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CHIRIMENで使える代表的なI2Cセンサーの使い方
// task.js ライブラリ
const { spawn, sleep } = task;
// document 内のリソースが読み終わるのを待つ
document.addEventListener("DOMContentLoaded", () => {
// task.js の spawn 関数内では Promise が同期的に記述できる
spawn(function() {
// I2C へのアクセサを取得
const accessor = yield navigator.requestI2CAccess();
// I2C 0 ポートを使うので、0 を指定してポートを取得
const port = accessor.ports.get(0);
yield groveLightInit(port,0x29);
yield groveAccelerometerInit(port,0x53);
setInterval( ()=>{
spawn(function(){
const temp = yield getTemp(port,0x48);
const distance = yield getDistance(port,0x70);
const lux = yield getLight(port,0x29);
const accelerometer = yield getAccelerometer(port,0x53);
// 確認用に console.log に表示
console.log("temp: "+temp);
console.log("distance: "+distance);
console.log("lux: "+lux);
console.log("acceleromter: " + accelerometer.x + ","+ accelerometer.y + ","+ accelerometer.z);
// HTML 画面に距離を表示
document.querySelector("#temp").textContent = "temp: " + temp;
document.querySelector("#distance").textContent = "distance: "+distance;
document.querySelector("#lux").textContent = "lux: "+lux;
document.querySelector("#accelerometer").textContent = "acceleromter: " + accelerometer.x + ","+ accelerometer.y + ","+ accelerometer.z;
});
},1000);
});
});
function getTemp(port,addr){
return new Promise(function(resolve,reject){
spawn(function(){
const slave = yield port.open(addr);
const highBit = yield slave.read8(0x00, true);
const lowBit = yield slave.read8(0x01, true);
const temp = ((highBit << 8) + lowBit)/128.0;
resolve(temp);
});
});
}
function getDistance(port,addr){
return new Promise(function(resolve,reject){
spawn(function(){
const slave = yield port.open(addr);
yield slave.write8(0x00, 0x00);
yield sleep(1);
yield slave.write8(0x00, 0x51);
yield sleep(70);
const highBit = yield slave.read8(0x02, true);
const lowBit = yield slave.read8(0x03, true);
const distance = (highBit << 8) + lowBit;
resolve(distance);
});
});
}
function groveLightInit(port,addr){
return new Promise(function(resolve,reject){
spawn(function(){
const slave = yield port.open(addr);
yield slave.write8(0x80,0x03);
yield sleep(10);
yield slave.write8(0x81,0x00);
yield sleep(14);
yield slave.write8(0x86,0x00);
yield sleep(10);
yield slave.write8(0x80,0x00);
yield sleep(10);
resolve();
});
});
}
function getLight(port,addr){
return new Promise(function(resolve,reject){
spawn(function(){
const slave = yield port.open(addr);
yield slave.write8(0x80,0x03);
yield sleep(14);
const ch0H = yield slave.read8(0x8d,true);
const ch0L = yield slave.read8(0x8c,true);
const ch1H = yield slave.read8(0x8f,true);
const ch1L = yield slave.read8(0x8e,true);
const ch0 = ((ch0H << 8) | ch0L);
const ch1 = ((ch1H << 8) | ch1L);
const lux = calculateLux(ch0,ch1,0,0,0);
resolve(lux);
});
});
}
function groveAccelerometerInit(port,addr){
return new Promise(function(resolve,reject){
spawn(function(){
const slave = yield port.open(addr);
yield slave.write8(0x2d,0x00);
yield sleep(10);
yield slave.write8(0x2d,0x16);
yield sleep(10);
yield slave.write8(0x2d,0x08);
yield sleep(10);
resolve();
});
});
}
function getAccelerometer(port,addr){
