{
  "format": "evn-blocks",
  "version": 3,
  "title": "I2C: every block",
  "needs": "an EVN IMU module (MPU-6500) on I2C port 1",
  "description": "Every I2C block once, on the EVN IMU module (an MPU-6500): the addresses that answer, whether one answers at 0x68, its WHO_AM_I register (0x75, which reads 0x70 = 112), its acceleration and temperature as signed 16-bit numbers, 14 raw bytes of acceleration, temperature and turn rate as a list, and a write that wakes the chip (PWR_MGMT_1, 0x6B), put back as it was at the end. Nothing is written unless WHO_AM_I says it is an MPU-6500.",
  "workspace": {
    "blocks": {
      "languageVersion": 0,
      "blocks": [
        {
          "type": "evn_setup_start",
          "x": 30,
          "y": 30,
          "next": {
            "block": {
              "type": "evn_i2c_setup",
              "fields": {
                "PORT": "1"
              }
            }
          }
        },
        {
          "type": "evn_program_start",
          "x": 30,
          "y": 115,
          "next": {
            "block": {
              "type": "text_print",
              "inputs": {
                "TEXT": {
                  "block": {
                    "type": "text_join",
                    "inputs": {
                      "ADD0": {
                        "shadow": {
                          "type": "text",
                          "fields": {
                            "TEXT": "addresses answering on port 1: "
                          }
                        }
                      },
                      "ADD1": {
                        "block": {
                          "type": "evn_i2c_scan",
                          "fields": {
                            "PORT": "1"
                          }
                        }
                      }
                    },
                    "extraState": {
                      "itemCount": 2
                    }
                  }
                }
              },
              "next": {
                "block": {
                  "type": "controls_if",
                  "extraState": {
                    "hasElse": true
                  },
                  "inputs": {
                    "IF0": {
                      "block": {
                        "type": "logic_operation",
                        "fields": {
                          "OP": "AND"
                        },
                        "inputs": {
                          "A": {
                            "block": {
                              "type": "evn_i2c_probe",
                              "fields": {
                                "PORT": "1",
                                "ADDR": "68"
                              }
                            }
                          },
                          "B": {
                            "block": {
                              "type": "logic_compare",
                              "fields": {
                                "OP": "EQ"
                              },
                              "inputs": {
                                "A": {
                                  "block": {
                                    "type": "evn_i2c_read",
                                    "fields": {
                                      "PORT": "1",
                                      "ADDR": "68",
                                      "REG": "75",
                                      "FORMAT": "B"
                                    }
                                  }
                                },
                                "B": {
                                  "shadow": {
                                    "type": "math_number",
                                    "fields": {
                                      "NUM": 112
                                    }
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    },
                    "DO0": {
                      "block": {
                        "type": "evn_comment",
                        "fields": {
                          "TEXT": "PWR_MGMT_1 (0x6B): awake from power-on, but an IMU object's close() leaves the chip asleep"
                        },
                        "next": {
                          "block": {
                            "type": "variables_set",
                            "fields": {
                              "VAR": {
                                "id": "v_power"
                              }
                            },
                            "inputs": {
                              "VALUE": {
                                "block": {
                                  "type": "evn_i2c_read",
                                  "fields": {
                                    "PORT": "1",
                                    "ADDR": "68",
                                    "REG": "6B",
                                    "FORMAT": "B"
                                  }
                                }
                              }
                            },
                            "next": {
                              "block": {
                                "type": "text_print",
                                "inputs": {
                                  "TEXT": {
                                    "block": {
                                      "type": "text_join",
                                      "inputs": {
                                        "ADD0": {
                                          "shadow": {
                                            "type": "text",
                                            "fields": {
                                              "TEXT": "PWR_MGMT_1 was "
                                            }
                                          }
                                        },
                                        "ADD1": {
                                          "block": {
                                            "type": "variables_get",
                                            "fields": {
                                              "VAR": {
                                                "id": "v_power"
                                              }
                                            }
                                          }
                                        }
                                      },
                                      "extraState": {
                                        "itemCount": 2
                                      }
                                    }
                                  }
                                },
                                "next": {
                                  "block": {
                                    "type": "evn_i2c_write",
                                    "fields": {
                                      "PORT": "1",
                                      "ADDR": "68",
                                      "REG": "6B",
                                      "FORMAT": "B"
                                    },
                                    "inputs": {
                                      "VALUE": {
                                        "shadow": {
                                          "type": "math_number",
                                          "fields": {
                                            "NUM": 1
                                          }
                                        }
                                      }
                                    },
                                    "next": {
                                      "block": {
                                        "type": "evn_wait",
                                        "inputs": {
                                          "TIME": {
                                            "shadow": {
                                              "type": "math_number",
                                              "fields": {
                                                "NUM": 100
                                              }
                                            }
                                          }
                                        },
                                        "next": {
                                          "block": {
                                            "type": "evn_comment",
                                            "fields": {
                                              "TEXT": "acceleration x, y, z: signed 16 bits, high byte first; 16384 is 1 g at the 2 g range"
                                            },
                                            "next": {
                                              "block": {
                                                "type": "controls_repeat_ext",
                                                "inputs": {
                                                  "TIMES": {
                                                    "shadow": {
                                                      "type": "math_number",
                                                      "fields": {
                                                        "NUM": 5
                                                      }
                                                    }
                                                  },
                                                  "DO": {
                                                    "block": {
