README update, some arduino/pio updates, basic WIP GUI
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@ -0,0 +1,104 @@
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AHRSensor {
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var <id,
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<>calibrationQuat,
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<>quat,
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<>euler,
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<>accel,
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<battery,
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<gEx,
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<gEy,
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<gEz;
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*new { |id|
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^super.newCopyArgs(id).init;
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}
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quat2euler { |quat|
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var w = quat.a, x = quat.b, y = quat.c, z = quat.d,
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x2 = x + x, y2 = y + y, z2 = z + z,
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xx = x * x2, xy = x * y2, xz = x * z2,
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yy = y * y2, yz = y * z2, zz = z * z2,
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wx = w * x2, wy = w * y2, wz = w * z2,
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matrix = [
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1 - ( yy + zz ), xy + wz, xz - wy, 0,
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xy - wz, 1 - ( xx + zz ), yz + wx, 0,
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xz + wy, yz - wx, 1 - ( xx + yy ), 0,
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0, 0, 0, 1
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];
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var m11 = matrix[0], m12 = matrix[4], m13 = matrix[8];
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var m21 = matrix[1], m22 = matrix[5], m23 = matrix[9];
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var m31 = matrix[2], m32 = matrix[6], m33 = matrix[10];
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var euler = [0, 0, 0];
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euler[1] = asin(m13.clip(- 1, 1));
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if ((m13.abs < 0.9999999), {
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euler[0] = atan2(m23.neg, m33);
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euler[2] = atan2(m12.neg, m11);
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}, {
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euler[0] = atan2(m32, m22);
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euler[2] = 0;
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});
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euler.postln;
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euler;
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}
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init {
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quat = Quaternion;
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calibrationQuat = Quaternion;
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euler = [0, 0, 0];
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accel = [0, 0, 0];
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battery = 0;
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this.guiInit;
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}
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guiInit {
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// Barve
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var cRed, cGreen, cBlue, cPurple, cI;
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// Intenziteta
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cI = 0.8;
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cRed = Color.new(cI, 0, 0);
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cGreen = Color.new(0, cI, 0);
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cBlue = Color.new(0, 0, cI);
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cPurple = Color.new(cI, 0, cI);
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gEx = StaticText().string_(0).stringColor_(cRed);
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gEy = StaticText().string_(0).stringColor_(cGreen);
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gEz = StaticText().string_(0).stringColor_(cBlue);
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}
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getGui {
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^VLayout(
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StaticText().string_("Sensor " ++ id),
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HLayout(
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StaticText().string_("euler: "),
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[StaticText().string_("x: "), align: \left],
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[gEx, align: \left],
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StaticText().string_("y: "),
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gEy,
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StaticText().string_("z: "),
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gEz,
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)
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);
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}
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updateEuler { |newQuat|
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var quatDiff = newQuat / quat;
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euler += quat2euler(quatDiff);
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}
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refreshGui {
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gEx.string_(euler[0]);
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gEy.string_(euler[1]);
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gEz.string_(euler[2]);
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}
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}
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10
README.org
10
README.org
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@ -6,6 +6,16 @@ Ryuzo Fukohara dancing and triggering / modulating sounds and projections by Sim
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We plan to plant 5-6 sensors on Ryuzota, the IMU signals will be converted
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into midi for Borut in Simon.
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** Code
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*** Arduino sensor
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[[file:src/ada.cpp][Arduino source (adafruit on ESP32S2)]]
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*** Arduino receiver
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[[file:src/sprejemnik.cpp][Arduino source (ESP32S3 receiver)]]
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*** Supercollider receiver code
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[[file:utopia.scd][Utopia receiver]]
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*** SLIPDecoder source
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[[file:~/.local/share/SuperCollider/downloaded-quarks/SLIPDecoder/SLIPDecoder.sc][SLIPDecoder source]]
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** Microcontrollers
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*** LilyGo ESP32-S3
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https://www.lilygo.cc/products/t7-s3
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@ -1,5 +1,12 @@
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#!/usr/bin/env sh
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guix shell --container --network --emulate-fhs --share=$HOME/.platformio python-platformio coreutils bash nss-certs less gcc-toolchain glibc vim sudo
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# Zakaj noce zbildat 32 bit verzije platformio??
