Kristen Fernandez
Final version of project
Dependencies: FSR LSM9DS1_Library_cal USBMIDI mbed
Fork of
LSM9DS1_Demo_wCal
by 
jim hamblen
Revision 1:a81deeb5ba58, committed 2016-04-29
- Comitter:
- KrissyHam
- Date:
- Fri Apr 29 01:47:18 2016 +0000
- Parent:
- 0:e693d5bf0a25
- Child:
- 2:82b2a1e84586
- Commit message:
- Final version of project
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FSR.lib Fri Apr 29 01:47:18 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/cshao06/code/FSR/#d9520bf7eb9e
--- a/LSM9DS1_Library_cal.lib Wed Feb 03 18:47:07 2016 +0000 +++ b/LSM9DS1_Library_cal.lib Fri Apr 29 01:47:18 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/4180_1/code/LSM9DS1_Library_cal/#36abf8e18ade +https://developer.mbed.org/users/KrissyHam/code/LSM9DS1_Library_cal/#d4d888986b5e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBMIDI.lib Fri Apr 29 01:47:18 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/KrissyHam/code/USBMIDI/#1c9f95100210
--- a/main.cpp Wed Feb 03 18:47:07 2016 +0000
+++ b/main.cpp Fri Apr 29 01:47:18 2016 +0000
@@ -1,20 +1,122 @@
#include "mbed.h"
+#include "USBMIDI.h"
#include "LSM9DS1.h"
+#include "math.h"
+#include "FSR.h"
+
#define PI 3.14159
+#define BUFFERSIZE 6
+
// Earth's magnetic field varies by location. Add or subtract
// a declination to get a more accurate heading. Calculate
// your's here:
// http://www.ngdc.noaa.gov/geomag-web/#declination
#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
-DigitalOut myled(LED1);
+// 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);
+
+//uLCD_4DGL uLCD(p28,p27,p30); // serial tx, serial rx, reset pin;
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 x_accel = 0;
+float y_accel = 0;
+float y_accel2 = 0;
+
+float x_vel_prev = 0;
+float x_vel_curr = 0;
+float y_vel_prev = 0;
+float y_vel_curr = 0;
+
+float x_pos_prev = 0;
+float x_pos_curr = 0;
+float y_pos_prev = 0;
+float y_pos_curr = 0;
+
+int resetIndex = BUFFERSIZE - 2;
+float average[BUFFERSIZE] = {0};
+int avg_index = 0;
+float total = 0;
+float avg_thresh;
+
+float average2[BUFFERSIZE] = {0};
+int avg_index2 = 0;
+float total2 = 0;
+float avg_thresh2;
+
+float z_gyro = 0;
+float gyroAverage[3] = {0};
+int avg_gyroIndex = 0;
+float gyroTotal = 0;
+float running_gyroAvg = 0;
+
+float avg_gyroThresh = 0;
+float avg_gyroThresh2 = 0;
+
+float gyroAverage2[3] = {0};
+int avg_gyroIndex2 = 0;
+float gyroTotal2 = 0;
+float running_gyroAvg2 = 0;
+
+float gyroInterval = 1.00;
+
+float prev_y_accel = 0;
+float curr_y_accel = 0;
+float prev_x_accel = 0;
+float curr_x_accel = 0;
+float y_accel_threshold = 0.8;
+float x_accel_threshold = 0.1;
+bool check_y_accel = false;
+bool check_x_accel = false;
+float t_prev_y_accel = 0;
+
+float prev_y_accel2 = 0;
+float curr_y_accel2 = 0;
+float prev_x_accel2 = 0;
+float curr_x_accel2 = 0;
+bool check_y_accel2 = false;
+bool check_x_accel2 = false;
+float t_prev_y_accel2 = 0;
+int count2 = 0;
+
+
+// enum InputType {STILL, ACCEL_POS, ACCEL_NEG};
+enum StateType {FRONT, SIDE, HIT};
+enum StateType2 {FRONT2, SIDE2, HIT2};
+
+// InputType input = STILL; // Initial input is STILL
+StateType state = FRONT; // Initial state is FRONT
+StateType2 state2 = FRONT2;
+
// Calculate pitch, roll, and heading.
