STEVAL- MKI062V2 communication protocol
Contents
1. 13 2 2 3 NEMO Resit cece tdi ta epar ve Yiu RE CR aa ey Davee en 13 2 2 4 INEMO Enter DFU Mode 14 2 2 5 INEMO Ira6e IIIA hn UWA a Rech nn 14 2 2 6 NEMO Led Control ccs WA IIIA 15 2 3 Board information frames 15 2 3 1 iNEMO Get Device Mode 17 2 3 2 iNEMO Get MCU ID 17 2 3 3 INEMO Get FW Version 18 2 3 4 iNEMO Get HW Version 18 2 3 5 iNEMO Identify IIIA eee awa 19 2 3 6 INEMO Get AHRS Library 19 2 3 7 iNEMO Get Libraries 20 2 4 Sensor setting frames 20 2 4 1 iNEMO Set Sensor Parameter 21 2 4 2 iNEMO Get Sensor Parameter 22 2 4 3 iNEMO Restore Default Parameter 22 2 4 4 Accelerometer Sensor Parameter field 23 2 4 5 Accelerometer output data rate 23 2 4 6 Accelerometerfullscale 24 24 7 Accelerometer high pass filter 24 2 4 8 Accelerometeroffset 24 2 37 Doc ID 18128 Rev 1 ky UM1017 Contents 2 4 9 Magnetometer Sensor Param2. Table 4 Communication control frames continued Payload Frame Ack Message length cm Commands type required ID QoS in Payload Originator bytes String iNEMO Trace Data DATA N oxo7 M Variable I9 debug purpose 0x00 iNEMO Led Control CONTROL Y 0x08 N 1 OFF PC 0x01 ON ACK N 0x08 N 0 iNEMO_Led_Control_Response Error iNEMO NACK N 0x08 N 1 code 2 2 1 iNEMO_Connect The iNEMO_Connect command is the first command sent from the GUI or SDK to the iNEMO board Any other command sent before the INEMO Connect will not be processed by iNEMO It works like a ping and opens the communication between the GUI or SDK and the iNEMO board at the application level Figure 7 shows the frames involved in the iNEMO Connect transaction Figure 7 iNEMO Connect frames iNEMO Connect Frame Control i Sa Frame Type Control Ack Required 0x20 0x01 0x00 Last Fragment QoS Normal iNEMO_Connect_Response ACK case Frame Type ACK without payload Ack n gt i Not Required Last Fragment QoS Normal 0x80 0x01 0x00 iNEMO Connect Response NACK case Frame Type NACK Ack E Control Not Required Last Fragment QoS Normal 0xCO 0x02 0x00 AM08365v1 12 37 Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames 2 2 2 2 2 3 INEMO Disconnect The INEMO Disconnect command closes the communication between the PC and the INEMO board Figure 8 shows the frames involved in the INEMO Disconnect tran
3. QUATERNION FRAME ao GYRO Y aci yz PRESS TEMP RPY Rol 00 01 02 COUNTER 6BYTE 2 6BYTE 2BYTE 2BYTE Pitch Yaw Q3 2BYTE 6BYTE 12BYTE E yte AMO8384v1 Doc ID 18128 Rev 1 33 37 STEVAL MKI062V2 frames UM1017 34 37 The Frame Counter field is an unsigned short incremented every time new data is sent to the PC ACC X Y Z represents the accelerometer data field This data field is available only if the accelerometer sensor has been enabled ACC field in NEMO Set Output Mode frame is 1 If the Raw option is not enabled Raw field in INEMO Set Output Mode frame is 0 each accelerometer axis value is expressed in mg thousandth of gravitational force in one of the possible ranges defined in Table 10 as a signed short value 2 bytes If the Raw option is enabled each axis value represents the raw sensor data LSB value GYRO X Y Z represents the gyroscope data field This data field is available only if the gyroscope sensor has been enabled GYRO field in INEMO Set Output Mode frame is 1 If the Raw option is not enabled each gyroscope axis value is expressed in dps degrees per second in one of the possible ranges defined in Table 17 and Table 19 as a signed short value 2 bytes If the Raw option is enabled each axis represents the raw sensor data LSB value MAG X Y Z represents the magnetometer data field This data field is available only if the magnetometer sensor has be
4. 25 Magnetometer operating mode setting 26 2 axis gyroscope pitch roll Sensor Parameterfield 27 2 axis gyroscope full scale field 27 1 axis gyroscope yaw Sensor Parameter field 28 2 axis gyroscope full scale field 28 Pressure Sensor Parameterfield 28 Pressure sensor output data rate field 29 Temperature Sensor Parameter field 29 Acquisition sensor dataframes 30 Calibrated and raw fields 31 Acquisition Pate ills sees emule meds mre n RR e a a EHE ER e E eee 31 Output interface 32 Error code field rera sss coser aay ette Ree a Uy bee VOR ee e aaa ee 35 Document revision history wA IIIA KUWAI mr 36 Doc ID 18128 Rev 1 ky UM1017 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 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure
5. UM1017 J User manual STEVAL MKI062V2 communication protocol Introduction The scope of this user manual is to present the communication protocol used between the STEVAL MKI062V2 demonstration board NEMO V2 and the iNEMO SDK software development kit This communication protocol runs on a physical communication channel based on USB virtual COM which represents the physical channel used in the communication between the STEVAL MKIOG2V2 and the PC The first chapter explains the general frame format and main rules used in the protocol The second chapter explains all the frames used in the actual release of the embedded firmware and software development kit SDK February 2011 Doc ID 18128 Rev 1 1 37 www st com Contents UM1017 Contents 1 General frame format and protocol rules 6 1 1 Frame format 6 1 1 1 Frame control field 7 1 1 2 Lengthitield usen eee a NGA NE Ee REQUIRE E 8 1 1 3 Message ID field wi 0 cee eee 8 1 2 Protocol rules 9 2 STEVAL MKIO62V2 frames 11 2 1 STEVAL MKIO62V2 frame types 11 2 2 Communication controlframes 11 2 2 1 iNEMO Connect 12 2 2 2 iNEMO Disconnect
