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| <div class="section" id="enabling-an-off-board-sensor-in-an-existing-application"> |
| <h1>Enabling an Off-Board Sensor in an Existing Application<a class="headerlink" href="#enabling-an-off-board-sensor-in-an-existing-application" title="Permalink to this headline">¶</a></h1> |
| <p>This tutorial shows you how to enable an existing application to run on |
| a device with an off-board sensor device connected to it. It allows you |
| to quickly bring up and run a Mynewt application on a device to view |
| sensor data from a sensor device.</p> |
| <p>We use the <strong>sensors_test</strong> application running on an nRF52-DK board to |
| communicate, via the I2C interface, with the <span class="xref std std-doc">Adafruit |
| BNO055</span> |
| sensor. The sensors_test application is a sample application that |
| demonstrates all the features of the Mynewt sensor framework. The |
| application includes the sensor framework <code class="docutils literal notranslate"><span class="pre">sensor</span></code> shell command that |
| allows you to view the sensors and sensor data managed by the sensor |
| framework, and the <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell command that allows you to control |
| and query the BNO055 device and to view the sensor data.</p> |
| <p>This tutorial shows you how to:</p> |
| <ul class="simple"> |
| <li><p>Create and build the application and bootloader targets.</p></li> |
| <li><p>Connect a BNO055 sensor device to an nRF52-DK board.</p></li> |
| <li><p>Run <code class="docutils literal notranslate"><span class="pre">sensor</span></code> and <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell commands to view the sensor data |
| and control the bno055 sensor device.</p></li> |
| </ul> |
| <div class="contents local topic" id="contents"> |
| <ul class="simple"> |
| <li><p><a class="reference internal" href="#prerequisites" id="id1">Prerequisites</a></p></li> |
| <li><p><a class="reference internal" href="#description-of-the-packages-needed-for-the-sample-application" id="id2">Description of the Packages Needed for the Sample Application</a></p></li> |
| <li><p><a class="reference internal" href="#step-1-creating-the-application-target" id="id3">Step 1: Creating the Application Target</a></p></li> |
| <li><p><a class="reference internal" href="#step-2-creating-the-bootloader-target" id="id4">Step 2: Creating the Bootloader Target</a></p></li> |
| <li><p><a class="reference internal" href="#step-3-building-the-bootloader-and-application-image" id="id5">Step 3: Building the Bootloader and Application Image</a></p></li> |
| <li><p><a class="reference internal" href="#step-4-creating-an-application-image" id="id6">Step 4: Creating an Application Image</a></p></li> |
| <li><p><a class="reference internal" href="#step-5-connecting-the-bno055-sensor-to-the-nrf52-dk-board" id="id7">Step 5: Connecting the BNO055 Sensor to the nRF52-DK Board</a></p></li> |
| <li><p><a class="reference internal" href="#step-6-connecting-the-nrf52-dk-board-to-your-computer" id="id8">Step 6: Connecting the nRF52-DK Board to your Computer</a></p></li> |
| <li><p><a class="reference internal" href="#step-7-loading-the-bootloader-and-the-application-image" id="id9">Step 7: Loading the Bootloader and the Application Image</a></p></li> |
| <li><p><a class="reference internal" href="#step-8-using-a-terminal-emulator-to-connect-to-the-application-console" id="id10">Step 8: Using a Terminal Emulator to Connect to the Application Console</a></p></li> |
| <li><p><a class="reference internal" href="#step-9-viewing-the-registered-sensors-and-sensor-data" id="id11">Step 9: Viewing the Registered Sensors and Sensor Data</a></p> |
| <ul> |
| <li><p><a class="reference internal" href="#listing-the-registered-sensors" id="id12">Listing the Registered Sensors</a></p></li> |
| <li><p><a class="reference internal" href="#listing-the-types-that-a-sensor-supports" id="id13">Listing the Types that a Sensor Supports</a></p></li> |
| <li><p><a class="reference internal" href="#viewing-sensor-data-samples" id="id14">Viewing Sensor Data Samples</a></p></li> |
| </ul> |
| </li> |
| <li><p><a class="reference internal" href="#step-10-controlling-and-viewing-sensor-device-hardware-and-sensor-data" id="id15">Step 10: Controlling and Viewing Sensor Device Hardware and Sensor Data</a></p></li> |
| <li><p><a class="reference internal" href="#next-steps" id="id16">Next Steps</a></p></li> |
| </ul> |
| </div> |
| <div class="section" id="prerequisites"> |
| <h2><a class="toc-backref" href="#id1">Prerequisites</a><a class="headerlink" href="#prerequisites" title="Permalink to this headline">¶</a></h2> |
| <ul class="simple"> |
| <li><p>Meet the prerequisites listed in <a class="reference internal" href="sensors.html"><span class="doc">Sensor |
| Tutorials</span></a></p></li> |
| <li><p>Have a Nordic nRF52-DK board.</p></li> |
| <li><p>Have an <a class="reference external" href="https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/overview">Adafruit |
