diff --git a/LICENSE b/LICENSE index f288702..3877ae0 100644 --- a/LICENSE +++ b/LICENSE @@ -1,674 +1,674 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. By contrast, -the GNU General Public License is intended to guarantee your freedom to -share and change all versions of a program--to make sure it remains free -software for all its users. We, the Free Software Foundation, use the -GNU General Public License for most of our software; it applies also to -any other work released this way by its authors. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/QBeadVisualisation.html b/QBeadVisualisation.html index 62486b1..d2d6c37 100644 --- a/QBeadVisualisation.html +++ b/QBeadVisualisation.html @@ -23,7 +23,6 @@
-

Live Output

@@ -51,6 +50,11 @@

Live Output

window.x = 0; window.y = 0; window.z = 1; + window.r = 0; + window.g = 1; + window.b = 0; + + window.extra_lights = []; const nlegs = 12; const nsections = 6 @@ -96,7 +100,7 @@

Live Output

createBands(); createLigths(); - function render() { + async function render() { x = window.x; y = window.y; z = window.z; @@ -106,7 +110,11 @@

Live Output

for (const object of lightsArray) { object.material.color = {r: 0, g: 0, b: 0}; } - setBloch_deg_smooth(spher[0], spher[1], {r: 0, g: 1, b: 0} ); + setBloch_deg_smooth(spher[0], spher[1], {r: window.r, g: window.g, b: window.b} ); + window.extra_lights.forEach((item, index) => { + let sph = cartesianToSpherical(item[0], item[1], item[2]); + setBloch_deg_smooth(sph[0], sph[1], {r: item[3], g: item[4], b: item[5]} ); + }) requestAnimationFrame(render); } @@ -116,6 +124,7 @@

Live Output

function createBands() { + const groupBand = new THREE.Group(); const latRange = 4; const materialBand = new THREE.MeshBasicMaterial( { color: 0x000000, wireframe:true } ); @@ -123,32 +132,34 @@

Live Output

const band1 = new THREE.Mesh( geometryBand, materialBand ); band1.rotation.z = Math.PI/2; - scene.add( band1 ); + groupBand.add(band1); const band2 = new THREE.Mesh( geometryBand, materialBand ); band2.rotation.z = Math.PI/2; band2.rotation.y = Math.PI / 2; - scene.add( band2 ); + groupBand.add(band2); const band3 = new THREE.Mesh( geometryBand, materialBand ); band3.rotation.z = Math.PI/2; band3.rotation.y = Math.PI / 3; - scene.add( band3 ); + groupBand.add(band3); const band4 = new THREE.Mesh( geometryBand, materialBand ); band4.rotation.z = Math.PI/2; band4.rotation.y = Math.PI / 2 / 3; - scene.add( band4 ); + groupBand.add(band4); const band5 = new THREE.Mesh( geometryBand, materialBand ); band5.rotation.z = Math.PI/2; band5.rotation.y = - Math.PI / 3; - scene.add( band5 ); + groupBand.add(band5); const band6 = new THREE.Mesh( geometryBand, materialBand ); band6.rotation.z = Math.PI/2; band6.rotation.y = - Math.PI / 2 / 3; - scene.add( band6 ); + groupBand.add(band6); + + scene.add(groupBand); } @@ -239,20 +250,40 @@

Live Output

} let theta_section = theta / theta_quant; let phi_leg = phi / phi_quant; - let theta_int = Math.floor(theta_section + 0.5); + let theta_int = Math.round(theta_section); theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; - let phi_int = Math.floor(phi_leg + 0.5); + let phi_int = Math.round(phi_leg); phi_int = phi_int % nlegs; - let p = (theta_section - theta_int); - let theta_direction = Math.sign(p); - p = Math.abs(p); - let q = 1 - p; - p = p * p; - q = q * q; + let phi_direction = 0; + let theta_direction = 0; + let theta_diff = Math.abs(theta_int - theta_section); + let phi_diff = Math.abs(phi_int - phi_leg); + let theta_c1 = 1; + let theta_c2 = 0; + let phi_c1 = 1; + let phi_c2 = 0; + if (theta_diff > 0.1) { + theta_direction = 1; + theta_c1 = theta_diff; + theta_c2 = 1-theta_diff; + } + + if (phi_diff > 0.1) { + phi_direction = 1; + phi_c1 = phi_diff; + phi_c2 = 1-phi_diff; + } + + let avg_1 = theta_c1*phi_c1 + theta_c2*phi_c1; + let avg_2 = theta_c1*phi_c2 + theta_c2*phi_c2; + console.log(avg_1, avg_2); + + + // console.log(avg_pt, avg_qr); //In this order otherwise at the top the colour is reset if it is called for exactly the top twice - setLegPixelColor(phi_int, theta_int + theta_direction, {r: p * c.r, g: p * c.g, b: p * c.b}); - setLegPixelColor(phi_int, theta_int, {r: q * c.r, g: q * c.g, b: q * c.b}); + setLegPixelColor(phi_int + phi_direction, theta_int + theta_direction, {r: avg_2 * c.r, g: avg_2 * c.g, b: avg_2 * c.b}); + setLegPixelColor(phi_int, theta_int, {r: avg_1 * c.r, g: avg_1 * c.g, b: avg_1 * c.b}); } // Set the color of a specific LED @@ -274,7 +305,16 @@

