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ST eMotion, User Manual

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Supported commands

UM0979

20/39

DocID017768 Rev 4

Table 5

 shows the format of the string returned for each device when a *debug command is 

sent. 

Table 5. Returned values for *debug command

STEVAL # (Device)

Returned value

STEVAL-MKI009V1 (LIS3LV02DL) 
STEVAL-MKI013V1 (LIS302DL)   
STEVAL-MKI015V1 (LIS344ALH) 
STEVAL-MKI087V1 (LIS331DL)  
STEVAL-MKI088V1 (LIS33DE)    
STEVAL-MKI089V1 (LIS331DLH) 
STEVAL-MKI090V1 (LIS331DLF) 
STEVAL-MKI091V1 (LIS331DLM) 
STEVAL-MKI092V1 (LIS331HH) 
STEVAL-MKI105V1 (LIS3DH)          
STEVAL-MKI110V1 (AIS328DQ) 
STEVAL-MKI134V1 (LIS3DSH)   
STEVAL-MKI135V1 (LIS2DH)
STEVAL-MKI151V1 (LIS2DH12) 
STEVAL-MKI152V1 (LIS2DM)
STEVAL-MKI153V1 (H3LIS331DL)

X=XXXXX Y=YYYYY Z=ZZZZZ

STEVAL-MKI082V1 (LPY4150AL) 
STEVAL-MKI083V1 (LPY450AL) 
STEVAL-MKI084V1 (LPY430AL) 
STEVAL-MKI085V1 (LPY410AL) 
STEVAL-MKI086V1 (LPY403AL) 
STEVAL-MKI095V1 (LPR4150AL) 
STEVAL-MKI096V1 (LPR450AL) 
STEVAL-MKI097V1 (LPR430AL) 
STEVAL-MKI098V1 (LPR410AL) 
STEVAL-MKI099V1 (LPR403AL)

VREF=VVVVV OUT1=XXXXX 4OUT1=XXXXX 

OUT3=YYYYY OUT6=YYYYY

STEVAL-MKI074V1 (LY330ALH) 
STEVAL-MKI075V1 (LY3100ALH) 
STEVAL-MKI076V1 (LY3200ALH)

VREF=VVVVV OUT1=XXXXX 4OUT1=XXXXX

STEVAL-MKI106V1 (LSM303DLHC)    
STEVAL-MKI113V1 (LSM303DLM) 
STEVAL-MKI133V1 (LSM303D)

AX=XXXXX AY=YYYYY AZ=ZZZZZ                

MX=XXXXX MY=YYYYY MZ=ZZZZZ

STEVAL-MKI114V1 (MAG PROBE) 
STEVAL-MKI137V1 (LIS3MDL)

MX=XXXXX MY=YYYYY MZ=ZZZZZ

STEVAL-MKI107V1 (L3G4200D) 
STEVAL-MKI107V2 (L3GD20)     
STEVAL-MKI125V1 (A3G4250D)
STEVAL-MKI136V1 (L3GD20H)

P=PPPPP R=RRRRR Y=YYYYY

STEVAL-MKI108V1 (9AXISMODULEV1)    
STEVAL-MKI108V2 (9AXISMODULEV2) 
STEVAL-MKI154V1 (LSM9DS0)

AX=XXXXX AY=YYYYY AZ=ZZZZZ                

MX=XXXXX MY=YYYYY MZ=ZZZZZ             

GX=XXXXX GY=YYYYY GZ=ZZZZZ

STEVAL-MKI120V1 (LPS331AP) 
STEVAL-MKI142V1 (LPS25H)

P=PPPPP T=TTTTT

STEVAL-MKI122V1 (LSM330DLC) 
STEVAL-MKI123V1 (LSM330D)

AX=XXXXX AY=YYYYY AZ=ZZZZZ               

GX=XXXXX GY=YYYYY GZ=ZZZZZ

Summary of Contents for eMotion

Page 1: ...ich functions as a bridge between the sensor on the adapter board and the PC on which it is possible to use the Unico graphical user interface GUI downloadable from the ST website or dedicated software routines for customized applications This user manual describes the hardware included with the demonstration kit and provides the information required to install the demonstration board and how to u...

Page 2: ... commands 15 4 2 1 Commands list and description 16 4 2 2 Digital output accelerometers supported commands 26 4 2 3 Analog output accelerometers supported commands 27 4 2 4 Digital output gyroscopes supported commands 28 4 2 5 Analog output gyroscopes supported commands 29 4 2 6 Digital output magnetometers supported commands 29 4 2 7 Digital output pressure sensor supported commands 30 4 2 8 Digi...

