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support different acceleration sensors onboard MCUS2 #487

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937b188
support different acceleration sensors in one block
PaulaScharf Jun 1, 2025
5e2d780
fix ICM20948
PaulaScharf Jun 2, 2025
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16 changes: 8 additions & 8 deletions src/components/Blockly/blocks/sensebox-sensors.js
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Original file line number Diff line number Diff line change
Expand Up @@ -740,14 +740,14 @@ Blockly.Blocks["sensebox_esp32s2_light"] = {
};

/**
* senseBox-MCU ESP32-S2 onBoard MPU6050
* senseBox-MCU ESP32-S2 onBoard accelerometer
*
*
*/

Blockly.Blocks["sensebox_esp32s2_mpu6050"] = {
Blockly.Blocks["sensebox_esp32s2_accelerometer"] = {
init: function () {
this.appendDummyInput().appendField("ESP32-S2 MPU6050");
this.appendDummyInput().appendField(Blockly.Msg.senseBox_accelerometer);
this.appendDummyInput()
.setAlign(Blockly.inputs.Align.RIGHT)
.appendField(Blockly.Msg.senseBox_value)
Expand All @@ -762,9 +762,9 @@ Blockly.Blocks["sensebox_esp32s2_mpu6050"] = {
);
this.setOutput(true, Types.DECIMAL.typeName);
this.setColour(getColour().sensebox);
this.setTooltip(Blockly.Msg.senseBox_mpu6050_tooltip);
this.setHelpUrl(withBoardParam(Blockly.Msg.senseBox_mpu6050_helpurl));
this.data = { name: "mpu6050" };
this.setTooltip(Blockly.Msg.senseBox_accelerometer_tooltip);
this.setHelpUrl(withBoardParam(Blockly.Msg.senseBox_accelerometer_helpurl));
this.data = { name: "acceleration" };
},
};

Expand Down Expand Up @@ -805,8 +805,8 @@ Blockly.Blocks["sensebox_sensor_icm20948"] = {
);
this.setOutput(true, Types.DECIMAL.typeName);
this.setColour(getColour().sensebox);
this.setTooltip(Blockly.Msg.senseBox_mpu6050_tooltip);
this.setHelpUrl(Blockly.Msg.senseBox_mpu6050_helpurl);
this.setTooltip(Blockly.Msg.senseBox_accelerometer_tooltip);
this.setHelpUrl(Blockly.Msg.senseBox_accelerometer_helpurl);
this.data = { name: "icm20948" };
},
};
140 changes: 93 additions & 47 deletions src/components/Blockly/generator/sensebox-sensors.js
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Original file line number Diff line number Diff line change
Expand Up @@ -1037,56 +1037,102 @@ Blockly.Generator.Arduino.forBlock["sensebox_esp32s2_light"] = function () {
};

/**
* senseBox MCU-S2 onboard MPU6050
* senseBox MCU-S2 onboard accelerometer
*
**/

