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added version of jure's code to adapt for capacative touch

master
Rob Canning 2022-08-30 23:52:37 +02:00
parent a5a1ca1525
commit e01e4ed32a
14 changed files with 2384 additions and 1 deletions
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24
README.md
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# gtr
augmented guitar with esp32 and mpu6050
augmented guitar with esp32 and mpu6050
## deps
last working version of esp32 arduino with current hardware is :
- https://github.com/espressif/arduino-esp32/releases/tag/2.0.0
### branch of wavey wind
the nodejs glue
- https://git.kompot.si/g1smo/wavey-wind/src/branch/rob
### the esp32 firmware
- https://git.kompot.si/g1smo/pifcamp-2021/src/branch/master/osc32final

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osc32final/OSCBoards.h 100644
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/*
Written by Yotam Mann, The Center for New Music and Audio Technologies,
University of California, Berkeley. Copyright (c) 2013, The Regents of
the University of California (Regents).
Permission to use, copy, modify, distribute, and distribute modified versions
of this software and its documentation without fee and without a signed
licensing agreement, is hereby granted, provided that the above copyright
notice, this paragraph and the following two paragraphs appear in all copies,
modifications, and distributions.
IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT,
SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING
OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS
BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
For bug reports and feature requests please email me at yotam@cnmat.berkeley.edu
*/
#ifndef OSCDATA_h
#define OSCDATA_h
#include "Arduino.h"
#include <stdlib.h>
#include <stdint.h>
#include <inttypes.h>
#include <string.h>
#include "OSCTiming.h"
#if (defined(TEENSYDUINO) && defined(USB_SERIAL)) || (!defined(TEENSYDUINO) && defined(__AVR_ATmega32U4__)) || defined(__SAM3X8E__) || (defined(_USB) && defined(_USE_USB_FOR_SERIAL_)) || defined(BOARD_maple_mini)
#define BOARD_HAS_USB_SERIAL
#if defined(__SAM3X8E__)
#define thisBoardsSerialUSB SerialUSB
#else
#define thisBoardsSerialUSB Serial
#endif
#endif
#if defined(ESP8266) || defined(ESP32)
#define ESPxx
#endif
//ERRORS/////////////////////////////////////////////////
typedef enum { OSC_OK = 0,
BUFFER_FULL, INVALID_OSC, ALLOCFAILED, INDEX_OUT_OF_BOUNDS
} OSCErrorCode;
class OSCData
{
private:
//friends
friend class OSCMessage;
//should only be used while decoding
//leaves an invalid OSCMessage with a type, but no data
OSCData(char t);
public:
//an error flag
OSCErrorCode error;
//the size (in bytes) of the data
int bytes;
//the type of the data
int type;
//the data
union {
char * s; //string
int32_t i; //int
float f; //float
double d; //double
uint64_t l; //long
uint8_t * b; //blob
osctime_t time;
} data;
//overload the constructor to account for all the types and sizes
OSCData(const char * s);
#if defined(__SAM3X8E__)
OSCData (int16_t);
#endif
OSCData (int32_t);
#ifndef ESPxx
OSCData (int);
#endif
OSCData (unsigned int);
OSCData (float);
OSCData (double);
OSCData (uint8_t *, int);
//accepts another OSCData objects and clones it
OSCData (OSCData *);
OSCData (boolean);
OSCData (osctime_t);
//destructor
~OSCData();
//GETTERS
int32_t getInt();
float getFloat();
double getDouble();
int getString(char *);
int getString(char *, int);
int getString(char *, int, int, int);
int getBlob(uint8_t *);
int getBlob(uint8_t *, int);
int getBlob(uint8_t *, int, int, int);
int getBlobLength();
bool getBoolean();
osctime_t getTime();
//constructor from byte array with type and length
OSCData(char, uint8_t *, int);
//fill the passed in buffer with the data
//uint8_t * asByteArray();
};
/*
based on http://stackoverflow.com/questions/809902/64-bit-ntohl-in-c
if the system is little endian, it will flip the bits
if the system is big endian, it'll do nothing
*/
template<typename T>
static inline T BigEndian(const T& x)
{
const int one = 1;
const char sig = *(char*)&one;
if (sig == 0) return x; // for big endian machine just return the input
T ret;
int size = sizeof(T);
char* src = (char*)&x + sizeof(T) - 1;
char* dst = (char*)&ret;
while (size-- > 0){
*dst++ = *src--;
}
return ret;
}
#endif

