Sense HAT (C)

Sense HAT (C) I2C, AD

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Primary Attribute Category: Expansions, Raspberry Pi {{{userDefinedInfo}}}: {{{userdefinedvalue}}} Brand: Waveshare

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Overview

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 data such as temperature, humidity, and atmospheric pressure in the environment, this HAT can just meet the above requirements.

Features

• Standard Raspberry Pi 40PIN GPIO extension header, supports Raspberry Pi series boards.
• Onboard QMI8658C+AK09918 (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 SGM58031, 4-ch 16-bit precision ADC, AD expansion to support more external sensors.
• Breakout I2C control pins, for connecting other host boards like STM32 and Arduino.
• Comes with development resources and manual (examples for Raspberry Pi/STM32/Arduino).

Parameters

Product Parameters
Operating Voltage:	3.3V
Communication Interface:	I2C
Logic Voltage:	3.3V
Product Size:	65 x 30.5(mm)
Accelerometer Features:	Resolution: 16-bit
	Range (optional): ±2, ±4, ±8, ±16g
Gyrometer Features:	Resolution: 16-bit
	Range (optional): ±16, ±32, ±64, ±128, ±256, ±512, ±1024, ±2048°/sec
Magnetometer Features:	Resolution: 16-bit
	Range: ±4912µT
Barometer Characteristics:	Resolution: 24-bit pressure data, 16-bit temperature data;
	Measurement Accuracy (at room temperature): ±0.025hPa
	Measuring Range: 260 ~ 1260 hPa
	Measurement Rate: 1 Hz - 75 Hz
Temperature And Humidity Sensor Characteristics:	Measurement Accuracy (humidity): ±2% rH
	Measuring Range (humidity): 0% ~ 100% rH
	Measurement Accuracy (temperature): ±0.2°C
	Measuring Range (humidity): -30 ~ 100°C
Color Recognition Sensor	Resolution: 4 channel RGBC, 16 bits per channel
AD Conversion Chip	Resolution: 16 bits

Comparision

PK Item	Sense HAT (C)	Sense HAT (B)	Note
Gyroscope	Measurement range: ±16/32/64/128/256/512/1024/2048 dps Resolution: 16-bit	Measurement range: ±250/500/1000/2000 dps Resolution: 16 bits	C-type angular velocity range is more
Accelerometer	Measurement range: ±2/4/8/16 g Resolution: 16 bits	Measurement range: ±2/4/8/16 g Resolution: 16 bits
Magnetometer	Measurement range: ±±49.12 gauss Resolution: 16-bit	Measurement range:±49 gauss Resolution: 16-bit	C-type magnetic measurement range is wider
Barometer	Measurement range: 260 ~ 1260 hPa Measurement accuracy (at room temperature): ±0.025hPa Measurement rate: 1 Hz - 75 Hz	Measuring range: 260 ~ 1260 hPa Measurement accuracy (room temperature): ±0.025hPa Measurement rate: 1 Hz - 75 Hz
Temperature and Humidity Sensor	Measurement accuracy (humidity): ±2% rH Measurement range (humidity): 0% ~ 100% rH Measurement accuracy (temperature): ±0.2°C Measurement range (temperature): -30 ~ 100°C	Measurement accuracy (humidity): ±2% rH Measurement range (humidity): 0% ~ 100% rH Measurement accuracy (temperature): ±0.2°C Measurement range (temperature):-30 ~ 100°C
Others	Color sensor High-precision 16-bit AD conversion chip	Color sensor High-precision 16-bit AD conversion chip

User Guides for Raspberry Pi

Hardware Connection

Hardware connection as shown:
Connecting with Raspberry Pi Zero

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

Connect to Raspberry Pi Zero

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

wget https://files.waveshare.com/upload/0/04/Sense_HAT_C_Pi.zip
unzip Sense_HAT_C_Pi.zip -d Sense_HAT_C_Pi
cd Sense_HAT_C_Pi/RaspberryPi

I2C device address

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

QMI8658C: 6-axis sensor demos (STM32, BCM2835, WringPi and Python) Device address: 0x6B

AK09918C: 3-axis sensor demos (STM32, BCM2835, WringPi and Python) Device address: 0x0C

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

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

TCS34087: Color recognition sensor demos (STM32, BCM2835, WringPi and Python) 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.

IMU(QMI8658C+AK09918C)

bcm2835

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

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/IMU/bcm2835/
#pi for account 
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

WiringPi Program

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

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/IMU/wiringPi/
#pi for account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/IMU/lgpio/
#pi is the account name
sudo make clean
sudo make
sudo ./main

Expected results:

Press Ctrl + C to end the demo.

