input IMU driver + initial look at BLE handling across split

hlord2000 · Jul 9, 2024 · 3ae412d · 3ae412d
1 parent 3d57c8a
commit 3ae412d
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Showing 10 changed files with 126 additions and 21 deletions.
diff --git a/JAZZHANDS_README b/JAZZHANDS_README
@@ -0,0 +1,3 @@
+Enable ZSL with... 
+west config manifest.project-filter -- +zscilib
+west update
diff --git a/app/boards/shields/jazz_hands/debug.dtsi b/app/boards/shields/jazz_hands/debug.dtsi
@@ -1,3 +1,7 @@
+&uart0 {
+	current-speed = <921600>;
+};
+
 &uart0_default {
 	group1 {
 		psels = <NRF_PSEL(UART_TX, 1, 15)>;

diff --git a/app/boards/shields/jazz_hands/jazz_hands.dtsi b/app/boards/shields/jazz_hands/jazz_hands.dtsi
@@ -10,16 +10,29 @@
 
     chosen {
         zmk,matrix-transform = &default_transform;
+		zmk,battery = &vbatt;
     };
 
 	aliases {
 		status-led = &pwm_led0;
 		r-led = &pwm_led1;
 		g-led = &pwm_led2;
 		b-led = &pwm_led3;
-		imu = &lsm6ds3tr_c;
 	};
 
+	imu_input: imu_input {
+		status = "okay";
+		compatible = "zmk,input-imu";
+		imu = <&lsm6ds3tr_c>;
+		sample-frequency = <104>;
+	};
+
+	mouse_input_listener: mouse_input_listener {
+		status = "okay";
+        compatible = "zmk,input-listener";
+        device = <&imu_input>;
+    };
+
 	pwmleds {
 		compatible = "pwm-leds";
 		pwm_led1: pwm_led_1 {
@@ -33,6 +46,10 @@
 		};
 	};
 
+	vbatt: vbatt {
+		compatible = "zmk,battery-nrf-vddh";
+	};
+
     default_transform: keymap_transform_0 {
         compatible = "zmk,matrix-transform";
         columns = <10>;
@@ -82,3 +99,5 @@
 		};
 	};
 };
+
+
diff --git a/app/boards/shields/jazz_hands/jazz_hands.keymap b/app/boards/shields/jazz_hands/jazz_hands.keymap
@@ -1,6 +1,5 @@
 /*
  * Copyright (c) 2020 The ZMK Contributors
- *
  * SPDX-License-Identifier: MIT
  */
 

diff --git a/app/boards/shields/jazz_hands/jazz_hands_left.conf b/app/boards/shields/jazz_hands/jazz_hands_left.conf
@@ -9,6 +9,7 @@ CONFIG_ZMK_COMBO_MAX_COMBOS_PER_KEY=25
 
 CONFIG_MPU_ALLOW_FLASH_WRITE=y
 CONFIG_NVS=y
+CONFIG_SETTINGS=y
 CONFIG_SETTINGS_NVS=y
 CONFIG_FLASH=y
 CONFIG_FLASH_PAGE_LAYOUT=y
@@ -19,11 +20,33 @@ CONFIG_ZMK_SPLIT_BLE_CENTRAL_SPLIT_RUN_STACK_SIZE=1024
 
 # IMU config
 CONFIG_I2C=y
+# Set to user configurable at runtime
+CONFIG_LSM6DSL_ACCEL_ODR=0
+CONFIG_LSM6DSL_GYRO_ODR=0
 CONFIG_LSM6DSL_TRIGGER_OWN_THREAD=y
+CONFIG_INPUT_IMU_ALPHA=800
+CONFIG_INPUT_IMU_GYRO_X_OFFSET=7475
+CONFIG_INPUT_IMU_GYRO_Y_OFFSET=-32131
+CONFIG_INPUT_IMU_GYRO_Z_OFFSET=-34294
+CONFIG_IMU_MOUSE_SENSITIVITY=5
+CONFIG_IMU_MOUSE_DEADZONE=3
 CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_INPUT_IMU_REPORT_INTERVAL_MS=2
+CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=16384
 
