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october 2009 doc id 16227 rev 1 1/34 um0796 user manual demonstration kit for single and double axis gyroscopes in a 5 x 5 mm package introduction this document applies to all demonstration kits related to st mems single and double axis gyroscopes in 5 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 lpr5xxxal, lpy5xxxal, ly5xxxalh 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 de monstration board utiliz es an st72651ar6 microcontroller which functions as a bridge be tween 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 lpr5xxxal, lpy5xxxal, ly5xxxalh sensor families, please refer to the datasheets available for each single device. www.st.com
contents um0796 2/34 doc id 16227 rev 1 contents 1 demonstration kit description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 working modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.1 analog working mode (awm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 digital working mode (dwm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 additional settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3 steval-mki0xxv1 gui installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.1 pc system requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.2 software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.3 hardware installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4 graphical user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.1 connecting to the virtual com port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.2 gui main window functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.2.1 ?easy start? button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.2.2 ?home? tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.2.3 ?options? tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.2.4 ?bars? tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.2.5 ?plot? tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.2.6 ?data? tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.2.7 ?fft? tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 5 data acquisition quick star t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 6 steval-mki0xxv1 lite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 7 supported commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 7.1 getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 7.2 supported commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 7.2.1 start command (dwm only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 7.2.2 debug command (dwm only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 7.2.3 stop command (dwm only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 7.2.4 zon and zoff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
um0796 contents doc id 16227 rev 1 3/34 7.2.5 device name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 7.2.6 firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 7.3 quick start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 8 dfu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 8.1 pc requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 8.2 dfu procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 9 schematic diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 10 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 11 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
list of figures um0796 4/34 doc id 16227 rev 1 list of figures figure 1. demonstration board block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 figure 2. top silk screen of the st eval-mki0xxv1 demonstration board . . . . . . . . . . . . . . . . . . . . . 6 figure 3. top view of the steval-mki0 xxv1 demonstration board . . . . . . . . . . . . . . . . . . . . . . . . . . 6 figure 4. software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 figure 5. notify icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 figure 6. driver installation using the device manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 figure 7. usb driver installation using the hardware update wizard . . . . . . . . . . . . . . . . . . . . . . . . . 12 figure 8. virtual com driver port assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 figure 9. graphical user interface: main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 4 figure 10. home tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 figure 11. options tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 figure 12. bars tab - angular rate data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 figure 13. plot tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 figure 14. plot tab - zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 figure 15. data tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 figure 16. fft tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 figure 17. steval-mki0xxv1 lite gui . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 figure 18. demonstration kit correctly recognized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 figure 19. select new firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 figure 20. flash erasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 figure 21. flash upgrading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 figure 22. schematic diagram of the st eval-mki0xxv1 board . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
um0796 demonstration kit description doc id 16227 rev 1 5/34 1 demonstration kit description the steval-mki0xxv1 is a complete demonstration kit that allows evaluation of the performance of the lpr5xxxal, lpy5xxxal, ly5xxxalh 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 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 . control switches (reset, left) st72f651 microcontroller d.f.u. mems device usb connector s.p.i. u.s.b. analog controls (st,pd,fs) analog outputs (1x,4x) power-on led awm led dwm led
demonstration kit description um0796 6/34 doc id 16227 rev 1 figure 2. top silk screen of the steval-mki0xxv1 demonstration board figure 3. top view of the steval-mki0xxv1 demonstration board 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. ref 1 ref 3 ref 2 ref 8 ref 10 ref 7 ref 11 ref 6 ref 9 ref 4 ref 5 ref 12
um0796 working modes doc id 16227 rev 1 7/34 2 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 jp 4, jp5 and jp7 as described below (see figure 3 to identify the jumpers): 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. 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
working modes um0796 8/34 doc id 16227 rev 1 note: 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. 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 . 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 ). table 2. jumper configurations for jp1 and jp6 in awm jumper on 1-2 position jumper on 2-3 position jp1 1 1xout1 (not amplified): on j3-pin 3 (o ut1) 4xout1 (amplified): on j3-pin 3 (out1) jp6 1xout2 (not amplified): on j3-pin 4 (o ut2) 4xout2 (amplified): on j3-pin 4 (out2) table 3. jumper configurations for jp9 and jp8 in awm configuration function pin 1-2 short pin 3-4 short hp and lp filters enabled pin 2-4 open pin 3-4 short hp and lp filters bypassed 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
um0796 working modes doc id 16227 rev 1 9/34 2.3 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).
