JM3-BHT31
RP6 or ASURO
Barometer, Hygrometer & Temp.
Module
RP6 or ASURO Barometer, Hygrometer & Temp. Module
©2014 AREXX Engineering and JM3 Engineering
www.arexx.com
For latest updates check www.jm3-engineering.com!
AREXX Engineering & JM3 Engineering
Version: 1.05 Nov. 9th, 2014 page: 1
Impressum
©2012-14 AREXX Engineering
Nervistraat 16
8013 RS Zwolle
The Netherlands
Tel.: +31 (0) 38 454 2028
Fax.: +31 (0) 38 452 4482
This manual is protected by the laws of
Copyright. It is forbidden to copy all or part
of the contents without prior written
authorization!
Product specifications and delivery contents
are subject to changes. The manual is
subject to changes without prior notice.
You can find free updates of this manual on
http://www.arexx.com/
“ASURO” licensed by DLR and “AREXX” are registered trademarks from AREXX
Engineering.
All other trademark are the property of their owners. We are not responsible for
the contents of external web pages that are mentioned in this manual!
Information about limited warranty and responsibility
The warranty granted by AREXX Engineering is limited to the replacement or repair of the
Module and its accessories within the legal warranty period if the default has arisen from
production errors such as mechanical damage or missing or wrong assembly of electronic
components except for all components that are connected via plugs/sockets.
The warranty does not apply directly or indirectly to damages due to the use of the robot.
This excludes claims that fall under the legal prescription of product responsibility.
The warranty does not apply in case of irreversible changes (such as soldering of other
components, drilling of holes, etc.) of the module or its accessories or if the module is
damaged due to the disrespect of this manual!
It cannot be guaranteed that the supplied software will satisfy individual expectations or
will run completely error-free and without any interruption. Moreover the software can be
freely changed and is loaded into the unit by the user. Therefore the user carries the full
risk regarding the quality and performance of the unit including all software.
AREXX Engineering guarantees the functionality of the supplied application examples
provided the respect of the conditions specified in the data sheet. If the SAM-04-LAN or the
PC software turns out to be faulty or insufficient, the customer carries all costs for service,
repair or correction.
Please note the relevant license agreements on the CD-ROM!
The exclamation mark attracts the attention of the user to important
instructions that must be adhered to. If you make a mistake in this part, it
can lead eventually to the destruction of the robot or its accessories and
even endanger your health or that of your environment!
The "Information" symbol draws the attention to useful tips and tricks or
background information. It is not always essential to understand
everything but it is often very useful.
Symbols
The manual uses following symbols:
AREXX Engineering & JM3 Engineering
Version: 1.05 Nov. 9th, 2014 page: 2
Safety recommendations
IMPORTANT:
Prior to using this robot arm for the first time, please read this manual thoroughly up to the
end! They explain the correct use and inform you about potential dangers! Moreover they
contain important information that might not be obvious for all users.
- Check the polarity of the batteries or power supply.
- Keep all products dry, when the product gets wet remove the power directly.
- Remove the batteries or power when you are not using the product for a longer period.
- Before taking the module into operation, always check it and its cables for damage.
- If you have reason to believe that the device can no longer be operated safely,
disconnect it immediately and make sure it is not unintentionally operated.
- Do not operate the module in rooms or under unfavourable conditions.
- This module is equipped with highly sensitive components. Electronic components are
very sensitive to static electricity discharge. Only touch the module by the edges and
avoid direct contact with the components on the circuit board.
Normal use
This module is developed to use with robots, which allows you to determine basic behaviour patterns and reactions
of the robot to external influences yourself.
The module was developed as an experimental platform for all electronic technicians with interest in robotics. In
practical tests, it visualises the influence and effects of software parameters as well as physical parameters via the
corresponding sensor technology. Any use other than that described above is not permitted.
The product is not a toy and should be kept out of reach of children under 14 years of age! It may only be used in
closed, dry indoor rooms. The product must not get damp or wet. Use other than that described above can lead to
damage to the product and may involve additional risks such as short circuits, fire, electrical shocks etc.
Content
1. Impressum ................................................................................... 2
2. Safety recommendations ............................................................... 3
3. Introduction ................................................................................... 5
4. Manual ........................................................................................... 6
5. Schematic..................................................................................... 10
6. PCB Layout ................................................................................... 10
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ASURO Robot
Asuro xTend and Compass- / Gyro Module and Display
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Introduction
A general purpose barometer, hygrometer and temperature sensor module. It can be directly
plugged into the ASURO expansion port on the ASURO xTend board - it can be stacked up with
the ASURO Compass / Gyro Module and or RTC.
The sensor module is using the MS5607-02BA high resolution altimeter and the HTU21D sensor
from MEAS Switzerland with I2C bus interface. This barometric pressure sensor is optimized for
altimeters and variometers with an altitude resolution of 20 cm and can be used for weather
station information as well. In addition, the relative humidity and temperature sensor are
dedicated plug and play transducers for applications where reliable and accurate measurements
are needed.
The barometric sensor module includes a high linearity pressure sensor and an ultra-low power
24 bit ΔΣ ADC with factory calibrated coefficients.
It provides a precise digital 24 bit pressure and temperature value and different operation modes
that allow the user to optimize for conversion speed and current consumption. A high resolution
temperature output allows the implementation of an altimeter/thermometer function without any
additional sensor. The MS5607-02BA can be interfaced to virtually any micro controller. The
communication protocol is simple, without the need of programming internal registers in the
device. The sensing principle used leads to very low hysteresis and high stability of both pressure
and temperature signal.
