now it compiles

ArduinoNano33BLE/MidiBle-tilt/KVStore.ino

@@ -1,277 +0,0 @@
-/**!  @brief Class for managing storing "Adafruit" sensor calibration 
-             in internal Flash memory with KVStore
-             for Arduino Nano 33 BLE
- * **/
-
-//https://os.mbed.com/docs/mbed-os/v6.12/apis/kvstore.html
-//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.
-//https://os.mbed.com/docs/mbed-os/v6.12/apis/data-architecture.html
-
-#include "KVStore.h"
-#include "kvstore_global_api.h"
-
-  /**! XYZ vector of offsets for zero-g, in m/s^2 */
-  float accel_zerog[3] = {0, 0, 0};
-
-  /**! XYZ vector of offsets for zero-rate, in rad/s */
-  float gyro_zerorate[3] = {0, 0, 0};
-
-  /**! XYZ vector of offsets for hard iron calibration (in uT) */
-  float mag_hardiron[3] = {0, 0, 0};
-
-  /**! The 3x3 matrix for soft-iron calibration (unitless) */
-  float mag_softiron[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-
-  /**! The magnetic field magnitude in uTesla */
-  float mag_field = 50;
-
-const char* const ASC_KV_Key0 = "store_flag";
-const char* const ASC_KV_Key1 = "store_offsets";
-
-void setGyroCalibration(float x, float y, float z) {
-    gyro_zerorate[0]=x;	  
-    gyro_zerorate[1]=y;	  
-    gyro_zerorate[2]=z;	  
-}
-
-float getGyroXCal() {
-  return gyro_zerorate[0];
-}
-
-float getGyroYCal() {
-  return gyro_zerorate[1];
-}
-
-float getGyroZCal() {
-  return gyro_zerorate[2];
-}
-
-bool saveCalibration(void) {
-  Serial.println("Save Cal");
-
-  kv_reset("/kv/");
-
-  uint8_t flag=42;
-  
-  kv_set(ASC_KV_Key0,&flag,sizeof(flag),0);
-  
-  float offsets[16];
-  memcpy(offsets, accel_zerog, 12);       // 3 x 4-byte floats
-  memcpy(offsets + 3, gyro_zerorate, 12); // 3 x 4-byte floats
-  memcpy(offsets + 6, mag_hardiron, 12);  // 3 x 4-byte floats
-
-  offsets[9] = mag_field;
-
-  offsets[10] = mag_softiron[0];
-  offsets[11] = mag_softiron[4];
-  offsets[12] = mag_softiron[8];
-  offsets[13] = mag_softiron[1];
-  offsets[14] = mag_softiron[2];
-  offsets[15] = mag_softiron[5];
-
-  kv_set(ASC_KV_Key1, (uint8_t*)&offsets, sizeof(offsets), 0);
-  
-  return true;
-}
-
-bool loadCalibration(void) {
-
-  uint8_t flag;
-  
-  kv_get(ASC_KV_Key0,&flag,sizeof(flag),0); 
-
-  if (flag=!42) {
-    Serial.print("FLAG NOT SET, CALIBRATION NOT FOUND");
-    return false;
-  }
-
-  float offsets[16];
-	
-  kv_get(ASC_KV_Key1,(byte*)&offsets,sizeof(offsets),0);
-  
-  accel_zerog[0] = offsets[0];
-  accel_zerog[1] = offsets[1];
-  accel_zerog[2] = offsets[2];
-
-  gyro_zerorate[0] = offsets[3];
-  gyro_zerorate[1] = offsets[4];
-  gyro_zerorate[2] = offsets[5];
-
-  mag_hardiron[0] = offsets[6];
-  mag_hardiron[1] = offsets[7];
-  mag_hardiron[2] = offsets[8];
-
-  mag_field = offsets[9];
-
-  mag_softiron[0] = offsets[10];
-  mag_softiron[1] = offsets[13];
-  mag_softiron[2] = offsets[14];
-  mag_softiron[3] = offsets[13];
-  mag_softiron[4] = offsets[11];
-  mag_softiron[5] = offsets[15];
-  mag_softiron[6] = offsets[14];
-  mag_softiron[7] = offsets[15];
-  mag_softiron[8] = offsets[12];
-
-  return true;
-}
-
-bool printCalibration(void) {
-    Serial.println(F("------------"));
-
-  Serial.print("Accelerometer: ");
-  Serial.print(accel_zerog[0]);
-  Serial.print(", ");
-  Serial.print(accel_zerog[1]);
-  Serial.print(", ");
-  Serial.print(accel_zerog[2]);
-  Serial.println();
-	
-  Serial.print("Gyroscope: ");
-  Serial.print(gyro_zerorate[0]);
-  Serial.print(", ");
-  Serial.print(gyro_zerorate[1]);
-  Serial.print(", ");
-  Serial.print(gyro_zerorate[2]);
-  Serial.println();
-	
-  Serial.print("Magnetometer Hard Iron: ");
-  Serial.print(mag_hardiron[0]);
-  Serial.print(", ");
-  Serial.print(mag_hardiron[1]);
-  Serial.print(", ");
-  Serial.print(mag_hardiron[2]);
-  Serial.println();
-	
-  Serial.print("Magnetic Field: ");
-  Serial.print(mag_field);
-  Serial.println();
-  
-  Serial.print("Magnetometer Soft Iron: ");
-  Serial.print(mag_softiron[0]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[1]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[2]);
-  Serial.println();
-  Serial.print(mag_softiron[3]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[4]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[5]);
-  Serial.println();
-  Serial.print(mag_softiron[6]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[7]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[8]);
-  Serial.println();
-	
-  Serial.println(F("\n------------"));
-  return true;
-}
-
-bool printSavedCalibration(void) {
-  Serial.println(F("------------"));
-
-  uint8_t flag;
-  
-  kv_get(ASC_KV_Key0,&flag,sizeof(flag),0); 
-
-  if (flag=!42) {
-    Serial.print("FLAG NOT SET, CALIBRATION NOT FOUND");
-    return false;
-  }
-
-  float offsets[16];
-	
-  kv_get(ASC_KV_Key1,(byte*)&offsets,sizeof(offsets),0);
-  
-  accel_zerog[0] = offsets[0];
-  accel_zerog[1] = offsets[1];
-  accel_zerog[2] = offsets[2];
-
-  Serial.print("Accelerometer: ");
-  Serial.print(accel_zerog[0]);
-  Serial.print(", ");
-  Serial.print(accel_zerog[1]);
-  Serial.print(", ");
-  Serial.print(accel_zerog[2]);
-  Serial.println();
-	
-  gyro_zerorate[0] = offsets[3];
-  gyro_zerorate[1] = offsets[4];
-  gyro_zerorate[2] = offsets[5];
-
-  Serial.print("Gyroscope: ");
-  Serial.print(gyro_zerorate[0]);
-  Serial.print(", ");
-  Serial.print(gyro_zerorate[1]);
-  Serial.print(", ");
-  Serial.print(gyro_zerorate[2]);
-  Serial.println();
-	
-  mag_hardiron[0] = offsets[6];
-  mag_hardiron[1] = offsets[7];
-  mag_hardiron[2] = offsets[8];
-
-  Serial.println("Magnetometer Hard Iron: ");
-  Serial.print(mag_hardiron[0]);
-  Serial.print(", ");
-  Serial.print(mag_hardiron[1]);
-  Serial.print(", ");
-  Serial.print(mag_hardiron[2]);
-  Serial.println();
-	
-  mag_field = offsets[9];
-
-  Serial.print("Magnetic Field: ");
-  Serial.print(mag_field);
-  Serial.println();
-  
-  mag_softiron[0] = offsets[10];
-  mag_softiron[1] = offsets[13];
-  mag_softiron[2] = offsets[14];
-  mag_softiron[3] = offsets[13];
-  mag_softiron[4] = offsets[11];
-  mag_softiron[5] = offsets[15];
-  mag_softiron[6] = offsets[14];
-  mag_softiron[7] = offsets[15];
-  mag_softiron[8] = offsets[12];
-
-  Serial.print("Magnetometer Soft Iron: ");
-  Serial.print(mag_softiron[0]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[1]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[2]);
-  Serial.println();
-  Serial.print(mag_softiron[3]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[4]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[5]);
-  Serial.println();
-  Serial.print(mag_softiron[6]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[7]);
-  Serial.print(", ");
-  Serial.print(mag_softiron[8]);
-  Serial.println();
-	
-/*  for (uint16_t a = ee_addr; a < ee_addr + KVStore_CAL_SIZE; a++) {
-    uint8_t c = KVStore.read(a);
-    Serial.print("0x");
-    if (c < 0x10)
-      Serial.print('0');
-    Serial.print(c, HEX);
-    Serial.print(", ");
-    if ((a - ee_addr) % 16 == 15) {
-      Serial.println();
-    }
-  }
-  */
-
-  Serial.println(F("\n------------"));
-  return true;
-}

