Merge branch 'claude/fervent-ride' : lecture config XIAO au démarrage

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Arduino/PS_BLE_ShotDetection/PS_BLE_ShotDetection.ino

@@ -16,7 +16,9 @@
 #define LED_BLUE   13
 
 // ====== FLASH ======
-#define FLASH_STORAGE_START 0x7F000
+#define FLASH_STORAGE_START  0x7F000   // Pairing MAC
+#define FLASH_CONFIG_START   0x7E000   // ShotConfig persistée
+#define CONFIG_MAGIC_NUMBER  0xDEADBEEF
 
 // ====== ENUMS (déclarés en premier) ======
 enum LedState {
@@ -168,10 +170,10 @@ void initDefaultConfig() {
   shotConfig.accelThreshold = 2.5f;
   shotConfig.gyroThreshold  = 200.0f;
   shotConfig.audioThreshold = 3000;    // Seuil PDM (0-32767)
-  shotConfig.accelWindow    = 20;
-  shotConfig.gyroWindow     = 20;
-  shotConfig.audioWindow    = 15;
-  shotConfig.minSensors     = 2;
+  shotConfig.accelWindow    = 60;   // augmenté pour visibilité debug (>DEBUG_RATE 50ms)
+  shotConfig.gyroWindow     = 60;   // augmenté pour visibilité debug (>DEBUG_RATE 50ms)
+  shotConfig.audioWindow    = 60;   // augmenté pour visibilité debug (>DEBUG_RATE 50ms)
+  shotConfig.minSensors     = 3;
   shotConfig.shotCooldown   = 80;
   shotConfig.useAccel       = true;
   shotConfig.useGyro        = true;
@@ -235,6 +237,44 @@ bool isAuthorized(const char* mac) {
   return (strcmp(pairing.authorizedMAC, mac) == 0);
 }
 
+// ════════════════════════════════════════════════
+// CONFIG FLASH (page 0x7E000)
+// ════════════════════════════════════════════════
+struct StoredConfig {
+  uint32_t  magic;
+  ShotConfig config;
+  uint8_t   reserved[28];  // padding pour aligner sur 4 bytes
+};
+
+void saveConfigToFlash() {
+  StoredConfig sc;
+  sc.magic = CONFIG_MAGIC_NUMBER;
+  memcpy(&sc.config, &shotConfig, sizeof(ShotConfig));
+  memset(sc.reserved, 0xFF, sizeof(sc.reserved));
+
+  NRF_NVMC->CONFIG = NVMC_CONFIG_WEN_Een; while(NRF_NVMC->READY==NVMC_READY_READY_Busy){}
+  NRF_NVMC->ERASEPAGE = FLASH_CONFIG_START; while(NRF_NVMC->READY==NVMC_READY_READY_Busy){}
+  NRF_NVMC->CONFIG = NVMC_CONFIG_WEN_Wen; while(NRF_NVMC->READY==NVMC_READY_READY_Busy){}
+  uint32_t* src = (uint32_t*)≻
+  uint32_t* dst = (uint32_t*)FLASH_CONFIG_START;
+  for (int i = 0; i < (int)(sizeof(StoredConfig)/4); i++) {
+    dst[i] = src[i]; while(NRF_NVMC->READY==NVMC_READY_READY_Busy){}
+  }
+  NRF_NVMC->CONFIG = NVMC_CONFIG_WEN_Ren; while(NRF_NVMC->READY==NVMC_READY_READY_Busy){}
+  Serial.println("💾 Config sauvegardée en flash");
+}
+
+void loadConfigFromFlash() {
+  StoredConfig* sc = (StoredConfig*)FLASH_CONFIG_START;
+  if (sc->magic == CONFIG_MAGIC_NUMBER) {
+    memcpy(&shotConfig, &sc->config, sizeof(ShotConfig));
+    Serial.println("📂 Config chargée depuis flash");
+  } else {
+    Serial.println("📂 Pas de config flash → valeurs par défaut");
+    initDefaultConfig();
+  }
+}
+
 // ════════════════════════════════════════════════
 // CALLBACKS BLE
 // ════════════════════════════════════════════════
@@ -263,6 +303,21 @@ void onConfigWrite(BLEDevice central, BLECharacteristic c) {
   if (len >= (int)sizeof(ShotConfig)) {
     memcpy(&shotConfig, data, sizeof(ShotConfig));
     Serial.println("⚙️ Config reçue"); printConfig();
+    saveConfigToFlash();
+  }
+  // Octet optionnel : debug mode à l'offset fixe 28 (si != 0xFF)
+  // Offset fixe 28 = après toute ShotConfig + padding, dans le zone de padding 32 bytes
+  const int debugByteIdx = 28;
+  if (len > debugByteIdx && data[debugByteIdx] != 0xFF) {
+    uint8_t dm = data[debugByteIdx] & 0x03;  // 0-3
+    debugMode = (DebugMode)dm;
+    Serial.print("🐛 Debug BLE → ");
+    switch(debugMode){
+      case DEBUG_OFF:      Serial.println("OFF"); break;
+      case DEBUG_RAW:      Serial.println("RAW"); break;
+      case DEBUG_TRIGGERS: Serial.println("TRIGGERS"); break;
+      case DEBUG_FULL:     Serial.println("FULL"); break;
+    }
   }
 }
 