The humidity sensor setting new standards in terms of size and intelligence and provides
calibrated, linearized signals in digital, I²C format. Every sensor element is factory calibrated and
tested. Low battery can be detected and a checksum improves communication reliability. The
resolution can be changed by command (8/12bit up to 12/14bit for RH/T).
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Manual
1. Connecting to RP6 or ASURO xTend Board
The module will be simply plugged in to the K3 connector on the ASURO xTend board. There is a
voltage regulator on the module so it can be directly plugged into the I2C Module header on the
RP6 Sensor board. In the RP6 case, you have to solder contacts on the boards (Precision
Contacts RM 2,54 Conrad Part number 741333 – 05).
1.1. PIN OUT Barometer Humidity Temp Module (Asuro Connector)
PIN 1 = VDD_3.3
PIN 2 = n/c
PIN 3 = n/c
PIN 4 = n/c
PIN 5 = n/c
PIN 6 = n/c
PIN 7 = SCA
PIN 8 = SCL
PIN 9 = n/c
PIN 10 = GND
PIN1 Pin10
1.2. PIN OUT Barometer Humidity Temp Module (RP6 Connector)
PIN 1 = VDD_3.3
PIN 2 = SCL
PIN 3 = SCA
PIN 4 = n/c
PIN 5 = n/c
PIN 7 = n/c
PIN 8 = n/c
PIN 9 = GND
PIN 6 = n/c
PIN1 PIN2 Pin9
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2. Software
The data access works over I2C Bus. There is no special initialization required – refer to datasheet of
the MS5607-02BA and HTU21D for more information. A demo software is available for the ASURO
xTend board with the attached Barometer Module.
2.1. Reading data from I2C
Principle way of reading data from the module
/**********************************************************************\
* read sensor data (generalized description)
\**********************************************************************/
master.ReadRegisters(I2C Addr, Register | AUTO_INC, mBuffer, 6);
2.2. Writing data via I2C
Principle way writing data via I2C to the module
/**********************************************************************\
* write data to register (generalized description)
\**********************************************************************/
master.TransmitBytes(I2C Addr, Register | AUTO_INC, data0, data1, data2);
2.3. Demo Software
The demo software for the ASURO xTend board is available which displays the pressure, relative
humidity and temperature on the display.
To enable the display function you have to make a change the Makefile - in the Global Defines section
you should have IOEXT_WEATHER defined.
# Global Defines
#
# Enable demo program for connected sensor module.
DEFINES = IOEXT_WEATHER
2.4. Slave Addresses
BAROTEMP = 0xEE // MS5607-02BA03 Baro & Temp
RELHUM = 0x80 // HTU21D Relative Humidity & Temp
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3. Commands / Register
Read Command
Hex Code
Reset
0x1E
Convert D1 (OSR=256)
0x40
Convert D1 (OSR=512)
0x42
Convert D1 (OSR=1024)
0x44
Convert D1 (OSR=2048)
0x46
Convert D1 (OSR=4096)
0x48
Convert D2 (OSR=256)
0x50
Convert D2 (OSR=512)
0x52
Convert D2 (OSR=1024)
0x54
Convert D2 (OSR=2048)
0x56
Convert D2 (OSR=4096)
0x58
ADC Read
0x00
PROM Read
0xA0 to 0xAE
3.1. MS5607-02BA03
Since there are no register on the barometer chip you have to follow the given procedure to read
data after power up:
1. Issue Reset
2. Read PROM (128 bit of calibration words)
3. Initiate pressure (D1) conversion followed by Read ADC result (24 bit)
4. Initiate temperature (D2) conversion followed by Read ADC result (24 bit)
For detailed description of the commands and data processing refer to the datasheet.
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3.2. HTU21D
Read Commands
Hex Code
Comment
Trigger Temperature Measurement
0xE3
Hold master
Trigger Humidity Measurement
0xE5
Hold master
Trigger Temperature Measurement
0xF3
No Hold master
Trigger Humidity Measurement
0xF5
No Hold master
Write user register
0xE6
Read user register
0xE7
Soft Reset
0xFE
User Register
Bit
# Bits
default
Measurement Resolution
Bit 7 Bit 0 RH Temp
0 0 12 bits 14 bits
0 1 8 bits 12 bits
1 0 10 bits 13 bits
1 1 11 bits 11 bits
7,0 2 ‘00’
Status End of Battery
‘0’: VDD>2.25V
‘1’: VDD<2.25V
6 1 ‘0’
Reserved – do not modify
3,4,5
3
‘0’
Enable on-chip heater
2
1
‘0’
Disable OTP reload
1 1
For more details of the chip functionality please refer to the datasheet.
4. Technical Data
VDD = 3.3 V +/- 5%
IDD ≤ 1.5 mA (peak)
≤ 0.2 µA (standby)
Temperature Range: -10 to 65 °C
Key features:
High resolution module
- Altitude: 20cm
- Humidity: 0,04%
Fast conversion
Integrated digital pressure sensor (24 bit ΔΣ ADC)
Operating range: 10 to 1200 mbar
Excellent long term stability
Instantaneous desaturation after long periods in saturation phase
Factory calibrated
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5. Schematic
6. PCB
Top view:
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