Lots of improvements, added 14bit precision, added interleaved sending for more sensor updates.
Luka Frelih
parent
c7c5e4fa96
commit
1ef26458d1
Binary file not shown.
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@ -0,0 +1,277 @@
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/**! @brief Class for managing storing "Adafruit" sensor calibration
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in internal Flash memory with KVStore
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for Arduino Nano 33 BLE
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* **/
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//https://os.mbed.com/docs/mbed-os/v6.12/apis/kvstore.html
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//KVStore. TDBStore - Default implementation of the KVStore API. It provides static wear-leveling and quick access for when you have a small number of KV pairs.
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//https://os.mbed.com/docs/mbed-os/v6.12/apis/data-architecture.html
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#include "KVStore.h"
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#include "kvstore_global_api.h"
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/**! XYZ vector of offsets for zero-g, in m/s^2 */
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float accel_zerog[3] = {0, 0, 0};
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/**! XYZ vector of offsets for zero-rate, in rad/s */
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float gyro_zerorate[3] = {0, 0, 0};
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/**! XYZ vector of offsets for hard iron calibration (in uT) */
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float mag_hardiron[3] = {0, 0, 0};
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/**! The 3x3 matrix for soft-iron calibration (unitless) */
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float mag_softiron[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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/**! The magnetic field magnitude in uTesla */
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float mag_field = 50;
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const char* const ASC_KV_Key0 = "store_flag";
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const char* const ASC_KV_Key1 = "store_offsets";
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void setGyroCalibration(float x, float y, float z) {
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gyro_zerorate[0]=x;
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gyro_zerorate[1]=y;
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gyro_zerorate[2]=z;
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}
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float getGyroXCal() {
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return gyro_zerorate[0];
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}
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float getGyroYCal() {
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return gyro_zerorate[1];
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}
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float getGyroZCal() {
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return gyro_zerorate[2];
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}
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bool saveCalibration(void) {
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Serial.println("Save Cal");
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kv_reset("/kv/");
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uint8_t flag=42;
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kv_set(ASC_KV_Key0,&flag,sizeof(flag),0);
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float offsets[16];
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memcpy(offsets, accel_zerog, 12); // 3 x 4-byte floats
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memcpy(offsets + 3, gyro_zerorate, 12); // 3 x 4-byte floats
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memcpy(offsets + 6, mag_hardiron, 12); // 3 x 4-byte floats
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offsets[9] = mag_field;
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offsets[10] = mag_softiron[0];
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offsets[11] = mag_softiron[4];
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offsets[12] = mag_softiron[8];
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offsets[13] = mag_softiron[1];
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offsets[14] = mag_softiron[2];
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offsets[15] = mag_softiron[5];
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kv_set(ASC_KV_Key1, (uint8_t*)&offsets, sizeof(offsets), 0);
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return true;
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}
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bool loadCalibration(void) {
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uint8_t flag;
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kv_get(ASC_KV_Key0,&flag,sizeof(flag),0);
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if (flag=!42) {
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Serial.print("FLAG NOT SET, CALIBRATION NOT FOUND");
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return false;
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}
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float offsets[16];
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kv_get(ASC_KV_Key1,(byte*)&offsets,sizeof(offsets),0);
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accel_zerog[0] = offsets[0];
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accel_zerog[1] = offsets[1];
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accel_zerog[2] = offsets[2];
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gyro_zerorate[0] = offsets[3];
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gyro_zerorate[1] = offsets[4];
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gyro_zerorate[2] = offsets[5];
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mag_hardiron[0] = offsets[6];
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mag_hardiron[1] = offsets[7];
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mag_hardiron[2] = offsets[8];
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mag_field = offsets[9];
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mag_softiron[0] = offsets[10];
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mag_softiron[1] = offsets[13];
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mag_softiron[2] = offsets[14];
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mag_softiron[3] = offsets[13];
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mag_softiron[4] = offsets[11];
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mag_softiron[5] = offsets[15];
