Xiao 52840 receiver board

.github/workflows/build-firmware.yml

@@ -82,6 +82,11 @@ jobs:
           cd /src/firmware/src
           pio run -e Head_Tracker-XIAOSense
 
+      - name: Build XIAO 52840 Firmware
+        run: |
+          cd /src/firmware/src
+          pio run -e Head_Tracker-XIAO52840
+
       # Runs a set of commands using the runners shell
       - name: Package Firmware
         uses: 'actions/upload-artifact@v2'

.github/workflows/build-gui_win.yml

@@ -48,9 +48,11 @@ jobs:
           cached: ${{ steps.cache-qt.outputs.cache-hit }}
 
       - name: Set up MinGW
-        uses: gcmcnutt/setup-mingw@v3
+        uses: egor-tensin/setup-mingw@v2
         with:
             platform: x64
+            static: 0
+
 
       - name: Build
         working-directory: ${{github.workspace}}

firmware/src/platformio.ini

@@ -23,6 +23,7 @@
 #    default_envs = Head_Tracker-DTQSys
 #    default_envs = Head_Tracker-Nano33_BLE_Sense2
 #    default_envs = Head_Tracker-XIAOSense
+#    default_envs = Head_Tracker-XIAO52840
 
 [common]
     build_flags =
@@ -100,3 +101,21 @@
       -DPCB_XIAOSENSE=y
       -DFNAME=XIA
       -DSEEED_BOOTLOADER=y
+
+    [env:Head_Tracker-XIAO52840]
+    #build_type = debug
+    extends = nrf52common
+    board_upload.offset_address = 0x27000
+    extra_scripts =
+      ${env.extra_scripts}
+      post:tools/make_uf2.py
+    platform = [email protected]
+    board = xiao_sense
+    framework = zephyr
+    lib_deps = bblanchon/[email protected]
+    debug_tool = jlink
+    build_flags =
+      ${common.build_flags}
+      -DPCB_XIAO52840=y
+      -DFNAME=XIA
+      -DSEEED_BOOTLOADER=y

firmware/src/src/boards/xiaosense.h

@@ -10,7 +10,11 @@
 // Board Features
 #define HAS_3DIODE_RGB
 #define HAS_NOTIFYLED
+#if defined(PCB_XIAOSENSE)
 #define HAS_LSM6DS3
+#else // Otherwise it's the XIAO52840
+#define HAS_NOIMU
+#endif
 #define HAS_CENTERBTN
 #define HAS_PPMIN
 #define HAS_PPMOUT

firmware/src/src/defines.h

@@ -8,20 +8,22 @@
 #define FW_GIT_REV "-------"
 #endif
 
-// The majority of features are the same on Sense2
-#if defined(PCB_NANO33BLE_SENSE2)
-#define PCB_NANO33BLE
-#endif
-
 #if defined(PCB_NANO33BLE)
 #define FW_BOARD "NANO33BLE"
 #include "boards/nano33board.h"
+#elif defined(PCB_NANO33BLE_SENSE2)
+#define PCB_NANO33BLE // Most items
+#define FW_BOARD "NANO33BLESR2"
+#include "boards/nano33board.h"
 #elif defined(PCB_DTQSYS)
 #define FW_BOARD "DTQSYS"
 #include "boards/dtqsys_ht.h"
 #elif defined(PCB_XIAOSENSE)
 #define FW_BOARD "XIAOSENSE"
 #include "boards/xiaosense.h"
+#elif defined(PCB_XIAO52840)
+#define FW_BOARD "XIAO52840"
+#include "boards/xiaosense.h"
 #else
 #error NO PCB DEFINED
 #endif

firmware/src/src/io.cpp

@@ -98,7 +98,7 @@ void io_Thread()
       digitalWrite(IO_LED, led_is_on);
     }
 #endif
-    // Unrecoverable error, Solid Red
+    // Unrecoverable sensor error, Solid Red
     if(_ledmode & LED_HARDFAULT) {
       led_sequence[0].RGB = RGB_RED;
       led_sequence[0].time = 10;
@@ -322,7 +322,9 @@ void io_init()
   pinMode(IO_AN3, GPIO_INPUT);
 #endif
 
+#if !defined(HAS_NOIMU)
   setLEDFlag(LED_GYROCAL);
+#endif
 
   k_poll_signal_raise(&ioThreadRunSignal, 1);
 }

firmware/src/src/sense.cpp

@@ -74,9 +74,11 @@ static float magx = 0, magy = 0, magz = 0;
 static float gyrx = 0, gyry = 0, gyrz = 0;
 static float tilt = 0, roll = 0, pan = 0;
 static float rolloffset = 0, panoffset = 0, tiltoffset = 0;
+#if !defined(HAS_NOIMU)
 static float magxoff = 0, magyoff = 0, magzoff = 0;
 static float accxoff = 0, accyoff = 0, acczoff = 0;
 static float gyrxoff = 0, gyryoff = 0, gyrzoff = 0;
+#endif
 static bool trpOutputEnabled = false;  // Default to disabled T/R/P output
 static bool gyroCalibrated = false;
 