| BNO055</a> |
| sensor.</p></li> |
| <li><p>Have a <a class="reference internal" href="../../get_started/serial_access.html"><span class="doc">serial port setup</span></a></p></li> |
| <li><p>Install the <a class="reference external" href="https://www.segger.com/jlink-software.html">Segger JLINK software and documentation |
| pack</a>.</p></li> |
| </ul> |
| </div> |
| <div class="section" id="description-of-the-packages-needed-for-the-sample-application"> |
| <h2><a class="toc-backref" href="#id2">Description of the Packages Needed for the Sample Application</a><a class="headerlink" href="#description-of-the-packages-needed-for-the-sample-application" title="Permalink to this headline">¶</a></h2> |
| <p>The sensors_test application includes all the packages, and sets the |
| syscfg settings to values, that are required to enable the full set of |
| sensor framework features. This tutorial uses a subset of the |
| sensors_test application functionality because the objective of the |
| tutorial is to show you how to quickly bring up the sensors_test |
| application and use the <code class="docutils literal notranslate"><span class="pre">sensor</span></code> and <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell commands to view |
| the sensor data from the BNO055 sensor. The instructions in this |
| tutorial show the syscfg settings that must be enabled in the |
| sensors_test application to demonstrate the examples shown. The |
| instructions do not explicity exclude the packages or change the syscfg |
| setting values to disable the functionality that is not used in the |
| sensors_test application.</p> |
| <p>For your reference, we describe the packages and the setting values that |
| enable the application functionality that this tutorial demonstrates:</p> |
| <ul> |
| <li><p><strong>hw/sensor</strong>: The sensor framework package. This package defines the |
| <code class="docutils literal notranslate"><span class="pre">SENSOR_CLI</span></code> setting that specifies whether the <code class="docutils literal notranslate"><span class="pre">sensor</span></code> shell |
| command is enabled. This setting is enabled by default.</p></li> |
| <li><p><strong>hw/sensor/creator</strong>: The sensor creator package. This package |
| supports off-board sensor devices. This package creates the os |
| devices in the kernel for the sensors and configures the sensor |
| devices with default values. It defines a syscfg setting for each |
| sensor device and uses the naming convention <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_OFB</span></code>. |
| For example, the syscfg setting for the BNO055 sensor is |
| <code class="docutils literal notranslate"><span class="pre">BNO055_OFB</span></code>. The <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_OFB</span></code> setting specifies whether |
| the sensor named SENSORNAME is enabled. The setting is disabled by |
| default. This package includes the sensor device driver package |
| <code class="docutils literal notranslate"><span class="pre">hw/drivers/sensors/<sensorname></span></code> and creates and configures a |
| sensor named SENSORNAME when the <code class="docutils literal notranslate"><span class="pre">SENSORNAME_OFB</span></code> setting is |
| enabled by the application.</p></li> |
| <li><p><strong>hw/drivers/sensors/bno055</strong>: The driver package for the BNO055 |
| sensor. The creator package adds this package as a package dependency |
| when the <code class="docutils literal notranslate"><span class="pre">BNO055_OFB</span></code> setting is enabled. The driver package |
| defines the <code class="docutils literal notranslate"><span class="pre">BNO055_CLI</span></code> setting that specfies whether the |
| <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell command is enabled. This setting is disabled by |
| default and is enabled by the application. The package also exports |
| the <code class="docutils literal notranslate"><span class="pre">bno055_shell_init()</span></code> function that an application calls to |
| initialize the driver shell support.</p> |
| <p><strong>Note:</strong> All sensor driver packages that support a sensor shell |
| command define a syscfg setting to specify whether the shell command |
| is enabled. They also export a shell initialization function that an |
| application must call. The naming convention is <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_CLI</span></code> |
| for the syscfg setting and <code class="docutils literal notranslate"><span class="pre"><sensorname>_shell_init()</span></code> for the |
| initialization function.</p> |
| </li> |
| <li><p><strong>sys/shell</strong> and <strong>sys/console/full</strong>: The shell and console |
| packages for shell support over the console. The <code class="docutils literal notranslate"><span class="pre">SHELL_TASK</span></code> |
| setting needs to be set to enable the shell support in the package. |
| The sensors_test application enables this setting by default.</p></li> |