@@ -405,7 +460,7 @@ void setup() {
   pinMode(LED_BLUE, OUTPUT);
   changeLedState(LED_BOOT);
 
-  initDefaultConfig();
+  loadConfigFromFlash();  // charge depuis flash ou valeurs par défaut
   loadPairingData();
 
   // IMU
@@ -519,8 +574,9 @@ void loop() {
   sendDebugData(accelMag, gyroMag, audioLevel);
   printDebugSerial(accelMag, gyroMag, audioLevel);
 
-  // ─── IMU BLE 10 Hz ───
-  if (now-lastSend>=100) {
+  // ─── IMU BLE 10 Hz (debug uniquement) ───
+  // En production (debugMode OFF), pas d'envoi IMU → charge BLE réduite pour Unreal
+  if (debugMode != DEBUG_OFF && now-lastSend>=100) {
     lastSend=now;
     float dt=(now-lastUpdate)/1000.0f; lastUpdate=now;
     roll+=gx*dt; pitch+=gy*dt; yaw+=gz*dt;

Python/Xiao_BLE_tools/xiao_calibration_tool.py

@@ -3,6 +3,7 @@ XIAO Airsoft Calibration Tool v3
 - Rendu optimisé : set_data() sans redraw complet
 - Fenêtre glissante fixe (pas de grossissement des buffers)
 - Aucune latence même après des heures
+- 4ème courbe : timeline des tirs détectés
 """
 
 import asyncio
@@ -12,8 +13,10 @@ from collections import deque
 from bleak import BleakClient, BleakScanner
 
 DEVICE_NAME      = "XIAO Airsoft Pro"
+DEVICE_ADDRESS   = ""   # Laisser vide pour scan automatique par nom, ou mettre l'adresse MAC pour connexion directe
 DEBUG_CHAR_UUID  = "6E400005-B5A3-F393-E0A9-E50E24DCCA9E"
 SHOT_CHAR_UUID   = "6E400004-B5A3-F393-E0A9-E50E24DCCA9E"
+CONFIG_CHAR_UUID = "6E400006-B5A3-F393-E0A9-E50E24DCCA9E"
 
