_sph = sph.common(clip)
+    bot_shell = bot_shell.fuse(half_sph)
 
-    r_start = pt(ox, cy + hw, cz, 90, r)
+POST_R = 1.75
-    r_mid = pt(ox, cy + hw, cz, 0, r)
+POST_TAPER_EXTRA = 0.3    # Extra radius at base
-    r_end = pt(ox, cy + hw, cz, 270, r)
+POST_TAPER_H = 6.0        # Height over which the taper blends to nominal radius
-    arc_right = Part.Arc(r_start, r_mid, r_end).toShape()
+BACK_POST_SHIFT = POST_R  # Shift back posts by half a post diameter
+for ox in [-POST_OFFS_X, POST_OFFS_X]:
+  for oy in [-POST_OFFS_Y, POST_OFFS_Y]:
+    px = BTN_X + ox + (BACK_POST_SHIFT if ox > 0 else 0)
+    py = BTN_CY + oy
+    post = cyl(POST_R, POST_H, px, py, WALL)
+    # Tapered cone base: wider at bottom, blends to post radius at POST_TAPER_H
+    taper = Part.makeCone(POST_R + POST_TAPER_EXTRA, POST_R, POST_TAPER_H,
+                          Base.Vector(px, py, WALL))
+    post = post.fuse(taper)
+    post = post.cut(cyl(0.5, POST_H + 1, px, py, WALL))
+    bot_shell = bot_shell.fuse(post)
 
-    line_bot = Part.makeLine(r_end, l_start)
+# Rounded USB-C Cut (Pill Shape)
+usbc_r = USBC_H / 2.0
+usbc_box = box(WALL*4, USBC_W - 2*usbc_r, USBC_H, -1, W/2 - USBC_W/2 + usbc_r, USBC_Z)
+usbc_cyl1 = Part.makeCylinder(usbc_r, WALL*4, Base.Vector(-1, W/2 - USBC_W/2 + usbc_r, USBC_Z + usbc_r), Base.Vector(1, 0, 0))
+usbc_cyl2 = Part.makeCylinder(usbc_r, WALL*4, Base.Vector(-1, W/2 + USBC_W/2 - usbc_r, USBC_Z + usbc_r), Base.Vector(1, 0, 0))
+usbc_rounded = usbc_box.fuse(usbc_cyl1).fuse(usbc_cyl2)
+bot_shell = bot_shell.cut(usbc_rounded)
 
-    wire = Part.Wire([arc_left, line_top, arc_right, line_bot])
+# Battery bay + retaining tabs
-    face = Part.Face(wire)
+bot_shell = bot_shell.cut(box(BAT_L, BAT_W, 3.0, BAT_X, BAT_Y, WALL))
+bat_clip_cy = BAT_Y + BAT_W / 2.0 - BAT_CLIP_Y / 2.0
+bot_shell = bot_shell.fuse(box(2.0, BAT_CLIP_Y, BAT_H * 0.55, BAT_X - 2.0,   bat_clip_cy, WALL))
+bot_shell = bot_shell.fuse(box(2.0, BAT_CLIP_Y, BAT_H * 0.55, BAT_X + BAT_L, bat_clip_cy, WALL))
 
-    return face.extrude(Base.Vector(depth, 0, 0))
+# MICRO-DETENT RIDGES: Buried deep, barely protruding
+rx0, rz0 = L/2 - RIDGE_W/2, SPLIT_Z + RIDGE_Z_OFF
+ridge_bury = 1.5 
+ridge_total_t = ridge_bury + RIDGE_PROUD
+bot_shell = bot_shell.fuse(box(RIDGE_W, ridge_total_t, RIDGE_H, rx0, TONGUE_T - ridge_bury, rz0))
+bot_shell = bot_shell.fuse(box(RIDGE_W, ridge_total_t, RIDGE_H, rx0, W - TONGUE_T - RIDGE_PROUD, rz0))
 
+# TOP SHELL
+top_shell = fillet_horiz(rbox(L, W, H-SPLIT_Z, 0, 0, SPLIT_Z), EDGE_FILLET, H)
+top_shell = top_shell.cut(rbox(L-WALL*2, W-WALL*2, H-SPLIT_Z-WALL, WALL, WALL, SPLIT_Z, r=CR_I))
 
-# Board clip helper
+# Groove and Matching Recesses
-def make_clip(corner_x, corner_y, inward_x, inward_y):
+g_band = rbox(L, W, GROOVE_H, 0, 0, SPLIT_Z, r=CR).cut(rbox(L-GROOVE_T*2, W-GROOVE_T*2, GROOVE_H+2, GROOVE_T, GROOVE_T, SPLIT_Z-1, r=CR-GROOVE_T))
+top_shell = top_shell.cut(g_band)
 
-    plat_w = ARM_THICK + CLIP_TOL
+# Recesses in groove wall — bottom ridges click into these
+rec_w = RIDGE_W + TOL*2
+rec_d = RIDGE_PROUD + TOL  # Slightly deeper than ridge protrusion
+top_shell = top_shell.cut(box(rec_w, rec_d, RIDGE_H+TOL, L/2-rec_w/2, GROOVE_T, rz0-TOL/2))
+top_shell = top_shell.cut(box(rec_w, rec_d, RIDGE_H+TOL, L/2-rec_w/2, W-GROOVE_T-rec_d, rz0-TOL/2))
 
-    plat_x = corner_x if inward_x > 0 else corner_x - plat_w
+# Button & Cap
-    plat_y = corner_y if inward_y > 0 else corner_y - plat_w
+top_shell = top_shell.cut(cyl(BTN_HOLE_R, H, BTN_X, BTN_CY, SPLIT_Z))
+top_shell = top_shell.cut(Part.makeSphere(BTN_DOME_R, Base.Vector(BTN_X, BTN_CY, H - WALL - BTN_DOME_R + BTN_DOME_SAG)))
+cap = cyl(CAP_SHAFT_R, CAP_SHAFT_H).fuse(cyl(CAP_RIM_R, CAP_RIM_H, 0, 0, -CAP_RIM_H))
+# Hollow cavity in bottom of shaft — button dome nests inside instead of a protruding nubbin
+cap = cap.cut(cyl(CAP_CAVITY_R, CAP_CAVITY_H, 0, 0, -CAP_RIM_H))
+cap_placed = cap.copy(); cap_placed.translate(Base.Vector(BTN_X, BTN_CY, H - CAP_SHAFT_H))
 
-    platform = box(
+# ─── REGISTER ────────────────────────────────────────────────────────────────
-        plat_w, plat_w,
+for name, shape, color in [("Shell_Bottom", bot_shell, (0.15, 0.15, 0.18)),
-        PLATFORM_H + PCB_T,
+                           ("Shell_Top", top_shell, (0.25, 0.25, 0.32)),
-        plat_x, plat_y, WALL
+                           ("Button_Cap", cap_placed, (0.7, 0.7, 0.7))]:
-    )
+    obj = doc.addObject("Part::Feature", name)
-
+    obj.Shape = shape
-    ax_ox = corner_x if inward_x > 0 else corner_x - ARM_LEN
+    obj.ViewObject.ShapeColor = color
-    ax_oy = corner_y - ARM_THICK - CLIP_TOL if inward_y > 0 else corner_y + CLIP_TOL
-    arm_x = box(ARM_LEN, ARM_THICK, ARM_H, ax_ox, ax_oy, WALL)
-
-    ay_oy = corner_y if inward_y > 0 else corner_y - ARM_LEN
-    ay_ox = corner_x - ARM_THICK - CLIP_TOL if inward_x > 0 else corner_x + CLIP_TOL
-    arm_y = box(ARM_THICK, ARM_LEN, ARM_H, ay_ox, ay_oy, WALL)
-
-    corner_block_w = ARM_THICK + CLIP_TOL
-    cb_ox = corner_x - corner_block_w if inward_x > 0 else corner_x
-    cb_oy = corner_y - corner_block_w if inward_y > 0 else corner_y
-
-    corner_block = box(
-        corner_block_w, corner_block_w, ARM_H,
-        cb_ox, cb_oy, WALL
-    )
-
-    return platform.fuse(arm_x.fuse(arm_y).fuse(corner_block))
-
-
-# Base outer body
-base = rbox(L, W, H)
-
-# Inner cavity
-base = base.cut(
-    box(L - WALL * 2, W - WALL * 2, H - WALL,
-        WALL, WALL, WALL)
-)
-
-rail_z = H - RAIL_H
-groove_h = RAIL_H - LIP_H
-
-# Rail grooves
-base = base.cut(
-    box(L - WALL * 2, RAIL_D, groove_h,
-        WALL, WALL - RAIL_D, rail_z)
-)
-
-base = base.cut(
-    box(L - WALL * 2, RAIL_D, groove_h,
-        WALL, W - WALL, rail_z)
-)
-
-# Lid lips
-lip_z = H - LIP_H
-
-base = base.fuse(
-    box(L - WALL * 2, LIP_OVER, LIP_H,
-        WALL, WALL, lip_z)
-)
-
-base = base.fuse(
-    box(L - WALL * 2, LIP_OVER, LIP_H,
-        WALL, W - WALL - LIP_OVER, lip_z)
-)
-
-# Back slot
-slot_y0 = WALL - RAIL_D
-slot_yw = W - WALL * 2 + RAIL_D * 2
-
-base = base.cut(
-    box(WALL + 1.0, slot_yw, RAIL_H,
-        L - WALL, slot_y0, rail_z)
-)
-
-# Entry bump
-BUMP_H = 0.5
-pad_raw = box(WALL, slot_yw, BUMP_H,
-              L - WALL, slot_y0, rail_z)
-
-pad_trimmed = pad_raw.common(rbox(L, W, H))
-base = base.fuse(pad_trimmed)
-
-# Board clips
-clip_corners = [
-    (BRD_X, BRD_Y, +1, +1),
-    (BRD_X + BRD_L, BRD_Y, -1, +1),
-    (BRD_X, BRD_Y + BRD_W, +1, -1),
-    (BRD_X + BRD_L, BRD_Y + BRD_W, -1, -1),
-]
-
-for cx, cy, ix, iy in clip_corners:
-    base = base.fuse(make_clip(cx, cy, ix, iy))
-
-# USB-C opening
-base = base.cut(
-    rounded_slot(
-        WALL * 3,
-        USBC_W,
-        USBC_H,
-        -WALL,
-        W / 2 - USBC_W / 2,
-        USBC_Z
-    )
-)
-
-# Battery recess
-base = base.cut(
-    box(BAT_L, BAT_W, 3.0,
-        BAT_X, BAT_Y, WALL)
-)
-
-clip_y_start = BAT_Y + BAT_W / 2 - BAT_CLIP_Y / 2
-
-base = base.fuse(
-    box(2.0, BAT_CLIP_Y, BAT_H * 0.55,
-        BAT_X - 2.0, clip_y_start, WALL)
-)
-
-base = base.fuse(
-    box(2.0, BAT_CLIP_Y, BAT_H * 0.55,
-        BAT_X + BAT_L, clip_y_start, WALL)
-)
-
-# 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))
-
-# Lid
-TAB_W = RAIL_D - TOL + 0.5
-LID_L = L - WALL * 2 - TOL
-LID_EXTRA_TOL = 0.5
-
-LID_W = (
-    W - WALL * 2
-    - (TOL + LID_EXTRA_TOL) * 2
-    + TAB_W * 2
-)
-
-lid_y0 = WALL + TOL + LID_EXTRA_TOL - TAB_W
-lid = box(LID_L, LID_W, LID_H, 0, lid_y0, 0)
-
-lid.translate(Base.Vector(WALL + TOL, 0, rail_z))
-
-# Final objects
-base_obj = doc.addObject("Part::Feature", "Pointer_Base")
-base_obj.Shape = base
-base_obj.ViewObject.ShapeColor = (0.12, 0.12, 0.14)
-
-lid_obj = doc.addObject("Part::Feature", "Pointer_Lid")
-lid_obj.Shape = lid
-lid_obj.ViewObject.ShapeColor = (0.28, 0.28, 0.34)
-lid_obj.ViewObject.Transparency = 25
 
