This is the official SensorCape reference manual and it is still a work in progress. The purpose of this manual is to allow the technically proficient user to easily understand the inner workings of the SensorCape ecosystem while still allowing the average user to learn what they need to use the SensorCape as they wish.

The SensorCape reference manual allows easy navigation to the desired part or system of the SensorCape by starting with a short overview of the SensorCape, what capabilities it adds and which components provide this capability. To learn in-depth details about a component reference I have provided the manufacturer’s product datasheet for each component. In order to provide a centralized source, the this document discusses the most relevant information for each component in the sections following the overview.



The SensorCape is an add-on cape designed for the BeagleBone Black, though it should work just as well with the original BeagleBone. The idea for the SensorCape to create an add-on that is nearly as versatile as the BeagleBone itself. Accomplishing this meant adding general functionality that was not included with the BeagleBone, but that would be useful in a wide variety of contexts. The simplest way to add functionality is to increase the possibilities for interacting with the BeagleBone. This great flexibility comes from the sensing capabilities which will allow the BeagleBone to interact with the environment in ways that were much more difficult before. The capability enabled by these sensors are:

  • 3-axis gyroscope
  • 3-axis accelerometer
  • 3-axis compass
  • Ambient light sensor
  • Ambient temperature sensor
  • Non-contact temperature sensor
  • Humidity sensor
  • Pressure sensor (Can detect changes in altitude)
  • 38 kHz IR sensor (Interfaces with common consumer electronics)
  • 4 push-buttons

In addition to these sensors the SensorCape has also been designed with four user configurable LED’s and production ready cape EEPROM which conforms with the requirements set in the BeagleBone Black System Reference Manual. This sensing capability has been implemented with the use of these components which will be discussed in the following sections:

  • InvenSense MPU-9150 (9-Axis motion/position sensor)
  • Intersil ISL29023 (Ambient light sensor)
  • Texas Instruments TMP006 (Ambient and non-contact temperature)
  • General Electric ChipCap2 (Humidity sensor)
  • Bosch Sensortec BMP180 (Pressure sensor)
  • Vishay TSOP38238 (IR sensor)
  • Auxiliary components

Without further ado, let us take a look at the sensors included on the SensorCape.

MPU-9150 (9-axis sensor)

Disclaimer: This section of the SensorCape Technical Manual does not imply or intend to be a full reference of the capabilities of the MPU-9150, as a result I have provided a link to the datasheet which should prove useful for more technical readers.

MPU-9150 Datasheet


The MPU-9150 is an excellent new offering from InvenSense. This device integrates three different microelectromechanical sensors (MEMS) into a package and allows for easy access to the data over I2C. InvenSense products are high quality sensors which see use in many modern commercial electronics to provide motion and position sensitivity in three different domains. In addition to motion and position sensing these devices can be tied to an interrupt to be used as a “shock detector” that triggers the interrupt whenever the device moves quickly. This behavior is used in high end consumer laptops to shut off their hard drives before they suffer drop damage, but I wouldn’t want you to limit your usage to such a simple case. :)

MPU9150 SensorCape application circuit from the SensorCape reference manual MPU9150 SensorCape Application Circuit

About the MPU-9150

The MPU-9150 integrates three MEMS into a single package and allows for easy access to these sensors over the I2C bus. The sensors included are:

  • 3-axis accelerometer
  • 3-axis gyroscope
  • 3-axis compass

These three sensors can be used together or separately and are useful for determining how the SensorCape is moving.

A gyroscope allows the user to obtain the current orientation of the SensorCape. The 3-axis gyroscope built in to the MPU-9150 offers a user adjustable full-scale range of ±250, ±500, ±1000, and ±2000 °/sec. Since the device converts analog values to digital values using an ADC, which has a discrete amount of possible output values, an increase in full-scale range leads to a decrease in precision.

An accelerometer is used to determine the “proper acceleration” of the SensorCape. Gyroscopes and accelerometers are often used together to allow the user to develop a full understanding of how the device in question is moving. This effectively means that with an accelerometer and a gyroscope it is possible to know exactly what path has been traveled by the SensorCape and the user can recreate this in software. This type of technology is what is used in the Wii controllers. The accelerometer built in to the MPU-9150 is a 3-axis device with an adjustable full-scale range of ±2g, ±4g, ±8g and ±16g with similar tradeoffs in accuracy to the gyroscope. In addition to the basic features of an accelerometer, the MPU-9150 implements a user-programmable motion interrupt, which can be used as a “shock interrupt” as discussed earlier.

