St Stm32f103ret6 User manual

Introduction

The STEVAL-MKI109V2 (eMotion) is a motherboard designed to provide the user with a complete ready-to-use platform for the

demonstration of MEMS devices mounted on adapter boards.

The STEVAL-MKI109V2 uses an STM32F103RET6 microcontroller which functions as a bridge between the sensor on the

adapter board and the PC on which it is possible to use the Unico graphical user interface (GUI) downloadable from the ST

website or dedicated software routines for customized applications.

This user manual describes the hardware included with the demonstration kit and provides the information required to install the

demonstration board and how to upgrade the firmware of the microcontroller.

For details regarding the features of each sensor, please refer to the datasheet available for each individual device.

STEVAL-MKI109V2: eMotion motherboard for MEMS adapter boards

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User manual

UM0979 - Rev 6 - February 2018

For further information contact your local STMicroelectronics sales office.

www.st.com/

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1 Demonstration kit description

The eMotion is a complete demonstration kit that allows demonstration of both digital and analog MEMS sensors.

Thanks to its DIL 24 connector, a wide range of MEMS adapter boards can be used.

The block diagram of the demonstration kit is shown in Figure 1. Demonstration board block diagram.

Figure 1. Demonstration board block diagram

Control Switches

(reset, left, right)

MEMS

device

USB

Connector

SPI/I C/

U.S.B.

Analog

Controls

(ST,PD,FS)

Power On LED

Interrupt LEDs

General Purpose LEDs

With DFU

Feature

DIL 24

Connector

Analog

(ADC)

STM32F103RET6 µC

As shown in the Figure 1. Demonstration board block diagram, the eMotion demonstration kit is based on the

STM32F103RET6 microcontroller and can be connected to the PC through the USB bus. Data coming from the

MEMS sensor connected to the board can be read through the PC GUI provided with the kit.

The eMotion also implements the DFU (device firmware upgrade) feature, therefore, in the case of a new

firmware release, it can be reprogrammed without the need to use a programmer. See www.st.com/mems for new

firmware releases.

The eMotion also integrates three general-purpose LEDs, two LEDs connected directly to the interrupt pins of

digital adapters and the power/USB LED. Moreover, the eMotion integrates three buttons: two are available to the

user on a dedicated GPIO of the microcontroller, while the other is used as reset for the microcontroller.

All the MEMS adapter pins are available on two connectors placed on the board (Figure 2. Top silkscreen of the

eMotion kit JP2 and JP3).

The top silkscreen view and image of the full board are shown in Figure 2. Top silkscreen of the eMotion kit and

Figure 3. Board top view respectively.

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Figure 2. Top silkscreen of the eMotion kit

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Figure 3. Board top view

In order to use the eMotion demonstration kit, installation of a dedicated driver is required, 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 following sections.

In Figure 3. Board top view some main components placed on the top layer of the eMotion kit are highlighted.

• Jumpers JP9 and JP10 (Figure 3. Board top view, ref 10, ref 11) are used to select the STM32 boot mode.

When the eMotion is used together with MEMS adapters, JP9 and JP10 must be fitted (see STM32

datasheet for more information).

• Jumper J2 (Figure 3. Board top view, ref 7) can be used to directly supply the board (from 3.5 V to 6 V)

instead of using the USB connector.

• Jumper JP1 allows the user to measure the sensor current consumption by connecting a multimeter in

series with its terminals (Figure 3. Board top view, ref 9).

• Jumpers JP4, JP5, and JP6 (Figure 3. Board top view, ref 8) are used to manually set some features which

are available for just some of the analog MEMS adapters (see Table 1. Jumper configuration for power-down

(PD), self test (ST), and high-pass filter reset (HP) for more details). JP4 is used to set the self-test feature,

JP5 to handle the power-down pin, and JP6 to reset the MEMS high-pass filter. When they are fitted on pins

2-3, these functions are handled by the firmware itself.

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Table 1. Jumper configuration for power-down (PD), self test (ST), and high-pass filter reset (HP)

Jumper on 1-2 position Jumper on 2-3 position Jumper unfitted

JP4

logic level 1:

self-test ON Self-test is handled by the firmware logic level 0:

self-test OFF, default

JP5

logic level 1:

power-down mode Power-down is handled by the firmware logic level 0:

normal mode, default

JP6

HP logic level 1: external high-pass filter reset High-pass filter reset is handled by the firmware logic level 0:

normal mode, default

• J1 connector (Figure 3. Board top view, ref 3) can be used to both reprogram the STM32 and to debug the

code through the JTAG or SWD protocols.

• Jumper JP7 (Figure 3. Board top view, ref 4) is used to select either JTAG (JP7 unfitted) or SWD (JP7 fitted)

mode.

• eMotion also integrates six LEDs and three buttons:

– LED D1 (Figure 3. Board top view, ref 6) is switched on when the board is power supplied.

