Getting started with the iNEMO™ STEVAL-MKI062V2
Contents
1. 11 Acquisition settings icon 12 Data icon description 13 AHRS stabilization otag ni pia duc ear acer acp ce dor TX d wha Pra Rr R PR a 14 3D cube demo 15 Alignment procedure 2 16 Doc ID 18054 Rev 1 3 18 iNEMO V2 GUI installation UM1010 1 1 1 2 Note 1 3 Note 4 18 INEMO V2 GUI installation The installation of the graphical user interface GUI requires the following two steps 1 Install the PC software delivered with the demonstration kit 2 Install the virtual COM driver needed to use the board PC system requirement e Microsoft Windows XP Service Pack 2 or higher e Microsoft NET Framework 2 0 or higher PC software installation To install the iNEMO suite run the setup file and follow the instructions The latest setup file is available on st com Virtual Com driver installation To install the virtual COM driver plug the iNEMO board into a free USB port an icon should appear in the Notify Bar as in Figure 2 Wait for the Hardware Update Wizard window and follow the instructions in Figure 4 Figure 2 STEVAL MKI062V2 notification icon J Found New Hardware STEVAL MKIO62V2 iNEMO Platform AMO8315v1 If after a few sec2. 18 18 Doc ID 18054 Rev 1 ky
3. wv UM1010 J User manual Getting started with the INEMO STEVAL MKI062V2 October 2010 Introduction The STEVAL MKIO62V2 is the second generation of the INEMO modules family It combines accelerometers gyroscopes and magnetometers with pressure and temperature sensors to provide 3 axis sensing of linear angular and magnetic motion complemented with temperature and barometer altitude readings representing the new ST 10 degrees of freedom DOF platform This document provides a quick start guide for iNEMO PC software and graphical user interface GUI Figure 1 STEVAL MKIO6V2 iNEMO V2 platform LPS001D MEMS pressure sensor STLM75 Digital temperature sensor amp thermal watchdog LPR430AL MEMS Pitch amp Roll gyroscope LSM303DLH 6 axis module accelerometer and magnetometer STM32F103RE 32 bit MCU LY330ALH MEMS Yaw gyroscope LD3985XX18 amp LDS3985XX33 Voltage regulators iNEMO AMO08339v1 Doc ID 18054 Rev 1 1 18 www st com Contents UM1010 Contents 1 iNEMO V2 GUI installation 4 1 1 PC system requirement 4 1 2 PC software installation 4 1 3 Virtual Com driver installation 4 2 INEMO SUNG sccuccstete cones ndoi ka EPRE EErEE Ea Ea 8 2 1 iNEMO suite main window 9 2 2 C
4. Ports COM amp LPT F BT Port COM16 E Communications Port COM1 ECP Printer Port LPT1 ag STEVAL MKIO62V1 iNEMO Plat COME D SB Processors SCSI and RAID controllers Secure Digital host controllers AQ Smart card readers Sound video and game controllers Es 3 System devices i tz rg rg Doc ID 18054 Rev 1 7 8 iNEMO suite UM1010 2 8 18 INEMO suite The iNEMO suite application allows the user to work both with the iNEMO V1 and iNEMO V2 platform At the startup of the application the kit selector window appears to choose the platform used Figure 6 The iNEMO suite application is based on the software development kit SDK iNEMO SDK dll for STEVAL MKIO62V1 and iNEMO2 SDK dll for STEVAL MKI062V2 Only for the STEVAL MKIO62V2 is the iNEMO suite application also a TCP IP server for external remote demo applications when the server starts in the log bar a message shows the availability of the server Each client may be connected to the server on port 31001 default to receive data from the device through the iNEMO suite server Every time a client is connected to the server the log bar shows the IP address of the client just connected Each demo client could elaborate and show these data The structure of the data sample sent to all clients is the FrameData t defined in the iINEMO2_SDK h The TCP IP server may be enabled disabled from the Tools gt Communication g