 doc.recompute()
-Gui.activeDocument().activeView().viewIsometric()
 Gui.SendMsgToActiveView("ViewFit")

platformio.ini

@@ -25,8 +25,10 @@ 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
+; git_hash.py  - injects short git hash into firmware + web/version.js
+; generate_dfu.py - generates firmware_dfu.zip for OTA upload (requires adafruit-nrfutil)
+extra_scripts = pre:scripts/git_hash.py, post:scripts/generate_dfu.py
 
 ;  Build flags 
 build_flags =

scripts/generate_dfu.py

@@ -0,0 +1,53 @@
+"""
+PlatformIO post-build script: generates a Nordic DFU package (.zip) from the
+built firmware .hex using adafruit-nrfutil.
+
+The resulting firmware_dfu.zip can be uploaded to the device via:
+  - nRF Connect mobile app (iOS / Android) after triggering OTA mode
+  - nRF Connect for Desktop
+  - adafruit-nrfutil over BLE (advanced)
+
+Trigger OTA mode on the device:
+  - Send BLE command 0x02 to cfgCommand (0x1236), OR
+  - Type 'o' in the serial monitor
+
+Usage: referenced from platformio.ini as:
+    extra_scripts = pre:scripts/git_hash.py, post:scripts/generate_dfu.py
+"""
+import subprocess, os
+
+Import("env")  # noqa: F821 - PlatformIO injects this
+
+def generate_dfu_package(source, target, env):
+    build_dir   = env.subst("$BUILD_DIR")
+    project_dir = env.subst("$PROJECT_DIR")
+    hex_path    = os.path.join(build_dir, "firmware.hex")
+
+    if not os.path.exists(hex_path):
+        print(f"[generate_dfu] firmware.hex not found at {hex_path}, skipping")
+        return
+
+    out_path = os.path.join(project_dir, "firmware_dfu.zip")
+
+    try:
+        result = subprocess.run(
+            [
+                "adafruit-nrfutil", "dfu", "genpkg",
+                "--dev-type", "0x0052",   # nRF52840
+                "--application", hex_path,
+                out_path,
+            ],
+            capture_output=True,
+            text=True,
+        )
+        if result.returncode == 0:
+            size_kb = os.path.getsize(out_path) / 1024
+            print(f"[generate_dfu] DFU package ready: firmware_dfu.zip ({size_kb:.1f} KB)")
+            print(f"[generate_dfu] Upload with nRF Connect after sending OTA command (0x02) via BLE")
+        else:
+            print(f"[generate_dfu] adafruit-nrfutil error: {result.stderr.strip()}")
+    except FileNotFoundError:
+        print("[generate_dfu] adafruit-nrfutil not found - skipping DFU package generation")
+        print("[generate_dfu] Install with: pip install adafruit-nrfutil")
+
+env.AddPostAction("$BUILD_DIR/firmware.hex", generate_dfu_package)  # noqa: F821

source/battery.cpp

@@ -36,14 +36,15 @@ void updateBattery() {
   ChargeStatus status = chg ? (pct >= 99 ? CHGSTAT_FULL : CHGSTAT_CHARGING) : CHGSTAT_DISCHARGING;
   // 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);
+  if (Bluefruit.connected()) blebas.notify(pct);
   lastChargeStatus = status;
   #ifdef FEATURE_TELEMETRY
     telem.chargeStatus = (uint8_t)status;
   #endif
   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]);
+  Serial.print(pct); Serial.print("% "); Serial.print(st[status]);
+  Serial.print(" (PIN_CHG="); Serial.print(digitalRead(PIN_CHG)); Serial.println(")");
   // 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())

source/ble_config.cpp

@@ -77,9 +77,6 @@ void pushConfigBlob() {
   b.tapFreezeEnabled = cfg.tapFreezeEnabled;
   b.jerkThreshold    = cfg.jerkThreshold;
   b.featureFlags     = cfg.featureFlags;
-  b.btnLeftPin       = cfg.btnLeftPin;
-  b.btnRightPin      = cfg.btnRightPin;
-  b.btnMiddlePin     = cfg.btnMiddlePin;
   cfgBlob.write((uint8_t*)&b, sizeof(b));
 }
 #endif
@@ -125,13 +122,6 @@ void onConfigBlobWrite(uint16_t h, BLECharacteristic* c, uint8_t* d, uint16_t l)
   cfg.tapFreezeEnabled = b->tapFreezeEnabled ? 1 : 0;
   if (b->jerkThreshold >= 100.0f && b->jerkThreshold <= 50000.0f) cfg.jerkThreshold = b->jerkThreshold;
   cfg.featureFlags = b->featureFlags & (FLAG_TAP_ENABLED | FLAG_TEMP_COMP_ENABLED | FLAG_AUTO_RECAL_ENABLED);
-  // btnXPin: accept BTN_PIN_NONE (0xFF) or a valid Arduino pin number (0-10 = D0-D10)
-  cfg.btnLeftPin   = (b->btnLeftPin   <= 10 || b->btnLeftPin   == BTN_PIN_NONE) ? b->btnLeftPin   : BTN_PIN_NONE;
-  cfg.btnRightPin  = (b->btnRightPin  <= 10 || b->btnRightPin  == BTN_PIN_NONE) ? b->btnRightPin  : BTN_PIN_NONE;
-  cfg.btnMiddlePin = (b->btnMiddlePin <= 10 || b->btnMiddlePin == BTN_PIN_NONE) ? b->btnMiddlePin : BTN_PIN_NONE;
-  #ifdef FEATURE_PHYSICAL_BUTTONS
-    setupPhysicalButtons();   // reconfigure pins immediately (no restart needed)
-  #endif
   saveConfig();
   Serial.print("[CFG] Written - sens="); Serial.print(cfg.sensitivity,0);
   Serial.print(" dz="); Serial.print(cfg.deadZone,3);
@@ -143,6 +133,9 @@ 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;
+  #ifdef FEATURE_OTA
+    if (d[0] == 0x02) pendingOTA = true;
+  #endif
 }
 
 #ifdef FEATURE_IMU_STREAM
@@ -163,7 +156,7 @@ void setupConfigService() {
   cfgBlob.begin();
   pushConfigBlob();
 
-  cfgCommand.setProperties(CHR_PROPS_WRITE);
+  cfgCommand.setProperties(CHR_PROPS_WRITE | CHR_PROPS_WRITE_WO_RESP);
   cfgCommand.setPermission(SECMODE_OPEN, SECMODE_OPEN);
   cfgCommand.setFixedLen(1);
   cfgCommand.setWriteCallback(onCommandWrite);

source/buttons.cpp

@@ -4,8 +4,18 @@
 #include <bluefruit.h>
 
 extern BLEHidAdafruit blehid;
+extern Config cfg;
 
