├── .gitignore ├── LICENSE ├── README.md ├── examples ├── filters.js ├── imu.js ├── orientation.js └── sense.js ├── index.js ├── package-lock.json └── package.json /.gitignore: -------------------------------------------------------------------------------- 1 | # Logs 2 | logs 3 | *.log 4 | npm-debug.log* 5 | yarn-debug.log* 6 | yarn-error.log* 7 | lerna-debug.log* 8 | 9 | # Diagnostic reports (https://nodejs.org/api/report.html) 10 | report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json 11 | 12 | # Runtime data 13 | pids 14 | *.pid 15 | *.seed 16 | *.pid.lock 17 | 18 | # Directory for instrumented libs generated by jscoverage/JSCover 19 | lib-cov 20 | 21 | # Coverage directory used by tools like istanbul 22 | coverage 23 | *.lcov 24 | 25 | # nyc test coverage 26 | .nyc_output 27 | 28 | # Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files) 29 | .grunt 30 | 31 | # Bower dependency directory (https://bower.io/) 32 | bower_components 33 | 34 | # node-waf configuration 35 | .lock-wscript 36 | 37 | # Compiled binary addons (https://nodejs.org/api/addons.html) 38 | build/Release 39 | 40 | # Dependency directories 41 | node_modules/ 42 | jspm_packages/ 43 | 44 | # TypeScript v1 declaration files 45 | typings/ 46 | 47 | # TypeScript cache 48 | *.tsbuildinfo 49 | 50 | # Optional npm cache directory 51 | .npm 52 | 53 | # Optional eslint cache 54 | .eslintcache 55 | 56 | # Microbundle cache 57 | .rpt2_cache/ 58 | .rts2_cache_cjs/ 59 | .rts2_cache_es/ 60 | .rts2_cache_umd/ 61 | 62 | # Optional REPL history 63 | .node_repl_history 64 | 65 | # Output of 'npm pack' 66 | *.tgz 67 | 68 | # Yarn Integrity file 69 | .yarn-integrity 70 | 71 | # dotenv environment variables file 72 | .env 73 | .env.test 74 | 75 | # parcel-bundler cache (https://parceljs.org/) 76 | .cache 77 | 78 | # Next.js build output 79 | .next 80 | 81 | # Nuxt.js build / generate output 82 | .nuxt 83 | dist 84 | 85 | # Gatsby files 86 | .cache/ 87 | # Comment in the public line in if your project uses Gatsby and *not* Next.js 88 | # https://nextjs.org/blog/next-9-1#public-directory-support 89 | # public 90 | 91 | # vuepress build output 92 | .vuepress/dist 93 | 94 | # Serverless directories 95 | .serverless/ 96 | 97 | # FuseBox cache 98 | .fusebox/ 99 | 100 | # DynamoDB Local files 101 | .dynamodb/ 102 | 103 | # TernJS port file 104 | .tern-port 105 | 106 | .vscode/ 107 | .python-version -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # node-arduino-nano-33-ble 2 | 3 | Node.js interface for the Arduino [Nano 33 BLE](https://www.arduino.cc/en/Guide/NANO33BLE) and 4 | [Nano 33 BLE Sense](https://www.arduino.cc/en/Guide/NANO33BLESense) microcontroller board. 5 | 6 | ## What does this library do? 7 | 8 | This library makes it easy to listen to data from one or more sensors on a Arduino Nano 33 BLE and Nano 33 BLE Sense. The library utilizes the on-board Bluetooth Low Energy connectivity. 9 | 10 | Supported inertial measurement unit (IMU) sensors found on both the Nano 33 BLE and Nano 33 BLE Sense: 11 | 12 | - Accelerometer 13 | - Gyroscope 14 | - Magnetometer 15 | 16 | Supported sensors found on the Nano 33 BLE Sense only: 17 | 18 | - Digital microphone 19 | - Temperature 20 | - Relative humidity 21 | - Pressure 22 | - Gesture sensor 23 | - Ambient light 24 | - Color 25 | - Proximity 26 | 27 | The library provides the following filters and algorithms: 28 | 29 | - Moving mean and standard deviation for a configurable window size. 30 | - Arduino's official [Madgwick AHRS sensor fusion algorithm implementation](https://github.com/arduino-libraries/MadgwickAHRS) running on the microcontroller board for orientation (heading, pitch, and roll). 