ArduinoNano33BLE/MidiBle-tilt/MidiBle-tilt.ino

@@ -1,7 +1,7 @@
 #include <Arduino_LSM9DS1.h>
+#include <BLEMIDI_Transport.h>
 #include "SensorFusion.h" //SF
 
-#include <BLEMIDI_Transport.h>
 //#include <hardware/BLEMIDI_ESP32_NimBLE.h>
 //#include <hardware/BLEMIDI_ESP32.h>
 //#include <hardware/BLEMIDI_nRF52.h>
@@ -9,7 +9,6 @@
 
 BLEMIDI_CREATE_DEFAULT_INSTANCE()
 
-unsigned long tm = millis();
 unsigned long t0 = millis();
 bool isConnected = false;
 
@@ -44,30 +43,18 @@ float gx, gy, gz, ax, ay, az, mx, my, mz;
 float pitch, roll, yaw;
 float deltat;
 
-float gxoff = 0;
-float gyoff = 0;
-float gzoff = 0;
+//Gyro Offset....: -605622 -24028 -338386
+
+float goffx = -605622.0 / 1000000.0;
+float goffy = -24028.0 / 1000000.0;
+float goffz =   -338386.0 / 1000000.0;
+
 
 float fmap(float x, float in_min, float in_max, float out_min, float out_max)
 {
   return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-byte highbits(float f) {
-  return int(f) % 128;
-}
-
-byte lowbits(float f) {
-  return int(f * 128) % 128;
-};
-
-unsigned long loops = 0;
-unsigned long loopmillis = 0;
-
-unsigned long midis = 0;
-unsigned long midimillis = 0;
-
-
 // -----------------------------------------------------------------------------
 // When BLE connected, LED will turn on (indication that connection was successful)
 // When receiving a NoteOn, LED will go out, on NoteOff, light comes back on.
@@ -77,16 +64,8 @@ void setup()
 {
   Serial.begin(115200);
 
-// while (!Serial) {
-    ; // wait for serial port to connect. Needed for native USB
-//  }
-
-  loopmillis = millis();
-  midimillis = millis();
-
-  Serial.println("MIDI-BLE TEST 3");
-  Serial.println("2022-06-16");
-
+  Serial.println("MIDI-BLE TEST 1");
+  Serial.println("2022-03-02");
 
   MIDI.begin();
 
@@ -114,21 +93,7 @@ void setup()
     digitalWrite(LED_BUILTIN, HIGH);
   });
 
-
-// gyro calibration
- Serial.print("Loading calibration: ");
-  if (loadCalibration()) {
-    gxoff=getGyroXCal();
-    gyoff=getGyroYCal();
-    gyoff=getGyroZCal();  
-    Serial.println("success :)");
-  } else {
-      Serial.println("failed :(");
-  }
-
-  printCalibration();
-
-  // motion sensor
+  // accelerometer
   if (!IMU.begin()) {
     Serial.println("Failed to initialize IMU!");
     while (1);
@@ -154,12 +119,6 @@ void setup()
   Serial.println();
   Serial.println("Magnetic Field in uT");
   Serial.println("X\tY\tZ");
-
-  Serial.print("Setup took (ms): ");
-  Serial.println(millis()-loopmillis);
-  loopmillis = millis();
-  midimillis = millis();
-  
 }
 
 // -----------------------------------------------------------------------------
@@ -167,29 +126,15 @@ void setup()
 // -----------------------------------------------------------------------------
 void loop()
 {
-
  // now you should read the gyroscope, accelerometer (and magnetometer if you have it also)
     // NOTE: the gyroscope data have to be in radians
     // if you have them in degree convert them with: DEG_TO_RAD example: gx * DEG_TO_RAD
 