steval-mki0xxv1 gui installation um0796 10/34 doc id 16227 rev 1 3 steval-mki0xxv1 gui installation the installation of the graphical user interface (gui) for the steval-mki0xxv1 requires two steps: 1. installation of the software downloaded from www.st.com 2. installation of the virtual com driver needed to use the demonstration kit 3.1 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
um0796 steval-mki0xxv1 gui installation doc id 16227 rev 1 11/34 3.3 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 if the ?hardware update wizard? window appears ( figure 7 ), follow the instructions on the screen, otherwise, the installation can be perfor med by following the instructions indicated in figure 6 and then figure 7 . figure 6. driver installation using the device manager am01769v1 am01770v1 right click on my comp u ter right click on ? s t mem s unit ? a nd choo s e u pd a te driver
steval-mki0xxv1 gui installation um0796 12/34 doc id 16227 rev 1 figure 7. usb driver installation using the hardware update wizard once the installation is comp lete, 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 steval- mki0xxv1 demonstration software gui. for additional details, see section 4.1 . am01771v1 4 3 5 6 7
um0796 steval-mki0xxv1 gui installation doc id 16227 rev 1 13/34 figure 8. virtual com driver port assignment am01772v1
graphical user interface um0796 14/34 doc id 16227 rev 1 4 graphical user interface to run the steval-mki0xxv1 demonstration software gui: 1. click on start > all programs. 2. select steval-mki 0xxv1 > 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 1 ref 2 ref 3 ref 4 ref 5
um0796 graphical user interface doc id 16227 rev 1 15/34 the functions of the four main sections of the window are described below: 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. 4.1 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 demonstr ation 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 bo ard type is in the list of managed ones, or to update the sw.
graphical user interface um0796 16/34 doc id 16227 rev 1 4.2.2 ?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 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/fullsca le 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). figure 11. options tab ref 1 ref 2 ref 3 ref 4
um0796 graphical user interface doc id 16227 rev 1 17/34 4.2.4 ?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
graphical user interface um0796 18/34 doc id 16227 rev 1 4.2.5 ?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
um0796 graphical user interface doc id 16227 rev 1 19/34 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.
graphical user interface um0796 20/34 doc id 16227 rev 1 4.2.6 ?data? tab the data tab ( figure 15 ) shows the angular rate values measured by the device. it is divided into two sections: 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. note: to increase data re adability, the values shown in the boxes described a bove are based on an average of 50 samples. figure 15. data tab ref 1 ref 2
um0796 graphical user interface doc id 16227 rev 1 21/34 4.2.7 ?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
data acquisition quick start um0796 22/34 doc id 16227 rev 1 5 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 co ntrol section (optional). 5. use the tab menu to display the desired function. 6. click on the ?start? (or ?stop?) button to ac tivate (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?.
um0796 steval-mki0xxv1 lite doc id 16227 rev 1 23/34 6 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: ($home)\stm\steval- mki0xxv1\steval-mki0xxv1_lite, where ($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 locat ed 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: 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 ac tivate (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?.
supported commands um0796 24/34 doc id 16227 rev 1 7 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 cl ose the ?ascii setup? window. 9. click the ?ok? button to cl ose the ?properties? window. once this procedure has been completed the user can utilize the comm ands described in the following sections by typing th em 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. us ing them outside of dcwm could result in unexpected errors. table 5. supported commands command description returned value available in wm *start starts continuous data acqui sition 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
um0796 supported commands doc id 16227 rev 1 25/34 where: r: vref value 4o2: 4xoutput2 o2: 1xoutput2 4o1: 4xoutput1 o1: 1xoutput1 0h: byte set to 0 hex value s: service field 7.2.1 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: this is a digital working mode only command. *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. lpr530al both *ver firmware version e.g. pr530al 1.08 both table 5. supported commands (continued) command description returned value available in wm
