Add gyroscopic control for xiao ble sense

.github/workflows/build-nrf52.yml

@@ -5,6 +5,7 @@ on:
       - 'firmware/**'
       - 'firmware-bluetooth/**'
   workflow_call:
+  workflow_dispatch: 
 defaults:
   run:
     shell: bash --noprofile --norc -x -e -o pipefail {0}
@@ -13,15 +14,27 @@ 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@v6
       - 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
+          cp firmware-bluetooth/build/zephyr/remapper.hex firmware-bluetooth/remapper_${{ matrix.name }}.hex
       - uses: actions/upload-artifact@v7
         with:
-          name: artifact-${{ matrix.board }}
-          path: firmware-bluetooth/remapper_${{ matrix.board }}.uf2
+          name: artifact-${{ matrix.name }}
+          path: |
+            firmware-bluetooth/remapper_${{ matrix.name }}.uf2
+            firmware-bluetooth/remapper_${{ matrix.name }}.hex

.gitignore

@@ -1,3 +1,5 @@
 config-tool/__pycache__
 firmware-bluetooth/build
 firmware/build
+/firmware-bluetooth/build-xiao
+firmware/build-*

BLUETOOTH.md

@@ -21,6 +21,36 @@ You can tell the remapper is in pairing mode if the blue LED is lit constantly.
 
 To make the remapper forget all currently paired devices, hold the "user switch" button for over 3 seconds, or click the "Forget all devices" button on the web configuration tool (or short pin 0 to GND for over 3 seconds on the Seeed Xiao board).
 
+## BLE GATT peripheral input
+
+The Bluetooth firmware also advertises a Nordic UART Service compatible GATT
+peripheral while continuing to scan for Bluetooth LE HID devices as a central.
+Reports written to this service are treated as a separate virtual input device,
+so they can be remapped together with connected BLE HID devices.
+
+* Service UUID: `6e400001-b5a3-f393-e0a9-e50e24dcca9e`
+* Write characteristic: `6e400002-b5a3-f393-e0a9-e50e24dcca9e`
+* Notify characteristic: `6e400003-b5a3-f393-e0a9-e50e24dcca9e`
+
+The write characteristic requires an encrypted BLE connection, so clients may
+need to pair before reports can be written.
+
+Writes are SLIP-style framed packets with a little-endian CRC32 trailer:
+start `0xc0`, escaped payload bytes, four CRC bytes, end `0xc0`.
+The decoded payload is:
+
+| Byte | Meaning |
+| ---: | --- |
+| 0 | Protocol version, currently `1` |
+| 1 | Advisory output descriptor number |
+| 2 | HID report payload length |
+| 3 | HID report ID |
+| 4..N | HID report payload bytes, without the report ID |
+
+The descriptor number in the packet does not switch the USB descriptor at
+runtime. Choose the USB descriptor through the normal HID Remapper configuration
+so it is active when the board enumerates over USB.
+
 ## Known issues
 
 * Quirks mechanism for fixing broken report descriptors doesn't work.

config-tool-web/code.js

@@ -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;
@@ -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;
@@ -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',
@@ -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);
     }
@@ -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);
@@ -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;
@@ -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++) {
@@ -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'])],
@@ -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);
 
@@ -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() {
@@ -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;
     }
@@ -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)) {