Page 3: ...ble 6 Digital output accelerometers supported commands list 26 Table 7 Analog output accelerometers supported commands list 27 Table 8 Digital output gyroscopes supported commands list 28 Table 9 Analog output gyroscopes supported commands list 29 Table 10 Digital output magnetometer supported commands list 29 Table 11 Digital output pressure sensor supported commands list 30 Table 12 Digital outp...

Page 4: ...n board block diagram 5 Figure 2 Top silkscreen of the eMotion kit 6 Figure 3 Board top view 7 Figure 4 Notification message 9 Figure 5 Virtual COM port assignment 10 Figure 6 eMotion board power supply and USB 33 Figure 7 STEVAL MKI109V2 eMotion board STM32F103RET6 and connectors 34 ...

Page 5: ...s the DFU device firmware upgrade feature therefore in the case of a new firmware release it can be reprogrammed without the need to use a programmer See www st com mems for new firmware releases The eMotion also integrates three general purpose LEDs two LEDs connected directly to the interrupt pins of digital adapters and the power USB LED Moreover the eMotion integrates three buttons two are ava...

Page 6: ...Demonstration kit description UM0979 6 39 DocID017768 Rev 4 Figure 2 Top silkscreen of the eMotion kit 0 Y ...

Page 7: ...with MEMS adapters JP9 and JP10 must be fitted see STM32 datasheet for more information Jumper J2 Figure 3 ref 7 can be used to directly supply the board from 3 5 V to 6 V instead of using the USB connector Jumper JP1 allows the user to measure the sensor current consumption by connecting a multimeter in series with its terminals Figure 3 ref 9 Jumpers JP4 JP5 and JP6 Figure 3 ref 8 are used to ma...

Page 8: ... on when a specific firmware is selected from those available LED D5 on indicates that the microcontroller is well configured for communication with the sensor Finally the LED D4 blinks according to the sensor data rate selected Button SW3 Figure 3 ref 1 is used to reset the STM32 Button SW1 and SW2 Figure 3 ref 2 and ref 5 are connected to STM32 GPIOs and are available to the user Table 1 Jumper ...

Page 9: ...ction below describes the procedure to install the driver for the eMotion board needed on Windows platforms only and the DFU software 2 1 Hardware installation Windows platforms No driver installation is needed on Linux and Mac OS platforms To install the STM32 virtual COM port driver on Windows platforms launch the VCPDriver_V1 1_Setup exe included in the Windows installation package under the DR...

Page 10: ...otion board in DFU mode button SW2 must be pressed before supplying the board and released when the LEDs D1 D4 D5 and D6 light up If the firmware version in use is lower than V3 0 0 0 it s mandatory to patch the DFU feature using the DFU_Patcher_V1 0 2 dfu file available under the DFU folder before proceeding with the upgrade of the firmware with a version equal to or higher than V3 0 0 0 The proc...

Page 11: ...is program open a terminal and write the following command with sudo to ensure having the correct permissions sudo apt get install dfu util Create a udev rules file sudo gedit etc udev 49 emotion rules and fill it with the following content 0483 5740 STM32F4 in USB Serial Mode CN5 ATTRS idVendor 0483 ATTRS idProduct 5740 ENV ID_MM_DEVICE_IGNORE 1 ATTRS idVendor 0483 ATTRS idProduct 5740 ENV MTP_NO...

Page 12: ...ps raw github com Homebrew homebrew go install Once Homebrew is installed on your Mac you can install dfu utils with the following command brew install dfu util You should now be able to program the board So connect the eMotion board in DFU mode and run the following command dfu util a 0 D dfu_path file dfu d 0483 df11 where dfu_path and file dfu are the path to the dfu file and the dfu file name ...

Page 13: ...AL MKI084V1 LPY430AL STEVAL MKI085V1 LPY410AL STEVAL MKI086V1 LPY403AL STEVAL MKI087V1 LIS331DL STEVAL MKI088V1 LIS33DE STEVAL MKI089V1 LIS331DLH STEVAL MKI090V1 LIS331DLF STEVAL MKI091V1 LIS331DLM STEVAL MKI092V1 LIS331HH STEVAL MKI095V1 LPR4150AL STEVAL MKI096V1 LPR450AL STEVAL MKI097V1 LPR430AL STEVAL MKI098V1 LPR410AL STEVAL MKI099V1 LPR403AL STEVAL MKI105V1 LIS3DH STEVAL MKI106V1 LSM303DLHC S...

