Skip to content

Add gyroscopic control for xiao ble sense #281

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 4 commits into
base: master
Choose a base branch
from
Open

Add gyroscopic control for xiao ble sense #281

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
aaeb339
Add imu support for xiao ble sense
squirelo Jul 5, 2025
bd20669
imu_enabled false by default
squirelo Jul 5, 2025
bf62b73
Add axis inversion for roll and pitch + fix config size
squirelo Jul 13, 2025
6b66e26
rename magnitude to shake to be more user friendly
squirelo Jul 13, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 14 additions & 5 deletions .github/workflows/build-nrf52.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,15 +13,24 @@ jobs:
runs-on: ubuntu-22.04
strategy:
matrix:
board: ["adafruit_feather_nrf52840", "seeed_xiao_nrf52840"]
include:
- board: "adafruit_feather_nrf52840"
name: "adafruit_feather_nrf52840"
extra_args: ""
- board: "seeed_xiao_nrf52840"
name: "seeed_xiao_nrf52840"
extra_args: ""
- board: "seeed_xiao_nrf52840"
name: "seeed_xiao_nrf52840_sense"
extra_args: "-- \"-DOVERLAY_CONFIG=boards/arm/seeed_xiao_nrf52840/seeed_xiao_nrf52840_sense.conf\" \"-DDTC_OVERLAY_FILE=boards/arm/seeed_xiao_nrf52840/seeed_xiao_nrf52840_sense.overlay\""
steps:
- uses: actions/checkout@v4
- name: Build
run: |
docker run -v $PWD:/workdir/project -w /workdir/project/firmware-bluetooth nordicplayground/nrfconnect-sdk:v2.2-branch \
west build -b ${{ matrix.board }}
cp firmware-bluetooth/build/zephyr/remapper.uf2 firmware-bluetooth/remapper_${{ matrix.board }}.uf2
west build -b ${{ matrix.board }} ${{ matrix.extra_args }}
cp firmware-bluetooth/build/zephyr/remapper.uf2 firmware-bluetooth/remapper_${{ matrix.name }}.uf2
- uses: actions/upload-artifact@v4
with:
name: artifact-${{ matrix.board }}
path: firmware-bluetooth/remapper_${{ matrix.board }}.uf2
name: artifact-${{ matrix.name }}
path: firmware-bluetooth/remapper_${{ matrix.name }}.uf2
71 changes: 66 additions & 5 deletions config-tool-web/code.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,15 +7,17 @@ const REPORT_ID_MONITOR = 101;
const STICKY_FLAG = 1 << 0;
const TAP_FLAG = 1 << 1;
const HOLD_FLAG = 1 << 2;
const CONFIG_SIZE = 32;
const CONFIG_VERSION = 18;
const CONFIG_SIZE = 36;
const CONFIG_VERSION = 19;
const VENDOR_ID = 0xCAFE;
const PRODUCT_ID = 0xBAF2;
const DEFAULT_PARTIAL_SCROLL_TIMEOUT = 1000000;
const DEFAULT_TAP_HOLD_THRESHOLD = 200000;
const DEFAULT_GPIO_DEBOUNCE_TIME = 5;
const DEFAULT_SCALING = 1000;
const DEFAULT_MACRO_ENTRY_DURATION = 1;
const DEFAULT_IMU_ANGLE_CLAMP_LIMIT = 45;
const DEFAULT_IMU_FILTER_BUFFER_SIZE = 10;

const NLAYERS = 8;
const NMACROS = 32;
Expand All @@ -24,6 +26,7 @@ const MACRO_ITEMS_IN_PACKET = 6;
const IGNORE_AUTH_DEV_INPUTS_FLAG = 1 << 4;
const GPIO_OUTPUT_MODE_FLAG = 1 << 5;
const NORMALIZE_GAMEPAD_INPUTS_FLAG = 1 << 6;
const IMU_ENABLE_FLAG = 1 << 7;
const HUB_PORT_NONE = 255;

