STEVAL-MKI121V1: Discovery kit for INEMO-M1
Contents
1. USB 5V 4 U8 DM 2 DP 3 USBDP 1 6 DP i D1 D4 5 2 5 USB_EN 5 GND 3 3V 7 USBDM 3 4 DM D2 D3 9 USBUFO2W6 R29 CN1 SOT323 6L 1M C67 USB minB SMD 0402 25V 4 7nF sm c 0402 Figure 24 INEMO M1 SoB S di 5 m Ej 2 5 2 3 a R39 0 R40 0 SMD 0402 SMD 0402 a a usa FQ S a S S Kl i gt a a El El a a 4 lt 8 6 2 gt zj of e e new U6 DNE PE Ms GND BIZBEIZEZ L z s 6 z o gt 8 68 D_VDD E JE a l a 8 3 D_VDD R35 4 7k R36 SMD 0402 4 7k SMD 0402 SP11_CS ADC12_IN4 22 14 R34 0 SPI1_CS ADC_IN4 GND SMO 040 SPI1 SCK ADC12 IN5 23 spit SOK ADC INS 1201 scL can px 181201 SCL CAN RX I2C1 SCL SPI1 MISO TIM3 CH1 24 Spit MISO TIM3 CH 1201 SDA GAN tx 121201 SDA GAN TX RST o tact SDA SPI1 MOSI TIM8 CH2 25 set MOSI TIM3 CH2 12C1_SDA USART1_RX ACI TIM4_CH2 I2C4 SDA USART4 RX ACI TIMA CH2 26 USARTZ_RTS ADC_IN1 I2C1 SCL USART1 TX ACI TIMA cH1 72 I2C1 SCL USART1 TX ACI TIMA CH1 ne DVD O 2 inn USARTI RTS ACI USBDP R330 SMD 0402 28 8 SMD 0402 A GND 3 USARTI_OTS ACI USBDM USART1 RTS ACI USBDP USBDP a A z s USART1_CTS ACI USBDM USBDM a GND 2 Ej 8 2 2 A R32 0 o a o g SMD 0402 z 23 lt o pa o k 8 A 5 oso a E eBcEE _ E 5 8 8 amp 8 2 3 3 S m 5 5 65 INEMO M1 D VDD USART2 CTS ADC123 INO WKUP o i2. e ESC to close the window alignment e Fi to hide or show window help e F2 toalign the 3D view towards the monitor see 3 1 7 3D view alignment e F3 to show roll pitch and yaw values e F4 to show guaternion values Figure 19 3D cube demo NEMO 3D Cube Demo Connected to IP 127 0 0 1 PORT 31001 DER INEMO DociD024165 Rev 2 ky UM1601 Getting started with INEMO suite 3 1 7 3D view alignment The AHRS reference frame is aligned to the magnetic north see Figure 19 for reference which means that the yaw angle value is referenced to the magnetic north In order to better understand the tracked motion it can be useful to realign the rotation in the direction of the monitor by using the view alignment operation it is just a transformation of the reference To align INEMO itis 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 20 Figure 20 3D cube demo 3D view alignment DoclD024165 Rev 2 25 33 Getting started with INEMO suite UM1601 3 1 8 26 33 Compass demo The iNEMO suite also includes the Compass demo Figure 21 developed using the accelerometer and magnetometer sensor To run the demo check Compass in the sensor settings window see 3 1 3 Acquisition settings Figure 17 press the compass icon and start the acquisition from the GUI toolbar Fi
3. CT UM1601 YA life augmented User manual STEVAL MKI121V1 discovery kit for INEMO M1 Introduction The STEVAL MKI121V1 features the second generation of the INEMO module family offered by STMicroelectronics It combines INEMO M1 and the pressure sensor LPS331AP representing a new and complete 10 DoF degree of freedom open platform able to provide fast inertial application development using MEMS sensors and the STM32 This user manual provides an overview of the system on board SoB and helps the user to discover the INEMO M1 high performance features and to develop and customize applications using the STEVAL MKI121V1 and the graphical user interface INEMO suite that is provided with the kit Figure 1 STEVAL MKI121V1 evaluation board February 2015 DocID024165 Rev 2 1 33 www st com Contents UM1601 Contents 1 DOVEDEN isis a a aoa ia a ee a ede a a ad anan 3 1 1 n te n 3 1 2 Demonstration software 3 2 Hardware layout and configuration 4 2 1 Power supply and power selection 5 2 1 1 USB supply source 5 2 1 2 VEXT supply Source 6 2 1 3 D VDD supply source 6 2 2 INEMOSMI s atik e ease oan Male kof Oe oe A Dl Rd 6 2 3 LPS331AP MEMS pressure sensor
