Demonstration kit for single and double axis gyroscopes in

Demonstration kit for single and double axis gyroscopes in
UM0855
User manual
Demonstration kit for single and
double axis gyroscopes in a 4 x 5 mm package
Introduction
This document applies to all demonstration kits related to ST MEMS single and double axis
gyroscopes in 4 x 5 mm packages, hereafter referred to as “STEVAL-MKI0xxV1”.
The STEVAL-MKI0xxV1 is a demonstration kit designed to provide the user with a complete,
ready-to-use platform for demonstration of the LPR4xxAL and LPR4xxxAL product families.
The device includes a sensing element and an IC interface capable of translating
information from the sensing element into a measured signal that can be used for external
applications.
In addition to the MEMS sensor, the demonstration board utilizes an ST72651AR6
microcontroller which functions as a bridge between the sensor and the PC, on which it is
possible to use the downloadable graphical user interface (GUI), 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 and run the demonstration kit user interface.
For details regarding the features of each member of the LPR4xxAL and LPR4xxxAL sensor
families, please refer to the datasheets available for each single device.
November 2009
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www.st.com
Contents
UM0855
Contents
1
Demonstration kit description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2
Working modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3
4
2.1
Analog working mode (AWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2
Digital working mode (DWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3
Additional settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
STEVAL-MKI0xxV1 GUI installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1
PC system requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2
Software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3
Hardware installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Graphical user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.1
Connecting to the virtual COM port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2
GUI main window functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2.1
“Easy Start” button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2.2
“Home” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.2.3
“Options” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.2.4
“Bars” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2.5
“Plot” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2.6
“Data” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2.7
“FFT” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5
Data acquisition quick start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6
STEVAL-MKI0xxV1 Lite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7
Supported commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
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7.1
Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.2
Supported commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.2.1
Start command (DWM only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.2
Debug command (DWM only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.3
Stop command (DWM only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2.4
Zon and Zoff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
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Contents
7.3
8
7.2.5
Device name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2.6
Firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Quick start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
DFU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
8.1
PC requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
8.2
DFU procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
9
Schematic diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
10
Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
11
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
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List of tables
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List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
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Jumper configurations for power down (PD), self-test (ST) and high pass filter reset (HP) in
AWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Jumper configurations for JP1 and JP6 in AWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Jumper configurations for JP9 and JP8 in AWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Jumper configuration for DWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Supported commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
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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.
Demonstration board block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Top silk screen of the STEVAL-MKI0xxV1 demonstration board . . . . . . . . . . . . . . . . . . . . . 6
Top view of the STEVAL-MKI0xxV1 demonstration board . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Notify icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Driver installation using the device manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
USB driver installation using the hardware update wizard . . . . . . . . . . . . . . . . . . . . . . . . . 12
Virtual COM driver port assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Graphical user interface: main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Home tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Options tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Bars tab - angular rate data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Plot tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Plot tab - zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Data tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
FFT tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
STEVAL-MKI0xxV1 Lite GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Demonstration kit correctly recognized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Select new firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Flash erasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Flash upgrading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Schematic diagram of the STEVAL-MKI0xxV1 board . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
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Demonstration kit description
1
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Demonstration kit description
The STEVAL-MKI0xxV1 is a complete demonstration kit that allows evaluation of the
performance of the LPR4xxAL and LPR4xxxAL low-power double/single-axis gyroscopes
with analog outputs.
The block diagram of the demonstration board included in the kit is shown in Figure 1.
Figure 1.
Demonstration board block diagram
#ONTROLSWITCHES
RESETLEFT
53"
30)
-%-3
DEVICE
!NALOG
CONTROLS
340$
$&5
34&
MICROCONTROLLER
!NALOG
OUTPUTS
XX
53"
CONNECTOR
0OWERON,%$
!7-,%$
$7-,%$
!-V
The analog outputs of the device are directly available through a dedicated connector. The
ST72651AR6 microcontroller included on the board acquires and converts the analog
outputs into digital signals, and provides the data to the user on the PC through the GUI
provided with the kit.
The device firmware upgrade (DFU) is a feature allowing users to upgrade the firmware of
the ST7 microcontroller whenever a new firmware release is available on www.st.com.
Switches and LED indicators are used to control and monitor the functionality of the board.
The top silk screen view and photo of the full board, respectively, are shown in Figure 2 and
Figure 3.
