synthdriver source

#include <Wire.h>

#define PI  3.14159265358979323846
#define ACCEL (0x53)    //ADXL345 device address
#define TO_READ (6)        //num of bytes we are going to read each time (two bytes for each axis)
#define g0 9.812865328
#define ACCELEROMETER_GAIN (0.004 * g0)
//MIDI Presets
#define CC = 176
#define DEFAULT_CHANNEL = 12

//Accelerometer
#define R_INT_ENABLE = 46
#define R_INT_MAP = 47
#define R_THRESH_TAP = 29
#define R_DUR = 33
#define R_TAP_AXES 42

// Gyroscope ITG3200
#define GYRO (0x68) // gyro address, binary = 11101001 when AD0 is connected to Vcc (see schematics of your breakout board)
#define G_SMPLRT_DIV 0x15
#define G_DLPF_FS 0x16
#define G_INT_CFG 0x17
#define G_PWR_MGM 0x3E
#define G_TO_READ 8 // 2 bytes for each axis x, y, z
#define G_X_OFFSET 14
#define G_Y_OFFSET 47
#define G_Z_OFFSET 10

char str[512]; //string buffer to transform data before sending it to the serial port

int CALIBRATION_SAMPLES = 128;
int reads = 0;
int x, y, z;

volatile double a_x, a_y, a_z;
double a_xBias, a_yBias, a_zBias;

volatile double a_x_stack = 0;
volatile double a_y_stack = 0;
volatile double a_z_stack = 0;

volatile double g_x, g_y, g_z;

volatile double turn;
volatile double prev_turn = 64;
volatile double prev_a_z = 0;

volatile int last_pitch = 0;
volatile int last_roll = 0;
volatile int last_rotation = 0;

boolean noteon = false;
int last_note = 36;
int BASE_NOTE = 36;
int TRIGGER_CHANNEL = 13;
int SHAKE_TOLERANCE = 0;
int notes[7] = {0,2,4,5,7,9,11}; //1-octave scale
int last_pan = 0;
boolean toggle = false;

void setup()
{
  Wire.begin();        // join i2c bus (address optional for master)
  Serial.begin(115200);  // start serial for output

  initAccel();
  initGyro();

  delay(22);
}

void loop()
{

  getAccelGyro();

  /* Flat chip orientation
  double roll  = atan2(a_y, sqrt( a_x * a_x + a_z * a_z));
  double pitch = atan2(a_x, sqrt( a_y * a_y + a_z * a_z));
  */

  //Wheel orientation - Calculate the angle in RADs to the ground
  double pitch  = atan2(a_z, sqrt( a_y * a_y + a_x * a_x));
  double roll = atan2(a_y, sqrt( a_z * a_z + a_x * a_x));

  //Map the resulting values to a 7bit range
  int pitch_range = (int)map(constrain(pitch * 180/PI, -90, 90), -90, 90, 0, 127);
  int roll_range = (int)map(constrain(roll * 180/PI, -90, 90), -90, 90, 0, 127);
  int leftPot = map(constrain(analogRead(3), 490, 1023),490,1023,0,6);
  int rightPot = map(constrain(analogRead(2), 515, 1017), 515,1017,0,127);

  //Lock the gyro turn to 90degrees in each direction
  turn = constrain(turn,-90,90);
  //Map the turn value to 7bit range
  int rotation_range = map((int)constrain(turn,-90,90),-90,90,0,127);

  //Add the selected note to middle C
  int this_note = BASE_NOTE + notes[leftPot];

  //If there is contact on the leftPot engage the note
  if ((analogRead(3) > 0)) {
    if ((this_note != last_note) || (this_note == last_note && !noteon)) {
      sendMIDI(144, last_note, 0);
      sendMIDI(144, this_note, 127);
    }
    noteon = true;
    last_note = this_note;
  } //Turn notes off if there is no contact
  else if ((analogRead(3) == 0) && noteon) {
    sendMIDI(144, last_note, 0);
    noteon=false;
  }

