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- #include <SPI.h>
- #include <Adafruit_GFX.h>
- #ifdef ARDUINO_ARCH_SAMD
- #include <Adafruit_ZeroDMA.h>
- #endif
- typedef struct { // Struct is defined before including config.h --
- int8_t select; // pin numbers for each eye's screen select line
- int8_t wink; // and wink button (or -1 if none) specified there,
- uint8_t rotation; // also display rotation.
- } eyeInfo_t;
- #include "config.h" // ****** CONFIGURATION IS DONE IN HERE ******
- #if defined(_ADAFRUIT_ST7735H_) || defined(_ADAFRUIT_ST77XXH_)
- typedef Adafruit_ST7735 displayType; // Using TFT display(s)
- #else
- typedef Adafruit_SSD1351 displayType; // Using OLED display(s)
- #endif
- // A simple state machine is used to control eye blinks/winks:
- #define NOBLINK 0 // Not currently engaged in a blink
- #define ENBLINK 1 // Eyelid is currently closing
- #define DEBLINK 2 // Eyelid is currently opening
- typedef struct {
- uint8_t state; // NOBLINK/ENBLINK/DEBLINK
- uint32_t duration; // Duration of blink state (micros)
- uint32_t startTime; // Time (micros) of last state change
- uint32_t timeOfLastBlink = 0L, timeToNextBlink = 0L;
- } eyeBlink;
- typedef struct {
- boolean eyeInMotion = false;
- int16_t eyeOldX=512, eyeOldY=512, eyeNewX=512, eyeNewY=512;
- uint32_t eyeMoveStartTime = 0L;
- int32_t eyeMoveDuration = 0L;
- int16_t eyeX, eyeY;
- uint8_t uThreshold = 128;
- } eyeMove;
- #define NUM_EYES (sizeof eyeInfo / sizeof eyeInfo[0]) // config.h pin list
- struct { // One-per-eye structure
- displayType *display; // -> OLED/TFT object
- eyeBlink blink; // Current blink/wink state
- eyeMove move;
- } eye[NUM_EYES];
- #ifdef ARDUINO_ARCH_SAMD
- // SAMD boards use DMA (Teensy uses SPI FIFO instead):
- // Two single-line 128-pixel buffers (16bpp) are used for DMA.
- // Though you'd think fewer larger transfers would improve speed,
- // multi-line buffering made no appreciable difference.
- uint16_t dmaBuf[2][128];
- uint8_t dmaIdx = 0; // Active DMA buffer # (alternate fill/send)
- Adafruit_ZeroDMA dma;
- DmacDescriptor *descriptor;
- // DMA transfer-in-progress indicator and callback
- static volatile bool dma_busy = false;
- static void dma_callback(Adafruit_ZeroDMA *dma) { dma_busy = false; }
- #endif
- uint32_t startTime; // For FPS indicator
- // INITIALIZATION -- runs once at startup ----------------------------------
- void setup(void) {
- uint8_t e; // Eye index, 0 to NUM_EYES-1
- Serial.begin(115200);
- randomSeed(analogRead(A3)); // Seed random() from floating analog input
- #ifdef DISPLAY_BACKLIGHT
- // Enable backlight pin, initially off
- pinMode(DISPLAY_BACKLIGHT, OUTPUT);
- digitalWrite(DISPLAY_BACKLIGHT, LOW);
- #endif
- // Initialize eye objects based on eyeInfo list in config.h:
- for(e=0; e<NUM_EYES; e++) {
- eye[e].display = new displayType(eyeInfo[e].select, DISPLAY_DC, -1);
- eye[e].blink.state = NOBLINK;
- // If project involves only ONE eye and NO other SPI devices, its
- // select line can be permanently tied to GND and corresponding pin
- // in config.h set to -1. Best to use it though.
