Justin Mitchell
06ff5aa44a
Integrate SDK-based RTC and IMU backends as alternatives to direct hardware access. HalClock now attempts SDK RTC initialization and caches time values for reliability. HalTiltSensor adds SDK IMU backend with fallback logic. ClockOffsetActivity gains touch and swipe gesture support for field navigation.
106 lines
4.0 KiB
C++
106 lines
4.0 KiB
C++
#pragma once
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#include <Arduino.h>
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#include <Imu.h>
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#include <Wire.h>
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#include "HalGPIO.h"
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// TODO: Move enums into new header and share with CrossPointSettings.h
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namespace CrossPointOrientation {
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enum Value : uint8_t { PORTRAIT = 0, LANDSCAPE_CW = 1, INVERTED = 2, LANDSCAPE_CCW = 3 };
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}
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namespace CrossPointTiltPageTurn {
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enum Value : uint8_t { TILT_OFF = 0, TILT_NORMAL = 1, TILT_INVERTED = 2 };
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}
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class HalTiltSensor;
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extern HalTiltSensor halTiltSensor; // Singleton
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class HalTiltSensor {
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enum class Backend : uint8_t { None, Qmi8658, SdkImu };
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bool _available = false;
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Backend _backend = Backend::None;
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uint8_t _i2cAddr = 0;
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mutable Imu _sdkImu;
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// Tilt gesture state machine
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bool _tiltForwardEvent = false; // Consumed by wasTiltedForward()
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bool _tiltBackEvent = false; // Consumed by wasTiltedBack()
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bool _hadActivity = false; // Non-consuming flag for sleep timer
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bool _inTilt = false; // Currently tilted past threshold
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bool _isAwake = false; // Tracks power state
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unsigned long _initMs = 0; // Timestamp of sensor init
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unsigned long _lastTiltMs = 0; // Debounce / cooldown
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unsigned long _wakeMs = 0; // Timestamp of last wake() for stabilization
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// Tuning constants
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static constexpr float RATE_THRESHOLD_DPS = 270.0f; // Deg/sec speed to trigger flick
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static constexpr float NEUTRAL_RATE_DPS = 50.0f; // Must stop moving below this rate before next trigger
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static constexpr unsigned long COOLDOWN_MS = 600; // Minimum ms between triggers
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static constexpr unsigned long POLL_INTERVAL_MS = 50; // 20 Hz polling
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static constexpr unsigned long WAKE_STABILIZE_MS = 300; // Ignore readings after wake
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static constexpr unsigned long SLEEP_STABILIZE_MS = 15; // Sleep turn on/off delay
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mutable unsigned long _lastPollMs = 0;
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// --- QMI8658 registers ---
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static constexpr uint8_t REG_CTRL1 = 0x02;
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static constexpr uint8_t REG_CTRL3 = 0x04;
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static constexpr uint8_t REG_CTRL7 = 0x08;
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static constexpr uint8_t REG_GX_L = 0x3B;
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// --- Register Bit Flags ---
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// REG_CTRL1 (0x02)
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static constexpr uint8_t CTRL1_BIG_ENDIAN = (1 << 5); // 0x20: Default state (1 = Big Endian)
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static constexpr uint8_t CTRL1_AUTO_INC = (1 << 6); // 0x40: Enable address auto-increment
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static constexpr uint8_t CTRL1_SENSOR_DISABLE = (1 << 0); // 0x01: Power down sensor engine
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static constexpr uint8_t CTRL1_BASE = CTRL1_AUTO_INC | CTRL1_BIG_ENDIAN; // 0x60
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// REG_CTRL3 (0x04) - Gyro Config
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static constexpr uint8_t CTRL3_FS_512DPS = (0b101 << 4); // Bits 6:4 = 101
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static constexpr uint8_t CTRL3_ODR_28HZ = 0b1000; // Bits 3:0 = 1000 (28.025 Hz)
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// REG_CTRL7 (0x08) - Enable
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static constexpr uint8_t CTRL7_DISABLE_ALL = 0x00;
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static constexpr uint8_t CTRL7_GYRO_ENABLE = (1 << 1); // Bit 1 = 1
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bool writeReg(uint8_t reg, uint8_t val) const;
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bool readReg(uint8_t reg, uint8_t* val) const;
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bool readGyro(float& gx, float& gy, float& gz) const;
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public:
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// Call after gpio.begin() and powerManager.begin() (I2C already initialised for X3)
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void begin();
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// Enables the QMI8658 internal sensor engine
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bool wake();
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// Puts the QMI8658 into a low-power standby state
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bool deepSleep();
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// True if the QMI8658 IMU is present on this device
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bool isAvailable() const { return _available; }
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// Poll the accelerometer and update tilt gesture state.
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void update(const uint8_t mode, const uint8_t orientation, const bool inReader);
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// Returns true once per tilt-forward gesture (next page direction).
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// Consumed on read — subsequent calls return false until next gesture.
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bool wasTiltedForward();
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// Returns true once per tilt-back gesture (previous page direction).
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// Consumed on read.
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bool wasTiltedBack();
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// Non-consuming: true if any tilt activity occurred since last call.
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// Used to reset the auto-sleep inactivity timer.
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bool hadActivity();
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// Discard any pending tilt events (call when leaving reader or disabling tilt).
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void clearPendingEvents();
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};
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