31 | 32 | ## Prerequisites 33 | 34 | This module requires an Arduino Nano 33 BLE or Nano 33 BLE Sense microcontroller board running the Arduino [Nano33BLEService](https://github.com/njanssen/arduino-nano-33-ble) sketch. 35 | 36 | ## Installation 37 | 38 | ``` 39 | npm install @vliegwerk/arduino-nano-33-ble --save 40 | ``` 41 | 42 | ## Basic usage 43 | 44 | The following code can be used to start listening to sensor data received from your microcontroller: 45 | 46 | ``` 47 | const Nano33BLE = require('@vliegwerk/arduino-nano-33-ble') 48 | const nano33ble = new Nano33BLE() 49 | 50 | nano33ble.connect().then(connected => { 51 | if (!connected) { 52 | console.log('Unable to connect to Nano 33 BLE service') 53 | } 54 | }) 55 | 56 | nano33ble.on('connected', id => { 57 | console.log(`Connected to ${id}`) 58 | 59 | nano33ble.on('accelerometer', data => { 60 | console.log('Accelerometer:', data) 61 | }) 62 | 63 | nano33ble.on('gyroscope', data => { 64 | console.log('Gyroscope:', data) 65 | }) 66 | 67 | nano33ble.on('magnetometer', data => { 68 | console.log('Magnetometer:', data) 69 | }) 70 | }) 71 | 72 | nano33ble.on('error', err => { 73 | console.error(err.message) 74 | }) 75 | 76 | nano33ble.on('disconnected', id => { 77 | console.log(`Disconnected from ${id}`) 78 | }) 79 | ``` 80 | 81 | This will output the following in the console: 82 | 83 | ``` 84 | Connected to c5-29-67-c0-36-ca 85 | Accelerometer: { x: -0.431396484375, y: 0.816650390625, z: 0.302490234375 } 86 | Gyroscope: { x: 2.99072265625, y: 2.99072265625, z: 1.953125 } 87 | Magnetometer: { x: -7.03125, y: -18.29833984375, z: -37.65869140625 } 88 | Accelerometer: { x: -0.439208984375, y: 0.802001953125, z: 0.3203125 } 89 | Gyroscope: { x: -2.5634765625, y: 0.1220703125, z: -1.708984375 } 90 | Magnetometer: { x: -6.982421875, y: -19.3603515625, z: -37.2802734375 } 91 | .. 92 | ``` 93 | 94 | For more examples, see the `examples` folder in the [node-arduino-nano-33-ble repository](https://github.com/njanssen/node-arduino-nano-33-ble/tree/master/examples) on GitHub. 95 | 96 | ## Extras 97 | 98 | - The bluetooth connectivity implementation of this library is based on the Web Dashboard example in the [Arduino and AI](https://github.com/arduino/ArduinoAI) repository by Arduino. 99 | - See the [License](LICENSE) file for license rights and limitations (GPL). 100 | - Pull Requests are welcome! 101 | -------------------------------------------------------------------------------- /examples/filters.js: -------------------------------------------------------------------------------- 1 | const Nano33BLE = require('../') 2 | 3 | const nano33ble = new Nano33BLE({ 4 | enable: ['accelerometer'], 5 | mean: true, 6 | stddev: true 7 | }) 8 | 9 | console.log('Connecting...') 