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feat: Add touch coordinate mapping and RTOS task yielding (#2481)

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Co-authored-by: Julia Nguyen <julia@uxj.io>
This commit is contained in:
Justin Mitchell
2026-07-20 16:31:07 -04:00
committed by GitHub
co-authored by Julia Nguyen
parent c9188a7347
commit f42fab1c66
123 changed files with 3564 additions and 1380 deletions
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lib/hal/HalTiltSensor.h
+6 -33
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@@ -1,9 +1,7 @@
#pragma once
#include <Arduino.h>
#include <Wire.h>
#include "HalGPIO.h"
#include <Imu.h>
// TODO: Move enums into new header and share with CrossPointSettings.h
namespace CrossPointOrientation {
@@ -19,7 +17,7 @@ extern HalTiltSensor halTiltSensor; // Singleton
class HalTiltSensor {
bool _available = false;
uint8_t _i2cAddr = 0;
mutable Imu _sdkImu;
// Tilt gesture state machine
bool _tiltForwardEvent = false; // Consumed by wasTiltedForward()
@@ -37,47 +35,22 @@ class HalTiltSensor {
static constexpr unsigned long COOLDOWN_MS = 600; // Minimum ms between triggers
static constexpr unsigned long POLL_INTERVAL_MS = 50; // 20 Hz polling
static constexpr unsigned long WAKE_STABILIZE_MS = 300; // Ignore readings after wake
static constexpr unsigned long SLEEP_STABILIZE_MS = 15; // Sleep turn on/off delay
mutable unsigned long _lastPollMs = 0;
// --- QMI8658 registers ---
static constexpr uint8_t REG_CTRL1 = 0x02;
static constexpr uint8_t REG_CTRL3 = 0x04;
static constexpr uint8_t REG_CTRL7 = 0x08;
static constexpr uint8_t REG_GX_L = 0x3B;
// --- Register Bit Flags ---
// REG_CTRL1 (0x02)
static constexpr uint8_t CTRL1_BIG_ENDIAN = (1 << 5); // 0x20: Default state (1 = Big Endian)
static constexpr uint8_t CTRL1_AUTO_INC = (1 << 6); // 0x40: Enable address auto-increment
static constexpr uint8_t CTRL1_SENSOR_DISABLE = (1 << 0); // 0x01: Power down sensor engine
static constexpr uint8_t CTRL1_BASE = CTRL1_AUTO_INC | CTRL1_BIG_ENDIAN; // 0x60
// REG_CTRL3 (0x04) - Gyro Config
static constexpr uint8_t CTRL3_FS_512DPS = (0b101 << 4); // Bits 6:4 = 101
static constexpr uint8_t CTRL3_ODR_28HZ = 0b1000; // Bits 3:0 = 1000 (28.025 Hz)
// REG_CTRL7 (0x08) - Enable
static constexpr uint8_t CTRL7_DISABLE_ALL = 0x00;
static constexpr uint8_t CTRL7_GYRO_ENABLE = (1 << 1); // Bit 1 = 1
bool writeReg(uint8_t reg, uint8_t val) const;
bool readReg(uint8_t reg, uint8_t* val) const;
bool readGyro(float& gx, float& gy, float& gz) const;
public:
// Call after gpio.begin() and powerManager.begin() (I2C already initialised for X3)
// Call after BoardConfig has selected the active device.
void begin();
// Enables the QMI8658 internal sensor engine
// Enables tilt polling state
bool wake();
// Puts the QMI8658 into a low-power standby state
// Puts tilt polling state to sleep
bool deepSleep();
// True if the QMI8658 IMU is present on this device
// True if an IMU is present on this device
bool isAvailable() const { return _available; }
// Poll the accelerometer and update tilt gesture state.