Live Output

function setPixelColor(pixel, color) { const light = lightsArray[pixel]; - light.material.color = color + var old = light.material.color; + //curve colors + var r = Math.pow(1-Math.pow(1-color.r, 2), 0.5); + var b = Math.pow(1-Math.pow(1-color.b, 2), 0.5); + var g = Math.pow(1-Math.pow(1-color.g, 2), 0.5); + //mix + if (old.r > 0.01) r = (r + old.r)/2; + if (old.g > 0.01) g = (g + old.g)/2; + if (old.b > 0.01) b = (b + old.b)/2 + light.material.color = {r: r, g: g, b: b}; } @@ -313,6 +353,9 @@

Live Output

var accCharacteristic; var sphCharacteristic; var colCharacteristic; + + var cur_msg_num = 0; + var count = 0; function onStartButtonClick() { let serviceUuid = "e30c1fc6-359c-12be-2544-63d6aa088d45"; @@ -395,18 +438,46 @@

Live Output

function handleNotifications(event) { new Uint8Array(event.target.value.buffer).reverse(); let value = event.target.value; - let z = value.getFloat32(0); - let y = value.getFloat32(4); - let x = value.getFloat32(8); + let num = value.getFloat32(0); + let c = value.getFloat32(4); + let z = value.getFloat32(8); + let y = value.getFloat32(12); + let x = value.getFloat32(16); + let b = ((c >> (0)) & 0xff)/255; + let g = ((c >> (8)) & 0xff)/255; + let r = ((c >> (16)) & 0xff)/255; + if (cur_msg_num != num) { + //set first value to the arrow + //leave only as much array elements as there were last message cycle + let temp = [] + for (let i = 0; i < count; i++) { + temp.push(window.extra_lights[i]); + } + window.extra_lights = temp; + count = 0; + cur_msg_num = num; + let t = theta(x, y, z)*180/3.14159; + let p = phi(x, y, z)*180/3.14159; + window.x = x; + window.y = y; + window.z = z; + window.r = r; + window.g = g; + window.b = b; + log(`> ${x.toFixed(3)} ${y.toFixed(3)} ${z.toFixed(3)} ${t.toFixed(0)} ${p.toFixed(0)} `); + } else { + //overwrite each array element + if (window.extra_lights[count]) { + window.extra_lights[count] = [x, y, z, r, g, b] + } else { + window.extra_lights.push([x, y, z, r, g, b]); + } + count = count + 1; + } + // Convert raw data bytes to hex values just for the sake of showing something. // In the "real" world, you'd use data.getUint8, data.getUint16 or even // TextDecoder to process raw data bytes. - let t = theta(x, y, z)*180/3.14159; - let p = phi(x, y, z)*180/3.14159; - window.x = x; - window.y = y; - window.z = z; - log(`> ${x.toFixed(3)} ${y.toFixed(3)} ${z.toFixed(3)} ${t.toFixed(0)} ${p.toFixed(0)} `); } diff --git a/README.md b/README.md index 26a5282..62bff22 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,8 @@ -# firmware - -## Required board files - -``` -https://adafruit.github.io/arduino-board-index/package_adafruit_index.json -https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -``` +# firmware + +## Required board files + +``` +https://adafruit.github.io/arduino-board-index/package_adafruit_index.json +https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json +``` diff --git a/examples/BLE_reader/BLE_reader.ino b/examples/BLE_reader/BLE_reader.ino index 055191a..034c417 100644 --- a/examples/BLE_reader/BLE_reader.ino +++ b/examples/BLE_reader/BLE_reader.ino @@ -1,29 +1,38 @@ -#include - -Qbead::Qbead bead; - -void setup() { - bead.begin(); - bead.setBrightness(25); // way too bright - Serial.println("testing all pixels discretely"); - for (int i = 0; i < bead.pixels.numPixels(); i++) { - bead.pixels.setPixelColor(i, color(255, 255, 255)); - bead.pixels.show(); - delay(5); - } - Serial.println("testing smooth transition between pixels"); - for (int phi = 0; phi < 360; phi += 30) { - for (int theta = 0; theta < 180; theta += 3) { - bead.clear(); - bead.setBloch_deg(theta, phi, colorWheel(phi)); - bead.show(); - } - } - Serial.println("starting BLE tracking"); -} - -void loop() { - bead.clear(); - bead.setBloch_deg_smooth(bead.t_ble, bead.p_ble, bead.c_ble); - bead.show(); -} \ No newline at end of file +#include + +Qbead::Qbead bead; + +void setup() { + bead.begin(); + bead.setBrightness(25); // way too bright + Serial.println("testing all pixels discretely"); + for (int i = 0; i < bead.pixels.numPixels(); i++) { + bead.pixels.setPixelColor(i, color(255, 255, 255)); + bead.pixels.show(); + delay(5); + } + Serial.println("testing smooth transition between pixels"); + for (int phi = 0; phi < 360; phi += 30) { + for (int theta = 0; theta < 180; theta += 3) { + bead.clear(); + bead.setBloch_deg(theta, phi, colorWheel(phi)); + bead.show(); + } + } + Serial.println("starting BLE tracking"); +} + +void loop() { + bead.readIMU(); + bead.clear(); + bead.setBloch_deg_smooth(bead.t_acc, bead.p_acc, color(255, 255, 255)); + bead.setBloch_deg_smooth(90, 0, color(255, 0, 0)); + bead.setBloch_deg_smooth(90, 45, color(255, 0, 0)); + bead.setBloch_deg_smooth(90, 90, color(255, 0, 0)); + bead.setBloch_deg_smooth(90, 135, color(255, 0, 0)); + bead.setBloch_deg_smooth(90, 180, color(0, 255, 0)); + bead.setBloch_deg_smooth(90, 225, color(0, 255, 0)); + bead.setBloch_deg_smooth(90, 270, color(0, 255, 0)); + bead.setBloch_deg_smooth(90, 315, color(0, 255, 0)); + bead.show(); +} diff --git a/library.properties b/library.properties index 4413e85..7c44305 100644 --- a/library.properties +++ b/library.properties @@ -1,10 +1,10 @@ -name=Qbead -version=0.1.0 -author=Qbead -maintainer=Qbead -sentence=A library for controlling the Qbead device. -paragraph=The Qbead library provides functionalities to control the Qbead device, including state management, LED control, and IMU interaction. -url=https://qbead.org -architectures=nrf52 -includes=Qbead.h -depends=Adafruit NeoPixel, Seeed Arduino LSM6DS3 +name=Qbead +version=0.1.0 +author=Qbead +maintainer=Qbead +sentence=A library for controlling the Qbead device. +paragraph=The Qbead library provides functionalities to control the Qbead device, including state management, LED control, and IMU interaction. +url=https://qbead.org +architectures=nrf52 +includes=Qbead.h +depends=Adafruit NeoPixel, Seeed Arduino LSM6DS3 diff --git a/notifications.html b/notifications.html index 52a6e92..985465b 100644 --- a/notifications.html +++ b/notifications.html @@ -1,264 +1,264 @@ - - - - - - - - - Web Bluetooth / Notifications Sample - - - - - - - -
- - -
-
- θ: -
- φ: -
-
- - - -

