// // Code adapted by Bodmer as an example for TFT_eSPI, this runs on any // TFT_eSPI compatible processor so ignore the technical limitations // detailed in the original header below. Assorted changes have been // made including removal of the display mirror kludge. //-------------------------------------------------------------------------- // Uncanny eyes for Adafruit 1.5" OLED (product #1431) or 1.44" TFT LCD // (#2088). Works on PJRC Teensy 3.x and on Adafruit M0 and M4 boards // (Feather, Metro, etc.). This code uses features specific to these // boards and WILL NOT work on normal Arduino or other boards! // // SEE FILE "config.h" FOR MOST CONFIGURATION (graphics, pins, display type, // etc). Probably won't need to edit THIS file unless you're doing some // extremely custom modifications. // // Adafruit invests time and resources providing this open source code, // please support Adafruit and open-source hardware by purchasing products // from Adafruit! // // Written by Phil Burgess / Paint Your Dragon for Adafruit Industries. // MIT license. SPI FIFO insight from Paul Stoffregen's ILI9341_t3 library. // Inspired by David Boccabella's (Marcwolf) hybrid servo/OLED eye concept. //-------------------------------------------------------------------------- #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; #endif // Initialise eyes --------------------------------------------------------- void initEyes(void) { Serial.println("Initialise eye objects"); // Initialise eye objects based on eyeInfo list in config.h: for (uint8_t e = 0; e < NUM_EYES; e++) { Serial.print("Create display #"); Serial.println(e); eye[e].tft_cs = eyeInfo[e].select; eye[e].blink.state = NOBLINK; eye[e].xposition = eyeInfo[e].xposition; pinMode(eye[e].tft_cs, OUTPUT); digitalWrite(eye[e].tft_cs, LOW); // 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 } // UPDATE EYE -------------------------------------------------------------- void updateEye (void) { #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 } // EYE-RENDERING FUNCTION -------------------------------------------------- void drawEye( // Renders one eye. Inputs must be pre-clipped & valid. // Use native 32 bit variables where possible as this is 10% faster! uint8_t e, // Eye array index; 0 or 1 for left/right uint32_t iScale, // Scale factor for iris uint32_t scleraX, // First pixel X offset into sclera image uint32_t scleraY, // First pixel Y offset into sclera image uint32_t uT, // Upper eyelid threshold value uint32_t lT) { // Lower eyelid threshold value uint32_t screenX, screenY, scleraXsave; int32_t irisX, irisY; uint32_t p, a; uint32_t d; uint32_t pixels = 0; // 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. digitalWrite(eye[e].tft_cs, LOW); tft.startWrite(); tft.setAddrWindow(eye[e].xposition, 0, 128, 128); // 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; // Eyelid image is left<>right swapped for two displays uint16_t lidX = 0; uint16_t dlidX = -1; if (e) dlidX = 1; for (screenY = 0; screenY < SCREEN_HEIGHT; screenY++, scleraY++, irisY++) { scleraX = scleraXsave; irisX = scleraXsave - (SCLERA_WIDTH - IRIS_WIDTH) / 2; if (e) lidX = 0; else lidX = SCREEN_WIDTH - 1; for (screenX = 0; screenX < SCREEN_WIDTH; screenX++, scleraX++, irisX++, lidX += dlidX) { if ((pgm_read_byte(lower + screenY * SCREEN_WIDTH + lidX) <= lT) || (pgm_read_byte(upper + screenY * SCREEN_WIDTH + lidX) <= uT)) { // Covered by eyelid p = 0; } else if ((irisY < 0) || (irisY >= IRIS_HEIGHT) || (irisX < 0) || (irisX >= IRIS_WIDTH)) { // In sclera p = pgm_read_word(sclera + scleraY * SCLERA_WIDTH + scleraX); } else { // Maybe iris... p = pgm_read_word(polar + irisY * IRIS_WIDTH + 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 = pgm_read_word(iris + d * IRIS_MAP_WIDTH + a); // Pixel = iris } else { // Not in iris p = pgm_read_word(sclera + scleraY * SCLERA_WIDTH + scleraX); // Pixel = sclera } } *(&pbuffer[dmaBuf][0] + pixels++) = p >> 8 | p << 8; if (pixels >= BUFFER_SIZE) { yield(); #ifdef USE_DMA tft.pushPixelsDMA(&pbuffer[dmaBuf][0], pixels); dmaBuf = !dmaBuf; #else tft.pushPixels(pbuffer, pixels); #endif pixels = 0; } } } if (pixels) { #ifdef USE_DMA tft.pushPixelsDMA(&pbuffer[dmaBuf][0], pixels); #else tft.pushPixels(pbuffer, pixels); #endif } tft.endWrite(); digitalWrite(eye[e].tft_cs, HIGH); } // 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 #ifdef AUTOBLINK uint32_t timeOfLastBlink = 0L, timeToNextBlink = 0L; #endif // Process motion for a single frame of left or right eye void frame(uint16_t iScale) // Iris scale (0-1023) { static uint32_t frames = 0; // Used in frame rate calculation static uint8_t eyeIndex = 0; // eye[] array counter int16_t eyeX, eyeY; uint32_t t = micros(); // Time at start of function if (!(++frames & 255)) { // Every 256 frames... float elapsed = (millis() - startTime) / 1000.0; if (elapsed) Serial.println((uint16_t)(frames / elapsed)); // Print FPS } if (++eyeIndex >= NUM_EYES) eyeIndex = 0; // Cycle through eyes, 1 per call // X/Y movement #if defined(JOYSTICK_X_PIN) && (JOYSTICK_X_PIN >= 0) && \ defined(JOYSTICK_Y_PIN) && (JOYSTICK_Y_PIN >= 0) // Read X/Y from joystick, constrain to circle int16_t dx, dy; int32_t d; eyeX = analogRead(JOYSTICK_X_PIN); // Raw (unclipped) X/Y reading eyeY = analogRead(JOYSTICK_Y_PIN); #ifdef JOYSTICK_X_FLIP eyeX = 1023 - eyeX; #endif #ifdef JOYSTICK_Y_FLIP eyeY = 1023 - eyeY; #endif dx = (eyeX * 2) - 1023; // A/D exact center is at 511.5. Scale coords dy = (eyeY * 2) - 1023; // X2 so range is -1023 to +1023 w/center at 0. if ((d = (dx * dx + dy * dy)) > (1023 * 1023)) { // Outside circle d = (int32_t)sqrt((float)d); // Distance from center eyeX = ((dx * 1023 / d) + 1023) / 2; // Clip to circle edge, eyeY = ((dy * 1023 / d) + 1023) / 2; // scale back to 0-1023 } #else // Autonomous X/Y eye motion // Periodically initiates motion to a new random point, random speed, // holds there for random period until next motion. static boolean eyeInMotion = false; static int16_t eyeOldX = 512, eyeOldY = 512, eyeNewX = 512, eyeNewY = 512; static uint32_t eyeMoveStartTime = 0L; static int32_t eyeMoveDuration = 0L; int32_t dt = t - eyeMoveStartTime; // uS elapsed since last eye event if (eyeInMotion) { // Currently moving? if (dt >= eyeMoveDuration) { // Time up? Destination reached. eyeInMotion = false; // Stop moving eyeMoveDuration = random(3000000); // 0-3 sec stop eyeMoveStartTime = t; // Save initial time of stop eyeX = eyeOldX = eyeNewX; // Save position eyeY = eyeOldY = eyeNewY; } else { // Move time's not yet fully elapsed -- interpolate position int16_t e = ease[255 * dt / eyeMoveDuration] + 1; // Ease curve eyeX = eyeOldX + (((eyeNewX - eyeOldX) * e) / 256); // Interp X eyeY = eyeOldY + (((eyeNewY - eyeOldY) * e) / 256); // and Y } } else { // Eye stopped eyeX = eyeOldX; eyeY = eyeOldY; if (dt > eyeMoveDuration) { // Time up? Begin new move. int16_t dx, dy; uint32_t d; do { // Pick new dest in circle eyeNewX = random(1024); eyeNewY = random(1024); dx = (eyeNewX * 2) - 1023; dy = (eyeNewY * 2) - 1023; } while ((d = (dx * dx + dy * dy)) > (1023 * 1023)); // Keep trying eyeMoveDuration = random(72000, 144000); // ~1/14 - ~1/7 sec eyeMoveStartTime = t; // Save initial time of move eyeInMotion = true; // Start move on next