-
   if (IMU.magneticFieldAvailable()) {
     IMU.readMagneticField(mx, my, mz);
   }
 
   if (IMU.accelerationAvailable()&&IMU.gyroscopeAvailable()) {
- tm = millis();
- 
- loops++;
-
- if (!(loops%1000)) {
-  Serial.print("1000 loops took (ms): ");
-  Serial.println(tm-loopmillis);
-  loopmillis=tm;
- }
-
-  MIDI.read();
-
     IMU.readAcceleration(ax, ay, az);
   /*
     ax *= 9.81;  
@@ -199,9 +144,9 @@ void loop()
   
     IMU.readGyroscope(gx, gy, gz);
 
-    gx -= gxoff;
-    gy -= gxoff;
-    gz -= gxoff;
+    gx -= goffx;
+    gy -= goffy;
+    gz -= goffz;
 
     gx *= DEG_TO_RAD;
     gy *= DEG_TO_RAD;
@@ -211,119 +156,36 @@ void loop()
     deltat = fusion.deltatUpdate(); //this have to be done before calling the fusion update
     //choose only one of these two:
     //fusion.MahonyUpdate(gx, gy, gz, ax, ay, az, deltat);  //mahony is suggested if there isn't the mag and the mcu is slow
-    fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, -mx, my, mz, deltat);  //else use the magwick, it is slower but more accurate
+    fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //else use the magwick, it is slower but more accurate
 
+    pitch = fusion.getPitch();
+    roll = fusion.getRoll();    //you could also use getRollRadians() ecc
+    yaw = fusion.getYaw();
 
-
-  if (isConnected && (tm - t0) > 6)
-  {
-    t0 = tm;
-
-    switch (midis) {
-
-
-
-      case 0:
-
-        
-        
-    maccx = fmap(ax,-4.0,4.0, 0.0,127.0);
-        MIDI.sendControlChange(0 + hand, maccx, midichannel);
-        break;
-
-      case 1:
-    maccy = fmap(ay,-4.0,4.0, 0.0,127.0);
-    MIDI.sendControlChange(1 + hand, maccy, midichannel);
-break;
-
-case 2:
-    maccz = fmap(az,-4.0,4.0, 0.0,127.0);
-    MIDI.sendControlChange(2 + hand, maccz, midichannel);
-break;
-
-case 3:
-    mgyrox = map(gx, -2000*DEG_TO_RAD, 2000*DEG_TO_RAD, 0.0, 127.0);
-    MIDI.sendControlChange(3 + hand, mgyrox, midichannel);
-break;
-
-case 4:
-    mgyroy = map(gy, -2000*DEG_TO_RAD, 2000*DEG_TO_RAD, 0.0, 127.0);
-    MIDI.sendControlChange(4 + hand, mgyroy, midichannel);
-break;
-
-case 5:
-    mgyroz = map(gz, -2000*DEG_TO_RAD, 2000*DEG_TO_RAD, 0.0, 127.0);
-    MIDI.sendControlChange(5 + hand, mgyroz, midichannel);
-break;
-
-case 6:
     accmag = sqrt(ax*ax+ay*ay+az*az);
 //    accmag = map(accmag, 0, 1000, 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');
@@ -332,9 +194,30 @@ break;
 //    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);
@@ -345,25 +228,5 @@ break;
 //    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;
-    }
   }
-
-
-
-
-  
-  }
-  
-  
-
-  
-
 }

README.org

@@ -42,7 +42,6 @@
 ** dependencies (libraries)
 1. OSC (filter by "open sound control")
 2. MPU6050
-3. BasicLinearAlgebra
 
 ** calibration
    - IMU_Zero

osc32bt/osc32bt.ino

@@ -63,11 +63,10 @@ uint8_t devStatus;      // return status after each device operation (0 = succes
 uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
 uint16_t fifoCount;     // count of all bytes currently in FIFO
 uint8_t fifoBuffer[64]; // FIFO storage buffer
-unsigned long timeOn;
+unsigned long timeOn = 0;
 
 // orientation/motion vars
 Quaternion q;           // [w, x, y, z]         quaternion container
-Quaternion pq;          // [w, x, y, z]         quaternion container
 VectorInt16 aa;         // [x, y, z]            accel sensor measurements
 VectorInt16 gy;         // [x, y, z]            gyro sensor measurements
 VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
@@ -75,8 +74,6 @@ VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measure
 VectorFloat gravity;    // [x, y, z]            gravity vector
 float euler[3];         // [psi, theta, phi]    Euler angle container
 float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
-Matrix<3> position;     // [x,y,z]              tracks position of device
-Matrix<3> speed;        // [x,y,z]              tracks speed of device
 
 
 // Sem dobimo vrednosti
@@ -94,9 +91,38 @@ OSCMessage emsg("/error/");
 OSCMessage kmsg("/keys/");
 OSCMessage quaternionMessage("/quaternion/");
 OSCMessage quaternionDiffMessage("/quaternionDiff/");
-OSCMessage eulerDiffMessage("/eulerDiff/");
-OSCMessage positionMessage("/position/");
-OSCMessage speedMessage("/speed/");
+OSCMessage eulerDiffMessage("eulerDiff");
+
+BLA::Matrix<3> eulerFromQuaternion(Quaternion q) {
+  float x2 = q.x + q.x; float y2 = q.y + q.y; float z2 = q.z + q.z;
+  float xx = q.x * x2; float xy = q.x * y2; float xz = q.x * z2;
+  float yy = q.y * y2; float yz = q.y * z2; float zz = q.z * z2;
+  float wx = q.w * x2; float wy = q.w * y2; float wz = q.w * z2;
+
+  BLA::Matrix<4,4> rotationMatrix = {
+    1 - (yy + zz), xy + wz, xz - wy, 0,
+    xy - wz,  1 - ( xx + zz ), yz + wx, 0,
+    xz + wy,  yz - wx, 1 - ( xx + yy ), 0,
+    0,  0,  0,  1
+  };
+
+//TODO: test whether BLA library uses column-major matrix notation in code
+  BLA::Matrix<3> eulerVector;
+  eulerVector.Fill(0);
+  eulerVector(1) = asin(clamp(rotationMatrix(1,3),-1,1));
+  if (fabsf(rotationMatrix(1,3)) < 0.9999999) {
+    eulerVector(0) = atan2f(-rotationMatrix(2,3), rotationMatrix(3,3));
+    eulerVector(2) = atan2f( -rotationMatrix(1,2), rotationMatrix(1,1));
+  } else {
+    eulerVector(0) = atan2f(rotationMatrix(3,2), rotationMatrix(2,2));
+    eulerVector(2) = 0;
+  }
+  return eulerVector;
+}
+
+float clamp(float value,float min,float max) {
+  return fmaxf( min, fminf(max, value));
+}
 
 void setup() {
   Wire.begin();
@@ -107,11 +133,6 @@ void setup() {
     pinMode(keys[i], INPUT_PULLUP);
   }
 
