5d2e5596b4
Co-authored-by: justinian <juicecutlus@gmail.com> Co-authored-by: Vincent Politzer <vincent@skipwithjoy.com>
101 lines
3.9 KiB
C++
101 lines
3.9 KiB
C++
#pragma once
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#include <Arduino.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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bool _available = false;
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uint8_t _i2cAddr = 0;
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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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