pifcamp-2021/osc32bt/osc32bt.ino

324 lines
10 KiB
C++

// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "BasicLinearAlgebra.h"
#include "BluetoothSerial.h"
#include <SLIPEncodedSerial.h>
#include "SLIPEncodedBluetoothSerial.h"
#include <BasicLinearAlgebra.h>
#include "math.h"
using namespace BLA;
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
#include <OSCMessage.h>
BluetoothSerial SerialBT;
SLIPEncodedBluetoothSerial SLIPBTSerial(SerialBT);
SLIPEncodedSerial SLIPSerial(Serial);
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
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
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;
// 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
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
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
int16_t AcX,AcY,AcZ;
float GyX, GyY, GyZ;
// Keys
byte keys[] = {16, 17, 5, 18};
byte pressed[] = {0, 0, 0, 0};
byte KEYLEN = 4;
OSCMessage msg("/accel/");
OSCMessage gmsg("/gyro/");
OSCMessage emsg("/error/");
OSCMessage kmsg("/keys/");
OSCMessage quaternionMessage("/quaternion/");
OSCMessage quaternionDiffMessage("/quaternionDiff/");
OSCMessage eulerDiffMessage("/eulerDiff/");
OSCMessage positionMessage("/position/");
OSCMessage speedMessage("/speed/");
void setup() {
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
// Keys
for(int i = 0; i < KEYLEN; i++) {
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");
// Motion processor init
mpu.initialize();
mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
// DMP init
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
// !!! Run Zero IMU to get readings
/* 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 */
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) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
//Serial.println();
//mpu.PrintActiveOffsets();
// turn on the DMP, now that it's ready
//Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// set our DMP Ready flag so the main loop() function knows it's okay to use it
//Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
Serial.println("DMP Initialization failed (code " + String(devStatus) + ")");
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
}
}
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;
// read a packet from FIFO
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
Quaternion previousQ(q.w,q.x,q.y,q.z);
mpu.dmpGetQuaternion(&q, fifoBuffer);
//compute the differential rotation between the previous and new orientation
Quaternion diff = q.getProduct(previousQ.getConjugate());
//oscmsg = qOSC(q.w, q.x, q.y, q.z, diff.w, diff.x, diff.y, diff,z);
quaternionMessage.add(q.w);
quaternionMessage.add(q.x);
quaternionMessage.add(q.y);
quaternionMessage.add(q.z);
streamAndClearMessage(quaternionMessage);
quaternionDiffMessage.add(diff.w);
quaternionDiffMessage.add(diff.x);
quaternionDiffMessage.add(diff.y);
quaternionDiffMessage.add(diff.z);
streamAndClearMessage(quaternionDiffMessage);
Matrix<3> eulerDiffVector = eulerFromQuaternion(diff);
eulerDiffMessage.add(eulerDiffVector(0));
eulerDiffMessage.add(eulerDiffVector(1));
eulerDiffMessage.add(eulerDiffVector(2));
streamAndClearMessage(eulerDiffMessage);
#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);
AcX = aaReal.x;
AcY = aaReal.y;
AcZ = aaReal.z;
#endif
#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);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
AcX = aaWorld.x;
AcY = aaWorld.y;
AcZ = aaWorld.z;
#endif
// Send (accel) and time elapsed over serial
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);
AcX = aaReal.x;
msg.add(AcX);
msg.add(AcY);
msg.add(AcZ);
msg.add(elapsedTime);
streamAndClearMessage(msg);
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);
// Send keys
for(int i = 0; i < KEYLEN; i++) {
pressed[i] = !digitalRead(keys[i]);
kmsg.add(pressed[i]);
}
streamAndClearMessage(kmsg);
}
}