Live Output

-
-
-
- 

-

-
-
Acceleration Sensor

-

-  

-    

-      

-        

-      

-    

-  

-

-
-
-
-
-
-
-
-
-  
-
+
+
+  
+    
+    
+    
+    
+
+    Web Bluetooth / Notifications Sample
+    
+
+    
+  
+
+  
+
+

+  
+  
+  

+    

+    θ:
+    

+    φ:
+  

+

+
+
+
+
Live Output

+

+  

+  

+  

+

+
+
Acceleration Sensor

+

+  

+    

+      

+        

+      

+    

+  

+

+
+
+
+
+
+
+
+
+  
+
diff --git a/src/Qbead.h b/src/Qbead.h
index 1666328..1ed7bb9 100644
--- a/src/Qbead.h
+++ b/src/Qbead.h
@@ -1,369 +1,402 @@
-#ifndef QBEAD_H
-#define QBEAD_H
-
-
-#include 
-#include 
-#include 
-#include 
-
-#include 
-
-// default configs
-#define QB_LEDPIN 0
-#define QB_PIXELCONFIG NEO_BRG + NEO_KHZ800
-#define QB_NSECTIONS 6
-#define QB_NLEGS 12
-#define QB_IMU_ADDR 0x6A
-#define QB_IX 0
-#define QB_IY 2
-#define QB_IZ 1
-#define QB_SX 0
-#define QB_SY 0
-#define QB_SZ 1
-
-#define QB_MAX_PRPH_CONNECTION 2
-
-const uint8_t QB_UUID_SERVICE[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6,0x1f,0x0c,0xe3};
-const uint8_t QB_UUID_COL_CHAR[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+1,0x1f,0x0c,0xe3};
-const uint8_t QB_UUID_SPH_CHAR[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+2,0x1f,0x0c,0xe3};
-const uint8_t QB_UUID_ACC_CHAR[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+3,0x1f,0x0c,0xe3};
-
-const uint8_t zerobuffer20[] = {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
-
-// TODO manage namespaces better
-static uint32_t color(uint8_t r, uint8_t g, uint8_t b) {
-  return ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
-}
-
-static uint8_t redch(uint32_t rgb) {
-  return rgb >> 16;
-}
-
-static uint8_t greench(uint32_t rgb) {
-  return (0x00ff00 & rgb) >> 8;
-}
-
-static uint8_t bluech(uint32_t rgb) {
-  return 0x0000ff & rgb;
-}
-
-uint32_t colorWheel(uint8_t wheelPos) {
-  wheelPos = 255 - wheelPos;
-  if (wheelPos < 85) {
-    return color(255 - wheelPos * 3, 0, wheelPos * 3);
-  }
-  if (wheelPos < 170) {
-    wheelPos -= 85;
-    return color(0, wheelPos * 3, 255 - wheelPos * 3);
-  }
-  wheelPos -= 170;
-  return color(wheelPos * 3, 255 - wheelPos * 3, 0);
-}
-
-uint32_t colorWheel_deg(float wheelPos) {
-  return colorWheel(wheelPos * 255 / 360);
-}
-
-float sign(float x) {
-  if (x > 0) return +1;
-  else return -1;
-}
-
-// z = cos(t)
-// x = cos(p)sin(t)
-// y = sin(p)sin(t)
-float phi(float x, float y, float z) {
-  float ll = x * x + y * y + z * z;
-  float l = sqrt(ll);
-  float phi = atan2(y, x);
-  return phi;
-}
-
-float theta(float x, float y, float z) {
-  float ll = x * x + y * y + z * z;
-  float l = sqrt(ll);
-  float theta = acos(z / l);
-  return theta;
-}
-
-void connect_callback(uint16_t conn_handle)
-{
-  // Get the reference to current connection
-  BLEConnection* connection = Bluefruit.Connection(conn_handle);
-
-  char central_name[32] = { 0 };
-  connection->getPeerName(central_name, sizeof(central_name));
-
-  Serial.print("Connected to "); // TODO take care of cases where Serial is not available
-  Serial.println(central_name);
-}
-
-namespace Qbead {
-
-class Qbead {
-public:
-  Qbead(const uint16_t pin00 = QB_LEDPIN,
-        const uint16_t pixelconfig = QB_PIXELCONFIG,
-        const uint16_t nsections = QB_NSECTIONS,
-        const uint16_t nlegs = QB_NLEGS,
-        const uint8_t imu_addr = QB_IMU_ADDR,
-        const uint8_t ix = QB_IX,
-        const uint8_t iy = QB_IY,
-        const uint8_t iz = QB_IZ,
-        const bool sx = QB_SX,
-        const bool sy = QB_SY,
-        const bool sz = QB_SZ)
-      : imu(LSM6DS3(I2C_MODE, imu_addr)),
-        pixels(Adafruit_NeoPixel(nlegs * (nsections - 1) + 2, pin00, pixelconfig)),
-        nsections(nsections),
-        nlegs(nlegs),
-        theta_quant(180 / nsections),
-        phi_quant(360 / nlegs),
-        ix(ix), iy(iy), iz(iz),
-        sx(sx), sy(sy), sz(sz),
-        bleservice(QB_UUID_SERVICE),
-        blecharcol(QB_UUID_COL_CHAR),
-        blecharsph(QB_UUID_SPH_CHAR),
