Mcube MM8003 User manual

MM8003
Orientation Sensor Module
User Manual
V1.0

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© 2019 mCube Inc. All rights reserved. APS-045-0032V1.0
MM8003 User Manual
Contents
Contents................................................................................................................................... 1
Figures...................................................................................................................................... 3
Tables....................................................................................................................................... 4
1Introduction.................................................................................................................... 5
2MM8003 –The hardware................................................................................................ 6
2.1 LED Indicator .......................................................................................................................7
3mCube OSM Toolbox..................................................................................................... 8
3.1 Installation of UART Bridge Virtual COM Port (VCP) Driver ................................................. 8
3.2 Installation of mCube OSM Toolbox.....................................................................................9
3.3 How To Use mCube OSM Toolbox .................................................................................... 11
3.3.1 Connect to MM8003 ...............................................................................................11
3.3.2 Graphs....................................................................................................................13
3.3.3 Data Logging ..........................................................................................................14
3.3.4 MM8003 Configuration ...........................................................................................16
3.3.5 Identification............................................................................................................17
3.3.6 Magnetometer Calibration.......................................................................................17
3.3.7 Reboot....................................................................................................................17
3.3.8 Reset ......................................................................................................................17
3.3.9 About mCube OSM Toolbox...................................................................................17
4mCube OSM APP......................................................................................................... 18
4.1 Installation of mCube OSM APP ........................................................................................ 18
4.2 How To Use mCube OSM APP.......................................................................................... 18
4.2.1 Connect to MM8003 ...............................................................................................18
4.2.2 Graphs....................................................................................................................19
4.2.3 Data Logging ..........................................................................................................21
4.2.4 Reconnection..........................................................................................................22
4.2.5 Configuration ..........................................................................................................22
4.2.6 Identification............................................................................................................24
4.2.7 Magnetometer Calibration.......................................................................................24
4.2.8 About mCube OSM APP.........................................................................................24
5Firmware Update.......................................................................................................... 25

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5.1 Device Firmware Update (DFU).........................................................................................25
5.2 Over-The-Air (OTA)............................................................................................................ 26
6Troubleshooting .......................................................................................................... 27
7Downloads.................................................................................................................... 28
7.1 All Other mCube Documentation........................................................................................28
7.2 Software............................................................................................................................. 28
8Revision History .......................................................................................................... 29
9Legal ............................................................................................................................. 30

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Figures
Figure 1: The MM8003 Orientation Sensors Module (OSM)................................................. 6
Figure 2: VCP Driver Installation............................................................................................ 8
Figure 3: Installation Folder Selection................................................................................... 9
Figure 4: mCube OSM Component Selection ....................................................................... 9
Figure 5: License Agreement Acceptance .......................................................................... 10
Figure 6: Shortcut Selection in Start Menu ......................................................................... 10
Figure 7: Installation Completion......................................................................................... 11
Figure 8: COM Port and Baud Rate to Connection............................................................. 11
Figure 9: Data in The Toolbox Console ............................................................................... 12
Figure 10: Disconnect Function........................................................................................... 13
Figure 11: 3D Object Display................................................................................................ 13
(a) Euler Angle Updates after Sensors Ready (b) Sensors Not Ready or MM8003
Disconnected......................................................................................................................... 13
Figure 12: 2D Line Charts in OSM Toolbox......................................................................... 14
(a) Filtered accelerometer data (m/s2) (b) Filtered gyroscope data (dps)...................... 14
(c) Filtered magnetometer data (uT) (d) Euler angles (degrees).................................... 14
Figure 13: Enable Logging Feature...................................................................................... 15
Figure 14: Disable Logging Feature..................................................................................... 15
Figure 15: mCube OSM Toolbox ‘Device Config’................................................................ 16
Figure 16: Mobile Dashboard Page...................................................................................... 19
Figure 17: 2D Line Charts in OSM APP................................................................................ 20
(a) Filtered accelerometer data (m/s2) (b) Filtered gyroscope data (dps)...................... 20
(c) Filtered magnetometer data (uT) (d) Euler angles (degrees).................................... 20