5. 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 some useful commands e ESC toclose the window alignment F1 to hide or show window help F2 to align the 3D view towards the monitor see Section 2 6 1 F3 to show roll pitch and yaw values F4 to show quaternion values Figure 14 3D cube demo iNEMO 3D Cube Demo File Help quaterni iNEMO 3D view alignment The AHRS reference frame is aligned to the magnetic north see Figure 14 for reference system it means that the yaw angle value is referred to the magnetic north In order to better understand the tracked motion it can be useful to realign the rotation towards the monitor direction by view alignment operation it is just a reference system transformation To align the iNEMO it is necessary to point the USB cable towards the monitor and press the F2 key if the calibration is correct the cube shows the goldfish side Figure 15 Doc ID 18054 Rev 1 15 18 iNEMO suite UM1010 16 18 Figure 15 Alignment procedure Doc ID 18054 Rev 1 ky UM1010 Revision history 3 Revision history Table 1 Document revision history Date Revision Changes 11 Oct 2010 1 Initial release Doc ID 18054 Rev 1 17 8 UM1010 Please Read Carefully Information in
6. 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 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 O
7. 08324v1 Start acquisition and data description By clicking the Start icon the acquisition starts The user can view the sensor data in the graphics Each sensor is acquired simultaneously but it has a dedicated graphic the user can choose the sensor by the icons on left of the GUI Figure 12 Doc ID 18054 Rev 1 ky UM1010 iNEMO suite Figure 12 Data icon description Accelerometer the data are in mg measurement unit and the full scale is set at 2000mg Gyroscope the data are in degree per second measurement unit and the full scale is set at 300dps gt Magnetometer the data are in mGauss measurement unit and the full scale is set at 1 3 Gauss Pressure Sensor the data are in tenths of mBar measurement unit gt Temperature Sensor the data are in tenths of Celsius degree measurement unit gt Roll Pitch and Yaw the data are in Degree Quaternion dimensionless data f i Table of all data _ AMO08325v1 2 5 AHRS algorithm starting and settings When the AHRS algorithm is enabled see Section 2 3 and Figure 11 the iNEMO MCU executes the extended Kalman filter to retrieve information about the board orientation starting from acceleration angular rate and m
8. 18054 Rev 1 ky UM1010 iNEMO suite Figure 9 New data file icon When the correct COM number is set click on the connect icon to open the communication and in the log window a connection message appears Figure 10 Figure 10 How to open the connection L S cJ O a TC Port COM Sampling 50 4 Acqustion Mode Sangles 1009 Curation 20 5 4 TCPfIP Demo server started ky Doc ID 18054 Rev 1 11 18 iNEMO suite UM1010 2 3 2 4 12 18 Acquisition settings Before starting the acquisition it is possible to modify the acquisition setting Figure 1 1 e Acquisition mode Normal only the sensor data is acquired AHRS this feature enables the attitude heading reference system algorithm based on the Kalman filter and sends sensor data plus orientation data e Sampling frequency it sets the sensors acquisition rate 50Hz 25Hz 10Hz 1Hz e Acquisition duration Samples the iNEMO acquires a limited number of sensors set in the number of samples box Continuous the iNEMO acquires until the user stops the acquisition by clicking the Stop button When the AHRS feature is enabled the sampling frequency is automatically set to 50 Hz and it can t be modified Figure 11 Acquisition settings icon Number of samples Start Stop buttons Acquisition mode Sampling frequency Acquisition duration AM
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10. agnetic field data The orientation data are sent to the PC in two ways roll pitch and yaw RPY angles and quaternion When AHRS acquisition is started the user must check if the data are stable It means checking in the RPY graphic if the data are flat when the iNEMO is in a stationary position If not the user must strongly shake the board and after that leave the board in a motionless position waiting for flat data sometimes it may be necessary to do this operation more than once See Figure 13 Doc ID 18054 Rev 1 13 18 iNEMO suite UM1010 Figure 13 AHRS stabilization 4 E Lj r4 Unstable