-  //Set position to origin, speed to nothing, and uptime to 0
-  timeOn = 0;
-  position.Fill(0);
-  speed.Fill(0);
-
   Serial.begin(115200);   // set this as high as you can reliably run on your platform
   SerialBT.begin("wavey wind");
 
@@ -169,50 +190,6 @@ void setup() {
   }
 }
 
-BLA::Matrix<3> eulerFromQuaternion(Quaternion q) {
-  float x2 = q.x + q.x; float y2 = q.y + q.y; float z2 = q.z + q.z;
-  float xx = q.x * x2; float xy = q.x * y2; float xz = q.x * z2;
-  float yy = q.y * y2; float yz = q.y * z2; float zz = q.z * z2;
-  float wx = q.w * x2; float wy = q.w * y2; float wz = q.w * z2;
-
-  BLA::Matrix<4,4> rotationMatrix = {
-    1 - (yy + zz), xy + wz, xz - wy, 0,
-    xy - wz,  1 - ( xx + zz ), yz + wx, 0,
-    xz + wy,  yz - wx, 1 - ( xx + yy ), 0,
-    0,  0,  0,  1
-  };
-
-//TODO: test whether BLA library uses column-major matrix notation in code
-  BLA::Matrix<3> eulerVector;
-  eulerVector.Fill(0);
-  eulerVector(1) = asin(clamp(rotationMatrix(1,3),-1,1));
-  if (fabsf(rotationMatrix(1,3)) < 0.9999999) {
-    eulerVector(0) = atan2f(-rotationMatrix(2,3), rotationMatrix(3,3));
-    eulerVector(2) = atan2f( -rotationMatrix(1,2), rotationMatrix(1,1));
-  } else {
-    eulerVector(0) = atan2f(rotationMatrix(3,2), rotationMatrix(2,2));
-    eulerVector(2) = 0;
-  }
-  return eulerVector;
-}
-
-void streamAndClearMessage(OSCMessage msg) {
-    SLIPSerial.beginPacket();
-    msg.send(SLIPSerial);
-    SLIPSerial.endPacket();
-    
-    SLIPBTSerial.beginPacket();
-    msg.send(SLIPBTSerial);
-    SLIPBTSerial.endPacket();
-    
-    msg.empty();
-}
-
-float clamp(float value,float min,float max) {
-  return fmaxf( min, fminf(max, value));
-}
-
-
 void loop() {
    // if programming failed, don't try to do anything
   if (!dmpReady) return;
@@ -236,14 +213,30 @@ void loop() {
     quaternionMessage.add(q.y);
     quaternionMessage.add(q.z);
     
-    streamAndClearMessage(quaternionMessage);
+    SLIPBTSerial.beginPacket();
+    quaternionMessage.send(SLIPBTSerial);
+    SLIPBTSerial.endPacket();
+    
+    SLIPSerial.beginPacket();
+    quaternionMessage.send(SLIPSerial);
+    SLIPSerial.endPacket();
+
+    quaternionMessage.empty();
 
     quaternionDiffMessage.add(diff.w);
     quaternionDiffMessage.add(diff.x);
     quaternionDiffMessage.add(diff.y);
     quaternionDiffMessage.add(diff.z);
     
-    streamAndClearMessage(quaternionDiffMessage);
+    SLIPBTSerial.beginPacket();
+    quaternionDiffMessage.send(SLIPBTSerial);
+    SLIPBTSerial.endPacket();
+    
+    SLIPSerial.beginPacket();
+    quaternionDiffMessage.send(SLIPSerial);
+    SLIPSerial.endPacket();
+
+    quaternionDiffMessage.empty();
 
     Matrix<3> eulerDiffVector = eulerFromQuaternion(diff);
 
@@ -251,11 +244,40 @@ void loop() {
     eulerDiffMessage.add(eulerDiffVector(1));
     eulerDiffMessage.add(eulerDiffVector(2));
     
-    streamAndClearMessage(eulerDiffMessage);
+    SLIPBTSerial.beginPacket();
+    eulerDiffMessage.send(SLIPBTSerial);
+    SLIPBTSerial.endPacket();
+    
+    SLIPSerial.beginPacket();
+    eulerDiffMessage.send(SLIPSerial);
+    SLIPSerial.endPacket();
+
+    eulerDiffMessage.empty();
     
 #endif
 
 
+#ifdef OUTPUT_READABLE_EULER
+    // display Euler angles in degrees
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
+    mpu.dmpGetEuler(euler, &q);
+
+    GyX = euler[0];
+    GyY = euler[1];
+    GyZ = euler[2];
+#endif
+
+#ifdef OUTPUT_READABLE_YAWPITCHROLL
+    // display Euler angles in degrees
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
+    mpu.dmpGetGravity(&gravity, &q);
+    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+
+    GyX = ypr[0];
+    GyY = ypr[1];
+    GyZ = ypr[2];
+#endif
+
 #ifdef OUTPUT_READABLE_REALACCEL
     // display real acceleration, adjusted to remove gravity
     mpu.dmpGetQuaternion(&q, fifoBuffer);
@@ -285,11 +307,6 @@ void loop() {
     int prevTime = timeOn;
     timeOn = millis();
     int elapsedTime = timeOn - prevTime;
-    Matrix<3> speedGain = {AcX * elapsedTime, AcY * elapsedTime, AcZ * elapsedTime};
-    
-    //Assume linear acceleration over measured time window, multiply time by halfpoint between last-known and current speed
-    position = position + (((speed + speedGain) + speed) /2 * elapsedTime);
-    speed += speedGain;
     
     mpu.dmpGetGravity(&gravity, &q);
     mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
@@ -299,26 +316,32 @@ void loop() {
     msg.add(AcZ);
     msg.add(elapsedTime);
 
