Sense HAT (B)

Sense HAT (B) Sense HAT (B) for Raspberry Pi, Onboard Multi Powerful Sensors, Supports External Sensors

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Onboard Interfaces I2C AD

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Introduction

It is a sensor expansion board specially designed for Raspberry Pi. It has an onboard gyroscope, accelerometer, magnetometer, barometer, temperature and humidity sensor, etc. I2C interface communication supports more external sensors. If you want to DIY the Raspberry Pi into a robot that can detect motion posture and orientation, or if you want the Raspberry Pi to collect sensor data such as temperature, humidity, and atmospheric pressure in the surrounding environment.

More

Feature

• Standard Raspberry Pi 40PIN GPIO extension header, supports Raspberry Pi series boards.
• Onboard ICM20948 (3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer), detects movement, orientation, and magnetic.
• Onboard SHTC3 digital temperature and humidity sensor, allows monitoring of the environment.
• Onboard LPS22HB barometric pressure sensor, allows monitoring of the environment.
• Onboard TCS34725 color sensor, identifies the color of a nearby object.
• Onboard ADS1015 ADC, 4-ch 12-bit precision, AD expansion to support more external sensors.
• Brings I2C control pins, for connecting other host boards like STM32.
• Comes with online development resources and manual (examples for Raspberry Pi/STM32).

Specification

Sense HAT (B) Specification

Working voltage	3.3V
Interface	I2C
Dimension	65mm x 30.5mm
Accelerometer	Resolution: 16-bit
	Ranging:±2/±4/±8/±16g
Gyoscope	Resolution: 16-bits
	Ranging:±250/±500/±1000/±2000°/sec
Magnetometer	Resolution: 16-bits
	Ranging:±4900µT
Barometer	Resolution:24-bits (Pressure), 16-bits(Temperature)
	Accuracy (ordinary temperature): ±0.025hPa
	Speed: 1 Hz - 75 Hz
Temperature & Humidity	Accuracy (humidity):±2% rH
	Ranging(humidity): 0% ~ 100% rH
	Accuracy(temperature): ±0.2°C
	Ranging(temperature): -30 ~ 100°C
Color sensor	Resolution: 4-channels RGBC, 16-bits per channel
ADC	Resolution: 12-bits

Product PK

User Guides for Raspberry Pi

Hardware connection

The pins used to connect to the Raspberry Pi are shown on the right:

Hardware connection diagram:
Connect to Raspberry Pi Zero (pin header is not required)

Connect to Raspberry Pi 4 (requires a pin header )

Open I2C Interface

• Open the Raspberry Pi terminal and enter the following command to enter the configuration interface.

sudo raspi-config 
Choose Interfacing Options -> I2C -> yes start i2C kernel driver

and then reboot Raspberry Pi.

sudo reboot

Install Library

If you use the bookworm system, you can only use lgpio library, bcm2835 and wiringPi can't be installed and used.

BCM2835

#Open the Raspberry Pi terminal and run the following command
wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.71.tar.gz
tar zxvf bcm2835-1.71.tar.gz 
cd bcm2835-1.71/
sudo ./configure && sudo make && sudo make check && sudo make install
# For more, you can refer to the official website at: http://www.airspayce.com/mikem/bcm2835/

WiringPi

#Open the Raspberry Pi terminal and run the following command
cd
sudo apt-get install wiringpi
#For Raspberry Pi systems after May 2019 (earlier than that can be executed without), an upgrade may be required:
wget https://project-downloads.drogon.net/wiringpi-latest.deb
sudo dpkg -i wiringpi-latest.deb
gpio -v
# Run gpio -v and version 2.52 will appear, if it doesn't it means there was an installation error

# Bullseye branch system using the following command:
git clone https://github.com/WiringPi/WiringPi
cd WiringPi
. /build
gpio -v
# Run gpio -v and version 2.70 will appear, if it doesn't it means there was an installation error

lgpio

#Open the Raspberry Pi terminal and run the following command
wget https://github.com/joan2937/lg/archive/master.zip
unzip master.zip
cd lg-master
sudo make install