10 | 11 | nano33ble.connect().then(connected => { 12 | if (!connected) { 13 | console.log('Unable to connect to Nano 33 BLE service') 14 | process.exit(1) 15 | } 16 | }) 17 | 18 | nano33ble.on('connected', id => { 19 | console.log(`Connected to ${id}`) 20 | 21 | nano33ble.on('accelerometer', data => { 22 | console.log('Accelerometer (raw):', data) 23 | }) 24 | 25 | nano33ble.on('accelerometer_mean', data => { 26 | console.log('Accelerometer (mean):', data) 27 | }) 28 | 29 | nano33ble.on('accelerometer_stddev', data => { 30 | console.log('Accelerometer (stddev):', data) 31 | }) 32 | }) 33 | 34 | nano33ble.on('error', err => { 35 | console.error(err.message) 36 | }) 37 | 38 | nano33ble.on('disconnected', id => { 39 | console.log(`Disconnected from ${id}`) 40 | }) 41 | -------------------------------------------------------------------------------- /examples/imu.js: -------------------------------------------------------------------------------- 1 | const Nano33BLE = require('../') 2 | const nano33ble = new Nano33BLE() 3 | 4 | console.log('Connecting...') 5 | 6 | nano33ble.connect().then(connected => { 7 | if (!connected) { 8 | console.log('Unable to connect to Nano 33 BLE service') 9 | process.exit(1) 10 | } 11 | }) 12 | 13 | nano33ble.on('connected', id => { 14 | console.log(`Connected to ${id}`) 15 | 16 | nano33ble.on('accelerometer', data => { 17 | console.log('Accelerometer:', data) 18 | }) 19 | 20 | nano33ble.on('gyroscope', data => { 21 | console.log('Gyroscope:', data) 22 | }) 23 | 24 | nano33ble.on('magnetometer', data => { 25 | console.log('Magnetometer:', data) 26 | }) 27 | }) 28 | 29 | nano33ble.on('error', err => { 30 | console.error(err.message) 31 | }) 32 | 33 | nano33ble.on('disconnected', id => { 34 | console.log(`Disconnected from ${id}`) 35 | }) 36 | -------------------------------------------------------------------------------- /examples/orientation.js: -------------------------------------------------------------------------------- 1 | const Nano33BLE = require('../') 2 | const nano33ble = new Nano33BLE({ 3 | enable: ['orientation'] 4 | }) 5 | 6 | console.log('Connecting...') 7 | 8 | nano33ble.connect().then(connected => { 9 | if (!connected) { 10 | console.log('Unable to connect to Nano 33 BLE service') 11 | process.exit(1) 12 | } 13 | }) 14 | 15 | nano33ble.on('connected', id => { 16 | console.log(`Connected to ${id}`) 17 | 18 | nano33ble.on('orientation', data => { 19 | console.log('Orientation:', data) 20 | }) 21 | }) 22 | 23 | nano33ble.on('error', err => { 24 | console.error(err.message) 25 | }) 26 | 27 | nano33ble.on('disconnected', id => { 28 | console.log(`Disconnected from ${id}`) 29 | }) 30 | -------------------------------------------------------------------------------- /examples/sense.js: -------------------------------------------------------------------------------- 1 | const Nano33BLE = require('../') 2 | const nano33ble = new Nano33BLE({ 3 | enable: [ 4 | 'light', 5 | 'color', 6 | 'proximity', 7 | 'gesture', 8 | 'pressure', 9 | 'temperature', 10 | 'humidity' 11 | ] 12 | }) 13 | 14 | console.log('Connecting...') 15 | 16 | nano33ble.connect().then(connected => { 17 | if (!connected) { 18 | console.log('Unable to connect to Nano 33 BLE service') 19 | process.exit(1) 20 | } 21 | }) 22 | 23 | nano33ble.on('connected', id => { 24 | console.log(`Connected to ${id}`) 25 | 26 | nano33ble.on('color', data => { 27 | console.log('Color:', data) 28 | }) 29 | 30 | nano33ble.on('light', data => { 31 | console.log('Ambient light:', data) 32 | }) 33 | 34 | nano33ble.on('gesture', data => { 35 | console.log('Gesture:', data) 36 | }) 37 | 38 | nano33ble.on('microphone', data => { 39 | console.log('Microphone:', data) 40 | }) 41 | 42 | nano33ble.on('proximity', data => { 43 | console.log('Proximity:', data) 