-    streamAndClearMessage(msg);
+    SLIPSerial.beginPacket();
+    msg.send(SLIPSerial);
+    SLIPSerial.endPacket();
     
-    positionMessage.add(position(0));
-    positionMessage.add(position(1));
-    positionMessage.add(position(2));
-
-    streamAndClearMessage(positionMessage);
-
-    speedMessage.add(speed(0));
-    speedMessage.add(speed(1));
-    speedMessage.add(speed(2));
-
-    streamAndClearMessage(speedMessage);
+    SLIPBTSerial.beginPacket();
+    msg.send(SLIPBTSerial);
+    SLIPBTSerial.endPacket();
     
+    msg.empty();
     
     // Send keys
     for(int i = 0; i < KEYLEN; i++) {
       pressed[i] = !digitalRead(keys[i]);
       kmsg.add(pressed[i]);
     }
-    streamAndClearMessage(kmsg);
+    
+    SLIPSerial.beginPacket();
+    kmsg.send(SLIPSerial);
+    SLIPSerial.endPacket();
+    
+    SLIPBTSerial.beginPacket();
+    kmsg.send(SLIPBTSerial);
+    SLIPBTSerial.endPacket();
+    
+    kmsg.empty();
   }
 }
+
+

osc32final/SLIPEncodedBluetoothSerial.cpp

@@ -1,181 +0,0 @@
-#include "SLIPEncodedBluetoothSerial.h"
-#include "BluetoothSerial.h"
-
-/*
- CONSTRUCTOR
- */
-//instantiate with the tranmission layer
-//use BluetoothSerial
-SLIPEncodedBluetoothSerial::SLIPEncodedBluetoothSerial(BluetoothSerial &s){
-	serial = &s;
-	rstate = CHAR;
-}
-
-static const uint8_t eot = 0300;
-static const uint8_t slipesc = 0333;
-static const uint8_t slipescend = 0334;
-static const uint8_t slipescesc = 0335;
-/*
- SERIAL METHODS
- */
-bool SLIPEncodedBluetoothSerial::endofPacket()
-{
-	if(rstate == SECONDEOT)
-	{
-		rstate = CHAR; 
-		return true;
-	}
-	if (rstate==FIRSTEOT)
-	{
-        if(serial->available())
-        {
-            uint8_t c =serial->peek();
-            if(c==eot)
-            {
-                serial->read(); // throw it on the floor
-            }
-        }
-		rstate = CHAR;
-		return true;
-	}
-	return false;
-}
-int SLIPEncodedBluetoothSerial::available(){
-back:
-	int cnt = serial->available();
-	
-	if(cnt==0)
-		return 0;
-	if(rstate==CHAR)
-	{
-		uint8_t c =serial->peek();
-		if(c==slipesc)
-		{
-			rstate = SLIPESC;
-			serial->read(); // throw it on the floor
-			goto back;
-		}
-		else if( c==eot)
-		{
-			rstate = FIRSTEOT;
-			serial->read(); // throw it on the floor
-			goto back;
-		}
-		return 1; // we may have more but this is the only sure bet
-	}
-	else if(rstate==SLIPESC)	
-		return 1;
-	else if(rstate==FIRSTEOT)
-	{
-		if(serial->peek()==eot)
-		{
-			rstate = SECONDEOT;
-			serial->read(); // throw it on the floor
-			return 0;
-		}		
-		rstate = CHAR;
-	}else if (rstate==SECONDEOT) {
-		rstate = CHAR;
-	}
-	
-	return 0;
-		
-}
-
-//reads a byte from the buffer
-int SLIPEncodedBluetoothSerial::read(){
-back:
-	uint8_t c = serial->read();
-	if(rstate==CHAR)
-	{
-		if(c==slipesc)
-		{
-			rstate=SLIPESC;
-			goto back;
-		}	
-		else if(c==eot){
-		
-			return -1; // xxx this is an error
-		}
-		return c;
-	}
-	else
-	if(rstate==SLIPESC)
-	{
-		rstate=CHAR;
-		if(c==slipescend)
-			return eot;
-		else if(c==slipescesc)
-			return slipesc;
-			else {
-				// insert some error code here
-				return -1;
-			}
-
-	}
-	else
-		return -1;
-}
-
-// as close as we can get to correct behavior
-int SLIPEncodedBluetoothSerial::peek(){
-	uint8_t c = serial->peek();
-	if(rstate==SLIPESC)
-	{
-		if(c==slipescend)
-			return eot;
-		else if(c==slipescesc)
-			return slipesc;
-	}
-	return c; 
-}
-
-//the arduino and wiring libraries have different return types for the write function
-#if defined(WIRING) || defined(BOARD_DEFS_H)
-
-//encode SLIP
- void SLIPEncodedBluetoothSerial::write(uint8_t b){
-	if(b == eot){ 
-		serial->write(slipesc);
-		return serial->write(slipescend); 
-	} else if(b==slipesc) {  
-		serial->write(slipesc);
-		return serial->write(slipescesc); 
-	} else {
-		return serial->write(b);
-	}	
-}
-void SLIPEncodedBluetoothSerial::write(const uint8_t *buffer, size_t size) {  while(size--) write(*buffer++); }
-#else
-//encode SLIP
-size_t SLIPEncodedBluetoothSerial::write(uint8_t b){
-	if(b == eot){ 
-		serial->write(slipesc);
-		return serial->write(slipescend); 
-	} else if(b==slipesc) {  
-		serial->write(slipesc);
-		return serial->write(slipescesc); 
-	} else {
-		return serial->write(b);
-	}	
-}
-size_t SLIPEncodedBluetoothSerial::write(const uint8_t *buffer, size_t size) { size_t result=0; while(size--) result = write(*buffer++); return result; }
-
-#endif
-
-void SLIPEncodedBluetoothSerial::begin(String name){
-	serial->begin(name);
-}
-//SLIP specific method which begins a transmitted packet
-void SLIPEncodedBluetoothSerial::beginPacket() { 	serial->write(eot); }
-
-//signify the end of the packet with an EOT
-void SLIPEncodedBluetoothSerial::endPacket(){
-	serial->write(eot);
-
-}
-
-void SLIPEncodedBluetoothSerial::flush(){
-	serial->flush();
-}
-