- if(eyeInfo[e].select >= 0) {
- pinMode(eyeInfo[e].select, OUTPUT);
- digitalWrite(eyeInfo[e].select, HIGH); // Deselect them all
- }
- // Also set up an individual eye-wink pin if defined:
- if(eyeInfo[e].wink >= 0) pinMode(eyeInfo[e].wink, INPUT_PULLUP);
- }
- #if defined(BLINK_PIN) && (BLINK_PIN >= 0)
- pinMode(BLINK_PIN, INPUT_PULLUP); // Ditto for all-eyes blink pin
- #endif
- #if defined(DISPLAY_RESET) && (DISPLAY_RESET >= 0)
- // Because both displays share a common reset pin, -1 is passed to
- // the display constructor above to prevent the begin() function from
- // resetting both displays after one is initialized. Instead, handle
- // the reset manually here to take care of both displays just once:
- pinMode(DISPLAY_RESET, OUTPUT);
- digitalWrite(DISPLAY_RESET, LOW); delay(1);
- digitalWrite(DISPLAY_RESET, HIGH); delay(50);
- // Alternately, all display reset pin(s) could be connected to the
- // microcontroller reset, in which case DISPLAY_RESET should be set
- // to -1 or left undefined in config.h.
- #endif
- // After all-displays reset, now call init/begin func for each display:
- for(e=0; e<NUM_EYES; e++) {
- #if defined(_ADAFRUIT_ST7735H_) || defined(_ADAFRUIT_ST77XXH_) // TFT
- eye[e].display->initR(INITR_144GREENTAB);
- #else // OLED
- eye[e].display->begin();
- #endif
- eye[e].display->setRotation(eyeInfo[e].rotation);
- }
- #if defined(LOGO_TOP_WIDTH) || defined(COLOR_LOGO_WIDTH)
- // I noticed lots of folks getting right/left eyes flipped, or
- // installing upside-down, etc. Logo split across screens may help:
- for(e=0; e<NUM_EYES; e++) { // Another pass, after all screen inits
- eye[e].display->fillScreen(0);
- #ifdef LOGO_TOP_WIDTH
- // Monochrome Adafruit logo is 2 mono bitmaps:
- eye[e].display->drawBitmap(NUM_EYES*64 - e*128 - 20,
- 0, logo_top, LOGO_TOP_WIDTH, LOGO_TOP_HEIGHT, 0xFFFF);
- eye[e].display->drawBitmap(NUM_EYES*64 - e*128 - LOGO_BOTTOM_WIDTH/2,
- LOGO_TOP_HEIGHT, logo_bottom, LOGO_BOTTOM_WIDTH, LOGO_BOTTOM_HEIGHT,
- 0xFFFF);
- #else
- // Color sponsor logo is one RGB bitmap:
- eye[e].display->fillScreen(color_logo[0]);
- eye[0].display->drawRGBBitmap(
- (eye[e].display->width() - COLOR_LOGO_WIDTH ) / 2,
- (eye[e].display->height() - COLOR_LOGO_HEIGHT) / 2,
- color_logo, COLOR_LOGO_WIDTH, COLOR_LOGO_HEIGHT);
- #endif
- // After logo is drawn
- }
- #ifdef DISPLAY_BACKLIGHT
- int i;
- for(i=0; i<BACKLIGHT_MAX; i++) { // Fade logo in
- analogWrite(DISPLAY_BACKLIGHT, i);
- delay(2);
- }
- delay(1400); // Pause for screen layout/orientation
- for(; i>=0; i--) {
- analogWrite(DISPLAY_BACKLIGHT, i);
- delay(2);
- }
- for(e=0; e<NUM_EYES; e++) { // Clear display(s)
- eye[e].display->fillScreen(0);
- }
- delay(100);
- #else
- delay(2000); // Pause for screen layout/orientation
- #endif // DISPLAY_BACKLIGHT
- #endif // LOGO_TOP_WIDTH
- // One of the displays is configured to mirror on the X axis. Simplifies
- // eyelid handling in the drawEye() function -- no need for distinct
- // L-to-R or R-to-L inner loops. Just the X coordinate of the iris is
- // then reversed when drawing this eye, so they move the same. Magic!
- #if defined(_ADAFRUIT_ST7735H_) || defined(_ADAFRUIT_ST77XXH_) // TFT
- const uint8_t mirrorTFT[] = { 0x88, 0x28, 0x48, 0xE8 }; // Mirror+rotate
- digitalWrite(eyeInfo[0].select, LOW);
- digitalWrite(DISPLAY_DC, LOW);
- #ifdef ST77XX_MADCTL
- SPI.transfer(ST77XX_MADCTL); // Current TFT lib
- #else
- SPI.transfer(ST7735_MADCTL); // Older TFT lib
- #endif
- digitalWrite(DISPLAY_DC, HIGH);
- SPI.transfer(mirrorTFT[eyeInfo[0].rotation & 3]);
- digitalWrite(eyeInfo[0].select , HIGH);
- #else // OLED
- const uint8_t rotateOLED[] = { 0x74, 0x77, 0x66, 0x65 },
- mirrorOLED[] = { 0x76, 0x67, 0x64, 0x75 }; // Mirror+rotate
- // If OLED, loop through ALL eyes and set up remap register
- // from either mirrorOLED[] (first eye) or rotateOLED[] (others).