-        blecharacc(QB_UUID_ACC_CHAR)
-        {}
-
-  static Qbead *singletoninstance; // we need a global singleton static instance because bluefruit callbacks do not support context variables -- thankfully this is fine because there is indeed only one Qbead in existence at any time
-
-  LSM6DS3 imu;
-  Adafruit_NeoPixel pixels;
-
-  BLEService bleservice;
-  BLECharacteristic blecharcol;
-  BLECharacteristic blecharsph;
-  BLECharacteristic blecharacc;
-  uint8_t connection_count = 0;
-
-  const uint8_t nsections;
-  const uint8_t nlegs;
-  const uint8_t theta_quant;
-  const uint8_t phi_quant;
-  const uint8_t ix, iy, iz;
-  const bool sx, sy, sz;
-  float rbuffer[3];
-  float x, y, z, rx, ry, rz; // filtered and raw acc, in units of g
-  float t_acc, p_acc;        // theta and phi according to gravity
-  float T_imu;             // last update from the IMU
-
-  float t_ble, p_ble; // theta and phi
-  uint32_t c_ble; // color
-
-  static void ble_callback_color(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len) {
-      singletoninstance->c_ble =  (data[2] << 16) | (data[1] << 8) | data[0];
-  }
-
-  static void ble_callback_theta_phi(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len){
-      singletoninstance->t_ble = data[0]*180/255;
-      singletoninstance->p_ble = data[1]*360/255;
-  }
-
-  void begin() {
-    singletoninstance = this;
-    Serial.begin(9600);
-    while (!Serial); // TODO some form of warning or a way to give up if Serial never becomes available
-
-    pixels.begin();
-    clear();
-    setBrightness(10);
-
-    Serial.println("qbead on XIAO BLE Sense + LSM6DS3 compiled on " __DATE__ " at " __TIME__);
-    if (!imu.begin()) {
-      Serial.println("IMU error");
-    } else {
-      Serial.println("IMU OK");
-    }
-
-    Bluefruit.begin(QB_MAX_PRPH_CONNECTION, 0);
-    Bluefruit.setName("qbead | " __DATE__ " " __TIME__);
-    Bluefruit.Periph.setConnectCallback(connect_callback);
-    bleservice.begin();
-    blecharcol.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
-    blecharcol.setPermission(SECMODE_OPEN, SECMODE_OPEN);
-    blecharcol.setUserDescriptor("rgb color");
-    blecharcol.setFixedLen(3);
-    blecharcol.setWriteCallback(ble_callback_color);
-    blecharcol.begin();
-    blecharcol.write(zerobuffer20, 3);
-    blecharsph.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
-    blecharsph.setPermission(SECMODE_OPEN, SECMODE_OPEN);
-    blecharsph.setUserDescriptor("spherical coordinates");
-    blecharsph.setFixedLen(2);
-    blecharsph.setWriteCallback(ble_callback_theta_phi);
-    blecharsph.begin();
-    blecharsph.write(zerobuffer20, 2);
-    blecharacc.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
-    blecharacc.setPermission(SECMODE_OPEN, SECMODE_OPEN);
-    blecharacc.setUserDescriptor("xyz acceleration");
-    blecharacc.setFixedLen(3*sizeof(float));
-    blecharacc.begin();
-    blecharacc.write(zerobuffer20, 3*sizeof(float));
-    startBLEadv();
-  }
-
-  void clear() {
-    pixels.clear();
-  }
-
-  void show() {
-    pixels.show();
-  }
-
-  void setLegPixelColor(int leg, int pixel, uint32_t color) {
-    leg = nlegs - leg; // invert direction for the phi angle, because the PCB is set up as a left-handed coordinate system
-    leg = leg % nlegs;
-    if (leg == 0) {
-      pixels.setPixelColor(pixel, color);
-    } else if (pixel == 0) {
-      pixels.setPixelColor(0, color);
-    } else if (pixel == 6) {
-      pixels.setPixelColor(6, color);
-    } else {
-      pixels.setPixelColor(7 + (leg - 1) * (nsections - 1) + pixel - 1, color);
-    }
-  }
-
-  void setBrightness(uint8_t b) {
-    pixels.setBrightness(b);
-  }
-
-  void setBloch_deg(float theta, float phi, uint32_t color) {
-    if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
-      return;
-    }
-    float theta_section = theta / theta_quant;
-    if (theta_section < 0.5) {
-      setLegPixelColor(0, 0, color);
-    } else if (theta_section > nsections - 0.5) {