  /* Some gesture detection
  if ((prev_a_z < -10.0) && (a_z > 0.0)) {
    sendMIDI(144, last_note, 0);
    noteon = false;
  }

  prev_a_z = a_z;
  */

  //When the change in values per cycle is greater than 0 (in this case) send the new midi command
  if (abs(pitch_range - last_pitch) > SHAKE_TOLERANCE){
    sendMIDI(176, 10, pitch_range);
  }

  if (abs(roll_range - last_roll) > SHAKE_TOLERANCE){
    sendMIDI(176, 11, roll_range);
  }

  if (abs(rotation_range - last_rotation) > SHAKE_TOLERANCE) {
    sendMIDI(176, 12, rotation_range);
  }

  if (leftPot != 0) {
    //sendMIDI(176, 13, leftPot);
  }

  //Control the pan with right pot
  if (rightPot != last_pan && rightPot != 0) {
      sendMIDI(176, 13, rightPot);
      last_pan = rightPot;
    } //Return to middle if no contact
  else if (rightPot != last_pan && rightPot == 0) {
      sendMIDI(176, 13, 64);
      last_pan = rightPot;
  }

  last_pitch = pitch_range;
  last_roll = roll_range;
  last_rotation = rotation_range;

}


void initAccel(){
    //Turning on the ADXL345
  writeTo(ACCEL, 0x2D, 0);
  writeTo(ACCEL, 0x2D, 16);

  writeTo(ACCEL, 0x2C, 0x0C); // Set BW 200hz
  writeTo(ACCEL, 0x31, 0x0B); // Set BW 200hz

  //TODO:TAP DETECTION
  /*
  writeTo(ACCEL, R_INT_MAP, 0); // send all interrupts to ADXL345's INT1 pin
  writeTo(ACCEL, R_DUR, 0x1F); // 625us/LSB
  writeTo(ACCEL, R_THRESH_TAP, 48); // 62.5mg/LSB  <==> 3000mg/62.5mg = 48 LSB as datasheet suggestion
  writeTo(ACCEL, R_TAP_AXES, 6); // enable tap detection on x,y,z axes
  writeTo(ACCEL, R_INT_ENABLE, 96); // enable signle and double tap, activity, inactivity and free fall detection
  */

  writeTo(ACCEL, 0x2D, 8); //set power mode
}

void initGyro()
{
  /*****************************************
  * ITG 3200
  * power management set to:
  * clock select = internal oscillator
  *     no reset, no sleep mode
  *   no standby mode
  * sample rate to = 125Hz
  * parameter to +/- 2000 degrees/sec
  * low pass filter = 5Hz
  * no interrupt
  ******************************************/
  writeTo(GYRO, G_PWR_MGM, 0x00);
  writeTo(GYRO, G_SMPLRT_DIV, 0x07); // EB, 50, 80, 7F, DE, 23, 20, FF
  writeTo(GYRO, G_DLPF_FS, 0x1E); // +/- 2000 dgrs/sec, 1KHz, 1E, 19
  writeTo(GYRO, G_INT_CFG, 0x00);
}

//Read the accelerometer and gyro values to buffer
void getAccelGyro(){
  int gyroRegAddress = 0x1B;
  byte gyroBuff[G_TO_READ];
  int accelRegAddress = 0x32;
  byte accelBuff[TO_READ] ;
  int samples = 10;
  double LSB = 14.375;
  int sample_rate = 125;
  //Smoothing loop for accel, and sampling loop for gyro
  for(int i = 0; i < 10; i++){
    readFrom(ACCEL, accelRegAddress, TO_READ, accelBuff); //read the acceleration data from the ADXL345