- // The OLED library doesn't normally use the remap reg (TFT does).
- for(e=0; e<NUM_EYES; e++) {
- eye[e].display->writeCommand(SSD1351_CMD_SETREMAP);
- eye[e].display->writeData(e ?
- rotateOLED[eyeInfo[e].rotation & 3] :
- mirrorOLED[eyeInfo[e].rotation & 3]);
- }
- #endif
- #ifdef ARDUINO_ARCH_SAMD
- // Set up SPI DMA on SAMD boards:
- int dmac_id;
- volatile uint32_t *data_reg;
- if(&PERIPH_SPI == &sercom0) {
- dmac_id = SERCOM0_DMAC_ID_TX;
- data_reg = &SERCOM0->SPI.DATA.reg;
- #if defined SERCOM1
- } else if(&PERIPH_SPI == &sercom1) {
- dmac_id = SERCOM1_DMAC_ID_TX;
- data_reg = &SERCOM1->SPI.DATA.reg;
- #endif
- #if defined SERCOM2
- } else if(&PERIPH_SPI == &sercom2) {
- dmac_id = SERCOM2_DMAC_ID_TX;
- data_reg = &SERCOM2->SPI.DATA.reg;
- #endif
- #if defined SERCOM3
- } else if(&PERIPH_SPI == &sercom3) {
- dmac_id = SERCOM3_DMAC_ID_TX;
- data_reg = &SERCOM3->SPI.DATA.reg;
- #endif
- #if defined SERCOM4
- } else if(&PERIPH_SPI == &sercom4) {
- dmac_id = SERCOM4_DMAC_ID_TX;
- data_reg = &SERCOM4->SPI.DATA.reg;
- #endif
- #if defined SERCOM5
- } else if(&PERIPH_SPI == &sercom5) {
- dmac_id = SERCOM5_DMAC_ID_TX;
- data_reg = &SERCOM5->SPI.DATA.reg;
- #endif
- }
- dma.allocate();
- dma.setTrigger(dmac_id);
- dma.setAction(DMA_TRIGGER_ACTON_BEAT);
- descriptor = dma.addDescriptor(
- NULL, // move data
- (void *)data_reg, // to here
- sizeof dmaBuf[0], // this many...
- DMA_BEAT_SIZE_BYTE, // bytes/hword/words
- true, // increment source addr?
- false); // increment dest addr?
- dma.setCallback(dma_callback);
- #endif // End SAMD-specific SPI DMA init
- #ifdef DISPLAY_BACKLIGHT
- analogWrite(DISPLAY_BACKLIGHT, BACKLIGHT_MAX);
- #endif
- startTime = millis(); // For frame-rate calculation
- }
- // EYE-RENDERING FUNCTION --------------------------------------------------
- SPISettings settings(SPI_FREQ, MSBFIRST, SPI_MODE0);
- void drawEye( // Renders one eye. Inputs must be pre-clipped & valid.
- uint8_t e, // Eye array index; 0 or 1 for left/right
- uint32_t iScale, // Scale factor for iris
- uint8_t scleraX, // First pixel X offset into sclera image
- uint8_t scleraY, // First pixel Y offset into sclera image
- uint8_t uT, // Upper eyelid threshold value
- uint8_t lT) { // Lower eyelid threshold value
- uint8_t screenX, screenY, scleraXsave;
- int16_t irisX, irisY;
- uint16_t p, a;
- uint32_t d;
- // Set up raw pixel dump to entire screen. Although such writes can wrap
- // around automatically from end of rect back to beginning, the region is
- // reset on each frame here in case of an SPI glitch.