                                                      "type": "text_print",
                                                      "inputs": {
                                                        "TEXT": {
                                                          "block": {
                                                            "type": "text_join",
                                                            "inputs": {
                                                              "ADD0": {
                                                                "shadow": {
                                                                  "type": "text",
                                                                  "fields": {
                                                                    "TEXT": "accel x "
                                                                  }
                                                                }
                                                              },
                                                              "ADD1": {
                                                                "block": {
                                                                  "type": "evn_i2c_read",
                                                                  "fields": {
                                                                    "PORT": "1",
                                                                    "ADDR": "68",
                                                                    "REG": "3B",
                                                                    "FORMAT": ">h"
                                                                  }
                                                                }
                                                              },
                                                              "ADD2": {
                                                                "shadow": {
                                                                  "type": "text",
                                                                  "fields": {
                                                                    "TEXT": "  y "
                                                                  }
                                                                }
                                                              },
                                                              "ADD3": {
                                                                "block": {
                                                                  "type": "evn_i2c_read",
                                                                  "fields": {
                                                                    "PORT": "1",
                                                                    "ADDR": "68",
                                                                    "REG": "3D",
                                                                    "FORMAT": ">h"
                                                                  }
                                                                }
                                                              },
                                                              "ADD4": {
                                                                "shadow": {
                                                                  "type": "text",
                                                                  "fields": {
                                                                    "TEXT": "  z "
                                                                  }
                                                                }
                                                              },
                                                              "ADD5": {
                                                                "block": {
                                                                  "type": "evn_i2c_read",
                                                                  "fields": {
                                                                    "PORT": "1",
                                                                    "ADDR": "68",
                                                                    "REG": "3F",
                                                                    "FORMAT": ">h"
                                                                  }
                                                                }
                                                              }
                                                            },
                                                            "extraState": {
                                                              "itemCount": 6
                                                            }
                                                          }
                                                        }
                                                      },
                                                      "next": {
                                                        "block": {
                                                          "type": "evn_wait",
                                                          "inputs": {
                                                            "TIME": {
                                                              "shadow": {
                                                                "type": "math_number",
                                                                "fields": {
                                                                  "NUM": 200
                                                                }
                                                              }
                                                            }
                                                          }
                                                        }
                                                      }
                                                    }
                                                  }
                                                },
                                                "next": {
                                                  "block": {
                                                    "type": "text_print",
                                                    "inputs": {
                                                      "TEXT": {
                                                        "block": {
                                                          "type": "text_join",
                                                          "inputs": {
                                                            "ADD0": {
                                                              "shadow": {
                                                                "type": "text",
                                                                "fields": {
                                                                  "TEXT": "temperature "
                                                                }
                                                              }
                                                            },
                                                            "ADD1": {
                                                              "block": {
                                                                "type": "math_round",
                                                                "fields": {
                                                                  "OP": "ROUND"
                                                                },
                                                                "inputs": {
                                                                  "NUM": {
                                                                    "block": {
                                                                      "type": "math_arithmetic",
                                                                      "fields": {
                                                                        "OP": "ADD"
                                                                      },
                                                                      "inputs": {
                                                                        "A": {
                                                                          "block": {
                                                                            "type": "math_arithmetic",
                                                                            "fields": {
                                                                              "OP": "DIVIDE"
                                                                            },
                                                                            "inputs": {
                                                                              "A": {
                                                                                "block": {
                                                                                  "type": "evn_i2c_read",
                                                                                  "fields": {
                                                                                    "PORT": "1",