4. USBUFO2W6 CN1 SOT323 6L C67 USB_minB SMD 0402 INEMO M1 DocID024165 Rev 2 ky UM1601 Hardware layout and configuration 2 9 Jumpers The details of the jumper settings are described in Table 4 Table 4 J1 J2 J3 settings Jumper J1 Description BOOTO is connected to D_VDD power when J1 is set as shown below System memory is selected as boot space ius 0060 BOOTO is connected to GND when J1 is set as shown below Main Flash memory is selected as boot space J2 J3 USB 5V is connected to VREG LDS when J2 is set as shown below The input voltage is regulated to 3 3 V by LDS3985PU33R and J3 has to be on to power the INEMO M1 module DOU USB 5V is connected to V EXT when J2 is set as shown below The input voltage is regulated internally by the INEMO M1 module OO Jumper on D VDD is connected to 3 3 V regulated by the LDS3985PU33R regulator Jumper off D VDD is not connected to 3 3 V It can be regulated by the INEMO M1 internal regulator or it can be the voltage source coming from pin1 of the J12 or J13 or J14 extension connector DocID024165 Rev 2 15 33 Getting started with INEMO suite UM1601 3 Note 16 33 Getting started with iNEMO suite 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 t
5. 2 SWDIO 3 4 F SWCLK _ o l SWO y ili 9 10 R25 nRESET Le SWD JTAG 0 SM R 0402 pou R18 GND SAMTEC 10k FTSH 105 01 F D K SMD 0402 30 33 Male Connector 2x5 Pitch 1 27mm DocID024165 Rev 2 4 UM1601 Schematics Figu re 28 Pinout connectors Pin out Connectors J12 J13 J15 J14 D VDD 1 D VDD V EXT 1 1 D VDD SPI CS ADC12 IN4 2 BOOTO SWCLK 2 2 nRESET SPI1_SCK ADC12 IN5 3 USART2 RTS ADC123 IN1 SWDIO 3 3 I2C1_ lt USART1_RX ACI TIM4_CH2 SPI1_MISO TIM3 CH1 4 USART2_RX ADC123_IN3 swo 4 4 I2C1 SCL USART1 TX ACI TIMA CH1 SPI1 MOSI TIM3 CH2 5 USART2 TX ADC123 IN2 I2C1 SCL CAN RX 5 5 USART1_RTS ACI USBDP USART1 TX IAP 6 USART2 CTS ADC123 INO WKUP 12C1_SDA CAN TX 6 6 USART1 CTS ACI USBDM USART1 RX IAP 7 7 7 _ GND _ GND _ GND CON7 CON7 CON7 CON7 The type of these connector shall be fixed during the layout They could be 2 connectors 2x7 or 4 connectors 1x7 They are 2 54 mm pitch DocID024165 Rev 2 31 33 Revision history UM1601 4 32 33 Revision history Table 5 Document revision history Date Revision Changes 24 May 2013 1 Initial release 17 Feb 2015 2 Updated note a on page 3 DocID024165 Rev 2 2 UM1601 IMPORTANT NOTICE PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries ST reserve the right to make
6. 8 24 Serial wire debug SWD connector 10 2 5 PUSNDUTLONS ja a id Ee E A YER Bas ENA a ank a 10 2 6 LEDS aa ha ace EI PE ee OO PE O a 10 2 7 Extension connectors 11 2 8 Dra eve rr ias 14 2 9 JUMPDETE ss napada kk kad adri spasa ke tika RS A e ih tases SA 15 3 Getting started with INEMO suite 16 3 1 INE MU SUNG a oe Geaa ankh A tha eR ee er ok EKA 17 3 1 1 INEMO suite main window 19 3 1 2 Connecting INEMO Ie L Lee n enn kn n va a ken kanna kann 20 3 1 3 Acquisition settings 21 3 1 4 Starting the acquisition and visibility of data 23 3 1 5 Starting the AHRS algorithm and settings 23 3 1 6 AHRS 3D demo Ill ll enn lk knn n kn nn a en n kn ka nn n kannan 24 3 1 7 3D view alignment 25 3 1 8 Compass demo eiii la tied fond te dk A ec sap 26 Appendix A SchemalU S ca a da oaz ar en ewe eee wow ie ne een 27 4 REVISION history os bees aa k anes kan aaa ka ka a ae eee aa 32 2 33 DoclD024165 Rev 2 ky UM1601 Overview 1 Overview 1 1 Features e Two power supply options through the USB connector 5 V or from an external supply voltage 3 6 V 6 V VEXT or 2 4 V 3 6 V D VDD e INEMO MI 9 axis SoB 13x13x2 mm compact design e LPS331AP MEMS
7. gyroscope roll pitch yaw 16 bit data output 250 s 500 s 2000 s selectable full scale LDS3985M33R ultra low drop low noise BICMOS 300 mA voltage regulator The INEMO M1 has been designed to exploit a wide range of peripherals CAN USART SPI and I C full speed USB 2 0 supported by the STM32F103REY6 in order to have the maximum flexibility in communication Thanks to this full range of communication peripherals and its extremely compact design the INEMO M1 can be directly integrated in a broad variety of advanced motion based platforms in several application segments resulting in enhanced performance of the platform as the system s capabilities are accessible within the application Free ADC channels for external inputs Low power modes power down sleep In system ceramic resonator In application programming IAP interfaces for firmware upgrades Compact design 13 x 13 x 2 mm For further information please consult the INEMO M1 datasheet and the STM32 reference and Flash programming manuals which are available from STMicroelectronics at www st com DociD024165 Rev 2 7 33 Hardware layout and configuration UM1601 2 3 Note 8 33 Figure 7 INEMO M1 functional block diagram LDS3985 Voltage LSM303DLHC regulator 3 axis sareorozope oi Resonator INEMO M1 LPS331AP MEMS pressure sensor The LPS331AP is an ultra compact absolute piezoresistive pressure sensor hous