frame } } #endif // JOYSTICK_X_PIN etc. // Blinking #ifdef AUTOBLINK // Similar to the autonomous eye movement above -- blink start times // and durations are random (within ranges). if ((t - timeOfLastBlink) >= timeToNextBlink) { // Start new blink? timeOfLastBlink = t; uint32_t blinkDuration = 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.duration = blinkDuration; } } timeToNextBlink = blinkDuration * 3 + random(4000000); } #endif if (eye[eyeIndex].blink.state) { // Eye currently blinking? // Check if current blink state time has elapsed if ((t - eye[eyeIndex].blink.startTime) >= eye[eyeIndex].blink.duration) { // Yes -- increment blink state, unless... if ((eye[eyeIndex].blink.state == ENBLINK) && ( // Enblinking and... #if defined(BLINK_PIN) && (BLINK_PIN >= 0) (digitalRead(BLINK_PIN) == LOW) || // blink or wink held... #endif ((eyeInfo[eyeIndex].wink >= 0) && digitalRead(eyeInfo[eyeIndex].wink) == LOW) )) { // Don't advance state yet -- eye is held closed instead } else { // No buttons, or other state... if (++eye[eyeIndex].blink.state > DEBLINK) { // Deblinking finished? eye[eyeIndex].blink.state = NOBLINK; // No longer blinking } else { // Advancing from ENBLINK to DEBLINK mode eye[eyeIndex].blink.duration *= 2; // DEBLINK is 1/2 ENBLINK speed eye[eyeIndex].blink.startTime = t; } } } } else { // Not currently blinking...check buttons! #if defined(BLINK_PIN) && (BLINK_PIN >= 0) if (digitalRead(BLINK_PIN) == LOW) { // Manually-initiated blinks have random durations like auto-blink uint32_t blinkDuration = random(36000, 72000); 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.duration = blinkDuration; } } } else #endif if ((eyeInfo[eyeIndex].wink >= 0) && (digitalRead(eyeInfo[eyeIndex].wink) == LOW)) { // Wink! eye[eyeIndex].blink.state = ENBLINK; eye[eyeIndex].blink.startTime = t; eye[eyeIndex].blink.duration = random(45000, 90000); } } // Process motion, blinking and iris scale into renderable values // Scale eye X/Y positions (0-1023) to pixel units used by drawEye() eyeX = map(eyeX, 0, 1023, 0, SCLERA_WIDTH - 128); eyeY = map(eyeY, 0, 1023, 0, SCLERA_HEIGHT - 128); // 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) { if (eyeIndex == 1) eyeX += 4; else eyeX -= 4; } if (eyeX > (SCLERA_WIDTH - 128)) 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. static uint8_t uThreshold = 128; uint8_t lThreshold, n; #ifdef TRACKING int16_t sampleX = SCLERA_WIDTH / 2 - (eyeX / 2), // Reduce X influence sampleY = SCLERA_HEIGHT / 2 - (eyeY + IRIS_HEIGHT / 4); // Eyelid is slightly asymmetrical, so two readings are taken, averaged if (sampleY < 0) n = 0; else n = (pgm_read_byte(upper + sampleY * SCREEN_WIDTH + sampleX) + pgm_read_byte(upper + sampleY * SCREEN_WIDTH + (SCREEN_WIDTH - 1 - sampleX))) / 2; uThreshold = (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 - 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[eyeIndex].blink.state) { // Eye currently blinking? uint32_t s = (t - eye[eyeIndex].blink.startTime); if (s >= eye[eyeIndex].blink.duration) s = 255; // At or past blink end else s = 255 * s / eye[eyeIndex].blink.duration; // Mid-blink s = (eye[eyeIndex].blink.state == DEBLINK) ? 1 + s : 256 - s; n = (uThreshold * s + 254 * (257 - s)) / 256; lThreshold = (lThreshold * s + 254 * (257 - s)) / 256; } else { n = uThreshold; } // Pass all the derived values to the eye-rendering function: drawEye(eyeIndex, iScale, eyeX, eyeY, n, lThreshold); if (eyeIndex == (NUM_EYES - 1)) { user_loop(); // Call user code after rendering last eye } } // 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. 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