– LEDs D2 and D3 (Figure 3. Board top view, ref 13) are directly connected to the interrupt pins of the

MEMS digital adapters (if available on the sensor mounted on the adapter board).

– LEDs D4, D5, and D6 (Figure 3. Board top view, ref 12) are general-purpose LEDs and are used to

indicate firmware states. For example, LED D6 is switched on when a specific firmware is selected

from those available. LED D5 on indicates that the microcontroller is well configured for communication

with the sensor. Finally the LED D4 blinks according to the sensor data rate selected.

– Button SW3 (Figure 3. Board top view, ref 1) is used to reset the STM32.

– Button SW1 and SW2 (Figure 3. Board top view, ref 2 and ref 5) are connected to STM32 GPIOs and

are available to the user.

Figure 4. How to connect the DIL24 adapter board to the STEVAL-MKI109V2 shows how to properly mount the

DIL24 adapter board on the STEVAL-MKI109V2 board.

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Figure 4. How to connect the DIL24 adapter board to the STEVAL-MKI109V2

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2 eMotion board installation

The software package can be downloaded from the st.com website and includes the following directory structure:

• DRIVER: it contains the installation package for the USB drivers needed to connect the eMotion board to the

PC. No driver is needed on Linux and Mac OS platforms, so this directory is included in the Windows

installation package only.

• DFU: it contains the .dfu files and the installation package for the software needed to upgrade the firmware

of the eMotion board.

• FIRMWARE: it contains the source code of the firmware of the eMotion board together with the

corresponding binary file that can be flashed to the board using the DFU software.

The section below describes the procedure to install the driver for the eMotion board (needed on Windows

platforms only) and the DFU software.

2.1 Hardware installation (Windows platforms)

No driver installation is needed on Linux and Mac OS platforms.

To install the STM32 virtual COM port driver on Windows platforms, launch the “VCPDriver_V1.4.0_Setup.exe”

included in the Windows installation package under the “DRIVER” folder and follow the instructions on the screen.

Once the driver is installed, insert the demonstration kit board into a free USB port. A notification message should

appear, as in Figure 5. Notification message.

Figure 5. Notification message

Now the eMotion should be recognized by the PC as a virtual COM. In order to confirm which COM port has been

assigned to the board, right click on “My Computer” and select “Manage”, select “Device Manager” and scroll

through the list until “Ports (COM & LPT)”. In the following example (Figure 6. Virtual COM port assignment) the

COM11 has been assigned to the board.

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eMotion board installation

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Figure 6. Virtual COM port assignment

2.2 DFU

The MEMS STEVAL-MKI109V2 demonstration board is capable of reprogramming an application through the

USB, in accordance with the DFU class specification defined by the USB Implementers Forum. This capability is

useful because it allows reprogramming the microcontroller directly in the field and is particularly well-suited to

USB applications where the same USB connector can be used both for the standard operating mode and for the

reprogramming process.

In order to configure the eMotion board in DFU mode button SW2 must be pressed before supplying the board

and released when the LEDs D1, D4, D5, and D6 light up.

If the firmware version in use is lower than V3.0.0, it’s mandatory to patch the DFU feature using the

“DFU_Patcher_V1.0.2.dfu” file available under the “DFU” folder before proceeding with the upgrade of the

firmware with a version equal to or higher than V3.0.0. The procedure to patch the DFU feature corresponds to

the one used during a standard firmware upgrade with the DFU tool. At the end of this procedure, if the green

LED D4 is on, it indicates that the procedure is successfully completed; if the red LED D5 is on, the procedure

failed and has to be repeated. Before proceeding with the new firmware upgrade the board must be reset using

the SW3 button.

2.2.1 DFU on Windows

To install the DFU software, launch the “DfuSe_Demo_V3.0.5_Setup.exe” included in the software package under

the “DFU” folder and follow the instructions on the screen. To launch the software, select “Start >

STMicroelectronics > DfuSe > DfuSe Demonstration”.

In the ‘Upgrade or Verify Action’ section of the Dfuse Demo tool click on the ‘Choose...’ button and select the

target .dfu file; then click the ‘Upgrade’ button to start the firmware upgrade.

For more details regarding DFU and the microcontroller ST GUI, see the related user manual located under “Start

> STMicroelectronics > DfuSe > Docs > DfuSe Getting Started”.

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2.2.2 DFU on Linux

The DFU program used for Linux operating systems is ‘dfu-util’.

The procedure for Ubuntu Linux operating systems is described below.