6. MAG PRESS and TEMP fields are used to enable or disable the acquisition of the respective sensors The FQx fields are used to set the acquisition rate see Table 25 Table 25 Acquisition rate FQ2 FQ1 FAO Acguisition rate Hz 0 0 0 1 0 0 1 10 0 1 0 25 0 1 1 50 1 0 0 30 Doc ID 18128 Rev 1 31 37 STEVAL MKI062V2 frames UM1017 32 37 Table 25 Acquisition rate continued FQ2 FQ1 FQO Acquisition rate Hz 1 0 1 100 1 1 0 400 1 1 1 RFU The OTx fields are used to set the interface through which iNEMO sends the data The only interface supported by the actual version of iNEMO is the USB interface as shown in Table 26 Table 26 Output interface OT2 OT1 OTO Output interface 0 0 0 USB 0 0 1 0 1 0 0 1 1 1 0 0 RFU 1 0 1 1 1 0 1 1 1 The Number of Samples bytes specify how many sensor data samples shall be acquired When set to zero continuous mode iNEMO acquires and sends sensor data to the PC until it receives the INEMO Stop Acquisition command Doc ID 18128 Rev 1 UM1017 STEVAL MKI062V2 frames 2 5 2 iNEMO_Get_Output_Mode The iNEMO_Get_Output_Mode command allows retrieving information from iNEMO about its acquisition settings Figure 26 shows the frames involved in the INEMO Get Output Mode transaction Figure 26 iNEMO Get Output Mode frames iNEMO Get Output Mode Frame Type Co
7. iNEMO Trace The iNEMO Trace command allows the user to enable or disable trace data Trace data are used for debugging purposes and they are displayed as a string in a debug window The frames are asynchronous and have medium priority QoS sub field of frame control field Figure 11 shows the frames involved in the iNEMO Trace transaction Figure 11 iNEMO Trace frames iNEMO Trace Frame Type Control Ack Required Last Fragment QoS Normal Disable 0 Enable 1 Frame Type ACK without payload Ack Not Required Last Fragment QoS Normal 0x80 0x01 0x07 iNEMO_Trace_Response NACK case Frame Type NACK Ack yntrol Not Required Last Fragment QoS Normal 0xCO 0x02 0x07 iNEMO Trace Data Frame Type Data Ack Not Frame Control Trace Data String Required Last Fragment QoS Medium 0x41 variable 0x07 AMO8369v1 Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames 2 2 6 iNEMO_Led_Control The iNEMO_Led_Control command allows turning on or off the LED available on the iNEMO board Figure 12 shows the frames involved in the iNEMO Led Control transaction Figure 12 iNEMO_Led_Control frames iNEMO Led Control Frame Type Control Ack Required Last Fragment 0x20 0x02 0x08 pec vm iNEMO Led Control Response ACK case XXI Frame Type ACK without payload Ack Not Required Last Fragment Q
8. field for the offset X Y or Z axis setting is 2 bytes in length and expressed in milli Gauss thousandth of Gauss as signed short 16 bit with the most significant byte first 2 axis gyroscope Sensor Parameter field Table 16 lists the values and parameters for the Sensor Parameter field for the 2 axis gyroscope pitch roll sensor Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames Table 16 2 axis gyroscope pitch roll Sensor Parameter field Sensor Parameter field Parameter 0x00 Full scale 0x01 Offset X 0x02 Offset Y 0x03 OxFF RFU 2 4 15 2 axis gyroscope full scale The Parameter Value field for the full scale setting is 1 byte in length Table 17 describes the supported full scale for the 2 axis gyroscope available in the STEVAL MKIOG2V2 LPR430AL The full scale of the LPR430AL can be modified only in the hardware by changing the position of the R77 and R78 resistors of INEMO V2 for further details please refer to the related user manual UM0937 If the user changes the full scale of the LPR430AL it also modifies the firmware library changing the Gyro Sensitivity x Gyro SensitivityLSB x and Gyro FS x defined in the LPRYxxxAL h file where x should be P or R For this reason the Full Scale parameter can be used only in the iNEMO Get Sensor Parameter command It is not supported in the iNEMO Set Sensor Parameter and INEMO Restore Default Parameter commands Table
9. significant where the length of the field is k bits The frame format is composed of a header and an optional payload The general frame is formatted as illustrated in Figure 2 The header is composed of three mandatory M fields each of which is 1 byte in length while the payload is an optional field whose maximum length is 61 bytes See LF MF field in the following section to exceed this limit Figure 2 General frame format Bytes 1 Frame Control Length Message ID Payload M M M O AMO8360v1 Doc ID 18128 Rev 1 ky UM1017 General frame format and protocol rules 11 1 Frame control field The frame control field is 1 byte in length and contains information defining the frame type and other control flags The frame control field is formatted as illustrated in Figure 3 Figure 3 Frame control field 7 6 5 4 3 2 1 0 Frame Type Ack LF MF Frame Version QoS AMO836tv1 The frame type subfield is 2 bits in length and is set to one of the values listed in Table 7 Table 1 Frame type list Value Frame type 00 CONTROL 01 DATA 10 ACK 11 NACK The ACK subfield is 1 bit in length and specifies whether an acknowledgement is required from the recipient on receipt of a DATA or CONTROL frame If this field is set to one the recipient sends an acknowledgment frame only if upon reception the frame passes all required levels of filtering If this subfield is set to ze
10. 0x01 Master Mode Other values are forbidden iNEMO Get Device Mode Response NACK case Frame Type NACK Ack Not Required Last E 1 uL 0xCO 0x02 0x10 Fragment QoS Normal AMOB371v1 2 3 2 iNEMO Get MCU ID The iNEMO Get MCU ID command allows retrieving from the iNEMO board the 96 bit unique device identifier of the STM32F103RE microcontroller see http www st com stonline products literature rm 13902 pdf for further details on this feature Figure 14 shows the frames involved in the INEMO Get MCU ID transaction Figure 14 iNEMO Get MCU ID frames iNEMO Get MCU ID Frame Type Control Ack Required Last Fragment QoS Normal 0x01 0x12 iNEMO Get MCU ID Response ACK case ENT meye T Fram M wi Frame Control uid payload Ack Not Required Last Fragment QoS Normal 0x80 0x0D 0x12 Frame Type NACK Ack Not Required Last Fragment QoS Normal 0x0 0x02 0x12 AM08372v1 ky Doc ID 18128 Rev 1 17 37 STEVAL MKI062V2 frames UM1017 2 3 3 2 3 4 18 37 iNEMO Get FW Version The iNEMO Get FW Version command allows retrieving the INEMO firmware version Figure 15 shows the frames involved in the iNEMO Get FW Version transaction Figure 15 iNEMO Get FW Version frames iNEMO Get FW Version rol Frame Type Control Ack Required Last Fragment QoS Normal Cc af 0x20 0x01 0x13 Frame Type ACK with payload Ack Not Required Last Fragm
