Fixed IMU address

package.json

@@ -5,11 +5,12 @@
   "main": "index.js",
   "type": "module",
   "scripts": {
-    "start": "node src/main.js"
+    "apollo": "node src/main.js"
   },
   "author": "",
   "license": "MIT",
   "dependencies": {
+    "cors": "^2.8.5",
     "@ztimson/utils": "^0.21.6",
     "express": "^4.21.1",
     "i2c-bus": "^5.2.3",

src/bme.js

@@ -1,21 +0,0 @@
-import i2c from 'i2c-bus';
-
-export async function bme(address = 0x76) {
-    const i2cBus = await i2c.openPromisified(1);
-    const data = await Promise.all([
-        i2cBus.readByte(address, 0xFA),
-        i2cBus.readByte(address, 0xFB),
-        i2cBus.readByte(address, 0xFC),
-        i2cBus.readByte(address, 0xF7),
-        i2cBus.readByte(address, 0xF8),
-        i2cBus.readByte(address, 0xF9),
-        i2cBus.readByte(address, 0xFD),
-        i2cBus.readByte(address, 0xFE),
-    ]);
-    return {
-        temperature: (((data[0] << 12) | (data[1] << 4) | (data[2] >> 4)) / 16384.0 - 5120.0) / 100,
-        pressure: ((data[3] << 12) | (data[4] << 4) | (data[5] >> 4))  / 25600,
-        humidity: ((data[6] << 8) | data[7]) / 1024.0,
-    };
-}
-console.log(await bme());

src/bme280.js

@@ -3,17 +3,32 @@ import i2c from 'i2c-bus';
 export async function bme(address = 0x76) {
     const i2cBus = await i2c.openPromisified(1);
     const data = await Promise.all([
-        i2cBus.readByte(address, 0xFA),
-        i2cBus.readByte(address, 0xFB),
-        i2cBus.readByte(address, 0xFC),
-        i2cBus.readByte(address, 0xF7),
-        i2cBus.readByte(address, 0xF8),
-        i2cBus.readByte(address, 0xF9),
-        i2cBus.readByte(address, 0xFD),
-        i2cBus.readByte(address, 0xFE),
+        i2cBus.readByte(address, 0xFA), // Temp MSB
+        i2cBus.readByte(address, 0xFB), // Temp LSB
+        i2cBus.readByte(address, 0xFC), // Temp XLSB
+        i2cBus.readByte(address, 0xF7), // Pressure MSB
+        i2cBus.readByte(address, 0xF8), // Pressure LSB
+        i2cBus.readByte(address, 0xF9), // Pressure XLSB
+        i2cBus.readByte(address, 0xFD), // Humidity MSB
+        i2cBus.readByte(address, 0xFE), // Humidity LSB
     ]);
+
+    // Calibration registers
+    const CALIBRATION_LENGTH = 24;
+    const calibBuffer = Buffer.alloc(CALIBRATION_LENGTH);
+    await i2cBus.readI2cBlock(address, 0x88, CALIBRATION_LENGTH, calibBuffer);
+    const T1 = calibBuffer.readUInt16LE(0);
+    const T2 = calibBuffer.readInt16LE(2);
+    const T3 = calibBuffer.readInt16LE(4);
+
+    const rawTemp = (data[0] << 12) | (data[1] << 4) | (data[2] >> 4);
+    const var1 = (((rawTemp >> 3) - (T1 << 1)) * T2) / 2048;
+    const var2 = (((((rawTemp >> 4) - T1) * ((rawTemp >> 4) - T1)) >> 12) * T3) / 16384;
+    const temp = (var1 + var2) / 5120.0;
+
+    await i2cBus.close();
     return {
-        temperature: (((data[0] << 12) | (data[1] << 4) | (data[2] >> 4)) / 16384.0 - 5120.0) / 100,
+        temperature: temp,
         pressure: ((data[3] << 12) | (data[4] << 4) | (data[5] >> 4)) / 25600,
         humidity: ((data[6] << 8) | data[7]) / 1024.0,
     };

src/bms.js

@@ -9,6 +9,7 @@ export async function bms(address = 0x57) {
         i2cBus.readByte(address, 0x23),
         i2cBus.readByte(address, 0x2a),
     ]);
+    await i2cBus.close();
     return {
         charging: !!((data[0] >> 7) & 1),
         percentage: data[4] / 100,

src/bno080.js

@@ -0,0 +1,71 @@
+import i2c from 'i2c-bus';
+
+export async function imu(address = 0x4B) {  // 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 },
+    };
+}

src/daemon.js

@@ -1,3 +1,4 @@
+import cors from 'cors';
 import express from 'express';
 import path from 'path';
 import APOLLO from './apollo.js';
@@ -13,6 +14,8 @@ export default class Daemon {
 
         this.express = express();
 