Finally, the MPU-9150 also adds a 3-axis magnetometer. The most common function of a magnetometer is to serve as a familiar compass, but since it reacts to any magnetic field the device can also serve other purposes such as a metal detector. The magnetometer on the MPU-9150 is not user adjustable but offers a pre-determined full-scale range of ±1200 μT.

In addition to these three sensors, the MPU-9150 implements various processing features which allow the user to easily access the data from the sensors in various formats as well as adjust digital filters for removing unwanted signals. To learn more about how to use these features refer to the manufacturer datasheet linked at the beginning of this section.

Accessing the MPU-9150

The sensors on the MPU-9150 can be conveniently accessed over the I2C bus in “fast mode” at the address 1101000 (0xD0). Data from individual sensors can be accessed using the provided SensorCape interface library or the user can write their own library by referring to the I2C information listed in the MPU-9150 datasheet.

For more info on how I2C works and how to use it I recommend this article.

In addition to I2C, the motion interrupt pin of the MPU-9150 is routed to the BeagleBone GPIO pin P9-22. The user can attach an interrupt listener to this pin in order to execute a command whenever the interrupt fires. The syntax for doing this is discussed in the SensorCape interface library reference.


A few of the listed applications from the datasheet are:

  • Camera blur reduction
  • Motion sensitive user interface
  • Location based services
  • Motion-based game controllers
  • Wearable sensor for health, fitness and sports
  • Toys
  • Pedestrian based navigation
  • Electronic compass
  • Metal detector

This shows a very wide array of use cases for this sensor alone and I hope that the BeagleBone community can create even more uses by integrating it with the powerful microprocessor on the BeagleBone as well as the other sensors included on the SensorCape.

ISL29023 (Ambient light sensor)

Disclaimer: This section of the SensorCape Technical Manual does not include a full reference of the capabilities of the ISL29023, as a result I have provided a link to the datasheet which should prove useful for more technical readers.

ISL29023 Datasheet


The ISL29023 is an integrated digital ambient light sensor with a built-in interrupt functionality and is produced by intersil. The light sensing response of the ISL29023 attempts to emulate the human eye so this is an excellent chip to use for display dimming or other functionality in which you would want you project to respond in the same way a human eye would. The ISL29023 has a user selectable range of up to 64,000 lux with built-in noise rejection circuitry, and 16 bit output resolution.

ISL29023 SensorCape application circuit from the SensorCape reference manualISL29023 SensorCape Application Circuit

About the ISL29023

The ISL29023 is a small device containing two photodiode arrays that convert light into current. After light is converted to current during the light signal process, the current output is converted to digital by a built-in 16-bit ADC. The converter is a charge-balancing integrating 16-bit ADC. This type of ADC is best for converting small current signals in the presence of an AC periodic noise. A 100ms integration time, for instance, highly rejects 50Hz and 60Hz power line noise simultaneously which is useful for filtering out flickering introduced by the power supply.

A graph comparing ISL29023 Response to Human EyeComparing ISL29023 Response to Human Eye (from datasheet)

The ADC has I2C programmable range select to dynamically accommodate various lighting conditions. For very dim conditions, the ADC can be configured at its lowest range (Range 1) in the ambient light sensing. All of these options are implemented in the SensorCape interface library, to learn the interface protocols at a more technical level refer to the device datasheet.

The ISL29023 also has a low power option. In low power mode the device performs a light reading, stores the result of this reading in the ADC, and then enters a power off state until it receives an I2C command to perform another measurement. This low power capability is useful for performing readings over an extended period of time but of course would lead to lower data resolution.

Accessing the ISL29023

Just as most of the other sensors on the SensorCape are accessible via I2C, the ISL29023 is accesible over I2C at the address 1000100 (0x88). You can refer to the product datasheet for access commands or use the provided SensorCape interface library.

For more info on how I2C works and how to use it I recommend this article.

In addition to the I2C interface, the ISL29023 also provides one active-low interrupt pin which can be configured to trigger as a low-light alert or a bright-light alert. Though it is important to note that the ISL29023 continues to operate while the interrupt is asserted and if you need to retrieve the data that triggered the interrupt, you should do so before the next calculation is finished the and results are overwritten.


The ISL29023 sees widespread use in consumer devices as a brightness sensor that dims and brightens the screen or buttons on a device. It also could be used as a sunlight sensor, a camera flash detector, an IR exposure detector or any number of other applications so start using it with the SensorCape!

TMP006 (Ambient and non-contact temperature sensor)

Disclaimer: This section of the SensorCape Technical Manual does not include a full reference of the capabilities of the TMP006, as a result I have provided a link to the product page which provides an up to date datasheet, user guide, and other useful references.