 # Fenêtre fixe : WINDOW_SIZE points affichés, jamais plus
 WINDOW_SIZE = 200   # ~10s à 20Hz — ajustez si besoin
@@ -25,19 +28,25 @@ audio_buf  = deque([0]   * WINDOW_SIZE, maxlen=WINDOW_SIZE)
 accel_trig = deque([False] * WINDOW_SIZE, maxlen=WINDOW_SIZE)
 gyro_trig  = deque([False] * WINDOW_SIZE, maxlen=WINDOW_SIZE)
 audio_trig = deque([False] * WINDOW_SIZE, maxlen=WINDOW_SIZE)
+shot_buf   = deque([0.0]   * WINDOW_SIZE, maxlen=WINDOW_SIZE)  # 1.0 au moment d'un tir
 
 thresholds = {"accel": 2.5, "gyro": 200.0, "audio": 3000}  # PDM : 0-32767
+min_sensors = 3        # Nb de capteurs requis simultanément (1-3) — NUM6=+1  NUM4=-1
 shot_count = 0
+shot_pending = False   # Flag : un tir reçu, à enregistrer dans shot_buf au prochain debug tick
 ble_status = "🔍 Connexion..."
 ble_running = True
 audio_max_global = 1000  # Tracks le max absolu jamais vu
+ble_client = None        # Référence au client BLE actif
+config_pending = False   # Flag : config à envoyer au prochain cycle
+debug_mode = 3           # 0=OFF, 1=RAW, 2=TRIGGERS, 3=FULL (actif par défaut)
 
 import numpy as np
 X = np.arange(WINDOW_SIZE)   # axe X fixe, ne change jamais
 
 # ─── BLE ────────────────────────────────────────────────
 def debug_callback(sender, data):
-    global audio_max_global
+    global audio_max_global, shot_pending
     if len(data) < 14:
         return
     accel_buf.append( struct.unpack('<f', data[1:5])[0] )
@@ -49,13 +58,22 @@ def debug_callback(sender, data):
     accel_trig.append(bool(data[11]))
     gyro_trig.append( bool(data[12]))
     audio_trig.append(bool(data[13]))
+    # Enregistrer le tir dans le buffer synchronisé (1.0 si tir reçu depuis le dernier tick)
+    shot_buf.append(1.0 if shot_pending else 0.0)
+    shot_pending = False
 
 def shot_callback(sender, data):
-    global shot_count
+    global shot_count, shot_pending
     if data[0] == 1:
         shot_count += 1
+        shot_pending = True
 
 async def find_device():
+    """Scan par nom (toutes les 0.5s pendant 30s max).
+    Si DEVICE_ADDRESS est renseignée, connexion directe sans scan.
+    """
+    if DEVICE_ADDRESS:
+        return DEVICE_ADDRESS  # connexion directe — BleakClient accepte une string
     found = None
     def cb(device, adv):
         nonlocal found
@@ -63,14 +81,45 @@ async def find_device():
             found = device
     scanner = BleakScanner(cb)
     await scanner.start()
-    for _ in range(20):
+    for _ in range(60):   # 30s max (60 × 0.5s)
         if found: break
         await asyncio.sleep(0.5)
     await scanner.stop()
     return found
 
