Getting started with the iNEMO™ STEVAL
Contents
1. 9 2 2 ConnectingiNEMO 10 2 3 ACQUISIION Settings ss paaa erene nenga par EER WES eee en ee hee 12 2 4 Start acquisition and data description 12 2 5 AHRS algorithm starting and settings 13 26 AHRS3DOEMO sareni ase eaves uae ete nantes ina nains 14 2 6 1 3D view alignment eee SIGBIN Kna SPG etre drone 15 3 Revision history 17 2 18 Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 List of figures List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 STEVAL MKI06V2 iNEMO V2 platform 1 STEVAL MKI062V2 notification icon 4 Manual installation of the STEVAL MKI062V2 driver 5 iNEMO driver installation 6 How to see the STEVAL MKI062V2 COM port number 7 Kit selector window 9 INEMO Suite main window 2 220 eee eee eee eee 10 Selected COM port number 10 New data file icon uses pue sage EA Ook hate ae mu ve 11 How to open the connection2. tetas 11 Acquisition settings icon 12 Data icon description 13 AHRS stabilization 23824 0202045588 via dai AA Dh an Mees da Gee Baked ee SY 14 3D cube demo 15 Alignment procedure 16 Doc ID 18054 Rev 1 3 18 www BDTIC com ST iNEMO V2 GUl installation UM1010 1 1 1 2 Note 1 3 Note 4 18 iNEMO V2 GUI installation The installation of the graphical user interface GUI requires the following two steps 1 Install the PC software delivered with the demonstration kit 2 Install the virtual COM driver needed to use the board PC system requirement e Microsoft Windows XP Service Pack 2 or higher e Microsoft NET Framework 2 0 or higher PC software installation To install the iNEMO suite run the setup file and follow the instructions The latest setup file is available on st com Virtual Com driver installation To install the virtual COM driver plug the iNEMO board into a free USB port an icon should appear in the Notify Bar as in Figure 2 Wait for the Hardware Update Wizard window and follow the instructions in Figure 4 Figure 2 STEVAL MKI062V2 notification icon 34 Found New Hardware STEYAL MKI062V2 iINEMO Platform AM08315v1 If after a
3. KY User UM1010 manual Getting started with the INEMO STEVAL MKI062V2 October 2010 Introduction The STEVAL MKI062V2 is the second generation of the iINEMO modules family It combines accelerometers gyroscopes and magnetometers with pressure and temperature sensors to provide 3 axis sensing of linear angular and magnetic motion complemented with temperature and barometer altitude readings representing the new ST 10 degrees of freedom DOF platform This document provides a quick start guide for iNEMO PC software and graphical user interface GUI Figure 1 STEVAL MKI06V2 iNEMO V2 platform STLM75 Digital temperature sensor amp thermal watchdog LSM303DLH 6 axis module accelerometer and magnetometer LY330ALH MEMS Yaw gyroscope LD3985XX18 amp LDS3985XX33 Voltage regulators MEMS pressure sensor LPR430AL MEMS Pitch amp Roll gyroscope STM32F103RE 32 bit MCU INEMO LPS001D AM0B339v1 Doc ID 18054 Rev 1 1 18 www BDTIC com ST www st com Contents UM1010 Contents 1 iNEMO V2 GUI installation 4 1 1 PC system requirement 4 1 2 PC software installation 4 1 3 Virtual Com driver installation 4 2 INEMO SUNG cccuccstetecbaussdciweudnsicsacecesinaseceseaaes 8 2 1 INEMO suite main window
4. few seconds the Hardware Update Wizard doesn t appear follow the instructions given in Figure 3 and then in 4 Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 iNEMO V2 GUI installation Figure 3 Manual installation of the STEVAL MKI062V2 driver Right Click on My Computer File Action View Window Help e Am 8 t a g Computer Management WE myc t My Computer Open SJ My Network Pla Explore D Modems Search 3 Monitors G Control Panel Manage 3 M Network adapters MP 1394 Net Adapter 2 Set Program Acce Map Network Drive Local Users and Groups 9 Cisco AnyConnect VPN Virtual Miniport Adapter for Windows e Defauits Disconnect Network Drive Performance E9 Intel R 82566MM Gigabit Network Connection Connect To F KG IntekR Wireless WiFi Link 4965AG 2 lt Show on Desktop E PCMCIA adapters amp Printers and Faxe Rename Personal identification devices Properties FE COM amp LPT 7 Bluetooth Communications Port COM11 and Support 4 Hep BA Services and Applications JJ Communications Port COM1 pO search A ECP Printer Port LPT1 Intel R A ology 50 COM4 77 Run TY STEVAL MKI0622 iNEMO Platform LI Secure Digital host controllers NG Smart card readers Sound video and game controllers System devices Universal Serial Bus controllers Q Doc ID 18054 Rev 1 5 18 www BDTIC com ST iNEMO V2 GUl installation UM1010 Figure 4