8. sensor data view 2 Toolbar for data acquisition setting to set frequency acquisition mode etc 3 Toolbar for graphic management helps the user to explore the graphic window It allows zooming in on the graph enabling the cursors saving data and so on 4 Status bar shows the acquisition info 5 Log window 6 Default menu bar 7 Graph where the data are plotted Figure 13 NEMO suite main window Log Port Comm Sampling 50 Hz A Continous TCP IP Demo server started iNEMO j E E E M ster i ko e ar Timestamp Message 83212AM lew data file 120535 pe VAL_MKI121V1 Connected COM16 12053 d registers 12053 PHP server for demos 0 0 0 0 31001 started 121718 butler cleared 121716 aquisition Port COM16 Sampling 50 Hz Acquistion Mode Continous 1217 28 op aquistion DocID024165 Rev 2 19 33 Getting started with INEMO suite UM1601 3 1 2 Connecting iNEMO Before starting the acquisition of data it is necessary to open the connection between 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 The bottom part of the GUI main window shows the COM port number see Figure 14 Figure 14 Selected COM port number Log Port COM16 Sampling 50 Hz Acquistion Mode Continous 4 TCPJIP Demo server started The user must check tha
9. 5 Rev 2 17 33 Getting started with INEMO suite UM1601 To run the INEMO suite 1 Click on Start gt All Programs gt STMicroelectronics gt INEMO Suite gt iNEMO Suite Application 2 Launch the iNEMO software tool program Goldfish icon 3 The Kit Selector window appears Figure 12 Select STEVAL MKI121V1 4 Check that the serial port number is correct see Figure 11 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 the COM port press the New button on the toolbar Figure 15 or from the menu File New and the kit selector dialog window appears Figure 12 Kit selector window je Kit Selector Description Discovery M1 board based on NEMO M1 508 and pressure sensor Socket Configuration Connection Direct Param AF GC Timestamp Message 83212AM New data file Log Port COMI6 Sampling 1 Hz Acquistion Mode Continous i TCP IP Demo server stopped Y Serial Port Type 18 33 DocID024165 Rev 2 UM1601 Getting started with INEMO suite 3 1 1 NEMO suite main window The main window contains the following sections referenced by the corresponding numbers in Figure 13 1 Sensor selector which allows the user to move to a different
10. 6 R41 0 SMD 0402 USART2_RX ADC123_IN3 USART2_TX ADC123_IN2 Press_INT DocID024165 Rev 2 UM1601 Schematics Figure 25 Pressure sensor Pressure Sensor D_VDD e e e e e C5 C26 Fi 100nF 10v m 63V 10uF SMD 0402 TANTALIO 0603 o U3 a a a do sude M GND 1 e o z gt 13 Vdd 10 GND Z Ne GND HZ 3 NC LPS331AP INTA 11 Press_INT 1261 SCL 4 souspe 9 eno 9 D 5 a 2 9 GND GND 0 o INT2 FF lt Q w a O a co N 00 I2C1 SDA 4 DocID024165 Rev 2 29 33 Schematics UM1601 Figure 26 Power management stage Power Mgmt stage a a U9 O LDS3985PU33R a DFN6D exposed pad 3V3 J2 gt e E 1 VREG LDS s a vour 2 E z 3 C40 C50 6 2 22uF 6 3V U10 CON3 1uF 16V VINH NE 7 SMD 0402 SMM4F5 0A E SMD 0402 Li 4 a 5 x BYPASS 8GND e STmite flat ken o DO222 AA c39 33nF 6 3V SMD 0402 1 2 Discovery VREG q u 2 3 M1VREG D_VDD R19 3V3 ji D VDD 56 L4 SM R_0402 1 2 Z1 Mn 244 Kingbright KP2012SUR C CON 2400hm 400mA 10nF C36 RS 466 3829 D13 16V Farnell 8529930 W RED SMD 0402 LED 0805 N On LDS VREG diode conductin g a ze Off LDS VREG diode not conducting gt Figure 27 SWD D_VDD D_VDD R15 R16 10k 10k SMD 0402 SMD 0402 J11 1