-      setLegPixelColor(0, nsections, color);
-    } else {
-      float phi_leg = phi / phi_quant;
-      int theta_int = theta_section + 0.5;
-      theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
-      int phi_int = phi_leg + 0.5;
-      phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
-      setLegPixelColor(phi_int, theta_int, color);
-    }
-  }
-
-  void setBloch_deg_smooth(float theta, float phi, uint32_t c) {
-    if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
-      return;
-    }
-    float theta_section = theta / theta_quant;
-    float phi_leg = phi / phi_quant;
-    int theta_int = theta_section + 0.5;
-    theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
-    int phi_int = phi_leg + 0.5;
-    phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
-
-    float p = (theta_section - theta_int);
-    int theta_direction = sign(p);
-    p = abs(p);
-    float q = 1 - p;
-    p = p * p;
-    q = q * q;
-
-    uint8_t rc = redch(c);
-    uint8_t bc = bluech(c);
-    uint8_t gc = greench(c);
-
-    setLegPixelColor(phi_int, theta_int, color(q * rc, q * bc, q * gc));
-    setLegPixelColor(phi_int, theta_int + theta_direction, color(p * rc, p * bc, p * gc));
-  }
-
-  void readIMU() {
-    rbuffer[0] = imu.readFloatAccelX();
-    rbuffer[1] = imu.readFloatAccelY();
-    rbuffer[2] = imu.readFloatAccelZ();
-    rx = (1-2*sx)*rbuffer[ix];
-    ry = (1-2*sy)*rbuffer[iy];
-    rz = (1-2*sz)*rbuffer[iz];
-
-    float T_new = micros();
-    float delta = T_new - T_imu;
-    T_imu = T_new;
-    const float T = 100000; // 100 ms // TODO make the filter timeconstant configurable
-    if (delta > 100000) {
-      x = rx;
-      y = ry;
-      z = rz;
-    } else {
-      float d = delta/T;
-      x = d*rx+(1-d)*x;
-      y = d*ry+(1-d)*y;
-      z = d*rz+(1-d)*z;
-    }
-
-    t_acc = theta(x, y, z)*180/3.14159;
-    p_acc = phi(x, y, z)*180/3.14159;
-    if (p_acc<0) {p_acc+=360;}// to bring it to [0,360] range
-
-    Serial.print(x);
-    Serial.print("\t");
-    Serial.print(y);
-    Serial.print("\t");
-    Serial.print(z);
-    Serial.print("\t-1\t1\t");
-    Serial.print(t_acc);
-    Serial.print("\t");
-    Serial.print(p_acc);
-    Serial.print("\t-360\t360\t");
-    Serial.println();
-
-    rbuffer[0] = x;
-    rbuffer[1] = y;
-    rbuffer[2] = z;
-    blecharacc.write(rbuffer, 3*sizeof(float));
-    for (uint16_t conn_hdl=0; conn_hdl < QB_MAX_PRPH_CONNECTION; conn_hdl++)
-    {
-      if ( Bluefruit.connected(conn_hdl) && blecharacc.notifyEnabled(conn_hdl) )
-      {
-        blecharacc.notify(rbuffer, 3*sizeof(float));
-      }
-    }
-  }
-
-  void startBLEadv(void)
-  {
-    // Advertising packet
-    Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE);
-    Bluefruit.Advertising.addTxPower();
-
-    // Include HRM Service UUID
-    Bluefruit.Advertising.addService(bleservice);
-
-    // Secondary Scan Response packet (optional)
-    // Since there is no room for 'Name' in Advertising packet
-    Bluefruit.ScanResponse.addName();
-
-    /* Start Advertising
-    * - Enable auto advertising if disconnected
-    * - Interval:  fast mode = 20 ms, slow mode = 152.5 ms
-    * - Timeout for fast mode is 30 seconds
-    * - Start(timeout) with timeout = 0 will advertise forever (until connected)
-    *
-    * For recommended advertising interval
-    * https://developer.apple.com/library/content/qa/qa1931/_index.html
-    */
-    Bluefruit.Advertising.restartOnDisconnect(true);
-    Bluefruit.Advertising.setInterval(32, 244);    // in unit of 0.625 ms
-    Bluefruit.Advertising.setFastTimeout(30);      // number of seconds in fast mode
-    Bluefruit.Advertising.start(0);                // 0 = Don't stop advertising after n seconds
-  }
-
-}; // end class
-
-Qbead *Qbead::singletoninstance = nullptr;
-
-} // end namespace
-
-#endif // QBEAD_H
+#ifndef QBEAD_H
+#define QBEAD_H
+
+
+#include 
+#include 
+#include 
+#include 
+
+#include 
+
+
+// default configs
+#define QB_LEDPIN 0
+#define QB_PIXELCONFIG NEO_BRG + NEO_KHZ800