- SPI.beginTransaction(settings);
- digitalWrite(eyeInfo[e].select, LOW); // Chip select
- #if defined(_ADAFRUIT_ST7735H_) || defined(_ADAFRUIT_ST77XXH_) // TFT
- eye[e].display->setAddrWindow(0, 0, 128, 128);
- #else // OLED
- eye[e].display->writeCommand(SSD1351_CMD_SETROW); // Y range
- eye[e].display->writeData(0); eye[e].display->writeData(SCREEN_HEIGHT - 1);
- eye[e].display->writeCommand(SSD1351_CMD_SETCOLUMN); // X range
- eye[e].display->writeData(0); eye[e].display->writeData(SCREEN_WIDTH - 1);
- eye[e].display->writeCommand(SSD1351_CMD_WRITERAM); // Begin write
- #endif
- digitalWrite(eyeInfo[e].select, LOW); // Re-chip-select
- digitalWrite(DISPLAY_DC, HIGH); // Data mode
- // Now just issue raw 16-bit values for every pixel...
- scleraXsave = scleraX; // Save initial X value to reset on each line
- irisY = scleraY - (SCLERA_HEIGHT - IRIS_HEIGHT) / 2;
- for(screenY=0; screenY<SCREEN_HEIGHT; screenY++, scleraY++, irisY++) {
- #ifdef ARDUINO_ARCH_SAMD
- uint16_t *ptr = &dmaBuf[dmaIdx][0];
- #endif
- scleraX = scleraXsave;
- irisX = scleraXsave - (SCLERA_WIDTH - IRIS_WIDTH) / 2;
- for(screenX=0; screenX<SCREEN_WIDTH; screenX++, scleraX++, irisX++) {
- if((lower[screenY][screenX] <= lT) ||
- (upper[screenY][screenX] <= uT)) { // Covered by eyelid
- p = 0;
- } else if((irisY < 0) || (irisY >= IRIS_HEIGHT) ||
- (irisX < 0) || (irisX >= IRIS_WIDTH)) { // In sclera
- p = sclera[scleraY][scleraX];
- } else { // Maybe iris...
- p = polar[irisY][irisX]; // Polar angle/dist
- d = (iScale * (p & 0x7F)) / 128; // Distance (Y)
- if(d < IRIS_MAP_HEIGHT) { // Within iris area
- a = (IRIS_MAP_WIDTH * (p >> 7)) / 512; // Angle (X)
- p = iris[d][a]; // Pixel = iris
- } else { // Not in iris
- p = sclera[scleraY][scleraX]; // Pixel = sclera
- }
- }
- #ifdef ARDUINO_ARCH_SAMD
- *ptr++ = __builtin_bswap16(p); // DMA: store in scanline buffer
- #else
- // SPI FIFO technique from Paul Stoffregen's ILI9341_t3 library:
- while(KINETISK_SPI0.SR & 0xC000); // Wait for space in FIFO
- KINETISK_SPI0.PUSHR = p | SPI_PUSHR_CTAS(1) | SPI_PUSHR_CONT;
- #endif
- } // end column
- #ifdef ARDUINO_ARCH_SAMD
- while(dma_busy); // Wait for prior DMA xfer to finish
- descriptor->SRCADDR.reg = (uint32_t)&dmaBuf[dmaIdx] + sizeof dmaBuf[0];
- dma_busy = true;
- dmaIdx = 1 - dmaIdx;
- dma.startJob();
- #endif
- } // end scanline
- #ifdef ARDUINO_ARCH_SAMD
- while(dma_busy); // Wait for last scanline to transmit
- #else
- KINETISK_SPI0.SR |= SPI_SR_TCF; // Clear transfer flag
- while((KINETISK_SPI0.SR & 0xF000) || // Wait for SPI FIFO to drain
- !(KINETISK_SPI0.SR & SPI_SR_TCF)); // Wait for last bit out
- #endif
- digitalWrite(eyeInfo[e].select, HIGH); // Deselect
- SPI.endTransaction();
- }
- // EYE ANIMATION -----------------------------------------------------------
- const uint8_t ease[] = { // Ease in/out curve for eye movements 3*t^2-2*t^3
- 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 2, 2, 2, 3, // T
- 3, 3, 4, 4, 4, 5, 5, 6, 6, 7, 7, 8, 9, 9, 10, 10, // h
- 11, 12, 12, 13, 14, 15, 15, 16, 17, 18, 18, 19, 20, 21, 22, 23, // x
- 24, 25, 26, 27, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 38, 39, // 2
- 40, 41, 42, 44, 45, 46, 47, 48, 50, 51, 52, 53, 54, 56, 57, 58, // A