11. EMO M1 LPS331AP Pin 7 GPIO SDA SDVSDO I2C1 SDA 4 DocID024165 Rev 2 9 33 Hardware layout and configuration UM1601 2 4 2 5 Note 2 6 Note 10 33 Serial wire debug SWD connector The SWD connector allows program loading and debugging of the STM32 inside INEMO M1 using a SWD dongle like ST LINK V2 through a dedicated JTAG_SWD adapter board A specific driver needs to be installed on the user s PC for communication with the SWD dongle Figure 9 SWD connector J11 and schematic SWD D_VDD D_VDD R15 10k SMD 0402 R16 10k SMD 0402 SWDIO SWCLK nRESET 0 SM R_0402 R18 10k SMD 0402 GND SAMTEC FTSH 105 01 F D K Male Connector 2x5 Pitch 1 27mm Pushbuttons e SWi1 reset pushbutton connected to nRESET is used to reset the INEMO M1 e SW2 user button connected to pin 16 of INEMO M1 The user button can be disconnected from SW2 and reconfigured for other purposes simply by removing the dedicated resistor as described in Table 3 LEDs e D4 Blue LED is a user LED connected to the I O pin 26 of INEMO M1 e D13 Red LED indicates that the board is powered The user LED can be disconnected from D4 and reconfigured for other purposes simply by removing the dedicated resistor as described in Table 3 DocID024165 Rev 2 ky UM1601 Hardware layout and configuration 2 7 Extension connectors Four 7 pin male connectors J12 J13 J14 a
12. a are sent to the PC in two ways roll pitch and yaw RPY angles and quaternion When the AHRS acquisition has begun the user must check that the data are stable which means checking in the RPY graphic that the data are flat when 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 while waiting for flat data sometimes it may be necessary to do this operation more than once DocID024165 Rev 2 23 33 Getting started with INEMO suite UM1601 3 1 6 24 33 AHRS 3D demo IF AHRS 3D is enabled it is possible by clicking on the Run Stop 3D Demo icon to open a 3D window in which an orientation demo is performed The INEMO 3D Cube Demo is an external client application whose connection is automatically made by the external client It is also possible to start the application from the system menu Start Programs STMicroelectronics i NEMO Suite Demos 3D Cube Demo or launch from a console with the command iNEMO 3D Cube Demo exe P xxx yyy www zzz PORT 31001 where xxx yyy www zzz is the IP address of the server 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 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 the following useful commands
13. a pri MKI121V1 Free Pin Pin Pin Pin p p Function P PM yOassign VO of J12 of J13 of J14 of J15 name ment I2C1 SDA LPS331AP 12 GPIO PB9 TIM4 CH4 CAN TX PBS licno 6 I2C1 SCL LPS331AP 13 GPIO PBs TIM4 CH3 CAN RX PBB licna 5 14 GND GND 7 7 7 15 GND GND 7 7 7 User Button 16 GPIO_PA10 USARTI_RX PA10 Push_ 7 TIM1_CH3 2 Button PB3 TRACES WO SWD 17 JTDO JTDO TIM2_ PB3 SWO 4 CH2 SPI1 SCK USART1 TX 2 18 GPIO_PA9 fini cH PA9 USB EN 6 JTMS GPIO SWD ie ano JTMS SWDIO Ba13 PA13 swolo 3 JTCK GPIO_ SWD 20 ou ik JTCK SWCLK Bat4 PA14 SWOLK 2 VEXT 21 36 6 V2 V EXT 1 SPI1_NSS USART2_CK 22 GPIOPA4 DAG our PA4 2 ADC12_IN4 SPI1_SCK 23 GPIO PA5 DAC OUT2 PA5 3 ADC12 IN5 SPI1 MISO TIM8 BKIN TIM1_ 24 GPIO PAG lancia IN6 BKIN PAG 4 TIM3 CH1 SPI1_MOSI TIM8 CH1N TIM1 25 GPIO PAT lancia IN7 CHIN PA7 5 TIM3 CH2 USART2 RTS ADC123 IN1 USER_ 26 GPIO_PA Tims CH2 PAL Lepo 3 TIM2_CH2 12 33 DocID024165 Rev 2 ky UM1601 Hardware layout and configuration Table 2 INEMO M1 pin description versus board function continued STEVAL ML Description Basic Rema pri MKI121V1 Free Pin Pin Pin Pin p p Function P PM VO assign VO of J12 of J13 of J14 of J15 name ment VDD 27 24 D_VDD 1 1 1 3 6 YN 28 GND GND 7 7 7 1 When using an external regulated supply voltage these pins
14. are input supply pins with voltage in the range 2 4 V 3 6 V When using the internal voltage regulator these pins are 3 3 V output and can be used to supply other ICs Can be reconfigured by the user by removing the related resistor please refer to Table 3 When using an external regulated supply voltage this pin shall be left floating When using the internal voltage regulator this pin is used as the supply input in the range 3 6 V 6 V Table 3 Functional block disconnection on STEVAL MKI121V1 INEMO M1 pin number STEVAL MKI121V1 1 0 assignment H ana plock 7 Press INT Remove R41 12 I2C1 SDA Remove R37 13 I2C1 SCL Remove R34 16 Push Button Remove R40 18 USB EN Remove R39 26 USER LED Remove R42 4 DocID024165 Rev 2 13 33 Hardware layout and configuration UM1601 2 8 14 33 USB The STEVAL MKI121V1 is provided with USB 2 0 compliant full speed communication via a USB type mini B receptacle connector CN1 with dedicated EMI filter and line termination through the USBUFO2W6 U8 Pin 18 of the INEMO M1 is used for the software connection disconnection of the USB cable The MCU pins are configured in output push pull mode when high the USB communication is enabled when low it is disabled Connector and hardware connections are shown in Figure 10 Figure 10 USB mini B connector CN1 and schematic USB RS 515 1995 Molex 54819 0572 D1 D4 GND 3 3V D2 D3