+DEBUG_BYTE_OFFSET = 28   # Position fixe dans le payload 32 bytes — après toute la struct
+
+def build_config_payload(include_debug=False):
+    """Construit le payload ShotConfig (32 bytes) à envoyer au XIAO.
+    Le byte debug_mode est placé à l'offset fixe DEBUG_BYTE_OFFSET=28,
+    bien après la fin de ShotConfig quelle que soit la taille réelle en C++.
+    0xFF = ne pas changer le mode debug actuel du XIAO.
+    """
+    # struct ShotConfig : float, float, uint16, uint16, uint16, uint16, uint8, uint16, bool, bool, bool
+    payload = struct.pack('<ffHHHHBHBBB',
+        thresholds["accel"],          # accelThreshold (float)
+        thresholds["gyro"],           # gyroThreshold  (float)
+        int(thresholds["audio"]),     # audioThreshold (uint16)
+        60,                           # accelWindow    (uint16) ms — >DEBUG_RATE 50ms
+        60,                           # gyroWindow     (uint16) ms — >DEBUG_RATE 50ms
+        60,                           # audioWindow    (uint16) ms — >DEBUG_RATE 50ms
+        min_sensors,                  # minSensors     (uint8)  — 1, 2 ou 3
+        80,                           # shotCooldown   (uint16) ms
+        1,                            # useAccel       (bool)
+        1,                            # useGyro        (bool)
+        1,                            # useAudio       (bool)
+    )
+    # Padder à 32 bytes avec 0xFF (= "ne pas changer")
+    buf = bytearray(payload + b'\xff' * (32 - len(payload)))
+    # Placer le debug_mode à l'offset fixe 28
+    if include_debug:
+        buf[DEBUG_BYTE_OFFSET] = debug_mode & 0xFF
+    return bytes(buf)
+
+DEBUG_MODE_NAMES = ["OFF", "RAW", "TRIGGERS", "FULL"]
+
 async def ble_loop():
-    global ble_status, ble_running
+    global ble_status, ble_running, ble_client, config_pending
     while ble_running:
         try:
             ble_status = f"🔍 Recherche '{DEVICE_NAME}'..."
@@ -79,15 +128,54 @@ async def ble_loop():
                 ble_status = "⚠️  XIAO non trouvé — réessai..."
                 await asyncio.sleep(5)
                 continue
-            ble_status = f"📡 Connexion..."
-            async with BleakClient(device, timeout=15.0) as client:
+            # device peut être une string (adresse directe) ou un BLEDevice
+            if isinstance(device, str):
+                addr = device
+                display_name = DEVICE_NAME
+            else:
+                addr = device.address
+                display_name = device.name or DEVICE_NAME
+            ble_status = f"📡 Connexion {display_name}..."
+
+            async with BleakClient(addr, timeout=15.0) as client:
+                ble_client = client
                 await client.start_notify(DEBUG_CHAR_UUID, debug_callback)
                 await client.start_notify(SHOT_CHAR_UUID,  shot_callback)
-                ble_status = f"✅ {device.name}  ({device.address})"
+                ble_status = f"✅ {display_name}  ({addr})"
+                # À la connexion : lire la config sauvegardée dans le XIAO (flash)
+                try:
+                    raw = await client.read_gatt_char(CONFIG_CHAR_UUID)
+                    if len(raw) >= 22:
+                        vals = struct.unpack_from('<ffH', raw, 0)
+                        thresholds["accel"] = round(vals[0], 1)
+                        thresholds["gyro"]  = round(vals[1], 1)
+                        thresholds["audio"] = int(vals[2])
+                        print(f"📥 Config lue depuis XIAO → Accel:{thresholds['accel']:.1f}G  Gyro:{thresholds['gyro']:.0f}°/s  Audio:{thresholds['audio']}")
+                except Exception as ex:
+                    print(f"⚠️  Lecture config XIAO impossible: {ex}")
+                # Envoyer debug FULL (sans écraser les seuils du XIAO)
+                try:
+                    payload = build_config_payload(include_debug=True)
+                    await client.write_gatt_char(CONFIG_CHAR_UUID, payload, response=True)
+                    print(f"📤 Config initiale + Debug={DEBUG_MODE_NAMES[debug_mode]} envoyés")
+                except Exception as ex:
+                    print(f"⚠️  Erreur envoi config initiale: {ex}")
+
                 while client.is_connected and ble_running:
-                    await asyncio.sleep(0.5)
+                    if config_pending:
+                        try:
+                            payload = build_config_payload(include_debug=True)
+                            await client.write_gatt_char(CONFIG_CHAR_UUID, payload, response=True)
+                            print(f"📤 Config → Accel:{thresholds['accel']:.1f}G  Gyro:{thresholds['gyro']:.0f}°/s  Audio:{thresholds['audio']}  Debug:{DEBUG_MODE_NAMES[debug_mode]}")
+                        except Exception as ex:
+                            print(f"⚠️  Erreur envoi config: {ex}")
+                        finally:
+                            config_pending = False
+                    await asyncio.sleep(0.1)
+                ble_client = None
                 ble_status = "❌ Déconnecté — reconnexion..."
         except Exception as e:
+            ble_client = None
             ble_status = f"❌ {str(e)[:50]}"
             await asyncio.sleep(5)
 