- 60, 61, 62, 63, 65, 66, 67, 69, 70, 72, 73, 74, 76, 77, 78, 80, // l
- 81, 83, 84, 85, 87, 88, 90, 91, 93, 94, 96, 97, 98,100,101,103, // e
- 104,106,107,109,110,112,113,115,116,118,119,121,122,124,125,127, // c
- 128,130,131,133,134,136,137,139,140,142,143,145,146,148,149,151, // J
- 152,154,155,157,158,159,161,162,164,165,167,168,170,171,172,174, // a
- 175,177,178,179,181,182,183,185,186,188,189,190,192,193,194,195, // c
- 197,198,199,201,202,203,204,205,207,208,209,210,211,213,214,215, // o
- 216,217,218,219,220,221,222,224,225,226,227,228,228,229,230,231, // b
- 232,233,234,235,236,237,237,238,239,240,240,241,242,243,243,244, // s
- 245,245,246,246,247,248,248,249,249,250,250,251,251,251,252,252, // o
- 252,253,253,253,254,254,254,254,254,255,255,255,255,255,255,255 }; // n
- void frame( // Process motion for a single frame of left or right eye
- uint16_t iScale) { // Iris scale (0-1023) passed in
- static uint32_t frames = 0; // Used in frame rate calculation
- uint32_t t = micros(); // Time at start of function
- if(!(++frames & 255)) { // Every 256 frames...
- uint32_t elapsed = (millis() - startTime) / 1000;
- if(elapsed) Serial.println(frames / elapsed); // Print FPS
- }
- for(uint8_t e=0; e<NUM_EYES; e++) {
- // X/Y movement
- // Autonomous X/Y eye motion
- // Periodically initiates motion to a new random point, random speed,
- // holds there for random period until next motion.
- int32_t dt = t - eye[e].move.eyeMoveStartTime; // uS elapsed since last eye event
- if(eye[e].move.eyeInMotion) { // Currently moving?
- if(dt >= eye[e].move.eyeMoveDuration) { // Time up? Destination reached.
- eye[e].move.eyeInMotion = false; // Stop moving
- eye[e].move.eyeMoveDuration = random(3000000); // 0-3 sec stop
- eye[e].move.eyeMoveStartTime = t; // Save initial time of stop
- eye[e].move.eyeX = eye[e].move.eyeOldX = eye[e].move.eyeNewX; // Save position
- eye[e].move.eyeY = eye[e].move.eyeOldY = eye[e].move.eyeNewY;
- } else { // Move time's not yet fully elapsed -- interpolate position
- int16_t easeVal = ease[255 * dt / eye[e].move.eyeMoveDuration] + 1; // Ease curve
- eye[e].move.eyeX = eye[e].move.eyeOldX + (((eye[e].move.eyeNewX - eye[e].move.eyeOldX) * easeVal) / 256); // Interp X
- eye[e].move.eyeY = eye[e].move.eyeOldY + (((eye[e].move.eyeNewY - eye[e].move.eyeOldY) * easeVal) / 256); // and Y
- }
- } else { // Eye stopped
- eye[e].move.eyeX = eye[e].move.eyeOldX;
- eye[e].move.eyeY = eye[e].move.eyeOldY;
- if(dt > eye[e].move.eyeMoveDuration) { // Time up? Begin new move.
- int16_t dx, dy;
- uint32_t d;
- do { // Pick new dest in circle
- eye[e].move.eyeNewX = random(1024);
- eye[e].move.eyeNewY = random(1024);
- dx = (eye[e].move.eyeNewX * 2) - 1023;
- dy = (eye[e].move.eyeNewY * 2) - 1023;
- } while((d = (dx * dx + dy * dy)) > (1023 * 1023)); // Keep trying
- eye[e].move.eyeMoveDuration = random(72000, 144000); // ~1/14 - ~1/7 sec
- eye[e].move.eyeMoveStartTime = t; // Save initial time of move
- eye[e].move.eyeInMotion = true; // Start move on next frame
- }
- }
- // Blinking
- #ifdef AUTOBLINK
- // Similar to the autonomous eye movement above -- blink start times
- // and durations are random (within ranges).
- if((t - eye[e].blink.timeOfLastBlink) >= eye[e].blink.timeToNextBlink) { // Start new blink?