Python Demo

Enter the Linux terminal and input the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/IMU/python/
#pi is the account name
sudo python IMU.py

Expected result:

Press Ctrl + C to end the demo.

STM32

This demo is based on XNUCLEO-F103RB and exports the data by serial port 2. The wiring as shown below:

Sense HAT (C)	STM32
3V3	+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:

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 default range is 16384 LSB/g (±2g), so the actual acceleration measured is:
𝑎=Acceleration/16384 ,𝑈𝑛𝑖𝑡:𝑔
Please refer to
QMI8658C_datasheet P17

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 default range is 64 LSB/(°/s) (±500°/s), so the actual angular velocity measured is:
ω=Gyroscope/64 ,Unit:°/s
Please refer to
QMI8658C_datasheet P18

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

Enter the Linux terminal and run the following command:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/LPS22HBTR/bcm2835/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the terminal.

WiringPi Program

Enter the Linux terminal, and run the following command:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/LPS22HBTR/wiringPi/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the terminal.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/LPS22HBTR/lgpio/
#pi is the account name
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl + C to end the demo.

Python Program

Enter the Linux terminal and run the following command:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/LPS22HBTR/python/
#pi is the account name
sudo python3 LPS22HB.py

Expected result:

Press Ctrl+C to end the program.

STM32 Program

This demo is based on XNUCLEO-F103RB and outputs the data by serial port 2.
The wiring is shown below:

Sense HAT (C)	STM32
3V3	+3.3V
GND	GND
SDA	PB9
SCL	PB8

Compile and download the program:

Open SSCOM and set the baud rate as 115200.
Expected result:

SHTC3 Example

Note: The heating of the Raspberry Pi will affect the actual temperature measurement. 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 through a wire to detect it.

bcm2835

Enter the Linux terminal and run the following command:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SHTC3/bcm2835/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

WiringPi

Enter the Linux terminal and execute the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SHTC3/wiringPi/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SHTC3/lgpio/
#pi is the account name
sudo make clean
sudo make
sudo ./main

Expected results:

Press Ctrl+C to end the program.

Python Program

Enter the Linux terminal and run the following commands.

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SHTC3/python/
#pi is the account
sudo python3 SHTC3.py

Expected result:

Press Ctrl + C to end the program.

STM32 Program

This demo is based on XNUCLEO-F103RB and outputs the data by serial port 2.
The wiring is shown below:

Sense HAT (C)	STM32
3V3	+3.3V
GND	GND
SDA	PB9
SCL	PB8

Compile and download the program:

Expected result:
No error in the sensor, LED 2 is on:

When the humidity is less than 80%, LED 3 will not be on. When the humidity is greater than or equal to 80%, LED 3 will be on.

TCS34087 Demo

bcm2835

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

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/TCS34087/bcm2835/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

wiring Pi

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

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/TCS34087/wiringPi/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

lgpio Demo

Enter the Linux terminal and input the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/TCS34087/lgpio/
#pi is the account
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 /home/pi/Sense_HAT_C_Pi/RaspberryPi/TCS34087/python/
#pi is the account
sudo python main.py

Expected result:

Press Ctrl+C to end the program.

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
3V3	+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 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

SGM58031

bcm2835

Enter the Linux terminal and run the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SGM58031/bcm2835/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

WiringPi

Enter the Linux terminal and run the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SGM58031/wiringPi/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the program.

lgpio Demo

Enter the Linux terminal and enter the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SGM58031/lgpio/
#pi is the account
sudo make clean
sudo make
sudo ./main

Expected result:

Press Ctrl+C to end the demo.

python

Enter the Linux terminal and run the following commands:

cd /home/pi/Sense_HAT_C_Pi/RaspberryPi/SGM58031/python/
#pi is the account
sudo python AD.py

Expected result:

Press Ctrl+C to end the program.

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
3V3	+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 outcome:

Resource

Document

• Sense_HAT_(C)_Schematic

Program

• Sense_HAT_C_Demo

Related Resources

• Lps22hb Datasheet
• SHTC3 Datasheet.pdf
• TCS3408_datasheet
• QMI8658C datasheet
• AKM-AK09918C.pdf
• Lsf0204d.pdf
• SGM58031.pdf

FAQ

Question:Incorrect use of Raspberry Pi controls may cause?

 Answer:

If you run python or bcm2835 and then the screen fails to refresh after running the wiringPi demo. It is because bcm2835 is the library of the RPI CPU chip, which directly operates the register, wiringPi, and python control the device by reading and writing the device files of the Linux system. So it may cause the GPIO header to work abnormally. All you need to do is to reboot the Raspberry Pi.

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Question:STM32 demo serial port output has no data or 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.

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