-static uint8_t physBtnMask = 0;   // bitmask of currently-pressed physical buttons
+static uint8_t physBtnMask = 0;
+static uint8_t rawMaskPrev = 0;
+static unsigned long debounceMs = 0;
+static const unsigned long DEBOUNCE_MS = 20;
+
+// Double-press detection for left button
+static const unsigned long DOUBLE_PRESS_MS = 400;   // max gap between two releases
+static const unsigned long KEY_HOLD_MS     = 60;    // how long to hold the key down
+static unsigned long lastLeftReleaseMs = 0;
+static unsigned long keyDownUntil      = 0;
 
 // Setup 
 void setupPhysicalButtons() {
@@ -13,19 +23,19 @@ void setupPhysicalButtons() {
   if (physBtnMask && Bluefruit.connected()) { blehid.mouseButtonRelease(); }
   physBtnMask = 0;
 
-  if (cfg.btnLeftPin   != BTN_PIN_NONE) pinMode(cfg.btnLeftPin,   INPUT_PULLUP);
+  if (BTN_LEFT_PIN   != BTN_PIN_NONE) pinMode(BTN_LEFT_PIN,   INPUT_PULLUP);
-  if (cfg.btnRightPin  != BTN_PIN_NONE) pinMode(cfg.btnRightPin,  INPUT_PULLUP);
+  if (BTN_RIGHT_PIN  != BTN_PIN_NONE) pinMode(BTN_RIGHT_PIN,  INPUT_PULLUP);
-  if (cfg.btnMiddlePin != BTN_PIN_NONE) pinMode(cfg.btnMiddlePin, INPUT_PULLUP);
+  if (BTN_MIDDLE_PIN != BTN_PIN_NONE) pinMode(BTN_MIDDLE_PIN, INPUT_PULLUP);
 
-  bool any = (cfg.btnLeftPin != BTN_PIN_NONE) || (cfg.btnRightPin != BTN_PIN_NONE)
+  bool any = (BTN_LEFT_PIN != BTN_PIN_NONE) || (BTN_RIGHT_PIN != BTN_PIN_NONE)
-          || (cfg.btnMiddlePin != BTN_PIN_NONE);
+          || (BTN_MIDDLE_PIN != BTN_PIN_NONE);
   if (any) {
     Serial.print("[BTN] L=");
-    cfg.btnLeftPin   == BTN_PIN_NONE ? Serial.print("--") : Serial.print(cfg.btnLeftPin);
+    BTN_LEFT_PIN   == BTN_PIN_NONE ? Serial.print("--") : Serial.print(BTN_LEFT_PIN);
     Serial.print(" R=");
-    cfg.btnRightPin  == BTN_PIN_NONE ? Serial.print("--") : Serial.print(cfg.btnRightPin);
+    BTN_RIGHT_PIN  == BTN_PIN_NONE ? Serial.print("--") : Serial.print(BTN_RIGHT_PIN);
     Serial.print(" M=");
-    cfg.btnMiddlePin == BTN_PIN_NONE ? Serial.print("--") : Serial.print(cfg.btnMiddlePin);
+    BTN_MIDDLE_PIN == BTN_PIN_NONE ? Serial.print("--") : Serial.print(BTN_MIDDLE_PIN);
     Serial.println();
   }
 }
@@ -36,16 +46,50 @@ void setupPhysicalButtons() {
 void processPhysicalButtons() {
   if (!Bluefruit.connected()) return;
 
-  uint8_t newMask = 0;
+  unsigned long now = millis();
-  if (cfg.btnLeftPin   != BTN_PIN_NONE && digitalRead(cfg.btnLeftPin)   == LOW) newMask |= MOUSE_BUTTON_LEFT;
-  if (cfg.btnRightPin  != BTN_PIN_NONE && digitalRead(cfg.btnRightPin)  == LOW) newMask |= MOUSE_BUTTON_RIGHT;
-  if (cfg.btnMiddlePin != BTN_PIN_NONE && digitalRead(cfg.btnMiddlePin) == LOW) newMask |= MOUSE_BUTTON_MIDDLE;
 
-  if (newMask != physBtnMask) {
+  // Release held key combo after KEY_HOLD_MS
+  if (keyDownUntil && now >= keyDownUntil) {
+    uint8_t noKeys[6] = {};
+    blehid.keyboardReport(0, noKeys);
+    keyDownUntil = 0;
+    Serial.println("[BTN] key release");
+  }
+
+  uint8_t rawMask = 0;
+  if (BTN_LEFT_PIN   != BTN_PIN_NONE && digitalRead(BTN_LEFT_PIN)   == LOW) rawMask |= MOUSE_BUTTON_LEFT;
+  if (BTN_RIGHT_PIN  != BTN_PIN_NONE && digitalRead(BTN_RIGHT_PIN)  == LOW) rawMask |= MOUSE_BUTTON_RIGHT;
+  if (BTN_MIDDLE_PIN != BTN_PIN_NONE && digitalRead(BTN_MIDDLE_PIN) == LOW) rawMask |= MOUSE_BUTTON_MIDDLE;
+
+  if (rawMask != rawMaskPrev) { rawMaskPrev = rawMask; debounceMs = now; }
+  if (rawMask != physBtnMask && (now - debounceMs >= DEBOUNCE_MS)) {
+    uint8_t newMask = rawMask;
+    uint8_t pressed  = newMask & ~physBtnMask;
+    uint8_t released = physBtnMask & ~newMask;
     physBtnMask = newMask;
     if (physBtnMask) blehid.mouseButtonPress(physBtnMask);
     else             blehid.mouseButtonRelease();
-    Serial.print("[BTN] mask=0x"); Serial.println(physBtnMask, HEX);
+    if (pressed & MOUSE_BUTTON_LEFT)    Serial.println("[BTN] L press");
+    if (pressed & MOUSE_BUTTON_RIGHT)   Serial.println("[BTN] R press");
+    if (pressed & MOUSE_BUTTON_MIDDLE)  Serial.println("[BTN] M press");
+    if (released & MOUSE_BUTTON_LEFT) {
+      unsigned long gap = lastLeftReleaseMs ? (now - lastLeftReleaseMs) : 0;
+      Serial.print("[BTN] L release - gap="); Serial.print(gap);
+      Serial.print("ms (max="); Serial.print(DOUBLE_PRESS_MS); Serial.println("ms)");
+      // Double-press detection: two short presses → fire key combo
+      if (lastLeftReleaseMs && (gap <= DOUBLE_PRESS_MS)) {
+        uint8_t keys[6] = {cfg.tapKey, 0, 0, 0, 0, 0};
+        blehid.keyboardReport(cfg.tapMod, keys);
+        keyDownUntil = now + KEY_HOLD_MS;
+        lastLeftReleaseMs = 0;
+        Serial.print("[BTN] Double-press → key 0x"); Serial.print(cfg.tapKey, HEX);
+        Serial.print(" mod 0x"); Serial.println(cfg.tapMod, HEX);
+      } else {
+        lastLeftReleaseMs = now;
+      }
+    }
+    if (released & MOUSE_BUTTON_RIGHT)  Serial.println("[BTN] R release");
+    if (released & MOUSE_BUTTON_MIDDLE) Serial.println("[BTN] M release");
   }
 }
 

source/config.h

@@ -5,12 +5,13 @@
 #define FEATURE_CONFIG_SERVICE
 #define FEATURE_TELEMETRY
 #define FEATURE_IMU_STREAM
-#define FEATURE_TAP_DETECTION
+// #define FEATURE_TAP_DETECTION
 #define FEATURE_TEMP_COMPENSATION
 #define FEATURE_AUTO_RECAL
 #define FEATURE_BATTERY_MONITOR
 #define FEATURE_BOOT_LOOP_DETECT
 #define FEATURE_PHYSICAL_BUTTONS
+#define FEATURE_OTA
 
 // Debug 
 // #define DEBUG
@@ -56,8 +57,12 @@
 #define CONFIG_FILENAME  "/imu_mouse_cfg.bin"
 #define CONFIG_MAGIC     0xDEAD123EUL
 
-// Physical button sentinel 
+// Physical button pin assignments (hardcoded - set to 0xFF to disable a button)
-#define BTN_PIN_NONE  0xFF   // Stored in btn*Pin when that button is disabled
+// Valid pin numbers: 0-10 (Arduino D0-D10 on XIAO nRF52840 Sense)
+#define BTN_PIN_NONE   0xFF
+#define BTN_LEFT_PIN   1              // D1, active-low to GND
+#define BTN_RIGHT_PIN  BTN_PIN_NONE   // e.g. 1 for D1
+#define BTN_MIDDLE_PIN BTN_PIN_NONE   // e.g. 2 for D2
 
 // Runtime feature-override flags (cfg.featureFlags bitmask) 
 // These mirror the compile-time FEATURE_* defines but can be toggled at runtime
@@ -98,9 +103,6 @@ struct Config {
   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    btnLeftPin;       // BTN_PIN_NONE or Arduino pin number (0-10 = D0-D10)
-  uint8_t    btnRightPin;
-  uint8_t    btnMiddlePin;
 };
 extern Config cfg;
 extern const Config CFG_DEFAULTS;
@@ -120,11 +122,8 @@ struct __attribute__((packed)) ConfigBlob {
   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 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");
+static_assert(sizeof(ConfigBlob) == 25, "ConfigBlob must be 25 bytes");
 