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Tables
Table 1: The MM8003 Main Components............................................................................... 6
Table 2: LED Status Indicators............................................................................................... 7
Table 3: Default UART Parameters for Connection............................................................ 12
Table 4: Console Data Format after Connection................................................................. 12
Table 5: Record Data in CSV File ......................................................................................... 15
Table 6: Configuration Table with Default Settings............................................................ 16
Table 7: About Information Display ..................................................................................... 17
Table 8: Scanned Information from MM8003....................................................................... 19
Table 9: Symbols of Euler Angles........................................................................................ 20

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1 Introduction
The MM8003 is a precision 9-axis Orientation Sensor Module (OSM) with both wired (USB)
and wireless (Bluetooth) connectivity. It provides fused sensor data (Quaternion, Euler Angles,
Linear Acceleration, Gravity, Heading) or raw data output from a 3-axis gyroscope, a 3-axis
accelerometer, and a 3-axis magnetometer. A 32-bit ARM Cortex-M4 processor running a
high-performance sensor fusion algorithm with mCube Extended Kalman Filter (EKF) can
dynamically compensate noise and offset from g-force, rotation rate and environment magnetic
flux density data. mCube provides easy-to-use OSM ToolBox for PC and mobile devices to
configure and monitor the MM8003. The software displays real time fusion results or sensor
raw data. The firmware of MM8003 can be easily updated through onboard Universal Serial
Bus (USB) / Universal Asynchronous Receiver/Transmitter (UART) interface or Bluetooth Low
Energy (BLE) Over-the-Air (OTA) through OSM APP.
See https://mcubemems.com/ for more information.

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2 MM8003 –The hardware
Figure 1 shows the physical layout of the MM8003 with descriptions of the buttons, indicators,
and devices in Table 1. The MM8003 is equipped with all hardware necessary to provide
following features:
•Low noise 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer to supply
motion data to sensor fusion algorithm.
•Full digital connectivity with external devices through onboard UART/USB interface.
•BLE wireless connectivity for both iOS and Android devices.
•User button to enable Device Firmware Update (DFU).
•Top and bottom side covered by acrylic lids plus four rubber foot pads for protection.
Figure 1: The MM8003 Orientation Sensors Module (OSM)
Reference
Description
1
SW2: Reset button
2
D4: LED Indicator
3
J1: UART/USB connector
4
D2: Power LED
5
U9: Magnetometer
6
U7: mCube Gyroscope
7
U6: mCube Accelerometer
8
SW3: Button
Table 1: The MM8003 Main Components

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2.1 LED Indicator
The tri-color status LED on MM8003 is designed to show the board status with different
patterns before it is connected to computers or mobile devices. The details of each pattern are
described in Table 2.
Status
LED
Color
Blink
Frequency
Incremental
Power
Description
Suspend
-
-
+0 mA
Stop output data.
Initial done
White
10Hz
+2.6mA
Blink white light two times with 10Hz frequency.
Wake-up
(UART)
Blue
1% of ODR
+0.5mA
Blink blue light when data outputs through UART.
Wake-up
(BLE)
Green
1% of ODR
+0.5mA
Blink green light when data outputs through BLE.
Poor
magnetism
quality
Red
1% of ODR
+1.6mA
Blink red light when magnetic field distribution
happens. Return to wake-up mode if data quality
is good after calibration.
Calibrating
Red
-
+3.2mA
Red light on with 30-seconds period when
(A) Power on in AHRS mode,
(B) Switch from IMU to AHRS mode, or
(C) Receive the mag calibration command.
Wrong
command
(UART)
Yellow
10Hz
+2.1mA
Blink yellow light two times in 10Hz frequency.
Identify
Bright
Blue
5Hz
+2.1mA
Blink bright blue light with 1-minute period.
Table 2: LED Status Indicators