@@ -108,12 +196,15 @@ CA    = '#4fc3f7'   # accel
 CG    = '#81c784'   # gyro
 CM    = '#ce93d8'   # audio
 CT    = '#ef5350'   # trigger / seuil
+CS    = '#ff9800'   # shot (orange vif)
 GRID  = '#2a2a4a'
 
-fig = plt.figure(figsize=(13, 9), facecolor=BG)
-gs  = gridspec.GridSpec(3, 1, hspace=0.5, top=0.92, bottom=0.06)
+fig = plt.figure(figsize=(13, 10), facecolor=BG)
+# 4 lignes : 3 capteurs (hauteur 3) + 1 timeline tirs (hauteur 1)
+gs  = gridspec.GridSpec(4, 1, hspace=0.5, top=0.92, bottom=0.05,
+                        height_ratios=[3, 3, 3, 1])
 
-axes = [fig.add_subplot(gs[i]) for i in range(3)]
+axes = [fig.add_subplot(gs[i]) for i in range(4)]
 for ax in axes:
     ax.set_facecolor(PANEL)
     ax.tick_params(colors=TEXT, labelsize=8)
@@ -125,20 +216,22 @@ for ax in axes:
 axes[0].set_ylabel("G",     color=TEXT, fontsize=9)
 axes[1].set_ylabel("°/s",   color=TEXT, fontsize=9)
 axes[2].set_ylabel("Niveau",color=TEXT, fontsize=9)
-axes[2].set_xlabel("Échantillons (fenêtre glissante)",
-                   color=TEXT, fontsize=8)
+axes[3].set_ylabel("Tirs",  color=CS,   fontsize=9)
+axes[3].set_xlabel("Echantillons (fenetre glissante)", color=TEXT, fontsize=8)
+axes[3].set_ylim(-0.1, 1.5)
+axes[3].set_yticks([])   # pas de graduations Y sur la timeline
 
 # Créer les artistes UNE SEULE FOIS — on ne les recrée jamais
 line_a, = axes[0].plot(X, list(accel_buf), color=CA,  lw=1.5)
 line_g, = axes[1].plot(X, list(gyro_buf),  color=CG,  lw=1.5)
 line_m, = axes[2].plot(X, list(audio_buf), color=CM,  lw=1.5)
+line_s, = axes[3].plot(X, list(shot_buf),  color=CS,  lw=0, marker='|',
+                        markersize=20, markeredgewidth=2.5)  # barres verticales
 
 thr_a = axes[0].axhline(thresholds["accel"], color=CT, ls='--', lw=1.5)
 thr_g = axes[1].axhline(thresholds["gyro"],  color=CT, ls='--', lw=1.5)
 thr_m = axes[2].axhline(thresholds["audio"], color=CT, ls='--', lw=1.5)
 
-# Zones de trigger : rectangles pré-créés (un par point)
-# On utilise une collection de spans pour les triggers
 from matplotlib.patches import Rectangle
 from matplotlib.collections import PatchCollection
 
@@ -147,18 +240,21 @@ titles = [
     axes[0].set_title("", color=TEXT, fontsize=10, fontweight='bold', pad=5),
     axes[1].set_title("", color=TEXT, fontsize=10, fontweight='bold', pad=5),
     axes[2].set_title("", color=TEXT, fontsize=10, fontweight='bold', pad=5),
+    axes[3].set_title("", color=CS,   fontsize=10, fontweight='bold', pad=5),
 ]
 
 status_txt = fig.text(0.01, 0.97, "", color=TEXT,    fontsize=9, va='top')
+debug_txt  = fig.text(0.01, 0.945, "", color='#ffcc44', fontsize=8, va='top')
 help_txt   = fig.text(0.99, 0.97,
-    "Q/A Accel±0.1G   W/S Gyro±10°/s   E/D Audio±500   R Reset   ESC Quitter",
+    "NUM7/1 Accel+-0.1G   NUM8/2 Gyro+-10dps   NUM9/3 Audio+-500   NUM6/4 MinSensors+-1   NUM0 Debug   NUM5 Reset   ESC Quitter",
     color='#8888aa', fontsize=8, va='top', ha='right')
 