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osc32final/SLIPEncodedBluetoothSerial.cpp 100644
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#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();
}

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osc32final/SLIPEncodedBluetoothSerial.h 100644
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/*
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

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osc32final/osc32final.ino 100644
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// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include <OSCBundle.h>
#include <OSCBoards.h>
// 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
#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;
// 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
// 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
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
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
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;
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;
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);
Serial.println("MPU will init...");
// Start MPU
mpu.initialize();
Serial.println("MPU did init... 1");
// Set sensitivity / range
mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
Serial.println("Ranges set... 2");
// DMP init
devStatus = mpu.dmpInitialize();
Serial.println("DMP did init... 3");
// supply your own gyro offsets here, scaled for min sensitivity
// !!! Run Zero IMU to get readings (read comments for instructions)
/* 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);
*/
Serial.println("DMP Init all good?");
// 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();
Serial.println("DMP Initialization good!");
} 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)
}
#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
mpu.dmpGetQuaternion(&q, fifoBuffer);
q = q.getProduct(cq);
//compute the differential rotation between the previous and new orientation
diff = q.getProduct(pq.getConjugate());
// 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
// 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
// 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_REALACCEL
// display real acceleration, adjusted to remove gravity
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.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
// 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};
//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
// 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]);
}
// 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);
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();
}
}

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// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include <OSCBundle.h>
#include <OSCBoards.h>
#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
#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;
// 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
// 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
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
// Sem dobimo vrednosti pospeskomerja in ziroskopa
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;
/* OSC MSG channels */
OSCBundle bundle;
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);
}
// Start MPU
mpu.initialize();
// Set sensitivity / range
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 (read comments for instructions)
/* 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)
}
#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
mpu.dmpGetQuaternion(&q, fifoBuffer);
//compute the differential rotation between the previous and new orientation
diff = q.getProduct(pq.getConjugate());
// Quaternion - rotacija
bundle.add("/quaternion").add(q.w).add(q.y * -1).add(q.z).add(q.x * -1); // W X Y Z
// 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
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
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.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
// Accelerometer
bundle.add("/accel").add(AcX).add(AcY).add(AcZ); ; // X Y Z
// 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]);
}
#ifdef SERIAL_OSC
SLIPSerial.beginPacket();
bundle.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();
}
}

661
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@ -0,0 +1,661 @@
GNU AFFERO GENERAL PUBLIC LICENSE
Version 3, 19 November 2007
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#+TITLE: wavey wind
OSC controlled visual (used with motion controller)
Also see https://git.kompot.si/g1smo/pifcamp-2021
* older prototypes
- https://kreten.si/spin/
- https://kreten.si/spin-color/
- https://kreten.si/spin-upgrade/
- https://kreten.si/spin-space/
- https://vis.kreten.si/ / https://vis.kreten.si/ctl
** history
The original animation, modularized with sliders, was first "exhibited" on [[https://radiostudent.si/kultura/humanistika/delo-in-tehnologija][october 6th 2017]] in [[http://atrog.org/prostori/modri-kot][Modri kot]], a beautiful space for performance that used to be on the side of the [[https://tovarna.org/][autonomous factory Rog]] in Ljubljana, which was evicted by force on january 19th 2021 by the municipality to pave way for future gentrification.
Special thanks to Zala and Lio for hosting me during early development and Tisa Neža for curating the first performance.
* bluetooth
1. Pair the device (named "wavey wind")
2. Find the MAC address
3. Add a serial port (change MAC accordingly)
`sudo rfcomm bind 0 98:CD:AC:63:78:9A`
4. Run the server with the bluetooth address
`node server.js /dev/rfcomm0`