+#define QB_NSECTIONS 6
+#define QB_NLEGS 12
+#define QB_IMU_ADDR 0x6A
+#define QB_IX 0
+#define QB_IY 2
+#define QB_IZ 1
+#define QB_SX 0
+#define QB_SY 0
+#define QB_SZ 1
+
+#define QB_MAX_PRPH_CONNECTION 2
+
+const uint8_t QB_UUID_SERVICE[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6,0x1f,0x0c,0xe3};
+const uint8_t QB_UUID_COL_CHAR[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+1,0x1f,0x0c,0xe3};
+const uint8_t QB_UUID_SPH_CHAR[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+2,0x1f,0x0c,0xe3};
+const uint8_t QB_UUID_ACC_CHAR[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+3,0x1f,0x0c,0xe3};
+
+const uint8_t zerobuffer20[] = {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
+
+// TODO manage namespaces better
+static uint32_t color(uint8_t r, uint8_t g, uint8_t b) {
+  return ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
+}
+
+static uint8_t redch(uint32_t rgb) {
+  return rgb >> 16;
+}
+
+static uint8_t greench(uint32_t rgb) {
+  return (0x00ff00 & rgb) >> 8;
+}
+
+static uint8_t bluech(uint32_t rgb) {
+  return 0x0000ff & rgb;
+}
+
+uint32_t colorWheel(uint8_t wheelPos) {
+  wheelPos = 255 - wheelPos;
+  if (wheelPos < 85) {
+    return color(255 - wheelPos * 3, 0, wheelPos * 3);
+  }
+  if (wheelPos < 170) {
+    wheelPos -= 85;
+    return color(0, wheelPos * 3, 255 - wheelPos * 3);
+  }
+  wheelPos -= 170;
+  return color(wheelPos * 3, 255 - wheelPos * 3, 0);
+}
+
+uint32_t colorWheel_deg(float wheelPos) {
+  return colorWheel(wheelPos * 255 / 360);
+}
+
+float sign(float x) {
+  if (x > 0) return +1;
+  else return -1;
+}
+
+float phi(float x, float y, float z) {
+  float ll = x * x + y * y + z * z;
+  float l = sqrt(ll);
+  float phi = atan2(y, x);
+  return phi;
+}
+
+float theta(float x, float y, float z) {
+  float ll = x * x + y * y + z * z;
+  float l = sqrt(ll);
+  float theta = acos(z / l);
+  return theta;
+}
+
+void connect_callback(uint16_t conn_handle)
+{
+  // Get the reference to current connection
+  BLEConnection* connection = Bluefruit.Connection(conn_handle);
+
+  char central_name[32] = { 0 };
+  connection->getPeerName(central_name, sizeof(central_name));
+
+  Serial.print("Connected to "); // TODO take care of cases where Serial is not available
+  Serial.println(central_name);
+}
+
+namespace Qbead {
+
+class Qbead {
+public:
+  Qbead(const uint16_t pin00 = QB_LEDPIN,
+        const uint16_t pixelconfig = QB_PIXELCONFIG,
+        const uint16_t nsections = QB_NSECTIONS,
+        const uint16_t nlegs = QB_NLEGS,
+        const uint8_t imu_addr = QB_IMU_ADDR,
+        const uint8_t ix = QB_IX,
+        const uint8_t iy = QB_IY,
+        const uint8_t iz = QB_IZ,
+        const bool sx = QB_SX,
+        const bool sy = QB_SY,
+        const bool sz = QB_SZ)
+      : imu(LSM6DS3(I2C_MODE, imu_addr)),
+        pixels(Adafruit_NeoPixel(nlegs * (nsections - 1) + 2, pin00, pixelconfig)),
+        nsections(nsections),
+        nlegs(nlegs),
+        theta_quant(180 / nsections),
+        phi_quant(360 / nlegs),
+        ix(ix), iy(iy), iz(iz),
+        sx(sx), sy(sy), sz(sz),
+        bleservice(QB_UUID_SERVICE),
+        blecharcol(QB_UUID_COL_CHAR),
+        blecharsph(QB_UUID_SPH_CHAR),
+        blecharacc(QB_UUID_ACC_CHAR)
+        {}
+
+  static Qbead *singletoninstance; // we need a global singleton static instance because bluefruit callbacks do not support context variables -- thankfully this is fine because there is indeed only one Qbead in existence at any time
+
+  LSM6DS3 imu;
+  Adafruit_NeoPixel pixels;
+
+  BLEService bleservice;
+  BLECharacteristic blecharcol;
+  BLECharacteristic blecharsph;
+  BLECharacteristic blecharacc;
+  uint8_t connection_count = 0;
+
+  int curr_index = 0;
+  float msgsent = 0;
+  float accs[62][4];
+
+  const uint8_t nsections;
+  const uint8_t nlegs;
+  const uint8_t theta_quant;
+  const uint8_t phi_quant;
+  const uint8_t ix, iy, iz;
+  const bool sx, sy, sz;
+  float rbuffer[3];
+  float x, y, z, rx, ry, rz; // filtered and raw acc, in units of g
