383 lines
11 KiB
C++
383 lines
11 KiB
C++
// ESP32 Dev Module
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#include "Wire.h"
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#include "MPU6050_6Axis_MotionApps20.h"
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#include <OSCBundle.h>
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#include <OSCBoards.h>
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// POSITION CALCULATION
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#include <BasicLinearAlgebra.h>
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#include "math.h"
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using namespace BLA;
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#define SERIAL_OSC
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//#define WIFI_OSC
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#define BT_OSC
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#define OUTPUT_READABLE_WORLDACCEL
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// SERIAL
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#ifdef BOARD_HAS_USB_SERIAL
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#include <SLIPEncodedUSBSerial.h>
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SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
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#else
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#include <SLIPEncodedSerial.h>
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SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
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#endif
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// WIFI
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#ifdef WIFI_OSC
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#include <WiFi.h>
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const char* ssid = "Grajski"; // your network SSID (name of wifi network)
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const char* password = "nedeladanes"; // your network password
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// Multicast IP / port
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const IPAddress castIp = IPAddress(224,0,1,9);
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const int port = 6696;
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bool connected = false;
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#include <WiFiUdp.h>
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WiFiUDP udp;
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void connectToWiFi(const char * ssid, const char * pwd){
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Serial.println("Connecting to WiFi network: " + String(ssid));
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// delete old config
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WiFi.disconnect(true);
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//register event handler
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WiFi.onEvent(WiFiEvent);
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//Initiate connection
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WiFi.begin(ssid, pwd);
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Serial.println("Waiting for WIFI connection...");
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}
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//wifi event handler
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void WiFiEvent(WiFiEvent_t event){
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switch(event) {
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case ARDUINO_EVENT_WIFI_STA_GOT_IP:
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//When connected set
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Serial.print("WiFi connected! IP address: ");
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Serial.println(WiFi.localIP());
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//initializes the UDP state
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//This initializes the transfer buffer
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udp.begin(WiFi.localIP(), port);
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connected = true;
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break;
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case ARDUINO_EVENT_WIFI_STA_DISCONNECTED:
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connected = false;
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Serial.println("\n\n\n================\nLOST WIFI CONNECTION!\n\n\nTrying again soon...\n\n\n");
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delay(1000);
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connectToWiFi(ssid, password);
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break;
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default: break;
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}
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}
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#endif
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// Bluetooth
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#ifdef BT_OSC
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#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
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#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
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#endif
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#include <SLIPEncodedSerial.h>
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#include "BluetoothSerial.h"
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#include "SLIPEncodedBluetoothSerial.h"
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BluetoothSerial SerialBT;
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SLIPEncodedBluetoothSerial SLIPBTSerial(SerialBT);
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#endif
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// Motion sensor object
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MPU6050 mpu;
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// MPU control/status vars
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bool dmpReady = false; // set true if DMP init was successful
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uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
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uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint8_t fifoBuffer[64]; // FIFO storage buffer
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// orientation/motion vars
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Quaternion q; // [w, x, y, z] quaternion container
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Quaternion pq; // [w, x, y, z] previous quaternion container
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Quaternion diff; // [w, x, y, z] quaternion derivate container
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Quaternion cq; // [w, x, y, z] calibration quaternion
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VectorInt16 aa; // [x, y, z] accel sensor measurements
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VectorInt16 gy; // [x, y, z] gyro sensor measurements
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VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
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VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
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VectorFloat gravity; // [x, y, z] gravity vector
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float euler[3]; // [psi, theta, phi] Euler angle container
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float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
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uint32_t timeOn = 0; // Uptime counter for movement calculation
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Matrix<3> position; // [x,y,z] tracks position of device
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Matrix<3> speed; // [x,y,z] tracks speed of device