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Demonstration kit description
Figure 2.
Top silk screen of the STEVAL-MKI0xxV1 demonstration board
Figure 3.
Top view of the STEVAL-MKI0xxV1 demonstration board
ref 8
ref 12
ref 3
ref 10
ref 1
ref 7
ref 2
ref 4
ref 5
ref 11
ref 6
ref 9
Operation of the STEVAL-MKI0xxV1 demonstration kit requires the installation of a
dedicated driver which is included in the installation pack, together with a GUI interface
which allows simple interaction with the sensor. The steps required for driver and software
installation are described in the sections that follow.
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Working modes
2
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Working modes
The STEVAL-MKI0xxV1 demonstration board is designed to be used in two different
working modes:
●
Analog working mode (AWM): the microcontroller on the board is disabled and the
analog outputs of the device are available to the user on the dedicated connector
(Figure 3, ref 7). This is the default working mode when power is applied either through
the USB connector or through the supply connector (Figure 3, ref 10).
●
Digital working mode (DWM): the microcontroller on the board is enabled and allows
the user to digitally acquire the output signals of the device, to see them on the PC
through the dedicated GUI and to manage the control pins of the device.
Each working mode requires a board setup, which is done by correctly setting the jumpers
labeled JP4, JP5, JP7 (see ref 1, ref 2 and ref 3, respectively, in Figure 3) and the jumpers
labeled JP1 and JP6 (see ref 4 and ref 5, respectively, in Figure 3).
2.1
Analog working mode (AWM)
AWM is the working mode activated by default when the board is connected to a PC by USB
or when the power supply is applied to J10. The microcontroller on the board is disabled and
board behavior can be controlled through the dedicated jumpers.
In this working mode, the power down (PD), self-test (ST) and high-pass filter reset (HP)
functions are respectively managed by JP4, JP5 and JP7 as described below (see Figure 3
to identify the jumpers):
Table 1.
Jumper configurations for power down (PD), self-test (ST) and high pass
filter reset (HP) in AWM
Jumper on 1-2 position
Jumper on 2-3 position
JP4
ST
Logic level 1: self-test ON
Logic level 0: self-test OFF, default
JP5
PD
Logic level 1: power down mode
Logic level 0: normal mode, default
JP7
HP
Logic level 1: external high-pass filter reset
Logic level 0: normal mode, default
Analog output signals can be measured respectively through pin 3 (marked Out1), pin 4
(marked Out2, for single-axis devices only) and pin1 (GND) of the J3 header (see Figure 3,
ref 7).
The JP1 and JP6 jumpers allow the user to select which output signal is available on J3.
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Working modes
Table 2.
Note:
Jumper configurations for JP1 and JP6 in AWM
Jumper on 1-2 position
Jumper on 2-3 position
JP11
1xOut1 (not amplified): on J3-pin 3 (Out1)
4xOut1 (amplified): on J3-pin 3 (Out1)
JP6
1xOut2 (not amplified): on J3-pin 4 (Out2)
4xOut2 (amplified): on J3-pin 4 (Out2)
Not connected for single axis devices
The JP9 and JP8 (for double axis devices only; see Figure 3, ref 6 and ref 11) jumpers allow
the management of external (HP and LP) filters, respectively, for Out2 and Out1.
Table 3.
Jumper configurations for JP9 and JP8 in AWM
Configuration
Function
pin 1-2 short
HP and LP filters enabled
pin 3-4 short
pin 2-4 open
HP and LP filters bypassed
pin 3-4 short
Note:
Not connected for single axis devices.
2.2
Digital working mode (DWM)
When the board is configured for DWM, it can be controlled by a PC through the dedicated
GUI. The USB works as an interface channel between the PC and demonstration kit board
by means of the microcontroller. The microcontroller takes advantage of its on-board 8-bit
A/D converter to read analog values from the device and to convert them in digital values,
then sends them to the PC via the USB channel.
For the board to work in DWM, the jumpers must be configured as described in Table 4.
Table 4.
Jumper configuration for DWM
Jumper
JUMPER position
JP4 ST
2-3 (default) or not connected
JP5 PD
2-3 (default) or not connected
JP7 HP
2-3 (default) or not connected
JP1 and JP6
Refer to Table 1
JP9 and JP8
Refer to Table 3
Users can interact with the board by means of the STEVAL-MKI0xxV1 GUI and/or
Microsoft© Hyper Terminal (refer to Section 4 and Section 7).