To install this program, open a terminal and write the following command (with sudo to ensure having the correct

permissions):

sudo apt-get install dfu-util

Create a udev rules file:

sudo gedit /etc/udev/49-emotion.rules

and fill it with the following content:

# 0483:5740 - STM32F4 in USB Serial Mode (CN5) ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",

ENV{ID_MM_DEVICE_IGNORE}="1"

ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ENV{MTP_NO_PROBE}="1"

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666"

KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666"

# 0483:df11 - STM32F4 in DFU mode (CN5) SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483",

ATTRS{idProduct}=="df11", MODE:="0666"

Tell udev to reload its rules:

sudo udevadm control --reload-rules

You should now be able to program the board. So, connect the eMotion board in DFU mode, and run the following

command:

sudo dfu-util -a 0 -D dfu_path/file.dfu -d 0483:df11

where dfu_path and file.dfu are the path to the dfu file and the dfu file name respectively

(example: sudo dfu-util -a 0 -D Desktop/eMotionV2_REL_4_0.dfu -d 0483:df11).

To use the board with the upgraded firmware you need to disconnect and reconnect it, in order to exit DFU mode.

2.2.3 DFU on Mac OS

The DFU program used for Mac operating systems is ‘dfu-util’. Before installing it, you need to install Homebrew.

To do that, you need to open a terminal and run the following command:

ruby -e "$(curl -fsSL https://raw.github.com/Homebrew/homebrew/go/install)"

Once Homebrew is installed on your Mac, you can install dfu-utils with the following command:

brew install dfu-util

You should now be able to program the board. So, connect the eMotion board in DFU mode, and run the following

command:

dfu-util -a 0 -D dfu_path/file.dfu -d 0483:df11

where dfu_path and file.dfu are the path to the dfu file and the dfu file name respectively

(example: dfu-util -a 0 -D Desktop/eMotionV2_REL_4_0.dfu -d 0483:df11).

To use the board with the upgraded firmware you need to disconnect and reconnect it, in order to exit DFU mode.

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3 Supported MEMS adapter boards

Table 2. List of supported MEMS adapter boards below provides the complete list of supported adapter boards.

Table 2. List of supported MEMS adapter boards

Adapter board Device

STEVAL-MKI009V1 LIS3LV02DL

STEVAL-MKI013V1 LIS302DL

STEVAL-MKI015V1 LIS344ALH

STEVAL-MKI075V1 LY3100ALH

STEVAL-MKI084V1 LPY430AL

STEVAL-MKI087V1 LIS331DL

STEVAL-MKI089V1 LIS331DLH

STEVAL-MKI092V1 LIS331HH

STEVAL-MKI097V1 LPR430AL

STEVAL-MKI098V1 LPR410AL

STEVAL-MKI105V1 LIS3DH

STEVAL-MKI106V1 LSM303DLHC

STEVAL-MKI107V2 L3GD20

STEVAL-MKI108V2 9AXISMODULE v2 [LSM303DLHC + L3GD20]

STEVAL-MKI110V1 AIS328DQ

STEVAL-MKI113V1 LSM303DLM

STEVAL-MKI114V1 MAG PROBE (based on LSM303DLHC)

STEVAL-MKI120V1 LPS331AP

STEVAL-MKI122V1 LSM330DLC

STEVAL-MKI123V1 LSM330D

STEVAL-MKI124V1 10AXISMODULE [LSM303DLHC + L3GD20+ LPS331AP]

STEVAL-MKI125V1 A3G4250D

STEVAL-MKI133V1 LSM303D

STEVAL-MKI134V1 LIS3DSH

STEVAL-MKI135V1 LIS2DH

STEVAL-MKI136V1 L3GD20H

STEVAL-MKI137V1 LIS3MDL

STEVAL-MKI141V2 HTS221

STEVAL-MKI142V1 LPS25H

STEVAL-MKI151V1 LIS2DH12

STEVAL-MKI152V1 LIS2DM

STEVAL-MKI153V1 H3LIS331DL

STEVAL-MKI154V1 LSM9DS0

STEVAL-MKI158V1 AIS3624DQ

STEVAL-MKI159V1 LSM9DS1

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Adapter board Device

STEVAL-MKI160V1 LSM6DS3

STEVAL-MKI161V1 LSM6DS0

STEVAL-MKI163V1 LSM303C

STEVAL-MKI164V1 LIS2HH12

STEVAL-MKI165V1 LPS25HB

STEVAL-MKI166V1 H3LIS100DL

STEVAL-MKI167V1 H3LIS200DL

STEVAL-MKI168V1 IIS2DH

STEVAL-MKI169V1 I3G4250D

STEVAL-MKI170V1 IIS328DQ

STEVAL-MKI172V1 LSM303AGR

STEVAL-MKI175V1 LIS2DE12

STEVAL-MKI176V1 LSM6DS3H

STEVAL-MKI177V1 LPS35HW

STEVAL-MKI178V1 LSM6DSL

STEVAL-MKI179V1 LIS2DW12

STEVAL-MKI180V1 LIS3DHH

STEVAL-MKI181V1 LIS2MDL

STEVAL-MKI182V1 ISM330DLC

STEVAL-MKI183V1 LPS33HW

STEVAL-MKI185V1 IIS2MDC

STEVAL-MKI186V1 IIS3DHHC

STEVAL-MET001V1 LPS22HB

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4 Supported commands

The microcontroller mounted on the eMotion board is equipped with dedicated firmware that supports a set of

commands which allow to control either the digital or the analog output MEMS sensor and permits the acquisition

of the measured data. The firmware also handles the communication between the board and the PC through the

USB bus. These features allow the user to easily write their own applications to exploit the capabilities of the

sensor chosen.