TMP006 Product Page


The TMP006 is a very new chip from Texas Instruments that enables non-contact temperature measurement by using a thermopile to collect an infrared heat signature. Since a thermopile is only capable of determining relative temperature values, the TMP006 actually includes another temperature sensor to detect the temperature on the board.

This means that in addition to telling you the temperature of a non-local object, the TMP006 can be used as a local temperature sensor to warn if your device is overheating. If you would eventually like to use the TMP006 separate from the SensorCape it also boasts very low power usage and a shutdown state that is enabled over I2C.

TMP006 application circuit from SensorCape Reference Manual

TMP006 application circuit from SensorCape Reference Manual

About the TMP006

Coming soon…

ChipCap2 (Humidity sensor)

BMP180 (Pressure sensor)

TSOP38238 (IR sensor)

Auxiliary Components

Following Up

Since the I2C addresses are one of the most important details included in this manual, I have decided to provide a useful table of the assigned I2C addresses for each device.

SensorCape I2C Component Adresses
ComponentDescriptionAddress (Base-2)Address (Base-16)
MPU-91509-axis sensor11010000xD0
TMP006Ambient and non-contact temperature sensor10000010x82
BMP180Pressure sensor11101110xEE
ISL29023Ambient light sensor10001000x88
ChipCap2Humidity sensor01010000x50

The following links provide more insight into the SensorCape and BeagleBone ecosystem.


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  85. Un servicio de urgencia a un precio de no urgencia, que junto con nuestro DESPLAZAMIENTO GRATUITO, hará que su electrodoméstico Bosch, vuelva a funcionar como el primer día al mejor precio posible en Madrid. Deje que le ayudemos, y confie en nuestra experiencia, como miles de clientes ya lo han hecho en toda la provincia de Madrid, tanto en Madrid capital como en cualquier población de Madrid.

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  87. El servicio de reparación e instalación de ciertos aparatos electrodomésticos Siemens dispositivos domésticos, es una actividad a la que el servicio técnico Siemens Tenerife dedica gran parte de sus recursos técnicos y humanos. La empresa realiza esta labor contando para ello con un amplio plantel de profesionales capacitados, tanto en el área orientada al usuario doméstico como en el sector industrial empresarial. Albergues – Teléfono: 34 967.220.1… – Dirección: Calle Cristóbal Pérez Pastor, 80, Albacete, Albacete.

  88. Además ofrecen el mantenimiento, la reparación y la solución de avería a los equipos de aire acondicionado, ya sea, de su lugar de trabajo, su casa, de su local en general. Climatizaciones Montaño, S.L. es una empresa familiar con más de 30 años de experiencia en el sector de climatización y ventilación. En 1992 HITACHI invirtió en un nuevo edificio en la fábrica de Barcelona, España: HAPE (Productos de aire acondicionado Hitachi Europa). La de SAMSUNG en lavadoras también, pero no os creáis las tonterías de las burbujas.

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  91. Servicio tecnico de Frigorificos Binéfar Neveras y Congeladores: Trabajamos las principales marcas de Frigorificos del mercado, con una amplia garantia. Los tecnicos de reparacion de electrodomesticos, llevan consigo todos los repuestos y materiales necesarias para una correcta reparacion de sus electrodomesticos. Nuestros operadores en la centralita le atenderan las 24 horas del dia, todos los dias de la semana durante todo el año. Una vez conozcan su averia enviaran un tecnico a su domicilio que se encargara de realizar la reparacion de su frigorifico.

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  94. Por ello, presenta un nuevo servicio, el Compromiso Siemens Garantizado 48h, por el que se compromete a reparar el electrodoméstico en un plazo máximo de 2 días, de lo contrario, regala un año de garantía adicional. Con 30 centros propios y una red de 315 servicios oficiales, lo que supone un total de 630 técnicos altamente cualificados y con el mejor conocimiento del producto, tanto pequeño como gran electrodoméstico. Y también cuando la empresa tiene una alta disponibilidad de repuestos originales; en el caso de Siemens para aparatos de hasta 10 años de antigüedad. Todos los técnicos Siemens disponen del carnet Oficial de Anfel (Asociación Nacional de Fabricantes de Electrodomésticos).

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  98. Destinamos un amplio equipo de técnicos en Palencia y comunidad autónoma, especializados en toda la gama de Frigorificos Whirlpool, preparados para llegar a su domicilio el mismo día de su llamada para llevar a cabo la reparación y que usted vuelva a disfrutar de su Frigorificos Whirlpool como el primer día. Si has notado cualquier fallo se ha producido alguna avería en tu nevera, llama al Servicio Oficlal Whirlpool y su servicio técnico de frigoríficos en Granada se acercará hasta tu domicilio en el menor tiempo posible. Servicio Oficlal Whirlpool arregla también toda clase de averías en lavavajillas de todas las marcas, desde la colocación de un nuevo motor hasta cambios en una bandeja que se ha roto.