const QUIRK_FLAG_RELATIVE_MASK = 0b10000000;
Expand Down Expand Up @@ -148,6 +151,9 @@ let config = {
'gpio_output_mode': 0,
'input_labels': 0,
'normalize_gamepad_inputs': true,
'imu_enabled': false,
'imu_angle_clamp_limit': DEFAULT_IMU_ANGLE_CLAMP_LIMIT,
'imu_filter_buffer_size': DEFAULT_IMU_FILTER_BUFFER_SIZE,
mappings: [{
'source_usage': '0x00000000',
'target_usage': '0x00000000',
Expand Down Expand Up @@ -200,6 +206,8 @@ document.addEventListener("DOMContentLoaded", function () {
document.getElementById("tap_hold_threshold_input").addEventListener("change", tap_hold_threshold_onchange);
document.getElementById("gpio_debounce_time_input").addEventListener("change", gpio_debounce_time_onchange);
document.getElementById("macro_entry_duration_input").addEventListener("change", macro_entry_duration_onchange);
document.getElementById("imu_angle_clamp_limit_input").addEventListener("change", imu_angle_clamp_limit_onchange);
document.getElementById("imu_filter_buffer_size_input").addEventListener("change", imu_filter_buffer_size_onchange);
for (let i = 0; i < NLAYERS; i++) {
document.getElementById("unmapped_passthrough_checkbox" + i).addEventListener("change", unmapped_passthrough_onchange);
}
Expand All @@ -210,6 +218,11 @@ document.addEventListener("DOMContentLoaded", function () {
document.getElementById("input_labels_modal_dropdown").addEventListener("change", input_labels_onchange("input_labels_modal_dropdown"));
document.getElementById("ignore_auth_dev_inputs_checkbox").addEventListener("change", ignore_auth_dev_inputs_onchange);
document.getElementById("normalize_gamepad_inputs_checkbox").addEventListener("change", normalize_gamepad_inputs_onchange);
document.getElementById("imu_enabled_checkbox").addEventListener("change", imu_enabled_onchange);
document.getElementById("imu_angle_clamp_limit_input").addEventListener("change", imu_angle_clamp_limit_onchange);
document.getElementById("imu_filter_buffer_size_input").addEventListener("change", imu_filter_buffer_size_onchange);
document.getElementById("imu_roll_inverted_checkbox").addEventListener("change", imu_roll_inverted_onchange);
document.getElementById("imu_pitch_inverted_checkbox").addEventListener("change", imu_pitch_inverted_onchange);

document.getElementById("nav-monitor-tab").addEventListener("shown.bs.tab", monitor_tab_shown);
document.getElementById("nav-monitor-tab").addEventListener("hide.bs.tab", monitor_tab_hide);
Expand Down Expand Up @@ -290,8 +303,8 @@ async function load_from_device() {

try {
await send_feature_command(GET_CONFIG);
const [config_version, flags, unmapped_passthrough_layer_mask, partial_scroll_timeout, mapping_count, our_usage_count, their_usage_count, interval_override, tap_hold_threshold, gpio_debounce_time_ms, our_descriptor_number, macro_entry_duration, quirk_count] =
await read_config_feature([UINT8, UINT8, UINT8, UINT32, UINT16, UINT32, UINT32, UINT8, UINT32, UINT8, UINT8, UINT8, UINT16]);
const [config_version, flags, unmapped_passthrough_layer_mask, partial_scroll_timeout, mapping_count, our_usage_count, their_usage_count, interval_override, tap_hold_threshold, gpio_debounce_time_ms, our_descriptor_number, macro_entry_duration, quirk_count, imu_angle_clamp_limit, imu_filter_buffer_size, imu_roll_inverted, imu_pitch_inverted] =
await read_config_feature([UINT8, UINT8, UINT8, UINT32, UINT16, UINT32, UINT32, UINT8, UINT32, UINT8, UINT8, UINT8, UINT16, UINT8, UINT8, UINT8, UINT8]);
check_received_version(config_version);

config['version'] = config_version;
Expand All @@ -304,7 +317,12 @@ async function load_from_device() {
config['ignore_auth_dev_inputs'] = !!(flags & IGNORE_AUTH_DEV_INPUTS_FLAG);
config['gpio_output_mode'] = (flags & GPIO_OUTPUT_MODE_FLAG) ? 1 : 0;
config['normalize_gamepad_inputs'] = !!(flags & NORMALIZE_GAMEPAD_INPUTS_FLAG);
config['imu_enabled'] = !!(flags & IMU_ENABLE_FLAG);
config['macro_entry_duration'] = macro_entry_duration + 1;
config['imu_angle_clamp_limit'] = imu_angle_clamp_limit;
config['imu_filter_buffer_size'] = imu_filter_buffer_size;
config['imu_roll_inverted'] = !!imu_roll_inverted;
config['imu_pitch_inverted'] = !!imu_pitch_inverted;
config['mappings'] = [];