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Working modes
2.3
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Additional settings
JP2 must be present on the board to enable the DFU feature (Figure 3, ref 8). For detailed
information on the DFU feature, see Section 8.
JP3 allows the measurement of current consumption (Figure 3, ref 9)
J4 (usually open) is used to supply the board, alternatively, through a USB connection
(Figure 3, ref 10).
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3
STEVAL-MKI0xxV1 GUI installation
STEVAL-MKI0xxV1 GUI installation
The installation of the graphical user interface (GUI) for the STEVAL-MKI0xxV1 requires two
steps:
3.1
1.
installation of the software downloaded from www.st.com
2.
installation of the virtual COM driver needed to use the demonstration kit
PC system requirements
Both the hardware and software that compose the STEVAL-MKI0xxV1 demonstration kit
have been designed to operate with Microsoft® Windows XP.
3.2
Software installation
To install the software:
1.
double-click on “Setup.exe”.
2.
follow the on-screen instructions (Figure 4).
Figure 4.
Software installation
AM06007v1
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STEVAL-MKI0xxV1 GUI installation
3.3
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Hardware installation
To install the virtual COM driver, insert the demonstration kit board into a free USB port. The
“notify” icon should appear as in Figure 5.
Figure 5.
Notify icon
!-V
If the “hardware update wizard” window appears (Figure 7), follow the instructions on the
screen, otherwise, the installation can be performed by following the instructions indicated in
Figure 6 and then Figure 7.
Figure 6.
Driver installation using the device manager
2IGHTCLICKON-Y#OMPUTER
2IGHTCLICKONh34-%-35.)4vANDCHOOSEUPDATEDRIVER
!-V
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STEVAL-MKI0xxV1 GUI installation
Figure 7.
USB driver installation using the hardware update wizard
!-V
Once the installation is complete, a COM port number is assigned to the ST virtual COM
driver (Figure 8). This number should be retained, as it is required to run the STEVALMKI0xxV1 demonstration software GUI. For additional details, see Section 4.1.
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STEVAL-MKI0xxV1 GUI installation
Figure 8.
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Virtual COM driver port assignment
!-V
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4
Graphical user interface
Graphical user interface
To run the STEVAL-MKI0xxV1 demonstration software GUI:
1.
Click on Start > All Programs.
2.
Select STEVAL-MKI0xxV1 > Executables.
3.
Launch the program “STEVAL-MKI0xxV1 Ver.0.0.1”.
The GUI main window appears as shown in Figure 9.
Figure 9.
Graphical user interface: main window
ref 3
ref 1
ref 2
ref 4
ref 5
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Graphical user interface
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The functions of the four main sections of the window are described below:
4.1
1.
“Main control” (Figure 9, ref 1) - connects/disconnects the board and starts acquisition
via the Start/Stop buttons.
2.
“Saving” box (Figure 9, ref 2) - allows the user to save the data to a specified text file,
choosing the data type to write. Data types available are:
a)
LSB: the analog values measured by the 8-bit A/D converter of the microcontroller
are converted to 8-bit values, hence the 256 magnitude levels.
b)
Angular rate: LSB data are multiplied by the sensitivity to obtain the angular rate,
expressed in deg/sec.
3.
“Tab selector” (Figure 9, ref 3) - used to toggle between the different features of the
demonstration kit.
4.
“Legend” (Figure 9, ref 4) - used to enable/disable viewing the axes.
5.
“Details” (Figure 9, ref 5) - shows information about the demonstration kit, such as the
name of the sensor, the version of the firmware loaded on the microcontroller and the
version of the PC software.
Connecting to the virtual COM port
Before using the functions of the demonstration kit software, the connection with the
STEVAL-MKI0xxV1 board must be opened using the following steps:
1.
Connect the STEVAL-MKI0xxV1 to the desired USB port.
2.
In the “Select COM” drop-down menu (Figure 9 ref 1), choose the virtual COM number
to which the board has been mapped. For additional information on how to obtain this
number, see section 3.3. Otherwise, press “Find” to automatically get the correct COM
number.
3.
Open the connection by clicking on “Connect” (Figure 9 ref 1). Opening the connection
starts the board model recognition flow. If the flow terminates successfully, a
recognized board code and mounted device code is generated and written on the
“Home” tab. Otherwise, a message on the same tab alerts the user to check the board.