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guix shell --container --network --share=$HOME/.platformio python-platformio coreutils bash nss-certs zopfli python-zopfli --system=i686-linux --emulate-fhs -e '(list (@@ (gnu packages commencement) gcc) "lib")'
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#guix shell --container --network --share=$HOME/.platformio coreutils bash nss-certs zopfli python-zopfli --system=i686-linux --emulate-fhs -e '(list (@@ (gnu packages commencement) gcc) "lib")'
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#guix shell --container --network --emulate-fhs --share=$HOME/.platformio python-platformio coreutils bash nss-certs less vim sudo patchelf
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#guix shell --container --network -s i686-linux --emulate-fhs --share=$HOME/.platformio python-virtualenv coreutils bash nss-certs less gcc-toolchain glibc python
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#guix shell --container --network -s i686-linux --emulate-fhs --share=$HOME/.platformio python-virtualenv coreutils bash nss-certs less gcc-toolchain python
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@ -21,5 +21,4 @@
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},
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"frameworks": "arduino",
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"platforms": "*"
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]
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}
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@ -27,7 +27,7 @@ board = lilygo-t7-s3
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upload_protocol = esptool
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upload_speed = 921600
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monitor_speed = 115200
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build_flags = -D ARDUINO_USB_CDC_ON_BOOT=1 -D CORE_DEBUG_LEVEL=1
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build_flags = -D ARDUINO_USB_CDC_ON_BOOT=1
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build_src_filter =
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+<sprejemnik.cpp>
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@ -46,7 +46,7 @@ void setup() {
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Wire.begin(SDApin, SCLpin);
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// Fast mode
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Wire.setClock(1000000);
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Wire.setClock(400000);
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bno = Adafruit_BNO055(55, 0x28, &Wire);
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/* Initialise the sensor */
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@ -1,6 +1,8 @@
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#include <Arduino.h>
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#include <Wire.h>
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#define __x86_64__
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// ID kegla mora bit unikaten za vsakega! (se poslje poleg parametrov)
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#define SENSOR_ID 1
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@ -11,7 +11,6 @@
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//#define DEBUG
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// Ponavadi imamo navaden serial
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#include "SLIPEncodedSerial.h"
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SLIPEncodedUSBSerial SLIPSerial(Serial);
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@ -20,11 +19,11 @@ SLIPEncodedUSBSerial SLIPSerial(Serial);
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uint8_t newMACAddress[] = {0x08, 0x3A, 0xF2, 0x50, 0xEF, 0x6C};
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// Maksimalno stevilo
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#define ST_KEGLOV 10
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#define ST_SPREJEMNIKOV 10
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int odcitekId;
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sensor_msg odcitki[ST_KEGLOV];
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bool poslji[ST_KEGLOV];
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sensor_msg odcitki[ST_SPREJEMNIKOV];
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bool poslji[ST_SPREJEMNIKOV];
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void prejemPodatkov(const uint8_t * mac_addr, const uint8_t * noviPodatki, int len) {
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@ -62,12 +61,14 @@ void prejemPodatkov(const uint8_t * mac_addr, const uint8_t * noviPodatki, int l
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}
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void setup() {
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// Nizja CPU frekvenca
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setCpuFrequencyMhz(80);
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SLIPSerial.begin(115200);
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//Serial.begin(115200);
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// Ne posiljaj preden se podatki napolnijo
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for (int i = 0; i < ST_KEGLOV; i++) {
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poslji[0] = false;
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for (int i = 0; i < ST_SPREJEMNIKOV; i++) {
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poslji[i] = false;
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}
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for (int i = 0; i < 5; i++) {
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@ -101,8 +102,9 @@ void loop() {
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OSCBundle bundle;
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char glava[32];
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for (int i = 0; i < ST_KEGLOV; i++) {
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for (int i = 0; i < ST_SPREJEMNIKOV; i++) {
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if (poslji[i]) {
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// Accel in quaternion v bundlu skupaj z ostalim sta velika 396 bytov!
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sprintf(glava, "/ww/%d/accel", i);
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/*
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Serial.print("Posiljam ");
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@ -0,0 +1,74 @@
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// Dependencies:
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// - SLIPDecoder (https://git.kompot.si/g1smo/SLIPDecoder)
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// - MathLib (https://depts.washington.edu/dxscdoc/Help/Browse.html#Libraries%3EMathLib)
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(
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// Initialize the the receiver via SLIP decoder
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~receiverPath = "/dev/ttyACM0";
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~baudRate = 115200;
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~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
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OSCFunc.trace(false); // debug osc
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~decoder.trace(true); // debug slip decoder
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/*******
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* GUI *
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******/
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~senzorji = [];
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~numSensors = 3;
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~numSensors.do({ |n|
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~senzorji.add(AHRSensor.new(n + 1));
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});
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~w = Window.new("Utopia || C²", Rect(300, 300, 640, ~numSensors * 20),true);
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~elementi = ~senzorji.collect({|s| s.getGui;});
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~ttyInput = TextField().string_("/dev/ttyACM0");
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~w.layout_(
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VLayout(
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HLayout(
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StaticText().string_("Serial path: "),
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~ttyInput,
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Button().string_("Start").action_({ | butt |
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if ((~decoder.running.not), {
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// If not running, start decoder
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~decoder.deviceName = "";
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~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
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~decoder.start;
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butt.string_("Stop")
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}, {
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// Else stop the decoder
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~decoder.stop;
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butt.string_("Start")
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});
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})
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),
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// Elementi senzorjev
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VLayout(*~elementi)
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)
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);
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~w.front;
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q = OSCFunc({ |msg, time, addr, recvPort|
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var q;
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q = Quaternion.new(msg[4], msg[1], msg[2], msg[3]);
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q.postln;
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//~senzorji[0].updateEuler(q);
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//~senzorji[0].euler.postln;
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//~elementi[0].refreshGui;
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}, "/ww/1/quaternion");
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// Start the decoder!
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//~decoder.start;
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)
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~decoder.trace;
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~decoder.stop;
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~decoder.start;
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~decoder.rate;
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