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3 mCube OSM Toolbox
MM8003 can be connected to computer through mCube OSM Toolbox windows-based
software. This section describes the installation procedure and how to start of mCube OSM
Toolbox. This Toolbox can be downloaded from the link listed in Chapter 7 Downloads.
3.1 Installation of UART Bridge Virtual COM Port (VCP) Driver
Once MM8003 is connected to a computer running Windows OS 7 or newer for the first time,
the system will detect several USB devices and will automatically install all related drivers
through internet. It will take a while to search the right drivers from Microsoft Windows Update.
If the driver failed to install through Microsoft Windows Update, user can download the latest
driver for both Windows 7 or 10 from webpage of CP210x Drivers.
When the driver installation is complete, user can find two different virtual COM ports from
Control Panel>Windows Device Manager which is similar to the one shown in Figure 2.
Figure 2: VCP Driver Installation
The enhanced COM Port (which is COM69 in Figure 2) provides the UART interface between
the host PC and the MM8003.
Note: COM port number is assigned by Windows. It can vary from the example above and on
future connections.

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3.2 Installation of mCube OSM Toolbox
This section describes the installation procedures of mCube OSM Toolbox. Windows 7 (32 / 64
bit) or newer is recommended.
Step 1. Run the mCube OSM ToolBox installer (.exe).
Step 2. Select the destination folder for the toolbox. The default installation location
‘C:\Program Files (x86)\mCube’ is recommended.
Figure 3: Installation Folder Selection
Step 3. Select ‘mCube OSM’ component and click Next.
Figure 4: mCube OSM Component Selection

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Step 4. User need to accept the license agreement before clicking Next.
Figure 5: License Agreement Acceptance
Step 5. Select the directory for the shortcut in Start Menu and click Next. The default
installation directory ‘mCube’ is recommended.
Figure 6: Shortcut Selection in Start Menu

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Step 6. Click Install and wait the last page of toolbox to appear.
Figure 7: Installation Completion
3.3 How To Use mCube OSM Toolbox
This section describes how to use the features provided by the toolbox after MM8003 is
connected to computer including real-time raw data and Euler angles plotting, 3D object
display, data logging and module configuration updating. OSM toolbox can be started by
‘mCube OSM’ shortcut on the desktop or ‘mCube’ folder from Start Menu.
3.3.1 Connect to MM8003
Step 1. Click ‘Search Port’ and select the ‘OSM’COM port following the default setting in Table
3 to choose the baud rate.
Note: If the MM8003 is configured already and the baud rate is not at 115200 as default, the
status LED will blink in yellow indicating wrong command status after is connected. User needs
to disconnect the MM8003 and switch to the correct baud rate before reconnecting.
Figure 8: COM Port and Baud Rate to Connection

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Settings
Values
Baud rate
115200
Data bits
8
Parity
None
Stop bits
1
Flow control
None
Table 3: Default UART Parameters for Connection
Step 2. Click ‘Connect’. Console will start to receive data from MM8003 once it is connected.
The status LED will blink in blue following the ‘wake-up (UART)’ status. Data shows in the
console follows the format in Table 4.
Note: It is normal that Euler angles are all zero when MM8003 is just powered on. User needs
to leave MM8003 on steady platform for several seconds to calibrate sensors. The value of
Euler angles would be normal once they are calibrated.
Time stamp (ms)
Catalogs
Data
Units
YYYY/MM/DD
HH:MM:SS.sss
Sensors
Accel
(X, Y, Z)
Mag
(X, Y, Z)
Gyro
(X, Y, Z)
m/s2
μT
dps
YYYY/MM/DD
HH:MM:SS.sss
Quaternions
qw, qx, qy, qz
NA
YYYY/MM/DD
HH:MM:SS.sss
Euler angles
Pitch(θ), Roll(ϕ), Yaw(ψ)
degree
Table 4: Console Data Format after Connection
Figure 9: Data in The Toolbox Console