15. changes corrections enhancements modifications and improvements to ST products and or to this document at any time without notice Purchasers should obtain the latest relevant information on ST products before placing orders ST products are sold pursuant to ST s terms and conditions of sale in place at the time of order acknowledgement Purchasers are solely responsible for the choice selection and use of ST products and ST assumes no liability for application assistance or the design of Purchasers products No license express or implied to any intellectual property right is granted by ST herein Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product ST and the ST logo are trademarks of ST All other product or service names are the property of their respective owners Information in this document supersedes and replaces information previously supplied in any prior versions of this document 2015 STMicroelectronics All rights reserved 4 DocID024165 Rev 2 33 33
16. discovery board has been designed to evaluate the INEMO M1 features Figure 3 illustrates the hardware block diagram of the device Figure 3 STEVAL MKI121V1 block diagram SMD0802131051 LD3985PU33 Power management Voltage regulator LPS331AP Digital pressure sensor User LED Extension button connectors Mini USB type B connector Figure 4 illustrates the top view of the layout and Figure 5 shows the bottom view Figure 4 Top view layout description CN1 MiniUSB J11 SWD J2 J3 Power connector connector management Jumper L D13 dit ans Power LED Pur Mgmt i U9 LSD3985PU33R om Voltage regulator 1 U6 INEMO M1 U3 Pressure sensor LPS331AP J12 J13 Me J14 J15 Extension Extension connectors connectors DEMOBOARD FOR EVALUATION PURPOSE ONLY SWA Reset button SW2 User button J1 Boot Jumper D4 User LED 4 33 DocID024165 Rev 2 ky Hardware layout and configuration UM1601 Figure 5 Bottom view layout description High junction EMI filter and line temperature termination for USB Transil upstream ports USBUFO2W6 oma m ezo 0 Oddam NENENEN sof SHS PRHE i preti o imi nile Moi gt Edacacda zet m a TI EEE E S sjaji s sli IK oO 2 1 Power supply and power selection The STEVAL MKI121V1 can be powered through a USB connector or an external power supply voltage up to 6 V DC as follows e 5V DC powe
17. ed in an HCLGA package The device includes a monolithic sensing element and an IC interface able to take the information from the sensing element and to provide a digital signal to the external world The sensing element consists of a suspended membrane inside a single mono silicon substrate It is capable of detecting pressure and is manufactured using a dedicated process VENSENS developed by ST The STEVAL MKI121V1 board uses an I C communication I2C1 on pin 12 and pin 13 of INEMO M1 and the LPS331AP slave address is set to OxBA The LPS331AP features two fully programmable interrupt sources INT1 and INT2 which may be configured to trigger different pressure events In the STEVAL MKI121V1 only the INT1 interrupt source is connected to the INEMO M1 through Press INT pin 7 of INEMO M1 The device may also be configured to generate through the interrupt pins a data ready signal Drdy which indicates when new measured data is available therefore simplifying data synchronization in digital systems The connection between the LPS331AP and the INEMO M1 is shown in Figure 8 I2C1 and INT1 Press INT can be disconnected from the pressure sensor and reconfigured for other purposes simply by removing dedicated resistors as described in Table 3 DociD024165 Rev 2 ky UM1601 Hardware layout and configuration Figure 8 Pressure sensor block diagram C26 100nF 10v 6 3V 10uF SMD 0402 TANTALIO_0603 GND GND IN
