CEVA FSP201 User manual

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FSP201 with USB
Quick Start Guide
1000-4939
Rev. 1.0
December 2023

FSP201 with USB Quick Start Guide 1000-4939
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Rev. 1.0 Copyright © 2023 –CEVA®, Inc. i
Documentation Control
History Table
Version
Date
Description
01.0
December 6, 2023
Inital Release

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Support
CEVA® makes great efforts to provide a user-friendly software and
hardware development environment. Along with this, CEVA provides
comprehensive documentation, enabling users to learn and develop
applications on their own. Due to the complexities involved in the
development of DSP applications that might be beyond the scope of the
documentation, an online Technical Support Service has been established.
This service includes useful tips and provides fast and efficient help, assisting
users to quickly resolve development problems.
How to Get Technical Support:
●FAQs: Visit our website http://www.ceva-dsp.com or your company's
protected page on the CEVA website for the latest answers to
frequently asked questions.
●Application Notes: Visit our website http://www.ceva-dsp.com or your
company's protected page on the CEVA website for the latest
application notes.
●Email: Use the CEVA central support email address ceva-
[email protected]. Your email will be forwarded automatically to
the relevant support engineers and tools developers who will provide
you with the most professional support to help you resolve any
problem.
●License Keys: Refer any license key requests or problems to
[email protected]. For SDT license keys installation information,
see the SDT Installation and Licensing Scheme Guide.
Email: [email protected]
Visit us at: www.ceva-dsp.com

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Table of Contents
1. INTRODUCTION .................................................................................................. 5
1.1 Scope.........................................................................................................5
1.2 Audience ....................................................................................................5
1.3 Related Documents ......................................................................................5
1.4 Overview ....................................................................................................5
2. HARDWARE ......................................................................................................... 6
2.1 Introduction ................................................................................................6
2.2 Connections ................................................................................................6
3. PC DEMO APPLICATION ...................................................................................... 7
3.1 Requirement ...............................................................................................7
3.2 Running FreespaceTM MotionStudio 2 ..............................................................9
3.2.1 Start FreespaceTM MotionStudio 2 ..............................................................9
3.2.2 Establish Connection to the FSP201 USB Board ...........................................9
3.2.3 Sensor Control ......................................................................................11
3.2.4 Virtual Object .......................................................................................12
4. EXAMPLE SOFTWARE ........................................................................................ 15
4.1 UART-SHTP Mode ......................................................................................15
4.1.1 Running the Application on Windows PC ...................................................15
4.2 UART-RVC Mode ........................................................................................17
5. GLOSSARY......................................................................................................... 18
List of Figures
Figure 2-1: FSP201 Module with USB board......................................................................6
Figure 3-1: Device Manager for USB Serial Port ................................................................7
Figure 3-2: USB Serial Port Properties Window in the Device Manager .................................8
Figure 3-3: Advanced Setting for COM Port ......................................................................8
Figure 3-4: FreespaceTM MotionStudio 2 Startup Window....................................................9
Figure 3-5: Device Connection Panel in MS2 ...................................................................10
Figure 3-6: Device Connection Window after Connection ..................................................11
Figure 3-7: Sensor Control Panel in MS2 ........................................................................12
Figure 3-8: Virtual Object Panel in MS2..........................................................................13
Figure 3-9: FSP201 with USB board Orientation ..............................................................13
Figure 3-10: Sensor Orientation in Virtual Object Panel in MS2 .........................................14
List of Tables
Table 5-1: Acronyms ...................................................................................................18

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1. Introduction
1.1 Scope
This document describes the features and operation of the FSP201 with USB
device.
1.2 Audience
This document is intended for anyone who wants to evaluate the FSP201.
1.3 Related Documents
The following documents are related to the information in this document:
1000-4819 FSP201 Datasheet, CEVA, Inc.
1000-3625 SH-2 Reference Manual, CEVA, Inc.
1000-4906 FSP201 Simple Calibration User Guide, CEVA, Inc.
1000-3535 Sensor Hub Transport Protocol
1000-5034 Schematic, Module USB Adapter
1000-4868 Schematic, FSP201 Module
1.4 Overview
The FSP201 is a 6-axis IMU processor, integrating CEVA's high-
performance sensor hub software stack, to provide heading and orientation
outputs. When connected to one of several supported sensors, it performs all
the accelerometer and gyroscope sensor fusion processing necessary to
produce stable and accurate heading and orientation outputs. This document
is intended to provide information about the FSP201 Module with USB board
with software provided by CEVA to facilitate customer evaluation.