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Matrix<3> eulerVector;
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Matrix<3> eulerDiffVector;
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bool reset; // For quaternion calibration
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// Sem dobimo vrednosti pospeskomerja in ziroskopa
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int16_t AcX,AcY,AcZ;
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float GyX, GyY, GyZ;
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// Keys
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byte keys[] = {16, 17, 5, 18};
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byte pressed[] = {0, 0, 0, 0};
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byte KEYLEN = 4;
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BLA::Matrix<3> eulerFromQuaternion(Quaternion q) {
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float x2 = q.x + q.x; float y2 = q.y + q.y; float z2 = q.z + q.z;
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float xx = q.x * x2; float xy = q.x * y2; float xz = q.x * z2;
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float yy = q.y * y2; float yz = q.y * z2; float zz = q.z * z2;
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float wx = q.w * x2; float wy = q.w * y2; float wz = q.w * z2;
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BLA::Matrix<4,4> rotationMatrix = {
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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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//TODO: test whether BLA library uses column-major matrix notation in code
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BLA::Matrix<3> eulerVector;
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eulerVector.Fill(0);
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eulerVector(1) = asin(clamp(rotationMatrix(1,3),-1,1));
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if (fabsf(rotationMatrix(1,3)) < 0.9999999) {
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eulerVector(0) = atan2f(-rotationMatrix(2,3), rotationMatrix(3,3));
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eulerVector(2) = atan2f( -rotationMatrix(1,2), rotationMatrix(1,1));
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} else {
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eulerVector(0) = atan2f(rotationMatrix(3,2), rotationMatrix(2,2));
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eulerVector(2) = 0;
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}
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return eulerVector;
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}
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float clamp(float value,float min,float max) {
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return fmaxf( min, fminf(max, value));
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}
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/* OSC MSG channels */
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OSCBundle bundle;
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void setup() {
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// Basic(debug) serial init
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// Serial.begin(115200); // set this as high as you can reliably run on your platform
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Serial.println("Starting up...");
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// I2C init
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Wire.begin();
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Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
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#ifdef SERIAL_OSC
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SLIPSerial.begin(115200); // set this as high as you can reliably run on your platform
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#endif
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// Keys
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for(int i = 0; i < KEYLEN; i++) {
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pinMode(keys[i], INPUT_PULLUP);
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}
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// Position and speed tracking
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timeOn = 0;
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position.Fill(0);
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speed.Fill(0);
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// Start MPU
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mpu.initialize();
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// Set sensitivity / range
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mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
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mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
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// DMP init
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devStatus = mpu.dmpInitialize();
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// supply your own gyro offsets here, scaled for min sensitivity
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// !!! Run Zero IMU to get readings (read comments for instructions)
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/* First proto (right hand, black&blue)*/
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mpu.setXGyroOffset(76);
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mpu.setYGyroOffset(68);
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mpu.setZGyroOffset(10);
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mpu.setXAccelOffset(-3527);
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mpu.setYAccelOffset(-913);
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mpu.setZAccelOffset(1027);
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/* Second proto, translucent / white
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mpu.setXGyroOffset(-3650);
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mpu.setYGyroOffset(-2531);
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mpu.setZGyroOffset(1131);
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mpu.setXAccelOffset(162);
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mpu.setYAccelOffset(-16);
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mpu.setZAccelOffset(-12);
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*/
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// make sure it worked (returns 0 if so)
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if (devStatus == 0) {
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// Calibration Time: generate offsets and calibrate our MPU6050
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mpu.CalibrateAccel(6);
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mpu.CalibrateGyro(6);
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//Serial.println();
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//mpu.PrintActiveOffsets();
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// turn on the DMP, now that it's ready
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//Serial.println(F("Enabling DMP..."));
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mpu.setDMPEnabled(true);
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// set our DMP Ready flag so the main loop() function knows it's okay to use it
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//Serial.println(F("DMP ready! Waiting for first interrupt..."));
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dmpReady = true;
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// get expected DMP packet size for later comparison
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packetSize = mpu.dmpGetFIFOPacketSize();
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} else {
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Serial.println("DMP Initialization failed (code " + String(devStatus) + ")");
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// ERROR!