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  101. Si te es más fácil para tu religión pensar que no los he tenido… a asumir que hay gente que no ha encontrado tan cómodo al c6 tu mismo…. En éste último, y como dice #741, lo sublime es que el mejor apoyo del neumático hace que agarre más en el asfalto y hace que la frenada sea mejor. Y transmiten en tiempo real al calculador de suspensión, el cual adapta la altura del vehículo en función de la velocidad del mismo y ofrece así el mejor compromiso estabilidad/confort. Pero no entiendo el desagrado de conducción al que se refiere en el C6, en posición normal.

  102. Las lavadoras Candy cuentan con una de las tecnologías punteras del sector de los electrodomésticos actuales. Deposite su confianza en nuestro SERVICIO TÉCNICO PROFESIONAL ESPECIALIZADO EN electrodomesticos Philips, no le defraudaremos, nos comprometemos con usted con honestidad y profesionalidad. Son muchos años los que llevamos reparando lavadoras en Ciudad Pegaso de todas las marcas, tenemos un equipo de técnicos profesionales, con más de 20 años de experiencia la reparación de electrodomésticos. Todas las reparaciones cuentan con tres meses de garantía en mano de obra y en repuestos los que da el fabricante.

  103. Si necesitamos averiguar si el equipo salta por HP, Alta Presión, un metodo para forzarla es limitar el flujo de aire refrigerante a traves de la unidad Condensador (Maquina Exterior), tapando parte de la misma con un cartón unas bolsas de plastico el flujo de aire disminuye disminuyendo el intercambio de calor entre el radiador y el aire, por lo que la presión interna del equipo aumentará.

  104. Trabajamos todas las marcas de Frigoríficos: Balay, Aspes, Bosch, Candy, Saunier Duval, Corbero, Crolls, De Dietrich, Electrolux, Fagor, Fleck, General Electric, Hiyasu, Ignis, Indesit, Junkers, Kelvinator, Liebherr, Miele, Neff, New Pol, Otsein, Roca, Rosieres, Siemens, Teka, Toshiba, Vaillant, Whirlpool, Zanussi, Cointra, Daewoo, Ariston, LG, Haier, Carrier, Samsung, Panasonic, Smeg, Bauknech, AEG.

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  106. Los logos y marcas de cada servicio expuesto en est weebsite son propiedad de Servicio Técnico Oficial Bosch VALLADOLID y SAT oficial Bosch VALLADOLID, estando protegidos por las Leyes del Copyright,así como nuestros técnicos estan especializados en el Servicio Técnico y reparación de la marca Bosch. Si su electrodoméstico ha dejado de funcionar y necesita de un servicio técnico Bosch en Madrid, no dude en solicitar nuestra asistencia técnica continua a domicilio, llamando al 912 277 546 las 24 horas del día los 7 días de la semana, siendo no festivo. Para saber cual es el Servicio Técnico Bosch más cercano a su domicilio, mire la lista que le ofrecemos a continuación.

  107. En la entrada de aire podemos fabricarnos un pequeño filtro para evitar que entren porquerías al motor, con un trozo de esponja y una brida sobre un trozo de tubo. Si hacemos vacío también podría ser interesante poner un vacuómetro en la entrada de aire (con su correspondiente T), dependiendo del tipo de trabajos que realicemos. Controlo la presion en el cilindro con un presostato de baja y un relevo, lo tengo saliendo en 100 psi y repone en 70 psi, la unidad se calinta mucho.

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  115. Al realizar una devolución que está en plazo, el vendedor tiene derecho a verificar el equipo y en caso de no estar en orden ver cualquier anomalía, remitirlo a servicio técnico para que evalúen si ha sufrido algún daño no cubierto por garantía. Entonces, yo toda cabreada, llamo otravez al Servicio de Atencion al Cliente pese a sus costes, y hablando con otra amable señorita le cuento mi problema y esta al igual que su compañera no dejaba de insistir en que no anulara mi pedido que seguro que me llegaria pornto. Efectivamente el vale del 5 que se acumula por la compra de producto técnico SALE con la siguiente compra NO ES QUE SEA VÁLIDA PARA LA SIGUIENTE COMPRA”.