11. 17 2 axis gyroscope full scale field Parameter Value field for 2 axis gyroscope pitch roll FS Full scale dps 0x00 0x03 RFU 0x04 300 0x05 0x07 RFU 0x08 1200 0x09 OxFF RFU 2 4 16 2 axis gyroscope offset The Parameter Value field for the offset X or Y axis setting is 2 bytes in length and expressed in dps degree per second as signed short 16 bit with the most significant byte first 2 4 17 1 axis gyroscope Sensor Parameter field Table 18 lists the values and parameters for the Sensor Parameter field for the 1 axis gyroscope Yaw sensor ky Doc ID 18128 Rev 1 27 37 STEVAL MKI062V2 frames UM1017 2 4 18 2 4 19 2 4 20 28 37 Table 18 1 axis gyroscope yaw Sensor Parameter field Sensor_Parameter field Parameter 0x00 Full scale 0x01 Offset Z 0x02 OKFF RFU 1 axis gyroscope full scale The Parameter Value field for the full scale setting is 1 byte in length Table 19 lists the values and the supported full scale for the 1 axis gyroscope available in STEVAL MKI062V2 LY330ALH The LY330ALH supports only one full scale 300 dps For this reason the Full Scale parameter can be used only in the INEMO Get Sensor Parameter command It is not supported in the INEMO Set Sensor Parameter nor iNEMO Restore Default Parameter commands Table 19 Parameter Value field for 1 axis gyroscope yaw FS 2 axis gyroscope full sc
12. 27 Figure 28 STEVAL MKI062V2 communication architecture 6 Generalframeformat 6 Frame cohttrol field dor aa KA EA 7 Data or control frame transmission without an acknowledgement 9 Data or control frame transmission with an acknowledgement 9 Bad data or control frame transmission with no acknowledgement 10 INEMO_Connect frameS IAA RR RR rn 12 INEMO_Disconnect frames 13 INEMO Reset fraimes 5 doe deg Pe ach e heeded ad werd we wad ba o 13 iNEMO Enter DFU Modeframes 14 INEMO Trace frames ui cea ae Aer Ra a CR ACRAS ae BE ae RC CA E CM 14 iNEMO Led Controlframes 15 iNEMO Get Device Mode frames 17 iNEMO Get MCU IDframes 17 iNEMO Get FW Versionframes 18 iNEMO Get HW Versionframes 18 iNEMO Identifyframes 19 iNEMO Get AHRS Library frames 19 iNEMO Get Librariesframes 20 iNEMO Set Sensor Parameterframes 21 iNEMO
13. Reserved for future use 2 4 4 Accelerometer Sensor Parameter field Table 8 lists the parameters of the accelerometer and the values of the Sensor Parameter field Table 8 Accelerometer Sensor Parameter field Sensor Parameter field Parameter 0x00 Output data rate 0x01 Full scale 0x02 Acc HPF 0x03 Offset X 0x04 Offset Y 0x05 Offset Z 0x06 OxFF Reserved for future use 2 4 5 Accelerometer output data rate The Parameter Value field for the output data rate setting is 1 byte in length Table 9 lists the supported output data rate for the accelerometer Table 9 Accelerometer output data rate and fields Parameter Value ODE for accelerometer Output data rate Hz 0x00 50 0x01 100 0x02 400 0x03 1000 0x04 OxFF RFU ky Doc ID 18128 Rev 1 23 37 STEVAL MKI062V2 frames UM1017 2 4 6 Accelerometer full scale The Parameter_Value field for the full scale setting is 1 byte in length Table 70 lists the supported full scale for the accelerometer Table 10 Accelerometer full scale and fields Parameter Value field for accelerometer FS Full scale g 0x00 129 0x01 4g 0x03 8 g 0x02 0x04 OxFF RFU 2 4 7 Accelerometer high pass filter The Parameter_Value field for the high pass filter setting is 2 bytes in length as shown in Figure 23 Table 11 indicates the possible cut off frequencies Fi
14. Response NACK case aS EATA Frame Type NACK Ack Not Required Last Fragment QoS 0xco 0x02 0x53 Momas AM08385v1 2 6 Error code All the error codes used in the NACK frames are listed in Table 27 Table 27 Error code field Error Code field Error 0x01 Unsupported command 0x02 Value out of range 0x03 Not executable command 0x04 Wrong syntax 0x05 INEMO not connected 0x06 OxFF RFU ky Doc ID 18128 Rev 1 35 37 Revision history UM1017 3 36 37 Revision history Table 28 Document revision history Date 23 Feb 2011 Revision 1 Initial release Changes Doc ID 18128 Rev 1 UM1017 Please Read Carefully Information in this document is provided solely in connection with ST products STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections modifications or improvements to this document and the products and services described herein at any time without notice All ST products are sold pursuant to ST s terms and conditions of sale Purchasers are solely responsible for the choice selection and use of the ST products and services described herein and ST assumes no liability whatsoever relating to the choice selection or use of the ST products and services described herein No license express or implied by estoppel or otherwise to any intellectual property rights is granted under this document If any part of this document
15. 02 Fragment QoS Normal AM08367v1 Doc ID 18128 Rev 1 13 37 STEVAL MKI062V2 frames UM1017 2 2 4 2 2 5 14 37 INEMO Enter DFU Mode The INEMO Enter DFU Mode command allows the INEMO board to enter in DFU mode in the software mode After receiving the iNEMO_Enter_DFU_Mode command the iNEMO board replies with an ACK frame Then it sets the Option Byte DataO at address Ox1FFFF804 to one disconnects the USB cable in the software and it invokes a software reset After reset iNEMO enters in DFU mode After entering in DFU mode in the software iNEMO changes the option byte DataO to zero The user can leave the DFU mode in two ways un plugging and plugging the USB cable hardware mode or using the Leave DFU Mode command available in the DfuSe demo PC application or in the GUI or SDK The GUI or SDK closes the USB Virtual Com after receiving the ACK frame Figure 10 shows the frames involved in the iNEMO Enter DFU Mode transaction Figure 10 iNEMO Enter DFU Mode frames iNEMO Enter DFU Mode Frame Type Control Ack Required Last Fragment QoS Normal 0x20 0x01 0x03 iNEMO Enter DFU Mode Response ACK case Frame Type ACK without payload Ack Not _Frame Control Required Last Fragment QoS Normal 0x80 0x01 0x03 iNEMO Enter DFU Mode Response NACK case EXE Frame Type NACK _ Frame Control Ack Not Required Last Fragment QoS Normal 0xCO 0x02 0x03 AM08368v1