Page 14: ...AL MKI125V1 A3G4250D STEVAL MKI133V1 LSM303D STEVAL MKI134V1 LIS3DSH STEVAL MKI135V1 LIS2DH STEVAL MKI136V1 L3GD20H STEVAL MKI137V1 LIS3MDL STEVAL MKI141V1 HTS221 I2C i f only STEVAL MKI141V2 HTS221 STEVAL MKI142V1 LPS25H STEVAL MKI151V1 LIS2DH12 STEVAL MKI152V1 LIS2DM STEVAL MKI153V1 H3LIS331DL STEVAL MKI154V1 LSM9DS0 Table 2 List of supported MEMS adapter boards continued Adapter board Device ...

Page 15: ...e use of Microsoft HyperTerminal program available with the Windows XP operating system 3 Create a new connection enter a name e g STEVAL MKI109V2 and click OK 4 In the Connect Using field select the virtual COM port to which the USB port has been mapped and click OK 5 In port settings set bits per second to 115200 data bits to 8 parity to none stop bits to 1 and flow control to none Click OK 6 In...

Page 16: ... e g PRAAhDDh pwAADD Pressure sensor register write hrAA Humidity sensor register read e g HRAAhDDh hwAADD Humidity sensor register write single It gets a single X Y and Z data acquisition see Table 5 list Prints the list of MKIs supported e g MKI105V1 listdev Prints the list of devices supported e g LIS3DH echoon Activates the write verbose mode e g RAAhDDh echooff Deactivates the write verbose m...

Page 17: ... Magnetometer FIFO stream enable st 0 0 0 0 0 0 IR FC FS mfifostf Magnetometer Stream to FIFO enable st 0 0 0 0 0 0 IR FC FS mfifobtf Magnetometer Bypass to FIFO enable st 0 0 0 0 0 0 IR FC FS mfifobts Magnetometer Bypass to stream enable st 0 0 0 0 0 0 IR FC FS mfifodstr Magnetometer Dynamic stream enable st 0 0 0 0 0 0 IR FC FS pfiforst Pressure sensor Reset mode enable st 0 0 0 0 0 0 IR FC FS p...

Page 18: ...ated to the SW2 Before sending the start command the device must be out from 3 state and some registers must be configured according to user needs therefore start must be preceded by a zoff and some Register Write commands Table 4 shows the format of the string returned for each device when a start command is sent Table 4 Returned values for start command STEVAL Device Returned value STEVAL MKI009...

Page 19: ...2L out2H out2L out5H out5L o3H o3L out3H out3L out6H out6L sw1 sw2 r n STEVAL MKI106V1 LSM303DLHC STEVAL MKI113V1 LSM303DLM STEVAL MKI133V1 LMS303D s t A_XH A_XL A_YH A_YL A_ZH A_ZL M_XH M_XL M_YH M_YL M_ZH M_ZL A_int1 A_int2 sw1 sw2 r n STEVAL MKI108V1 9AXISMODULEv1 STEVAL MKI108V2 9AXISMODULEv2 STEVAL MKI154V1 LSM9DS0 s tA_XHA_XLA_YHA_YLA_ZHA_ZL G_XH G_XL G_YH G_YL G_ZH G_ZL M_XH M_XL M_YH M_YL ...

Page 20: ...403AL STEVAL MKI095V1 LPR4150AL STEVAL MKI096V1 LPR450AL STEVAL MKI097V1 LPR430AL STEVAL MKI098V1 LPR410AL STEVAL MKI099V1 LPR403AL VREF VVVVV OUT1 XXXXX 4OUT1 XXXXX OUT3 YYYYY OUT6 YYYYY STEVAL MKI074V1 LY330ALH STEVAL MKI075V1 LY3100ALH STEVAL MKI076V1 LY3200ALH VREF VVVVV OUT1 XXXXX 4OUT1 XXXXX STEVAL MKI106V1 LSM303DLHC STEVAL MKI113V1 LSM303DLM STEVAL MKI133V1 LSM303D AX XXXXX AY YYYYY AZ ZZZ...

Page 21: ...the microprocessor for example V1 0 Accelerometer register read The rAA command allows the contents of the accelerometer registers in the demonstration kit board to be read AA expressed as a hexadecimal value and written in upper case represents the address of the register to be read Once the read command is issued the board returns RAAhDDh where AA is the address sent by the user and DD is the da...