data Yaw degree Stable data Pitch degree H H i i AM08326v1 2 6 AHRS 3D demo If AHRS 3D is enabled it is possible by clicking on the 3D icon to open a 3D window in which an orientation demo is performed The iNEMO 3D Cube Demo is an external client application connecting this demo to the server It is also possible to start the application from the system menu Start Programs STMicroelectronics iNEMO Suite Demos 3D Cube Demo or launch from a console with the command iNEMO 3D Cube Demo exe IP xxx yyy www Zzz PORT 31001 where xxx yyy www zzz is the IP address where the server runs 14 18 Doc ID 18054 Rev 1 UM1010 iNEMO suite 2 6 1 The application can also be run from a remote PC which is in the same network as the server More than one instance of
11. onds the Hardware Update Wizard doesn t appear follow the instructions given in Figure 3 and then in 4 Doc ID 18054 Rev 1 ky UM1010 iNEMO V2 GUI installation Figure 3 Manual installation of the STEVAL MKI062V2 driver g Computer Management Right Click on My Computer iE File Action View Window Help e Gm amp n 4 M m t y Computer Open a My Network Pla Explore 8 Computer Management Local Modems Search gil System Tools Monitors I Control Panel M nage E f Event Viewer IM Network adapters Shared Folders Nl 1394 Net Adapter 2 Set Program Acce Map Network Drive Local Users and Groups Bil Cisco AnyConnect VPN Virtual Miniport Adapter for Windows e Defaults Disconnect Network Drive Performanc Ni Intel R 82566MM Gigabit Network Connection Connect To 2 Ii Intel R Wireless WiFi Link 4965AG 2 lt Show on Desktop E PCMCIA adapters ta Printers and Faxe Rename Personal identification devices Properties FE COM amp LPT 7 Bluetooth Communications Port COM11 and t 7 Hep ond Suppor amp fi Services and Applications VJ Communications Port COM1 a Search oF ECP Printer Port LPT1 Intel R 500 COM4 17 Run Y STEVAL MKIO62V2 iNEMO Platfori 5 Secure Digital host controllers Smart card readers Sound video and game controllers System devices Universal Serial Bus controllers 4 Doc ID 18054 Rev 1 5 18 iNEMO V2 GUI ins
12. onnecting iNEMO 323 9er aoo ert 3 RR DP TES ERR TEE nage 10 2 3 ACQUISIION SOUCIS e 2 26 pico Ron REPE Ri ks DS HPV RE ET esta 12 2 4 Start acquisition and data description 12 2 5 AHRS algorithm starting and settings 13 26 AAAS SOOM sias a RERO RES Rae RC RE Ra x Kc tien atout 14 2 6 1 3D view alignment 15 3 Revision history aaceacsos aos roe RK eee eek RR i de e CR OR aes 17 2 8 Doc ID 18054 Rev 1 ky UM1010 List of figures List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 15 Figure 14 Figure 15 STEVAL MKI06V2 iNEMO V2 platform 1 STEVAL MKIO62V2 notification icon 4 Manual installation of the STEVAL MKIO62V2 driver 5 iNEMO driver installation eee eee eee eee eee eee 6 How to see the STEVAL MKIO62V2 COM port number 7 Kit selector window 9 iNEMO Suite main window 10 Selected COM port number 10 New data file ICON ise ee yn Wace ao eu due diet ane Y wo ee eu ve 11 How to open the connection
13. t Settings menu its state is shown on the status bar below From this dialog box the user can change the communication port default 31001 Pay close attention to this information in order to avoid a communication block from an installed firewall To run the INEMO suite 1 Click on Start All Programs STMicroelectronics iNEMO Suite iNEMO Suite Application 2 Launch the program iNEMO software tool Goldfish Icon 3 At first the Kit Selector window appears Figure 6 Select STEVAL MKIO62V2 4 Check that the serial port number is correct see Figure 5 Otherwise click the refresh button and choose the right COM port It is preferable to connect the iNEMO board to a free USB port before launching the GUI In this way the GUI directly finds the COM port into which the board is plugged To change COM port press the New button on the toolbar or from the menu File New and the kit selector dialog appears Doc ID 18054 Rev 1 ky UM1010 iNEMO suite Figure 6 Kit selector window Port COMI Sampling 50 Ha Acquistion Mode Samples 1000 Duration 20 s TCP IP Demo server stopped TI Getting Karte oost Pow 2 1 iNEMO suite main window The main window is made up of the following main sections Figure 7 1 2 3 NLO gi A Sensor selector where the user can move to a different sensor data view Toolbar for data acquisition setting to set frequency acquisi