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<html >
<head>
<meta charset="UTF-8">
<title>wavey wind control</title>
<style type="text/css">
body {
margin: 0
}
.noUi-target {
width: 500px;
}
table tr td {
padding-top: 1rem;
}
</style>
<link href="node_modules/nouislider/distribute/nouislider.min.css" rel="stylesheet">
</head>
<body>
<table>
<tr>
<td>
vidni kot (FOV)
</td>
<td>
<div id="fovCtl"></div>
</td>
<td id="fovVal"></td>
</tr>
<tr>
<td>
visina objekta
</td>
<td>
<div id="visinaCtl"></div>
</td>
<td id="visinaVal"></td>
</tr>
<tr>
<td>
sirina objekta
</td>
<td>
<div id="sirinaCtl"></div>
</td>
<td id="sirinaVal"></td>
</tr>
<tr>
<td>
limit objektov
</td>
<td>
<div id="obj_limitCtl"></div>
</td>
<td id="obj_limitVal"></td>
</tr>
<tr>
<td>
rotacija X
</td>
<td>
<div id="rotxCtl"></div>
</td>
<td id="rotxVal"></td>
</tr>
<tr>
<td>
rotacija Y
</td>
<td>
<div id="rotyCtl"></div>
</td>
<td id="rotyVal"></td>
</tr>
<tr>
<td>
rotacija Z
</td>
<td>
<div id="rotzCtl"></div>
</td>
<td id="rotzVal"></td>
</tr>
<tr>
<td>
barva
</td>
<td>
<div id="barva_modCtl"></div>
</td>
<td id="barva_modVal"></td>
</tr>
<tr>
<td>
kamera
</td>
<td>
<div id="cam_rot_offsetCtl"></div>
</td>
<td id="cam_rot_offsetVal"></td>
</tr>
</table>
<script src="node_modules/nouislider/distribute/nouislider.min.js"></script>
<script src="control.js"></script>
</body>
</html>

163
wavey-wind/control.js 100644
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// Interaktivnost
var socket = new WebSocket(location.origin.replace(/https?/, 'ws'));
function throttle (cb, limit) {
var w = false;
return function () {
if (!w) {
cb.apply(this, arguments);
w = true;
setTimeout(function () {
w = false;
}, limit);
}
}
}
inputi = {
"fov": {
val: 120,
min: 30,
max: 179
},
"sirina": {
val: 2,
min: 1,
max: 6,
step: 0.1
},
"visina": {
val: 2,
min: 1,
max: 6,
step: 0.1
},
"obj_limit": {
val: 1000,
min: 1,
max: 10000
},
"rotx": {
val: 0,
min: -0.1,
max: 0.1,
step: 0.001
},
"roty": {
val: 0,
min: -0.1,
max: 0.1,
step: 0.001
},
"rotz": {
val: 0,
min: -0.1,
max: 0.1,
step: 0.001
},
"barva_mod": {
val: 0.001,
min: 0.001,
max: 0.18,
step: 0.001
},
"cam_rot_offset": {
val: 0,
min: -10,
max: 10,
step: 0.1
}
};
Object.keys(inputi).map(function (name) {
var valEl = document.getElementById(name + "Val");
if (!valEl) { return; }
var ctlEl = document.getElementById(name + "Ctl");
var params = inputi[name];
var step = params.step;
if (!step) step = 1;
noUiSlider.create(ctlEl, {
start: [params.val],
range: {
min: [params.min],
max: [params.max]
},
step: step
});
ctlEl.noUiSlider.on('slide', throttle(function(val) {
console.log("update!");
var value = val[0];
valEl.innerHTML = value;
socket.send(['adjust', name, value].join(':'));
}, 125));
valEl.innerHTML = ctlEl.noUiSlider.get();
});
callbacks = {
fov: function(val) {
if (typeof camera === 'undefined') return;
FOV = val;
camera.fov = val;
camera.updateProjectionMatrix();
},
sirina: function(val) {
width = parseFloat(val);
},
visina: function (val) {
height = parseFloat(val);
},
rotx: function(val) {
rotacijaX = parseFloat(val);
},
roty: function(val) {
rotacijaY = parseFloat(val);
},
rotz: function(val) {
rotacijaZ = parseFloat(val);
},
posx: function(val) {
posX = parseFloat(val);
},
posy: function(val) {
posY = parseFloat(val);
},
posz: function(val) {
posZ = parseFloat(val);
},
obj_limit: function(val) {
obj_limit = parseInt(val);
},
default: function(name, val) {
window[name] = parseFloat(val);
}
};
socket.onmessage = function (msg) {
var parts = msg.data.split(":");
var cmd = parts[0];
switch (cmd) {
case 'adjust':
var name = parts[1];
var val = parts[2];
if (name in callbacks) {
callbacks[name].call(this, val);
} else {
callbacks["default"].call(this, name, val);
}
var valEl = document.getElementById(name + "Val");
if (!valEl) { return; }
var ctlEl = document.getElementById(name + "Ctl");
ctlEl.noUiSlider.set(val, false);
valEl.innerHTML = ctlEl.noUiSlider.get();
}
};

