Sense HAT (B)

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

Introduction

It is a sensor expansion board specially designed for Raspberry Pi. It has on-board 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 the environment
Onboard LPS22HB barometric pressure sensor, allows monitoring the environment
Onboard TCS34725 color sensor, identifies the color of 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 development resources and manual (examples for Raspberry Pi/STM32)

Specification

**Specification of Sense HAT (B)**
Working voltage	3.3V
Interface	I2C
Dimension	65mm x 30.5mm
Accelerometer	Resolution: 16-bit
Accelerometer	Ranging:±2/±4/±8/±16g
Gyoscope	Resolution: 16-bits
Gyoscope	Ranging:±250/±500/±1000/±2000°/sec
Magnetometer	Resolution: 16-bits
Magnetometer	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 the Raspberry Pi:

Physical hardware connection diagram:
Connect to Raspberry Pi Zero

Connect to Raspberry Pi 4 (required to add a 2x20PIN female 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 Function

BCM2835

#Open Raspberry Pi terminal and execute
wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.68.tar.gz
tar zxvf bcm2835-1.68.tar.gz 
cd bcm2835-1.68/
sudo ./configure && sudo make && sudo make check && sudo make install
# more refer to the link：http://www.airspayce.com/mikem/bcm2835/

wiring Pi

#Open Raspberry Pi terminal and execute
sudo apt-get install wiringpi
#For Raspberry Pi systems after May 2019 (earlier than before, it is not necessary to execute), 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 does not appear, the installation is wrong.

#Bullseye Branch systems use the following commands:
git clone https://github.com/WiringPi/WiringPi
cd WiringPi
./build
gpio -v
# Run gpio -v and version 2.60 will appear. If it does not appear, the installation is wrong.

Python

sudo apt-get update
#python2
sudo apt-get install python-pip 
sudo pip install RPi.GPIO
sudo pip install spidev
sudo apt-get install python-smbus
#python3
sudo apt-get install python-pip3 
sudo pip3 install RPi.GPIO
sudo pip3 install spidev
sudo apt-get install python3-smbus

Download Demo

sudo apt-get install p7zip-full
wget http://www.waveshare.net/w/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.

ICM20948 examples

bcm2835 example

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

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

Press Ctrl+C to end the program

WiringPi example

Open terminal of Linux, run 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 program

Python

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

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

Expected result:

Press Ctrl+C to end the program

STM32 example

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
Expected result:

Parameter calibration and calculation

Calculate acceleration

The unit of acceleration measured by the program is LSB (least significant bit), and the unit is often converted to gravitational acceleration (g) in actual use. The sample program 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

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 terminal of Linux, Compile codes and run example by command:

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

Expected result:

Press Ctrl+C to end the program

wiring Pi demo

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

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

Expected result:

Press Ctrl+C to end the program

python

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

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

Expected result:

Press Ctrl+C to end the program

STM32

This routine 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

SHTC3

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 and connect it with a wire to detect it.

BCM2835 demo

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

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

Expected result:

Press Ctrl+C to end the program

wiring Pi

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

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

Expected result:
Press Ctrl+C to end the program

python

Open terminal of Linux, Compile codes and run example by command:
cd SHTC3/Raspberry\ Pi/python/ sudo python3 SHTC3.py Expected result:
Press Ctrl+C to end the program

STM32

This routine 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 demo

bcm2835

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

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

Expected result:

Press Ctrl+C to end the program

wiring Pi

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

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

Expected result:

Press Ctrl+C to end the program

Python

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

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

Expected result:
Press Ctrl+C to end the program

STM32

This routine 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
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/
Download:
https://www.waveshare.net/w/upload/0/05/Hexacolor3.7z

ADS1015

bcm2835

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

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

Expected result:

Press Ctrl+C to end the program

Wiring Pi

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

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

Expected result:

Python

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

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

Expected result:

Press Ctrl+C to end the program

STM32

This routine 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

Schematic

Demo code

Code

Datasheet

FAQ

Question:

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

Answer:

For the BCM2835 and wiringPi demo such prompts appear,

If Python demo occurs the above problem, this 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, 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:

Incorrect use of Raspberry Pi controls may cause?

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 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.

Support

If you require technical support, please go to the Support page and open a ticket.