return new Promise(function(resolve,reject){
spawn(function(){
const slave = yield port.open(addr);
yield slave.write8(0x80,0x03);
yield sleep(14);
const xL = yield slave.read8(0x32,true);
const xH = yield slave.read8(0x33,true);
const yL = yield slave.read8(0x34,true);
const yH = yield slave.read8(0x35,true);
const zL = yield slave.read8(0x36,true);
const zH = yield slave.read8(0x37,true);
let x = xL + (xH << 8);
if(x & (1 << 16 - 1)){x = x - (1<<16);}
let y = yL + (yH << 8);
if(y & (1 << 16 - 1)){y = y - (1<<16);}
let z = zL + (zH << 8);
if(z & (1 << 16 - 1)){z = z - (1<<16);}
console.log(x);
const EARTH_GRAVITY_MS2=9.80665;
const SCALE_MULTIPLIER=0.004;
x = x*SCALE_MULTIPLIER;
y = y*SCALE_MULTIPLIER;
z = z*SCALE_MULTIPLIER;
x = x*EARTH_GRAVITY_MS2;
y = y*EARTH_GRAVITY_MS2;
z = z*EARTH_GRAVITY_MS2;
x=Math.round(x*10000)/10000;
y=Math.round(y*10000)/10000;
z=Math.round(z*10000)/10000;
const accelerometer = {"x": x, "y": y, "z": z};
console.log(accelerometer.x);
resolve(accelerometer);
});
});
}
function calculateLux(ch0,ch1,iGain,tInt,iType){
var chScale = 0x7517 << 4;
var LUX_SCALE = 14;
var CH_SCALE = 10;
var RATIO_SCALE = 9;
var K1T = 0x0040; // 0.125 * 2^RATIO_SCALE
var B1T = 0x01f2; // 0.0304 * 2^LUX_SCALE
var M1T = 0x01be; // 0.0272 * 2^LUX_SCALE
var K2T = 0x0080; // 0.250 * 2^RATIO_SCA
var B2T = 0x0214; // 0.0325 * 2^LUX_SCALE
var M2T = 0x02d1; // 0.0440 * 2^LUX_SCALE
var K3T = 0x00c0; // 0.375 * 2^RATIO_SCALE
var B3T = 0x023f; // 0.0351 * 2^LUX_SCALE
var M3T = 0x037b; // 0.0544 * 2^LUX_SCALE
var K4T = 0x0100; // 0.50 * 2^RATIO_SCALE
var B4T = 0x0270; // 0.0381 * 2^LUX_SCALE
var M4T = 0x03fe; // 0.0624 * 2^LUX_SCALE
var K5T = 0x0138; // 0.61 * 2^RATIO_SCALE
var B5T = 0x016f; // 0.0224 * 2^LUX_SCALE
var M5T = 0x01fc; // 0.0310 * 2^LUX_SCALE
var K6T = 0x019a; // 0.80 * 2^RATIO_SCALE
var B6T = 0x00d2; // 0.0128 * 2^LUX_SCALE
var M6T = 0x00fb; // 0.0153 * 2^LUX_SCALE
var K7T = 0x029a; // 1.3 * 2^RATIO_SCALE
var B7T = 0x0018; // 0.00146 * 2^LUX_SCALE
var M7T = 0x0012; // 0.00112 * 2^LUX_SCALE
var K8T = 0x029a; // 1.3 * 2^RATIO_SCALE
var B8T = 0x0000; // 0.000 * 2^LUX_SCALE
var M8T = 0x0000; // 0.000 * 2^LUX_SCALE
var channel0 = (ch0 * chScale) >> CH_SCALE;
var channel1 = (ch1 * chScale) >> CH_SCALE;
var ratio1 = 0;
if (channel0!= 0) ratio1 = (channel1 << (RATIO_SCALE+1))/channel0;
var ratio = (ratio1 + 1) >> 1;
if ((ratio >= 0) && (ratio <= K1T)){b=B1T; m=M1T;
}else if (ratio <= K2T){b=B2T; m=M2T;
}else if (ratio <= K3T){b=B3T; m=M3T;
}else if (ratio <= K4T){b=B4T; m=M4T;
}else if (ratio <= K5T){b=B5T; m=M5T;
}else if (ratio <= K6T){b=B6T; m=M6T;
}else if (ratio <= K7T){b=B7T; m=M7T;
}else if (ratio > K8T){b=B8T; m=M8T;}
var temp=((channel0*b)-(channel1*m));
if(temp<0) temp=0;
temp+=(1<<(LUX_SCALE-1));
var lux=temp>>LUX_SCALE;
return lux;
}
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<script src="js/task.js"></script>
<script src="js/webgpioi2c.js"></script>
<script src="js/chirimen-i2csensors.js"></script>
</head>
<body>
<div id="temp">test</div>
<div id="distance">test</div>
<div id="lux">test</div>
<div id="accelerometer">test</div>
</body>
</html>
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