 // TelemetryPacket (24 bytes) 
 #ifdef FEATURE_TELEMETRY
@@ -159,8 +158,7 @@ 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;
 extern const int   IDLE_FRAMES;
@@ -185,10 +183,8 @@ 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;
 extern float biasGX, biasGY, biasGZ;
 extern float calTempC;
 extern float cachedTempC;
@@ -207,6 +203,9 @@ extern float cachedTempC;
 
 extern bool pendingCal;
 extern bool pendingReset;
+#ifdef FEATURE_OTA
+  extern bool pendingOTA;
+#endif
 extern ChargeStatus lastChargeStatus;
 extern int           idleFrames;
 extern unsigned long idleStartMs;

source/imu.cpp

@@ -34,9 +34,7 @@ void calibrateGyroBias() {
   biasGY = (float)(sy/BIAS_SAMPLES);
   biasGZ = (float)(sz/BIAS_SAMPLES);
   calTempC = readIMUTemp();
-  angleX = angleY = accumX = accumY = 0.0f;
+  accumX = accumY = 0.0f;
-  // Seed gravity estimate from current accel so projection is correct immediately
-  gravX = imu.readFloatAccelX(); gravY = imu.readFloatAccelY(); gravZ = imu.readFloatAccelZ();
 
   #ifdef FEATURE_TELEMETRY
     statRecalCount++;

source/main.cpp

@@ -17,7 +17,6 @@
 #include "imu.h"
 #include "ble_config.h"
 #include "battery.h"
-#include "tap.h"
 #include "buttons.h"
 #include <bluefruit.h>
 #include <Adafruit_LittleFS.h>
@@ -46,9 +45,8 @@ File cfgFile(InternalFS);
 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,
+  /*tapThreshold=*/12, /*tapAction=*/TAP_ACTION_KEY, /*tapKey=*/0x04, /*tapMod=*/0x03,  // Ctrl+Shift+A
-  /*jerkThreshold=*/2000.0f, /*tapFreezeEnabled=*/1, /*featureFlags=*/FLAG_ALL_DEFAULT,
+  /*jerkThreshold=*/2000.0f, /*tapFreezeEnabled=*/1, /*featureFlags=*/FLAG_ALL_DEFAULT
-  /*btnLeftPin=*/BTN_PIN_NONE, /*btnRightPin=*/BTN_PIN_NONE, /*btnMiddlePin=*/BTN_PIN_NONE
 };
 
 // Telemetry definition 
@@ -56,9 +54,9 @@ const Config CFG_DEFAULTS = {
 TelemetryPacket telem = {};
 #endif
 
-// Tuning constants 
+// Tuning constants
-const float ALPHA              = 0.96f;
 const int   LOOP_RATE_MS       = 10;
+const float SMOOTH_ALPHA       = 0.65f;  // single-pole low-pass for cursor smoothing
 const int   BIAS_SAMPLES       = 200;
 const int   IDLE_FRAMES        = 150;
 const unsigned long BATT_REPORT_MS       = 20000;
@@ -82,11 +80,8 @@ 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)
-float gravX = 0, gravY = 0, gravZ = 1.0f;
 float biasGX = 0, biasGY = 0, biasGZ = 0;
 float calTempC    = 25.0f;
 float cachedTempC = 25.0f;
@@ -116,11 +111,10 @@ float cachedTempC = 25.0f;
 uint32_t loopStalls = 0;          // loop iterations where dt > 20ms (behind schedule)
 bool pendingCal   = false;
 bool pendingReset = false;
+#ifdef FEATURE_OTA
+  bool pendingOTA = false;
+#endif
 
-// 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
 
 ChargeStatus lastChargeStatus = CHGSTAT_DISCHARGING;
 
@@ -221,8 +215,6 @@ void setup() {
   #endif
 
   calibrateGyroBias();
-  // Seed previous-accel for jerk detection so first frame doesn't spike
-  prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ();
 
   sleepManagerInit();
 
@@ -293,15 +285,35 @@ void loop() {
     }
   #endif
 
-  // Serial commands: 'c' = calibrate, 'r' = factory reset
+  // Serial commands: 'c' = calibrate, 'r' = factory reset, 'd' = axis diagnostic
+  static unsigned long diagUntil = 0;
   while (Serial.available()) {
     char cmd = Serial.read();
     if (cmd == 'c') { Serial.println("[SERIAL] Calibrate"); pendingCal   = true; }
     if (cmd == 'r') { Serial.println("[SERIAL] Reset");     pendingReset = true; }
+    if (cmd == 'd') { Serial.println("[DIAG] Printing raw gyro for 10s — pan, nod, roll one at a time"); diagUntil = now + 10000; }
+    #ifdef FEATURE_OTA
+      if (cmd == 'o') { Serial.println("[SERIAL] OTA DFU"); pendingOTA = true; }
+    #endif
   }
 
-  if (pendingCal)   { pendingCal = false; calibrateGyroBias(); prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); }
+  if (pendingCal)   { pendingCal = false; calibrateGyroBias(); }
   if (pendingReset) { pendingReset = false; factoryReset(); }
+  #ifdef FEATURE_OTA
+    if (pendingOTA) {
+      pendingOTA = false;
+      Serial.println("[OTA] Disconnecting BLE and entering bootloader DFU mode...");
+      Serial.flush();
+      // Gracefully close the BLE connection first so the host can detect the
+      // disconnect and be ready to see DfuTarg advertise after the reboot.
+      if (Bluefruit.connected()) {
+        Bluefruit.disconnect(0);
+        delay(300);
+      }
+      delay(200);
+      enterOTADfu();  // Adafruit nRF52 core: sets GPREGRET correctly and resets into bootloader OTA mode
+    }
+  #endif
 
   // Heartbeat LED
   if (now - lastHeartbeat >= HEARTBEAT_MS) {
@@ -349,62 +361,32 @@ void loop() {
     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 gx = (imu.readFloatGyroX() - biasGX) * (PI/180.0f);             // roll (unused for cursor)
-  float gy = (imu.readFloatGyroY() - biasGY - correction) * (PI/180.0f);
+  float gy = (imu.readFloatGyroY() - biasGY - correction) * (PI/180.0f); // pitch → cursor Y
-  float gz = (imu.readFloatGyroZ() - biasGZ - correction) * (PI/180.0f);
+  float gz = (imu.readFloatGyroZ() - biasGZ - correction) * (PI/180.0f); // yaw   → cursor X
 
-  float ax = imu.readFloatAccelX();
+  // Axis diagnostic — send 'd' over serial to enable
-  float ay = imu.readFloatAccelY();
+  if (diagUntil && now < diagUntil) {
-  float az = imu.readFloatAccelZ();
+    static unsigned long lastDiagPrint = 0;
+    if (now - lastDiagPrint >= 100) { lastDiagPrint = now;
+      Serial.print("[DIAG] gx="); Serial.print(gx,3);
+      Serial.print(" gy="); Serial.print(gy,3);
+      Serial.print(" gz="); Serial.println(gz,3);
+    }
+  } else if (diagUntil) { diagUntil = 0; Serial.println("[DIAG] Done"); }
 
-  // Jerk-based shock detection - freeze cursor during tap impacts, doesn't work well yet
+  // Direct axis mapping (empirically verified via diagnostic)
-  float jx = (ax - prevAx) / dt, jy = (ay - prevAy) / dt, jz = (az - prevAz) / dt;
+  float yawRate   =  gz;  // gyroZ = pan left/right → cursor X
-  float jerkSq = jx*jx + jy*jy + jz*jz;
+  float pitchRate =  gy;  // gyroY = nod up/down    → cursor Y
-  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
+  // Dead zone (equal for both axes)
-  if (shocked) {
+  float fYaw   = (fabsf(yawRate)   > cfg.deadZone) ? yawRate   : 0.0f;
-    angleX += gx * dt;
+  float fPitch = (fabsf(pitchRate) > cfg.deadZone) ? pitchRate : 0.0f;
-    angleY += gz * dt;
-  } else {
-    angleX = ALPHA*(angleX + gx*dt) + (1.0f - ALPHA)*atan2f(ax, sqrtf(ay*ay + az*az));
-    angleY = ALPHA*(angleY + gz*dt) + (1.0f - ALPHA)*atan2f(ay, sqrtf(ax*ax + az*az));
-  }
-
-  // Gravity-based axis decomposition
-  const float GRAV_LP = 0.05f;
-  if (!shocked) {
-    gravX += GRAV_LP * (ax - gravX);
-    gravY += GRAV_LP * (ay - gravY);
-    gravZ += GRAV_LP * (az - gravZ);
-  }
-
-  float gN = sqrtf(gravX*gravX + gravY*gravY + gravZ*gravZ);
-  if (gN < 0.3f) gN = 1.0f;
-  float gnx = gravX/gN, gny = gravY/gN, gnz = gravZ/gN;
-
-  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; }
-  ry /= rN; rz /= rN;
-
-  // Yaw  (cursor X) = angular velocity component around gravity (vertical)
-  // Pitch (cursor Y) = angular velocity component around screen-right
-  float yawRate   = gx*gnx + gy*gny + gz*gnz;
-  float pitchRate = -(gy*ry + gz*rz);
-
-  // Projected rates amplify residual gyro bias (especially GY drift on pitch axis).
-  float fYaw   = (fabsf(yawRate)   > cfg.deadZone)       ? yawRate   : 0.0f;
-  float fPitch = (fabsf(pitchRate) > cfg.deadZone * 3.0f) ? pitchRate : 0.0f;
 