 CONFIG_FPU=y
 CONFIG_ZSL=y
+CONFIG_ZSL_SINGLE_PRECISION=y
+CONFIG_ZSL_PLATFORM_OPT=2
 
-# FOR DEBUG ONLY
-CONFIG_ZMK_SETTINGS_RESET_ON_START=y
+CONFIG_INPUT=y
+CONFIG_INPUT_LOG_LEVEL_INF=y
+CONFIG_INPUT_IMU=y
+
+CONFIG_ZMK_MOUSE=y
+CONFIG_ZMK_LOG_LEVEL_INF=y
+CONFIG_ZMK_BLE_CONSUMER_REPORT_QUEUE_SIZE=100
+
+#DEBUG
+CONFIG_LOG_PROCESS_THREAD_STACK_SIZE=4096
+CONFIG_ZMK_BLE_EXPERIMENTAL_CONN=y
diff --git a/app/boards/shields/jazz_hands/jazz_hands_right.conf b/app/boards/shields/jazz_hands/jazz_hands_right.conf
@@ -9,6 +9,7 @@ CONFIG_ZMK_COMBO_MAX_COMBOS_PER_KEY=25
 
 CONFIG_MPU_ALLOW_FLASH_WRITE=y
 CONFIG_NVS=y
+CONFIG_SETTINGS=y
 CONFIG_SETTINGS_NVS=y
 CONFIG_FLASH=y
 CONFIG_FLASH_PAGE_LAYOUT=y
@@ -20,11 +21,19 @@ CONFIG_ZMK_SPLIT_BLE_PERIPHERAL_STACK_SIZE=1024
 # IMU config
 CONFIG_I2C=y
 CONFIG_LSM6DSL_TRIGGER_OWN_THREAD=y
+CONFIG_INPUT_IMU_GYRO_X_OFFSET=7475
+CONFIG_INPUT_IMU_GYRO_Y_OFFSET=-32131
+CONFIG_INPUT_IMU_GYRO_Z_OFFSET=-34294
 CONFIG_CBPRINTF_FP_SUPPORT=y
 
 CONFIG_FPU=y
 CONFIG_ZSL=y
 
-# FOR DEBUG ONLY
-CONFIG_ZMK_SETTINGS_RESET_ON_START=y
+CONFIG_INPUT=y
+CONFIG_INPUT_IMU=y
+
+CONFIG_ZMK_MOUSE=y
+
+#DEBUG
+CONFIG_ZMK_LOG_LEVEL_WRN=y
 
diff --git a/app/boards/shields/jazz_hands/src/jazz_hands_layer_indicator.c b/app/boards/shields/jazz_hands/src/jazz_hands_layer_indicator.c
@@ -28,16 +28,52 @@ struct rgb_color layer_colors[] = {
 	{255, 255, 255},
 };
 
+static void disable_color() {
+	pwm_set_dt(&r_led, 255, 0);
+	pwm_set_dt(&g_led, 255, 0);
+	pwm_set_dt(&b_led, 255, 0);
+}
+
 static void set_color_rgb(struct rgb_color color) {
 	pwm_set_dt(&r_led, 255, color.r);
 	pwm_set_dt(&g_led, 255, color.g);
 	pwm_set_dt(&b_led, 255, color.b);
 }
 
+static void set_color_rgb_timeout(struct rgb_color color, int timeout) {
+	set_color_rgb(color);
+	k_sleep(K_MSEC(timeout));
+	disable_color();
+}
+
+//
+// #if ZMK_BLE_IS_CENTRAL
+// ZMK_SUBSCRIPTION(backlight, zmk_split_peripheral_status_changed);
+// #endif
+// 
+// #if IS_ENABLED(CONFIG_ZMK_SPLIT) && !IS_ENABLED(CONFIG_ZMK_SPLIT_ROLE_CENTRAL)
+// 
+// static int backlight_data_event_listener(const zmk_event_t *eh) {
+//     const struct zmk_split_data_xfer_event *ev = as_zmk_split_data_xfer_event(eh);
+//     if (ev->data_xfer.data_tag == DATA_TAG_BACKLIGHT_STATE) {
+//         LOG_DBG("Backlight Data received of size: %d", ev->data_xfer.data_size);
+//         LOG_HEXDUMP_DBG(ev->data_xfer.data, sizeof(struct zmk_split_data_xfer_event),
+//                         "received event:");
+//         memcpy(&state, ev->data_xfer.data, sizeof(struct backlight_state));
+//         LOG_HEXDUMP_DBG(&state, sizeof(struct backlight_state), "backlight state");
+//         zmk_backlight_update_and_save();
+//     }
+//     return 0;
+// }
+// 
+// ZMK_LISTENER(backlight_data, backlight_data_event_listener);
+// ZMK_SUBSCRIPTION(backlight_data, zmk_split_data_xfer_event);
+// #endif
+
 #if CONFIG_SHIELD_JAZZ_HANDS_LEFT
 static int layer_state_changed_listener(const zmk_event_t *eh) {
 	uint8_t index = zmk_keymap_highest_layer_active();
-	set_color_rgb(layer_colors[index]);
+	set_color_rgb_timeout(layer_colors[index], 2000);
     return 0;
 }
 