for (let i = 0; i < mapping_count; i++) {
Expand Down Expand Up @@ -442,7 +460,8 @@ async function save_to_device() {
await send_feature_command(SUSPEND);
const flags = (config['ignore_auth_dev_inputs'] ? IGNORE_AUTH_DEV_INPUTS_FLAG : 0) |
(config['gpio_output_mode'] ? GPIO_OUTPUT_MODE_FLAG : 0) |
(config['normalize_gamepad_inputs'] ? NORMALIZE_GAMEPAD_INPUTS_FLAG : 0);
(config['normalize_gamepad_inputs'] ? NORMALIZE_GAMEPAD_INPUTS_FLAG : 0) |
(config['imu_enabled'] ? IMU_ENABLE_FLAG : 0);
await send_feature_command(SET_CONFIG, [
[UINT8, flags],
[UINT8, layer_list_to_mask(config['unmapped_passthrough_layers'])],
Expand All @@ -452,6 +471,10 @@ async function save_to_device() {
[UINT8, config['gpio_debounce_time_ms']],
[UINT8, config['our_descriptor_number']],
[UINT8, config['macro_entry_duration'] - 1],
[UINT8, config['imu_angle_clamp_limit']],
[UINT8, config['imu_filter_buffer_size']],
[UINT8, config['imu_roll_inverted'] ? 1 : 0],
[UINT8, config['imu_pitch_inverted'] ? 1 : 0],
]);
await send_feature_command(CLEAR_MAPPING);

Expand Down Expand Up @@ -632,6 +655,11 @@ function set_config_ui_state() {
document.getElementById('input_labels_dropdown').value = config['input_labels'];
document.getElementById('input_labels_modal_dropdown').value = config['input_labels'];
document.getElementById('normalize_gamepad_inputs_checkbox').checked = config['normalize_gamepad_inputs'];
document.getElementById('imu_enabled_checkbox').checked = config['imu_enabled'];
document.getElementById('imu_angle_clamp_limit_input').value = config['imu_angle_clamp_limit'] ?? DEFAULT_IMU_ANGLE_CLAMP_LIMIT;
document.getElementById('imu_filter_buffer_size_input').value = config['imu_filter_buffer_size'] ?? DEFAULT_IMU_FILTER_BUFFER_SIZE;
document.getElementById('imu_roll_inverted_checkbox').checked = config['imu_roll_inverted'] ?? false;
document.getElementById('imu_pitch_inverted_checkbox').checked = config['imu_pitch_inverted'] ?? false;
}

function set_mappings_ui_state() {
Expand Down Expand Up @@ -764,6 +792,11 @@ function set_ui_state() {
// set it to false to preserve previous behavior.
config['normalize_gamepad_inputs'] = false;
}
if (config['version'] < 19) {
// IMU settings were added in version 19
config['imu_angle_clamp_limit'] = DEFAULT_IMU_ANGLE_CLAMP_LIMIT;
config['imu_filter_buffer_size'] = DEFAULT_IMU_FILTER_BUFFER_SIZE;
}
if (config['version'] < CONFIG_VERSION) {
config['version'] = CONFIG_VERSION;
}
Expand Down Expand Up @@ -1427,6 +1460,34 @@ function normalize_gamepad_inputs_onchange() {
config['normalize_gamepad_inputs'] = document.getElementById("normalize_gamepad_inputs_checkbox").checked;
}

function imu_enabled_onchange() {
config['imu_enabled'] = document.getElementById("imu_enabled_checkbox").checked;
}

function imu_angle_clamp_limit_onchange() {
let value = parseInt(document.getElementById("imu_angle_clamp_limit_input").value, 10);
if (isNaN(value)) {
value = DEFAULT_IMU_ANGLE_CLAMP_LIMIT;
}
if (value > 90) {
value = 90;
document.getElementById("imu_angle_clamp_limit_input").value = 90;
}
config['imu_angle_clamp_limit'] = value;
}

function imu_filter_buffer_size_onchange() {
config['imu_filter_buffer_size'] = parseInt(document.getElementById("imu_filter_buffer_size_input").value, 10);
}

function imu_roll_inverted_onchange() {
config['imu_roll_inverted'] = document.getElementById("imu_roll_inverted_checkbox").checked;
}

function imu_pitch_inverted_onchange() {
config['imu_pitch_inverted'] = document.getElementById("imu_pitch_inverted_checkbox").checked;
}

function macro_entry_duration_onchange() {
let value = parseInt(document.getElementById("macro_entry_duration_input").value, 10);
if (isNaN(value)) {
Expand Down
Loading