 # Fonds de trigger (spans) — créés une fois, rendus invisibles par défaut
-# On dessine juste une image de fond qu'on met à jour
 trig_spans_a = [axes[0].axvspan(i, i+1, alpha=0, color=CT) for i in range(0, WINDOW_SIZE, 1)]
 trig_spans_g = [axes[1].axvspan(i, i+1, alpha=0, color=CT) for i in range(0, WINDOW_SIZE, 1)]
 trig_spans_m = [axes[2].axvspan(i, i+1, alpha=0, color=CT) for i in range(0, WINDOW_SIZE, 1)]
+# Spans de tir sur tous les graphiques (ligne verticale orange traversant tout)
+shot_spans   = [axes[3].axvspan(i, i+1, alpha=0, color=CS) for i in range(0, WINDOW_SIZE, 1)]
 
 def update_spans(spans, trig_list):
     """Met à jour l'alpha des spans sans en créer de nouveaux"""
@@ -171,11 +267,13 @@ def update(frame):
     a  = np.array(accel_buf)
     g  = np.array(gyro_buf)
     m  = np.array(audio_buf)
+    s  = np.array(shot_buf)
 
     # Mise à jour des données des lignes
     line_a.set_ydata(a)
     line_g.set_ydata(g)
     line_m.set_ydata(m)
+    line_s.set_ydata(s)
 
     # Mise à jour des seuils
     thr_a.set_ydata([thresholds["accel"], thresholds["accel"]])
@@ -185,63 +283,82 @@ def update(frame):
     # Ylim adaptatif
     axes[0].set_ylim(0, max(thresholds["accel"] * 1.8, a.max() * 1.2, 2.0))
     axes[1].set_ylim(0, max(thresholds["gyro"]  * 1.8, g.max() * 1.2, 100))
-    # ylim audio basé sur le max GLOBAL jamais vu (jamais réduit automatiquement)
     axes[2].set_ylim(0, max(audio_max_global * 1.2, thresholds["audio"] * 2.0, 1000))
 
-    # Triggers
+    # Triggers capteurs
     update_spans(trig_spans_a, accel_trig)
     update_spans(trig_spans_g, gyro_trig)
     update_spans(trig_spans_m, audio_trig)
 
+    # Spans tirs (orange plein sur la timeline)
+    sl = list(shot_buf)
+    for i, span in enumerate(shot_spans):
+        span.set_alpha(0.85 if i < len(sl) and sl[i] > 0 else 0)
+
     # Titres avec valeurs courantes
     titles[0].set_text(
-        f"Accéléromètre   "
+        f"Accelerometre   "
         f"val: {a[-1]:.2f} G   "
         f"seuil: {thresholds['accel']:.1f} G   "
-        f"[Q=+0.1  A=-0.1]")
+        f"[NUM7=+0.1  NUM1=-0.1]")
     titles[1].set_text(
         f"Gyroscope   "
-        f"val: {g[-1]:.0f} °/s   "
-        f"seuil: {thresholds['gyro']:.0f} °/s   "
-        f"[W=+10  S=-10]")
+        f"val: {g[-1]:.0f} dps   "
+        f"seuil: {thresholds['gyro']:.0f} dps   "
+        f"[NUM8=+10  NUM2=-10]")
     titles[2].set_text(
         f"Microphone PDM   "
         f"val: {m[-1]:.0f}   "
         f"seuil: {thresholds['audio']}   "
-        f"[E=+500  D=-500]")
+        f"[NUM9=+500  NUM3=-500]")
+    titles[3].set_text(f"Tirs detectes : {shot_count}   (fenetre glissante)")
 
     status_txt.set_text(
-        f"{ble_status}   |   💥 Tirs détectés : {shot_count}")
+        f"{ble_status}   |   Tirs total : {shot_count}")
+    debug_txt.set_text(
+        f"Debug XIAO : {DEBUG_MODE_NAMES[debug_mode]}   [NUM0 = cycle OFF->RAW->TRIGGERS->FULL]   |   "
+        f"MinSensors : {min_sensors}/3   [NUM6=+1  NUM4=-1]")
 