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mag_softiron[6] = offsets[14];
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mag_softiron[7] = offsets[15];
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mag_softiron[8] = offsets[12];
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return true;
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}
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bool printCalibration(void) {
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Serial.println(F("------------"));
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Serial.print("Accelerometer: ");
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Serial.print(accel_zerog[0]);
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Serial.print(", ");
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Serial.print(accel_zerog[1]);
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Serial.print(", ");
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Serial.print(accel_zerog[2]);
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Serial.println();
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Serial.print("Gyroscope: ");
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Serial.print(gyro_zerorate[0]);
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Serial.print(", ");
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Serial.print(gyro_zerorate[1]);
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Serial.print(", ");
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Serial.print(gyro_zerorate[2]);
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Serial.println();
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Serial.print("Magnetometer Hard Iron: ");
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Serial.print(mag_hardiron[0]);
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Serial.print(", ");
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Serial.print(mag_hardiron[1]);
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Serial.print(", ");
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Serial.print(mag_hardiron[2]);
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Serial.println();
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Serial.print("Magnetic Field: ");
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Serial.print(mag_field);
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Serial.println();
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Serial.print("Magnetometer Soft Iron: ");
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Serial.print(mag_softiron[0]);
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Serial.print(", ");
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Serial.print(mag_softiron[1]);
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Serial.print(", ");
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Serial.print(mag_softiron[2]);
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Serial.println();
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Serial.print(mag_softiron[3]);
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Serial.print(", ");
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Serial.print(mag_softiron[4]);
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Serial.print(", ");
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Serial.print(mag_softiron[5]);
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Serial.println();
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Serial.print(mag_softiron[6]);
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Serial.print(", ");
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Serial.print(mag_softiron[7]);
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Serial.print(", ");
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Serial.print(mag_softiron[8]);
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Serial.println();
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Serial.println(F("\n------------"));
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return true;
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}
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bool printSavedCalibration(void) {
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Serial.println(F("------------"));
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uint8_t flag;
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kv_get(ASC_KV_Key0,&flag,sizeof(flag),0);
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if (flag=!42) {
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Serial.print("FLAG NOT SET, CALIBRATION NOT FOUND");
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return false;
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}
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float offsets[16];
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kv_get(ASC_KV_Key1,(byte*)&offsets,sizeof(offsets),0);
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accel_zerog[0] = offsets[0];
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accel_zerog[1] = offsets[1];
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accel_zerog[2] = offsets[2];
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Serial.print("Accelerometer: ");
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Serial.print(accel_zerog[0]);
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Serial.print(", ");
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Serial.print(accel_zerog[1]);
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Serial.print(", ");
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Serial.print(accel_zerog[2]);
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Serial.println();
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gyro_zerorate[0] = offsets[3];
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gyro_zerorate[1] = offsets[4];
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gyro_zerorate[2] = offsets[5];
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Serial.print("Gyroscope: ");
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Serial.print(gyro_zerorate[0]);
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Serial.print(", ");
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Serial.print(gyro_zerorate[1]);
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Serial.print(", ");
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Serial.print(gyro_zerorate[2]);
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Serial.println();
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mag_hardiron[0] = offsets[6];
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mag_hardiron[1] = offsets[7];
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mag_hardiron[2] = offsets[8];
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Serial.println("Magnetometer Hard Iron: ");
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Serial.print(mag_hardiron[0]);
