WSEN-ISDS: add support for temperature sensor

ThomasFarstrike · ThomasFarstrike · commit c60712f97d35 · 2025-12-07T15:43:28.000+01:00
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,13 +3,14 @@
 - Fri3d Camp 2024 Board: add startup light and sound
 - Fri3d Camp 2024 Board: workaround ADC2+WiFi conflict by temporarily disable WiFi to measure battery level
 - Fri3d Camp 2024 Board: improve battery monitor calibration to fix 0.1V delta
+- Fri3d Camp 2024 Board: add WSEN-ISDS 6-Axis Inertial Measurement Unit (IMU) support (including temperature)
 - API: improve and cleanup animations
 - API: SharedPreferences: add erase_all() function
 - API: add defaults handling to SharedPreferences and only save non-defaults
 - API: restore sys.path after starting app
 - API: add AudioFlinger for audio playback (i2s DAC and buzzer)
 - API: add LightsManager for multicolor LEDs
-- API: add SensorManager for IMU/accelerometers, temperature sensors etc.
+- API: add SensorManager for generic handling of IMUs and temperature sensors
 - About app: add free, used and total storage space info
 - AppStore app: remove unnecessary scrollbar over publisher's name
 - Camera app: massive overhaul!
diff --git a/internal_filesystem/lib/mpos/hardware/drivers/wsen_isds.py b/internal_filesystem/lib/mpos/hardware/drivers/wsen_isds.py
@@ -35,6 +35,8 @@ class Wsen_Isds:
     _ISDS_STATUS_REG = 0x1E  # Status data register
     _ISDS_WHO_AM_I = 0x0F    # WHO_AM_I register
 
+    _REG_TEMP_OUT_L = 0x20
+
     _REG_G_X_OUT_L = 0x22
     _REG_G_Y_OUT_L = 0x24
     _REG_G_Z_OUT_L = 0x26
@@ -354,6 +356,20 @@ def read_angular_velocities(self):
 
         return g_x, g_y, g_z
 
+    @property
+    def temperature(self) -> float:
+        temp_raw = self._read_raw_temperature()
+        return ((temp_raw / 256.0) + 25.0)
+
+    def _read_raw_temperature(self):
+        """Read raw temperature data."""
+        if not self._temp_data_ready():
+            raise Exception("temp sensor data not ready")
+
+        raw = self.i2c.readfrom_mem(self.address, Wsen_Isds._REG_TEMP_OUT_L, 2)
+        raw_temp = self._convert_from_raw(raw[0], raw[1])
+        return raw_temp
+
     def _read_raw_angular_velocities(self):
         """Read raw gyroscope data."""
         if not self._gyro_data_ready():
@@ -420,6 +436,10 @@ def _gyro_data_ready(self):
         """Check if gyroscope data is ready."""
         return self._get_status_reg()[1]
 
+    def _temp_data_ready(self):
+        """Check if accelerometer data is ready."""
+        return self._get_status_reg()[2]
+
     def _acc_gyro_data_ready(self):
         """Check if both accelerometer and gyroscope data are ready."""
         status_reg = self._get_status_reg()
diff --git a/internal_filesystem/lib/mpos/sensor_manager.py b/internal_filesystem/lib/mpos/sensor_manager.py
@@ -697,9 +697,7 @@ def read_gyroscope(self):
         )
 
     def read_temperature(self):
-        """Read temperature in °C (not implemented in WSEN_ISDS driver)."""
-        # WSEN_ISDS has temperature sensor but not exposed in current driver
-        return None
+        return self.sensor.temperature
 
     def calibrate_accelerometer(self, samples):
         """Calibrate accelerometer using hardware calibration."""
@@ -807,6 +805,15 @@ def _register_wsen_isds_sensors():
             max_range="±500 deg/s",
             resolution="0.0175 deg/s",
             power_ma=0.65
+        ),
+        Sensor(
+            name="WSEN_ISDS Temperature",
+            sensor_type=TYPE_IMU_TEMPERATURE,
+            vendor="Würth Elektronik",
+            version=1,
+            max_range="-40°C to +85°C",
+            resolution="0.004°C",
+            power_ma=0
         )
     ]
 