16. 35 2 6 Emor COUP 44 25 nad Ds XPoEsfPbgestwekEtbbeigveSsspEsfaddes Rae 35 3 Revision history 36 ky Doc ID 18128 Rev 1 3 37 List of tables UM1017 List of tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 4 37 Frame type II AA ex AA AAA ot dee a de do AAA 7 Frame version list 8 edle 8 Communication controlframes 11 Boardinformationframes 15 Sensorsettingframes 20 Sensor Type NIA een aa iaa EE AI 23 Accelerometer Sensor Parameter field 23 Accelerometer output data rate and fields 23 Accelerometer full scale andfields 24 Accelerometer high pass filter setting 24 Magnetometer Sensor Parameter field 25 Magnetometer output data rate field 25 Magnetometer full scale field
17. Get Sensor Parameter frames 22 iNEMO Restore Default Parameterframes 22 Parameter Value fields for accelerometer HPF setting 24 Parameter Value fields for magnetometer operating mode setting 26 iNEMO Set Output Modeframes 31 iNEMO Get Output Modeframes 33 iNEMO Start Acguisitionframes 33 iNEMO Stop Acguisitionframes 35 Doc ID 18128 Rev 1 5 37 General frame format and protocol rules UM1017 1 1 6 37 General frame format and protocol rules Frame format This section explains the format of the frame used in the STEVAL MKIOG2V2 communication protocol The STEVAL MKI062V2 exchanges data and commands with the PC GUI through a physical communication channel based on USB virtual COM Each frame described below represents the payload of a USB frame Figure 1 STEVAL MKI062V2 communication architecture iNEMO Board iNEMO PC Tool USB CABLE AMO8352v1 The frames are described as a sequence of fields in a specific order All frame formats are depicted in the order in which they are passed to the USB driver from left to right Bits within each field are numbered from k 1 leftmost and most significant to O rightmost and least
18. Type ACK with Frame Control payload Ack Not Required Last Fragment QoS Normal Sensor_Type 1 Byte Sensor Parameter 1 Byte Parameter Value 2 1 Byte Frame Type NACK Ack Not Required Last Fragment QoS Normal 0xco 0x02 0x21 AMOR379v1 iNEMO Get Sensor Parameter Response NACK case Table 7 lists the type of sensor and value for the Sensor Type field iNEMO Restore Default Parameter The iNEMO Restore Default Parameter command allows restoring a specific default sensor parameter Figure 22 shows the frames involved in the iNEMO Restore Default Parameter transaction Figure 22 iNEMO Restore Default Parameter frames iNEMO Restore Default Parameter E 2 Frame Type Control Ack Required Last Fragment QoS Normal Sensor_Type 1 Byte Sensor Parameter 1 Byte iNEMO Restore Default Parameter Response ACK case Frame Type ACK with variable 0x22 Sensor Type 1 Byte Sensor Parameter 1 Byte Parameter Value 21 Byte Frame Type NACK Ack Not Required Last Fragment QoS Normal AM08380v1 Doc ID 18128 Rev 1 UM1017 STEVAL MKI062V2 frames Table 7 lists the type of sensor and value for the Sensor Type field Table 7 Sensor Type field Sensor Type field Sensor 0x00 3 axis accelerometer 0x01 3 axis magnetometer 0x02 2 axis gyroscope pitch roll 0x03 1 axis gyroscope Yaw 0x04 Pressure 0x05 Temperature 0x06 OxFF
19. ale field Full scale dps 0x00 0x03 Forbidden RFU 0x04 300 0x05 OxFF Forbidden RFU 1 axis gyroscope offset The Parameter Value field for the offset Z axis setting is 2 bytes in length and expressed in dps degree per second as signed short 16 bit with the most significant byte first Pressure Sensor Parameter field Table 20 lists the values and parameters for the Sensor Parameter field for the pressure sensor Table 20 Pressure Sensor Parameter field Sensor Parameter field Parameter 0x00 Output data rate 0x01 Offset 0x02 OxFF Forbidden RFU Doc ID 18128 Rev 1 UM1017 STEVAL MKI062V2 frames 2 4 21 Pressure sensor output data rate The Parameter Value field for the output data rate setting is 1 byte in length Table 21 lists the values and the supported output data rate for the pressure sensor Table 21 Pressure sensor output data rate field Parameter Value field for pressure sensor ODR Output data rate Hz 0x01 7 0x03 12 5 0x00 0x02 0x04 OxFF Forbidden RFU 2 4 22 Pressure sensor offset The Parameter Value field for the offset setting is 2 bytes in length and expressed in dmbar tenth of millibar as signed short 16 bit with the most significant byte first 2 4 23 Temperature Sensor Parameter field Table 22 lists the values and parameters for the Sensor Parameter field for the temp
20. ameter Value NEMO NACK N 0x22 N 1 Error code 2 4 1 iNEMO Set Sensor Parameter The iNEMO Set Sensor Parameter command allows setting a specific sensor parameter Figure 20 shows the frames involved in the iNEMO Set Sensor Parameter transaction Figure 20 iNEMO Set Sensor Parameter frames iNEMO Set Sensor Parameter Normal Last Fragment QoS Normal 0x01 0x20 iNEMO Set Sensor Parameter Response NACK case Frame Control Normal 0x02 0x20 Frame Type Control Ack Required Last Fragment QoS Sensor Type 1 Byte Sensor Parameter 1 Byte Parameter Value 2 1 Byte iNEMO Set Sensor Parameter Response ACK case gt LE Frame Type ACK without payload Ack Not Required Frame Type NACK Ack Not Required Last Fragment QoS AMO8378v1 Table 7 lists the type of sensor and value for the Sensor Type field Doc ID 18128 Rev 1 21 37 STEVAL MKI062V2 frames UM1017 2 4 2 2 4 3 22 37 INEMO Get Sensor Parameter The INEMO Get Sensor Parameter command allows retrieving a specific sensor parameter from INEMO Figure 21 shows the frames involved in the iNEMO Get Sensor Parameter transaction Figure 24 iNEMO Get Sensor Parameter frames iNEMO Get Sensor Parameter Frame Type Control Ack Required Last Fragment QoS Normal Sensor Type 1 Byte Sensor Parameter 1 Byte iNEMO Get Sensor Parameter Response ACK case Frame
