ST iNEMO STEVAL-MKI062V2 Series User manual

October 2010 Doc ID 18054 Rev 1 1/18
UM1010
User manual
Getting started with the iNEMO™ STEVAL-MKI062V2
Introduction
The STEVAL-MKI062V2 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-MKI06V2 iNEMO V2 platform
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Contents UM1010
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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 suite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 iNEMO suite main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Connecting iNEMO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Acquisition settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Start acquisition and data description . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.5 AHRS algorithm starting and settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.6 AHRS 3D demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.6.1 3D view alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
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UM1010 List of figures
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List of figures
Figure 1. STEVAL-MKI06V2 iNEMO V2 platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Figure 2. STEVAL-MKI062V2 notification icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 3. Manual installation of the STEVAL-MKI062V2 driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Figure 4. iNEMO driver installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 5. How to see the STEVAL-MKI062V2 COM port number . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 6. Kit selector window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 7. iNEMO Suite main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 8. Selected COM port number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 9. New data file icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 10. How to open the connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 11. Acquisition settings icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 12. Data icon description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 13. AHRS stabilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 14. 3D cube demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 15. Alignment procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
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iNEMO V2 GUI installation UM1010
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1 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
1.1 PC system requirement
●Microsoft Windows XP®Service Pack 2, or higher
●Microsoft.NET Framework 2.0 (or higher)
1.2 PC software installation
To install the iNEMO suite, run the setup file and follow the instructions.
Note: The latest setup file is available on st.com.
1.3 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
Note: If, after a few seconds, the “Hardware Update Wizard” doesn`t appear, follow the
instructions given in Figure 3 and then in 4.
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Figure 3. Manual installation of the STEVAL-MKI062V2 driver
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Figure 4. iNEMO driver installation
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.
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Figure 5. How to see the STEVAL-MKI062V2 COM port number
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iNEMO suite UM1010
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2 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-MKI062V1) and iNEMO2_SDK.dll (for STEVAL-MKI062V2).
Only for the STEVAL-MKI062V2 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 iNEMO2_SDK.h).
The TCP/IP server may be enabled/disabled from the Tools->Communication->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-MKI062V2
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.
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Figure 6. Kit selector window
2.1 iNEMO suite main window
The main window is made up of the following main sections (Figure 7):
1. Sensor selector, where the user can move to a different sensor data view
2. Toolbar for data acquisition setting, to set frequency, acquisition mode, etc.
3. 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
4. Status bar shows the acquisition info
5. Log window
6. Default menu bar
7. The graphical panel, where the data are graphically represented
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Figure 7. iNEMO Suite main window
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
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.
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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
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2.3 Acquisition settings
Before starting the acquisition it is possible to modify the acquisition setting (Figure 11):
●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
●Sampling frequency, it sets the sensors acquisition rate:
– 50 Hz
– 25 Hz
– 10 Hz
–1Hz
●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
2.4 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.
!-V
!CQUISITION
MODE
3AMPLING
FREQUENCY
!CQUISITION
DURATION
.UMBEROF
SAMPLES
3TART3TOP
BUTTONS
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Figure 12. Data icon description
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 magnetic 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.
!-V
!CCELEROMETERTHEDATAAREIN;MG=MEASUREMENTUNITANDTHEFULLSCALEISSETATMG
'YROSCOPETHEDATAAREIN;DEGREEPERSECOND=MEASUREMENTUNITANDTHEFULLSCALEISSETATDPS
-AGNETOMETERTHEDATAAREIN;M'AUSS=MEASUREMENTUNITANDTHEFULLSCALEISSETAT'AUSS
0RESSURE3ENSORTHEDATAAREIN;TENTHSOFM"AR=MEASUREMENTUNIT
4EMPERATURE3ENSORTHEDATAAREIN;TENTHSOF#ELSIUSDEGREE=MEASUREMENTUNIT
2OLL0ITCHAND9AWTHEDATAAREIN$EGREE
1UATERNIONDIMENSIONLESSDATA
4ABLEOFALLDATA
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Figure 13. AHRS stabilization
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.
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The application can also be run from a remote PC which is in the same network as the
server. More than one instance of 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:
●ESC - to close 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
2.6.1 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).
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Figure 15. Alignment procedure
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UM1010 Revision history
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3 Revision history
Table 1. Document revision history
Date Revision Changes
11-Oct-2010 1 Initial release.
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