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2. Hardware
2.1 Introduction
The FSP201 Module with USB board includes the FSP201 Module with
Bosch BMI088 6 axis sensor and a USB to serial interface which is designed
for quick and easy evaluation and prototyping.
Figure 2-1: FSP201 Module with USB board
2.2 Connections
The FSP201 communicates with the host system over a UART interface,
either in UART-RVC mode or in UART-SHTP mode.
In UART-SHTP mode, the FSP201 uses the Sensor Hub Transport Protocol
(SHTP) to communicate with a system or application processor. The SHTP
protocol is documented in the Sensor Hub Transport Protocol [4], allowing a
customer to potentially develop their own host software if they choose to do
so.
In UART-RVC mode, the FSP201 transmits heading and sensor information
at 100Hz.
The mode selection is made with S1 switch on board. The default
configuration is UART-SHTP mode.

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3. PC Demo Application
3.1 Requirement
Running FreespaceTM MotionStudio 2 with FSP201 Module with USB board
requires the following items.
•Windows PC
•FTDI driver (Windows PC may not find the right driver) available in
https://ftdichip.com/drivers/vcp-drivers/
•USB Type A to Micro-B cable
•Freespace™MotionStudio 2 application available in
https://www.ceva-dsp.com/resource/freespace-motionstudio-2-2-0-1/
•Setup USB Serial Port
Connect USB Type A to Micro-B cable to FSP201 with USB board and your
PC. The USB Serial COM port should appear in your Device Manager after
the driver is installed properly.
Figure 3-1: Device Manager for USB Serial Port
Please note the configurations of the FTDI COM Port driver should be
updated to optimize latency and to improve overall performance.
Right click on the device entry and select Properties to bring up the
properties windows.

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Figure 3-2: USB Serial Port Properties Window in the Device Manager
In the Properties windows, select the Port Settings tab and click the
Advanced button to bring up the Advanced Settings window.
In the Advanced Settings window, change the default Latency Timer from
16msec to 1msec.
Figure 3-3: Advanced Setting for COM Port

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3.2 Running FreespaceTM MotionStudio 2
3.2.1 Start FreespaceTM MotionStudio 2
After you unzip the PC Application package, launch MotionStudio2.exe
under the MotionStudio2 folder. This will open MotionStudio2 window.
Figure 3-4: FreespaceTM MotionStudio 2 Startup Window
3.2.2 Establish Connection to the FSP201 USB Board
From the menu panel on the left, select Device Connection. This panel
allows users to select device type, transport protocol and more.
•“Product” set to FSP201
•“Device Type” set to USB Adapter
•“Virtual COM Port” set to the corresponding COM port
•Target Device “Transport Protocol” set to SHTP over UART
Use Connect Button to Establish the Connection

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Figure 3-5: Device Connection Panel in MS2

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Figure 3-6: Device Connection Window after Connection
When connection process is completed, the three status indicator text boxes
on the upper right corner of the panel and the console window on the bottom
provide the result of connection process. The three status indicators show the
status of the connected system and the status of the associated panel. If the
specific panel supports the protocol used by the connected device, the panel
becomes active and shows in green color.
3.2.3 Sensor Control
The Sensor Control panel allows the user to enable and disable the various
sensors individually. There are two ways to control sensors:
•To enable an individual sensor at a default operation rate, use the
check box on the right end of the row for each sensor.
•To enable sensors at specific rates, input the requested operating
period, in microseconds, in the 'Requested Period (us)" fields. Then
click the "Set Sensor Periods" button on the top of the panel. All
sensors will be updated with the specified operating period. The
"Requested Period (us)" fields which are left blank or have invalid
values are assumed to be "zero".

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In many cases, the sensors do not operate at the exact rate as requested. The
actual operating period is shown in the "Reported Period (us)" field. Users
can also use the "Get Sensor Periods" button on top of the panel to refresh the
actual operating period for all sensors.
Figure 3-7: Sensor Control Panel in MS2
3.2.4 Virtual Object
Virtual Object panel shows the orientation of the device. Please note that you
need to enable sensors in Sensor Control panel, then select the sensor from
the drop-down menu in Virtual Object panel. The sword in the Virtual Object
will move according to the device orientation.
To adjust the camera position, move the cursor to the Virtual Object Panel,
then press the LEFT mouse button. Hold the button down and move the
mouse to change the view position. To reset the camera position, use the
"Reset Camera Position" button.
To display the Game Rotation Vectors, select the GameRotationVector from
the drop-down menu, the data fields should start updating with the received
sensor data. The virtual object will move according to the orientation of the
hardware. The Virtual Control panel does not control the sensor but displays
the output data.

