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The Qualcomm Dragonwing™ RB3 Gen 2 Development Kit includes an application processor and the Hexagon digital signal processor (DSP), which is also called the low-power processor. The Qualcomm sensing hub (QSH) client API resides on the application processor that runs with Linux operating system (OS). The QSH resides on the low-power processor that runs with the Qualcomm Real Time (QuRT) OS, which is designed for the Hexagon DSP.
See Hardware SoCs that are supported on Qualcomm Linux.

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Qualcomm Dragonwing™ RB3 Gen 2 Development Kit

The Qualcomm Dragonwing™ RB3 Gen 2 Development Kit includes the following hardware, sensor parts, and connectivity configurations. Hardware specification for low-power processor
  • CPU clock up to 1.4 GHz Turbo
  • Low-power island
  • 2 MB local memory
    • 1 MB reserved for QSH and relevant CoreBSP dependencies
    • 1 MB reserved for audio and relevant CoreBSP dependencies
  • Five dedicated buses for sensors: one I3C, one SPI, one I2C, and two UARTs
  • Twelve dedicated GPIOs with local memory for sensors
For more information about the low-power processor, see Qualcomm Dragonwing™ RB3 Gen 2 Development Kit. The following table lists the Core Kit sensors supported on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit. For more information about the Core Kit, see Qualcomm Dragonwing™ RB3 Gen 2 Development Kit Quick Start. Table : Core Kit sensors
PlacementSensor partSensor type
Main boardICM42688Accelerometer and gyroscope
Only one accelerometer and gyroscope sensor part can be enabled on the Vision Kit at a time. The following table lists the Vision Kit sensors supported on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit. For more information about the Vision Kit, see Qualcomm Dragonwing™ RB3 Gen 2 Development Kit Quick Start. Table : Vision Kit sensors
PlacementSensor partSensor type
Main boardICM42688Accelerometer and gyroscope
Vision mezzanineICM42688Accelerometer and gyroscope
ICP-10111Pressure/barometer
AK09915Magnetometer
Sensors and serial bus configuration The following table lists the GPIO numbers, serial bus, QSH registry configuration, and interrupts for different sensors to configure the sensor drivers on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit:
GPIOsInterfaceSensors connectedQSH registry parametersInterrupts
GPIO_159I2CMagnetometer (AK09915)
Pressure (ICP-10111)		bus_type: 0 (SNS_BUS_I2C)
bus_instance: 1
max_bus_speed_khz: 400
slave_config: I2C slave address		Polling

Note: Pressure and magnetometer sensors are configured in the polling mode in the Dragonwing RB3 Gen 2 Development Kit.
GPIO_160
GPIO_161I3CNot connectedbus_type: 3 (SNS_BUS_I3C_SDR)
bus_instance: 2
max_bus_speed_khz: 12500
slave_config: I2C static address
i3c_address: User-defined I3C dynamic address		N.A.
GPIO_162
GPIO_163SPIAccelerometer and gyroscope (ICM42688)bus_type: 1 (SNS_BUS_SPI)
bus_instance: 3
max_bus_speed_khz: 9600
slave_config: 0: For SPI, this value indicates the chip-select line for the slave.		GPIO_103
GPIO_164
GPIO_165
GPIO_166
GPIO_171UARTBTLEbus_type: 2 (SNS_BUS_UART)
bus_instance: 36		N.A.
GPIO_172
GPIO_173UARTDebugbus_type: 2 (SNS_BUS_UART)
bus_instance: 7		N.A.
GPIO_174

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Enable sensors on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit

For instructions, see Enable sensors on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit.

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Test sensors on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit

Use the sensor test application to validate the streaming of accelerometer, gyroscope, magnetometer, and pressure sensors. By default, the ssc_drva_test tool is built under the /usr/bin/ directory on the device.

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Test the accelerometer and gyroscope sensors on the Core and Vision Kits

The following is an example command for the accelerometer sensor: 
ssc_drva_test -sensor=accel -duration=5 -sample_rate=500
The following snippet shows the output of the above command, which enables the accelerometer sensor for 5 sec at 500 Hz sample rate in the streaming mode. 
root@qcm6490:~# ssc_drva_test -sensor=accel -duration=5 -sample_rate=500
6 ssc_drva_test version 1.27k
6 ssc_drva_test -sensor=accel -duration=5 -sample_rate=500
diag: Diag_LSM_Init: invoked for pid: 1141 with init_count: 0
diag:successfully connected to socket 3
diag: Diag_LSM_Init: done for pid: 1141 with init_count: 1
6 event_cb attribute event for da_test
6 event_cb attribute event for da_test
6 using da_test name=da_test, suid = [high addeaddeaddeadde, low addeaddeaddeadde
6 enter send_memory_log_req cookie: 6
6 exit send_memory_log_req
6 enter da_test runner. -rumifact=1
6 -time_to_first_event=233206
6 -time_to_last_event=-20008
6 -sample_ts=50267544823
6 -total_samples=2528
6 -avg_delta=37875
6 -recvd_phy_config_sample_rate=500
6 -random_seed_used=2926886043
6 -num_request_sent=2
6 -first_sample_timestamp=50171775915
6 received event: PASS
6 enter send_memory_log_req cookie: 6
6 exit send_memory_log_req
6 PASS
As per the above example output, the accel sensor is enabled at 500 Hz and receives 2528 acceleration samples during the test. The sensor hardware runs only at the sample rates listed in its datasheet. For example, if the command is modified to request the accel data at 480 Hz, the accel sensor still operates at 500 Hz. The following command enables the gyroscope sensor for 5 sec at 500 Hz sample rate in the streaming mode: 
ssc_drva_test -sensor=gyro -duration=5 -sample_rate=500

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Test the magnetometer and pressure sensors on the Vision Kit

The following command enables the magnetometer sensor for 5 sec at 100 Hz sample rate in the streaming mode: 
ssc_drva_test -sensor=mag -duration=5 -sample_rate=100
The following command enables the pressure sensor for 5 sec at 25 Hz sample rate in the streaming mode: 
ssc_drva_test -sensor=pressure -duration=5 -sample_rate=25
For troubleshooting common issues, see Troubleshoot sensors. Next steps