Page 22: ...ress sent by the user and DD is the data present in the register For example to read the register at address 0x00 the user issues the command mr00 which returns e g MR00h10h Magnetometer register write The mwAADD command allows writing to the contents of the magnetometer registers in the demonstration kit board AA and DD expressed as hexadecimal values and written in upper case represent respectiv...

Page 23: ...quisition The single command may be used to read just one set of data It requires the sensor to be well configured and once invoked returns the read values of one data sample The format of the returned value is exactly the same as the debug command Table 5 in fact the debug command is used for continuous data acquisition purposes whereas a single command returns just one set of data List The list ...

Page 24: ... Bypass to Stream mode Accelerometer Dynamic Stream mode enable The fifodstr command enables the accelerometer Dynamic Stream mode Gyroscope FIFO reset enable The gfiforst command enables the gyroscope FIFO reset mode Gyroscope FIFO mode enable The gfifomde command is used to enable the gyroscope FIFO mode Gyroscope FIFO stream mode enable The gfifostr command is used to enable the gyroscope FIFO ...

Page 25: ... sensor FIFO reset enable The pfiforst command enables the pressure sensor FIFO reset mode Pressure sensor FIFO mode enable The pfifomde command is used to enable the pressure sensor FIFO mode Pressure sensor FIFO stream mode enable The pfifostr command is used to enable the pressure sensor FIFO stream mode Pressure sensor Stream to FIFO mode enable The pfifostf command enables the pressure sensor...

Page 26: ...according to the adapter connected start Starts continuous data acquisition see Table 4 debug Returns the output data in readable text format see Table 5 stop Stops data acquisition Zon Forces 3 state Zoff Exits from 3 state dev Device name e g LIS3DH ver Firmware version e g V1 0 rAA Accelerometer register read e g RAAhDDh wAADD Accelerometer register write single It gets a single X Y and Z data ...

Page 27: ...output accelerometers supported commands list Command Description Returned value setdbXXXVY Selects firmware according to the adapter connected start Starts continuous data acquisition see Table 4 debug Returns the output data in readable text format see Table 5 stop Stops data acquisition Zon Forces 3 state Zoff Exits from 3 state dev Device name e g LIS3DH ver Firmware version e g V1 0 single It...

Page 28: ...mware version e g V1 0 grAA Gyroscope register read e g GRAAhDDh gwAADD Gyroscope register write single It gets a single X Y and Z data acquisition see Table 5 list Prints the list of MKIs supported e g MKI105V1 listdev Prints the list of devices supported e g LIS3DH echoon Activates the write verbose mode e g RAAhDDh echooff Deactivates the write verbose mode gfiforst 1 Gyroscope Reset mode enabl...

Page 29: ...t see Table 5 stop Stops data acquisition Zon Forces 3 state Zoff Exits from 3 state dev Device name e g LIS3DH ver Firmware version e g V1 0 single It gets a single X Y and Z data acquisition see Table 5 list Prints the list of MKIs supported e g MKI105V1 listdev Prints the list of devices supported e g LIS3DH echoon Activates the write verbose mode e g RAAhDDh echooff Deactivates the write verbo...

Page 30: ... 0 IR FC FS mfifomde 1 Magnetometer FIFO mode enable st 0 0 0 0 0 0 IR FC FS mfifostr 1 Magnetometer FIFO stream enable st 0 0 0 0 0 0 IR FC FS mfifostf 1 Magnetometer Stream to FIFO enable st 0 0 0 0 0 0 IR FC FS mfifobtf 1 Magnetometer Bypass to FIFO enable st 0 0 0 0 0 0 IR FC FS mfifobts 1 Magnetometer Bypass to stream enable st 0 0 0 0 0 0 IR FC FS mfifodstr 1 Magnetometer Dynamic stream enab...

Page 31: ... FC FS pfifostf 1 Pressure sensor Stream to FIFO enable st 0 0 0 0 0 0 IR FC FS pfifobtf 1 Pressure sensor Bypass to FIFO enable st 0 0 0 0 0 0 IR FC FS pfifobts 1 Pressure sensor Bypass to stream enable st 0 0 0 0 0 0 IR FC FS pfifodstr 1 Pressure sensor Dynamic stream enable st 0 0 0 0 0 0 IR FC FS 1 Available only for devices with embedded FIFO Table 11 Digital output pressure sensor supported ...