21. en enabled MAG field in INEMO Set Output Mode frame is 1 If the Raw option is not enabled each magnetometer axis value is expressed in mG thousandth of Gauss in one of the possible ranges defined in Table 14 as a signed short value 2 bytes If the Raw option is enabled each axis value represents the raw sensor data LSB value PRESS represents the pressure data field This data field is available only if the pressure sensor has been enabled PRESS field in INEMO Set Output Mode frame is 1 If the Raw option is not enabled the pressure value is expressed in d mbar tenth of millibar in the range 3000 d mbar to 411000 dmbar as unsigned short value 2 bytes If the Raw option is enabled the pressure data field represents the raw sensor data LSB value TEMP represents the temperature data field This data field is available only if the temperature sensor has been enabled TEMP field in iNEMO Set Output Mode frame is 1 If the Raw option is not enabled the temperature value is expressed in d C tenth of a degree Celsius in the range 550 d C 1250 d C as a signed short value 2 bytes If the Raw option is enabled the temperature data field represents the raw sensor data LSB value RPY represents the roll pitch yaw data field This data field is available only if the AHRS option has been enabled AHRS field in NEMO Set Output Mode frame is 1 The Roll data is expressed as a floati
22. ent QoS Normal Frame Type NACK Ack ame Control Not Required Last 0xCO 0x02 0x13 Fragment QoS Normal AMO08373v1 iNEMO_Get_HW_Version The INEMO Get HW Version command allows retrieving the iNEMO hardware version Figure 16 shows the frames involved in the INEMO Get HW Version transaction Figure 16 iNEMO_Get_HW_Version frames Frame Type Control Ack Required Last Fragment QoS Normal 0x01 0x14 iNEMO Get HW Version Response ACK case Frame Type ACK with payload Ack Not Required Last Fragment QoS Normal 0x80 variable 0x14 iNEMO Get HW Version Response NACK case Frame Type NACK Ack Not Required Last Fragment 0xCO 0x02 0x14 QoS Normal AMO8374v1 Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames 2 3 5 2 3 6 iNEMO Identify The iNEMO Identify command can be used to identify an INEMO board Upon reception of the iNEMO Identify command the iNEMO board replies with an ACK containing the MCU Unique Device ID Then the LED available on the board blinks 3 times Figure 17 shows the frames involved in the iNEMO_ldentify transaction Figure 17 iNEMO Identify frames iNEMO Identify Frame Control Frame Type Control Ack Reguired eee Last Fragment QoS Normal 0x20 0x01 0x15 iNEMO Identify Response ACK case Frame Control Frame Type ACK with 0x80 0x0D 0x15 iNEMO_Identify_Response NACK case l ro ame Cc Not Re
23. erature sensor Table 22 Temperature Sensor Parameter field Sensor Parameter field Parameter 0x00 Offset 0x01 OxFF RFU 2 4 24 Temperature sensor offset The Parameter Value field for the offset setting is 2 bytes in length and expressed in d C tenth of a degree Celsius as signed short 16 bit with the most significant byte first Doc ID 18128 Rev 1 29 37 STEVAL MKI062V2 frames UM1017 2 5 Acguisition sensor data frames Acguisition sensor data frames can be e frames originated by the PC software SDK or GUI to set how to retrieve sensor data from iNEMO e frames originated by iNEMO to send sensor data Acquisition sensor data frames are listed in Table 23 Table 23 Acquisition sensor data frames Ack Payload Commands Frame type A Message ID QoS length in Payload Originator required bytes Sensors i acquisition INEMO_Set_ CONTROL Y 0x50 N 4 frequency output PC Output_Mode type number of samples iNEMO Set ACK N 0x50 N 0 Output Mode iNEMO iNEMO Get Output Mode CONTROL Y 0x51 N 0 PC Sensors acquisition iNEMO Get ACK N 0x51 N 4 frequency output Output_Mode type number of iNEMO _Response samples NACK N 0x51 N 1 Error code INEMO Start ConTROL Y 0x52 N 0 PC Acquisition iNEMO Start ACK N 0x52 N 0 Acquisition INEMO Acqu DATA N 0x52 N variable Sensor data isition Data INEMOSIOP ConTROL Y 0x53 N 0 PC Acquisition iNEMO Stop ACK N 0x53 N 0 _Acquisiti
24. eter field 25 2 4 10 Magnetometer output data rate 25 2 4 11 Magnetometerfullscale 25 2 4 12 Magnetometer operating mode 26 2 4 18 Magnetometer offset 26 2 4 14 2 axis gyroscope Sensor Parameter field 26 2 4 15 2 axis gyroscopefullscale 27 2 4 16 2 axis gyroscope offset 27 2 4 17 1 axis gyroscope Sensor Parameter field 27 2 4 18 1 axis gyroscopefullscale 28 2 4 19 1 axis gyroscope offset 28 2 4 80 Pressure Sensor Parameter field 28 2 4 24 Pressure sensor output data rate 29 2 4 22 Pressure sensoroffset 29 2 4 23 Temperature Sensor Parameter field 29 2 4 24 Temperature sensor offset 29 2 5 Acquisition sensor data frames 30 2 5 1 INEMO Set Output Mode 31 2 5 2 iNEMO Get Output Mode 33 2 5 3 iNEMO Start Acquisition 33 2 5 4 iNEMO Stop Acquisition
25. etometer output data rate field Parameter Value isi for magnetometer Output data rate Hz 0x00 0 75 0x01 1 5 0x02 3 0x03 7 5 0x04 15 0x05 30 0x06 75 0x07 OKFF RFU 24 11 Magnetometer full scale The Parameter_Value field for the full scale setting is 1 byte in length Table 74 lists the values and the supported full scale for the magnetometer Table 14 Magnetometer full scale field Parameter Value field for magnetometer FS 0x01 0x02 0x03 Full scale Gauss 1 3 1 9 2 5 Doc ID 18128 Rev 1 25 37 STEVAL MKI062V2 frames UM1017 2 4 12 2 4 13 2 4 14 26 37 Table 14 Magnetometer full scale field continued Parameter Value field for magnetometer FS Full scale Gauss 0x04 4 0 0x05 24 7 0x06 5 6 0x07 8 1 0x00 0x08 OxFF RFU Magnetometer operating mode The Parameter_Value field for the operating mode setting is 1 byte in length as shown in Figure 24 Table 15 lists the possible magnetometer operating modes Figure 24 Parameter_Value fields for magnetometer operating mode setting RFU 0 RFU O RFU 0 RFU 0 RFU 0 RFUO Mode1 ModeO AM08386v1 Table 15 Magnetometer operating mode setting Mode1 ModeO Magnetic sensor operating mode 0 0 Normal 0 1 Positive bias 1 0 Negative bias 1 1 Forbidden For further details please refer to the LSM303DLH datasheet Magnetometer offset The Parameter Value