-    return (line_a, line_g, line_m,
+    return (line_a, line_g, line_m, line_s,
             thr_a, thr_g, thr_m,
-            *titles, status_txt)
+            *titles, status_txt, debug_txt)
 
 def on_key(event):
+    global audio_max_global, ble_running, config_pending, debug_mode, min_sensors
     k = event.key
-    if   k == 'q': thresholds["accel"] = round(thresholds["accel"] + 0.1, 1)
-    elif k == 'a': thresholds["accel"] = round(max(0.3, thresholds["accel"] - 0.1), 1)
-    elif k == 'w': thresholds["gyro"]  = thresholds["gyro"]  + 10
-    elif k == 's': thresholds["gyro"]  = max(20, thresholds["gyro"]  - 10)
-    elif k == 'e': thresholds["audio"] = thresholds["audio"] + 500
-    elif k == 'd': thresholds["audio"] = max(200, thresholds["audio"] - 500)
-    elif k == 'r':
-        global audio_max_global
+    changed = False
+    # Pavé numérique (Num Lock ON : '7','1'... / Num Lock OFF : 'num7','num1'...)
+    if   k in ('7', 'num7'): thresholds["accel"] = round(thresholds["accel"] + 0.1, 1);  changed = True
+    elif k in ('1', 'num1'): thresholds["accel"] = round(max(0.3, thresholds["accel"] - 0.1), 1); changed = True
+    elif k in ('8', 'num8'): thresholds["gyro"]  = thresholds["gyro"]  + 10;             changed = True
+    elif k in ('2', 'num2'): thresholds["gyro"]  = max(20, thresholds["gyro"]  - 10);    changed = True
+    elif k in ('9', 'num9'): thresholds["audio"] = thresholds["audio"] + 500;            changed = True
+    elif k in ('3', 'num3'): thresholds["audio"] = max(200, thresholds["audio"] - 500);  changed = True
+    elif k in ('6', 'num6'): min_sensors = min(3, min_sensors + 1); print(f"MinSensors → {min_sensors}"); changed = True
+    elif k in ('4', 'num4'): min_sensors = max(1, min_sensors - 1); print(f"MinSensors → {min_sensors}"); changed = True
+    elif k in ('0', 'num0'):
+        debug_mode = (debug_mode + 1) % 4  # cycle OFF→RAW→TRIGGERS→FULL
+        print(f"Debug XIAO → {DEBUG_MODE_NAMES[debug_mode]}")
+        changed = True  # déclenche l'envoi du nouveau mode au XIAO
+    elif k in ('5', 'num5'):
         audio_max_global = 1000
-        for b in (accel_buf, gyro_buf, audio_buf,
+        for b in (accel_buf, gyro_buf, audio_buf, shot_buf,
                   accel_trig, gyro_trig, audio_trig):
             b.clear()
             b.extend([0] * WINDOW_SIZE)
-        print("Courbes réinitialisées")
+        print("Courbes reinitialisees")
     elif k == 'escape':
-        global ble_running
         ble_running = False
         plt.close('all')
 
+    # Envoi de la config (+ debug mode) au XIAO si connecté
+    if changed:
+        config_pending = True
+
     # Affichage console
-    if   k in ('q','a'): print(f"Accel seuil → {thresholds['accel']:.1f} G")
-    elif k in ('w','s'): print(f"Gyro  seuil → {thresholds['gyro']:.0f} °/s")
-    elif k in ('e','d'): print(f"Audio seuil → {thresholds['audio']}")
+    if   k in ('7','1','num7','num1'): print(f"Accel seuil → {thresholds['accel']:.1f} G")
+    elif k in ('8','2','num8','num2'): print(f"Gyro  seuil → {thresholds['gyro']:.0f} °/s")
+    elif k in ('9','3','num9','num3'): print(f"Audio seuil → {thresholds['audio']}")
 
 def on_close(event):
     global ble_running