This section describes the commands that are supported by the firmware for the microcontroller of the eMotion

demonstration kit.

4.1 Getting started

Before using the commands supported by the firmware, the following procedure must be performed:

1. Connect the eMotion to the USB port

2. Launch an application which allows to send commands through the virtual serial port. The remainder of this

document assumes the use of “Microsoft© HyperTerminal” program available with the Windows XP operating

system

3. Create a new connection, enter a name (e.g. “STEVAL-MKI109V2”), and click “OK”

4. In the “Connect Using” field, select the virtual COM port to which the USB port has been mapped, and click

“OK”

5. In port settings, set bits per second to 115200, data bits to 8, parity to none, stop bits to 1, and flow control to

none. Click “OK”

6. In the “HyperTerminal” 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 in the “HyperTerminal” window.

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4.2 Supported commands

The firmware supports a wide range of MEMS adapters; the next section provides the complete list of supported

commands (see Table 3. Supported commands list) and their description.

Then, split into sections, the list of commands available for each sensor supported by the eMotion firmware is

provided.

4.2.1 Commands list and description

Table 3. Supported commands list

Command Description Returned value

*setdbXXXVY Selects firmware according to the adapter connected

*start Starts continuous data acquisition (see Table 4. Returned values for *start command)

*debug Returns the output data in readable text format (see Table 5. Returned values for *debug command)

*stop Stops data acquisition

*Zon Forces 3-state

*Zoff Exits from 3-state

*dev Device name e.g.: LIS3DH

*ver Firmware version e.g.: V1.0

*rAA Accelerometer register read e.g.: RAAhDDh

*wAADD Accelerometer register write

*grAA Gyroscope register read e.g.: GRAAhDDh

*gwAADD Gyroscope register write

*mrAA Magnetometer register read e.g.: MRAAhDDh

*mwAADD Magnetometer register write

*prAA Pressure sensor register read e.g.: PRAAhDDh

*pwAADD Pressure sensor register write

*hrAA Humidity sensor register read e.g.: HRAAhDDh

*hwAADD Humidity sensor register write

*single It gets a single X, Y, and Z data acquisition (see Table 5. Returned values for *debug command)

*list Prints the list of MKIs supported e.g.: MKI105V1

*listdev Prints the list of devices supported e.g.: LIS3DH

*echoon Activates the write verbose mode e.g.: RAAhDDh

*echooff Deactivates the write verbose mode

*fiforst Accelerometer “Reset mode” enable st 0 0 0 0 0 0 IR FC FS

*fifomde Accelerometer “FIFO mode” enable st 0 0 0 0 0 0 IR FC FS

*fifostr Accelerometer “FIFO Stream” enable st 0 0 0 0 0 0 IR FC FS

*fifostf Accelerometer “Stream-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*fifobtf Accelerometer “Bypass-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*fifobts Accelerometer “Bypass-to-Stream” enable st 0 0 0 0 0 0 IR FC FS

*fifodstr Accelerometer “Dynamic Stream” enable st 0 0 0 0 0 0 IR FC FS

*gfiforst Gyroscope “Reset mode” enable st 0 0 0 0 0 0 IR FC FS

*gfifomde Gyroscope “FIFO mode” enable st 0 0 0 0 0 0 IR FC FS

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Command Description Returned value

*gfifostr Gyroscope “FIFO Stream” enable st 0 0 0 0 0 0 IR FC FS

*gfifostf Gyroscope “Stream-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*gfifobtf Gyroscope “Bypass-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*gfifobts Gyroscope “Bypass-to-Stream” enable st 0 0 0 0 0 0 IR FC FS

*gfifodstr Gyroscope “Dynamic Stream” enable st 0 0 0 0 0 0 IR FC FS

*mfiforst Magnetometer “Reset mode” enable st 0 0 0 0 0 0 IR FC FS

*mfifomde Magnetometer “FIFO mode” enable st 0 0 0 0 0 0 IR FC FS

*mfifostr Magnetometer “FIFO Stream” enable st 0 0 0 0 0 0 IR FC FS

*mfifostf Magnetometer “Stream-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*mfifobtf Magnetometer “Bypass-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*mfifobts Magnetometer “Bypass-to-Stream” enable st 0 0 0 0 0 0 IR FC FS