osc32final/SLIPEncodedBluetoothSerial.h

@@ -1,62 +0,0 @@
-/*
-Extends the Serial class to encode SLIP over serial
-*/
-
-#ifndef SLIPEncodedBluetoothSerial_h
-#define SLIPEncodedBluetoothSerial_h
-
-
-#include "Arduino.h"
-#include <Stream.h>
-#include "BluetoothSerial.h"
-
-
-class SLIPEncodedBluetoothSerial: public Stream{
-	
-private:
-	enum erstate {CHAR, FIRSTEOT, SECONDEOT, SLIPESC } rstate;
-	
-	//the serial port used
-	BluetoothSerial * serial;
-
-	
-public:
-	
-	//the serial port used
-	SLIPEncodedBluetoothSerial(BluetoothSerial & );
-
-	
-	int available();
-	int read();
-	int peek();
-	void flush();
-	
-	//same as Serial.begin
-	void begin(String);
-    
-    //SLIP specific method which begins a transmitted packet
-	void beginPacket();
-	
-	//SLIP specific method which ends a transmittedpacket
-	void endPacket();
-	// SLIP specific method which indicates that an EOT was received 
-	bool endofPacket();
-	
-	
-//the arduino and wiring libraries have different return types for the write function
-#if defined(WIRING) || defined(BOARD_DEFS_H)
-	void write(uint8_t b);
-    void write(const uint8_t *buffer, size_t size);
-
-#else
-	//overrides the Stream's write function to encode SLIP
-	size_t write(uint8_t b);
-    size_t write(const uint8_t *buffer, size_t size);
-
-	//using Print::write;
-#endif
-
-};
-
-
-#endif

osc32final/osc32final.ino

@@ -3,98 +3,55 @@
 #include "Wire.h"
 #include "MPU6050_6Axis_MotionApps20.h"
 
-#include <OSCBundle.h>
+
 #include <OSCBoards.h>
+#include <OSCMessage.h>
+/*
+Make an OSC message and send it over serial
+ */
 
-// POSITION CALCULATION
-#include <BasicLinearAlgebra.h>
-#include "math.h"
-
-using namespace BLA;
-
-#define SERIAL_OSC
-//#define WIFI_OSC
-#define BT_OSC
-
-#define OUTPUT_READABLE_WORLDACCEL
-
-// SERIAL
 #ifdef BOARD_HAS_USB_SERIAL
 #include <SLIPEncodedUSBSerial.h>
 SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
 #else
 #include <SLIPEncodedSerial.h>
-SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
+ SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
 #endif
 
-// WIFI
-#ifdef WIFI_OSC
-#include <WiFi.h>
-  const char* ssid     = "Grajski";     // your network SSID (name of wifi network)
-  const char* password = "nedeladanes"; // your network password
-  
-  // Multicast IP / port
-  const IPAddress castIp = IPAddress(224,0,1,9);
-  const int port = 6696;
-  bool connected = false;
-
-#include <WiFiUdp.h>
-  WiFiUDP udp;
-
-  void connectToWiFi(const char * ssid, const char * pwd){
-    Serial.println("Connecting to WiFi network: " + String(ssid));
-  
-    // delete old config
-    WiFi.disconnect(true);
-    //register event handler
-    WiFi.onEvent(WiFiEvent);
-    
-    //Initiate connection
-    WiFi.begin(ssid, pwd);
-  
-    Serial.println("Waiting for WIFI connection...");
-  }
-  
-  //wifi event handler
-  void WiFiEvent(WiFiEvent_t event){
-    switch(event) {
-      case ARDUINO_EVENT_WIFI_STA_GOT_IP:
-        //When connected set 
-        Serial.print("WiFi connected! IP address: ");
-        Serial.println(WiFi.localIP());  
-        //initializes the UDP state
-        //This initializes the transfer buffer
-        udp.begin(WiFi.localIP(), port);
-        connected = true;
-        break;
-      case ARDUINO_EVENT_WIFI_STA_DISCONNECTED:
-        connected = false;
-        Serial.println("\n\n\n================\nLOST WIFI CONNECTION!\n\n\nTrying again soon...\n\n\n");
-        delay(1000);
-        connectToWiFi(ssid, password);
-        break;
-      default: break;
-    }
-  }
-#endif
-
-// Bluetooth
-#ifdef BT_OSC
-#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
-#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
-#endif
-  
-#include <SLIPEncodedSerial.h>
-#include "BluetoothSerial.h"
-#include "SLIPEncodedBluetoothSerial.h"
-  
-BluetoothSerial SerialBT;
-SLIPEncodedBluetoothSerial SLIPBTSerial(SerialBT);
-#endif
-
-// Motion sensor object
 MPU6050 mpu;
 
+// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
+// quaternion components in a [w, x, y, z] format (not best for parsing
+// on a remote host such as Processing or something though)
+#define OUTPUT_READABLE_QUATERNION
+
+// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
+// (in degrees) calculated from the quaternions coming from the FIFO.
+// Note that Euler angles suffer from gimbal lock (for more info, see
+// http://en.wikipedia.org/wiki/Gimbal_lock)
+//#define OUTPUT_READABLE_EULER
+
+// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
+// pitch/roll angles (in degrees) calculated from the quaternions coming
+// from the FIFO. Note this also requires gravity vector calculations.
+// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
+// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
+#define OUTPUT_READABLE_YAWPITCHROLL
+
+// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
+// components with gravity removed. This acceleration reference frame is
+// not compensated for orientation, so +X is always +X according to the
+// sensor, just without the effects of gravity. If you want acceleration
+// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
+//#define OUTPUT_READABLE_REALACCEL
+
+// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
+// components with gravity removed and adjusted for the world frame of
+// reference (yaw is relative to initial orientation, since no magnetometer
+// is present in this case). Could be quite handy in some cases.
+#define OUTPUT_READABLE_WORLDACCEL
+
+
 // MPU control/status vars
 bool dmpReady = false;  // set true if DMP init was successful
 uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
@@ -105,9 +62,6 @@ uint8_t fifoBuffer[64]; // FIFO storage buffer
 