17
wavey-wind/index.html 100644
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<html >
<head>
<meta charset="UTF-8">
<title>wavey wind</title>
<style type="text/css">
body { margin: 0; }
</style>
</head>
<body>
<div id="anim-container"></div>
<script src="node_modules/three/build/three.min.js"></script>
<script src="node_modules/osc/dist/osc-browser.js"></script>
<script src="anim.js"></script>
<script src="osctl.js"></script>
</body>
</html>

25
wavey-wind/osctl.js 100644
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var oscPort = new osc.WebSocketPort({
url: location.origin.replace(/https?/, 'ws'),
metadata: true
});
oscPort.open();
oscPort.on("ready", function () {
console.log("OSC listening!")
// Example send
/*
oscPort.send({
address: "/carrier/frequency",
args: [
{
type: "f",
value: 440
}
]
});
*/
oscPort.on("message", function (msg) {
oscCallbacks[msg.address].forEach(cb => cb(msg.args))
});
});

21
wavey-wind/package.json 100644
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{
"name": "cancerain",
"version": "0.3.0",
"description": "epilepsija",
"dependencies": {
"express": "^4.18.1",
"fs": "^0.0.1-security",
"http": "^0.0.1-security",
"nodemon": "^2.0.12",
"nouislider": "14.6.2",
"osc": "2.3",
"pm2": "^5.1.0",
"readline": "^1.3.0",
"serialport": "^10.4.0",
"three": "0.135.0",
"ws": "^7.5.9"
},
"scripts": {
"start": "npx nodemon server.js /dev/ttyUSB0"
}
}