   #ifdef DEBUG
   { static unsigned long lastDiag = 0;
     if (now - lastDiag >= 500) { lastDiag = now;
-      Serial.print("[PROJ] grav="); Serial.print(gnx,2); Serial.print(","); Serial.print(gny,2); Serial.print(","); Serial.print(gnz,2);
+      Serial.print("[IMU] gyro="); Serial.print(gx,2); Serial.print(","); Serial.print(gy,2); Serial.print(","); Serial.print(gz,2);
-      Serial.print(" R="); Serial.print(ry,2); Serial.print(","); Serial.print(rz,2);
-      Serial.print(" gyro="); Serial.print(gx,2); Serial.print(","); Serial.print(gy,2); Serial.print(","); Serial.print(gz,2);
       Serial.print(" yaw="); Serial.print(yawRate,3); Serial.print(" pitch="); Serial.println(pitchRate,3);
     }
   }
@@ -418,18 +400,17 @@ 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...");
-      idleStartMs = 0; calibrateGyroBias(); prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); return;
+      idleStartMs = 0; calibrateGyroBias(); return;
     }
   #endif
 
   int8_t  moveX = 0, moveY = 0;
   uint8_t flags = 0;
 
-  if (shocked) {
+  static float smoothX = 0.0f, smoothY = 0.0f;
-    // Shock freeze - discard accumulated sub-pixel motion and suppress output
+
-    accumX = accumY = 0.0f;
+  if (idle) {
-    flags |= 0x08;  // bit3 = shock freeze active
+    smoothX = smoothY = 0.0f;
-  } else if (idle) {
     accumX = accumY = 0.0f;
     flags |= 0x01;
   } else {
@@ -437,7 +418,10 @@ void loop() {
     float rawY = applyAcceleration(applyCurve(-fPitch * cfg.sensitivity * dt));
     if (cfg.axisFlip & 0x01) rawX = -rawX;
     if (cfg.axisFlip & 0x02) rawY = -rawY;
-    accumX += rawX; accumY += rawY;
+    // Single-pole low-pass smoothing
+    smoothX = smoothX * (1.0f - SMOOTH_ALPHA) + rawX * SMOOTH_ALPHA;
+    smoothY = smoothY * (1.0f - SMOOTH_ALPHA) + rawY * SMOOTH_ALPHA;
+    accumX += smoothX; accumY += smoothY;
     moveX = (int8_t)constrain((int)accumX, -127, 127);
     moveY = (int8_t)constrain((int)accumY, -127, 127);
     accumX -= moveX; accumY -= moveY;
@@ -452,6 +436,7 @@ void loop() {
       if (now < streamBackoffUntil) {
         // Backing off - host TX buffer congested, skip to avoid 100ms block
       } else {
+        float ax = imu.readFloatAccelX(), ay = imu.readFloatAccelY(), az = imu.readFloatAccelZ();
         ImuPacket pkt;
         pkt.gyroX_mDPS = (int16_t)constrain(gx*(180.f/PI)*1000.f, -32000, 32000);
         pkt.gyroZ_mDPS = (int16_t)constrain(gz*(180.f/PI)*1000.f, -32000, 32000);

source/sleep.cpp

@@ -34,6 +34,17 @@ static volatile bool pendingWakeRecal  = false;  // set only when recal is also
 // has been off long enough for thermal drift to matter (~5 minutes).
 static constexpr unsigned long RECAL_AFTER_LP_MS = 5UL * 60UL * 1000UL;
 
+// Post-wake stillness gate: don't calibrate while the device is moving.
+// Each axis of the gyro must stay below RECAL_STILL_DPS for RECAL_STILL_FRAMES
+// consecutive loop ticks before calibration fires. If the device keeps moving
+// past RECAL_WAIT_MAX_MS, recal is skipped and the pre-sleep bias is kept.
+static constexpr float         RECAL_STILL_DPS    = 10.0f;  // deg/s per axis
+static constexpr uint8_t       RECAL_STILL_FRAMES = 10;     // ~100 ms at 10 ms/frame
+static constexpr unsigned long RECAL_WAIT_MAX_MS  = 3000;   // give up after 3 s
+
+static uint8_t       recalStillFrames = 0;
+static unsigned long recalLastWarnMs  = 0;
+
 // I2C helpers - Wire1 at 0x6A (SA0 LOW on XIAO nRF52840 Sense) 
 static uint8_t lsmRead(uint8_t reg) {
   Wire1.beginTransmission(LSM_ADDR);
@@ -50,11 +61,16 @@ static void lsmWrite(uint8_t reg, uint8_t val) {
   Wire1.endTransmission();
 }
 
-// ISR 
+// ISR
 static void imuInt1ISR() {
   imuWakeFlag = true;
 }
 
+static volatile bool btnWakeFlag = false;
+static void btnWakeISR() {
+  btnWakeFlag = true;
+}
+
 // Arm wakeup interrupt 
 static void armWakeupInterrupt() {
   lsmWrite(SLP_WAKE_UP_DUR, (uint8_t)((SLEEP_WAKEUP_DUR & 0x03) << 4));
@@ -116,6 +132,15 @@ static void enterImuLP() {
 
   armWakeupInterrupt();
 
+  // Arm button wake interrupt
+  #if BTN_LEFT_PIN != BTN_PIN_NONE
+    btnWakeFlag = false;
+    attachInterrupt(digitalPinToInterrupt(BTN_LEFT_PIN), btnWakeISR, FALLING);
+  #endif
+
+  // Turn off all LEDs for sleep
+  digitalWrite(LED_RED, HIGH); digitalWrite(LED_GREEN, HIGH); digitalWrite(LED_BLUE, HIGH);
+
   lpEnteredMs = millis();
   sleepStage = SLEEP_IMU_LP;
   Serial.print("[SLEEP] IMU LP entered - idle for ");
@@ -142,9 +167,9 @@ static void enterDeepSleep() {
   Serial.println("[SLEEP] Deep sleep - WFE on INT1");
   Serial.flush();
 
-  digitalWrite(LED_RED, LOW); delay(80); digitalWrite(LED_RED, HIGH);
+  digitalWrite(LED_RED, HIGH); digitalWrite(LED_GREEN, HIGH); digitalWrite(LED_BLUE, HIGH);
 
-  while (!imuWakeFlag) {
+  while (!imuWakeFlag && !btnWakeFlag) {
     (void)lsmRead(SLP_WAKE_UP_SRC);
     sd_app_evt_wait();
   }
@@ -161,6 +186,11 @@ void sleepManagerWakeIMU() {
 
   disarmWakeupInterrupt();
 
+  // Detach button wake interrupt — normal polling takes over
+  #if BTN_LEFT_PIN != BTN_PIN_NONE
+    detachInterrupt(digitalPinToInterrupt(BTN_LEFT_PIN));
+  #endif
+
   // Only recalibrate if gyro was off long enough for thermal drift to accumulate,
   // or if waking from full deep sleep. Short LP naps reuse the existing bias.
   unsigned long lpDuration = millis() - lpEnteredMs;
@@ -175,24 +205,9 @@ void sleepManagerWakeIMU() {
   lpEnteredMs   = 0;
 
   // Reset motion filter state to prevent a cursor jump on the first frame.
-  // After sleep: angleX/Y are stale, gravX/Y/Z drifted, accumX/Y is dirty,
-  // and lastTime is old so dt would be huge on the first loop iteration.
-  // Zeroing these here means the first frame integrates 0 motion cleanly.
-  extern float angleX, angleY;
   extern float accumX, accumY;
-  extern float gravX, gravY, gravZ;
-  extern float prevAx, prevAy, prevAz;
   extern unsigned long lastTime;
-  angleX = angleY = 0.0f;
   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.
-  // 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;
-  prevAx = 0.0f; prevAy = 0.0f; prevAz = 0.0f;
-  // Set lastTime to now so the first dt = 0 rather than (now - sleepEntryTime)
   lastTime = millis();
 
   sleepStage = SLEEP_AWAKE;
@@ -227,26 +242,63 @@ void sleepManagerInit() {
 // Returns true → caller must skip IMU reads this iteration.
 bool sleepManagerUpdate(unsigned long nowMs, bool idle, bool bleConnected) {
 
-  // ISR wakeup 
+  // ISR wakeup (IMU motion or button press)
+  bool woke = false;
   if (imuWakeFlag) {
     imuWakeFlag = false;
     Serial.print("[SLEEP] INT1 fired - stage="); Serial.println((int)sleepStage);
+    woke = true;
+  }
+  if (btnWakeFlag) {
+    btnWakeFlag = false;
+    Serial.print("[SLEEP] Button fired - stage="); Serial.println((int)sleepStage);
+    woke = true;
+  }
+  if (woke) {
     if (sleepStage == SLEEP_DEEP || sleepStage == SLEEP_IMU_LP) {
       sleepManagerWakeIMU();
     } else {
-      (void)lsmRead(SLP_WAKE_UP_SRC);  // normal-mode edge, clear latch only
+      (void)lsmRead(SLP_WAKE_UP_SRC);
     }
   }
 