*mfifodstr Magnetometer “Dynamic Stream” enable st 0 0 0 0 0 0 IR FC FS

*pfiforst Pressure sensor “Reset mode” enable st 0 0 0 0 0 0 IR FC FS

*pfifomde Pressure sensor “FIFO mode” enable st 0 0 0 0 0 0 IR FC FS

*pfifostr Pressure sensor “FIFO Stream” enable st 0 0 0 0 0 0 IR FC FS

*pfifostf Pressure sensor “Stream-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*pfifobtf Pressure sensor “Bypass-to-FIFO” enable st 0 0 0 0 0 0 IR FC FS

*pfifobts Pressure sensor “Bypass-to-Stream” enable st 0 0 0 0 0 0 IR FC FS

*pfifodstr Pressure sensor “Dynamic Stream” enable st 0 0 0 0 0 0 IR FC FS

*PDON Sets power-down pin

*PDOFF Clears power-down pin

*STON Sets self-test pin

*STOFF Clears self-test pin

*HPON Sets high-pass filter pin

*HPOFF Clears high-pass filter pin

*FSON Sets full-scale pin

*FSOFF Clears full-scale pin

Note: IR: interrupt byte; FC: FIFO control register; FS: FIFO source register.

Set demonstration board

The command *setdbxxxvy selects the part of the firmware able to handle the adapter board sensor connected to

the board. e.g., in order to select the firmware for the LIS3DH the command must be: *setdb105V1. The D6 LED

(green) is automatically switched on.

Start command

The *start command initiates the continuous data acquisition. When this command is sent to the device, it returns

a string of bytes (plus carriage return and line feed) similar to “st OUT1 OUT2 OUT3 IR BT”.

The first two bytes are always the ASCII char “s” and “t” which correspond to the hexadecimal values {73h 74h}.

OUT1, OUT2, and OUT3 are the bytes that contain the values measured at device outputs; if the output data is

represented on more than 8 bits, OUT1, OUT2, and OUT3 are split into two bytes: high byte (e.g.: “XH”) and low

byte (e.g.: “XL”).

IR contains the interrupt bytes and BT contains the bytes that describe the state of the buttons integrated on the

board.

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Specifically, bit#0 of the “BT” data corresponds to the status of the SW1 button on the demonstration kit board: it

is set to 1 when the SW1 is pressed (otherwise 0). Bit#1 has the same behavior but is dedicated to the SW2.

Before sending the *start command, the device must be out from 3-state and some registers must be configured

according to user needs, therefore, *start must be preceded by a *zoff and some “Register Write” commands.

Table 4. Returned values for *start command shows the format of the string returned for each device when a *start

command is sent.

Table 4. Returned values for *start command

STEVAL # (Device) Returned value

STEVAL-MKI009V1 (LIS3LV02DL)

STEVAL-MKI089V1 (LIS331DLH

STEVAL-MKI092V1 (LIS331HH)

STEVAL-MKI105V1 (LIS3DH)

STEVAL-MKI107V2 (L3GD20)

STEVAL-MKI110V1 (AIS328DQ)

STEVAL-MKI125V1 (A3G4250D)

STEVAL-MKI134V1 (LIS3DSH)

STEVAL-MKI135V1 (LIS2DH)

STEVAL-MKI136V1 (L3GD20H)

STEVAL-MKI151V1 (LIS2DH12)

STEVAL-MKI153V1 (H3LIS331DL)

STEVAL-MKI158V1 (AIS3624DQ)

STEVAL-MKI164V1 (LIS2HH12)

STEVAL-MKI166V1 (H3LIS100DL)

STEVAL-MKI167V1 (H3LIS200DL)

STEVAL-MKI168V1 (IIS2DH)

STEVAL-MKI169V1 (I3G4250D)

STEVAL-MKI170V1 (IIS328DQ)

STEVAL-MKI179V1 (LIS2DW12)

STEVAL-MKI180V1 (LIS3DHH)

STEVAL-MKI186V1 (IIS3DHHC)

s t XH XL YH YL ZH ZL int1 int2 sw1|sw2 \\r \\n

STEVAL-MKI013V1 (LIS302DL)

STEVAL-MKI087V1 (LIS331DL)

STEVAL-MKI152V1 (LIS2DM)

STEVAL-MKI175V1 (LIS2DE12)

s t X Y Z int1 int2 sw1|sw2 \\r \\n

STEVAL-MKI176V1 (LSM6DS3H)

STEVAL-MKI178V1 (LSM6DSL)

STEVAL-MKI182V1 (ISM330DLC)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL STEP_L STEP_H int1_int2 sw1|sw2 \\r \\n

STEVAL-MKI015V1 (LIS344ALH)

STEVAL-MKI114V1 (MAG PROBE) s t XH XL YH YL ZH ZL sw1|sw2 \\r \\n

STEVAL-MKI137V1 (LIS3MDL)

STEVAL-MKI181V1 (LIS2MDL)