26. field is 2 bits in length and is set to one of the values listed in Table 3 This subfield allows the application to exchange and process data and control frames with different priorities Table 3 QoS list Value QoS 00 Normal priority 01 Medium priority 10 High priority 11 RFU Length field The length field is 1 byte in length and contains the number of bytes that follow Admitted values are in the range 1 to 62 Message ID field The message ID is 1 byte in length and contains an identifier of the user application messages See Section 2 2 and the following for further details Doc ID 18128 Rev 1 ky UM1017 General frame format and protocol rules 1 2 Protocol rules There are two types of transactions according to whether the DATA or CONTROL frame is acknowledged or not A DATA or CONTROL frame with the ACK subfield of its frame control field set to zero is not acknowledged by its intended recipient The originating device PC or INEMO board assumes that the transmission of the frame was successful The message sequence chart in Figure 4 shows the scenario for transmitting a single DATA or CONTROL frame from an originator to a recipient without requiring an acknowledgement Figure 4 Data or control frame transmission without an acknowledgement Originator Recipient Data or Control Frame with Ack subfield set to 0 AMO8362v1 A DATA or CONTROL frame transmitted with
27. gure 23 Parameter_Value fields for accelerometer HPF setting FILTER REF RFUO RFUO SNASLE ENDIS HP1 HPO ODR1 ODRO 1Byte Disable 0 Reference Enable 1 Disable 0 Enable 1 Reference 1 Byte AMOBIBIvVI Table 11 Accelerometer high pass filter setting HP1 HPO f HZ ODR 00 f HZ ODR 01 f HZ ODR 10 f HZ ODR 11 data rate 50 Hz data rate 100 Hz data rate 400 Hz Data rate 1000 Hz 0 0 1 2 8 20 0 1 0 5 1 4 10 1 0 0 25 0 5 2 5 1 1 0 125 0 25 1 2 5 For further details please refer to the LSM3O3DLH datasheet 2 4 8 Accelerometer offset The Parameter Value field for the offset X Y or Z axis setting is 2 bytes in length and expressed in milli g thousandth of gravitational force as signed short 16 bit with the most significant byte first 24 37 Doc ID 18128 Rev 1 UM1017 STEVAL MKI062V2 frames 2 4 9 Magnetometer Sensor Parameter field Table 12 lists the values and parameters of the magnetometer Sensor Parameter field Table 12 Magnetometer Sensor Parameter field Sensor Parameter field Parameter 0x00 Output data rate 0x01 Full scale 0x02 Operating mode 0x03 Offset_X 0x04 Offset_Y 0x05 Offset Z 0x06 OxFF RFU 2 4 10 Magnetometer output data rate The Parameter Value field for the output data rate setting is 1 byte in length Table 13 lists the values and the supported output data rate for the magnetometer Table 13 Magn
28. n 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 2011 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 States of America www st com ky Doc ID 18128 Rev 1 37 37
29. ng point value 4 bytes in the range 180 degrees The Pitch data is expressed as a floating point value 4 bytes in the range 90 degrees The Yaw data is expressed as a floating point value 4 bytes in the range 180 degrees Quaternion represents the quaternion data field This data field is available only if the AHRS option has been enabled AHRS field in INEMO Set Output Mode frame is 1 Each quaternion data is expressed as a floating point value 4 bytes in the range 1 The OO field represents the scalar part of the quaternion while the Q1 Q2 and Q3 field represent the vector part of the quaternion During the acquisition and data transmission phase it is not possible to use commands that change the sensor settings or the output mode The acquisition phase must be stopped before sending these commands Doc ID 18128 Rev 1 ky STEVAL MKI062V2 frames UM1017 2 5 4 iNEMO_Stop_Acquisition The iNEMO_Stop_Acquisition command stops the acquisition and data transmission Figure 28 shows the frames involved in the iNEMO Stop Acquisition transaction Figure 28 iNEMO Stop Acquisition frames iNEMO Stop Acquisition p SES i F T Control Ack R d Last F Aa rame Control Peau ontrol c equire ast rragmen 0x53 iNEMO Stop Acquisition Response ACK case Frame Control Frame Type ACK without payload Ack Not Required Last Fragment QoS Normal 0x80 0x01 0x53 iNEMO Stop Acquisition
30. ntrol Ack Required Last Fragment QoS Normal 0x20 0x01 0x51 iNEMO Get Output Mode Response ACK case Frame Type ACK with 5 Frame Con payload Ack Not Required Last Fragment 0x80 0 x51 QoS Normal Enable Settings AHRS RFUO CalfRaw ACC GYRO MG PRESS TEMP He ad RFUO RFUO FQ2 Fa Fao oT2 om1 oTo Number of Samples MSB 0100003 Continuous mode 0x0001 OxFFFF gt Number Number of Samples LSB rete expected to iNEMO Get Output Mode Response NACK case E RA X Frame Type NACK Ack E Not Required Last 0xCO 0x02 0x51 Fragment QoS Normal Miosews The Output Mode fields are described in Section 2 5 1 2 5 3 iNEMO Start Acquisition 4 The iNEMO_Start_Acquisition command allows starting to acquire sensor data according to the output settings Figure 27 shows the frames involved in the INEMO Start Acguisition transaction Figure 27 iNEMO Start Acquisition frames iNEMO Start Acquisition Frame Type Control Ack Required Last Fragment QoS Normal Frame Control 0x20 0x01 0x52 iNEMO Start Acquisition Response ACK case Te at Frame Type ACK without payload Ack Not Required bab TE Last Fragment QoS Normal 0x80 0x01 0x52 INEMO Start Acguisition Response NACK case Frame Type NACK Ack Not Required Last Fragment QoS 0xCO 0x02 0x52 Tom iNEMO Acquisition Data FrameContro Frame Type Data Ack Not Required Last Fragment QoS 5 L 0x40 gt 3 Ox
