Hillcrest Labs BNO080 Manuel utilisateur

January 2019 1000-3960 Revision 1.5

BNO080 Development Kit for Nucleo

Quick Start Guide

The BNO080 is a System in Package (SiP) that integrates a triaxial accelerometer, a triaxial gyroscope,

magnetometer and a 32-bit ARM® Cortex™-M0+ microcontroller running Hillcrest’s SH-2™ firmware.

This document is intended to provide information about the BNO080 Development Kit, the pin

connections and software provided by Hillcrest to facilitate customer integration.

1. Hardware

1.1. Introduction

The BNO080 Development Kit includes a shield known as the BNO080 (“target device”) Development

Board that is designed for quick and easy development and prototyping. The shield is designed to

connect to a number of evaluation platforms –one of which is the STM32F4x1RE Nucleo (“bridge

board”) which is developed and sold by STMicroelectronics

(ST) and is included in the BNO080

Development Kit package. The Nucleo platform includes a STM32F4x1 MCU that serves as the master to

the BNO080. This document includes details for connecting and using the BNO080 Development Kit

with the ST Nucleo prototyping platform.

Figure 1: BNO080 Development Kit with ST Nucleo

https://www.st.com/en/evaluation-tools/nucleo-f411re.html

January 2019 1000-3960 Revision 1.5

1.2. Connections

The BNO080 Development Board simply plugs into the Nucleo board and is ready to use. The reader is

encouraged to review the BNO080 Datasheet [1] for more information on the pinout configurations. The

BNO080 communicates with a host system over switch selectable serial interfaces.

Dev Board

Signal

Nucleo

J11.1

SCL

CN5.10

J11.2

SDA

CN5.9

J11.3

CN5.8

Dev Board

Signal

Nucleo

J11.4

GND

CN5.7

J9.1

CN6.1

J11.5

SCK

CN5.6

J9.2

VDD_TRGT

CN6.2

J11.6

MISO

CN5.5

J9.3

SYS_RST

CN6.3

J11.7

MOSI

CN5.4

J9.4

VDD_IO

CN6.4

J11.8

CSN

CN5.3

J9.5

CN6.5

J11.9

CN5.2

J9.6

GND

CN6.6

J11.10

CN5.1

J9.7

GND

CN6.7

J9.8

CN6.8

Dev Board

Signal

Nucleo

J12.1

CLKSEL0

CN9.8

Dev Board

Signal

Nucleo

J12.2

WAKE

CN9.7

J10.1

CN8.1

J12.3

NRST

CN9.6

J10.2

CN8.2

J12.4

BOOTN

CN9.5

J10.3

CN8.3

J12.5

INT (opt)

CN9.4

J10.4

CN8.4

J12.6

INT

CN9.3

J10.5

CN8.5

J12.7

CN9.2

J10.6

CN8.6

J12.8

CN9.1

Dev Board

Signal

NucleoNote

J7.3

RXD

CN10.21

J7.2

TXD

CN7.21

Note: Nucleo pins are not connected to the BNO080 Dev Board. External wiring is required.

Figure 2: BNO080 Development Board Interface to Nucleo Host device

The BNO080 uses the Sensor Hub Transport Protocol (SHTP) to communicate with a system or

application processor (host that connects to the BNO080). The SHTP protocol is documented in the

BNO080 datasheet, allowing a customer to potentially develop their own host software if they choose to

do so. In order to ease customer integration, Hillcrest has developed software that runs on a host

platform such as the STM32F4x1RE Nucleo series. The software driver fully implements the

communication protocol used by the BNO080. Hillcrest provides this software driver package as source

code. The BNO080 Development Kit has programmed the ST Nucleo to work with the Hillcrest PC

application to demonstrate functions. Customers who intend to use the BNO080 Development Kit for

their own software development should use the driver package to download a new firmware.

January 2019 1000-3960 Revision 1.5

1.3. Switch Configurations

There are several switches on the board which are used to configure the hardware to select the protocol

for communication with the host. The board is shipped with the I2C interface setting as the default

configuration.

The communication interface is configured by setting the protocol selection SW2 (PS0/1) pins and SW4,

SW6 appropriately.

PS1

PS0

BNO080

Transport

Protocol

I2C

UART-RVC

UART-SHTP

SPI

Figure 3: BNO080 Available Selection of Host Communication Interface

SW2

PS0

SW2

PS1

SW4

SPI

SW6

SPI

BNO080

Transport

Protocol

I2C

SPI

Don’t

care

UART-SHTP

Figure 4: Selection of Host Communication Interface in BNO080 Development Board

Figure 5: Default Switch Configuration for I2C

January 2019 1000-3960 Revision 1.5

1.4. Power Measurement Headers

Two headers are available to provide an easy way to measure the current usage of the BNO080 device.

J1 is for VDDIO and J2 is for VDD. These two jumpers must be installed for normal use. If you need to

measure the current you should remove the jumper and install a current meter.

Figure 6: Power Measurement Headers

1.5. Slave Address Selection for I2C Host Interface

The default slave address is 0x4A when SA0 is low (no jumper installed on J5). The slave address is 0x4B

when SA0 is high (jumper installed on J5).