44 | }) 45 | 46 | nano33ble.on('temperature', data => { 47 | console.log('Temperature:', data) 48 | }) 49 | 50 | nano33ble.on('humidity', data => { 51 | console.log('Relative humidity:', data) 52 | }) 53 | 54 | nano33ble.on('pressure', data => { 55 | console.log('Pressure:', data) 56 | }) 57 | }) 58 | 59 | nano33ble.on('error', err => { 60 | console.error(err) 61 | }) 62 | 63 | nano33ble.on('disconnected', id => { 64 | console.log(`Disconnected from ${id}`) 65 | }) 66 | -------------------------------------------------------------------------------- /index.js: -------------------------------------------------------------------------------- 1 | /* 2 | Node.js interface for the Arduino Nano 33 BLE and Nano 33 BLE Sense microcontroller board. 3 | 4 | Copyright (C) 2019 Arduino SA [original work, https://github.com/arduino/ArduinoAI/blob/master/BLESense-test-dashboard/index.html] 5 | Copyright (C) 2020 Niels Janssen // VLIEGWERK (https://www.vliegwerk.com) 6 | 7 | This program is free software: you can redistribute it and/or modify 8 | it under the terms of the GNU General Public License as published by 9 | the Free Software Foundation, either version 3 of the License, or 10 | (at your option) any later version. 11 | 12 | This program is distributed in the hope that it will be useful, 13 | but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | GNU General Public License for more details. 16 | 17 | You should have received a copy of the GNU General Public License 18 | along with this program. If not, see . 19 | 20 | */ 21 | 'use strict' 22 | const EventEmitter = require('events') 23 | const { Bluetooth, BluetoothDevice } = require('webbluetooth') 24 | 25 | const SERVICE_UUID = 'e905de3e-0000-44de-92c4-bb6e04fb0212' 26 | 27 | const ACCELEROMETER = 'accelerometer' 28 | const GYROSCOPE = 'gyroscope' 29 | const MAGNETOMETER = 'magnetometer' 30 | const ORIENTATION = 'orientation' 31 | 32 | const LIGHT = 'light' 33 | const COLOR = 'color' 34 | const PROXIMITY = 'proximity' 35 | const GESTURE = 'gesture' 36 | 37 | const PRESSURE = 'pressure' 38 | const TEMPERATURE = 'temperature' 39 | const HUMIDITY = 'humidity' 40 | 41 | const MICROPHONE = 'microphone' 42 | 43 | const CONNECTED = 'connected' 44 | const DISCONNECTED = 'disconnected' 45 | const ERROR = 'error' 46 | const SUFFIX_MEAN = '_mean' 47 | const SUFFIX_STDDEV = '_stddev' 48 | 49 | const OPTION_DEFAULTS = { 50 | enable: [ACCELEROMETER, GYROSCOPE, MAGNETOMETER], 51 | pollingInterval: 500, 52 | mean: false, 53 | stddev: false, 54 | windowSize: 64 55 | } 56 | 57 | class Nano33BLE extends EventEmitter { 58 | constructor(options = {}) { 59 | super() 60 | 61 | const { 62 | windowSize = OPTION_DEFAULTS.windowSize, 63 | pollingInterval = OPTION_DEFAULTS.pollingInterval, 64 | enable = OPTION_DEFAULTS.enable, 65 | mean = OPTION_DEFAULTS.mean, 66 | stddev = OPTION_DEFAULTS.stddev 67 | } = options 68 | 69 | this.windowSize = windowSize 70 | this.pollingInterval = pollingInterval 71 | this.enable = enable 72 | this.mean = mean 73 | this.stddev = stddev 74 | 75 | this.bluetooth = new Bluetooth() 76 | 77 | this.characteristics = { 78 | [ACCELEROMETER]: { 79 | uuid: 'e905de3e-3001-44de-92c4-bb6e04fb0212', 80 | properties: ['BLENotify'], 81 | structure: ['Float32', 'Float32', 'Float32'], 82 | data: { x: [], y: [], z: [] } 83 | }, 84 | [GYROSCOPE]: { 85 | uuid: 'e905de3e-3002-44de-92c4-bb6e04fb0212', 86 | properties: ['BLENotify'], 87 | structure: ['Float32', 'Float32', 'Float32'], 88 | data: { x: [], y: [], z: [] } 89 | }, 90 | [MAGNETOMETER]: { 91 | uuid: 'e905de3e-3003-44de-92c4-bb6e04fb0212', 92 | properties: ['BLENotify'], 93 | structure: ['Float32', 'Float32', 'Float32'], 94 | data: { x: [], y: [], z: [] } 95 | }, 96 | [ORIENTATION]: { 97 | uuid: 'e905de3e-3004-44de-92c4-bb6e04fb0212', 98 | properties: ['BLENotify'], 99 | structure: ['Float32', 'Float32', 'Float32'], 100 | data: { heading: [], pitch: [], roll: [] } 101 | }, 102 | [LIGHT]: { 103 | uuid: 'e905de3e-2001-44de-92c4-bb6e04fb0212', 104 | properties: ['BLENotify'], 105 | structure: ['Uint16'], 106 | data: { ambient: [] } 107 | }, 108 | [COLOR]: { 109 | uuid: 'e905de3e-2002-44de-92c4-bb6e04fb0212', 110 | properties: ['BLENotify'], 111 | structure: ['Uint16', 'Uint16', 'Uint16'], 112 | data: { r: [], g: [], b: [] } 113 | }, 114 | [PROXIMITY]: { 115 | uuid: 'e905de3e-2003-44de-92c4-bb6e04fb0212', 116 | properties: ['BLENotify'], 117 | structure: ['Uint8'], 118 | data: { proximity: [] } 119 | }, 120 | [GESTURE]: { 121 | uuid: 'e905de3e-2004-44de-92c4-bb6e04fb0212', 122 | properties: ['BLENotify'], 123 | structure: ['Uint8'], 124 | data: { gesture: [] } 125 | }, 126 | [PRESSURE]: { 127 | uuid: 'e905de3e-4001-44de-92c4-bb6e04fb0212', 128 | properties: ['BLERead'], 129 | structure: ['Float32'], 130 | data: { pressure: [] } 131 | }, 132 | [TEMPERATURE]: { 133 | uuid: 'e905de3e-4002-44de-92c4-bb6e04fb0212', 134 | properties: ['BLERead'], 135 | structure: ['Float32'], 136 | data: { temperature: [] } 137 | }, 138 | [HUMIDITY]: { 139 | uuid: 'e905de3e-4003-44de-92c4-bb6e04fb0212', 140 | properties: ['BLERead'], 141 | structure: ['Float32'], 142 | data: { humidity: [] } 143 | }, 144 | [MICROPHONE]: { 145 | uuid: 'e905de3e-5001-44de-92c4-bb6e04fb0212', 146 | properties: ['BLENotify'], 147 | structure: new Array(32).fill('Uint8'), // an array of 32 'Uint8's 148 | data: { 149 | a0: [], 150 | a1: [], 151 | a2: [], 152 | a3: [], 153 | a4: [], 154 | a5: [], 155 | a6: [], 156 | a7: [], 157 | a8: [], 158 | a9: [], 159 | aA: [], 160 | aB: [], 161 | aC: [], 162 | aD: [], 163 | aE: [], 164 | aF: [], 165 | b0: [], 166 | b1: [], 167 | b2: [], 168 | b3: [], 169 | b4: [], 170 | b5: [], 171 | b6: [], 172 | b7: [], 173 | b8: [], 174 | b9: [], 175 | bA: [], 176 | bB: [], 177 | bC: [], 178 | bD: [], 179 | bE: [], 180 | bF: [] 181 | } 182 | } 183 | } 184 | 185 | this.sensors = Object.keys(this.characteristics) 186 | } 187 | 188 | connect = async () => { 189 | if (!(await this.bluetooth.getAvailability())) { 190 | throw new Error('No Bluetooth interface available') 191 | } 192 | 193 | let device 194 | try { 195 | device = await this.bluetooth.requestDevice({ 196 | filters: [ 197 | { 198 | services: [SERVICE_UUID] 199 | } 200 | ] 201 | }) 202 | } catch (err) { 203 | // Requsted device not found 204 | return false 205 | } 206 | 207 | device.on(BluetoothDevice.EVENT_DISCONNECTED, event => 208 | this.onDisconnected(event) 209 | ) 210 | 211 | this.server = await device.gatt.connect() 212 | const service = await this.server.getPrimaryService(SERVICE_UUID) 213 | 214 | // Set up the characteristics 215 | for (const sensor of this.sensors) { 216 | if (!this.enable.includes(sensor)) continue 217 | 218 | try { 219 | this.characteristics[ 220 | sensor 221 | ].characteristic = await service.getCharacteristic( 222 | this.characteristics[sensor].uuid 