# You can refer to the official website for more: https://github.com/gpiozero/lg

Python

sudo apt update
sudo apt install python3-pip 
sudo apt install python3-spidev
sudo apt install python3-smbus

Download Demo

sudo apt-get install p7zip-full
wget https://files.waveshare.com/upload/6/6c/Sense-HAT-B-Demo.7z
7z x Sense-HAT-B-Demo.7z -O./Sense-HAT-B-Demo
cd Sense-HAT-B-Demo

I2C device address

ADS1015: AD conversion demo (STM32, BCM2835, WringPi and Python four demos) Device address: 0x48 

ICM-20948: 9-axis sensor demo (STM32, BCM2835, WringPi and Python four demos) Device address: 0x68

LPS22HB: Air pressure sensor demo (STM32, BCM2835, WringPi, and Python four demos) Device address: 0x5C

SHTC3: Temperature and humidity sensor demo (STM32, BCM2835, WringPi, and Python four demos) Device address: 0x70

TCS34725: Color recognition sensor demo (STM32, BCM2835, WringPi and Python four demos) Device address: 0x29

Note: The I2C addresses of all the sensors of this module are different, and the user can use all the sensors on the board at the same time.

VisionFive2 Preparation

Install Library

apt-get install pip
pip install VisionFive.gpio
apt-get install python3-numpy
apt-get install python3-pil
apt-get install python3-smbus

Download Demo

apt-get install p7zip-full
wget https://files.waveshare.com/upload/6/6c/Sense-HAT-B-Demo.7z
7z x Sense-HAT-B-Demo.7z -O./Sense-HAT-B-Demo
cd Sense-HAT-B-Demo

ICM20948 Examples—9-axis Sensor Demo

bcm2835

Open the terminal of Linux, compile codes, and run the example by command:

cd ICM-20948/Raspberry\ Pi/bcm2835/
sudo make clean
sudo make
sudo ./ICM20948_DEMO

Press Ctrl+C to end the demo.

WiringPi

Open the terminal of Linux, run the example by command:

cd ICM-20948/Raspberry\ Pi/wiringPi/
sudo make clean
sudo make
sudo ./ICM20948_DEMO

Expected result:

Press Ctrl+C to end the demo.

lgpio Demo

Open the terminal of Linux, compile codes, and run the example by command:

cd ICM-20948/Raspberry\ Pi/lgpio/
sudo make clean
sudo make
sudo ./ICM20948_DEMO

Expected results:

Press Ctrl+C to end the demo.

Python

Open the terminal of Linux, compile codes, and run the example by command:

cd ICM-20948/Raspberry\ Pi/python/
sudo python3 ICM20948.py

Expected result:

Press Ctrl+C to end the demo.

VisionFive2 Demo

Enter the Linux terminal and run the following commands in the terminal:

cd ICM-20948/VisionFive2
python3 ICM20948.py

Press Ctrl+C to end the demo.

STM32 Example

This demo is based on the XNUCLEO-F103RB development board and outputs data through serial port 2. The connection is as follows:

Sense HAT (B)	STM32
VCC (Note: jumper cap should jump to the corresponding position)	+5V/+3.3V
GND	GND
SDA	PB9
SCL	PB8

Compile and download the demo:

Open the serial port assistant and set the baud rate to 115200.
Expected result:

Parameter Calibration And Calculation

Calculate Acceleration

The unit of acceleration measured by the demo is LSB (least significant bit), and the unit is often converted to gravitational acceleration (g) in actual use. The sample demo of the module sets AFS_SEL=0 by default, and the corresponding range is 16384 LSB/g (±2g), so the actual acceleration measured is:

Please refer to ICM-20948-v1.3.pdf P12.

Calculate Gyroscope Angular Velocity

The unit of angular velocity measured by the program is LSB (least significant bit). In practice, the unit is often converted to angular velocity (°/sec). The sample program of the module sets FS_SEL=2 by default, and the corresponding range is 32.8 LSB/(°/s) (±1000°/s), so the actual angular velocity measured is:

Please refer to ICM-20948-v1.3.pdf P11.