// Pitch/roll calculations taken from this app note:
// http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
// Heading calculations taken from this app note:
// http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
-void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
+
+void printAltitude(float ax, float ay, float az, float mx, float my, float mz)
{
float roll = atan2(ay, az);
float pitch = atan2(-ax, sqrt(ay * ay + az * az));
@@ -25,7 +127,7 @@
heading = (mx < 0.0) ? 180.0 : 0.0;
else
heading = atan2(mx, my)*360.0/(2.0*PI);
- //pc.printf("heading atan=%f \n\r",heading);
+ pc.printf("heading atan=%f \n\r",heading);
heading -= DECLINATION; //correct for geo location
if(heading>180.0) heading = heading - 360.0;
else if(heading<-180.0) heading = 360.0 + heading;
@@ -36,44 +138,266 @@
//heading *= 180.0 / PI;
pitch *= 180.0 / PI;
roll *= 180.0 / PI;
-
- pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll);
- pc.printf("Magnetic Heading: %f degress\n\r",heading);
}
+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 count = 0;
+ USBMIDI midi;
+ bool detectHit = 0;
+ bool detectHit2 = 0;
+ bool detectUp = 0;
+ bool detectUp2 = 0;
+ float runningAvg = 0;
+ float runningAvg2 = 0;
+ float interval;
+ float hit_volume = 0;
+ float hit_volume2 = 0;
+
int main()
{
- //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
- LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
+
+ midi.attach(show_message); // call back for messages received
+ pc.baud(9600);
+ pc.printf("Hello world!\n");
IMU.begin();
if (!IMU.begin()) {
- pc.printf("Failed to communicate with LSM9DS1.\n");
+ pc.printf("Failed to communicate with LSM9DS1 - first.\n");
}
IMU.calibrate(1);
- IMU.calibrateMag(0);
+
+ IMU2.begin();
+ if (!IMU2.begin()) {
+ pc.printf("Failed to communicate with LSM9DS1 - second.\n");
+ }
+ IMU2.calibrate(1);
+
+ t.start();
+
while(1) {
- while(!IMU.tempAvailable());
- IMU.readTemp();
- while(!IMU.magAvailable(X_AXIS));
- IMU.readMag();
+
while(!IMU.accelAvailable());
IMU.readAccel();
while(!IMU.gyroAvailable());
IMU.readGyro();
- pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0);
- pc.printf(" X axis Y axis Z axis\n\r");
- pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
- pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
- pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
- printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
- IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
- myled = 1;
- wait(0.5);
- myled = 0;
- wait(0.5);
+
+ while(!IMU2.accelAvailable());
+ IMU2.readAccel();
+ while(!IMU2.gyroAvailable());
+ IMU2.readGyro();
+
+ /**
+ * FSR
+ */
+
+ if(fsr_kick.readRaw()>0.3){
+ if(kicked == false){
+ midi.write(MIDIMessage::NoteOn(45, fsr_kick.readRaw()*127 + 30, 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));
+ }
+ hh_close = true;
+ }
+ else{hh_close = false;}
+
+ /**
+ End FSR
+ **/
+
+// pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0);
+// pc.printf(" X axis Y axis Z axis\n\r");
+ //pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
+ //pc.printf("gyro: %9f in deg/s\n\r", IMU.calcGyro(IMU.gy));
+ //pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
+// pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+// printAltitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
+// IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+ y_accel = IMU.calcAccel(IMU.ay);
+ y_accel2 = IMU2.calcAccel(IMU2.ay);
+ x_accel = IMU.calcAccel(IMU.ax);
+
+ t_curr = t.read();
+ t_curr2 = t_curr;
+
+
+
+ /**
+ * Averaging 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++;
+ }
+
+ /**
+ * Detect hit
+ */
+ if (IMU.calcGyro(IMU.gy) > 35) {
+ detectHit = 1;
+ }
+
+ if (IMU2.calcGyro(IMU2.gy) > 35) {
+ detectHit2 = 1;
+ }
+
+ /**
+ * Check all conditions for hit
+ */
+
+ // 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;
+ interval = 0.20;
+ avg_thresh = 20;
+
+ if (detectHit && detectUp && runningAvg > avg_thresh && (t_curr - t_prev) > interval) {
+ switch (state) {
+ case (FRONT):
+ midi.write(MIDIMessage::NoteOn(46, runningAvg, 10));
+ break;
+ case (SIDE):
+ if (hh_close) {
+ midi.write(MIDIMessage::NoteOn(40, hit_volume, 10));
+ } else {
+ midi.write(MIDIMessage::NoteOn(41, hit_volume, 10));
+ }
+ 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));
+ break;
+ case (SIDE2):
+ midi.write(MIDIMessage::NoteOn(51, hit_volume2, 10));
+ break;
+ }
+ detectHit2 = 0;
+ t_prev2 = t_curr2;
+ }
+
+
+ /**
+ * Switching instruments detection
+ */
+
+ curr_y_accel = y_accel;
+ curr_x_accel = x_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_x_accel = abs(curr_x_accel - prev_x_accel) > x_accel_threshold;
+
+ if (check_y_accel) {
+ count++;
+ }
+
+ if (check_y_accel2) {
+ count2++;
+ }
+
+ // First IMU
+ switch (state) {
+ case (FRONT):
+ 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;
+ prev_x_accel = curr_x_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;
}
}