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  119. Os escribo para ver si alguien a tenido problemas parecidos, que me imagino que si por lo que he leido en otros posts. Desde su inicio TSclima apuesta ante todo por la satisfacción de sus clientes, para ello contamos con las últimas novedades del mercado, tanto en materia de climatización, calefacción y energía solar. Instalación y reparación de todo tipo de equipos de climatización, splits, cassettes, conductos, etc?. Respecto al Servicio Técnico, según mis informaciones, en la actualidad es correcto.

  120. Compre una cafetera cm1622 hace un mes en media markt se rompio el pocillo y minimoka ni meda markt se hizo cargo de la reparacion por eso minimoka y media markt por pueden cerrar las puertas. Hola, Luis, en este enlace encontrarás todos nuestros Servicios Técnicos Oficiales de la provincia de Valencia para que escojas el que más te convenga y le solicites la pieza que necesitas. Hola, Manuel, seguimos sin entender porqué te han dicho que no había recambios, cuando la pieza que necesitas está disponible y así se le ha informado al Servicio Técnico. Hola Ramón, Para solucionar tu incidencia deberás acudir a un Servicio de Asistencia Técnica.

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  131. Nuestro servicio técnico Philips Barrio del Pilar Madrid lo componen técnicos especializados en esta marca y realizan todas las reparaciones usando siempre piezas originales Philips. Esto es a través de comprobaciones periódicas se busca si alguno de los botones dispuestos en filas y columnas. En el exterior circula el aire de condensación, se trata de un aire tomado del exterior, que se calienta a su paso por el condensador, y vuelve a ser expulsado a una temperatura superior.

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  133. Patrick Heck, el nuevo director del SREL, ha entregado una lista de teléfonos a la fiscalía que investiga las irregularidades del servicio en la que aparece uno de Lébedev, el empresario ruso enfrentado a Vladímir Putin. Entre otros números entregados por el SREL a la fiscalía, hay un número atribuido a un tal Lébedev, pero no tenemos más información de la identidad de esta persona”, responde una fuente oficial del SREL. Aseguró que fue el servicio británico, a través de un tal Erskine, el que pidió la colaboración del SREL.

  134. A Telégrafo: El Liebherr que comenta es, en efecto, no frost, y su nivel de ruido -como ya se ha comentado- es de 38 db, insisto medidos en mí con sonómetro en mi casa. Mi consejo: Espero que no se asusten con lo que voy a decirles, pero lo mejor es ponerse en contacto con representantes extranjeros de las marcas. Mi mujer y yo hablamos con Liebherr en Holanda sobre este tema, y hasta nos explicaron que el nivel de ruido desciende a los pocos meses de uso. Reparacion de frigorificos en el mismo dia de su aviso con garantía por escrito.

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  137. Los orígenes de la BSH datan en 1983 cuando BSH adquirió la empresa Safel S.A. y posteriormente, en 1989, la marca Balay S.A. Safel era un grupo navarro formado en los años 80 a partir del Grupo Orbaiceta y Balay era un fabricante de electrodomésticos radicado en Zaragoza. En AT18 también somos su solución si necesita comprar recambios originales Bosch en Badalona.

  138. Nuestro equipo de profesionales es capaz de reparar cualquier tipo de electrodomestico.

  139. Anualmente recoge eventos tan importantes como la Cibeles Madrid Fashion Week, el mercadillo El Rastro la Feria del Libro de Madrid. Se trata de una ciudad muy grande, lo que hace que sea importante valorar las diferentes opciones de hoteles en Madrid existentes antes de decantarse por una de ellas, puesto que no todas ofrecen la misma buena relación entre calidad y precio. Somos Frío Jerez, S.L., una empresa especializada en la venta de aire acondicionado.

  140. Los reparadores de este servicio técnico Corbero en Leon son expertos en todos los Frigorificos y manejan todos los días los últimos progresos tecnológicos, las herramientas y los repuestos originales que son necesarios para la reparación de su electrodoméstico. Nuestro servicio técnico de frigorificos Daewoo, están disponibles de lunes a viernes de 9 a 20h y sábado de 9 a 2h en la reparación de electrodomésticos. Nosostros somos servicio técnico de frigorificos Daewoo, estamos listos para la reparación de sus electrodomésticos en Mérida y alrededores el mismo día de la solicitud. Nuestros repuestos son originales de fábrica, y tenemos una alta disponibilidad de todos ellos, incluso para aparatos antiguos.

  141. Me han dicho que no lo cubre la garantía y he visto que en la garantía pone que no cubre plásticos y el desperfecto es en la goma por la parte que encaja con la puerta al cerrar, esto porque se le comenté yo al técnico del establecimiento vendedor que vino a casa y que no sabía que decirme respecto a la causa del problema pero se ve una dilatación y rajadura, sin orificio en la goma y no sé si es de eso no que la lavadora pierde agua.

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