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Serial.print(", ");
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Serial.print(mag_hardiron[1]);
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Serial.print(", ");
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Serial.print(mag_hardiron[2]);
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Serial.println();
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mag_field = offsets[9];
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Serial.print("Magnetic Field: ");
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Serial.print(mag_field);
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Serial.println();
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mag_softiron[0] = offsets[10];
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mag_softiron[1] = offsets[13];
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mag_softiron[2] = offsets[14];
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mag_softiron[3] = offsets[13];
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mag_softiron[4] = offsets[11];
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mag_softiron[5] = offsets[15];
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mag_softiron[6] = offsets[14];
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mag_softiron[7] = offsets[15];
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mag_softiron[8] = offsets[12];
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Serial.print("Magnetometer Soft Iron: ");
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Serial.print(mag_softiron[0]);
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Serial.print(", ");
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Serial.print(mag_softiron[1]);
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Serial.print(", ");
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Serial.print(mag_softiron[2]);
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Serial.println();
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Serial.print(mag_softiron[3]);
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Serial.print(", ");
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Serial.print(mag_softiron[4]);
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Serial.print(", ");
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Serial.print(mag_softiron[5]);
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Serial.println();
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Serial.print(mag_softiron[6]);
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Serial.print(", ");
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Serial.print(mag_softiron[7]);
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Serial.print(", ");
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Serial.print(mag_softiron[8]);
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Serial.println();
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/* for (uint16_t a = ee_addr; a < ee_addr + KVStore_CAL_SIZE; a++) {
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uint8_t c = KVStore.read(a);
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Serial.print("0x");
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if (c < 0x10)
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Serial.print('0');
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Serial.print(c, HEX);
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Serial.print(", ");
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if ((a - ee_addr) % 16 == 15) {
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Serial.println();
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}
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}
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*/
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Serial.println(F("\n------------"));
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return true;
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}
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@ -1,7 +1,7 @@
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#include <Arduino_LSM9DS1.h>
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#include <BLEMIDI_Transport.h>
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#include "SensorFusion.h" //SF
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#include <BLEMIDI_Transport.h>
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//#include <hardware/BLEMIDI_ESP32_NimBLE.h>
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//#include <hardware/BLEMIDI_ESP32.h>
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//#include <hardware/BLEMIDI_nRF52.h>
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@ -9,6 +9,7 @@
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BLEMIDI_CREATE_DEFAULT_INSTANCE()
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unsigned long tm = millis();
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unsigned long t0 = millis();
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bool isConnected = false;
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@ -43,18 +44,30 @@ float gx, gy, gz, ax, ay, az, mx, my, mz;
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float pitch, roll, yaw;
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float deltat;
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//Gyro Offset....: -605622 -24028 -338386
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float goffx = -605622.0 / 1000000.0;
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float goffy = -24028.0 / 1000000.0;
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float goffz = -338386.0 / 1000000.0;
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float gxoff = 0;
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float gyoff = 0;
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float gzoff = 0;
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float fmap(float x, float in_min, float in_max, float out_min, float out_max)
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{
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return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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byte highbits(float f) {
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return int(f) % 128;
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}
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byte lowbits(float f) {
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return int(f * 128) % 128;
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};
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unsigned long loops = 0;
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unsigned long loopmillis = 0;
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unsigned long midis = 0;
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unsigned long midimillis = 0;
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// -----------------------------------------------------------------------------