- eye[e].blink.timeOfLastBlink = t;
- eye[e].blink.duration = random(36000, 72000); // ~1/28 - ~1/14 sec
- // Set up durations for both eyes (if not already winking)
- // for(uint8_t e=0; e<NUM_EYES; e++) {
- if(eye[e].blink.state == NOBLINK) {
- eye[e].blink.state = ENBLINK;
- eye[e].blink.startTime = t;
- }
- // }
- eye[e].blink.timeToNextBlink = eye[e].blink.duration * 3 + random(8000000);
- }
- #endif
- if(eye[e].blink.state) { // Eye currently blinking?
- // Check if current blink state time has elapsed
- if((t - eye[e].blink.startTime) >= eye[e].blink.duration) {
- // Yes -- increment blink state, unless...
- if((eye[e].blink.state == ENBLINK) && ( // Enblinking and...
- ((eyeInfo[e].wink >= 0) &&
- digitalRead(eyeInfo[e].wink) == LOW) )) {
- // Don't advance state yet -- eye is held closed instead
- } else { // No buttons, or other state...
- if(++eye[e].blink.state > DEBLINK) { // Deblinking finished?
- eye[e].blink.state = NOBLINK; // No longer blinking
- } else { // Advancing from ENBLINK to DEBLINK mode
- eye[e].blink.duration *= 2; // DEBLINK is 1/2 ENBLINK speed
- eye[e].blink.startTime = t;
- }
- }
- }
- } else { // Not currently blinking...check buttons!
- if((eyeInfo[e].wink >= 0) &&
- (digitalRead(eyeInfo[e].wink) == LOW)) { // Wink!
- eye[e].blink.state = ENBLINK;
- eye[e].blink.startTime = t;
- eye[e].blink.duration = random(45000, 90000);
- }
- }
- // Process motion, blinking and iris scale into renderable values
- // Iris scaling: remap from 0-1023 input to iris map height pixel units
- iScale = ((IRIS_MAP_HEIGHT + 1) * 1024) /
- (1024 - (iScale * (IRIS_MAP_HEIGHT - 1) / IRIS_MAP_HEIGHT));
- // Scale eye X/Y positions (0-1023) to pixel units used by drawEye()
- eye[e].move.eyeX = map(eye[e].move.eyeX, 0, 1023, 0, SCLERA_WIDTH - 128);
- eye[e].move.eyeY = map(eye[e].move.eyeY, 0, 1023, 0, SCLERA_HEIGHT - 128);
- if(e == 1) eye[e].move.eyeX = (SCLERA_WIDTH - 128) - eye[e].move.eyeX; // Mirrored display
- // Horizontal position is offset so that eyes are very slightly crossed
- // to appear fixated (converged) at a conversational distance. Number
- // here was extracted from my posterior and not mathematically based.
- // I suppose one could get all clever with a range sensor, but for now...
- if(NUM_EYES > 1) eye[e].move.eyeX += 4;
- if(eye[e].move.eyeX > (SCLERA_WIDTH - 128)) eye[e].move.eyeX = (SCLERA_WIDTH - 128);
- // Eyelids are rendered using a brightness threshold image. This same
- // map can be used to simplify another problem: making the upper eyelid
- // track the pupil (eyes tend to open only as much as needed -- e.g. look
- // down and the upper eyelid drops). Just sample a point in the upper
- // lid map slightly above the pupil to determine the rendering threshold.
- uint8_t lThreshold, n;
- #ifdef TRACKING
- int16_t sampleX = SCLERA_WIDTH / 2 - (eye[e].move.eyeX / 2), // Reduce X influence
- sampleY = SCLERA_HEIGHT / 2 - (eye[e].move.eyeY + IRIS_HEIGHT / 4);
- // Eyelid is slightly asymmetrical, so two readings are taken, averaged
- if(sampleY < 0) n = 0;
- else n = (upper[sampleY][sampleX] +
- upper[sampleY][SCREEN_WIDTH - 1 - sampleX]) / 2;
- eye[e].move.uThreshold = (eye[e].move.uThreshold * 3 + n) / 4; // Filter/soften motion
- // Lower eyelid doesn't track the same way, but seems to be pulled upward
- // by tension from the upper lid.
- lThreshold = 254 - eye[e].move.uThreshold;
- #else // No tracking -- eyelids full open unless blink modifies them
- uThreshold = lThreshold = 0;
- #endif
- // The upper/lower thresholds are then scaled relative to the current
- // blink position so that blinks work together with pupil tracking.