LPS22HBTR Example—Air Pressure Sensor Demo

Note: The temperature detection of the air pressure sensor is only used for compensation. For accurate temperature detection, please observe the value of the SHTC3 temperature and humidity sensor.

bcm2835 Demo

Open the terminal of Linux, compile codes, and run the example by command:

cd LPS22HBTR/Raspberry\ Pi/bcm2835/
sudo make clean
sudo make
sudo ./LPS22HB

Expected result:

Press Ctrl+C to end the demo.

Wiring Pi demo

Open the terminal of Linux, compile codes, and run the example by command:

cd LPS22HBTR/Raspberry\ Pi/wiringPi/
sudo make clean
sudo make
sudo ./LPS22HB

Expected result:

Press Ctrl+C to end the demo.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd LPS22HBTR/Raspberry\ Pi/lgpio/
sudo make clean
sudo make
sudo ./LPS22HB

Expected results:

Press Ctrl+C to end the demo.

python

Open the terminal of Linux, compile codes, and run the example by command:

cd LPS22HBTR/Raspberry\ Pi/python/
sudo python3 LPS22HB.py

Expected result:

Press Ctrl+C to end the demo.

VisionFive2 Demo

Enter the Linux terminal and run the following commands in the terminal:

cd LPS22HB/VisionFive2
python3 LPS22HB.py

Press Ctrl+C to end the terminal.

STM32

This demo is based on the XNUCLEO-F103RB development board and outputs data through serial port 2. The connection is as follows:

Sense HAT (B)	STM32
VCC (Note: jumper cap should jump to the corresponding position)	+5V/+3.3V
GND	GND
SDA	PB9
SCL	PB8

Compile and download the program:

Open the serial port assistant and set the baud rate to 115200.
Expected result:

SHTC3 Example—Temperature and Humidity Sensor Demo

Note: The heating of the Raspberry Pi will affect the actual measured temperature. The board has an I2C interface. If you need an accurate ambient temperature, you can separate the Raspberry Pi from the module for a distance and connect it with a cable to test it.

BCM2835 demo

Open the terminal of Linux, compile codes, and run the example by command:

cd SHTC3/Raspberry\ Pi/bcm2835/
sudo make clean
sudo make
sudo ./SHTC3

Expected result:

Press Ctrl+C to end the demo.

wiring Pi

Open the terminal of Linux, compile codes, and run the example by command:

cd SHTC3/Raspberry\ Pi/wiringPi/
sudo make clean
sudo make
sudo ./SHTC3

Expected result:

Press Ctrl+C to end the demo.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd SHTC3/Raspberry\ Pi/lgpio/
sudo make clean
sudo make
sudo ./SHTC3

Press Ctrl+C to end the demo.

python

Open the terminal of Linux, compile codes, and run the example by command:

cd SHTC3/Raspberry\ Pi/python/
sudo python3 SHTC3.py

Expected result:

Press Ctrl+C to end the demo.

VisionFive Demo

Enter the Linux terminal and execute the following command in the terminal:

cd SHTC3/VisionFive2
python3 SHTC3.py

Press Ctrl+C to end the demo.

STM32

This demo is based on the XNUCLEO-F103RB development board and outputs data through serial port 2.
The connection is as follows:

Compile and download the program:

Expected result:
The sensor is ok with no errors, LED2 is on:

When the air humidity is lower than 80%, LED3 does not light up. LED3 lights up when the air humidity is greater than or equal to 80%.

TCS34725 Example—Color Recognition Sensor Demo

Raspberry Pi 5 currently cannot recognize the TCS34725; reason: TCS34725 is not responding.

bcm2835

Open the terminal of Linux, compile codes, and run the example by command:

cd TCS34725/Raspberry\ Pi/bcm2835/
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the demo.

wiring Pi

Open the terminal of Linux, compile codes, and run the example by command:

cd TCS34725/Raspberry\ Pi/wiringPi/
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the demo.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd TCS34725/Raspberry\ Pi/lgpio/
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the demo.