Blockly.Generator.Arduino.forBlock["sensebox_esp32s2_mpu6050"] = function () {
var code = "";
var dropdown = this.getFieldValue("value");
Blockly.Generator.Arduino.libraries_["esp32s2_mpu6050"] =
`#include <Adafruit_MPU6050.h>`;
Blockly.Generator.Arduino.libraries_["Adafruit_Sensor"] =
`#include <Adafruit_Sensor.h>`;
Blockly.Generator.Arduino.libraries_["library_wire"] = `#include <Wire.h>`;
Blockly.Generator.Arduino.definitions_["define_Adafruit_mpu6050"] =
"Adafruit_MPU6050 mpu;";
Blockly.Generator.Arduino.definitions_["define_sensor_events"] =
"sensors_event_t a, g, temp;";
Blockly.Generator.Arduino.setupCode_["Wire1.begin()"] = "Wire1.begin();";
Blockly.Generator.Arduino.setupCode_["mpu.begin()"] =
"mpu.begin(0x68, &Wire1);";
Blockly.Generator.Arduino.setupCode_["mpu.setAccelerometerRange()"] =
"mpu.setAccelerometerRange(MPU6050_RANGE_8_G);";
Blockly.Generator.Arduino.loopCodeOnce_["mpu.getEvent"] =
"mpu.getEvent(&a, &g, &temp);";
switch (dropdown) {
case "accelerationX":
code = "a.acceleration.x";
break;
case "accelerationY":
code = "a.acceleration.y";
break;
case "accelerationZ":
code = "a.acceleration.z";
break;
case "gyroscopeX":
code = "g.gyro.x";
break;
case "gyroscopeY":
code = "g.gyro.y";
break;
case "gyroscopeZ":
code = "g.gyro.z";
break;
case "temperature":
code = "temp.temperature";
break;
default:
code = "";
}
return [code, Blockly.Generator.Arduino.ORDER_ATOMIC];
};
Blockly.Generator.Arduino.forBlock["sensebox_esp32s2_accelerometer"] =
function () {
var code = "";
var dropdown = this.getFieldValue("value");
Blockly.Generator.Arduino.libraries_["esp32s2_mpu6050"] =
`#include <Adafruit_MPU6050.h>`;
Blockly.Generator.Arduino.libraries_["esp32s2_icm42670"] =
`#include "ICM42670P.h"`;
Blockly.Generator.Arduino.libraries_["esp32s2_icm20948"] =
`#include <ICM20948_WE.h>`;
Blockly.Generator.Arduino.libraries_["Adafruit_Sensor"] =
`#include <Adafruit_Sensor.h>`;
Blockly.Generator.Arduino.libraries_["library_wire"] = `#include <Wire.h>`;
Blockly.Generator.Arduino.definitions_["define_Adafruit_mpu6050"] =
"Adafruit_MPU6050 mpu;";
Blockly.Generator.Arduino.definitions_["define_ICM42670P"] =
"ICM42670 icm = ICM42670(Wire1, 0);";
Blockly.Generator.Arduino.definitions_["define_ICM20948"] =
"ICM20948_WE myIMU = ICM20948_WE(&Wire1, 0x68);";
Blockly.Generator.Arduino.definitions_["define_acceleration_switch"] =
"int sensorActive = 0; // 0: none, 1: MPU6050, 2: ICM42670P, 3: ICM20948";
Blockly.Generator.Arduino.setupCode_["Wire1.begin()"] = "Wire1.begin();";
Blockly.Generator.Arduino.setupCode_["begin_acceleration"] =
"if (mpu.begin(0x68, &Wire1)) // Try MPU6050 first\n" +
" {\n" +
" mpu.setAccelerometerRange(MPU6050_RANGE_8_G);\n" +
" mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);\n" +
" sensorActive = 0;\n" +
" }\n" +
" else if (icm.begin() == 0) // If MPU6050 fails, try ICM42670P\n" +
" {\n" +
" icm.startAccel(21, 8); // Accel ODR = 100 Hz, Range = 8G\n" +
" sensorActive = 1;\n" +
" }\n" +
" else\n" +
" {\n" +
" myIMU.init();\n" +
" myIMU.autoOffsets();\n" +
" myIMU.setAccRange(ICM20948_ACC_RANGE_8G);\n" +
" myIMU.setAccSampleRateDivider(4); // 100 Hz sample rate\n" +
" sensorActive = 2;\n" +
" }";
Blockly.Generator.Arduino.codeFunctions_["sensebox_requestAcceleration"] =
"float getAcceleration(String sensorValueType) {\n" +
"if (sensorActive == 0) {\n" +
"sensors_event_t a, g, temp;\n" +
"mpu.getEvent(&a, &g, &temp);\n" +
'if (sensorValueType == "accelerationX") {\n' +
"return a.acceleration.x;\n" +
'} else if (sensorValueType == "accelerationY") {\n' +
"return a.acceleration.y;\n" +
'} else if (sensorValueType == "accelerationZ") {\n' +
"return a.acceleration.z;\n" +
'} else if (sensorValueType == "temperature") {\n' +
"return temp.temperature;\n" +
"} else {\n" +
"return 0.0;\n" +
"}\n" +
"} else if (sensorActive == 1) {\n" +
"inv_imu_sensor_event_t imu_event;\n" +
"icm.getDataFromRegisters(imu_event);\n" +
'if (sensorValueType == "accelerationX") {\n' +
"return (imu_event.accel[0]*9.81)/4096.0;\n" +
'} else if (sensorValueType == "accelerationY") {\n' +
"return (imu_event.accel[1]*9.81)/4096.0;\n" +
'} else if (sensorValueType == "accelerationZ") {\n' +
"return (imu_event.accel[2]*9.81)/4096.0;\n" +
'} else if (sensorValueType == "temperature") {\n' +
"return (imu_event.temperature/132.48)+25.0;\n" +
"} else {\n" +
"return 0.0;\n" +
"}\n" +
"} else {\n" +
"myIMU.readSensor();\n" +
"xyzFloat accRaw;\n" +
"myIMU.getAccRawValues(&accRaw);\n" +
'if (sensorValueType == "accelerationX") {\n' +
"return accRaw.x * 9.81 / 4096.0;\n" +
'} else if (sensorValueType == "accelerationY") {\n' +
"return accRaw.y * 9.81 / 4096.0;\n" +
'} else if (sensorValueType == "accelerationZ") {\n' +
"return accRaw.z * 9.81 / 4096.0;\n" +
'} else if (sensorValueType == "temperature") {\n' +
"return myIMU.getTemperature();\n" +
"} else {\n" +
"return 0.0;\n" +
"}\n" +
"}\n" +
"}\n";
var code = 'getAcceleration("' + dropdown + '")';
return [code, Blockly.Generator.Arduino.ORDER_ATOMIC];
};