-  // Gyro settling after wake 
+  // Post-wake recalibration — gated on device being still
   if (pendingWakeRecal) {
-    if (nowMs - wakeSettleMs >= 120) {
+    if (nowMs - wakeSettleMs < 120) return true;  // initial hardware settle
-      pendingWakeRecal = false;
+
-      wakeSettleMs     = 0;
+    // Sample gyro magnitude; each axis must be below threshold
-      extern void calibrateGyroBias();
+    float gx = fabsf(imu.readFloatGyroX());
-      calibrateGyroBias();
+    float gy = fabsf(imu.readFloatGyroY());
-      Serial.println("[SLEEP] Post-wake recal done");
+    float gz = fabsf(imu.readFloatGyroZ());
+    bool still = (gx < RECAL_STILL_DPS && gy < RECAL_STILL_DPS && gz < RECAL_STILL_DPS);
+
+    if (!still) {
+      recalStillFrames = 0;
+      // Rate-limited log so we don't flood serial while waiting
+      if (nowMs - recalLastWarnMs >= 500) {
+        recalLastWarnMs = nowMs;
+        Serial.print("[SLEEP] Waiting for still: gx="); Serial.print(gx, 1);
+        Serial.print(" gy="); Serial.print(gy, 1);
+        Serial.print(" gz="); Serial.println(gz, 1);
+      }
+      if (nowMs - wakeSettleMs >= RECAL_WAIT_MAX_MS) {
+        // Device never settled — keep pre-sleep bias rather than corrupt it
+        pendingWakeRecal = false;
+        recalStillFrames = 0;
+        recalLastWarnMs  = 0;
+        Serial.println("[SLEEP] Recal skipped — device still moving after timeout");
+      }
+      return true;
     }
+
+    // Device is still — accumulate consecutive still frames
+    if (++recalStillFrames < RECAL_STILL_FRAMES) return true;
+
+    pendingWakeRecal = false;
+    recalStillFrames = 0;
+    recalLastWarnMs  = 0;
+    calibrateGyroBias();
+    Serial.println("[SLEEP] Post-wake recal done");
     return true;
   }
 

source/sleep.h

@@ -11,12 +11,12 @@
 
 // LSM6DS3 wakeup threshold: 1 LSB = 7.8 mg at ±2 g FS (±2g range).
 #ifndef SLEEP_WAKEUP_THS
-  #define SLEEP_WAKEUP_THS   16    // 0–63
+  #define SLEEP_WAKEUP_THS   6    // 0–63
 #endif
 
 // Number of consecutive 26 Hz samples that must exceed the threshold.
 #ifndef SLEEP_WAKEUP_DUR
-  #define SLEEP_WAKEUP_DUR   2    // 0–3
+  #define SLEEP_WAKEUP_DUR   1    // 0–3
 #endif
 
 // GPIO pin connected to LSM6DS3 INT1.

web/app.js

@@ -19,7 +19,7 @@ const FLAG_ALL_DEFAULT        = FLAG_TAP_ENABLED | FLAG_TEMP_COMP_ENABLED | FLAG
 const config = { sensitivity:600, deadZone:0.06, accelStrength:0.08, curve:0, axisFlip:0, chargeMode:0,
                  tapThreshold:12, tapAction:0, tapKey:0, tapMod:0, tapFreezeEnabled:1, jerkThreshold:2000,
                  featureFlags:FLAG_ALL_DEFAULT,
-                 btnLeftPin:0xFF, btnRightPin:0xFF, btnMiddlePin:0xFF };
+                };
 
 let device=null, server=null, chars={}, userDisconnected=false;
 let currentChargeStatus=0, currentBattPct=null, currentBattVoltage=null;
@@ -137,14 +137,11 @@ async function discoverServices() {
     await checkHashMatch();
 
     // Telemetry notify (1 Hz) - also carries chargeStatus
-    chars.telemetry.addEventListener('characteristicvaluechanged', e => parseTelemetry(e.target.value));
+    chars.telemetry.addEventListener('characteristicvaluechanged', e => {
-    console.log('[TELEM] subscribing to notifications');
+      const val = e.target.value;  // capture immediately — Chrome reuses the DataView buffer on next notify
+      parseTelemetry(val);
+    });
     await chars.telemetry.startNotifications();
-    console.log('[TELEM] subscribed, reading initial value');
-    // 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
-    // update and ciStatus would stay at '--'.
     parseTelemetry(await chars.telemetry.readValue());
     updateChargeUI();
 
@@ -247,13 +244,6 @@ async function readConfigBlob() {
     } else {
       config.featureFlags = FLAG_ALL_DEFAULT;  // old firmware - assume all on
     }
-    if (view.byteLength >= 28) {
-      config.btnLeftPin   = view.getUint8(25);
-      config.btnRightPin  = view.getUint8(26);
-      config.btnMiddlePin = view.getUint8(27);
-    } else {
-      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');
   } catch(e) { log(`Config read error: ${e.message}`,'err'); }
@@ -285,38 +275,8 @@ function applyConfigToUI() {
   document.getElementById('capTapEnabled').checked  = !!(config.featureFlags & FLAG_TAP_ENABLED);
   document.getElementById('capTempComp').checked    = !!(config.featureFlags & FLAG_TEMP_COMP_ENABLED);
   document.getElementById('capAutoRecal').checked   = !!(config.featureFlags & FLAG_AUTO_RECAL_ENABLED);
-  document.getElementById('btnLeftPin').value   = config.btnLeftPin;
-  document.getElementById('btnRightPin').value  = config.btnRightPin;
-  document.getElementById('btnMiddlePin').value = config.btnMiddlePin;
-  updatePinDiagram();
 }
 
-// XIAO pin diagram 
-function updatePinDiagram() {
-  const st = getComputedStyle(document.documentElement);
-  const COL_L = st.getPropertyValue('--ok').trim();
-  const COL_R = st.getPropertyValue('--accent2').trim();
-  const COL_M = st.getPropertyValue('--accent').trim();
-  const DEF_F = '#0c1828', DEF_S = '#162234';
-
-  for (let i = 0; i <= 10; i++) {
-    const el = document.getElementById(`xiaoPin${i}`);
-    if (el) { el.setAttribute('fill', DEF_F); el.setAttribute('stroke', DEF_S); }
-  }
-
-  const apply = (pin, col) => {
-    if (pin > 10) return;
-    const el = document.getElementById(`xiaoPin${pin}`);
-    if (el) { el.setAttribute('fill', col); el.setAttribute('stroke', col); }
-  };
-
-  const l = parseInt(document.getElementById('btnLeftPin').value,   10);
-  const r = parseInt(document.getElementById('btnRightPin').value,  10);
-  const m = parseInt(document.getElementById('btnMiddlePin').value, 10);
-  if (l <= 10) apply(l, COL_L);
-  if (r <= 10) apply(r, COL_R);
-  if (m <= 10) apply(m, COL_M);
-}
 
 let _writeConfigTimer = null;
 function writeConfigBlob() {
@@ -344,11 +304,7 @@ async function _doWriteConfigBlob() {
                        | (document.getElementById('capAutoRecal').checked   ? FLAG_AUTO_RECAL_ENABLED : 0);
   // config.curve, config.chargeMode, config.tapAction, config.tapKey updated directly
 
-  config.btnLeftPin   = parseInt(document.getElementById('btnLeftPin').value,   10);
+  const buf  = new ArrayBuffer(25);
-  config.btnRightPin  = parseInt(document.getElementById('btnRightPin').value,  10);
-  config.btnMiddlePin = parseInt(document.getElementById('btnMiddlePin').value, 10);
-
-  const buf  = new ArrayBuffer(28);
   const view = new DataView(buf);
   view.setFloat32(0,  config.sensitivity,   true);
   view.setFloat32(4,  config.deadZone,      true);
@@ -363,9 +319,6 @@ async function _doWriteConfigBlob() {
   view.setUint8(19, config.tapFreezeEnabled);
   view.setFloat32(20, config.jerkThreshold, true);
   view.setUint8(24, config.featureFlags);
-  view.setUint8(25, config.btnLeftPin);
-  view.setUint8(26, config.btnRightPin);
-  view.setUint8(27, config.btnMiddlePin);
 
   try {
     await gattWrite(chars.configBlob, buf);
@@ -491,16 +444,16 @@ function parseTelemetry(dv) {
   const tEl = document.getElementById('telTemp');
   tEl.className = 'telem-val '+(temp>40?'warn':'accent');
 
-  // chargeStatus is now delivered via telemetry (no separate characteristic)
   if (chargeStatus !== currentChargeStatus) {
     currentChargeStatus = chargeStatus;
-    console.log('[TELEM] charge status:', ['discharging','charging','full'][chargeStatus] ?? chargeStatus);
     updateChargeUI();
   }
 
