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Merged
jonnor merged 33 commits into from
Oct 4, 2025
Merged

Add support for XIAO BLE Sense NRF52840 #1

jonnor merged 33 commits into from
Oct 4, 2025

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@jonnor jonnor commented Sep 28, 2025 •
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Included in this MR

  • Driver for LSM6DSTR-C with FIFO support
  • Support reading in gyro data in addition to accelerometer
  • Support for recording data directly in firmware, not via har_record.py script (which requires a screen)
  • Adapt PWM and GPIO to also support Zephyr on MicroPython
  • Support selecting which hardware is used. M5StickC PLUS2 or XIAO BLE Sense
  • Improved training and dataset preparation scripts, including Github Actions
  • Test that still works on M5StickC PLUS2

Things that can be done later

  • Record training/validation data on XIAO BLE Sense
  • Re-train the model
  • Basic instructions on how to setup/run on XIAO BLE Sense

There is also interest in porting the code to be in C instead of Python, so it can run on Zephyr without MicroPython.

jonnor added 30 commits August 3, 2025 23:47
@jonnor
flex: Update design, try fix XIAO
1b9d0f6
@jonnor
firmware: Trying to run MicroPython on XIAO BLE
1a1fcc6 
Currently not finding a PWM output,
and filesystem access with mpremote fails with OSError 2
@jonnor
XIAO: Can trigger buzzer and read accel data
64c8ab5
@jonnor
Update TODO
6ae0fc0
@jonnor
buzzer_music: Try make Zephyr compatible
f872c09
@jonnor
TEMP: disable model
8bd5e74 
.mpy files do not work on Zephyr build atm
@jonnor
TEMP: Try run on XIAO BLE Sense
4a52657 
Can run the main loop
@jonnor
Revert "TEMP: disable model"
d45d245 
This reverts commit 8bd5e74.
@jonnor
xiao: Fix running of model
df1caf2
@jonnor
mechanics: Try flex with overlapping fingers
453842c
@jonnor
xiao: WIP accelerometer driver
7784eb5
@jonnor
xiao: FIFO runs - might be wrong wrt gyro+accel
86b07dd
@jonnor
xiao: Reset LSM6 on startup, set FIFO rounding mode
86b7331
@jonnor
xiao: Fix deinterleaving of accelerometer data only
7139f44
@jonnor
Implement recording support into main
cc4c53e 
No GUI dependencies
If enabled, will record from start
@jonnor
doc: Add notes on a new dataset
ce040f0
@jonnor
software: Generalize combine script a bit
c518f58
@jonnor
doc: Update TODO and notes
a1aba14
@jonnor
Add some Python code for orientation estimation
c0d3126
@jonnor
Start preparing new dataset labeling
b4acd40
@jonnor
More prep for labeling
3a96af3
@jonnor
Update labeling template
a01d201
@jonnor
CI: Add model training job
ef8fcde
@jonnor
Switch over to pyproject.toml from requirements.txt
0004af6
@jonnor
Try depend on har_trees from emlearn-micropython
6c9660c
@jonnor
Pull in har_trees as git submodule instead of Python package
1b6ccb8 
Some files were missing, like compute_features.py
@jonnor
combine: Fixup function on jonnor-brushing-1 dataset
824d213
@jonnor
CI: Add job for dataset building
dc2d221
@jonnor
doc: Update TODO
f094278
@jonnor
Remove unused Python dependency
c2ecbee 
git submodule is used instead
@jonnor jonnor merged commit 52c33d6 into master Oct 4, 2025
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@jonnor