| </ul> |
| </div> |
| <div class="section" id="step-1-creating-the-application-target"> |
| <h2><a class="toc-backref" href="#id3">Step 1: Creating the Application Target</a><a class="headerlink" href="#step-1-creating-the-application-target" title="Permalink to this headline">¶</a></h2> |
| <p>In this step, you create a target for the sensors_test application that enables the BNO055 |
| off-board sensor.</p> |
| <p>To add the BNO055 sensor support, you create the application target with |
| the following syscfg settings enabled:</p> |
| <ul> |
| <li><p><code class="docutils literal notranslate"><span class="pre">I2C_0</span></code>: Enables the I2C interface 0 in the nRF52 BSP HAL setting.</p></li> |
| <li><div class="line-block"> |
| <div class="line"><code class="docutils literal notranslate"><span class="pre">BNO055_OFB</span></code>: Enables support for the BNO055 sensor in the sensor |
| creator package (<code class="docutils literal notranslate"><span class="pre">hw/sensor/creator</span></code>).</div> |
| <div class="line">When this setting is enabled, the creator package performs the |
| following:</div> |
| </div> |
| <ul class="simple"> |
| <li><p>Includes the BNO055 driver package (<code class="docutils literal notranslate"><span class="pre">hw/drivers/sensors/bno055</span></code>) |
| as a package dependency.</p></li> |
| <li><p>Creates an os device for the sensor in the Mynewt kernel.</p></li> |
| <li><p>Configures the sensor device with default values.</p></li> |
| </ul> |
| </li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">BNO055_CLI</span></code>: Enables the <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell command in the bno055 |
| device driver package. The sensors_test application also uses this |
| setting to conditionally include the call to the |
| <code class="docutils literal notranslate"><span class="pre">bno055_shell_init()</span></code> function to initialize the shell support in |
| the driver.</p></li> |
| </ul> |
| <p><strong>Note:</strong> This tutorial uses the <code class="docutils literal notranslate"><span class="pre">sensor</span></code> and the <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell |
| commands. The <code class="docutils literal notranslate"><span class="pre">SENSOR_CLI</span></code> setting, that specifies whether the |
| <code class="docutils literal notranslate"><span class="pre">sensor</span></code> shell command is enabled, is enabled by default.</p> |
| <p>1. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span> <span class="pre">create</span></code> command, from your project base |
| directory, to create the target. We name the target |
| <code class="docutils literal notranslate"><span class="pre">nrf52_bno055_test</span></code>:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span>create<span class="w"> </span>nrf52_bno055_test |
| <span class="go">Target targets/nrf52_bno055_test successfully created</span> |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| <p>2. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span> <span class="pre">set</span></code> command to set the app, bsp, and |
| build_profile variables for the target:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span><span class="nb">set</span><span class="w"> </span>nrf52_bno055_test<span class="w"> </span><span class="nv">app</span><span class="o">=</span>@apache-mynewt-core/apps/sensors_test<span class="w"> </span><span class="nv">bsp</span><span class="o">=</span>@apache-mynewt-core/hw/bsp/nrf52dk<span class="w"> </span><span class="nv">build_profile</span><span class="o">=</span>debug |
| <span class="go">Target targets/nrf52_bno055_test successfully set target.app to @apache-mynewt-core/apps/sensors_test</span> |
| <span class="go">Target targets/nrf52_bno055_test successfully set target.bsp to @apache-mynewt-core/hw/bsp/nrf52dk</span> |
| <span class="go">Target targets/nrf52_bno055_test successfully set target.build_profile to debug</span> |
| |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| <p>3. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span> <span class="pre">set</span></code> command to enable the <code class="docutils literal notranslate"><span class="pre">I2C_0</span></code>, |
| <code class="docutils literal notranslate"><span class="pre">BNO055_OFB</span></code>, and <code class="docutils literal notranslate"><span class="pre">BBNO055_CLI</span></code> syscfg settings:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span><span class="nb">set</span><span class="w"> </span>nrf52_bno055_test<span class="w"> </span><span class="nv">syscfg</span><span class="o">=</span><span class="nv">BNO055_OFB</span><span class="o">=</span><span class="m">1</span>:I2C_0<span class="o">=</span><span class="m">1</span>:BNO055_CLI<span class="o">=</span><span class="m">1</span> |
| <span class="go">Target targets/nrf52_bno055_test successfully set target.syscfg to BNO055_OFB=1:I2C_0=1:BNO055_CLI=1</span> |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-2-creating-the-bootloader-target"> |
| <h2><a class="toc-backref" href="#id4">Step 2: Creating the Bootloader Target</a><a class="headerlink" href="#step-2-creating-the-bootloader-target" title="Permalink to this headline">¶</a></h2> |
| <p>Run the following <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span></code> commands, from your project directory, to create a |
| bootloader target. We name the target <code class="docutils literal notranslate"><span class="pre">nrf52_boot</span></code>:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span>create<span class="w"> </span>nrf52_boot |
| <span class="go">Target targets/nrf52_boot successfully created</span> |
| <span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span><span class="nb">set</span><span class="w"> </span>nrf52_boot<span class="w"> </span><span class="nv">app</span><span class="o">=</span>@mcuboot/boot/mynewt<span class="w"> </span><span class="nv">bsp</span><span class="o">=</span>@apache-mynewt-core/hw/bsp/nrf52dk<span class="w"> </span><span class="nv">build_profile</span><span class="o">=</span>optimized |
| <span class="go">Target targets/nrf52_boot successfully set target.app to @mcuboot/boot/mynewt</span> |
| <span class="go">Target targets/nrf52_boot successfully set target.bsp to @apache-mynewt-core/hw/bsp/nrf52dk</span> |
| <span class="go">Target targets/nrf52_boot successfully set target.build_profile to optimized</span> |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-3-building-the-bootloader-and-application-image"> |
| <h2><a class="toc-backref" href="#id5">Step 3: Building the Bootloader and Application Image</a><a class="headerlink" href="#step-3-building-the-bootloader-and-application-image" title="Permalink to this headline">¶</a></h2> |
| <ol class="arabic simple"> |
| <li><p>Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">build</span> <span class="pre">nrf52_boot</span></code> command to build the bootloader:</p></li> |
| </ol> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>build<span class="w"> </span>nrf52_boot |
| <span class="go">Building target targets/nrf52_boot</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_ec.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_rsa.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_ec256.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/loader.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/bootutil_misc.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/mynewt/src/main.c</span> |
| |
| <span class="go"> ...</span> |
| |
| <span class="go">Archiving sys_mfg.a</span> |
| <span class="go">Archiving sys_sysinit.a</span> |
| <span class="go">Archiving util_mem.a</span> |
| <span class="go">Linking ~/dev/myproj/bin/targets/nrf52_boot/app/boot/mynewt/mynewt.elf</span> |
| <span class="go">Target successfully built: targets/nrf52_boot</span> |
| </pre></div> |
| </div> |
| <p>2. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">build</span> <span class="pre">nrf52_bno055_test</span></code> command to build the |
| sensors_test application:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>build<span class="w"> </span>nrf52_bno055_test |
| <span class="go">Building target targets/nrf52_bno055_test</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_ec.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_rsa.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_ec256.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/image_validate.c</span> |
| <span class="go">Compiling repos/mcuboot/boot/bootutil/src/bootutil_misc.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/apps/sensors_test/src/misc.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/apps/sensors_test/src/gatt_svr.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/apps/sensors_test/src/main.c</span> |
| |
| <span class="go"> ...</span> |
| |
| <span class="go">Compiling repos/apache-mynewt-core/hw/drivers/sensors/bno055/src/bno055.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/hw/drivers/sensors/bno055/src/bno055_shell.c</span> |
| |
| <span class="go"> ...</span> |
| |
| <span class="go">Compiling repos/apache-mynewt-core/hw/sensor/src/sensor.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/hw/sensor/src/sensor_oic.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/hw/sensor/src/sensor_shell.c</span> |
| <span class="go">Compiling repos/apache-mynewt-core/hw/sensor/creator/src/sensor_creator.c</span> |
| |
| <span class="go"> ...</span> |
| |
| <span class="go">Archiving util_mem.a</span> |
| <span class="go">Archiving util_parse.a</span> |
| <span class="go">Linking ~/dev/myproj/bin/targets/nrf52_bno055_test/app/apps/sensors_test/sensors_test.elf</span> |
| <span class="go">Target successfully built: targets/nrf52_bno055_test</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-4-creating-an-application-image"> |
| <h2><a class="toc-backref" href="#id6">Step 4: Creating an Application Image</a><a class="headerlink" href="#step-4-creating-an-application-image" title="Permalink to this headline">¶</a></h2> |
| <p>Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">create-image</span></code> command to create an image file. You may |
| assign an arbitrary version (e.g. 1.0.0) to the image.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>create-image<span class="w"> </span>nrf52_bno055_test<span class="w"> </span><span class="m">1</span>.0.0 |
| <span class="go">App image succesfully generated: ~/dev/myproj/bin/targets/nrf52_bno055_test/app/apps/sensors_test/sensors_test.img</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-5-connecting-the-bno055-sensor-to-the-nrf52-dk-board"> |
| <h2><a class="toc-backref" href="#id7">Step 5: Connecting the BNO055 Sensor to the nRF52-DK Board</a><a class="headerlink" href="#step-5-connecting-the-bno055-sensor-to-the-nrf52-dk-board" title="Permalink to this headline">¶</a></h2> |
| <p>Connect the pins from the BNO055 sensor to the nRF52-DK board as |
| specified in the following table:</p> |
| <table class="docutils align-default"> |
| <colgroup> |
| <col style="width: 25%" /> |
| <col style="width: 35%" /> |
| <col style="width: 40%" /> |
| </colgroup> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Lines</p></th> |
| <th class="head"><p>BNO055 Pin</p></th> |
| <th class="head"><p>nRF52-DK Pin</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>Power</p></td> |
| <td><p>Vin</p></td> |
| <td><p>5V</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Clock</p></td> |
| <td><p>SCL</p></td> |
| <td><p>P0.27</p></td> |
| </tr> |
| <tr class="row-even"><td><p>Data</p></td> |
| <td><p>SDA</p></td> |
| <td><p>P0.26</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Ground</p></td> |
| <td><p>GND</p></td> |
| <td><p>GND</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <p><img alt="Alt Layout - BNO055" src="../../_images/BNO055_small.jpg" /> <img alt="Alt Layout - NRF52_I2C" src="../../_images/NRF52_I2C_small.jpg" /></p> |
| </div> |
| <div class="section" id="step-6-connecting-the-nrf52-dk-board-to-your-computer"> |
| <h2><a class="toc-backref" href="#id8">Step 6: Connecting the nRF52-DK Board to your Computer</a><a class="headerlink" href="#step-6-connecting-the-nrf52-dk-board-to-your-computer" title="Permalink to this headline">¶</a></h2> |
| <ol class="arabic simple"> |
| <li><p>Set up two connections between your computer and the nRF52-DK board:</p></li> |
| </ol> |
| <ul> |
| <li><p>A serial connection to communicate with the sensors_test application |
| and view the sensor data and hardware information via the Mynewt |
| shell.</p> |
| <p>You can reference the <a class="reference internal" href="../../get_started/serial_access.html"><span class="doc">Serial Port |
| Setup</span></a> tutorial for more |
| information on setting up a serial communication.</p> |
| </li> |
| <li><p>A connection from your computer to the micro-USB port on the nRF52-DK |
| board to power the board and to load the bootloader and application |
| image.</p></li> |
| </ul> |
| <p>2. Turn the power on the board to ON. You should see the green LED |
| light up on the board.</p> |
| </div> |
| <div class="section" id="step-7-loading-the-bootloader-and-the-application-image"> |
| <h2><a class="toc-backref" href="#id9">Step 7: Loading the Bootloader and the Application Image</a><a class="headerlink" href="#step-7-loading-the-bootloader-and-the-application-image" title="Permalink to this headline">¶</a></h2> |
| <ol class="arabic simple"> |
| <li><p>Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">load</span> <span class="pre">nrf52_boot</span></code> command to load the bootloader onto the board:</p></li> |
| </ol> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>load<span class="w"> </span>nrf52_boot |
| <span class="go">Loading bootloader</span> |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| <p>2. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">load</span> <span class="pre">nrf52_bno055_test</span></code> command to load the |
| application image on to the board:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>load<span class="w"> </span>nrf52_bno055_test |
| <span class="go">Loading app image into slot 1</span> |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| <ol class="arabic simple" start="3"> |
| <li><p>Power the nRF52-DK board OFF and ON.</p></li> |
| </ol> |
| </div> |
| <div class="section" id="step-8-using-a-terminal-emulator-to-connect-to-the-application-console"> |
| <h2><a class="toc-backref" href="#id10">Step 8: Using a Terminal Emulator to Connect to the Application Console</a><a class="headerlink" href="#step-8-using-a-terminal-emulator-to-connect-to-the-application-console" title="Permalink to this headline">¶</a></h2> |
| <p>Start up a terminal emulator to connect the sensors_test application |
| console. You can use one of the terminal emulators listed below or one |
| of your choice:</p> |
| <ul> |
| <li><p>On Mac OS and Linux platforms, you can run |
| <code class="docutils literal notranslate"><span class="pre">minicom</span> <span class="pre">-D</span> <span class="pre">/dev/tty.usbserial-<port></span> <span class="pre">-b</span> <span class="pre">115200</span></code> to connect to the |
| console of your app. Note that on Linux, the format of the port name |
| is <code class="docutils literal notranslate"><span class="pre">/dev/ttyUSB<N></span></code>, where N is a number.</p></li> |
| <li><p>On Windows, you can use a terminal application such as PuTTY to |
| connect to the device.</p> |
| <p>If you located your port from a MinGW terminal, the port name format |
| is <code class="docutils literal notranslate"><span class="pre">/dev/ttyS<N></span></code>, where <code class="docutils literal notranslate"><span class="pre">N</span></code> is a number. You must map the port |
| name to a Windows COM port: <code class="docutils literal notranslate"><span class="pre">/dev/ttyS<N></span></code> maps to <code class="docutils literal notranslate"><span class="pre">COM<N+1></span></code>. |
| For example, <code class="docutils literal notranslate"><span class="pre">/dev/ttyS2</span></code> maps to <code class="docutils literal notranslate"><span class="pre">COM3</span></code>.</p> |
| <p>You can also use the Windows Device Manager to locate the COM port.</p> |
| </li> |
| </ul> |
| <p>We use minicom for this tutorial. After minicom connects, enter |
| <return> to ensure the shell is running. You should see the <code class="docutils literal notranslate"><span class="pre">compat></span></code> |
| prompt:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">Welcome to minicom 2.7.1</span> |
| |
| <span class="go">OPTIONS:</span> |
| <span class="go">Compiled on May 17 2017, 15:29:14.</span> |
| <span class="go">Port /dev/tty.usbserial, 13:55:21</span> |
| |
| <span class="go">Press Meta-Z for help on special keys</span> |
| |
| |
| <span class="go">010674 compat></span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-9-viewing-the-registered-sensors-and-sensor-data"> |
| <h2><a class="toc-backref" href="#id11">Step 9: Viewing the Registered Sensors and Sensor Data</a><a class="headerlink" href="#step-9-viewing-the-registered-sensors-and-sensor-data" title="Permalink to this headline">¶</a></h2> |
| <p>The sensor framework package implements the <code class="docutils literal notranslate"><span class="pre">sensor</span></code> shell command. This command |
| allows you to:</p> |
| <ul class="simple"> |
| <li><p>List all the registered sensor devices.</p></li> |
| <li><p>View the sensor types that a registered sensor device supports.</p></li> |
| <li><p>Read sensor data samples.</p></li> |
| </ul> |
| <p>To view the command syntax, enter <code class="docutils literal notranslate"><span class="pre">sensor</span></code></p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">002340 Possible commands for sensor are:</span> |
| <span class="go">002341 list</span> |
| <span class="go">002341 list of sensors registered</span> |
| <span class="go">002342 read <sensor_name> <type> [-n nsamples] [-i poll_itvl(ms)] [-d poll_du]</span> |
| <span class="go">002344 read <no_of_samples> from sensor<sensor_name> of type:<type> at pr</span> |
| <span class="go">002347 at <poll_interval> rate for <poll_duration></span> |
| <span class="go">002348 type <sensor_name></span> |
| <span class="go">002349 types supported by registered sensor</span> |
| <span class="go">002350 compat></span> |
| </pre></div> |
| </div> |
| <div class="section" id="listing-the-registered-sensors"> |
| <h3><a class="toc-backref" href="#id12">Listing the Registered Sensors</a><a class="headerlink" href="#listing-the-registered-sensors" title="Permalink to this headline">¶</a></h3> |
| <p>You use the <code class="docutils literal notranslate"><span class="pre">sensor</span> <span class="pre">list</span></code> command to list all the registered sensor devices:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">031798 compat> sensor list</span> |
| <span class="go">129441 sensor dev = bno055_0, configured type = 0x1 0x2 0x4 0x200 0x1000 0x2000</span> |
| <span class="go">129444 compat></span> |
| </pre></div> |
| </div> |
| <p>The output shows one sensor, <strong>bno055_0</strong>, registered, and the |
| configured types for the sensor. A configure type is a subset of the |
| types that a sensor supports.</p> |
| </div> |
| <div class="section" id="listing-the-types-that-a-sensor-supports"> |
| <h3><a class="toc-backref" href="#id13">Listing the Types that a Sensor Supports</a><a class="headerlink" href="#listing-the-types-that-a-sensor-supports" title="Permalink to this headline">¶</a></h3> |
| <p>You use the <code class="docutils literal notranslate"><span class="pre">sensor</span> <span class="pre">type</span></code> command to list the types that a sensor |
| supports:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">031822 compat> sensor type bno055_0</span> |
| <span class="go">033156 sensor dev = bno055_0,</span> |
| <span class="go">type =</span> |
| <span class="go">033157 accelerometer: 0x1</span> |
| <span class="go">033157 magnetic field: 0x2</span> |
| <span class="go">033158 gyroscope: 0x4</span> |
| <span class="go">033159 temperature: 0x10</span> |
| <span class="go">033160 vector: 0x200</span> |
| <span class="go">033160 accel: 0x1000</span> |
| <span class="go">033161 gravity: 0x2000</span> |
| <span class="go">033162 euler: 0x4000</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="viewing-sensor-data-samples"> |
| <h3><a class="toc-backref" href="#id14">Viewing Sensor Data Samples</a><a class="headerlink" href="#viewing-sensor-data-samples" title="Permalink to this headline">¶</a></h3> |
| <p>You use the <code class="docutils literal notranslate"><span class="pre">sensor</span> <span class="pre">read</span></code> command to |
| read data samples for a configured type. You can specify the number of |
| samples to read, a poll interval, and a poll duration. You can only view |
| sensor data for the sensor types that a sensor device is configured for.</p> |
| <p><strong>Example 1:</strong> Read 5 samples of accelerometer data from the |
| <strong>bno055_0</strong> sensor:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">033163 compat> sensor read bno055_0 0x1 -n 5</span> |
| <span class="go">042974 ts: [ secs: 335 usecs: 745441 cputime: 336218225 ]</span> |
| <span class="go">042976 x = -0.519999968 y = -7.289999968 z = 6.489999776</span> |
| <span class="go">042978 ts: [ secs: 335 usecs: 771216 cputime: 336244000 ]</span> |
| <span class="go">042979 x = -0.529999968 y = -7.360000128 z = 6.559999936</span> |
| <span class="go">042981 ts: [ secs: 335 usecs: 794640 cputime: 336267424 ]</span> |
| <span class="go">042982 x = -0.529999968 y = -7.340000160 z = 6.480000032</span> |
| <span class="go">042983 ts: [ secs: 335 usecs: 810795 cputime: 336283579 ]</span> |
| <span class="go">042984 x = -0.519999968 y = -7.300000192 z = 6.530000224</span> |
| <span class="go">042986 ts: [ secs: 335 usecs: 833703 cputime: 336306487 ]</span> |
| <span class="go">042987 x = -0.510000000 y = -7.309999936 z = 6.380000128</span> |
| </pre></div> |
| </div> |
| <p>Each sample contains two lines of output. The first line is the time |
| when the sample is read. The second line is the sample data. For the |
| example output:</p> |
| <p>These two lines are for the first sample:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">042974 ts: [ secs: 335 usecs: 745441 cputime: 336218225 ]</span> |
| <span class="go">042976 x = -0.519999968 y = -7.289999968 z = 6.489999776</span> |
| </pre></div> |
| </div> |
| <p>These two lines are for the last sample:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">042986 ts: [ secs: 335 usecs: 833703 cputime: 336306487 ]</span> |
| <span class="go">042987 x = -0.510000000 y = -7.309999936 z = 6.380000128</span> |
| </pre></div> |
| </div> |
| <p><strong>Example 2:</strong> Read the vector data at 20 ms poll interval. You can |
| enter <code class="docutils literal notranslate"><span class="pre">ctrl-c</span></code>, <code class="docutils literal notranslate"><span class="pre">q</span> <span class="pre"><return></span></code>, or <code class="docutils literal notranslate"><span class="pre">Q</span> <span class="pre"><return></span></code> to stop the polling.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">002350 compat> sensor read bno055_0 0x200 -i 20</span> |
| <span class="go">019271 ts: [ secs: 150 usecs: 560056 cputime: 151019584 ]</span> |
| <span class="go">019272 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019274 ts: [ secs: 150 usecs: 580598 cputime: 151040126 ]</span> |
| <span class="go">019275 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019277 ts: [ secs: 150 usecs: 604036 cputime: 151063564 ]</span> |
| <span class="go">019278 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019280 ts: [ secs: 150 usecs: 627474 cputime: 151087002 ]</span> |
| <span class="go">019281 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019283 ts: [ secs: 150 usecs: 650912 cputime: 151110440 ]</span> |
| <span class="go">019284 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019286 ts: [ secs: 150 usecs: 674350 cputime: 151133878 ]</span> |
| <span class="go">019287 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019289 ts: [ secs: 150 usecs: 697788 cputime: 151157316 ]</span> |
| <span class="go">019290 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019292 ts: [ secs: 150 usecs: 721225 cputime: 151180753 ]</span> |
| <span class="go">019293 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019295 ts: [ secs: 150 usecs: 744663 cputime: 151204191 ]</span> |
| <span class="go">019296 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019298 ts: [ secs: 150 usecs: 768101 cputime: 151227629 ]</span> |
| <span class="go">019299 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| <span class="go">019301 ts: [ secs: 150 usecs: 791539 cputime: 151251067 ]</span> |
| <span class="go">019302 x = 3.442626944 y = 0.026977540 z = 3.993286144 w = 0.829833984</span> |
| </pre></div> |
| </div> |
| </div> |
| </div> |
| <div class="section" id="step-10-controlling-and-viewing-sensor-device-hardware-and-sensor-data"> |
| <h2><a class="toc-backref" href="#id15">Step 10: Controlling and Viewing Sensor Device Hardware and Sensor Data</a><a class="headerlink" href="#step-10-controlling-and-viewing-sensor-device-hardware-and-sensor-data" title="Permalink to this headline">¶</a></h2> |
| <p>The BNO055 device driver implements the <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell command |
| that allows you to:</p> |
| <ul> |
| <li><p>Read sensor data samples for all the sensor types that the device |
| supports.</p> |
| <p><strong>Note:</strong> The <code class="docutils literal notranslate"><span class="pre">sensor</span></code> shell command discussed previously only |
| reads sensor data for configured sensor types.</p> |
| </li> |
| <li><p>Query the chip id, sensor revisions, content of registers, sensor |
| offsets.</p></li> |
| <li><p>Reset the device.</p></li> |
| <li><p>Change the power mode.</p></li> |
| <li><p>Change the operation mode.</p></li> |
| </ul> |
| <p>Enter <code class="docutils literal notranslate"><span class="pre">bno055</span></code> to see the command syntax:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go"> 711258 bno055 cmd [flags...]</span> |
| <span class="go"> 711259 cmd:</span> |
| <span class="go"> 711259 r [n_samples] [ 0-acc | 1 -mag | 2 -gyro | 4 -tem|</span> |
| <span class="go"> 9-quat | 26-linearacc | 27-gravity | 28-eul]</span> |
| |
| <span class="go"> 711264 mode [0-config | 1-acc | 2 -mag | 3 -gyro | 4 -acc|</span> |
| <span class="go"> 5-accgyro | 6-maggyro | 7 -amg | 8 -imuplus | 9 -com|</span> |
| <span class="go"> 9-m4g |11-NDOF_FMC_OFF | 12-NDOF ]</span> |
| <span class="go"> 711269 chip_id</span> |
| <span class="go"> 711270 rev</span> |
| <span class="go"> 711270 reset</span> |
| <span class="go"> 711270 pmode [0-normal | 1-lowpower | 2-suspend]</span> |
| <span class="go"> 711272 sensor_offsets</span> |
| <span class="go"> 711272 dumpreg [addr]</span> |
| |
| <span class="go">\*\* Example 3: \*\* Query the device chip id:</span> |
| </pre></div> |
| </div> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">711273 compat> bno055 chip_id</span> |
| <span class="go">769056 0xA0</span> |
| </pre></div> |
| </div> |
| <p><strong>Example 4:</strong> View the sensor revisions:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">827472 compat> bno055 rev</span> |
| <span class="go">862354 accel_rev:0xFB</span> |
| <span class="go">mag_rev:0x32</span> |
| <span class="go">gyro_rev:0x0F</span> |
| <span class="go">sw_rev:0x311</span> |
| <span class="go">bl_rev:0x15</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="next-steps"> |
| <h2><a class="toc-backref" href="#id16">Next Steps</a><a class="headerlink" href="#next-steps" title="Permalink to this headline">¶</a></h2> |
| <p>Now that you have successfully enabled an application to communicate |
| with a sensor, We recommend that you:</p> |
| <ul class="simple"> |
| <li><p>Experiment with other <code class="docutils literal notranslate"><span class="pre">sensor</span></code> and <code class="docutils literal notranslate"><span class="pre">bno055</span></code> shell commands in |
| this tutorial to view other types of sensor data.</p></li> |
| <li><p>Change the default configuration values for the sensor. See the |
| <a class="reference internal" href="sensor_offboard_config.html"><span class="doc">Changing the Default Configuration for a Sensor |
| tutorial</span></a></p></li> |
| <li><p>Try a different off-board sensor. You can follow most of the |
| procedures in this tutorial to enable other sensors in the |
| sensors_test application. The <code class="docutils literal notranslate"><span class="pre">syscfg.yml</span></code> file for the |
| <code class="docutils literal notranslate"><span class="pre">hw/sensor/creator/</span></code> package specifies the off-board sensors that |
| Mynewt currently supports. You will need to:</p> |
| <ul> |
| <li><p>Enable the <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_OFB</span></code> setting to include the sensor |
| driver package and to create and initialize the sensor device.</p></li> |
| <li><p>Enable the correct interface in the nRF52 BSP to communicate with |
| the sensor device.</p></li> |
| <li><p>Enable the sensor device driver shell command if the driver |
| supports the shell. You can check the <code class="docutils literal notranslate"><span class="pre">syscfg.yml</span></code> file for the |
| sensor device driver package in the |
| <code class="docutils literal notranslate"><span class="pre">hw/drivers/sensor/<sensorname></span></code> directory.</p></li> |
| </ul> |
| </li> |
| <li><p>Try one of the other sensor tutorials listed in the <a class="reference internal" href="sensors.html"><span class="doc">Sensor Tutorials |
| Overview</span></a></p></li> |
| </ul> |
| </div> |
| </div> |
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