 // orientation/motion vars
 Quaternion q;           // [w, x, y, z]         quaternion container
-Quaternion pq;          // [w, x, y, z]         previous quaternion container
-Quaternion diff;        // [w, x, y, z]         quaternion derivate container
-Quaternion cq;          // [w, x, y, z]         calibration quaternion
 VectorInt16 aa;         // [x, y, z]            accel sensor measurements
 VectorInt16 gy;         // [x, y, z]            gyro sensor measurements
 VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
@@ -115,15 +69,9 @@ VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measure
 VectorFloat gravity;    // [x, y, z]            gravity vector
 float euler[3];         // [psi, theta, phi]    Euler angle container
 float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
-uint32_t timeOn = 0;    //                      Uptime counter for movement calculation
-Matrix<3> position;     // [x,y,z]              tracks position of device
-Matrix<3> speed;        // [x,y,z]              tracks speed of device
-Matrix<3> eulerVector;
-Matrix<3> eulerDiffVector;
-bool reset; // For quaternion calibration
 
 
-// Sem dobimo vrednosti pospeskomerja in ziroskopa
+// Sem dobimo vrednosti
 int16_t AcX,AcY,AcZ;
 float GyX, GyY, GyZ;
 
@@ -132,69 +80,23 @@ byte keys[] = {16, 17, 5, 18};
 byte pressed[] = {0, 0, 0, 0};
 byte KEYLEN = 4;
 
-BLA::Matrix<3> eulerFromQuaternion(Quaternion q) {
-  float x2 = q.x + q.x; float y2 = q.y + q.y; float z2 = q.z + q.z;
-  float xx = q.x * x2; float xy = q.x * y2; float xz = q.x * z2;
-  float yy = q.y * y2; float yz = q.y * z2; float zz = q.z * z2;
-  float wx = q.w * x2; float wy = q.w * y2; float wz = q.w * z2;
-
-  BLA::Matrix<4,4> rotationMatrix = {
-    1 - (yy + zz), xy + wz, xz - wy, 0,
-    xy - wz,  1 - ( xx + zz ), yz + wx, 0,
-    xz + wy,  yz - wx, 1 - ( xx + yy ), 0,
-    0,  0,  0,  1
-  };
-  
-  //TODO: test whether BLA library uses column-major matrix notation in code
-  BLA::Matrix<3> eulerVector;
-  eulerVector.Fill(0);
-  eulerVector(1) = asin(clamp(rotationMatrix(1,3),-1,1));
-  if (fabsf(rotationMatrix(1,3)) < 0.9999999) {
-    eulerVector(0) = atan2f(-rotationMatrix(2,3), rotationMatrix(3,3));
-    eulerVector(2) = atan2f( -rotationMatrix(1,2), rotationMatrix(1,1));
-  } else {
-    eulerVector(0) = atan2f(rotationMatrix(3,2), rotationMatrix(2,2));
-    eulerVector(2) = 0;
-  }
-  return eulerVector;
-}
-
-float clamp(float value,float min,float max) {
-  return fmaxf( min, fminf(max, value));
-}
-
-
-/* OSC MSG channels */
-OSCBundle bundle;
+OSCMessage msg("/accel/");
+OSCMessage gmsg("/gyro/");
+OSCMessage emsg("/error/");
+OSCMessage kmsg("/keys/");
+OSCMessage qmsg("/quaternion/");
 
 void setup() {
-  // Basic(debug) serial init
-  //  Serial.begin(115200);   // set this as high as you can reliably run on your platform
-  Serial.println("Starting up...");
-  
-  // I2C init
   Wire.begin();
   Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
-
-#ifdef SERIAL_OSC
   SLIPSerial.begin(115200);   // set this as high as you can reliably run on your platform 
-#endif
 
   // Keys
   for(int i = 0; i < KEYLEN; i++) {
     pinMode(keys[i], INPUT_PULLUP);
   }
 
-  // Position and speed tracking
-
-  timeOn = 0;
-  position.Fill(0);
-  speed.Fill(0);
-
-  // Start MPU
   mpu.initialize();
-
-  // Set sensitivity / range
   mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
   mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
 
@@ -202,24 +104,24 @@ void setup() {
   devStatus = mpu.dmpInitialize();
 
   // supply your own gyro offsets here, scaled for min sensitivity
-  // !!! Run Zero IMU to get readings (read comments for instructions)
+  // !!! Run Zero IMU to get readings
 
-  /* First proto (right hand, black&blue)*/
+  /* First proto (right hand, black&blue)
   mpu.setXGyroOffset(76);
   mpu.setYGyroOffset(68);
   mpu.setZGyroOffset(10);
   mpu.setXAccelOffset(-3527);
   mpu.setYAccelOffset(-913);
   mpu.setZAccelOffset(1027);
+  */
 
-  /* Second proto, translucent / white 
+  /* Second proto, translucent / white */
   mpu.setXGyroOffset(-3650);
   mpu.setYGyroOffset(-2531);
   mpu.setZGyroOffset(1131);
   mpu.setXAccelOffset(162);
   mpu.setYAccelOffset(-16);
   mpu.setZAccelOffset(-12);
-  */
   
   // make sure it worked (returns 0 if so)
   if (devStatus == 0) {
@@ -239,65 +141,65 @@ void setup() {
     // get expected DMP packet size for later comparison
     packetSize = mpu.dmpGetFIFOPacketSize();
   } else {
-    Serial.println("DMP Initialization failed (code " + String(devStatus) + ")");
+    Serial.println("Error: " + String(devStatus));
+    emsg.add("DMP Initialization failed (code " + String(devStatus) + ")");
+    SLIPSerial.beginPacket();
+    emsg.send(SLIPSerial);
+    SLIPSerial.endPacket();
+    emsg.empty();
     // ERROR!
     // 1 = initial memory load failed
     // 2 = DMP configuration updates failed
     // (if it's going to break, usually the code will be 1)
   }
-
-#ifdef WIFI_OSC
-  // WIFI init
-  Serial.print("Attempting to connect to SSID: ");
-  Serial.println(ssid);
-  connectToWiFi(ssid, password);
-
-  // attempt to connect to Wifi network:
-  while (WiFi.status() != WL_CONNECTED) {
-    Serial.print(".");
-    // wait 1 second for re-trying
-    delay(1000);
-  }
-#endif
-
-#ifdef BT_OSC
-  SerialBT.begin("wavey wind");
-#endif
 }
 
 void loop() {
    // if programming failed, don't try to do anything
   if (!dmpReady) return;
-  
   // read a packet from FIFO
   if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet 
 