@@ -760,6 +762,8 @@ void sensor_Thread()
     }
 #endif
 
+// Below is all IMU Related, if no IMU don't compile it in
+#if !defined(HAS_NOIMU)
     // Setup Rotations
     float rotation[3] = {trkset.getRotX(), trkset.getRotY(), trkset.getRotZ()};
 
@@ -1017,6 +1021,8 @@ void sensor_Thread()
 
     k_mutex_unlock(&sensor_mutex);
 
+#endif // If no sensor
+
     // Adjust sleep for a more accurate period
     senseUsDuration = micros64() - senseUsDuration;
     if (SENSOR_PERIOD - senseUsDuration <
@@ -1042,6 +1048,7 @@ void sensor_Thread()
 
 void gyroCalibrate()
 {
+#if !defined(HAS_NOIMU)
   static float last_gyro_mag = 0;
   static float last_acc_mag = 0;
   static float filt_gyrx = 0;
@@ -1110,6 +1117,7 @@ void gyroCalibrate()
 
   // Output in CSV format for determining limits
   // printk("%.4f,%.2f,%.2f\n", (float)time / 1000000.0f, gyro_dif, acc_dif);
+#endif
 }
 
 // FROM https://stackoverflow.com/questions/1628386/normalise-orientation-between-0-and-360

firmware/src/tools/make_uf2.py

@@ -5,7 +5,7 @@
 def after_hex_build(source, target, env):
    firmware_path = str(target[0])
    firmware_name = os.path.splitext(firmware_path)[0]
-   command = "python ./tools/uf2conv.py " + firmware_path +  " -o " + firmware_name + ".UF2 -f 0xADA52840 -c -b 0x27000"
+   command = "python ./tools/uf2conv.py " + firmware_path +  " -o " + firmware_name + ".uf2 -f 0xADA52840 -c -b 0x27000"
    print("Converting .bin to .uf2 file")
    os.system(command)
 

gui/src/mainwindow.cpp

@@ -1417,7 +1417,8 @@ void MainWindow::boardDiscovered(BoardType *brd)
     // GUI changes info depending on board type
     if(brd->boardName() == "NANO33BLE" ||
        brd->boardName() == "DTQSYS" ||
-       brd->boardName() == "XIAOSENSE" ) {
+       brd->boardName() == "XIAOSENSE" ||
+       brd->boardName() == "XIAO52840" ) {
         addToLog(tr("Connected to a ") + brd->boardName() + "\n");
         ui->cmdStartGraph->setVisible(false);
         ui->cmdStopGraph->setVisible(false);
@@ -1434,9 +1435,14 @@ void MainWindow::boardDiscovered(BoardType *brd)
         ui->cmdReboot->setEnabled(true);
         ui->stackedWidget->setCurrentIndex(3);
         ui->cmdChannelViewer->setEnabled(true);
+        ui->grpLocalGraph->setVisible(true);
+        ui->grpRangeSel->setVisible(true);
+        ui->lblGyroCal->setVisible(true);
+        ui->gyroLed->setVisible(true);
 
         if(brd->boardName() == "DTQSYS" ||
-           brd->boardName() == "XIAOSENSE") { // Pins are all fixed
+           brd->boardName() == "XIAOSENSE" ||
+           brd->boardName() == "XIAO52840" ) { // Pins are all fixed
             ui->cmbPpmInPin->setVisible(false);
             ui->lblPPMInPin->setVisible(false);
             ui->cmbPpmOutPin->setVisible(false);
@@ -1448,6 +1454,14 @@ void MainWindow::boardDiscovered(BoardType *brd)
             ui->lblAn5->setText(tr("Analog 1 (0.29)"));
             ui->lblAn6->setText(tr("Analog 2 (0.02)"));
             ui->lblAn7->setText(tr("Analog 3 (0.28)"));
+            if(brd->boardName() == "XIAO52840") {
+                ui->grpLocalGraph->setVisible(false);
+                ui->grpRangeSel->setVisible(false);
+                ui->cmdResetCenter->setVisible(false);
+                ui->cmdCalibrate->setVisible(false);
+                ui->lblGyroCal->setVisible(false);
+                ui->gyroLed->setVisible(false);
+            }
         } else {
             ui->cmbPpmInPin->setVisible(true);
             ui->lblPPMInPin->setVisible(true);

gui/src/mainwindow.ui

@@ -452,7 +452,7 @@
              </attribute>
              <layout class="QGridLayout" name="gridLayout_12">
               <item row="11" column="0" colspan="3">
-               <layout class="QHBoxLayout" name="horizontalLayout_12">
+               <layout class="QHBoxLayout" name="hlayGyroCal">
                 <item>
                  <widget class="Led" name="gyroLed" native="true">
                   <property name="sizePolicy">
@@ -3239,7 +3239,7 @@
      </layout>
     </item>
     <item>
-     <widget class="QGroupBox" name="groupBox">
+     <widget class="QGroupBox" name="grpRangeSel">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
         <horstretch>0</horstretch>
@@ -4060,7 +4060,7 @@
      </widget>
     </item>
     <item>
-     <widget class="QGroupBox" name="groupBox_4">
+     <widget class="QGroupBox" name="grpLocalGraph">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
         <horstretch>0</horstretch>