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Added IMU

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Zakary Timson 2024-10-30 11:22:19 -04:00
parent a9a8cf2745
commit 4068b8bb01
2 changed files with 78 additions and 2 deletions
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71
src/bno080.js Normal file
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@ -0,0 +1,71 @@
import i2c from 'i2c-bus';
export async function imu(address = 0x4A) { // BNO080 default I2C address
const i2cBus = await i2c.openPromisified(1);
// Register addresses for accelerometer, gyroscope, and magnetometer data (assumes configuration is done)
const ACCEL_X_LSB = 0x08;
const ACCEL_X_MSB = 0x09;
const ACCEL_Y_LSB = 0x0A;
const ACCEL_Y_MSB = 0x0B;
const ACCEL_Z_LSB = 0x0C;
const ACCEL_Z_MSB = 0x0D;
const GYRO_X_LSB = 0x10;
const GYRO_X_MSB = 0x11;
const GYRO_Y_LSB = 0x12;
const GYRO_Y_MSB = 0x13;
const GYRO_Z_LSB = 0x14;
const GYRO_Z_MSB = 0x15;
const MAG_X_LSB = 0x16; // Hypothetical register for magnetometer X LSB
const MAG_X_MSB = 0x17; // Hypothetical register for magnetometer X MSB
const MAG_Y_LSB = 0x18; // Hypothetical register for magnetometer Y LSB
const MAG_Y_MSB = 0x19; // Hypothetical register for magnetometer Y MSB
const MAG_Z_LSB = 0x1A; // Hypothetical register for magnetometer Z LSB
const MAG_Z_MSB = 0x1B; // Hypothetical register for magnetometer Z MSB
// Read data from the sensor registers
const data = await Promise.all([
i2cBus.readByte(address, ACCEL_X_LSB),
i2cBus.readByte(address, ACCEL_X_MSB),
i2cBus.readByte(address, ACCEL_Y_LSB),
i2cBus.readByte(address, ACCEL_Y_MSB),
i2cBus.readByte(address, ACCEL_Z_LSB),
i2cBus.readByte(address, ACCEL_Z_MSB),
i2cBus.readByte(address, GYRO_X_LSB),
i2cBus.readByte(address, GYRO_X_MSB),
i2cBus.readByte(address, GYRO_Y_LSB),
i2cBus.readByte(address, GYRO_Y_MSB),
i2cBus.readByte(address, GYRO_Z_LSB),
i2cBus.readByte(address, GYRO_Z_MSB),
i2cBus.readByte(address, MAG_X_LSB),
i2cBus.readByte(address, MAG_X_MSB),
i2cBus.readByte(address, MAG_Y_LSB),
i2cBus.readByte(address, MAG_Y_MSB),
i2cBus.readByte(address, MAG_Z_LSB),
i2cBus.readByte(address, MAG_Z_MSB),
]);
// Convert accelerometer data
const accelX = ((data[1] << 8) | data[0]) / 1000;
const accelY = ((data[3] << 8) | data[2]) / 1000;
const accelZ = ((data[5] << 8) | data[4]) / 1000;
// Convert gyroscope data
const gyroX = ((data[7] << 8) | data[6]) / 1000;
const gyroY = ((data[9] << 8) | data[8]) / 1000;
const gyroZ = ((data[11] << 8) | data[10]) / 1000;
// Convert magnetometer data
const magX = ((data[13] << 8) | data[12]) / 1000; // Hypothetical conversion factor
const magY = ((data[15] << 8) | data[14]) / 1000;
const magZ = ((data[17] << 8) | data[16]) / 1000;
await i2cBus.close();
return {
acceleration: { x: accelX, y: accelY, z: accelZ },
gyroscope: { x: gyroX, y: gyroY, z: gyroZ },
magnetometer: { x: magX, y: magY, z: magZ },
};
}

9
src/sensor-suite.js
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@ -1,6 +1,7 @@
import {adjustedInterval, sleep} from '@ztimson/utils';
import {bms} from './bms.js';
import {bme} from './bme280.js';
import {imu} from './bno080.js';
export default class SensorSuite {
data = {
@ -25,11 +26,15 @@ export default class SensorSuite {
}
async start() {
// Movement
this.intervals.push(adjustedInterval(async () => {
this.data.movement = await this.statusWrapper(imu(), 'imu');
}, 1000));
// Environment
this.intervals.push(adjustedInterval(async () => {
this.data.environment = await this.statusWrapper(bme(), 'bme280');
if(this.data.environment?.pressure != null)
this.data.environment.altitude = SensorSuite.#hPaToAltitude(this.data.environment.pressure);
}, 1000));
// Battery
await sleep(500); // Offset reading sensor data
this.intervals.push(adjustedInterval(async () => {
this.data.battery = await this.statusWrapper(bms(), 'bms');