   if (battVoltage !== null) {
     currentBattVoltage = battVoltage;
     document.getElementById('ciVolt').textContent = battVoltage.toFixed(2) + 'V';
+    const pct = Math.round(Math.min(100, Math.max(0, (battVoltage - 3.00) / (4.20 - 3.00) * 100)));
+    if (pct !== currentBattPct) { currentBattPct = pct; updateBatteryBar(pct, currentChargeStatus); }
   }
 }
 function formatUptime(s) {
@@ -661,7 +614,7 @@ function setStatus(state) {
   pill.className='status-pill '+state;
   document.body.className=state;
   const cBtn=document.getElementById('connectBtn'), dBtn=document.getElementById('disconnectBtn');
-  const inputs=document.querySelectorAll('input[type=range],.seg-btn,.toggle input,.cmd-btn,#tapKeyHex,.mod-btn input,.pin-select');
+  const inputs=document.querySelectorAll('input[type=range],.seg-btn,.toggle input,.cmd-btn,#tapKeyHex,.mod-btn input');
   if (state==='connected') {
     cBtn.style.display='none'; dBtn.style.display='';
     inputs.forEach(el=>el.disabled=false);
@@ -1043,7 +996,6 @@ function applyTheme(t) {
   localStorage.setItem('theme', t);
   if (!chars.imuStream) drawInitState();
   orientUpdateColors();
-  updatePinDiagram();
 }
 (function(){
   const saved = localStorage.getItem('theme') ?? 'auto';
@@ -1060,3 +1012,35 @@ if (!navigator.bluetooth) {
 } else {
   log('Web Bluetooth ready. Click CONNECT to pair your IMU Mouse.','info');
 }
+
+// ─────────────────────────────────────────────────────────────────────────────
+//  OTA firmware update
+//
+//  The OTAFIX bootloader uses Nordic Legacy DFU (service 00001530-...) which is
+//  blocklisted in Chrome's Web Bluetooth implementation.  Browser-side upload is
+//  therefore not possible without special flags or a native app wrapper.
+//
+//  What the UI does instead:
+//    • "Enter DFU Mode" sends command 0x02 via BLE → device reboots as XIAO_DFU
+//    • User then uploads firmware_dfu.zip via nRF Connect (mobile or desktop)
+// ─────────────────────────────────────────────────────────────────────────────
+
+function otaLog(msg, type = 'info') {
+  log('[OTA] ' + msg, type);
+  const el = document.getElementById('otaStatus');
+  if (el) { el.textContent = msg; el.className = 'ota-status' + (type !== 'info' ? ' ota-' + type : ''); }
+}
+
+// Send command 0x02 → firmware reboots into XIAO_DFU bootloader mode.
+// User then uploads firmware_dfu.zip via nRF Connect.
+async function sendOTATrigger() {
+  if (!chars.command) { otaLog('Not connected', 'err'); return; }
+  document.getElementById('btnOTA').disabled = true;
+  try {
+    await chars.command.writeValueWithResponse(new Uint8Array([0x02]));
+    otaLog('Device rebooting into DFU mode — connect to XIAO_DFU in nRF Connect', 'ok');
+  } catch (e) {
+    otaLog('Failed: ' + e.message, 'err');
+    document.getElementById('btnOTA').disabled = false;
+  }
+}

web/index.html

@@ -180,122 +180,6 @@
       </div>
     </div>
 
-    <div class="section-label">Physical Buttons</div>
-    <div class="card">
-      <!--  XIAO nRF52840 Sense pin diagram  -->
-      <div class="xiao-wrap">
-        <svg id="xiaoSvg" viewBox="0 0 200 278" xmlns="http://www.w3.org/2000/svg" style="display:block;width:100%;max-width:200px">
-          <!-- USB-C connector -->
-          <rect x="72" y="4" width="56" height="28" rx="7" fill="#080e18" stroke="#162234" stroke-width="1.5"/>
-          <rect x="82" y="10" width="36" height="5" rx="1.5" fill="#0e1c30"/><rect x="82" y="18" width="36" height="5" rx="1.5" fill="#0e1c30"/>
-          <text x="100" y="30" text-anchor="middle" font-size="5.5" fill="#162234" font-family="Share Tech Mono,monospace">USB·C</text>
-          <!-- PCB board -->
-          <rect x="22" y="29" width="156" height="244" rx="9" fill="#080e18" stroke="#142030" stroke-width="1.5"/>
-          <!-- Corner holes -->
-          <circle cx="34"  cy="41"  r="3.5" fill="#040810" stroke="#0e1c2c" stroke-width="0.8"/>
-          <circle cx="166" cy="41"  r="3.5" fill="#040810" stroke="#0e1c2c" stroke-width="0.8"/>
-          <circle cx="34"  cy="261" r="3.5" fill="#040810" stroke="#0e1c2c" stroke-width="0.8"/>
-          <circle cx="166" cy="261" r="3.5" fill="#040810" stroke="#0e1c2c" stroke-width="0.8"/>
-          <!-- Board silk label -->
-          <text x="100" y="52" text-anchor="middle" font-size="5.5" fill="#142030" font-family="Share Tech Mono,monospace">XIAO nRF52840 Sense</text>
-          <!-- Antenna outline -->
-          <rect x="130" y="34" width="34" height="22" rx="2" fill="none" stroke="#0e1c2c" stroke-width="0.7" stroke-dasharray="2,2"/>
-          <text x="147" y="48" text-anchor="middle" font-size="5" fill="#0e1c2c" font-family="Share Tech Mono,monospace">ANT</text>
-          <!-- SoC -->
-          <rect x="60" y="78" width="80" height="72" rx="3" fill="#0c1828" stroke="#142030" stroke-width="0.8"/>
-          <text x="100" y="112" text-anchor="middle" font-size="7" fill="#1e3858" font-family="Share Tech Mono,monospace" font-weight="bold">nRF52840</text>
-          <text x="100" y="123" text-anchor="middle" font-size="5.5" fill="#102030" font-family="Share Tech Mono,monospace">HOLYIOT</text>
-          <!-- BGA dots (decorative) -->
-          <g fill="#0c1a2a"><circle cx="74" cy="94" r="1.8"/><circle cx="82" cy="94" r="1.8"/><circle cx="90" cy="94" r="1.8"/><circle cx="98" cy="94" r="1.8"/><circle cx="106" cy="94" r="1.8"/><circle cx="114" cy="94" r="1.8"/><circle cx="74" cy="102" r="1.8"/><circle cx="82" cy="102" r="1.8"/><circle cx="90" cy="102" r="1.8"/><circle cx="98" cy="102" r="1.8"/><circle cx="106" cy="102" r="1.8"/><circle cx="114" cy="102" r="1.8"/><circle cx="74" cy="140" r="1.8"/><circle cx="82" cy="140" r="1.8"/><circle cx="90" cy="140" r="1.8"/><circle cx="98" cy="140" r="1.8"/><circle cx="106" cy="140" r="1.8"/><circle cx="114" cy="140" r="1.8"/></g>
-          <!-- IMU chip -->
-          <rect x="72" y="176" width="56" height="44" rx="3" fill="#0a1420" stroke="#122030" stroke-width="0.8"/>
-          <text x="100" y="196" text-anchor="middle" font-size="5.5" fill="#142030" font-family="Share Tech Mono,monospace">LSM6DS3</text>
-          <text x="100" y="207" text-anchor="middle" font-size="5" fill="#0e1c2c" font-family="Share Tech Mono,monospace">IMU</text>
-          <!-- Charger IC -->
-          <rect x="36" y="228" width="30" height="26" rx="2" fill="#0a1420" stroke="#122030" stroke-width="0.8"/>
-          <text x="51" y="244" text-anchor="middle" font-size="4.5" fill="#0e1c2c" font-family="Share Tech Mono,monospace">BQ25100</text>
-          <!-- LED indicators -->
-          <circle cx="142" cy="168" r="3.5" fill="#0a1a0a" stroke="#0e180e" stroke-width="0.8"/>
-          <circle cx="152" cy="168" r="3.5" fill="#1a0a0a" stroke="#180e0e" stroke-width="0.8"/>
-          <circle cx="162" cy="168" r="3.5" fill="#0a0a1a" stroke="#0e0e18" stroke-width="0.8"/>
-          <text x="152" y="178" text-anchor="middle" font-size="4.5" fill="#0e1c2c" font-family="Share Tech Mono,monospace">LED</text>
-          <!-- Left traces -->
-          <g stroke="#142030" stroke-width="2"><line x1="22" y1="62" x2="9" y2="62"/><line x1="22" y1="94" x2="9" y2="94"/><line x1="22" y1="126" x2="9" y2="126"/><line x1="22" y1="158" x2="9" y2="158"/><line x1="22" y1="190" x2="9" y2="190"/><line x1="22" y1="222" x2="9" y2="222"/><line x1="22" y1="254" x2="9" y2="254"/></g>
-          <!-- Right traces -->
-          <g stroke="#142030" stroke-width="2"><line x1="178" y1="62" x2="191" y2="62"/><line x1="178" y1="94" x2="191" y2="94"/><line x1="178" y1="126" x2="191" y2="126"/><line x1="178" y1="158" x2="191" y2="158"/><line x1="178" y1="190" x2="191" y2="190"/><line x1="178" y1="222" x2="191" y2="222"/><line x1="178" y1="254" x2="191" y2="254"/></g>
-          <!-- Left pads D0-D6 (arduino 0-6) -->
-          <circle id="xiaoPin0" cx="9" cy="62"  r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin1" cx="9" cy="94"  r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin2" cx="9" cy="126" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin3" cx="9" cy="158" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin4" cx="9" cy="190" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin5" cx="9" cy="222" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin6" cx="9" cy="254" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <!-- Right pads D7-D10 (arduino 7-10) -->
-          <circle id="xiaoPin7"  cx="191" cy="62"  r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin8"  cx="191" cy="94"  r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin9"  cx="191" cy="126" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <circle id="xiaoPin10" cx="191" cy="158" r="7" fill="#0c1828" stroke="#162234" stroke-width="1.5"/>
-          <!-- RST / GND / 3V3 (non-configurable) -->
-          <circle cx="191" cy="190" r="7" fill="#0c1828" stroke="#102028" stroke-width="1.5"/>
-          <circle cx="191" cy="222" r="7" fill="#0c1828" stroke="#201010" stroke-width="1.5"/>
-          <circle cx="191" cy="254" r="7" fill="#0c1828" stroke="#102010" stroke-width="1.5"/>
-          <!-- Left labels D0-D6 -->
-          <g font-size="7" font-family="Share Tech Mono,monospace" fill="#1e3858"><text x="24" y="65">D0</text><text x="24" y="97">D1</text><text x="24" y="129">D2</text><text x="24" y="161">D3</text><text x="24" y="193">D4</text><text x="24" y="225">D5</text><text x="24" y="257">D6</text></g>
-          <g font-size="5.5" font-family="Share Tech Mono,monospace" fill="#112030"><text x="36" y="65">A0</text><text x="36" y="97">A1</text><text x="36" y="129">A2</text><text x="36" y="161">A3</text><text x="36" y="193">SDA</text><text x="36" y="225">SCL</text><text x="36" y="257">TX</text></g>
-          <!-- Right labels D7-D10 -->
-          <g font-size="7" font-family="Share Tech Mono,monospace" text-anchor="end" fill="#1e3858"><text x="176" y="65">D7</text><text x="176" y="97">D8</text><text x="176" y="129">D9</text><text x="176" y="161">D10</text></g>
-          <g font-size="5.5" font-family="Share Tech Mono,monospace" text-anchor="end" fill="#112030"><text x="162" y="65">RX</text><text x="162" y="97">SCK</text><text x="162" y="129">MISO</text><text x="162" y="161">MOSI</text></g>
-          <!-- RST/GND/3V3 labels -->
-          <g font-size="7" font-family="Share Tech Mono,monospace" text-anchor="end" fill="#0e1c2c"><text x="176" y="193">RST</text></g>
-          <g font-size="7" font-family="Share Tech Mono,monospace" text-anchor="end" fill="#1a0808"><text x="176" y="225">GND</text></g>
-          <g font-size="7" font-family="Share Tech Mono,monospace" text-anchor="end" fill="#081a08"><text x="176" y="257">3V3</text></g>
-        </svg>
-        <div class="pin-legend">
-          <span class="pleg left">● Left</span>
-          <span class="pleg right">● Right</span>
-          <span class="pleg mid">● Middle</span>
-        </div>
-      </div>
-      <hr class="xiao-divider">
-      <div class="flip-row" style="align-items:center;padding-top:4px">
-        <div class="flip-label">Left Click</div>
-        <div class="param-desc" style="flex:1;font-size:9px;color:var(--label)">Pin wired to GND when pressed</div>
-        <select class="pin-select" id="btnLeftPin" onchange="updatePinDiagram();writeConfigBlob()" disabled>
-          <option value="255">None</option>
-          <option value="0">D0</option><option value="1">D1</option><option value="2">D2</option>
-          <option value="3">D3</option><option value="4">D4</option><option value="5">D5</option>
-          <option value="6">D6</option><option value="7">D7</option><option value="8">D8</option>
-          <option value="9">D9</option><option value="10">D10</option>
-        </select>
-      </div>
-      <div class="flip-row" style="align-items:center">
-        <div class="flip-label">Right Click</div>
-        <div class="param-desc" style="flex:1;font-size:9px;color:var(--label)">Pin wired to GND when pressed</div>
-        <select class="pin-select" id="btnRightPin" onchange="updatePinDiagram();writeConfigBlob()" disabled>
-          <option value="255">None</option>
-          <option value="0">D0</option><option value="1">D1</option><option value="2">D2</option>
-          <option value="3">D3</option><option value="4">D4</option><option value="5">D5</option>
-          <option value="6">D6</option><option value="7">D7</option><option value="8">D8</option>
-          <option value="9">D9</option><option value="10">D10</option>
-        </select>
-      </div>
-      <div class="flip-row" style="align-items:center;border-bottom:none">
-        <div class="flip-label">Middle Click</div>
-        <div class="param-desc" style="flex:1;font-size:9px;color:var(--label)">Pin wired to GND when pressed</div>
-        <select class="pin-select" id="btnMiddlePin" onchange="updatePinDiagram();writeConfigBlob()" disabled>
-          <option value="255">None</option>
-          <option value="0">D0</option><option value="1">D1</option><option value="2">D2</option>
-          <option value="3">D3</option><option value="4">D4</option><option value="5">D5</option>
-          <option value="6">D6</option><option value="7">D7</option><option value="8">D8</option>
-          <option value="9">D9</option><option value="10">D10</option>
-        </select>
-      </div>
-      <div style="padding:8px 0 2px;font-size:9px;color:var(--label);font-family:var(--mono)">
-        Pull-up built-in · wire button between chosen pin and GND
-      </div>
-    </div>
-
     <div class="section-label">Device Commands</div>
     <div class="cmd-grid">
       <button class="cmd-btn calibrate" id="btnCal" onclick="sendCalibrate()" disabled>
@@ -308,6 +192,29 @@
       </button>
     </div>
 