18. eters like offset scale factor output data rate full scale as well as other ones related to selecting sensors The output data rate can be synchronized with the sampling freguency of one sensor selected from the Sync to sensor ODR drop down menu The sensor settings can be also saved loaded to from flash Figure 18 This functionality is useful for board calibration DociD024165 Rev 2 4 UM1601 Getting started with iNEMO suite Figure 18 Sensor settings Load default values Save to flash Load from flash O Sensor Settings Output Accelerometer Magnetometer Gyroscope Pressure Temperature Sensor Name LSM303DLHC Offset milli g C High Pass Filter Output Data Rate Hz 50 v Full scale g 2 Reference x 10 Y 0 z 0 a v a v a v Scale factor x 11 000 Y 11 000 Z 11 000 Starting the acquisition and visibility of data 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 using the icons on left of the GUI Starting the AHRS algorithm and settings When the AHRS algorithm is enabled see Section 3 1 3 and Figure 17 the INEMO MCU executes the extended Kalman filter to retrieve information about the board orientation starting from the acceleration angular rate and magnetic field data The orientation dat
19. etwork Connection 2 BB Intel R Centrino R Ultimate N 6300 AGN 2 PCMCIA adapters AJ Ports COM amp LPT Y Communications Port COM1 Cy STEVAL MKI121V1 NEMO Discovery M1 COM16D SBR Processo JA Secure Digital host controllers XQ Smart card readers NEMO suite The iNEMO suite application allows the user to also work with the INEMO V1 and iNEMO V2 platform At the startup of the application the kit selector window appears in order to choose the platform to be used Figure 12 For the STEVAL MKI121V1 the INEMO suite application also has 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 connects to the server the log bar shows the IP address of the client that just connected Each demo client can elaborate and show these data The structure of the data sample sent to all clients is FrameData_t defined in the INEMOM1 SDK h file The TCP IP server may be enabled disabled from the Tools gt Communication gt Settings menu its state is shown on the status bar 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 DocID02416
20. g the sampling frequency are synchronized with the value of the output data rate of the relevant sensor Otherwise the sampling frequency and output data rate can be set with a different value e Acquisition duration Samples iNEMO acquires data from a limited number of sensors set in the number of samples box Continuous iNEMO acquires data 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 DocID024165 Rev 2 21 33 Getting started with INEMO suite UM1601 22 33 Figure 17 Acguisition settings Timestamp 11 11 27 AM 11 11 27 AM 11 11 28 AM 11 11 28 AM 11 11 31 AM 11 11 32 AM Log 2000 1000 0 1000 2000 O Raw data Magnetometer Gyroscope Acquisition Frequency H2 Temperature 2000 1000 0 1000 00 Message STEVAL_MKI121V1 Connected COM24 Available sensor Accelerometer Gyroscope Magnetometer Pressure Temperature Loaded registers TCP IP server for demos 0 0 0 0 31001 started Available sensor Accelerometer Gyroscope Magnetometer Pressure Temperature Loaded registers Port COM24 Sampling 50 Hz Acquistion Mode Continous y TCP IP Demo server started C AHRS Module C Compass iyneh to sensor ODA Pressure 50 None v For each sensor it is possible to set param
21. gure 17 Figure 21 Compass demo g Horizontal Zoom x ASI MA poto gt gt oo ENI The heading of the board is indicated by the yellow arrow according to the NED system as shown in Figure 21 The Compass window also shows information on roll and pitch values The demo is a tilt Compass including the hard iron calibration HIC hard iron calibration corrects the errors resulting from external magnetic influences that can affect the accuracy of the heading readings To enable the HIC click on the Start HIC button in the Sensor Settings Magnetometer window and follow the instructions DocID024165 Rev 2 ky Schematics UM1601 Appendix A Schematics Figure 22 Reset pushbutton boot user LED ONO gt A an va 160 269 SY 1 8102L9 1S11 UO 917 S080 GWS O371 nja 09 zovo ans 8zu dat esn aq 3SN ZOO AWS ZOO AWS aada a MOL ZEA 0 sa 100g BOOTO li ans duOOL LMS lo ZOO ans oi6 sossu d40LLZZABZA 139 ZO O ans o A 9 JU0OL A 9 co OINOLINAHSNd ZMS uopng usnq zoro ans MOL va aada a uong ysnq nRESET 0 gd NOLINAHSNd O bi 9816 S0S SY MOL Z0v0 ANS Z z aada a josey dd0tzza8 A MRD 27 33 DocID024165 Rev 2 Schematics UM1601 28 33 Figure 23 USB USB RS 515 1995 Molex 54819 0572