14. tallation UM1010 Figure 4 iNEMO driver installation Found New Hardware Wizard This wizard helps you install software for STEVAL MKI062V2 iNEMO Platform If your hardware came with an installation CD lt lt or floppy disk insert it now What do you want the wizard to do O Install th wate is ecommended Install from a list or pre location Advanced Click Next to continue Browse For Folder Please choose your search and installation options s amp C3 SafeBoot Search for the best driver in these locations se ray Use the check boxes below to limit or expand the default search which includes loca i paths and removable media The best driver found will be installed ri eim Z Search removable moda Boney CD ROM Demos V Include this loestiorrirthe ses document C Program Files S TMicroelectronicsNNEMO Suites w Derome Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarante the driver you choose will be the best match for your hardware To view any subfolders click a plus sign above Fouad New Hardware Wizard Please wait while the wizard installs the softwag line Aare Installation The software you are installing for this hardware STEVAL MKIOS2V2 iNEMO Platform 3 STEVAL MKIOBZV2 iNEMO Platform has not passed Windows Logo testing to verif
15. tion mode etc Toolbar for graphic management helps the user to explore in the graphic window It allows to zoom the graph enabling cursors save data and so on Status bar shows the acquisition info Log window Default menu bar The graphical panel where the data are graphically represented Doc ID 18054 Rev 1 9 18 iNEMO suite UM1010 Figure 7 iNEMO Suite main window estne 750 PM Jata bufles c ec CET aqustion Port COM13 Sampling 50 Hz Acquistion Mode Continous AHRS Enabled 417 CPAP Clent Connected 127 0 0 1 2469 2 2 Connecting iNEMO Before starting the acquisition it is necessary to open the connection between the iNEMO and the PC It is preferable to connect the iNEMO board to a free USB port before launching the GUI In this way the GUI directly finds the COM port into which the board is plugged On the bottom part of the GUI main window the COM port number is reported Figure 8 Figure 8 Selected COM port number Port COM6 Sampling 50 Hz Acquistion Mode Samples 1000 Duration 20 s x TCP IP Demo server started AMO8321v1 The user must check if the COM port number is the same as the one shown in the device manager Figure 5 If the COM number is different it is necessary to set the right number By clicking the new data file icon Figure 9 the kit selector window appears and it is possible to select the COM port number as in Figure 6 10 18 Doc ID
16. y its compatibdity with Windows XP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the Lames vendor for software that has passed Windows Logo testing E Continue Anyway STOP instalation Once the installation has finished a COM port number is assigned to the ST virtual COM driver Figure 5 Knowledge of this number is required to correctly run the iNEMO GUI 6 18 Doc ID 18054 Rev 1 ky UM1010 iNEMO V2 GUI installation Figure 5 How to see the STEVAL MKIO62V2 COM port number LI Computer Management m File Action View Window Help AE omae fa Computer Management Local E FA System Tools E a Event Viewer Shared Folders Fe E Local Users and Groups 2 Performance Logs and Alerts Z Device Manager B sy Storage Removable Storage Disk Defragmenter Disk Management e Ex Services and Applications BB Network adapters Bg 1394 Net Adapter 3 B Cisco AnyConnect VPN Virtual Miniport Adapter For Windows E9 Intel R 82566MM Gigabit Network Connection 2 9 Intel R wireless WiFi Link 4965AG 2 B VMware Virtual Ethernet Adapter For YMnet1 5 VMware Virtual Ethernet Adapter for Mnet8 Ez Other devices H PCMCIA adapters Personal identification devices
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