Page 32: ...her adapters see the relevant datasheets to check the register configuration enter the command Zoff to enable the control of the device by the STM32F103RET6 microcontroller and w2047 to switch on the LIS3DH and to set the data rate to 50 Hz 4 Send the debug command to get the X Y and Z data measured by the sensor 5 Send stop to end the continuous acquisition and visualization list Prints the list ...

Page 33: ... and Figure 7 Figure 6 eMotion board power supply and USB 0 Y 86 B 9 1 9 0 3 1 QF 0LQL 86 Q X 86 0 86 3 5 5 5 5 4 5 9 5 5 86 B 9 1 4 5 9 5 86 B LVF 5 5 1RW PRXQWHG 2 1 2 2 9EXV 2 86 3 8 Q 1 86 B 9 1 5 5 1 9LQ QG 1 3 66 9RXW OGV 8 Q Q X 3RZHU 6XSSO 73 86 B 9 XUUHQWB0HDVXUH 3 9GGBGXW Q X 9 7 17 9SV 86 0 86 3 86 B LVF 86 0 86 3 86 B LVF 9GGBGXW 9GGBGXW ...

Page 34: ... B 6 63 B 6 3 9VV 9GG 3 166 3 6 3 0 62 3 026 3 3 3 3 3 227 3 3 9VV 9GG 3 63 B166 3 63 B6 3 63 B0 62 3 63 026 3 3 3 3 3 0 2 3 86 57 B7 3 86 57 B5 3 86 0 3 86 3 3 706 6 2 9VV 9GG 3 7 6 3 7 3 3 3 3 3 7 2 3 17567 3 3 B6 3 B6 227 3 3 9VV 9GG 9EDW 3 7DPSHU 57 3 26 LQ 3 26 RXW 3 26 LQ 3 26 RXW 1567 3 3 3 3 9VV 9GG 3 83 3 3 670 5 5 5 5 5 63 B 6 63 B 6 6 2B 9 9GGBG XW HDGHU 3 HDGHU 3 3B 3 2 3B 3 2 86 B LVF...

Page 35: ...tor 1 μF C0805_POL C13 Capacitor 10 μF C0805_POL C14 Capacitor 33 nF 0805 C17 Capacitor 10 nF 0805 C26 Capacitor 100 nF 0805 Cosc1 Capacitor 18 pF 0805 Cosc2 Capacitor 18 pF 0805 D1 SMD LED Blue LED 0805 D2 SMD LED Green LED 0805 D3 SMD LED Orange LED 0805 D4 SMD LED Green LED 0805 D5 SMD LED Red LED 0805 D6 SMD LED Orange LED 0805 J1 Header_HE10_5X2 JTAG SWD connector HDR5X2 1 27 mm J2 CON2 Power...

Page 36: ...tor 0 0805 R11 Resistor 10 k 0805 R12 Resistor 10 k 0805 R13 Resistor 10 k 0805 R14 Resistor 10 k 0805 R15 Resistor 0 0805 R16 Resistor 0 0805 R17 Resistor 10 k 0805 R18 Resistor 10 k 0805 R19 Resistor 10 k 0805 R20 Resistor 0 0805 R21 Resistor 0 0805 R22 Resistor 100 0805 R23 Resistor 100 0805 R24 Resistor 100 0805 R25 Resistor 100 0805 R26 Resistor 4 7 k 0805 R27 Resistor 4 7 k 0805 R28 Resistor...

Page 37: ...or 22 0805 R39 Resistor 47 k 0805 SW1 SMT SWITCH SW2 SMT SWITCH SW3 SMT SWITCH U1 TS924 TS924 TS924 U2 Component_1 lds3985xx30 SOT23 5 U3 TS924 TS924 TS924 U4 TS922 TS922 SO8_2 U5 USBLC6 2P6 USBLC6 2P6 SOT 666 U6 STM32F103RET6 LQF64 Table 13 Bill of materials for STEVAL MKI109V2 continued Designator Description Comment Footprint ...

Page 38: ...le 5 Returned values for debug command 09 Sep 2013 3 Updated Section 2 2 DFU Table 2 List of supported MEMS adapter boards Table 4 Returned values for start command and Table 5 Returned values for debug command 03 Nov 2014 4 Updated Section 2 1 Hardware installation Windows platforms Table 2 List of supported MEMS adapter boards Table 4 Returned values for start command and Table 5 Returned values...

Page 39: ...chasers 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...

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