+    <div class="section-label" style="margin-top:8px">Firmware Update (OTA)</div>
+    <div class="card ota-card" id="otaCard">
+      <div class="ota-notice">
+        <div class="ota-notice-icon">⚠</div>
+        <div>
+          <div class="ota-notice-title">Browser OTA not available</div>
+          <div class="ota-notice-body">Chrome blocks the Nordic Legacy DFU service UUID used by this bootloader. Use <strong>nRF Connect</strong> (mobile or desktop) to upload firmware instead.</div>
+        </div>
+      </div>
+      <ol class="ota-steps">
+        <li>Build firmware: <code>pio run</code> → produces <code>firmware_dfu.zip</code></li>
+        <li>Click <strong>Enter DFU Mode</strong> below — device reboots as <em>XIAO_DFU</em></li>
+        <li>Open nRF Connect → connect to <em>XIAO_DFU</em> → DFU → select <code>firmware_dfu.zip</code></li>
+      </ol>
+      <div class="ota-btn-row" style="grid-template-columns:1fr">
+        <button class="cmd-btn ota-trigger" id="btnOTA" onclick="sendOTATrigger()" disabled>
+          <span class="cmd-icon">⟳</span><span>Enter DFU Mode</span>
+          <span class="cmd-desc">Reboots device into XIAO_DFU so nRF Connect can upload firmware.</span>
+        </button>
+      </div>
+      <div class="ota-status-row"><div class="ota-status" id="otaStatus"></div></div>
+    </div>
+
     <div class="section-label" style="margin-top:8px">Event Log</div>
     <div class="console" id="console"></div>
 
@@ -365,6 +272,7 @@
   </div>
 </main>
 
+
 <div class="overlay" id="overlay">
   <div class="modal">
     <h3>⚠ Factory Reset</h3>

web/style.css

@@ -153,13 +153,6 @@
   .col-mid   { display:grid; gap:12px; }
   .col-right { display:grid; gap:12px; position:sticky; top:80px; }
 
-  /*  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); }
-  .pleg.right  { color:var(--accent2); }
-  .pleg.mid    { color:var(--accent); }
-  .xiao-divider { border:none; border-top:1px solid var(--border); margin:0 -20px 12px; }
 
   /*  Responsive  */
   @media (max-width:1100px) {
@@ -315,6 +308,7 @@
   .no-ble p { font-size:13px; color:var(--label); line-height:1.8; }
 
   body.disconnected .card { opacity:0.45; pointer-events:none; transition:opacity 0.3s; }
+  body.disconnected .card.ota-card { opacity:1; pointer-events:auto; }  /* OTA works when disconnected too */
   body.disconnected .cmd-grid { opacity:0.45; pointer-events:none; transition:opacity 0.3s; }
 
   .tap-key-row { display:flex; align-items:center; gap:10px; padding-top:12px; flex-wrap:wrap; }
@@ -325,11 +319,28 @@
   .mod-btn input:disabled + span { opacity:0.35; cursor:not-allowed; }
 
   .restart-note { color:var(--warn); font-family:var(--mono); font-size:9px; }
-  .pin-select { background:var(--bg); color:var(--text); border:1px solid var(--border); font-family:var(--mono); font-size:11px; padding:3px 6px; cursor:pointer; min-width:80px; }
+
-  .pin-select:disabled { color:var(--dim); border-color:var(--dim); cursor:not-allowed; }
 
   .tap-flash { position:absolute; inset:0; pointer-events:none; opacity:0; transition:opacity 0.25s; }
   .tap-flash.left { background:radial-gradient(circle at center, var(--tap-left)  0%, transparent 70%); }
   .tap-flash.right { background:radial-gradient(circle at center, var(--tap-right) 0%, transparent 70%); }
   .tap-flash.show { opacity:1; }
   .viz-wrap { position:relative; }
+
+  /* ── OTA Firmware Update ── */
+  .ota-card { display:flex; flex-direction:column; gap:14px; }
+  .ota-notice { display:flex; gap:12px; align-items:flex-start; padding:10px 12px; background:color-mix(in srgb, var(--warn) 8%, var(--bg)); border-left:3px solid var(--warn); }
+  .ota-notice-icon { font-size:16px; color:var(--warn); flex-shrink:0; line-height:1.4; }
+  .ota-notice-title { font-family:var(--sans); font-size:11px; font-weight:700; color:var(--warn); letter-spacing:0.08em; text-transform:uppercase; margin-bottom:4px; }
+  .ota-notice-body { font-family:var(--mono); font-size:10px; color:var(--label); line-height:1.6; }
+  .ota-steps { font-family:var(--mono); font-size:10px; color:var(--label); line-height:1.9; margin:0; padding-left:18px; }
+  .ota-steps code { color:var(--text); }
+  .ota-steps strong { color:var(--text); }
+  .ota-steps em { color:var(--accent); font-style:normal; }
+  .ota-btn-row { display:grid; gap:8px; }
+  .ota-status-row { min-height:14px; }
+  .ota-status { font-family:var(--mono); font-size:10px; color:var(--label); }
+  .ota-status.ota-ok  { color:var(--ok); }
+  .ota-status.ota-err { color:var(--accent2); }
+  .cmd-btn.ota-trigger::before { background:var(--accent); }
+  .cmd-btn.ota-trigger:hover   { border-color:var(--accent); }