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Step 3. Click ‘Setting -> Disconnect’ to disable the connection between MM8003 and
computer.
Figure 10: Disconnect Function
3.3.2 Graphs
In mCube OSM toolbox, there are five different options to view the receiving data as real-time
graphs in addition to the text format in the console log.
Step 1. After MM8003 is connected to the host PC, click ‘Graphs->3D View’and a 3D cube
corresponding to the real-time MM8003 orientation shows up in the middle of the window.
Note: Before sensors get calibrated, 3D cube will keep in static until Euler angles are updated
after sensors are ready. User needs to leave MM8003 on steady platform for several seconds
to calibrate sensors. The value of Euler angles would be normal once they are calibrated.
(a)
(b)
Figure 11: 3D Object Display
(a) Euler Angle Updates after Sensors Ready (b) Sensors Not Ready or MM8003 Disconnected

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Step 2. Click ‘Graphs -> Accelerometer/Magnetometer/Gyroscope/Euler Angles’. Filtered
sensor data can be real-time shown as multiple 2D line chars. User can observe the variation
of sensors corresponding to Euler angles when rotating the MM8003.
(a)
(b)
(c)
(d)
Figure 12: 2D Line Charts in OSM Toolbox
(a) Filtered accelerometer data (m/s2) (b) Filtered gyroscope data (dps)
(c) Filtered magnetometer data (uT) (d) Euler angles (degrees)
3.3.3 Data Logging
mCube OSM toolbox provides a user interface logging sensors data and Euler angles via CSV
file format. The CSV logs can be easily imported to MTALAB, Excel, Python, etc. for further
analysis and evaluation.
Step 1. After MM8003 is connected to the host PC, click ‘Utilities -> Start Saving Log’to select
the save path and enter the name of CSV file in the Log manager.

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Figure 13: Enable Logging Feature
Step 2. Click ‘Utilities -> Stop Saving Log’. Toolbox will stop logging data into CSV file.
Figure 14: Disable Logging Feature
CSV log follows the specific format which describes in Table 5.
Data
Time stamp
Accel
(X, Y, Z)
Mag
(X, Y, Z)
Gyro
(X, Y, Z)
qw, qx, qy, qz
Pitch(θ), Roll(ϕ), Yaw(ψ)
Units
ms
m/s2
μT
dps
NA
degree
Table 5: Record Data in CSV File

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3.3.4 MM8003 Configuration
MM8003 has five configurable parameters to make it easy to adapt to different working
environments including Output Data Rate (ODR), AHRS/IMU modes, UART baud rate, Enable
Data Output, and Reference Magnetic Field. This section describes the recommended (default)
settings and its meaning to MM8003.
Step 1. After MM8003 is connected to the host PC, click ‘Utilities -> Device Config’to open the
MM8003 configuration interface. A Device Config window pops up as shown in Figure 15.
Figure 15: mCube OSM Toolbox ‘Device Config’
Step 2. mCube OSM Toolbox would load configuration from MM8003 when user starts the
‘Device Config’ application. User can identify the existing configuration of MM8003 or click
‘Load’ to get the configuration manually.
Step 3. Click ‘Apply’ after the configuration is modified. The detail of these parameters is
described in Table 6.
Parameters
Setting
Default
Description
Output Data
Rate
25 Hz
50 Hz
100 Hz
50 Hz
MM8003 support three different ODRs when it connects to
mCube OSM toolbox.
AHRS / IMU
AHRS
IMU
IMU
IMU is defined to run 6 Degree of Freedom (DOF) algorithm and
AHRS is 9 DOF includes data from magnetometer. User needs
to calibrate magnetometer when switching to AHRS mode.
UART Baud
Rate
115200
921600
115200
MM8003 supports two different baud rates.
Enable Data
Output
Disabled
Enabled
Enabled
Enable or disable data output function.
Reference
Magnetic Field
Taipei
San Jose
Dallas
Shanghai
Shenzhen
Taipei
In AHRS mode, user needs to modify the reference magnetic
field to the nearest location. It effects the accuracy of yaw angle
if MM8003 is not referred to the correct location.
Table 6: Configuration Table with Default Settings