255
wavey-wind/server.js 100644
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const express = require('express')
const http = require('http')
const WebSocket = require('ws')
const osc = require('osc')
const readline = require('readline')
const fs = require('fs')
const port = 6676
// Vzemi iz argumenta
const tty = process.argv[2]
let eulerRotation = [0, 0, 0]
let baudrate = parseInt(process.argv[3])
if (!baudrate) {
baudrate = 115200
}
const include_files = [
'/anim.js',
'/control.js',
'/osctl.js',
'/test.js',
'/node_modules/three/build/three.min.js',
'/node_modules/nouislider/distribute/nouislider.min.js',
'/node_modules/nouislider/distribute/nouislider.min.css',
'/node_modules/osc/dist/osc-browser.js'
];
const app = express();
const server = http.Server(app);
const DEBUG = true
// Odprti serijski OSC link
let scon = null
function openSerial() {
console.log('opening ', tty, baudrate)
scon = new osc.SerialPort({
devicePath: tty,
bitrate: baudrate,
autoOpen: true,
useSLIP: true
})
scon.open()
scon.on('open', e => {
console.log('serial connection opened')
//console.log(scon)
})
scon.on('error', e => {
console.error('tty error', e)
//scon.close()
})
scon.on('close', e => {
console.warn('serial connection closed, restarting in 1 second')
})
// Arduino OSC gre v web
scon.on('message', msg => {
// Debug incoming osc
if (DEBUG) {
console.log('osc msg', msg)
}
sendAll(msg, null, null, osclients)
})
if (scon._closeCode) {
scon = null
console.log('restarting serial connection')
setTimeout(openSerial, 1000)
}
}
if (tty) {
openSerial(baudrate)
}
app.get('/', (req, res) => {
res.sendFile(__dirname + '/index.html');
});
app.get('/ctl', (req, res) => {
res.sendFile(__dirname + '/control.html');
});
app.get('/test', (req, res) => {
res.sendFile(__dirname + '/test.html');
});
let settings = {};
app.get('/settings', function(req, res) {
res.send(settings);
});
include_files.map(function(file) {
app.get(file, function(req, res){
res.sendFile(__dirname + file);
});
});
server.listen(port, () => console.log('listening on *:' + port))
// Websocket init
const wss = new WebSocket.Server({ server })
// Relay multicast to websockets
// @TODO still sends to supercollider? Do we need two sockets?
//var dgram = require('dgram');
//var sss = dgram.createSocket('udp4');
//sss.on('listening', () => {
// sss.addMembership('224.0.1.9');
//})
//sss.bind(57120);
const scudp = new osc.UDPPort({
//socket: sss
remotePort: 57121,
localPort: 57100
})
scudp.on('open', () => {
console.log("UDP to OSC open")
})
scudp.on('message', (msg) => {
console.log('got UDP msg', msg);
osclients.forEach( client => {
if (client) {
//console.log("sending", msg, info)
client.send(msg)
}
})
})
scudp.on('error', (e) => {
console.log('UDP OSC error!', e)
})
scudp.open()
function eulerFromQuaternion(quaternion) {
// Quaternion to matrix.
const w = quaternion[0], x = quaternion[1], y = quaternion[2], z = quaternion[3];
const x2 = x + x, y2 = y + y, z2 = z + z;
const xx = x * x2, xy = x * y2, xz = x * z2;
const yy = y * y2, yz = y * z2, zz = z * z2;
const wx = w * x2, wy = w * y2, wz = w * z2;
const matrix = [
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
];
// Matrix to euler
function clamp( value, min, max ) {
return Math.max( min, Math.min( max, value ) );
}
const m11 = matrix[ 0 ], m12 = matrix[ 4 ], m13 = matrix[ 8 ];
const m21 = matrix[ 1 ], m22 = matrix[ 5 ], m23 = matrix[ 9 ];
const m31 = matrix[ 2 ], m32 = matrix[ 6 ], m33 = matrix[ 10 ];
var euler = [ 0, 0, 0 ];
euler[1] = Math.asin( clamp( m13, - 1, 1 ) );
if ( Math.abs( m13 ) < 0.9999999 ) {
euler[0] = Math.atan2( - m23, m33 );
euler[2] = Math.atan2( - m12, m11 );
} else {
euler[0] = Math.atan2( m32, m22 );
euler[2] = 0;
}
return euler;
}
let switchHeld = false
let switchValue = false
const sendAll = (msg, info, oscWS, osclients) => {
if (msg.address == '/keys') {
if (msg.args[0] == 1 && msg.args[1] == 1 ) {
eulerRotation = [0, 0, 0];
console.log("EULER ROTATION RESET");
}
}
// toggle button 2 state between 0 and 1
if (msg.address == '/keys') {
if (msg.args[1] == 1) {
if (switchHeld == false) {
switchValue = !switchValue
switchHeld = true
}
} else {
if (switchHeld) {
switchHeld = false
}
}
msg.args.push(switchValue ? 1 : 0)
}
// Convert quaternion diff to euler angle diff
if (msg.address == '/quaternionDiff') {
const euler = eulerFromQuaternion(msg.args, 'XYZ');
sendAll({
address: '/eulerDiff',
args: euler
}, info, oscWS, osclients)
eulerRotation[0] += euler[0]
eulerRotation[1] += euler[1]
eulerRotation[2] += euler[2]
sendAll({
address: '/euler',
args: eulerRotation
}, info, oscWS, osclients)
}
osclients.forEach( client => {
if (client && oscWS != client) {
// console.log("sending", msg, info)
client.send(msg)
}
})
if (scudp) {
console.log("SENDING UDP", msg)
scudp.send(msg)
}
}
const osclients = []
wss.on('connection', function (ws) {
console.log('new client connection')
const oscWS = new osc.WebSocketPort({
socket: ws,
metadata: false
});
// Vsi OSC sem grejo naprej na kliente OSC
oscWS.on('packet', (packet, info) => {
// Broadcast adjust msg
const [address, args] = packet
sendAll({ address, args}, info, oscWS, osclients)
})
oscWS.on('error', error => {
console.warn('Ignoring invalid OSC')
console.warn(error)
})
osclients.push(oscWS)
})