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// When BLE connected, LED will turn on (indication that connection was successful)
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// When receiving a NoteOn, LED will go out, on NoteOff, light comes back on.
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@ -64,8 +77,16 @@ void setup()
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{
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Serial.begin(115200);
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Serial.println("MIDI-BLE TEST 1");
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Serial.println("2022-03-02");
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// while (!Serial) {
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; // wait for serial port to connect. Needed for native USB
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// }
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loopmillis = millis();
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midimillis = millis();
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Serial.println("MIDI-BLE TEST 3");
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Serial.println("2022-06-16");
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MIDI.begin();
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@ -93,7 +114,21 @@ void setup()
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digitalWrite(LED_BUILTIN, HIGH);
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});
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// accelerometer
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// gyro calibration
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Serial.print("Loading calibration: ");
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if (loadCalibration()) {
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gxoff=getGyroXCal();
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gyoff=getGyroYCal();
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gyoff=getGyroZCal();
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Serial.println("success :)");
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} else {
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Serial.println("failed :(");
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}
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printCalibration();
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// motion sensor
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if (!IMU.begin()) {
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Serial.println("Failed to initialize IMU!");
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while (1);
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@ -119,6 +154,12 @@ void setup()
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Serial.println();
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Serial.println("Magnetic Field in uT");
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Serial.println("X\tY\tZ");
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Serial.print("Setup took (ms): ");
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Serial.println(millis()-loopmillis);
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loopmillis = millis();
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midimillis = millis();
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}
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// -----------------------------------------------------------------------------
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@ -126,15 +167,29 @@ void setup()
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// -----------------------------------------------------------------------------
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void loop()
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{
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// now you should read the gyroscope, accelerometer (and magnetometer if you have it also)
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// NOTE: the gyroscope data have to be in radians
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// if you have them in degree convert them with: DEG_TO_RAD example: gx * DEG_TO_RAD
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if (IMU.magneticFieldAvailable()) {
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IMU.readMagneticField(mx, my, mz);
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}
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if (IMU.accelerationAvailable()&&IMU.gyroscopeAvailable()) {
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tm = millis();
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loops++;
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if (!(loops%1000)) {
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Serial.print("1000 loops took (ms): ");
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Serial.println(tm-loopmillis);
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loopmillis=tm;
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}
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MIDI.read();
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IMU.readAcceleration(ax, ay, az);
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/*
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ax *= 9.81;
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@ -144,9 +199,9 @@ void loop()
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IMU.readGyroscope(gx, gy, gz);
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gx -= goffx;
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gy -= goffy;
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gz -= goffz;
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gx -= gxoff;
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gy -= gxoff;
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gz -= gxoff;
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gx *= DEG_TO_RAD;
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gy *= DEG_TO_RAD;
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@ -156,36 +211,119 @@ void loop()
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deltat = fusion.deltatUpdate(); //this have to be done before calling the fusion update
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//choose only one of these two:
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//fusion.MahonyUpdate(gx, gy, gz, ax, ay, az, deltat); //mahony is suggested if there isn't the mag and the mcu is slow
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fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat); //else use the magwick, it is slower but more accurate
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fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, -mx, my, mz, deltat); //else use the magwick, it is slower but more accurate
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pitch = fusion.getPitch();