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Figure 3-8: Virtual Object Panel in MS2
Figure 3-9: FSP201 with USB board Orientation

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Please follow the instructions below to align your device.
•Enable Game Rotation Vector in “Sensor Control”panel.
•Switch to Virtual Object panel and move the background so the black
corner of the logo on the ground plane points to your forward
direction (heading).
•Hold the FSP201 with USB board Y+ axis points to your forward
direction.
•Select “GameRotationVector”in drop-down menu and click “Tare
Z”. Now, the sword will point to the edge of the logo and is aligned
with your device Y+.
Figure 3-10: Sensor Orientation in Virtual Object Panel in MS2

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4. Example Software
4.1 UART-SHTP Mode
CEVA provides software for the FSP201 Module with USB board. The
example application source code is available in public github.
https://github.com/ceva-dsp/sh2-logger
Clone this repository using the --recursive flag with git. Alternatively, you
can download a ZIP file from the link. An example git clone command is
shown below.
git clone --recursive https://github.com/ceva-dsp/sh2-logger
Follow the instructions on the github to build either in Windows or Linux.
4.1.1 Running the Application on Windows PC
●Create a configuration file.
sh2_logger.exe template -o config.json
Generate a configuration file template "config.json".
●Edit the config.json file with any editor to configure setup.
○Not all sensors are available in the FSP201. Please check with the
datasheet for supported sensor reports.
○Following example enables Game Rotation Vector at 100Hz,
Accelerometer at 100Hz
"sensorList": {
"ARVR Stabilized GameRotation Vector": 0,
"ARVR Stabilized Rotation Vector": 0,
"Accelerometer": 100,
"Ambient Light": 0,
"Circle Detector": 0,
"Dead Reckoning Pose": 0,
"Flip Detector": 0,
"Game Rotation Vector": 100,
●Execute sh2_logger.exe

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○sh2_logger.exe log -i config.json -o test.dsf -d
0
sh2_logger.exe log -i config.json -o test.dsf -d 0
INFO: (json) Process the batch json file 'config.json'
...
INFO: (json) Calibration Enable : 8
INFO: (json) Clear DCD : Disable
INFO: (json) Clear OF Cal : Disable
INFO: (json) DCD Auto Save : Enable
INFO: (json) Orientation : NED
INFO: (json) Extract Sensor list ...
INFO: (json) Sensor ID : 1 - Accelerometer @ 100Hz
(10000us) [ss=0]
INFO: (json) Sensor ID : 8 - Game Rotation Vector @
100Hz (10000us) [ss=0]
INFO: Open a session with a SensorHub
FTDI device found on COM27
INFO: Get Product IDs
WARNING: SHTP error detected.
INFO: Set DCD Auto Save
INFO: Set Calibration Configuration
INFO: Get FRS Records
INFO: Enable Sensors
Press a key to exit . . .
Processing Sensor Reports . . .
WARNING: SHTP error detected.
Samples: 50 Duration: 0:00:00 Rate: 207.20
(50.00) Samples per second

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Samples: 250 Duration: 0:00:01 Rate: 202.05
(200.00) Samples per second
Samples: 451 Duration: 0:00:02 Rate: 201.60
(201.00) Samples per second
Samples: 652 Duration: 0:00:03 Rate: 201.29
(201.00) Samples per second
Samples: 854 Duration: 0:00:04 Rate: 201.32
(202.00) Samples per second
●test.dsf is a sensor report log file in CEVA proprietary format.
○Use any text editor to open the file.
○The beginning of the log file includes the format of each channel
followed by + (plus).
+1
TIME{s},SYSTEM_TIME{s},SAMPLE_ID[x]{samples},STATUS[x]{st
ate},LIN_ACC_GRAVITY[xyz]{m/s^2}
○Corresponding data follows the channel number followed by .
(period).
.1 0.759617000,0.759917000,226,2,0.390625,-
3.1875,9.16015625
○In this example:
4.2 UART-RVC Mode
The FSP201 automatically sends data when UART-RVC mode is set by S1
on the board.
After the device power on, there are 93 bytes of message followed by UART
RVC data. Please refer to the FSP201 datasheet [1] Section 3.3.1 for more
information about the format.
IndexHeader Yaw Pitch Roll X-axis
accel Y-axis
accel Z-axis
accel Interactive
Calibration Rsvd Csum
0xAAAA LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB MI MR 0x00 csum
○channel
○Time
○System Time
○Sample
ID
○Status
Accelerometer
x
y
z
1
0.759617000
0.759617000
226
2
0.390625
3.1875
9.16015625

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5. Glossary
Table 5-1 defines the acronyms used in this document.
Table 5-1: Acronyms
Term
Definition
SHTP
Sensor Hub Transport Protocol
MS2
MotionStudio 2
RVC
Robot Vacuum Cleaner