STEVAL-MKI185V1 (IIS2MDC)

s t XH XL YH YL ZH ZL int1 sw1|sw2 \\r \\n

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STEVAL # (Device) Returned value

STEVAL-MKI075V1 (LY3100ALH)

STEVAL-MKI084V1 (LPY430AL)

STEVAL-MKI097V1 (LPR430AL)

STEVAL-MKI098V1 (LPR410AL)

s t vrefH vrefL o1H o1L out1H out1L out4H out4L o2H o2L out2H out2L

out5H out5L o3H o3L out3H out3L out6H out6L sw1|sw2 \\r \\n

STEVAL-MKI106V1 (LSM303DLHC)

STEVAL-MKI113V1 (LSM303DLM)

STEVAL-MKI133V1 (LMS303D)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL M_XH M_XL M_YH M_YL

M_ZH M_ZL A_int1 A_int2 sw1|sw2 \\r \\n

STEVAL-MKI108V2 (9AXISMODULEv2)

STEVAL-MKI154V1 (LSM9DS0)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL M_XH M_XL M_YH M_YL M_ZH M_ZL A_int1 A_int2 sw1|

sw2 \\r \\n

STEVAL-MKI159V1 (LSM9DS1)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL M_XH M_XL M_YH M_YL M_ZH M_ZL A_int1 A_int2

M_int3 sw1|sw2 \\r \\n

STEVAL-MKI120V1 (LPS331AP) s t PXL PL PH TL TH REF_PXL REF_PL REF_PH REF_TL REF_TH

int1 int 2 sw1|sw2 \\r \\n

STEVAL-MKI122V1 (LSM330DLC)

STEVAL-MKI123V1 (LSM330D)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL A_int1 A_int2 G_int1 G_int2 sw1|sw2 \\r \\n

STEVAL-MKI124V1 (10AXISMODULE)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL M_XH M_XL M_YH M_YL M_ZH M_ZL PXL PL PH TL TH

REF_PXL REF_PL REF_PH REF_TL REF_TH A_int1 A_int2 sw1|sw2 \

\r \\n

STEVAL-MKI141V2 (HTS221) s t HL HH TL TH int1 sw1|sw2 \\r \\n

STEVAL-MKI142V1 (LPS25H)

STEVAL-MKI165V1 (LPS25HB)

STEVAL-MKI177V1 (LPS35HW)

STEVAL-MKI183V1 (LPS33HW)

STEVAL-MET001V1 (LPS22HB)

s t PXL PL PH TL TH REF_PXL REF_PL REF_PH

int1 sw1|sw2 \\r \\n

STEVAL-MKI160V1 (LSM6DS3)

s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL STEP_L STEP_H TEMP_L TEMP_H int1_int2_sw1|sw2 \\r

\\n

STEVAL-MKI161V1 (LSM6DS0) s t A_XH A_XL A_YH A_YL A_ZH A_ZL G_XH G_XL G_YH G_YL

G_ZH G_ZL int1_int2_sw1|sw2 \\r \\n

STEVAL-MKI172V1 (LSM303AGR) s t A_XH A_XL A_YH A_YL A_ZH A_ZL M_XH M_XL M_YH M_YL

M_ZH M_ZL A_int1 A_int2 M_int3 sw1|sw2 \\r \\n

Note: XH: X-axis output high byte (same for Y-axis, Z-axis, P pressure, H humidity, and TEMP temperature)

XL: X-axis output low byte (same for Y-axis, Z-axis, P pressure, H humidity, and TEMP temperature)

Debug command

The *debug command starts the continuous data acquisition in debug mode. When this command is sent to the

board, it returns the output values measured by the device formatted in a readable text format. The values shown

on the screen correspond to the LSB data shown as a decimal number.

Table 5. Returned values for *debug command shows the format of the string returned for each device when a

*debug command is sent.

UM0979

Supported commands

UM0979 - Rev 6 page 16/39

Table 5. Returned values for *debug command

STEVAL # (Device) Returned value

STEVAL-MKI009V1 (LIS3LV02DL)

STEVAL-MKI013V1 (LIS302DL)

STEVAL-MKI015V1 (LIS344ALH)

STEVAL-MKI087V1 (LIS331DL)

STEVAL-MKI089V1 (LIS331DLH)

STEVAL-MKI092V1 (LIS331HH)

STEVAL-MKI105V1 (LIS3DH)

STEVAL-MKI110V1 (AIS328DQ)

STEVAL-MKI134V1 (LIS3DSH)

STEVAL-MKI135V1 (LIS2DH)

STEVAL-MKI151V1 (LIS2DH12)

STEVAL-MKI152V1 (LIS2DM)

STEVAL-MKI153V1 (H3LIS331DL)

STEVAL-MKI158V1 (AIS3624DQ)

STEVAL-MKI164V1 (LIS2HH12)

STEVAL-MKI166V1 (H3LIS100DL)