At this point, the user can acquire, plot and save the angular rate data measured by the
sensor and access the content of the registers embedded in the device.
If the “Find” button is pressed (Figure 9 ref 1), the GUI attempts to automatically find the
COM number assigned to the demonstration kit, and displays it in the list box as a selected
item.
4.2
GUI main window functions
The following sections provide details regarding the functions of the tabs and buttons on the
GUI main window (see Figure 9).
4.2.1
“Easy Start” button
When the “Easy Start” button is clicked (Figure 9, ref 1), the GUI attempts to automatically
find the COM number assigned to the demonstration kit, to recognize the connected board
and its device and, if successful, starts the acquisition. If recognition is unsuccessful, a
message alerts the user to verify that the board type is in the list of managed ones, or to
update the SW.
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4.2.2
Graphical user interface
“Home” tab
This tab is used to show the codes of managed and recognized devices and demonstration
boards (Figure 11). In case of unmanaged devices, a message is shown on the tab.
Figure 10. Home tab
AM06006V1
4.2.3
“Options” tab
The options tab allows the user to control the following parameters:
1.
Operating mode (OM): allows the customer to select the operating mode: Normal
Mode, Power Down Mode (Figure 11, ref 1).
2.
OUTPUT Amplification/FullScale Selection: allows the selection of the data to be are
acquired and plotted by the GUI between 1x amplification and 4X amplification
(Figure 11, ref 2).
3.
Self Test (ST): enables the self-test function. (Figure 11, ref 3).
4.
High Pass Filter (HPF) Reset: allows user to reset the internal high-pass filter
(Figure 11, ref 4).
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Figure 11. Options tab
4.2.4
ref 1
ref 3
ref 2
ref 4
“Bars” tab
The bars tab (Figure 12) displays the available (pitch, roll and/or yaw) angular rate data
measured by the device in a bar chart format (see Figure 9, ref 4).
The height of the bar is determined by the amplitude of the signal measured around the
axis. The full scale of the graph is fixed to 2 times the selected full scale of the selected
device.
Figure 12. Bars tab - angular rate data
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4.2.5
Graphical user interface
“Plot” tab
The plot tab (Figure 13) shows the sequence of selected angular rate samples that have
been measured by the MEMS sensor and converted by the A/D converter.
The tab shows the “angular rate values” (Figure 13, ref 1) the numeric values of angular
rates samples that have been measured by the sensor expressed as deg/sec.
Figure 13. Plot tab
ref 1
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Figure 14. Plot tab - zoom
1) Select one point on the screen
and click the LEFT mouse button.
2) Holding the LEFT mouse button
pressed, move the cursor to select
an area on the screen.
3) Releasing the LEFT mouse
button to terminate the zoom in
process, a new magnified area is
shown on the screen.
4) To return to the original view,
click the RIGHT mouse button.
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4.2.6
Graphical user interface
“Data” tab
The data tab (Figure 15) shows the angular rate values measured by the device. It is divided
into two sections:
Note:
1.
“ADC out” (Figure 15, ref 1) - displays the angular rate data provided by the sensor
after its conversion to digital format by the 8-bit AD converter
2.
“Angular rate value” (Figure 15, ref 2) - represents the angular rate data measured by
the sensor, converted by the AD converter and multiplied by the currently-selected
sensitivity. Values are expressed as deg/sec.
To increase data readability, the values shown in the boxes described above are based on
an average of 50 samples.
Figure 15. Data tab
ref 1
ref 2
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Graphical user interface
4.2.7
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“FFT” tab
The FFT tab (Figure 16) shows the FFT of the angular rate signals acquired by the sensor.
The spectral data are updated for every sample arrival and are calculated on a 64-sample
moving window.
Figure 16. FFT tab
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5
Data acquisition quick start
Data acquisition quick start
This section describes the basic steps that must be performed to acquire the yaw data from
the STEVAL-MKI0xxV1:
1.
Connect the STEVAL-MKI0xxV1 to the USB port.
2.
Start the STEVAL-MKI0xxV1 GUI.
3.
Select the virtual COM port and click on the “Connect” button (Figure 9, ref 1).
4.
Select the destination file to which the yaw data must be saved by clicking “Save”
(Figure 9, ref 2) in the main control section (optional).
5.
Use the tab menu to display the desired function.