+        this.express.use(cors('*'));
+
         this.express.get('/api/*', async (req, res) => {
             const cmd = req.params['0'];
             res.json(await this.run(cmd));

src/main.js

@@ -30,8 +30,11 @@ function run(cmd) {
     else if(cmd.startsWith('remote')) {
       remote = cmd.split(' ').pop();
       return `Remote Set: ${remote}`;
-    } else if(cmd.startsWith('start')) new Daemon(+cmd.split(' ').pop() || 1969);
-    else return fetch(`${remote.startsWith('http') ? '' : 'http://'}${remote}/api/${cmd}`).then(resp => {
+    } else if(cmd.startsWith('start')) {
+        const port = +cmd.split(' ').pop() || 1969;
+        new Daemon(port);
+        return `Listening on: http://localhost:${port}`;
+    } else return fetch(`${remote.startsWith('http') ? '' : 'http://'}${remote}/api/${cmd}`).then(resp => {
         if(resp.ok && resp.headers['Content-Type']?.includes('json'))
             return resp.json();
         else return resp.text();
@@ -42,8 +45,10 @@ function run(cmd) {
 }
 
 if(command) console.log(run(command));
-else console.log(help());
-while(true) {
+else {
+    console.log(help());
+    while(true) {
         const cmd = await ask('> ');
         console.log(await run(cmd), '\n');
+    }
 }

src/sensor-suite.js

@@ -1,6 +1,7 @@
-import {adjustedInterval, sleep} from './misc.js';
+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');

ui/index.html

@@ -141,7 +141,7 @@
 					<div class="status status-bat">BAT</div>
 					<div class="status status-env">ENV</div>
 					<div class="status status-gps">GPS</div>
-					<div class="status status-agm">IMU</div>
+					<div class="status status-imu">IMU</div>
 					<div class="status status-tel">TEL</div>
 				</div>
 
@@ -180,10 +180,10 @@
 		</dialog>
 
 		<script>
-			const remote = localStorage.getItem('remote') || 'localhost:1969';
+			const remote = localStorage.getItem('remote') || '';
 
 			function run(cmd) {
-				return fetch(`${remote.startsWith('http') ? '' : 'http://'}${remote}/api/${cmd}`).then(async resp => {
+				return fetch(`${remote}/api/${cmd}`).then(async resp => {
 					const value = await resp.text();
 					try {
 						return JSON.parse(value);
@@ -196,12 +196,15 @@
 			const battery = document.querySelectorAll('.battery');
 			const batteryTemp = document.querySelectorAll('.battery-temperature');
 			const batteryIcon = document.querySelectorAll('.battery-icon');
+			const humidity = document.querySelectorAll('.humidity');
 			const navball = document.querySelectorAll('.navball');
-			const statusAgm = document.querySelectorAll('.status-agm');
+			const pressure = document.querySelectorAll('.pressure');
 			const statusBat = document.querySelectorAll('.status-bat');
 			const statusEnv = document.querySelectorAll('.status-env');
+			const statusImu = document.querySelectorAll('.status-imu');
 			const statusGps = document.querySelectorAll('.status-gps');
 			const statusTel = document.querySelectorAll('.status-tel');
+			const temperature = document.querySelectorAll('.temperature');
 			const time = document.querySelectorAll('.time');
 			const tPlus = document.querySelectorAll('.t-plus');
 			const voltage = document.querySelectorAll('.voltage');
@@ -217,12 +220,16 @@
 					battery.forEach(b => b.innerHTML = (sensors.battery?.percentage || 0) * 100);
 					batteryTemp.forEach(bt => bt.innerHTML = sensors.battery?.temperature || 0);
 					batteryIcon.forEach(bi => bi.className = sensors.battery?.charging ? 'fa fa-bolt' : 'fa fa-battery');
+					humidity.forEach(h => h.innerHTML = sensors.environment?.humidity ?? 0);
+					pressure.forEach(p => p.innerHTML = sensors.environment?.pressure ?? 0);
+					temperature.forEach(t => t.innerHTML = sensors.environment?.temperature ?? 0);
 					voltage.forEach(v => v.innerHTML = sensors.battery?.voltage || 0);
 				});
 
 				run('status').then(status => {
-					statusEnv.forEach(se => se.style.background = status['bme'] === 'ok' ? 'green' : 'red');
 					statusBat.forEach(sb => sb.style.background = status['bms'] === 'ok' ? 'green' : 'red');
+					statusEnv.forEach(se => se.style.background = status['bme280'] === 'ok' ? 'green' : 'red');
+					statusImu.forEach(sb => sb.style.background = status['imu'] === 'ok' ? 'green' : 'red');
 				});
 
 				navball.forEach(n => n.style.transform = `rotate(${count * 5}deg)`);