/**
* Block for Truebner STM50 on MCUS2
Expand Down
18 changes: 6 additions & 12 deletions src/components/Blockly/msg/de/sensebox-sensors.js
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Original file line number Diff line number Diff line change
Expand Up @@ -243,17 +243,12 @@ Die Messwerte für Temperatur, Luftfeuchtigkeit und Luftdruck können direkt ver
senseBox_esp32_photodiode_helpurl:
"https://docs.sensebox.de/docs/hardware/sensors/photodiode",
/**
* MPU6050 */
senseBox_mpu6050_tooltip:
"Der MPU6050 ist ein Beschleunigungs- und Gyroskopsensor. Schließe den Sensor an einen der I2C Anschlüsse an. Der Sensor gibt dir die Beschleunigung in m/s² und die Winkelgeschwindigkeit in °/s zurück.",
senseBox_mpu6050_helpurl: "https://docs.sensebox.de/docs/hardware/sensors/mpu6050",

/**
* MPU6050 */
senseBox_mpu6050_tooltip:
"Der MPU6050 ist ein Beschleunigungs- und Gyroskopsensor. Schließe den Sensor an einen der I2C Anschlüsse an. Der Sensor gibt dir die Beschleunigung in m/s² und die Winkelgeschwindigkeit in °/s zurück.",
senseBox_mpu6050_helpurl:
"https://docs.sensebox.de/docs/hardware/sensors/mpu6050/",
* accelerometer MCUS2(ESP32) */
senseBox_accelerometer: "ESP32-S2 Beschleunigungssensor",
senseBox_accelerometer_tooltip:
"Die senseBox MCU S2 hat einen der folgenden Beschleunigungssensoren an Bord: MPU6050, ICM-42670-P oder ICM-20948. Diese Sensoren geben dir die Beschleunigung in m/s² zurück.",
senseBox_accelerometer_helpurl:
"https://docs.sensebox.de/docs/hardware/sensors/mpu6050", // TODO: mpu6050 is just one of the supported acceleration sensors of this block

/**
* ToF Imager
Expand All @@ -272,5 +267,4 @@ Die Messwerte für Temperatur, Luftfeuchtigkeit und Luftdruck können direkt ver
* ICM Accel/Gyro
*/
senseBox_icm20948: "Beschleunigungs-/Gyroskopsensor (ICM20948)",

};
8 changes: 8 additions & 0 deletions src/components/Blockly/msg/en/sensebox-sensors.js
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Original file line number Diff line number Diff line change
Expand Up @@ -250,6 +250,14 @@ The measured values for temperature, humidity and air pressure can be used direc
senseBox_esp32_photodiode_helpurl:
"https://docs.sensebox.de/en/docs/hardware/sensors/photodiode",

/**
* accelerometer MCUS2(ESP32) */
senseBox_accelerometer: "ESP32-S2 Accelerometer",
senseBox_accelerometer_tooltip:
"The senseBox MCU S2 has one of the following accelerometers on board: MPU6050, ICM-42670-P or ICM-20948. These sensor gives you the acceleration in m/s².",
senseBox_accelerometer_helpurl:
"https://docs.sensebox.de/docs/hardware/sensors/mpu6050", // TODO: mpu6050 is just one of the supported acceleration sensors of this block

/**
* ToF Imager
*
Expand Down
2 changes: 1 addition & 1 deletion src/components/Blockly/toolbox/ToolboxEsp.jsx
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ export const ToolboxEsp = () => {
<Block type="sensebox_sensor_temp_hum" />
<Block type="sensebox_sensor_uv_light" />
<Block type="sensebox_esp32s2_light" />
<Block type="sensebox_esp32s2_mpu6050" />
<Block type="sensebox_esp32s2_accelerometer" />
<Block type="sensebox_sensor_sds011" />
<Block type="sensebox_sensor_sps30" />
<Block type="sensebox_sensor_pressure" />
Expand Down