-    // Store last Q value
-    pq = Quaternion(q.w,q.x,q.y,q.z);
 
-    // get quaternion values in easy matrix form: w x y z
+#ifdef OUTPUT_READABLE_QUATERNION
+    // display quaternion values in easy matrix form: w x y z
     mpu.dmpGetQuaternion(&q, fifoBuffer);
-    q = q.getProduct(cq);
     
-    //compute the differential rotation between the previous and new orientation
-    diff = q.getProduct(pq.getConjugate());
+    qmsg.add(q.w);
+    qmsg.add(q.x);
+    qmsg.add(q.y);
+    qmsg.add(q.z);
+    SLIPSerial.beginPacket();
+    qmsg.send(SLIPSerial);
+    SLIPSerial.endPacket();
+    qmsg.empty();
+#endif
 
-    // Quaternion - rotacija
-    bundle.add("/quaternion").add(q.w).add(q.y * -1).add(q.z).add(q.x * -1); // W X Y Z
 
-    // Euler - rotacija
-    //eulerVector = eulerFromQuaternion(q);
-    //bundle.add("/euler").add(eulerVector(0)).add(eulerVector(1)).add(eulerVector(2)); // X Y Z
+#ifdef OUTPUT_READABLE_EULER
+    // display Euler angles in degrees
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
+    mpu.dmpGetEuler(euler, &q);
 
-    // Quaterion difference - rotacijska razlika (prejsnji reading - trenutni reading)
-    bundle.add("/quaternionDiff").add(diff.w).add(diff.y * -1).add(diff.z).add(diff.x * -1); // W X Y Z
+    GyX = euler[0];
+    GyY = euler[1];
+    GyZ = euler[2];
+#endif
 
-    // Rotation diff value in euler angle
-    //eulerDiffVector = eulerFromQuaternion(diff);
-    //bundle.add("/eulerDiff").add(eulerDiffVector(0)).add(eulerDiffVector(1)).add(eulerDiffVector(2)); // X Y Z
+#ifdef OUTPUT_READABLE_YAWPITCHROLL
+    // display Euler angles in degrees
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
+    mpu.dmpGetGravity(&gravity, &q);
+    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+
+    GyX = ypr[0];
+    GyY = ypr[1];
+    GyZ = ypr[2];
+#endif
 
 #ifdef OUTPUT_READABLE_REALACCEL
     // display real acceleration, adjusted to remove gravity
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
     mpu.dmpGetAccel(&aa, fifoBuffer);
     mpu.dmpGetGravity(&gravity, &q);
     mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
@@ -309,6 +211,7 @@ void loop() {
 #ifdef OUTPUT_READABLE_WORLDACCEL
     // display initial world-frame acceleration, adjusted to remove gravity
     // and rotated based on known orientation from quaternion
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
     mpu.dmpGetAccel(&aa, fifoBuffer);
     mpu.dmpGetGravity(&gravity, &q);
     mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
@@ -316,67 +219,36 @@ void loop() {
     AcX = aaWorld.x;
     AcY = aaWorld.y;
     AcZ = aaWorld.z;
+
 #endif
 
-   // Calculate speed and position from accelerometer data
-   /*
-    int prevTime = timeOn;
-    timeOn = millis();
-    int elapsedTime = timeOn - prevTime;
-    Matrix<3> speedGain = {AcX * elapsedTime, AcY * elapsedTime, AcZ * elapsedTime};
+    // Send over serial
+    msg.add(AcX);
+    msg.add(AcY);
+    msg.add(AcZ);
+    SLIPSerial.beginPacket();
+    msg.send(SLIPSerial);
+    SLIPSerial.endPacket();
+    msg.empty();
 
-    //Assume linear acceleration over measured time window, multiply time by halfpoint between last-known and current speed
-    position = position + (((speed + speedGain) + speed) /2 * elapsedTime);
-    speed += speedGain;
     
-    bundle.add("/position/").add(position(0)).add(position(1)).add(position(2));
-    bundle.add("/speed/").add(speed(0)).add(speed(1)).add(speed(2));
-*/
-    // Accelerometer
-    bundle.add("/accel").add(AcX).add(AcY).add(AcZ); ; // X Y Z
+    gmsg.add(GyX);
+    gmsg.add(GyY);
+    gmsg.add(GyZ);
+    SLIPSerial.beginPacket();
+    gmsg.send(SLIPSerial);
+    SLIPSerial.endPacket();
+    gmsg.empty();
     
-    // Keys held down
-    bundle.add("/keys"); // A B C D E
     
     // Send keys
     for(int i = 0; i < KEYLEN; i++) {
       pressed[i] = !digitalRead(keys[i]);
-      bundle.getOSCMessage("/keys")->add(pressed[i]);
+      kmsg.add(pressed[i]);
     }
-
-    // Reset calibration euler?
-    if (pressed[0] && pressed[1] && pressed[2] && pressed[3]) {
-      if (!reset) {
-        cq = q.getConjugate();
-        reset = true;
-        Serial.println("Quaternion calibrate");
-      }
-    } else {
-      if (reset) {
-        reset = false;
-      }
-    }
-    
-#ifdef SERIAL_OSC
     SLIPSerial.beginPacket();
-    bundle.send(SLIPSerial);
+    kmsg.send(SLIPSerial);
     SLIPSerial.endPacket();
-#endif
-    
-  
-#ifdef WIFI_OSC
-    udp.beginPacket(castIp, port);
-    bundle.send(udp);
-    udp.endPacket();
-#endif
-
-// Some bug below, it seems
-#ifdef BT_OSC
-    SLIPBTSerial.beginPacket();
-    bundle.send(SLIPBTSerial);
-    SLIPBTSerial.endPacket();
-#endif
-
-    bundle.empty();
+    kmsg.empty();
   }
 }

osc32wifi/osc32wifi.ino

@@ -28,6 +28,8 @@ const IPAddress castIp = IPAddress(224,0,1,9);
 const int port = 6696;
 bool connected = false;
 
+//#include "AsyncUDP.h"
+//AsyncUDP udp;
 
 #include <WiFiUdp.h>
 WiFiUDP udp;