STEVAL-MKI167V1 (H3LIS200DL)

STEVAL-MKI168V1 (IIS2DH)

STEVAL-MKI170V1 (IIS328DQ)

STEVAL-MKI175V1 (LIS2DE12)

X=XXXXX Y=YYYYY Z=ZZZZZ

STEVAL-MKI084V1 (LPY430AL)

STEVAL-MKI097V1 (LPR430AL)

STEVAL-MKI098V1 (LPR410AL)

VREF=VVVVV OUT1=XXXXX 4OUT1=XXXXX OUT3=YYYYY

OUT6=YYYYY

STEVAL-MKI075V1 (LY3100ALH) VREF=VVVVV OUT1=XXXXX 4OUT1=XXXXX

STEVAL-MKI106V1 (LSM303DLHC)

STEVAL-MKI113V1 (LSM303DLM)

STEVAL-MKI133V1 (LSM303D)

STEVAL-MKI163V1 (LSM303C)

STEVAL-MKI172V1 (LSM303AGR)

AX=XXXXX AY=YYYYY AZ=ZZZZZ MX=XXXXX MY=YYYYY

MZ=ZZZZZ

STEVAL-MKI114V1 (MAG PROBE)

STEVAL-MKI137V1 (LIS3MDL) MX=XXXXX MY=YYYYY MZ=ZZZZZ

STEVAL-MKI107V2 (L3GD20)

STEVAL-MKI125V1 (A3G4250D)

STEVAL-MKI136V1 (L3GD20H)

STEVAL-MKI169V1 (I3G4250D)

P=PPPPP R=RRRRR Y=YYYYY

STEVAL-MKI108V2 (9AXISMODULEV2)

STEVAL-MKI154V1 (LSM9DS0)

STEVAL-MKI159V1 (LSM9DS1)

AX=XXXXX AY=YYYYY AZ=ZZZZZ MX=XXXXX MY=YYYYY

MZ=ZZZZZ GX=XXXXX GY=YYYYY GZ=ZZZZZ

UM0979

Supported commands

UM0979 - Rev 6 page 17/39

STEVAL # (Device) Returned value

STEVAL-MKI120V1 (LPS331AP)

STEVAL-MKI142V1 (LPS25H)

STEVAL-MKI165V1 (LPS25HB)

STEVAL-MKI177V1 (LPS35HW)

STEVAL-MET001V1 (LPS22HB)

P=PPPPP T=TTTTT

STEVAL-MKI122V1 (LSM330DLC)

STEVAL-MKI123V1 (LSM330D)

STEVAL-MKI160V1 (LSM6DS3)

STEVAL-MKI161V1 (LSM6DS0)

STEVAL-MKI176V1 (LSM6DS3H)

STEVAL-MKI178V1 (LSM6DSL)

AX=XXXXX AY=YYYYY AZ=ZZZZZ GX=XXXXX GY=YYYYY

GZ=ZZZZZ

STEVAL-MKI124V1 (10AXISMODULE) AX=XXXXX AY=YYYYY AZ=ZZZZZ MX=XXXXX MY=YYYYY

MZ=ZZZZZ GX=XXXXX GY=YYYYY GZ=ZZZZZ P=PPPPP T=TTTTT

STEVAL-MKI141V2 (HTS221) H=HHHHH T=TTTTT

Stop command

The *stop command interrupts any acquisition session that has been started with either the *start or *debug

commands.

Zon and Zoff

The *Zon and *Zoff commands are employed, respectively, to put into 3-state the STM32F103RET6

microcontroller mounted on the demonstration kit. These commands allow the isolation of the sensor from the

microprocessor and let the user interact with the sensor in a pure analog way.

By default, when the kit is first turned on, the lines are in 3-state mode and the user is required to send the *Zoff

command to allow communication between the sensor and the microcontroller. If Zoff has not been launched, the

firmware ignores any other command.

Device name

The *dev command retrieves the name of the adapter connected to the demonstration kit. The returned value is,

for example, “LIS3DH”.

Firmware version

The *ver command queries the demonstration kit and returns the version of the firmware loaded in the

microprocessor, for example, “V1.0”.

Accelerometer register read

The *rAA command allows the contents of the accelerometer registers in the demonstration kit board to be read.

AA, expressed as a hexadecimal value and written in upper case, represents the address of the register to be

read.

Once the read command is issued, the board returns RAAhDDh, where AA is the address sent by the user and

DD is the data present in the register.

For example, to read the register at address 0x20, the user issues the command *r20, which returns, e.g.,

R20hC7h.

Accelerometer register write

The *wAADD command allows writing to the contents of the accelerometer registers in the demonstration kit

board. AA and DD, expressed as hexadecimal values and written in upper case, represent, respectively, the

UM0979

Supported commands

UM0979 - Rev 6 page 18/39

address of the register and the data to be written. For example, to write 0xC7 to the register at address 0x20, the

user issues the command *w20C7.