223 | ) 224 | 225 | // Set up notification 226 | if ( 227 | this.characteristics[sensor].properties.includes( 228 | 'BLENotify' 229 | ) 230 | ) { 231 | this.characteristics[sensor].characteristic.on( 232 | 'characteristicvaluechanged', 233 | event => { 234 | this.handleIncoming(sensor, event.target.value) 235 | } 236 | ) 237 | await this.characteristics[ 238 | sensor 239 | ].characteristic.startNotifications() 240 | } 241 | 242 | // Set up polling for read 243 | if ( 244 | this.characteristics[sensor].properties.includes('BLERead') 245 | ) { 246 | this.characteristics[sensor].polling = setInterval(() => { 247 | this.characteristics[sensor].characteristic 248 | .readValue() 249 | .then(data => { 250 | this.handleIncoming(sensor, data) 251 | }) 252 | }, this.pollingInterval) 253 | } 254 | } catch (err) { 255 | this.emit( 256 | ERROR, 257 | `Characteristic ${sensor} is enabled, but not available in the BLE service` 258 | ) 259 | } 260 | } 261 | 262 | this.emit(CONNECTED, device.id) 263 | return true 264 | } 265 | 266 | disconnect = () => { 267 | this.server.disconnect() 268 | } 269 | 270 | isConnected = () => { 271 | return !this.server ? false : this.server.connected 272 | } 273 | 274 | handleIncoming = (sensor, dataReceived) => { 275 | const characteristic = this.characteristics[sensor] 276 | const data = characteristic.data 277 | const columns = Object.keys(data) // column headings for this sensor 278 | 279 | const typeMap = { 280 | Uint8: { fn: DataView.prototype.getUint8, bytes: 1 }, 281 | Uint16: { fn: DataView.prototype.getUint16, bytes: 2 }, 282 | Float32: { fn: DataView.prototype.getFloat32, bytes: 4 } 283 | } 284 | 285 | var packetPointer = 0 286 | var i = 0 287 | 288 | let values = {} 289 | let means = {} 290 | let stddevs = {} 291 | 292 | // Read each sensor value in the BLE packet and push into the data array 293 | characteristic.structure.forEach(dataType => { 294 | // Lookup function to extract data for given sensor property type 295 | var dataViewFn = typeMap[dataType].fn.bind(dataReceived) 296 | // Read sensor ouput value - true => Little Endian 297 | var unpackedValue = dataViewFn(packetPointer, true) 298 | // Push sensor reading onto data array 299 | data[columns[i]].push(unpackedValue) 300 | // Keep array at buffer size 301 | if (data[columns[i]].length > this.windowSize) { 302 | data[columns[i]].shift() 303 | } 304 | // move pointer forward in data packet to next value 305 | packetPointer += typeMap[dataType].bytes 306 | // Push sensor reading onto values object used for notifying listeners 307 | values[columns[i]] = unpackedValue 308 | if (this.mean) means[columns[i]] = mean(data[columns[i]]) 309 | if (this.stddev) stddevs[columns[i]] = stddev(data[columns[i]]) 310 | // Increment column counter 311 | i++ 312 | }) 313 | 314 | // Notify listeners about new data 315 | this.emit(sensor, values) 316 | if (this.mean) this.emit(`${sensor}${SUFFIX_MEAN}`, means) 317 | if (this.stddev) this.emit(`${sensor}${SUFFIX_STDDEV}`, stddevs) 318 | } 319 | 320 | onDisconnected = event => { 321 | const device = event.target 322 | 323 | // Clear read polling 324 | for (const sensor of this.sensors) { 325 | if (!this.enable.includes(sensor)) continue 326 | 327 | if (typeof this.characteristics[sensor].polling !