5. run on the same PC or remotely it depends on the network speed connection and the PC processor speed and RAM From the 3D cube window it is possible to execute some useful commands e ESC to close the window alignment F1 to hide or show window help F2 to align the 3D view towards the monitor see Section 2 6 1 F3 to show roll pitch and yaw values F4 to show quaternion values Figure 14 3D cube demo iNEMO 3D Cube Demo File Help iNEMO 3D view alignment The AHRS reference frame is aligned to the magnetic north see Figure 14 for reference system it means that the yaw angle value is referred to the magnetic north In order to better understand the tracked motion it can be useful to realign the rotation towards the monitor direction by view alignment operation it is just a reference system transformation To align the iNEMO it is necessary to point the USB cable towards the monitor and press the F2 key if the calibration is correct the cube shows the goldfish side Figure 15 Doc ID 18054 Rev 1 15 18 www BDTIC com ST iNEMO suite UM1010 16 18 Figure 15 Alignment procedure Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 Revision history 3 Revision history Table 1 Document revision history Date Revision Changes 11 Oct 2010 1 Initial release ky Doc ID 18054 Rev 1 17 18 www BDTIC com ST UM1010 Please Read C
6. MENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT UNLESS EXPRESSLY APPROVED IN WRITING BY AN AUTHORIZED ST REPRESENTATIVE ST PRODUCTS ARE NOT RECOMMENDED AUTHORIZED OR WARRANTED FOR USEIN MILITARY AIR CRAFT SPACE LIFE SAVING OR LIFE SUSTAINING APPLICATIONS NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY DEATH OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE ST PRODUCTS WHICH ARE NOT SPECIFIED AS AUTOMOTIVE GRADE MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER S OWN RISK Resale of ST products with provisions different from the statements and or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever any liability of ST ST and the ST logo are trademarks or registered trademarks of ST in various countries Information in this document supersedes and replaces all information previously supplied The ST logo is a registered trademark of STMicroelectronics All other names are the property of their respective owners 2010 STMicroelectronics All rights reserved STMicroelectronics group of companies Australia Belgium Brazil Canada China Czech Republic Finland France Germany Hong Kong India Israel Italy Japan Malaysia Malta Morocco Philippines Singapore Spain Sweden Switzerland United Kingdom United Sta
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8. h Windows XP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Ca Once the installation has finished a COM port number is assigned to the ST virtual COM driver Figure 5 Knowledge of this number is required to correctly run the iINEMO GUI 6 18 Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 iNEMO V2 GUl installation Figure 5 How to see the STEVAL MKI062V2 COM port number mi Computer Management DER a File Action View Window Help e AS fa Computer Management Local 8 Network adapters rim System Tools 8 1394 Net Adapter 3 fl Event Viewer B Cisco AnyConnect VPN Virtual Miniport Adapter For Windows Shared Folders E Intel R 82566MM Gigabit Network Connection 2 2 Local Users and Groups E9 Intel R Wireless WiFi Link 4965AG 2 Performance Logs and Alerts 5 VMware Virtual Ethernet Adapter For YMnet1 Z Device Manager 59 VMware Virtual Ethernet Adapter For YMnet8 5 Storage Other devices Removable Storage PCMCIA adapters Disk Defragmenter YD Personal identification devices Disk Management 9 Ports COM amp LPT f Ex Services and Applications I BT Port COM16 Communicati