Gyroscope register read

The *grAA command allows the contents of the gyroscope registers in the demonstration kit board to be read. AA,

expressed as hexadecimal value and written in upper case, represents the address of the register to be read.

Once the read command is issued, the board returns GRAAhDDh, where AA is the address sent by the user and

DD is the data present in the register.

For example, to read the register at address 0x20, the user issues the command *gr20, which returns, e.g.,

GR20hC7h.

Gyroscope register write

The *gwAADD command allows writing to the contents of the gyroscope registers in the demonstration kit board.

AA and DD, expressed as hexadecimal values and written in upper case, represent, respectively, the address of

the register and the data to be written. To write 0xC7 to the register at address 0x20, for example, the user issues

the command *gw20C7.

Magnetometer register read

The *mrAA command allows the contents of the magnetometer registers in the demonstration kit board to be

read. AA, expressed as a hexadecimal value and written in upper case, represents the address of the register to

be read.

Once the read command is issued, the board returns MRAAhDDh, where AA is the address sent by the user and

DD is the data present in the register.

For example, to read the register at address 0x00, the user issues the command *mr00, which returns, e.g.,

MR00h10h.

Magnetometer register write

The *mwAADD command allows writing to the contents of the magnetometer registers in the demonstration kit

board. AA and DD, expressed as hexadecimal values and written in upper case, represent, respectively, the

address of the register and the data to be written. To write 0x20 to the register at address 0x01, for example, the

user issues the command *mw0120.

Pressure sensor register read

The *prAA command allows the contents of the pressure sensor registers in the demonstration kit board to be

read. AA, expressed as a hexadecimal value and written in upper case, represents the address of the register to

be read.

Once the read command is issued, the board returns PRAAhDDh, where AA is the address sent by the user and

DD is the data present in the register.

For example, to read the register at address 0x20, the user issues the command *pr20, which returns, e.g.,

PR20h10h.

Pressure sensor register write

The *pwAADD command allows writing to the contents of the pressure sensor registers in the demonstration kit

board. AA and DD, expressed as hexadecimal values and written in upper case, represent, respectively, the

address of the register and the data to be written. To write 0xC7 to the register at address 0x20, for example, the

user issues the command *pw20C7.

Humidity sensor register read

The *hrAA command allows the contents of the humidity sensor registers in the demonstration kit board to be

read. AA, expressed as a hexadecimal value and written in upper case, represents the address of the register to

be read.

Once the read command is issued, the board returns HRAAhDDh, where AA is the address sent by the user and

DD is the data present in the register.

UM0979

Supported commands

UM0979 - Rev 6 page 19/39

For example, to read the register at address 0x20, the user issues the command *hr20, which returns, e.g.,

HR20h10h.

Humidity sensor register write

The *hwAADD command allows writing to the contents of the humidity sensor registers in the demonstration kit

board. AA and DD, expressed as hexadecimal values and written in upper case, represent, respectively, the

address of the register and the data to be written. To write 0xC7 to the register at address 0x20, for example, the

user issues the command *hw20C7.

Single acquisition

The *single command may be used to read just one set of data. It requires the sensor to be well configured and

once invoked, returns the read values of one data sample.

The format of the returned value is exactly the same as the *debug command (Table 5. Returned values for

*debug command), in fact, the *debug command is used for continuous data acquisition purposes whereas a

*single command returns just one set of data.

List

The *list command returns the list of MKI adapters supported by the firmware, printed in ASCII format.

Listdev

The *listdev command returns the list of devices supported by the firmware, printed in ASCII format.

Echo on

The *echoon command is used to activate the write command verbose mode. Once this command is launched,

after every write command the firmware automatically performs also a read of the register just written. This

function is useful to check if the write has succeeded. For instance, if the *echoon command is launched, after a

*w2027 it results R2027.

Echo off

The *echooff command stops the write command verbose mode.

Accelerometer FIFO reset enable

The *fiforst command enables the accelerometer FIFO reset mode. For more details see the AN3308 application

note.

Accelerometer FIFO mode enable

The *fifomde command is used to enable the accelerometer FIFO mode. For more details see the AN3308

application note.

Accelerometer FIFO Stream mode enable

The *fifostr command is used to enable the accelerometer FIFO stream mode. For more details see the AN3308

application note.

Accelerometer Stream-to-FIFO mode enable

The *fifostf command enables the accelerometer Stream-to-FIFO mode. For more details see the AN3308

application note.

Accelerometer Bypass-to-FIFO mode enable

The *fifobtf command is used to enable the accelerometer Bypass-to-FIFO mode.

Accelerometer Bypass-to-Stream mode enable

The *fifobts command is used to enable the accelerometer Bypass-to-Stream mode.

UM0979

Supported commands

UM0979 - Rev 6 page 20/39

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