22. he VEXT pin has to be left floating INEMO M1 The INEMO MI is the smallest sensor fusion system on board SoB of the INEMO module family The INEMO MI is a 9 degree of freedom system on board SoB combining the latest advances in ST MEMS based technology with the powerful computational core ARM Cortex M M3 of the STM32 family The INEMO M1 platform has been designed following specific guidelines in order to have a modular solution based on the principles of miniaturization low power consumption and cost effectiveness obtaining a solution having the best trade off between performance and flexibility of the system to cover a wide range of applications 2 DocID024165 Rev 2 UM1601 Hardware layout and configuration Figure 6 INEMO M1 This SOB provides the following benefits The INEMO M1 operates from a 2 4 V 3 6 V power supply voltage range Additionally the internal voltage regulator LDS3985M33R enables the module to be powered by an external voltage from 3 6 up to 6 V correctly supplying the devices on board and also supplying external ICs The INEMO MI architecture embeds the STM32F103REY6 WLCSP package high density performance line ARM Cortex M3 based 32 bit MCU LSM303DLHC 6 axis geomagnetic module 2g 4g 8g 16g linear acceleration programmable full scale and from 1 3 Gauss to 8 1 Gauss magnetic programmable field full scale I C digital output L8GD20 3 axis digital
23. nd J15 can be used to connect a user s daughterboard to facilitate the development of applications Each pin on the connectors can be utilized by the user s daughterboard a lot of these are free l Os and others can be used after disconnecting them from the corresponding functional block on the STEVAL MKI121V1 board Please refer to Table 2 and Table 3 Table 2 INEMO M1 pin description versus board function STEVAL ed Description Basic Rema kia MKI121V1 Free Pin Pin Pin Pin p p Function P PIA VO assign WO ofJ12 of J13 of J14 of J15 name ment VDD 2 4 1 Iggy D vDD 1 1 1 2 BOOTO e BOOTO 2 3 nRESET NRST Reset 2 button USART2 RX TIM5_CH4 4 GPIO PAS lancia Na PA3 4 TIM2_CH4 USART2 TX TIM5 CH3 5 GPIO PA2 ADGT23 IN2 PA2 5 TIM2_CH3 6 IGN GND 7 7 7 WKUP USART2 CTS ADC123 INO pag kPS331AP 7 GPIO PA0 TIM2_CH1_ weup Press INT 6 ETR 2 TIM5_CH1 TIM8 ETR USART1 CTS USBDM 8 GPIO PATI GAN Ax PA11 6 TIM1 CH4 USART1_RTS USBDP 9 GPIO PA12 GAN TX PA12 5 TIM1_ETR I2C1_SCL USART1 10 GPIO PB6 fima cm PB6 4 I2C1 SDA USART1_ 11 GPIO PB fimd cH2 EX PB7 3 ky DocID024165 Rev 2 11 33 Hardware layout and configuration UM1601 Table 2 INEMO M1 pin description versus board function continued STEVAL ML Description Basic Rem
24. o use the board PC system requirement 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 www 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 Wait for the Hardware Update Wizard window and follow the instructions Install from a list or specific location Advanced Browse C Program Files STMicroelectronics iNEMO Suite driver inemo and choose x64 or x86 folder according to your system Once the installation has finished a COM port number is assigned to the ST virtual COM driver Figure 11 This number is required to correctly run the INEMO GUI as outlined in the steps in 3 1 NEMO suite 2 DocID024165 Rev 2 UM1601 Getting started with INEMO suite 3 1 Figure 11 How to see the STEVAL MKI121V1 COM port number Device Manager File Action View Help gt men a 3 DYD CD ROM drives dg Human Interface Devices Gy IDE ATAJATAPI controllers amp IEEE 1394 Bus host controllers lt Keyboards D Mice and other pointing devices Modems Monitors B Network adapters BB 1394 Net Adapter i Cisco AnyConnect VPN Virtual Miniport Adapter for Windows BB Intel R 82577LM Gigabit N