9. iNEMO driver installation Found New Hardware Wizard This wizard helps you install software for STEVAL MKIO62V2 iNEMO Platform If your hardware came with an installation CD XO or floppy disk insert it now What do you want the wizard to do O Install the wate automatically Recommended Install from a list or specific location Advanced Click Next to continue Browse For Folder Please choose your search and installation options Search for the best diver in these locations Gp safoboot SafeBoot Tray Manager Use the check boxes below to limit or expand the default search which includes loca i a paths and removable media The best driver found wil be installed Pinag gy M Search removable media floppy CD ROM Demos M Include thisleeationr document C Program Files S TMicroelectronics iNEMO Suite w Derome Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarante the driver you choose will be the best match for your hardware To view any subfolders click a plus sign above Found New Hardware Wizard Please wait while the wizard installs the softwagp Hardware Installation The software you are installing for this hardware R STEVAL MKI062V2 NEMO Platform 3 STEVAL MKI062V2 NEMO Platform has not passed Windows Logo testing to verily its compatibility wit
10. in two ways roll pitch and yaw RPY angles and quaternion When AHRS acquisition is started the user must check if the data are stable It means checking in the RPY graphic if the data are flat when the iNEMO is in a stationary position If not the user must strongly shake the board and after that leave the board in a motionless position waiting for flat data sometimes it may be necessary to do this operation more than once See Figure 13 Doc ID 18054 Rev 1 13 18 www BDTIC com ST iNEMO suite UM1010 Figure 13 AHRS stabilization Roll degree Unstable data SE B Q A Yaw degree A D Stable data ET ERIR il H H i PA AM08326v1 2 6 AHRS 3D demo If AHRS 3D is enabled it is possible by clicking on the 3D icon to open a 3D window in which an orientation demo is performed The INEMO 3D Cube Demo is an external client application connecting this demo to the server It is also possible to start the application from the system menu Start Programs STMicroelectronics INEMO Suite Demos 3D Cube Demo or launch from a console with the command iNEMO 3D Cube Demo exe IP xxx yyy www zzz PORT 31001 where xxx yyy www zzz is the IP address where the server runs 14 18 Doc ID 18054 Rev 1 ky UM1010 iNEMO suite 2 6 1 The application can also be run from a remote PC which is in the same network as the server More than one instance of the application can
11. ons Port COM1 ECP Printer Port LPT1 ag STEVAL MKIO62V1 INEMO Plaff m COME D ff Processors SCSI and RAID controllers 3 Secure Digital host controllers SQ Smart card readers Sound video and game controllers re y System devices Doc ID 18054 Rev 1 7 18 www BDTIC com ST iNEMO suite UM1010 2 8 18 INEMO suite The iNEMO suite application allows the user to work both with the INEMO V1 and iNEMO V2 platform At the startup of the application the kit selector window appears to choose the platform used Figure 6 The iNEMO suite application is based on the software development kit SDK INEMO SDK dll for STEVAL MKI062V1 and iNEMO2_SDK dll for STEVAL MKI062V2 Only for the STEVAL MKIO62V2 is the iNEMO suite application also a TCP IP server for external remote demo applications when the server starts in the log bar a message shows the availability of the server Each client may be connected to the server on port 31001 default to receive data from the device through the iNEMO suite server Every time a client is connected to the server the log bar shows the IP address of the client just connected Each demo client could elaborate and show these data The structure of the data sample sent to all clients is the FrameData_t defined in the INEMO2 SDK h The TCP IP server may be enabled disabled from the Tools gt Communication gt Settings menu its state is shown on the s
12. or graphic management helps the user to explore in the graphic window It allows to zoom the graph enabling cursors save data and so on Status bar shows the acquisition info Log window Default menu bar The graphical panel where the data are graphically represented Doc ID 18054 Rev 1 9 18 www BDTIC com ST iNEMO suite UM1010 Figure 7 iNEMO Suite main window Message 41750 PM Data buffer cleared 41750 Last aquisition Port COM13 Sampling 50 Hz Acqusbon Mode Continous AHRS Enabled 417 CPAP Chent Connected 127 0 0 1 2469 LL TCPIIP Demo server gt sending data to herts 2 2 Connecting iNEMO Before starting the acquisition it is necessary to open the connection between the iNEMO and the PC It is preferable to connect the INEMO board to a free USB port before launching the GUI In this way the GUI directly finds the COM port into which the board is plugged On the bottom part of the GUI main window the COM port number is reported Figure 8 Figure 8 Selected COM port number Port COM6 Jampling 50 Hz Acquistion Mode Samples 1000 Duration 20 s o TCP IP Demo server started AM08321v1 The user must check if the COM port number is the same as the one shown in the device manager Figure 5 If the COM number is different it is necessary to set the right number By clicking the new data file icon Figure 9 the kit selector window appears and it is possible to