+  float t_acc, p_acc;        // theta and phi according to gravity
+  float T_imu;             // last update from the IMU
+
+  float t_ble, p_ble; // theta and phi
+  uint32_t c_ble; // color
+
+  void xyz(float theta, float phi, uint32_t c) {
+    float phib = phi/180*3.14159;
+    float thetab = theta/180*3.14159;
+    accs[curr_index][0] = sin(thetab) * cos(phib);
+    accs[curr_index][1] = sin(thetab) * sin(phib);
+    accs[curr_index][2] = cos(thetab);
+    accs[curr_index][3] = (float) c;
+    curr_index = curr_index + 1;
+  }
+
+  static void ble_callback_color(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len) {
+      singletoninstance->c_ble =  (data[2] << 16) | (data[1] << 8) | data[0];
+  }
+
+  static void ble_callback_theta_phi(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len){
+      singletoninstance->t_ble = data[0]*180/255;
+      singletoninstance->p_ble = data[1]*360/255;
+  }
+
+  void begin() {
+    singletoninstance = this;
+    Serial.begin(9600);
+    while (!Serial); // TODO some form of warning or a way to give up if Serial never becomes available
+
+    pixels.begin();
+    clear();
+    setBrightness(10);
+
+    Serial.println("qbead on XIAO BLE Sense + LSM6DS3 compiled on " __DATE__ " at " __TIME__);
+    if (!imu.begin()) {
+      Serial.println("IMU error");
+    } else {
+      Serial.println("IMU OK");
+    }
+
+    Bluefruit.begin(QB_MAX_PRPH_CONNECTION, 0);
+    Bluefruit.setName("qbead | " __DATE__ " " __TIME__);
+    Bluefruit.Periph.setConnectCallback(connect_callback);
+    bleservice.begin();
+    blecharcol.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
+    blecharcol.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+    blecharcol.setUserDescriptor("rgb color");
+    blecharcol.setFixedLen(3);
+    blecharcol.setWriteCallback(ble_callback_color);
+    blecharcol.begin();
+    blecharcol.write(zerobuffer20, 3);
+    blecharsph.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
+    blecharsph.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+    blecharsph.setUserDescriptor("spherical coordinates");
+    blecharsph.setFixedLen(2);
+    blecharsph.setWriteCallback(ble_callback_theta_phi);
+    blecharsph.begin();
+    blecharsph.write(zerobuffer20, 2);
+    blecharacc.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
+    blecharacc.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+    blecharacc.setUserDescriptor("xyz acceleration");
+    blecharacc.setFixedLen(5*sizeof(float));
+    blecharacc.begin();
+    blecharacc.write(zerobuffer20, 5*sizeof(float));
+    startBLEadv();
+  }
+
+  void clear() {
+    pixels.clear();
+  }
+
+  void show() {
+    for (int i = 0; i < curr_index; i++) {
+      float blearr[4];
+      blearr[0] = accs[i][0];
+      blearr[1] = accs[i][1];
+      blearr[2] = accs[i][2];
+      blearr[3] = accs[i][3];
+      blearr[4] = msgsent;
+      blecharacc.write(blearr, 5*sizeof(float));
+      for (uint16_t conn_hdl=0; conn_hdl < QB_MAX_PRPH_CONNECTION; conn_hdl++)
+      {
+        if ( Bluefruit.connected(conn_hdl) && blecharacc.notifyEnabled(conn_hdl) )
+        {
+          blecharacc.notify(blearr, 5*sizeof(float));
+        }
+      }
+    }
+    if (curr_index > 0) {
+      msgsent = msgsent + 1;
+    }
+
+    for (int i = 0; i < curr_index; i++)
+    {
+      accs[i][0] = 0.0;
+      accs[i][1] = 0.0;
+      accs[i][2] = 0.0;
+      accs[i][3] = 0.0;
+    }
+    curr_index = 0;
+    pixels.show();
+  }
+
+  void setLegPixelColor(uint32_t leg, uint32_t pixel, uint32_t color) {
+    leg = nlegs - leg; // invert direction for the phi angle, because the PCB is set up as a left-handed coordinate system
+    leg = leg % nlegs;
+    if (leg == 0) {
+      pixels.setPixelColor(pixel, color);
+    } else if (pixel == 0) {
+      pixels.setPixelColor(0, color);
+    } else if (pixel == 6) {
+      pixels.setPixelColor(6, color);
+    } else {
+      pixels.setPixelColor(7 + (leg - 1) * (nsections - 1) + pixel - 1, color);