    //each axis reading comes in 10 bit resolution, ie 2 bytes.  Least Significat Byte first!!
    //thus we are converting both bytes in to one int
    a_x_stack += (((int)accelBuff[1]) << 8) | accelBuff[0];
    a_y_stack += (((int)accelBuff[3])<< 8) | accelBuff[2];
    a_z_stack += (((int)accelBuff[5]) << 8) | accelBuff[4];

    readFrom(GYRO, gyroRegAddress, G_TO_READ, gyroBuff); //read the gyro data from the ITG3200

    g_x = ((int)(gyroBuff[2] << 8) | gyroBuff[3]) - G_X_OFFSET;
    g_y = ((int)(gyroBuff[4] << 8) | gyroBuff[5]) - G_Y_OFFSET;
    g_z = ((int)(gyroBuff[6] << 8) | gyroBuff[7]) - G_Z_OFFSET;

    turn += g_x / LSB / sample_rate; //Integrate the turn value assuming 1 sample every 8ms
    delay(5); //stretch the sampling interval so that we're at about 8ms
  }

  //Calculate the smoothed acceleration data into m/s/s
  a_x = ((a_x_stack / samples) - a_xBias) * ACCELEROMETER_GAIN;
  a_y = ((a_y_stack / samples) - a_yBias) * ACCELEROMETER_GAIN;
  a_z = ((a_z_stack / samples) - a_zBias) * ACCELEROMETER_GAIN;

  a_x_stack = 0;
  a_y_stack = 0;
  a_z_stack = 0;
}

//Method to calibrate accelerometer offset
void calibrateAccelerometer(void) {
    int regAddress = 0x32;
    byte buff[TO_READ] ;    //6 bytes buffer for saving data read from the device
    a_x_stack = 0;
    a_y_stack = 0;
    a_z_stack = 0;

    //Take a number of readings and average them
    //to calculate the zero g offset.
    for (int i = 0; i < CALIBRATION_SAMPLES; i++) {

      readFrom(ACCEL, regAddress, TO_READ, buff); //read the acceleration data from the ADXL345

     //each axis reading comes in 10 bit resolution, ie 2 bytes.  Least Significat Byte first!!
     //thus we are converting both bytes in to one int
      a_x_stack += (((int)buff[1]) << 8) | buff[0];
      a_y_stack += (((int)buff[3])<< 8) | buff[2];
      a_z_stack += (((int)buff[5]) << 8) | buff[4];

      delay(5);

    }

    a_x_stack /= CALIBRATION_SAMPLES;
    a_y_stack /= CALIBRATION_SAMPLES;
    a_z_stack /= CALIBRATION_SAMPLES;

    //At 4mg/LSB, 250 LSBs is 1g.
    a_xBias = (a_x_stack - 250);
    a_yBias = a_y_stack;
    a_zBias = a_z_stack;

    a_x_stack = 0;
    a_y_stack = 0;
    a_z_stack = 0;

}

//Writes val to address register on device
void writeTo(int device, byte address, byte val) {
   Wire.beginTransmission(device); //start transmission to device
   Wire.send(address);        // send register address
   Wire.send(val);        // send value to write
   Wire.endTransmission(); //end transmission
}

//reads num bytes starting from address register on device in to buff array
void readFrom(int device, byte address, int num, byte buff[]) {
  Wire.beginTransmission(device); //start transmission to device
  Wire.send(address);        //sends address to read from
  Wire.endTransmission(); //end transmission

  Wire.beginTransmission(device); //start transmission to device
  Wire.requestFrom(device, num);    // request 6 bytes from device

  int i = 0;
  while(Wire.available())    //device may send less than requested (abnormal)
  {
    buff[i] = Wire.receive(); // receive a byte
    i++;
  }
  Wire.endTransmission(); //end transmission
}

void sendMIDI(unsigned char MESSAGE, unsigned char CONTROL, unsigned char VALUE) //pass values out through standard Midi Command
{
   Serial.print(MESSAGE);
   Serial.print(CONTROL);
   Serial.print(VALUE);
}