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--- projects:crazyflie2:expansionboards:bosch [2017-05-23 09:56]
jan [Bosch Sensor Deck]
+++ projects:crazyflie2:expansionboards:bosch [2021-06-24 16:13] (current)
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https://www.bitcraze.io/documentation/system/]] or
+[[https://www.bitcraze.io/documentation/repository/]]
+</WRAP>
 ====== Bosch Sensor Deck ======
-Adds a variety of Bosch Sensortec sensors to the crazyflie2
+Adds a variety of Bosch Sensortec sensors to the crazyflie.
+{{:projects:crazyflie2:expansionboards:bosch_v2_top_3d.png?direct&400|}}
-{{:projects:crazyflie2:expansionboards:bosch_v2_top.png?direct&400 |}}
 ===== Specification =====
-As there are different versions of the sensor deck, some sensors are only avaible on one of them
-  * Intertial measurement units:
+As there are different versions of the sensor deck, some sensors are only available on one of them
+  * Inertial measurement units:
       * [[https://www.bosch-sensortec.com/bst/products/all_products/bmi055|BMI055]] (V1+V2+V4)
-          * closed loop
           * triaxial 12-bit accelerometer (up to ± 16g)
           * triaxial 16 bit gyroscope (up to ± 2000°/s)
       * [[https://www.bosch-sensortec.com/bst/products/all_products/bmi160|BMI160]] (V1+V2+V4)
-          * open loop
           * triaxial 16-bit accelerometer (up to ± 16g)
           * triaxial 16 bit gyroscope (up to ± 2000°/s)
+  * Accelerometer:
+      * BMA455 (V4) triaxial 16-bit accelerometer (up to ± 16g), upcoming sensor
   * Integrated environmental units:
       * [[https://www.bosch-sensortec.com/bst/products/all_products/bme680|BME680]] (V1+V2)
@@ Line 23: / Line 31: @@
   * Pressure sensors:
       * [[https://www.bosch-sensortec.com/bst/products/all_products/bmp280|BMP280]] (V1+V2+V4)
+      * [[https://www.bosch-sensortec.com/bst/products/all_products/bmp380|BMP380]] (V4)
   * Geomagnetic sensors:
       * [[https://www.bosch-sensortec.com/bst/products/all_products/bmm150|BMM150]] (V1+V2+V4)
@@ Line 31: / Line 40: @@
           * triaxial geomagnetic sensor
           * 32 bit Cortex M0+ microcontroller from Atmel
-  * (1-wire memory for automatic expansion deck detection)
+  * (1-wire memory for automatic expansion deck detection) not specified yet - coming soon
   * Designed for mounting above or under the Crazyflie 2.0
   * Mechanical specification:
       * Weight:
       * Size (WxHxD): 25.2x28.75x4mm³
+===== Schematic=====
+Bosch Sensortec expansion deck V2 {{:undefined:bosch_v2_schematics.pdf|schematic}}
+===== Setting Up =====
+If not already done create config.mk in tools/make from [[https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/make/config.mk.example|config.mk.example]] and add the following line:
+<code make>SENSORS = bosch</code>
+Before make you may want to adjust which sensor should be used as gyroscope /accelerometer. This can be done by changing
+<code c>
+static uint8_t gyroPrimInUse =          SENSORS_BMI055;
+static uint8_t accelPrimInUse =         SENSORS_BMI055;
+</code>
+in [[https://github.com/bitcraze/crazyflie-firmware/blob/master/src/hal/src/sensors_bosch.c#L47|sensors_bosch.c]] to any of the [[https://github.com/bitcraze/crazyflie-firmware/blob/master/src/hal/src/sensors_bosch.c#L37|available sensors]] which fit as gyroscope respectively accelerometer.
+Now you are ready to make the firmware and flash it on your crazyflie.
+For evaluation purposes you might want to log sensors data which can be done with help of the [[projects:crazyflie2:expansionboards:microsd|Micro SD expansion deck]].

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