@@ -46,7 +82,7 @@ ZMK_SUBSCRIPTION(foo, zmk_layer_state_changed);
 #endif
 
 static int startup(void) {
-	set_color_rgb(layer_colors[0]);
+	set_color_rgb_timeout(layer_colors[0], 5000);
 	return 0;
 }
 

diff --git a/app/include/zmk/split/bluetooth/service.h b/app/include/zmk/split/bluetooth/service.h
@@ -21,6 +21,8 @@ enum data_tag {
     DATA_TAG_HID_INDICATORS_STATE,
     // Keymap state
     DATA_TAG_KEYMAP_STATE,
+    // Mouse state
+    DATA_TAG_MOUSE_STATE,
     // Start of custom tags
     DATA_TAG_CUSTOM_START,
 };

diff --git a/app/module/drivers/input/input_imu.c b/app/module/drivers/input/input_imu.c
@@ -39,7 +39,6 @@ struct input_imu_data {
 	uint32_t deadzone;
 	int32_t accumulated_x;
     int32_t accumulated_y;
-    time_t last_report_time;
 };
 
 static uint32_t zsl_fus_comp_freq = 0;
@@ -175,11 +174,6 @@ void zmk_fus_comp_error(int error)
 static int input_imu_quat_convert(struct input_imu_data *data, struct zsl_quat *q) {
     int err;
     struct zsl_euler e;
-    int64_t current_time = k_uptime_get();
-
-    if (current_time - data->last_report_time <= CONFIG_INPUT_IMU_REPORT_INTERVAL_MS) {
-		return 0;
-	}
 
     err = zsl_quat_to_euler(q, &e);
     if (err < 0) {
@@ -214,20 +208,19 @@ static int input_imu_quat_convert(struct input_imu_data *data, struct zsl_quat *
     }
 
 	if (data->accumulated_x != 0) {
-		err = input_report_rel(data->dev, INPUT_REL_X, data->accumulated_x, true, K_FOREVER);
+		err = input_report_rel(data->dev, INPUT_REL_X, CLAMP(data->accumulated_x, -2, 2), true, K_FOREVER);
 		if (err < 0) {
 			LOG_ERR("Failed to report x axis: %d", err);
 		}
 		data->accumulated_x = 0;
 	}
 	if (data->accumulated_y != 0) {
-		err = input_report_rel(data->dev, INPUT_REL_Y, data->accumulated_y, true, K_FOREVER);
+		err = input_report_rel(data->dev, INPUT_REL_Y, CLAMP(data->accumulated_y, -2, 2), true, K_FOREVER);
 		if (err < 0) {
 			LOG_ERR("Failed to report y axis: %d", err);
 		}
 		data->accumulated_y = 0;
 	}
-	data->last_report_time = current_time;
 
     return 0;
 }
@@ -278,8 +271,7 @@ static void input_imu_thread(void *p1, void *p2, void *p3) {
 			LOG_ERR("Failed to convert quat to euler: %d", err);
 			return;
 		}
-		k_mutex_lock(&imu_mutex, K_MSEC(10));
-		k_yield();
+		k_mutex_lock(&imu_mutex, K_FOREVER);
 	}
 }
 
@@ -326,7 +318,6 @@ static int input_imu_init(const struct device *dev)
 
 	data->accumulated_x = 0;
 	data->accumulated_y = 0;
-	data->last_report_time = k_uptime_get();
 
     data->dev = dev;
 
@@ -367,4 +358,4 @@ static int input_imu_init(const struct device *dev)
                           &input_imu_data_##inst, &input_imu_config_##inst,    \
                           POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY, NULL);
 
-DT_INST_FOREACH_STATUS_OKAY(INPUT_IMU_INIT)
+DT_INST_FOREACH_STATUS_OKAY(INPUT_IMU_INIT)
diff --git a/app/module/dts/bindings/input/zmk,input-imu.yaml b/app/module/dts/bindings/input/zmk,input-imu.yaml
@@ -0,0 +1,19 @@
+# Copyright (c) 2024, Kelly Helmut Lord
+# SPDX-License-Identifier: Apache-2.0
+
+description: IL0323 EPD display controller
+
+compatible: "zmk,input-imu"
+
+include: sensor-device.yaml
+
+properties:
+  imu:
+    type: phandle
+    description: |
+      IMU sensor
+  sample-frequency:
+    type: int
+    description: |
+      The frequency at which the IMU sensor should be sampled.
+    default: 104