== 'undefined') { 328 | clearInterval(this.characteristics[sensor].polling) 329 | } 330 | } 331 | 332 | this.emit(DISCONNECTED, device.id) 333 | } 334 | 335 | static get ACCELEROMETER() { 336 | return ACCELEROMETER 337 | } 338 | 339 | static get GYROSCOPE() { 340 | return GYROSCOPE 341 | } 342 | 343 | static get MAGNETOMETER() { 344 | return MAGNETOMETER 345 | } 346 | 347 | static get ORIENTATION() { 348 | return ORIENTATION 349 | } 350 | 351 | static get LIGHT() { 352 | return LIGHT 353 | } 354 | 355 | static get COLOR() { 356 | return COLOR 357 | } 358 | 359 | static get PROXIMITY() { 360 | return PROXIMITY 361 | } 362 | 363 | static get GESTURE() { 364 | return GESTURE 365 | } 366 | 367 | static get PRESSURE() { 368 | return PRESSURE 369 | } 370 | 371 | static get TEMPERATURE() { 372 | return TEMPERATURE 373 | } 374 | 375 | static get HUMIDITY() { 376 | return HUMIDITY 377 | } 378 | 379 | static get MICROPHONE() { 380 | return MICROPHONE 381 | } 382 | 383 | static get CONNECTED() { 384 | return CONNECTED 385 | } 386 | 387 | static get DISCONNECTED() { 388 | return DISCONNECTED 389 | } 390 | 391 | static get ERROR() { 392 | return ERROR 393 | } 394 | } 395 | 396 | // Arithmetic mean 397 | const mean = arr => { 398 | return ( 399 | arr.reduce(function(a, b) { 400 | return Number(a) + Number(b) 401 | }) / arr.length 402 | ) 403 | } 404 | 405 | // Standard deviation 406 | const stddev = arr => { 407 | let m = mean(arr) 408 | return Math.sqrt( 409 | arr.reduce(function(sq, n) { 410 | return sq + Math.pow(n - m, 2) 411 | }, 0) / 412 | (arr.length - 1) 413 | ) 414 | } 415 | 416 | module.exports = Nano33BLE 417 | -------------------------------------------------------------------------------- /package-lock.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "@vliegwerk/arduino-nano-33-ble", 3 | "version": "1.0.1", 4 | "lockfileVersion": 1, 5 | "requires": true, 6 | "dependencies": { 7 | "@abandonware/bluetooth-hci-socket": { 8 | "version": "0.5.3-3", 9 | "resolved": "https://registry.npmjs.org/@abandonware/bluetooth-hci-socket/-/bluetooth-hci-socket-0.5.3-3.tgz", 10 | "integrity": "sha512-SkT5yVoaceiWOK1eWW/QCgAaPph/Y+EkOVBvETmhsD1hhKa83+EmVRMjubO68k54uoIzviqcNhxZI/LuIU2PHA==", 11 | "optional": true, 12 | "requires": { 13 | "debug": "^4.1.0", 14 | "nan": "^2.14.0", 15 | "node-pre-gyp": "^0.13.0", 16 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"optional": true 841 | } 842 | } 843 | } 844 | -------------------------------------------------------------------------------- /package.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "@vliegwerk/arduino-nano-33-ble", 3 | "version": "1.0.1", 4 | "description": "Node.js interface for the Arduino Nano 33 BLE and Nano 33 BLE Sense", 5 | "main": "index.js", 6 | "scripts": { 7 | "test": "echo \"Error: no test specified\" && exit 1" 8 | }, 9 | "repository": { 10 | "type": "git", 11 | "url": "git+https://github.com/njanssen/node-arduino-nano-33-ble.git" 12 | }, 13 | "author": "Niels Janssen", 14 | "license": "GPL-3.0", 15 | "bugs": { 16 | "url": "https://github.com/njanssen/node-arduino-nano-33-ble/issues" 17 | }, 18 | "keywords": [ 19 | "arduino", 20 | "nano 33", 21 | "ble", 22 | "sense", 23 | "bluetooth", 24 | "sensors", 25 | "imu", 26 | "accelerometer", 27 | "gyroscope", 28 | "magnetometer" 29 | ], 30 | "homepage": "https://github.com/njanssen/node-arduino-nano-33-ble#readme", 31 | "dependencies": { 32 | "webbluetooth": "^1.3.0" 33 | } 34 | } 35 | --------------------------------------------------------------------------------