6.
Click on the “START” (or “STOP”) button to activate (or stop) the sensor data collection,
saving to file, and screen plotting functions.
7.
To close the application, click on “Disconnect” and then click on “Exit”.
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STEVAL-MKI0xxV1 Lite
6
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STEVAL-MKI0xxV1 Lite
A lite version of the GUI together with its source code is also included in the installation
pack. The source code can be found in the directory: ($Home)\STM\STEVALMKI0xxV1\STEVAL-MKI0xxV1_lite, where ($Home) is the directory in which the software
that came with the demonstration kit was installed (C:\Program Files by default).
The purpose of the lite version is to provide the user with a foundation for the development
of a customized application.
The lite version of the demonstration kit is started by launching the STEVAL-MKI0xxV1 Lite
executable file located in the STEVAL-MKI0xxV1 > Executables folder.
An example of the GUI of the STEVAL-MKI0xxV1 Lite application is shown in Figure 17.
Figure 17. STEVAL-MKI0xxV1 Lite GUI
Follow these instructions to use the software:
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1.
Connect the STEVAL-MKI0xxV1 to the USB port.
2.
Launch the GUI for STEVAL-MKI0xxV1 Lite.
3.
Select the virtual COM port and click on the “Connect” button.
4.
Select the destination file to which the yaw rate data must be saved (optional).
5.
Click on the “START” (or “STOP”) button to activate (or stop) the sensor data collection,
saving to file, and screen plotting functions.
6.
To close the application, click on “Disconnect” and then click on “Exit”.
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7
Supported commands
Supported commands
The microcontroller mounted on the STEVAL-MKI0xxV1 board is equipped with dedicated
firmware which supports a set of commands that allow control of the single axis digital
output MEMS sensor and permit the acquisition of the measured angular rate data. The
firmware also handles the communication between the STEVAL-MKI0xxV1 and the PC
through the USB bus. These features allow users to easily write their own applications to
exploit the capabilities of the gyroscope.
This section describes the commands that are supported by the firmware for the
microcontroller of the STEVAL-MKI0xxV1 demonstration kit.
7.1
Getting started
Before using the commands supported by the firmware, the following procedure must be
performed:
1.
Connect the STEVAL-MKI0xxV1 to the USB port.
2.
Launch an application that allows the sending of commands through the virtual serial
port. The remainder of this document assumes the use of Microsoft’s Hyper Terminal
program, available with the Windows XP operating system.
3.
Create a new connection, enter a name (ex. “STEVAL-MKI0xxV1”), 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 the “Hyper Terminal” application window choose “files” > “properties” > “settings”,
then click on the “ASCII Setup” button.
7.
Select “Send line ends with line feeds” and “Echo typed characters locally”.
8.
Click the “OK” button to close the “ASCII Setup” window.
9.
Click the “OK” button to close the “Properties” window.
Once this procedure has been completed the user can utilize the commands described in
the following sections by typing them into the Hyper Terminal window.
7.2
Supported commands
The table below lists the commands supported by the STEVAL-MKI0xxV1 firmware.
Some commands are valid only for DCWM. Using them outside of DCWM could result in
unexpected errors.
Table 5.
Supported commands
Command
Description
Returned value
Available
in WM
*start
Starts continuous data acquisition
s t R 4O2 O2 4O1 O1 oh S
DC
*debug
Returns the angular rate data in readable text
format
4*[OUTX=XXXXX]
VREF=XXXXX
DC
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Supported commands
Table 5.
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Supported commands (continued)
Returned value
Available
in WM
Command
Description
*stop
Stops data acquisition
DC
*Zon
Force 3-state (enter in AWM)
Both
*Zoff
Exit from 3-state (enter in DWM)
Both
*dev
Device name
e.g. LPR430AL
Both
*ver
Firmware version
e.g. PR430AL 1.08
Both
Where:
7.2.1
●
R: Vref value
●
4O2: 4xOutput2
●
O2: 1xOutput2
●
4O1: 4xOutput1
●
O1: 1xOutput1
●
0h: byte set to 0 hex value
●
s: service field
Start command (DWM only)
The *start command initiates the continuous data acquisition. When this command is sent to
the board, it returns the angular rate data measured by the device. The angular rate data are
packed in a string composed of 5 bytes (plus 2): “s t R 4O2 O2 4O1 O1 0h S”. The first two
bytes are always the ASCII char “s” and “t” which correspond to the hexadecimal values
{73h 74h}, while “R”, “4O2”, “O2”, “4O1” and “O1” respectively represent 8-bit AD converter
digital output data for Vref, 4xOutput2, 1xOutput2, 4xOutput1, 1xOutput1.