25. pressure sensor 260 1260 mbar absolute digital output barometer e Extension header for INEMO M1 I Os for quick connections to prototype the board and for easy probing e SWD connector for programming and debugging e Two push buttons reset and user e Two LEDs user LED power on LED e Mini B USB connector 1 2 Demonstration software To facilitate user development and analysis of the sensor data the STEVAL MKI121V1 demonstration kit includes a graphical user interface GUI INEMO suite to display sensor outputs the compass application AHRS 3D demo cube as well as a firmware library for easy development of customized applications and a package for a DFU Device Firmware Upgrade The iNEMO suite application allows the user to also work with the previous INEMO V1 and INEMO V2 platforms At the startup of the application the kit selector window appears in order to choose the platform used select STEVAL MKI121V1 in this case For more details on getting started with the iNEMO suite please refer to Section 3 The latest version of the firmware package and PC GUI can be downloaded from the STEVAL MKI121V1 product page on www st com Figure 2 iNEMO suite GUI a The STEVAL MKI121V1 runs the AHRS 3D demo cube the AHRS algorithm library is available in INEMO Suite package in compiled format DocID024165 Rev 2 3 33 Hardware layout and configuration UM1601 2 Hardware layout and configuration The STEVAL MKI121V1
26. r from type B mini USB connector e 3 6 to 6 V DC power from VEXT pin1 of the J15 extension connector e 2 4to 3 6 V DC power from D_VDD pin1 of the J12 J13 or J14 extension connector 2 1 1 USB supply source If the STEVAL MKI121V1 is supplied through the USB connector one of two options can be selected to regulate the voltage e INEMO M1 internal voltage regulator e STEVAL MKI121V1 LSD3985PU33R voltage regulator The voltage regulator is selected using J2 and JS according to Table 1 The LED D13 is turned on if the board is powered correctly b The VEXT pin has to be left floating DocID024165 Rev 2 5 33 Hardware layout and configuration UM1601 2 2 6 33 Table 1 Power selection options Regulator J2 jumper configuration J3 jumper configuration STEVAL MKI121V1 17 3 LSD3985PU33R voltage regulator 0 ele ON 1 2 3 NEMO M1 internal voltage regulator ele 0 X VEXT supply source The STEVAL MKI121V1 is powered by VEXT connecting the voltage source to pin 1 of the J15 extension connector The input voltage value shall be in the range 3 6 6 V and it is regulated in this case by the internal INEMO M1 voltage regulator D_VDD supply source The STEVAL MKI121V1 is powered by D_VDD connecting the voltage source to pin1 of the J12 or J13 or J14 extension connector The input voltage value shall be in the range 2 4 3 6 V In this case the INEMO M1 internal voltage regulator is bypassed so t
27. t the COM port number is the same as the one shown in the device manager Figure 11 If the COM number is different it is necessary to set the right number By clicking the new data file icon Figure 15 the kit selector window appears and it is possible to select the COM port number as in Figure 12 Figure 15 New data file icon SP Horizontal Zoom z k GX EX 96 j di Continous 1000 1000 2000 20 33 DocID024165 Rev 2 ky UM1601 Getting started with iNEMO suite 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 16 Figure 16 How to open the connection Port COMI6 Sampling 50 He Acquistion Mode Continous TCP IP Demo server started 3 1 3 Acquisition settings Before starting the acquisition it is possible to modify the acquisition setting Figure 17 e Sensor output Enable disable the output of a sensor e Acquisition mode Raw data sensor data plotted as raw data in the graph AHRS this feature enables the attitude heading reference system algorithm based on the Kalman filter and sends sensor data plus orientation data Compass this feature enables the compass application To show compass application press the compass icon Sampling frequency it sets the acquisition rate of the sensors If only one sensor is enabled by checking the synchronous fla
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