+    }
+  }
+
+  void setBrightness(uint8_t b) {
+    pixels.setBrightness(b);
+  }
+
+  void setBloch_deg(float theta, float phi, uint32_t color) {
+    if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
+      return;
+    }
+    float theta_section = theta / theta_quant;
+    if (theta_section < 0.5) {
+      setLegPixelColor(0, 0, color);
+    } else if (theta_section > nsections - 0.5) {
+      setLegPixelColor(0, nsections, color);
+    } else {
+      float phi_leg = phi / phi_quant;
+      int theta_int = theta_section + 0.5;
+      theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
+      int phi_int = phi_leg + 0.5;
+      phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
+      setLegPixelColor(phi_int, theta_int, color);
+    }
+  }
+
+  void setBloch_deg_smooth(float theta, float phi, uint32_t c) {
+    if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
+      return;
+    }
+    xyz(theta, phi, c);
+    float theta_section = theta / theta_quant;
+    float phi_leg = phi / phi_quant;
+    int theta_int = theta_section + 0.5;
+    theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
+    int phi_int = phi_leg + 0.5;
+    phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
+
+    float p = (theta_section - theta_int);
+    int theta_direction = sign(p);
+    p = abs(p);
+    float q = 1 - p;
+    p = p * p;
+    q = q * q;
+
+    uint8_t rc = redch(c);
+    uint8_t bc = bluech(c);
+    uint8_t gc = greench(c);
+
+    setLegPixelColor(phi_int, theta_int, color(q * rc, q * bc, q * gc));
+    setLegPixelColor(phi_int, theta_int + theta_direction, color(p * rc, p * bc, p * gc));
+  }
+
+  void readIMU() {
+    rbuffer[0] = imu.readFloatAccelX();
+    rbuffer[1] = imu.readFloatAccelY();
+    rbuffer[2] = imu.readFloatAccelZ();
+    rx = (1-2*sx)*rbuffer[ix];
+    ry = (1-2*sy)*rbuffer[iy];
+    rz = (1-2*sz)*rbuffer[iz];
+
+    float T_new = micros();
+    float delta = T_new - T_imu;
+    T_imu = T_new;
+    const float T = 100000; // 100 ms // TODO make the filter timeconstant configurable
+    if (delta > 100000) {
+      x = rx;
+      y = ry;
+      z = rz;
+    } else {
+      float d = delta/T;
+      x = d*rx+(1-d)*x;
+      y = d*ry+(1-d)*y;
+      z = d*rz+(1-d)*z;
+    }
+
+    t_acc = theta(x, y, z)*180/3.14159;
+    p_acc = phi(x, y, z)*180/3.14159;
+    if (p_acc<0) {p_acc+=360;}// to bring it to [0,360] range
+
+    Serial.print(x);
+    Serial.print("\t");
+    Serial.print(y);
+    Serial.print("\t");
+    Serial.print(z);
+    Serial.print("\t-1\t1\t");
+    Serial.print(t_acc);
+    Serial.print("\t");
+    Serial.print(p_acc);
+    Serial.print("\t-360\t360\t");
+    Serial.println();
+
+    rbuffer[0] = x;
+    rbuffer[1] = y;
+    rbuffer[2] = z;
+  }
+
+  void startBLEadv(void)
+  {
+    // Advertising packet
+    Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE);
+    Bluefruit.Advertising.addTxPower();
+
+    // Include HRM Service UUID
+    Bluefruit.Advertising.addService(bleservice);
+
+    // Secondary Scan Response packet (optional)
+    // Since there is no room for 'Name' in Advertising packet
+    Bluefruit.ScanResponse.addName();
+
+    /* Start Advertising
+    * - Enable auto advertising if disconnected
+    * - Interval:  fast mode = 20 ms, slow mode = 152.5 ms
+    * - Timeout for fast mode is 30 seconds
+    * - Start(timeout) with timeout = 0 will advertise forever (until connected)
+    *
+    * For recommended advertising interval
+    * https://developer.apple.com/library/content/qa/qa1931/_index.html
+    */
+    Bluefruit.Advertising.restartOnDisconnect(true);
+    Bluefruit.Advertising.setInterval(32, 244);    // in unit of 0.625 ms
+    Bluefruit.Advertising.setFastTimeout(30);      // number of seconds in fast mode
+    Bluefruit.Advertising.start(0);                // 0 = Don't stop advertising after n seconds
+  }
+
+}; // end class
+
+Qbead *Qbead::singletoninstance = nullptr;
+
+} // end namespace
+
+#endif // QBEAD_H