January 2019 1000-3960 Revision 1.5

Figure 7: Slave Address Selection for I2C Host Interface

1.6. Reset Buttons

Two reset buttons are available. SW1 will reset the BNO080 and SW5 will reset the Nucleo.

Figure 8: Reset Buttons

January 2019 1000-3960 Revision 1.5

2. Software

2.1. BNO080 Development Kit

BNO080 Development Kit contains a pre-programmed STM32 Nucleo board with Hillcrest software that

allows communication between the BNO080 and Freespace™MotionStudio 2.

Freespace™MotionStudio 2 is a Windows application to allow users to control and configure the

BNO080 through a USB interface. BNO080 Development Kit can be used for a quick evaluation of the

BNO080. A generalized system diagram is shown in Figure 9.

Figure 9: Simplified System Diagram with Freespace™MotionStudio 2

2.2. Running a PC Demo Application with BNO080 Development Kit

2.2.1. Requirement

Running Freespace™MotionStudio 2 with BNO080 development kit requires the following items.

•ST-LINK/V2 USB driver available from the ST website (http://www.st.com/en/embedded-

software/stsw-link009.html).

•ST32 Virtual COM Port Driver from ST website (http://www.st.com/en/development-

tools/stsw-stm32102.html). The BNO080 software package is tested with STSW version 1.5.0.

Once you downloaded and extracted the driver, follow the readme.txt file for the instruction to

complete the installation.

•Freespace™MotionStudio 2 application from http://hillcrestlabs.com

Connect USB Type A to Mini-B cable to Nucleo board and your PC. The virtual COM port should appear

in your Device Manager.

Figure 10: Device Manager to Check Installed Driver for ST Virtual COM Port

Start Freespace™MotionStudio 2 (MotionStudio2.exe) after BNO080 development kit virtual COM port

is successfully detected in your PC.

Nucleo

Windows PC

MotionSutdio 2

(executable)

Bridge

(binary)

Preloaded

BNO080

Dev Brd

January 2019 1000-3960 Revision 1.5

2.2.2. Running PC Application

Start Freespace™MotionStudio 2

After you unzip the PC Application package, launch MotionStudio2.exe under MotionStudio2 folder. This

will open MotionStudio2 window.

Figure 11: Startup Window of Freespace™MotionStudio 2

Establish Connection to the Nucleo Board

From the menu panel on the left, select Device Connection. This panel allows users to select device type,

transport protocol and more.

•“Device Type”of the bridge is set to ST Nucleo.

•ST Link Virtual COM Port available in your PC appears in “Virtual COM Port”box.

•“Target Device”is set to SHTP over I2C by default. Check SW2/SW4/SW6 settings for transport

protocol selection. Refer to Section 1.3.

•“SA0”is set to 0. Check J5 jumper settings for I2C address selection. Refer to Section 1.5.

•Use “Connect”button to start.

January 2019 1000-3960 Revision 1.5

Figure 12 Device Connection Panel in Freespace™MotionStudio 2

Figure 13: Device Connection Window after Successful Communication in Freespace™MotionStudio 2

When connection process is completed, the three status indicator text boxes on the upper right hand

corner of the panel and the console window on the bottom would provide the result of connection

process. The three status indicators show the status of the connected system and the status of the

associated panel. If the specific panel supports the protocol used by the connected device, the panel

becomes active and shows in green color.

January 2019 1000-3960 Revision 1.5

Sensor Control

The Sensor Control panel allows the users to enable and disable the various sensors individually. There

are two ways to control sensors:

•To enable an individual sensor at a default operation rate, use the check box on the right end of

the row for each sensor.

•To enable sensors at specific rates, input the requested operation period, in microseconds, in

the 'Requested Period (us)" fields. Then click the "Set Sensor Periods" button on the top of the

panel. All sensors will be updated with specified operating period. The "Requested Period (us)"

fields which are left blanked or obtained invalid value are assumed to be "zero".

In many cases, the sensors do not operate at the exact rate as requested. The actual operating period is

shown in the "Reported Period (us)" field. Users can also use the "Get Sensor Periods" button on top of

the panel to refresh the actual operating period for all sensors.

Figure 14: Sensor Control Panel in Freespace™MotionStudio 2

Virtual Object

Virtual Object panel shows the orientation of the device. Please note that you need to enable sensors in

Sensor Control panel, select the sensor from the drop down menu in Virtual Object panel. The sword in

the Virtual Object will move according to the device orientation.

January 2019 1000-3960 Revision 1.5

To adjust the camera position, move the cursor to the Virtual object Panel, then press the LEFT mouse

button. Hold the button down and move the mouse to change the view position. To reset the camera

position, use the "Reset Camera Position" button.

To display the game rotation vectors, select the game rotation vectors from the drop down menu, the

data fields should start updating with the received sensor data. The virtual object will move according to

the orientation of the hardware. Use the Sensor Control Panel to enable or disabl the specific sensor.

This panel does not control the sensor but displays the output data.

Figure 15: Virtual Object Panel in Freespace™MotionStudio 2

Y+

X+

Z+

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