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Final version of project
Dependencies: FSR LSM9DS1_Library_cal USBMIDI mbed
Fork of LSM9DS1_Demo_wCal by
main.cpp
- Committer:
- KrissyHam
- Date:
- 2016-04-29
- Revision:
- 4:f0cd8d252c08
- Parent:
- 3:de36d456f684
File content as of revision 4:f0cd8d252c08:
#include "mbed.h" #include "USBMIDI.h" #include "LSM9DS1.h" #include "math.h" #include "FSR.h" #define PI 3.14159 #define BUFFERSIZE 6 // FSR FSR fsr_kick(p20, 10); // Pin 20 is used as the AnalogIn pin and a 10k resistor is used as a voltage divider FSR fsr_hh(p19, 10); // Pin 19 is used as the AnalogIn pin and a 10k resistor is used as a voltage divider bool hh_close = false; // boolean to determine if hi-hat is closed or open bool kicked = false; // IMU LSM9DS1 IMU(p9, p10, 0xD6, 0x3C); LSM9DS1 IMU2(p28, p27, 0xD6, 0x3C); USBMIDI midi; Serial pc(USBTX, USBRX); DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); Timer t; float t_prev = 0; float t_prev2 = 0; float t_curr = 0; float t_curr2 = 0; float t_gyroPrev = 0; float t_gyroPrev2 = 0; float t_gyroCurr = 0; float t_gyroCurr2 = 0; float delta_t = 0; float y_accel = 0; float y_accel2 = 0; int resetIndex = BUFFERSIZE - 2; float average[BUFFERSIZE] = {0}; int avg_index = 0; float total = 0; float avg_thresh = 20; float average2[BUFFERSIZE] = {0}; int avg_index2 = 0; float total2 = 0; float avg_thresh2; float prev_y_accel = 0; float curr_y_accel = 0; float y_accel_threshold = 0.8; bool check_y_accel = false; float t_prev_y_accel = 0; float prev_y_accel2 = 0; float curr_y_accel2 = 0; bool check_y_accel2 = false; float t_prev_y_accel2 = 0; int count2 = 0; int count = 0; bool detectHit = 0; bool detectHit2 = 0; bool detectUp = 0; bool detectUp2 = 0; float runningAvg = 0; float runningAvg2 = 0; float interval = 0.20; float hit_volume = 0; float hit_volume2 = 0; enum StateType {FRONT, SIDE, HIT}; enum StateType2 {FRONT2, SIDE2, HIT2}; StateType state = FRONT; // Initial state is FRONT StateType2 state2 = FRONT2; void show_message(MIDIMessage msg) { switch (msg.type()) { case MIDIMessage::NoteOnType: printf("NoteOn key:%d, velocity: %d, channel: %d\n", msg.key(), msg.velocity(), msg.channel()); break; case MIDIMessage::NoteOffType: printf("NoteOff key:%d, velocity: %d, channel: %d\n", msg.key(), msg.velocity(), msg.channel()); break; case MIDIMessage::ControlChangeType: printf("ControlChange controller: %d, data: %d\n", msg.controller(), msg.value()); break; case MIDIMessage::PitchWheelType: printf("PitchWheel channel: %d, pitch: %d\n", msg.channel(), msg.pitch()); break; default: printf("Another message\n"); } } int main() { midi.attach(show_message); // call back for messages received pc.baud(9600); pc.printf("Hello world!\n"); // Initialize IMUs IMU.begin(); if (!IMU.begin()) { pc.printf("Failed to communicate with LSM9DS1 - first.\n"); } IMU.calibrate(1); IMU2.begin(); if (!IMU2.begin()) { pc.printf("Failed to communicate with LSM9DS1 - second.\n"); } IMU2.calibrate(1); t.start(); // start timer while(1) { // Initialize acceleration and gyroscope data for both IMUs while(!IMU.accelAvailable()); IMU.readAccel(); while(!IMU.gyroAvailable()); IMU.readGyro(); while(!IMU2.accelAvailable()); IMU2.readAccel(); while(!IMU2.gyroAvailable()); IMU2.readGyro(); // Create variables for ease of use for acceleration y_accel = IMU.calcAccel(IMU.ay); y_accel2 = IMU2.calcAccel(IMU2.ay); // Initialize timer t_curr = t.read(); t_curr2 = t_curr; /** * FSR detection */ // Check if values from FSRs are above a threshold (to detect hit) if (fsr_kick.readRaw() > 0.3){ // Sound will only play if foot is not on FSR (eliminates continuous noise playing if pedal is held down) if (kicked == false){ midi.write(MIDIMessage::NoteOn(45, fsr_kick.readRaw() * 127 + 30, 