0h: one byte at hexadecimal value 0.
The last byte, marked “S”, returns information about the switches mounted on the board.
Specifically, bit#0 of the “service data” correspond to the status of SW2 on the
demonstration kit board. It is set to 1 when the SW2 switch is pressed (otherwise 0).
Before sending the *start command, the device must be out of 3-state and in DWM, hence
*start must have been preceded by a *Zoff command.
Note:
This is a digital working mode only command.
7.2.2
Debug command (DWM only)
The *debug command starts the continuous data acquisition in debug mode. When this
command is sent to the board, it returns the Vref value and all 4 outputs measured by the
device, digitized by the 8-bit AD converter and formatted to a readable text format. The
values shown on the screen correspond to the content of the ADC output data and are
shown as decimal numbers.
Note:
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This is a digital working mode only command.
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7.2.3
Supported commands
Stop command (DWM only)
The *stop command interrupts any acquisition session that has been started with either the
*start or *debug commands.
Note:
This is a digital working mode only command.
7.2.4
Zon and Zoff
The *Zon and *Zoff commands are employed, respectively, to put into 3-state (i.e. highimpedance) and to remove from 3-state (i.e. normal mode) the lines of the ST72651AR6
microcontroller mounted on the demonstration kit. These commands allow the isolation of
the sensor from the microprocessor and permit the user to interact with the sensor in a
purely analog way.
By default, when the kit is turned on the lines are in 3-state mode (or AWM) and the user is
required to send the command *Zoff to allow communication between the sensor and the
microcontroller (or DWM).
7.2.5
Device name
The *dev command retrieves the name of the device mounted on the demonstration kit
connected to the PC. The returned value is, e.g., “LPR430AL”.
7.2.6
Firmware version
The *ver command queries the demonstration kit and returns the version of the firmware
loaded in the microprocessor, e.g., “PR430AL 1.08”
7.3
Quick start
This section provides the basic sequence of commands to start a data communication
session and to retrieve the yaw rate data from the demonstration kit, running in digital
working mode:
1.
Connect the STEVAL-MKI0xxV1 to the USB port.
2.
Start Microsoft Hyper Terminal and configure it as described in Section 7.1.
3.
Inside the Hyper Terminal window, enter the command *Zoff to enable control of the
device by the ST72651AR6 microcontroller.
4.
Send the *debug command to get the yaw rate data measured by the sensor.
5.
Send *stop to end the continuous acquisition and visualization.
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DFU
8
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DFU
The MEMS DFU (device firmware update) GUI is a graphical interface that allows the user
to download and replace the firmware of a MEMS demonstration board, directly from a PC,
through the USB port.
MEMS demonstration boards that mount an ST72651AR6 microcontroller can reprogram an
application via USB, in accordance with the DFU class specification defined by the USB
Implementers Forum (USB-IF). This capability is useful because it allows the
reprogramming of the microcontroller directly in the field and is particularly well-suited for
USB applications where the same USB connector can be used both for standard operating
mode and for the reprogramming process.
Connector J4 must be shorted to allow the DFU procedure. If the demonstration kit is to be
reprogrammed through the ICP (in-circuit programming) connector and the ST7 dedicated
tools, J4 must be open.
8.1
PC requirements
In order to use the device firmware upgrade (DFU) software with the Windows operating
system, a recent version of Windows (such as Windows 98, Windows 98SE, Windows
Millennium, Windows 2000 or Windows XP) must be installed on the PC.
8.2
DFU procedure
Run the DFU.exe file. To enter the firmware update mode the user must plug the USB cable
into the demonstration kit while pressing the sw2 button on the board (Figure 3, ref 12).
Figure 18 shows the window displayed when the board has been properly detected.
Figure 18. Demonstration kit correctly recognized
The DFU driver must be installed before using this feature. The driver can be found in
“firmwareupdate.zip” in the driver installation folder of the demonstration kit.
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DFU
After installation, “MEMS demonstration DFU” appears in the DFU USB devices list
(Figure 18).
To execute the firmware upgrade:
1.