- if(eye[e].blink.state) { // Eye currently blinking?
- uint32_t s = (t - eye[e].blink.startTime);
- if(s >= eye[e].blink.duration) s = 255; // At or past blink end
- else s = 255 * s / eye[e].blink.duration; // Mid-blink
- s = (eye[e].blink.state == DEBLINK) ? 1 + s : 256 - s;
- n = (eye[e].move.uThreshold * s + 254 * (257 - s)) / 256;
- lThreshold = (lThreshold * s + 254 * (257 - s)) / 256;
- } else {
- n = eye[e].move.uThreshold;
- }
- // Pass all the derived values to the eye-rendering function:
- drawEye(e, iScale, eye[e].move.eyeX, eye[e].move.eyeY, n, lThreshold);
- }
- }
- // AUTONOMOUS IRIS SCALING (if no photocell or dial) -----------------------
- #if !defined(LIGHT_PIN) || (LIGHT_PIN < 0)
- // Autonomous iris motion uses a fractal behavior to similate both the major
- // reaction of the eye plus the continuous smaller adjustments that occur.
- uint16_t oldIris = (IRIS_MIN + IRIS_MAX) / 2, newIris;
- void split( // Subdivides motion path into two sub-paths w/randimization
- int16_t startValue, // Iris scale value (IRIS_MIN to IRIS_MAX) at start
- int16_t endValue, // Iris scale value at end
- uint32_t startTime, // micros() at start
- int32_t duration, // Start-to-end time, in microseconds
- int16_t range) { // Allowable scale value variance when subdividing
- if(range >= 8) { // Limit subdvision count, because recursion
- range /= 2; // Split range & time in half for subdivision,
- duration /= 2; // then pick random center point within range:
- int16_t midValue = (startValue + endValue - range) / 2 + random(range);
- uint32_t midTime = startTime + duration;
- split(startValue, midValue, startTime, duration, range); // First half
- split(midValue , endValue, midTime , duration, range); // Second half
- } else { // No more subdivisons, do iris motion...
- int32_t dt; // Time (micros) since start of motion
- int16_t v; // Interim value
- while((dt = (micros() - startTime)) < duration) {
- v = startValue + (((endValue - startValue) * dt) / duration);
- if(v < IRIS_MIN) v = IRIS_MIN; // Clip just in case
- else if(v > IRIS_MAX) v = IRIS_MAX;
- frame(v); // Draw frame w/interim iris scale value
- }
- }
- }
- #endif // !LIGHT_PIN
- // MAIN LOOP -- runs continuously after setup() ----------------------------
- void loop() {
- #if defined(LIGHT_PIN) && (LIGHT_PIN >= 0) // Interactive iris
- int16_t v = analogRead(LIGHT_PIN); // Raw dial/photocell reading
- #ifdef LIGHT_PIN_FLIP
- v = 1023 - v; // Reverse reading from sensor
- #endif
- if(v < LIGHT_MIN) v = LIGHT_MIN; // Clamp light sensor range
- else if(v > LIGHT_MAX) v = LIGHT_MAX;
- v -= LIGHT_MIN; // 0 to (LIGHT_MAX - LIGHT_MIN)
- #ifdef LIGHT_CURVE // Apply gamma curve to sensor input?
- v = (int16_t)(pow((double)v / (double)(LIGHT_MAX - LIGHT_MIN),
- LIGHT_CURVE) * (double)(LIGHT_MAX - LIGHT_MIN));
- #endif
- // And scale to iris range (IRIS_MAX is size at LIGHT_MIN)
- v = map(v, 0, (LIGHT_MAX - LIGHT_MIN), IRIS_MAX, IRIS_MIN);
- #ifdef IRIS_SMOOTH // Filter input (gradual motion)
- static int16_t irisValue = (IRIS_MIN + IRIS_MAX) / 2;
- irisValue = ((irisValue * 15) + v) / 16;
- frame(irisValue);
- #else // Unfiltered (immediate motion)
- frame(v);
- #endif // IRIS_SMOOTH
- #else // Autonomous iris scaling -- invoke recursive function
- newIris = random(IRIS_MIN, IRIS_MAX);
- split(oldIris, newIris, micros(), 10000000L, IRIS_MAX - IRIS_MIN);
- oldIris = newIris;
- #endif // LIGHT_PIN
- }
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