10)); // Play a kick, map the volume and boost the amplitude, channel 10 } kicked = true; } else {kicked = false;} if (fsr_hh.readRaw() > 0.3){ if (hh_close == false){ midi.write(MIDIMessage::NoteOn(42, fsr_hh.readRaw()*127, 10)); // Play a hi-hat pedal, map the volume, channel 10 } hh_close = true; } else {hh_close = false;} /** * Running average for hit detection */ // First IMU total -= average[avg_index]; average[avg_index] = IMU.calcGyro(IMU.gy); total += average[avg_index]; if (avg_index > resetIndex) { avg_index = 0; } else { avg_index++; } // Second IMU total2 -= average2[avg_index2]; average2[avg_index2] = IMU2.calcGyro(IMU2.gy); total2 += average2[avg_index2]; if (avg_index2 > resetIndex) { avg_index2 = 0; } else { avg_index2++; } /** * Hit detection */ // Detect downward hit if (IMU.calcGyro(IMU.gy) > 35) { detectHit = 1; } if (IMU2.calcGyro(IMU2.gy) > 35) { detectHit2 = 1; } // Map gyroscope value ranges to volume ranges hit_volume = (runningAvg + 245) * (127) / (490); hit_volume2 = (runningAvg2 + 245) * (127) / (490) + 15; // First IMU detectUp = IMU.calcGyro(IMU.gy) <= 0; runningAvg = total / BUFFERSIZE; // Check if drumstick is brought down and then brought back up (eliminates continous hit detection if drumstick is just held tilted down) // Then check if running average is greater than a threshold (to elimate noise) // Elimate debouncing by only allowing a hit to play if the time interval has passed if (detectHit && detectUp && (runningAvg > avg_thresh) && (t_curr - t_prev) > interval) { // Depending on the state, play the corresponding instrument switch (state) { case (FRONT): midi.write(MIDIMessage::NoteOn(46, hit_volume, 10)); // Play ride sound break; case (SIDE): if (hh_close) { midi.write(MIDIMessage::NoteOn(40, hit_volume, 10)); // Play closed hi-hat sound } else { midi.write(MIDIMessage::NoteOn(41, hit_volume, 10)); // Play open hi-hat sound } break; } detectHit = 0; t_prev = t_curr; count = 0; } // Second IMU detectUp2 = IMU2.calcGyro(IMU2.gy) <= 0; runningAvg2 = total2 / BUFFERSIZE; if (detectHit2 && detectUp2 && runningAvg2 > avg_thresh2 && (t_curr2 - t_prev2) > interval) { switch (state2) { case (FRONT2): midi.write(MIDIMessage::NoteOn(47, hit_volume2, 10)); // Play snare sound break; case (SIDE2): midi.write(MIDIMessage::NoteOn(51, hit_volume2, 10)); // Play clap sound break; } detectHit2 = 0; t_prev2 = t_curr2; } /** * Instrument switching detection */ curr_y_accel = y_accel; curr_y_accel2 = y_accel2; check_y_accel = abs(curr_y_accel - prev_y_accel) > y_accel_threshold; check_y_accel2 = abs(curr_y_accel2 - prev_y_accel2) > y_accel_threshold; // Check that y accleration is above threshold; if it is, increase the count for the number of cycles it is above this threshold if (check_y_accel) { count++; } if (check_y_accel2) { count2++; } // First IMU switch (state) { case (FRONT): // Check that y_accleration is above the threshold for at least 3 cycles // Elimnate debouncing by only switching if a time interval has passed if (check_y_accel && (count >= 3) && (t_curr - t_prev_y_accel) > 0.3) { count = 0; state = SIDE; led1 = 1; led2 = 0; t_prev_y_accel = t_curr; } break; case (SIDE): if (check_y_accel && (count >= 3) && (t_curr - t_prev_y_accel) > 0.3) { count = 0; state = FRONT; led1 = 0; led2 = 1; t_prev_y_accel = t_curr; } break; } prev_y_accel = curr_y_accel; //Second IMU switch (state2) { case (FRONT2): if (check_y_accel2 && (count2 >= 3) && (t_curr - t_prev_y_accel2) > 0.3){ state2 = SIDE2; count2 = 0; led4 = 1; led3 = 0; t_prev_y_accel2 = t_curr; } break; case (SIDE2): if (check_y_accel2 && (count2 >= 3) && (t_curr - t_prev_y_accel2) > 0.3){ state2 = FRONT2; count2 = 0; led4 = 0; led3 = 1; t_prev_y_accel2 = t_curr; } break; } prev_y_accel2 = curr_y_accel2; } }