31. oS Normal 0x80 0x01 0x08 INEMO Led Control Response NACK case frame Type NACK Ack Frame Control Not Required Last OxCO 0x02 0x08 Fragment QoS Normal AM08370v1 2 3 Board information frames Board information frames are frames originated by the software PC SDK or GUI and used to retrieve information about firmware or the hardware features of the INEMO board All the board information frames are listed in Table 5 Table 5 Board information frames Ack Message Payload length PR Commands Frame type required ID QoS in bytes Payload Originator INEMO_Get_ CONTROL Y O10 N 0 PC Device Mode 0x00 sensor iNEMO Get ack N Od0 N 1 oio Device Mode 0x01 master iNEMO Response mode NACK N 0x10 N 1 Error code iNEMO_Get_ MCU ID CONTROL Y 0x12 N 0 PC iNEMO_Get_ ACK N 0x12 N 12 Unique device ID MCU ID Res iNEMO ponse NACK N 0x12 N 1 Error code INEMO_Get_F CONTROL Y oxig N 0 PC W Version iNEMO Get F ACK N oxi3 N Variable RU Wale W Version Re version iNEMO Sponse NACK N 0x13 N 1 Error code ky Doc ID 18128 Rev 1 15 37 STEVAL MKI062V2 frames UM1017 Table 5 Board information frames continued Ack Message Payload length we Commands Frame type required ID QoS in bytes Payload Originator INEMO Get CONTROL Y Od4 N 0 Date time PC HW Version iNEMO Get ack N oxi4 N Wanapig Aring hardware HW Version version iNEMO Response NACK N 0x14 N 1 Erro
32. on_ INEMO 30 37 Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames 2 5 1 iNEMO_Set_Output_Mode The iNEMO_Set_Output_Mode command allows setting which sensors shall be enabled in which format the data sensor shall be sent from iNEMO to SDK and other parameters Figure 25 shows the frames involved in the iNEMO_Set_Output_Mode transaction Figure 25 iNEMO_Set_Output_Mode frames iNEMO_Set_Output_Mode Frame Type Control Ack FrameContiol Required Last Fragment 0x20 0x05 0x50 QoS Normal Enable Settings AHRS RFUO CalRaw ACC GYRO MAG PRESS TEMP E RFUO RFUO FQ2 FQ1 Fao OT2 oT1 OTO Number of samples Number of Samples MSE 0x0000 gt Continuous mode 0x0001 OxFFFF gt Number of Number of Samples LSB samples expected to receive iNEMO Set Output Mode Response ACK case Frame Type ACK without payload Ack Not Required Last Fragment QoS Normal iNEMO Set Output Mode Response NACK case Frame Type NACK Ack Not Required Last Fragment QoS Normal 0x01 0x50 AMO8382v1 When the AHRS bit is set to 1 iNEMO runs the AHRS algorithm and in the data frame it sends AHRS data quaternion and roll pitch yaw angles The Cal Raw field defines the output of the sensor data see Table 24 Table 24 Calibrated and raw fields Cal raw field Output data type 0 Calibrated data 1 Raw data LSB The ACC GYRO
33. quired Last O0xCO 0x02 0x15 Fragment QoS Normal payload Ack Not Required Last Fragment QoS Normal Frame Type NACK Ack AMO8375v1 INEMO Get AHRS Library The INEMO Get AHRS Library command allows knowing the version of the INEMO firmware attitude heading reference system AHRS algorithm The returned value is in string format Figure 18 shows the frames involved in the INEMO Get AHRS Library transaction Figure 18 iNEMO_Get AHRS Library frames INEMO Get AHRS Library 71 Frame Type Control Ack Fran ob Required Last Fragment QoS Normal 0x20 0x01 0x17 iNEMO Get AHRS Library Response ACK case Frame Type ACK with payload Ack Not FrameContro 0x80 variable 0x17 QoS Normal iNEMO Get AHRS Library Response NACK case POR s 0xCO 0x02 0x17 QoS Normal Required Last Fragment Frame Type NACK Ack Not Required Last Fragment AMO8376v1 Doc ID 18128 Rev 1 19 37 STEVAL MKI062V2 frames UM1017 2 3 7 INEMO Get Libraries The INEMO Get Libraries command allows knowing which specific libraries are supported by the INEMO firmware Figure 19 shows the frames involved in the INEMO Get Libraries Figure 19 transaction INEMO Get Libraries frames INEMO Get Libraries Frame Type Control Ack Reguired Last Fragment QoS Normal 0x20 0x01 0x18 iNEMO Get Libraries Response ACK case Frame Type ACK with Frame Con
34. r code ii a CONTROL Y oxis N 0 PC iNEMO lIdentif ACK 0x15 12 Unique device ID Men y_Response NACK 0x15 1 Error code INEMO Get A HRS Library CONTROL Y 0x17 N 0 PC l AHRS INEMO Get A ACK N 0x17 N Variable enable disable HRS Library string iNEMO Response NACK N 0x17 N 1 Error code INEMO_Get_L GONTROL Y Od8 N 0 PC ibraries iNEMO Get L ACK N OX8 N 0 SISEOE U pone ibraries Resp libraries INEMO onse NACK N 0x18 N 1 Error code 16 37 Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames 2 3 1 iNEMO_ Get Device Mode The INEMO Get Device Mode command allows knowing if the INEMO board is working in master mode or in sensor mode A device responding to be in master mode is responsible for managing a network of sensor nodes It is physically connected to the PC and has the responsibility to retransmit commands coming from PC to the sensor node available in the network as well as to retransmit data coming from sensor nodes available in the network to the PC The default working model of INEMO is sensor mode master mode is not supported by iNEMO Figure 13 shows the frames involved in the iNEMO_Get_Device_Mode transaction Figure 13 iNEMO_Get_Device_Mode frames Device_Mode Frame Type Control Ack Required Last Fragment QoS Normal 0x01 0x10 gne Q iNEMO Get Device Mode Response ACK case Frame Type ACK with payload Ack Not 0x80 0x02 0x10 Device Mode Required Last Fragment 0x00 Sensor Mode QoS Normal
35. refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein UNLESS OTHERWISE SET FORTH IN ST S TERMS AND CONDITIONS OF SALE ST DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ST PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT 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 USE IN 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 i
36. ro the recipient device does not send an acknowledgment frame It is possible to embed a payload in an acknowledgment frame piggybacking to send useful information to the transmitter and avoid further transactions When the ACK field is set to one and if upon reception the frame doesn t pass the required level of filtering the recipient sends a no acknowledgment frame NACK whose payload is an error code e g unsupported command value out of range In the ACK and or NACK frames the ACK field is set to zero and ignored upon reception The LF MF last fragment more fragment subfield is 1 bit in length and it is used for fragmentation and reassembling This field is set to zero to indicate a single frame or the last frame of a multiple frame transaction This field is set to 1 to indicate that other frames follow all belonging to the same transaction In the ACK and NACK frames with or without payload fragmentation is not supported and this subfield is set to zero in the transmission of ACK and NACK frames and ignored upon reception Doc ID 18128 Rev 1 7 37 General frame format and protocol rules UM1017 8 37 The frame version subfield is 2 bits in length and is set to OO at this time Values concerning future versions are reserved for future use RFU as listed in Table 2 Table 2 Frame version list Value Frame version 00 Version 1 0 01 10 RFU 11 The QoS Quality of Service sub