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roll = fusion.getRoll(); //you could also use getRollRadians() ecc
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yaw = fusion.getYaw();
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if (isConnected && (tm - t0) > 6)
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{
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t0 = tm;
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switch (midis) {
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case 0:
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maccx = fmap(ax,-4.0,4.0, 0.0,127.0);
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MIDI.sendControlChange(0 + hand, maccx, midichannel);
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break;
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case 1:
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maccy = fmap(ay,-4.0,4.0, 0.0,127.0);
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MIDI.sendControlChange(1 + hand, maccy, midichannel);
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break;
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case 2:
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maccz = fmap(az,-4.0,4.0, 0.0,127.0);
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MIDI.sendControlChange(2 + hand, maccz, midichannel);
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break;
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case 3:
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mgyrox = map(gx, -2000*DEG_TO_RAD, 2000*DEG_TO_RAD, 0.0, 127.0);
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MIDI.sendControlChange(3 + hand, mgyrox, midichannel);
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break;
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case 4:
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mgyroy = map(gy, -2000*DEG_TO_RAD, 2000*DEG_TO_RAD, 0.0, 127.0);
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MIDI.sendControlChange(4 + hand, mgyroy, midichannel);
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break;
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case 5:
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mgyroz = map(gz, -2000*DEG_TO_RAD, 2000*DEG_TO_RAD, 0.0, 127.0);
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MIDI.sendControlChange(5 + hand, mgyroz, midichannel);
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break;
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case 6:
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accmag = sqrt(ax*ax+ay*ay+az*az);
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// accmag = map(accmag, 0, 1000, 0,127);
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mroll = fmap(roll,-180,180,0,127);
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||||
mpitch = fmap(pitch,-90,90,0,127);
|
||||
myaw = fmap(yaw,0,360,0,127);
|
||||
MIDI.sendControlChange(6 + hand, accmag * 100, midichannel);
|
||||
break;
|
||||
|
||||
case 7:
|
||||
mmagx = fmap(mx, 0,60, 0,127);
|
||||
MIDI.sendControlChange(7 + hand, mmagx, midichannel);
|
||||
break;
|
||||
|
||||
case 8:
|
||||
mmagy = fmap(my, 0,60, 0,127);
|
||||
MIDI.sendControlChange(8 + hand, mmagy, midichannel);
|
||||
break;
|
||||
|
||||
case 9:
|
||||
mmagz = fmap(mz, 0,60, 0,127);
|
||||
MIDI.sendControlChange(9 + hand, mmagz, midichannel);
|
||||
break;
|
||||
|
||||
case 10:
|
||||
roll = fusion.getRoll(); //you could also use getRollRadians() ecc
|
||||
mroll = fmap(roll,-180,180,0,127);
|
||||
MIDI.sendControlChange(10 + hand, mroll, midichannel);
|
||||
break;
|
||||
|
||||
case 11:
|
||||
pitch = fusion.getPitch();
|
||||
mpitch = fmap(pitch,-90,90,0,127);
|
||||
MIDI.sendControlChange(11 + hand, mpitch, midichannel);
|
||||
break;
|
||||
|
||||
case 12:
|
||||
MIDI.sendControlChange(12 + hand, myaw, midichannel);
|
||||
yaw = fusion.getYaw();
|
||||
myaw = fmap(yaw,0,360,0,127);
|
||||
break;
|
||||
|
||||
case 13:
|
||||
roll = fusion.getRoll(); //you could also use getRollRadians() ecc
|
||||
mroll = fmap(roll,-180,180,0,127);
|
||||
MIDI.sendControlChange(13 + hand, lowbits(mroll), midichannel);
|
||||
break;
|
||||
|
||||
case 14:
|
||||
pitch = fusion.getPitch();
|
||||
mpitch = fmap(pitch,-90,90,0,127);
|
||||
MIDI.sendControlChange(14 + hand, lowbits(mpitch), midichannel);
|
||||
break;
|
||||
|
||||
case 15:
|
||||
MIDI.sendControlChange(15 + hand, lowbits(myaw), midichannel);
|
||||
yaw = fusion.getYaw();
|
||||
myaw = fmap(yaw,0,360,0,127);
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
maccx = fmap(ax,-4.0,4.0, 0.0,127.0);
|
||||
maccy = fmap(ay,-4.0,4.0, 0.0,127.0);
|
||||
maccz = fmap(az,-4.0,4.0, 0.0,127.0);
|
||||
//mgyrox = gyrox/2000 * 64 + 64;
|
||||
//mgyroy = gyroy/2000 * 64 + 64;
|
||||
//mgyroz = gyroz/2000 * 64 + 64;
|
||||
mgyrox = map(gx, -2000,2000, 0.0, 127.0);
|
||||
mgyroy = map(gy, -2000,2000, 0.0, 127.0);
|
||||
mgyroz = map(gz, -2000,2000, 0.0, 127.0);
|
||||
// mz = max(10, abs(z) * 1000);
|
||||
mmagx = fmap(mx, 0,60, 0,127);
|
||||
mmagy = fmap(my, 0,60, 0,127);
|
||||
mmagz = fmap(mz, 0,60, 0,127);
|
||||
|
||||
maxx = max(magx, maxx);
|
||||
maxy = max(magy, maxy);
|
||||
maxz = max(magz, maxz);
|
||||
// maxx = max(magx, maxx);
|
||||
// maxy = max(magy, maxy);
|
||||
// maxz = max(magz, maxz);
|
||||
|
||||
// Serial.print(mx);
|
||||
// Serial.print('\t');
|
||||
|
|
@ -194,30 +332,9 @@ void loop()
|
|||
// Serial.print('\t');
|
||||
// Serial.println(z);
|
||||
// Serial.println();
|
||||
}
|
||||
|
||||
MIDI.read();
|
||||
|
||||
|
||||
|
||||
if (isConnected && (millis() - t0) > 10)
|
||||
{
|
||||
t0 = millis();
|
||||
|
||||
// MIDI.sendNoteOn (my, mx, 1); // note 60, velocity 100 on channel 1
|
||||
MIDI.sendControlChange(0 + hand, maccx, midichannel);
|
||||
MIDI.sendControlChange(1 + hand, maccy, midichannel);
|
||||
MIDI.sendControlChange(2 + hand, maccz, midichannel);
|
||||
MIDI.sendControlChange(3 + hand, mgyrox, midichannel);
|
||||
MIDI.sendControlChange(4 + hand, mgyroy, midichannel);
|
||||
MIDI.sendControlChange(5 + hand, mgyroz, midichannel);
|
||||
MIDI.sendControlChange(6, accmag * 100, midichannel);
|
||||
MIDI.sendControlChange(7 + hand, mmagx, midichannel);
|
||||
MIDI.sendControlChange(8 + hand, mmagy, midichannel);
|
||||
MIDI.sendControlChange(9 + hand, mmagz, midichannel);
|
||||
MIDI.sendControlChange(10 + hand, mroll, midichannel);
|
||||
MIDI.sendControlChange(11 + hand, mpitch, midichannel);
|
||||
MIDI.sendControlChange(12 + hand, myaw, midichannel);
|
||||
// Serial.print(mmagx);
|
||||
// Serial.print('\t');
|
||||
// Serial.print(mmagy);
|
||||
|
|
@ -228,5 +345,25 @@ void loop()
|
|||
// Serial.println("ping");
|
||||
// delay(mz);
|
||||
// MIDI.sendNoteOff(my, mx, 1);
|
||||
|
||||
midis=(midis+1)%16;
|
||||
|
||||
if (midis==0) {
|
||||
|
||||
Serial.print("MIDI sending took (ms): ");
|
||||
Serial.println(tm-midimillis);
|
||||
midimillis=tm;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue