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BNO070 Example Application for Nucleo STM32F411RE

The BNO070 Sensor Hub Demo app is a set of example code designed to run on the STM32F411 Nucleo platform included with the BNO070 Development Kit. This software provides a simple example for obtaining motion data and configuring the BNO070 and is designed to work with the BNO070 Driver.

Further information about the BNO070 can be found on the website for Hillcrest Labs.

Requirements

  • STM32F411 Nucleo board

  • Hillcrest BNO070 Development board

Note: The Hillcrest BNO070 Development kit includes all of these components.

Before attempting to build the demo project, install the IAR Embedded Workbench ARM tools and Nucleo USB drivers according to instruction with the STM32F411 Nucleo kit.

Preparing the Software

The demo project is based on two sets of code: the BNO070 driver and an application that uses it. Both of these need to be installed in order to build the project. If you are familiar with Git, you can use git clone to obtain the source code. Otherwise, you can download the source as two zip files from the Hillcrest github account. Detailed instructions for each of these options are provided here.

Preparing the Project using Git

If you are familiar with git, the easiest way to set up the source code is to run this command:

git clone --recursive [email protected]:hcrest/bno070-nucleo-demo.git

Be sure to use the --recursive option. This tells git to also retrieve the bno070-driver project in the appropriate subdirectory.

After running this command, a subdirectory named bno070-nucleo-demo will contain all the source code and project files.

Preparing the Project downloading zip files from Github

The demo software can also be obtained as two zip files.

  • First, download the two zip files.

  • Next, extract the contents of the zip files.

    • Select bno070-nucleo-demo-master.zip, right click and select "Extract All"

    This creates a new folder named bno070-nucleo-demo-master. Within it is ANOTHER folder also named bno070-nucleo-demo-master.

    • Rename this inner folder as bno070-nucleo-demo.

    • Move it to the location where you want the project to reside. For brevity, I'll assume this is c:\bno070-nucleo-demo\

    • Select the downloaded bno070-driver-master.zip, right click and select "Extract All"

    This creates a new folder named bno070-driver-master. Within it is ANOTHER folder also named bno070-driver-master.

    • Rename this inner folder as bno070-driver.

    • Move it under the Drivers folder of the bno070-nucleo-demo workspace created previously. This would be c:\bno070-nucleo-demo\Drivers\bno070-driver, for example.

When finished, the project tree should look like this:

bno070-nucleo-demo
|  README.md
|  ...
+-- Drivers
|   +-- bno070-driver
|   |      bno070.c
|   |      ...
|   +-- CMSIS
|   |      ...
|   +-- STM32F4xx_HAL_Driver
|          ...
|
+-- EWARM
+-- Hillcrest
+-- Inc
+-- Middlewares
+-- Src

Building the Code

  • Use IAR EWARM to open the workspace file, c:\bno070-nucleo-demo\EWARM\Project.eww

  • Select Project -> Rebuild All to compile the project.

Running the Application

  • Mount the shield board on the Nucleo platform.

  • Connect the Nucleo board to the development PC via USB.

  • Open a terminal emulator window on the Nucleo's COM port using 115200 bits per second, 8 data bits, 1 stop bit, no parity.

  • In IAR EWARM, execute Project -> Download and Debug.

  • Once the debugger is ready, click the Go button.

The application should print the SH-1 version numbers, then start reading and printing Rotation Vectors from the SensorHub.

SH-1 Demo App : Version 1.1.1
SH-1 Driver   : Version 1.1.1
Part 10003251 : Version 1.8.4 Build 415
Part 10003210 : Version 0.11.0 Build 176
Part 10003254 : Version 3.5.1 Build 162
Part 10003171 : Version 3.5.3 Build 251
Rotation Vector: t:0.198862 r:0.188 i:0.000 j:0.008 k:-0.982 (acc: 22.703 [deg])
Rotation Vector: t:0.208723 r:0.188 i:0.000 j:0.008 k:-0.982 (acc: 22.703 [deg])
Rotation Vector: t:0.218584 r:0.188 i:0.000 j:0.008 k:-0.982 (acc: 22.703 [deg])
Rotation Vector: t:0.228450 r:0.188 i:0.000 j:0.008 k:-0.982 (acc: 22.703 [deg])
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