                                                                                    "ADDR": "68",
                                                                                    "REG": "41",
                                                                                    "FORMAT": ">h"
                                                                                  }
                                                                                }
                                                                              },
                                                                              "B": {
                                                                                "shadow": {
                                                                                  "type": "math_number",
                                                                                  "fields": {
                                                                                    "NUM": 333.87
                                                                                  }
                                                                                }
                                                                              }
                                                                            }
                                                                          }
                                                                        },
                                                                        "B": {
                                                                          "shadow": {
                                                                            "type": "math_number",
                                                                            "fields": {
                                                                              "NUM": 21
                                                                            }
                                                                          }
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                }
                                                              }
                                                            },
                                                            "ADD2": {
                                                              "shadow": {
                                                                "type": "text",
                                                                "fields": {
                                                                  "TEXT": " C"
                                                                }
                                                              }
                                                            }
                                                          },
                                                          "extraState": {
                                                            "itemCount": 3
                                                          }
                                                        }
                                                      }
                                                    },
                                                    "next": {
                                                      "block": {
                                                        "type": "text_print",
                                                        "inputs": {
                                                          "TEXT": {
                                                            "block": {
                                                              "type": "text_join",
                                                              "inputs": {
                                                                "ADD0": {
                                                                  "shadow": {
                                                                    "type": "text",
                                                                    "fields": {
                                                                      "TEXT": "14 bytes from 0x3B: "
                                                                    }
                                                                  }
                                                                },
                                                                "ADD1": {
                                                                  "block": {
                                                                    "type": "evn_i2c_read_bytes",
                                                                    "fields": {
                                                                      "PORT": "1",
                                                                      "ADDR": "68",
                                                                      "REG": "3B"
                                                                    },
                                                                    "inputs": {
                                                                      "COUNT": {
                                                                        "shadow": {
                                                                          "type": "math_number",
                                                                          "fields": {
                                                                            "NUM": 14
                                                                          }
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                }
                                                              },
                                                              "extraState": {
                                                                "itemCount": 2
                                                              }
                                                            }
                                                          }
                                                        },
                                                        "next": {
                                                          "block": {
                                                            "type": "evn_comment",
                                                            "fields": {
                                                              "TEXT": "put PWR_MGMT_1 back as it was"
                                                            },
                                                            "next": {
                                                              "block": {
                                                                "type": "evn_i2c_write",
                                                                "fields": {
                                                                  "PORT": "1",
                                                                  "ADDR": "68",
                                                                  "REG": "6B",
                                                                  "FORMAT": "B"
                                                                },
                                                                "inputs": {
                                                                  "VALUE": {
                                                                    "block": {
                                                                      "type": "variables_get",
                                                                      "fields": {
                                                                        "VAR": {
                                                                          "id": "v_power"
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                }
                                                              }
                                                            }
                                                          }
                                                        }
                                                      }
                                                    }
                                                  }
                                                }
                                              }
                                            }
                                          }
                                        }
                                      }
                                    }
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    },
                    "ELSE": {
                      "block": {
                        "type": "text_print",
                        "inputs": {
                          "TEXT": {
                            "shadow": {
                              "type": "text",
                              "fields": {
                                "TEXT": "no MPU-6500 at 0x68 on port 1: nothing written"
                              }
                            }
                          }
                        }
                      }
                    }
                  }
                }
              }
            }
          }
        }
      ]
    },
    "variables": [
      {
        "name": "power",
        "id": "v_power"
      }
    ]
  }
}