supported commands um0796 26/34 doc id 16227 rev 1 7.2.3 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. high- impedance) 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., ?lpr530al? . 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., ?pr530al 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.
um0796 dfu doc id 16227 rev 1 27/34 8 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 acco rdance 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.
dfu um0796 28/34 doc id 16227 rev 1 after installation, ?mems de monstration 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 do wnloaded, 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 me ssage 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
um0796 dfu doc id 16227 rev 1 29/34 figure 20. flash erasing figure 21. flash upgrading
schematic diagram um0796 30/34 doc id 16227 rev 1 9 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 1 stm icr oelect ro ni cs s .r. l. vi a to lo meo 1 20 01 0 co rna red o (mi) - ita ly 1 1.0a 4/ 27 /2 009 4: 58 :3 0 pm ti tl e size: number: dat e: file: revi si on: sheet of ti me: a3 ww w.s t.co m os ci n os co ut nr ese t 1. 5k r6 pb6 17 pb7 18 pa0 19 pa1 20 pa2 21 pa3 22 pa4 23 pa5 24 pa6 25 pa7 26 ss 27 miso 28 mosi 29 sck 30 vdd1 31 vss1 32 pc4 33 pc5 34 pc6 35 pc7 36 pd0 37 pd1 38 pd2 39 pd3 40 ocmp1 41 ocmp2 42 ain 2 43 ain 3 44 ain 4 45 ain 5 46 ain 6 47 pwm0 48 pwm1 49 v pp/ iccse l 50 reset 51 scl 52 sda 53 ain0 54 ain1 55 usben 56 iccclk 57 iccdata 58 vdd2 59 vdda 60 vssa 61 vss2 62 oscin 63 oscout 64 uv ss 1 ud m 2 ud p 3 uv cc 4 uv dd 5 vd df 6 vs sf 7 pe5 8 pe6 9 pe7 10 pb0 11 pb1 12 pb2 13 pb3 14 pb4 15 pb5 16 st72f651ar6t1e u2 ic csel ic cclk ic cdata + 10 uf c1 10 0n f c4 47 nf c8 18 0r r1 vcc 22 0n f c9 10 k r7 + 4. 7uf c3 10 0n f c6 + 4. 7uf c2 10 0n f c5 rled gl ed vd df vcc sw2 d1 +10uf c10 v ddf 33 pf cosc2 33 pf cosc1 12mhz yo scm os cin os cou t 10 0r r3 10 0r r2 rled gl ed g r d2 vd df 1 2 3 4 5 6 7 8 9 10 icp j2 iccdata icccl k nre set iccsel 10 k r12 10 0n f c7 nreset sw1 vcc dfu _sel 10 k r4 47 0r r5 1k r8 22 0n f c14 22 0n f c15 10 0n f c12 + 4. 7uf 16v c16 + 4. 7uf 16v c17 dfu _sel iccs el c1- 1 c1+ 2 c2- 3 c2+ 4 vcc 5 vo ut 6 gn d 7 shdn 8 st662abd u3 2 3 1 2st r221 5 q1 2 3 1 so642 q2 vcc 10 0n f c11 + 10 uf c13 8 8 7 7 6 6 5 5 2 2 3 3 4 4 1 1 le 30 cd u4 10 0n f c19 vcc + 2. 2uf c18 v+ 1 dm 2 dp 3 gn d 5 nc 4 usb_ mi ni _b j1 tp2 vd d_ dut vd df 1 2 current_measure jp3 10 k r10 10 nf c21 47 0n f c20 pd st tp3 tp1 o uta na1 v ddf 10 k r11 st 10 k r17 pd vd df 1 2 3 st jp4 1 2 3 pd jp5 pd_u st_u pd_u st_u 1 2 jp2 1 2 power suppl y j4 gn d 1 hp 13 pd 12 st 11 filtinz 10 filtoutz/outz 9 4x ou tz 8 vref 7 4x ou tx 6 fil to ut x/o ut x 5 filtinx 4 vco nt 3 filtvdd 2 vdd 16 res 15 res 14 u1 hp hp_u 1m r14 33 nf c25 33 k r13 vref vref 1m r15 33 nf c24 33 k r9 vref o uta na2 vref tb d c26 tb d c27 10 k r16 vd df 1 2 3 hp jp7 hp hp_ u vd df 1 2 3 4 j3 1 2 3 4 jp8 1 2 3 4 jp9 4. 7uf c23 4. 7uf c22 not mounted not mounted out2 out1 4x ou t2 4x ou t1 ou ta na1 ou ta na2 vref 1 2 3 jp1 1 2 3 jp6 ou t2 4x ou t2 ou t1 4x ou t1
um0796 bill of materials doc id 16227 rev 1 31/34 10 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 capacitor 10 f c1206_pol c2 4 f c1206_pol c3 4 f 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 f c1206_pol c11 100 nf 0805 c12 100 nf 0805 c13 10 f c1206_pol c14 220 nf 0805 c15 220 nf 0805 c16 4 f, 16 v c1206_pol c17 4 f, 16 v c1206_pol c18 22 c1206_pol c19 100 nf 0805 c20 470 nf 0805 c21 10 nf 0805 c22 4 f 0805 c23 4 f 0805 c24 2n2 0805 c25 2n2 0805 cosc1 33 pf 0805 cosc2 33 pf 0805 d1 led smd_led green led_smd_0805 d2 smd_led 3c led_smd_3c j1 usb connector usb_mini_b usb_mini_b j3 header 8 header 1x4 header 1x4 2mm
bill of materials um0796 32/34 doc id 16227 rev 1 j4 connector header 1x2 header 1x2 2mm jp1 header 1x2 header 1x2 2mm jp2 header 1x2 header 1x2 2mm jp3 header 1x2 header 1x2 2mm jp4 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 header 2x2 2mm jp9 header 2x2 header 2x2 2mm q1 transistor 2str2215 sot-23-3 q2 so624 sot-23-3 r1 resistor 180 ? 0805 r2 100 ? 0805 r3 100 ? 0805 r4 10 k ? 0805 r5 470 ? 0805 r6 1 k ? 0805 r7 10 k ? 0805 r8 1 k ? 0805 r9 33 k ? 0805 r10 10 k ? 0805 r11 10 k ? 0805 r12 10 k ? 0805 r13 33 k ? 0805 r14 1 mw 0805 r15 1 mw 0805 r16 10 k ? 0805 r17 10 k ? 0805 sw1 button nreset smt_button sw2 smt_button smt_button u1 ic single or dual axis gyro in 5x5mm package lga-16_5_5_1.6 u2 st72f651ar6t1e tqfp64_10x10 u3 st662abd so-g8 u4 le30cd so-g8 yoscm1 crystal 12 mhz sxa table 6. bill of materials (continued) designator description comment footprint
um0796 revision history doc id 16227 rev 1 33/34 11 revision history table 7. document revision history date revision changes 22-oct-2009 1 initial release.
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