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// 1 = initial memory load failed
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// 2 = DMP configuration updates failed
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// (if it's going to break, usually the code will be 1)
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}
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#ifdef WIFI_OSC
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// WIFI init
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Serial.print("Attempting to connect to SSID: ");
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Serial.println(ssid);
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connectToWiFi(ssid, password);
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// attempt to connect to Wifi network:
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while (WiFi.status() != WL_CONNECTED) {
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Serial.print(".");
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// wait 1 second for re-trying
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delay(1000);
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}
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#endif
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#ifdef BT_OSC
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SerialBT.begin("wavey wind");
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#endif
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}
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void loop() {
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// if programming failed, don't try to do anything
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if (!dmpReady) return;
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// read a packet from FIFO
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if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
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// Store last Q value
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pq = Quaternion(q.w,q.x,q.y,q.z);
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// get quaternion values in easy matrix form: w x y z
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mpu.dmpGetQuaternion(&q, fifoBuffer);
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q = q.getProduct(cq);
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//compute the differential rotation between the previous and new orientation
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diff = q.getProduct(pq.getConjugate());
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// Quaternion - rotacija
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bundle.add("/quaternion").add(q.w).add(q.y * -1).add(q.z).add(q.x * -1); // W X Y Z
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// Euler - rotacija
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//eulerVector = eulerFromQuaternion(q);
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//bundle.add("/euler").add(eulerVector(0)).add(eulerVector(1)).add(eulerVector(2)); // X Y Z
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// Quaterion difference - rotacijska razlika (prejsnji reading - trenutni reading)
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bundle.add("/quaternionDiff").add(diff.w).add(diff.y * -1).add(diff.z).add(diff.x * -1); // W X Y Z
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// Rotation diff value in euler angle
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//eulerDiffVector = eulerFromQuaternion(diff);
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//bundle.add("/eulerDiff").add(eulerDiffVector(0)).add(eulerDiffVector(1)).add(eulerDiffVector(2)); // X Y Z
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#ifdef OUTPUT_READABLE_REALACCEL
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// display real acceleration, adjusted to remove gravity
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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AcX = aaReal.x;
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AcY = aaReal.y;
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AcZ = aaReal.z;
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#endif
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#ifdef OUTPUT_READABLE_WORLDACCEL
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// display initial world-frame acceleration, adjusted to remove gravity
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// and rotated based on known orientation from quaternion
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
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AcX = aaWorld.x;
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AcY = aaWorld.y;
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AcZ = aaWorld.z;
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#endif
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// Calculate speed and position from accelerometer data
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/*
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int prevTime = timeOn;
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timeOn = millis();
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int elapsedTime = timeOn - prevTime;
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Matrix<3> speedGain = {AcX * elapsedTime, AcY * elapsedTime, AcZ * elapsedTime};
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//Assume linear acceleration over measured time window, multiply time by halfpoint between last-known and current speed
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position = position + (((speed + speedGain) + speed) /2 * elapsedTime);
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speed += speedGain;
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bundle.add("/position/").add(position(0)).add(position(1)).add(position(2));
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bundle.add("/speed/").add(speed(0)).add(speed(1)).add(speed(2));
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*/
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// Accelerometer
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bundle.add("/accel").add(AcX).add(AcY).add(AcZ); ; // X Y Z
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// Keys held down
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bundle.add("/keys"); // A B C D E
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// Send keys
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for(int i = 0; i < KEYLEN; i++) {
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pressed[i] = !digitalRead(keys[i]);
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bundle.getOSCMessage("/keys")->add(pressed[i]);
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}
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// Reset calibration euler?
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if (pressed[0] && pressed[1] && pressed[2] && pressed[3]) {
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if (!reset) {
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cq = q.getConjugate();
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reset = true;
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Serial.println("Quaternion calibrate");
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}
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} else {
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if (reset) {
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reset = false;
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}
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}
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#ifdef SERIAL_OSC
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SLIPSerial.beginPacket();
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bundle.send(SLIPSerial);
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SLIPSerial.endPacket();
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#endif
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#ifdef WIFI_OSC
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udp.beginPacket(castIp, port);
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bundle.send(udp);
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udp.endPacket();
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#endif
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// Some bug below, it seems
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#ifdef BT_OSC
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SLIPBTSerial.beginPacket();
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bundle.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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#endif
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bundle.empty();
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}
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}
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