Click on File > Open, select the directory where the “.dfu” file has been downloaded,
and select it (Figure 19).
2.
Click on “Upgrade”.
3.
The internal Flash memory will be erased (Figure 20) and reflashed with the new
firmware (Figure 21).
Once the procedure is complete, a Windows message appears, stating that a USB device is
not recognized. The user can then unplug the USB cable from the STEVAL-MKI0xxV1
demonstration board and use it with the new firmware.
To back up the user’s current firmware before flashing the demonstration kit with a new one,
flag “Upload DFU device” (Figure 18) before clicking on “Upgrade”. The user is then
prompted to save the current firmware in the preferred directory before the erasing the
internal Flash.
Figure 19. Select new firmware
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DFU
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Figure 20. Flash erasing
Figure 21. Flash upgrading
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Doc ID 16617 Rev 1
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9
UM0855
Schematic diagram
Schematic diagram
The schematic diagram of the STEVAL-MKI0xxV1 demonstration kit is shown in Figure 22.
Figure 22. Schematic diagram of the STEVAL-MKI0xxV1 board
!-V
31/35
Bill of materials
10
UM0855
Bill of materials
The bill of materials for the STEVAL-MKI0xxV1 demonstration kit is provided in the table
below.
Table 6.
Bill of materials
Designator
Description
Comment
Footprint
C1
10 µF
C1206_POL
C2
4 µF
C1206_POL
C3
4 µF
C1206_POL
C4
100 nF
0805
C5
100 nF
0805
C6
100 nF
0805
C7
100 nF
0805
C8
47 nF
0805
C9
220 nF
0805
C10
10 µF
C1206_POL
C11
100 nF
0805
C12
100 nF
0805
C13
10 µF
C1206_POL
220 nF
0805
C15
220 nF
0805
C16
4 µF, 16 V
C1206_POL
C17
4 µF, 16 V
C1206_POL
C18
2µ2
C1206_POL
C19
100 nF
0805
C20
470 nF
0805
C21
10 nF
0805
C22
4 µF
0805
C23
4 µF
0805
C24
2n2
0805
C14
C25
2n2
0805
Cosc1
33 pF
0805
Cosc2
33 pF
0805
SMD_LED green
LED_SMD_0805
D1
D2
32/35
Capacitor
LED
SMD_LED 3C
LED_SMD_3C
J1
USB connector
USB_mini_B
USB_mini_B
J3
Header 8
Header 1x4
Header 1x4 2mm
Doc ID 16617 Rev 1
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Bill of materials
Table 6.
Bill of materials (continued)
Designator
Description
Comment
Footprint
J4
Header 1x2
Header 1x2 2mm
JP1
Header 1x2
Header 1x2 2mm
JP2
Header 1x2
Header 1x2 2mm
Header 1x2
Header 1x2 2mm
JP3
JP4
Connector
Header 1x3
Header 1x3 2mm
JP5
Header 1x3
Header 1x3 2mm
JP6
Header 1x3
Header 1x3 2mm
JP7
Header 1x3
Header 1x3 2mm
JP8
Header 2x2
Header 2x2 2mm
Header 2x2
Header 2x2 2mm
2STR2215
SOT-23-3
SO624
SOT-23-3
R1
180 Ω
0805
R2
100 Ω
0805
R3
100 Ω
0805
R4
10 kΩ
0805
R5
470 Ω
0805
R6
1 kΩ
0805
R7
10 kΩ
0805
R8
1 kΩ
0805
JP9
Q1
Q2
R9
Header 2x2
Transistor
Resistor
33 kΩ
0805
R10
10 kΩ
0805
R11
10 kΩ
0805
R12
10 kΩ
0805
R13
33 kΩ
0805
R14
1 MW
0805
R15
1 MW
0805
R16
10 kΩ
0805
R17
10 kΩ
0805
SW1
NReset
SMT_Button
SMT_Button
SMT_Button
Single or dual axis gyro in 4x5mm
package
LGA-16_4_5_1.1
ST72F651AR6T1E
TQFP64_10x10
U3
ST662ABD
SO-G8
U4
LE30CD
SO-G8
12 MHz
SXA
SW2
Button
U1
U2
Yoscm1
IC
Crystal
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Revision history
11
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Revision history
Table 7.
34/35
Document revision history
Date
Revision
11-Nov-2009
1
Changes
Initial release.
Doc ID 16617 Rev 1
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