37. saction Figure 8 iNEMO_Disconnect frames iNEMO_Disconnect Frame Type Control Ack Required Last Fragment QoS Normal 0x01 0x01 iNEMO Disconnect Response ACK case Frame Type ACK without payload Ack Not ime C Required Last Fragment QoS Normal Fr me Control 0x80 0x01 0x01 INEMO Connect Response NACK case Frame Type NACK Ack Not Reguired Last Fragment QoS Normal AM08366v1 The GUI or SDK after receiving the ACK frame closes the USB Virtual Com To re open the communication use only the INEMO Connect command iNEMO_Reset The iNEMO Reset command initiates a software reset of the iNEMO board After receiving the iNEMO Reset command the iNEMO board replies with the ACK frame then waits for 5 seconds before disconnecting the USB cable in the software and invokes a software reset The GUI or SDK after receiving the ACK frame closes the USB Virtual Com To re open the communication use only the iNEMO_Connect command Figure 9 shows the frames involved in the iNEMO Reset transaction Figure 9 iNEMO Reset frames iNEMO Reset Board Frame Control Frame Type Control Ack Required Last 0x20 0x01 0x02 Fragment QoS Normal iNEMO_Reset_Board_Response ACK case Frame Type ACK without payload Ack Not Required Last Fragment QoS Normal 0x02 iNEMO_Reset_Board_Response NACK case ol Frame Type NACK Ack Not Required Last 0xC0 0x02 0x
38. the ACK subfield of its frame control field set to one is acknowledged by the recipient If the intended recipient correctly receives the frame it generates and sends an ACK frame containing the same message ID from the DATA or CONTROL frame that is being acknowledged It is also possible to include a payload in the ACK frame to transfer useful data from the recipient to the originator The message sequence chart in Figure 5 shows the scenario for transmitting a single DATA or CONTROL frame from an originator to a recipient with an acknowledgement Figure 5 Data or control frame transmission with an acknowledgement Originator Recipient Data or Contr 0l Fra j Ack subfield set to oe with ACK Frame with or without payload AMO8363v1 Doc ID 18128 Rev 1 9 37 General frame format and protocol rules UM1017 10 37 If the frame received does not pass all the reguired filtering rules the recipient generates and sends a NACK frame containing the same message ID from the DATA or CONTROL frame that is being acknowledged and contains the error code The message sequence chart in Figure 6 shows the scenario for transmitting a single bad DATA or CONTROL frame from an originator to a recipient with a no acknowledgement Bad data or control frame transmission with no acknowledgement Recipient Originator BAD Data o with Ack su r Control Frame NACK Frame
39. tro Available Libraries payload Ack Not Required Last Fragment QoS Normal 0x02 Not Available 0 Available 1 Frame Type NACK Ack Not Required Last Fragment OxCO 0x02 0x18 QoS Normal AMOBSTIVI 2 4 Sensor setting frames Sensor setting frames are frames originated by the software PC SDK or GUI and used to set sensor parameters or to retrieve information about them All the sensor setting frames are listed in Table 6 Table 6 Sensor setting frames Payload Commands Frame mek Message QoS length Payload Originator type required ID in bytes Sensor Type INEMO_Set_Sensor_ CONTROL Y 0x20 N variable Sensor Parameter PC Parameter Parameter Value iNEMO Set Sensor ACK 0x20 0 iNEMO Parameter Response NACK 0x20 1 Error code iNEMO_Get_Sensor_ CONTROL Y 0x21 N 2 Sensor_Type PC Parameter Sensor Parameter Sensor Type iNEMO Get Sensor ACK N 0x21 N variable Sensor Parameter ster Bi 5 Parameter_Value INEMO Parameter Response NACK N 0x21 N 1 Error code iNEMO_Restore_Default CONTROL Y 0x22 N 2 Sensor Type PC Parameter Sensor Parameter 20 37 Doc ID 18128 Rev 1 UM1017 STEVAL MKI062V2 frames Table 6 Sensor setting frames continued Payload Commands picks re BA d om QoS length Payload Originator YP q in bytes Sensor_Type iNEMO Restore Default ACK N 0x22 N variable Sensor Parameter Parameter Response Par
40. with error code AM08364v1 Doc ID 18128 Rev 1 ky UM1017 STEVAL MKI062V2 frames 2 STEVAL MKI062V2 frames 2 1 STEVAL MKI062V2 frame types The frames used in the STEVAL MKI062V2 are classified in four types 1 Communication control frames 2 Board information frames 3 Sensor setting frames 4 Acquisition sensor data frames 2 2 Communication control frames Communication control frames are frames originated by the software PC SDK or GUI and used to send specific commands to the iNEMO board All the communication control frames are listed in Table 4 Table 4 Communication control frames Payload Commands Frame Ack Message QoS length Payload Originator type required ID in bytes iNEMO_Connect CONTROL Y 0x00 N 0 PC ACK N 0x00 N 0 iNEMO_Connect_Response iNEMO j NACK N oxoo N 1 Error code iNEMO_Disconnect CONTROL Y 0x01 N 0 PC ACK N 0x01 N 0 INEMO Disconnect Response Error INEMO NACK N 0x01 N 1 code INEMO Reset Board CONTROL Y 0x02 N 0 PC ACK N 0x02 N 0 iNEMO_Reset_Board_Response Error iNEMO NACK N 0x02 N 1 code iNEMO_Enter_DFU_Mode CONTROL Y 0x03 N 0 PC ACK N 0x03 N 0 iNEMO_Enter_DFU_Mode_Response Error iNEMO NACK N 0x03 N 1 code INEMO Trace CONTROL Y 0x07 N 0 PC ACK N 0x07 N 0 iNEMO_Trace_Response iNEMO NACK N oxo7 N 1 Error code ky Doc ID 18128 Rev 1 11 37 STEVAL MKI062V2 frames UM1017
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