Python

Open the terminal of Linux, compile codes, and run the example by command:

cd TCS34725/RaspberryPi/python3/
sudo python3 main.py

Expected result:

Press Ctrl+C to end the demo.

VisionFive2 Demo

Enter the Linux terminal, and execute the following commands in the terminal:
Install pygame library:

apt-get install pygame

Run the demo:

cd TCS34725/VisionFive2
python3 main.py

Press Ctrl+C to end the demo.

STM32

This demo is based on the XNUCLEO-F103RB development board and outputs data through serial port 2.
The connection is as follows:

Sense HAT (B)	STM32
VCC (Note: jumper cap should jump to the corresponding position)	+5V/+3.3V
GND	GND
SDA	PB9
SCL	PB8

Compile and download the demo:

Open the SSCOM and set the baud rate to 115200.
Expected outcome:

How to convert this data to color? The following introduces a tool, copy it to the browser and open it.

https://www.sioe.cn/yingyong/yanse-rgb-16/

Or download:

https://files.waveshare.com/upload/0/05/Hexacolor3.7z

ADS1015 Example—AD Conversion

bcm2835

Open the terminal of Linux, compile codes, and run the example by command:

cd ADS1015/Raspberry\ Pi/bcm2835/
sudo make clean
sudo make
sudo ./AD

Expected result:

Press Ctrl+C to end the demo.

Wiring Pi

Open the terminal of Linux, compile codes, and run the example by command:

cd ADS1015/Raspberry\ Pi/wiringPi/
sudo make clean
sudo make
sudo ./AD

Expected result:

Press Ctrl+C to end the demo.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd ADS1015/Raspberry\ Pi/lgpio/
sudo make clean
sudo make
sudo ./AD

Expected result:

Press Ctrl+C to end the demo.

Python

Open the terminal of Linux, compile codes, and run the example by command:

cd ADS1015/Raspberry\ Pi/python/
sudo python3 AD.py

Expected result:

Press Ctrl+C to end the demo.

VisionFive2 Demo

Enter the Linux terminal and execute the following commands in the terminal:

cd ADS1015/VisionFive2
python3 AD.py

Press Ctrl+C to end the demo.

STM32

This demo is based on the XNUCLEO-F103RB development board and outputs data through serial port 2. The connection is as follows:

Compile and download the program:

Open the serial port assistant and set the baud rate to 115200.

Resources

Document

• Schematic

Demo code

• Code

Datasheet

• ADS1015
• ICM-20948
• LPS22HBTR
• LSF0204
• SHTC3
• TCS34725

FAQ

Question: Why the Raspberry Pi demo failed to initialize? (The following takes the TC34725 color recognition sensor as an example)

Answer: For the BCM2835 and wiringPi demo such prompts appear, If a Python demo occurs the above problem, is a device data I2C data transfer error. Most of them are hardware connection errors, please check whether the hardware connection is correct, check whether there is any problem with the hardware connection, and run i2cdetect -y 1 If the IIC address is displayed, it means that the hardware connection is no problem. If the hardware connection is correct, it may be caused by incorrect use of Raspberry Pi control (see below for details), just restart the Raspberry Pi.

Question: What will happen if using the Raspberry Pi controls incorrectly?

Answer: If running the wiringPi demo is normal, then running Python or BCM2835 may cause the screen to fail to refresh normally, because the bcm2835 library is a library function of the Raspberry Pi CPU chip, and the bottom layer is to directly operate the registers, while the bottom layer of the wiringPi library and python are through reading and writing device file of the Linux system to operate the device, which may cause the GPIO port to be abnormal. In this case, restarting the Raspberry Pi can solve the problem perfectly.

Question: What should I do if the serial port output of the STM32 demo has no data or the data output is garbled?

Answer: Confirm whether the baud rate is set to 115200. For the STM32 routine, please confirm that the computer is correctly connected to the development board USART2 (PA2, PA3), PA2 is TXD, and the correct COM port is selected. Control Panel -> Hardware -> Device Manager.

Question: The serial port output data of the STM32 demo is all 0 or does the initialization fails? As shown.

Answer: Confirm that there is no problem with the device connection, if there is no problem, please press the reset button.

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