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3.3.5 Identification
Identification feature is designed to distinguish the target MM8003 within a short period when
the host PC is connected to multiple MM8003.
Step 1. Click ‘Utilities -> Identify Device’. Once the identification command is received by
MM8003, status LED will blink bright blue for 1 minute.
3.3.6 Magnetometer Calibration
This command is only required when MM8003 is running in AHRS (9DOF) mode and the
status LED is blinking in red - Poor magnetism quality.
Step 1. Click ‘Utilities -> Mag Calibration’. Once the magnetometer calibration command is
received by MM8003, status LED would keep in red for 30 secs for calibration. User needs to
rotate MM8003 in all direction until the status LED resume to blink in blue or green. If MM8003
is still blinking in red after 30 seconds, user needs to send the calibration command again or to
reboot the MM8003.
Step 2. Once the status LED shows MM8003 in wake-up status, user needs to leave MM8003
on steady platform for several seconds to calibrate sensors. Once the calibration process is
done, MM8003 will start to update the value of Euler angles.
3.3.7 Reboot
In case user needs to reboot the MM8003 when it is already connected to the host PC. User
can easily send the reboot command by clicking ‘Settings -> Reboot the Device’.
3.3.8 Reset
If user has any problem in using MM8003, user can reset the MM8003 back to factory default
through reset command by clicking ‘Settings -> Reset to Default’.
3.3.9 About mCube OSM Toolbox
The information of the toolbox and MM8003 can also be found through ‘About’ function. The
details in ‘About’ are described in Table 7.
Information
Description
PC Tool Version
The version of the PC tool in use.
Firmware
Version
The version of MM8003 firmware in use. It shows
only when MM8003 is connected to the host PC.
Device ID
The device ID of MM8003 in use. It shows only when
MM8003 is connected to the host PC.
Product ID
The product ID of MM8003 in use. It shows only
when MM8003 is connected to the host PC.
Table 7: About Information Display

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4 mCube OSM APP
In addition to mCube OSM toolbox, Android and iOS application are also available at Google
Play and App Store for using MM8003 with mobile devices. It contains useful features including
MM8003 configuration, 3D view, line charts, magnetometer calibration, data logging, reboot
and reset commands. All these features can be controlled and monitored remotely through
BLE. This application requires Android 5.1, iOS 9.0 or newer version. It is recommended to
install it on device with Android 8.0, iOS 12.0 or newer version for the optimal user experience.
4.1 Installation of mCube OSM APP
The recommendation way is to search ‘mCube OSM’inside Google Play or App Store. The
direct download link of Google Play and App Store are provided through the icon below.
To install it offline (Android only), an installation package can also be found in Chapter 7
Downloads. User needs to transfer the apk file into the mobile device through SD card or USB
cable. After that, user can install it through the file manager or application installer.
4.2 How To Use mCube OSM APP
This section describes the features which is provided by OSM APP. User can launch “mCube
OSM” through the shortcut on home screen after it is installed.
4.2.1 Connect to MM8003
All features in OSM APP requires BLE connection. The user must confirm that Bluetooth
function is set to enable on the mobile device before connecting to the MM8003.
Step 1. After APP starts, it defaults to ‘Dashboard’ page, as shown in Figure 16, which shows
the scanning result of MM8003 including the information of each module. The User can use a
‘pull down’ gesture to scan and refresh the list of MM8003. The details of device information
are described in Table 8.
Step 2. Click one of the MM8003 listed in the dashboard to connect. Background color
changes from white to green after it is successfully connected to the target device.

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Figure 16: Mobile Dashboard Page
Information
Description
Address
The MAC address of MM8003 device.
RSSI
BLE signal strength from the MM8003 device.
Version
The firmware version of MM8003 device.
Product ID
The product ID of MM8003 device.
Table 8: Scanned Information from MM8003
4.2.2 Graphs
Same as mCube OSM toolbox, OSM APP also supports five different options for real-time
monitoring the received data through BLE.
Step 1. After MM8003 is connected to the mobile device, user can switch the page from
‘Dashboard’ to ‘Plots’. Four different charts show the real-time waveforms of filtered sensor data
from accelerometer, magnetometer, gyroscope and Euler angles which are shown in Figure 17.