13. rt Stop buttons Acquisition mode Sampling frequency Acquisition duration AM08324v1 Start acquisition and data description By clicking the Start icon the acquisition starts The user can view the sensor data in the graphics Each sensor is acquired simultaneously but it has a dedicated graphic the user can choose the sensor by the icons on left of the GUI Figure 12 Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 iNEMO suite Figure 12 Data icon description Ay Accelerometer the data are in mg measurement unit and the full scale is set at 2000mg amp R Gyroscope the data are in degree per second measurement unit and the full scale is set at 300dps Lx gt Magnetometer the data are in mGauss measurement unit and the full scale is set at 1 3 Gauss Q Pressure Sensor the data are in tenths of mBar measurement unit gt Temperature Sensor the data are in tenths of Celsius degree measurement unit ET gt Roll Pitch and Yaw the data are in Degree H Quaternion dimensionless data al 3 Table of all data AM08325v1 2 5 AHRS algorithm starting and settings When the AHRS algorithm is enabled see Section 2 3 and Figure 11 the iNEMO MCU executes the extended Kalman filter to retrieve information about the board orientation starting from acceleration angular rate and magnetic field data The orientation data are sent to the PC
14. select the COM port number as in Figure 6 10 18 Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 iNEMO suite Figure 9 New data file icon When the correct COM number is set click on the connect icon to open the communication and in the log window a connection message appears Figure 10 Figure 10 How to open the connection L S EA a Port COM Sampling 5D Me Acquastion Mode Sangles 1000 Duration 20 5 ui TCP IP Demo server started ky Doc ID 18054 Rev 1 11 18 www BDTIC com ST iNEMO suite UM1010 2 3 2 4 12 18 Acquisition settings Before starting the acquisition it is possible to modify the acquisition setting Figure 11 e Acquisition mode Normal only the sensor data is acquired AHRS this feature enables the attitude heading reference system algorithm based on the Kalman filter and sends sensor data plus orientation data e Sampling frequency it sets the sensors acquisition rate 50Hz 25Hz 10Hz 1Hz e Acquisition duration Samples the iNEMO acquires a limited number of sensors set in the number of samples box Continuous the iNEMO acquires until the user stops the acquisition by clicking the Stop button When the AHRS feature is enabled the sampling frequency is automatically set to 50 Hz and it can t be modified Figure 11 Acquisition settings icon Number of samples Sta
15. tatus bar below From this dialog box the user can change the communication port default 31001 Pay close attention to this information in order to avoid a communication block from an installed firewall To run the INEMO suite 1 Click on Start gt All Programs gt STMicroelectronics gt INEMO Suite gt INEMO Suite Application 2 Launch the program iNEMO software tool Goldfish Icon 3 At first the Kit Selector window appears Figure 6 Select STEVAL MKI062V2 4 Check that the serial port number is correct see Figure 5 Otherwise click the refresh button and choose the right COM port It is preferable to connect the iNEMO board to a free USB port before launching the GUI In this way the GUI directly finds the COM port into which the board is plugged To change COM port press the New button on the toolbar or from the menu File New and the kit selector dialog appears Doc ID 18054 Rev 1 ky www BDTIC com ST UM1010 iNEMO suite Figure 6 Kit selector window Port COMI Sampling 50 Ha Acquistion Mode Samples 1000 Duration 20 s amp TCP IP Demo server stopped rr Ty YY 2 1 iNEMO suite main window The main window is made up of the following main sections Figure 7 1 2 3 NO os Sensor selector where the user can move to a different sensor data view Toolbar for data acquisition setting to set frequency acquisition mode etc Toolbar f
16. tes of America www st com 18 18 Doc ID 18054 Rev 1 ky www BDTIC com ST
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