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IntroductionTheX-CUBE-MEMS1softwarepackageallowsyoutobuildapplicationsbasedonsensordatafromSTM32NucleodevelopmentplatformsmountingacompatibleX-NUCLEOexpansionboardwithseveralhighperformanceSTmotionMEMSandenvironmentalsensors.
Youcan,however,substituteindividualsensorsontheX-NUCLEOexpansionboardwithsinglesensorboardswithcompatiblepinsforthestandardDIL24socket.
HowtouseasensoronaDIL24socketinX-CUBE-MEMS1packageapplicationsAN5353ApplicationnoteAN5353-Rev1-June2019ForfurtherinformationcontactyourlocalSTMicroelectronicssalesoffice.
www.
st.
com1Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorInthisexample,wereplacetheLSM6DSLsensorontheX-NUCLEO-IKS01A2expansionboardwiththeLSM6DSOsensorconnectedtoaboardwithaDIL24socket.
WehavechosentheDataLogFusionapplication(usingMotionFXsensorfusionalgorithm)runningontheNUCLEO-L476RGdevelopmentboard.
Withminormodifications,youcanfollowthesameprocedureforothersensors,expansionboardsandSTM32Nucleoboardplatformsaswell.
Step1.
Addthesensorintheboardconfigurationheaderfile.
Intheinc/iks01a2_conf.
hfile,disabletheuseoftheLSM6DSLsensorbyinserting"0U"ashighlightedbelowinbold,andenabletheLSM6DSOsensorbyaddingthedefinestatementalsoshownbelowinbold.
#defineUSE_IKS01A2_ENV_SENSOR_HTS221_01U#defineUSE_IKS01A2_ENV_SENSOR_LPS22HB_01U#defineUSE_IKS01A2_MOTION_SENSOR_LSM6DSL_00U#defineUSE_IKS01A2_MOTION_SENSOR_LSM303AGR_ACC_01U#defineUSE_IKS01A2_MOTION_SENSOR_LSM303AGR_MAG_01U#defineUSE_IKS01A2_MOTION_SENSOR_LSM6DSO_01UStep2.
AddthesensordriversinaprojectforaspecificIDE(forexample,SW4STM32)andincludethepathtothesensordriversintotheprojectsettings.
Figure1.
AddLSM6DSOsensordriversinaprojectfortheSW4STM32IDEAN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page2/10Figure2.
AddLSM6DSOsensorincludingpathtoaprojectfortheSW4STM32IDEStep3.
SubstitutethesensorontheX-NUCLEOexpansionboardwiththesinglesensorontheDIL24socketboardintheX-CUBE-MEMS1application.
Step3a.
SubstitutetheLSM6DSLsensorhandlerwiththeLSM6DSOsensorhandlerinthesrc/main.
cfile,main()function(inboldbelow).
/*AcquiredatafromenabledsensorsandfillMsgstream*/RTC_Handler(&msg_dat);Accelero_Sensor_Handler(&msg_dat,IKS01A2_LSM6DSO_0);Gyro_Sensor_Handler(&msg_dat,IKS01A2_LSM6DSO_0);Magneto_Sensor_Handler(&msg_dat,IKS01A2_LSM303AGR_MAG_0);Humidity_Sensor_Handler(&msg_dat,IKS01A2_HTS221_0);Temperature_Sensor_Handler(&msg_dat,IKS01A2_HTS221_0);Pressure_Sensor_Handler(&msg_dat,IKS01A2_LPS22HB_0);Step3b.
SubstitutetheLSM6DSLsensorinitializationwithLSM6DSOinitializationinthesrc/main.
cfile,Init_Sensors()function(inboldbelow).
/***@briefInitializeallsensors*@paramNone*@retvalNone*/staticvoidInit_Sensors(void){(void)IKS01A2_MOTION_SENSOR_Init(IKS01A2_LSM6DSO_0,MOTION_ACCELERO|MOTION_GYRO);(void)IKS01A2_MOTION_SENSOR_Init(IKS01A2_LSM303AGR_MAG_0,MOTION_MAGNETO);(void)IKS01A2_ENV_SENSOR_Init(IKS01A2_HTS221_0,ENV_TEMPERATURE|ENV_HUMIDITY);(void)IKS01A2_ENV_SENSOR_Init(IKS01A2_LPS22HB_0,ENV_PRESSURE);}AN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page3/10Step3c.
AddtheLSM6DSOsensorUnicleoIDfromthetablebelowtothesrc/DemoSerial.
cfile(inboldbelowthetable).
Table1.
Unicleo-GUIsupportedsensorsandIDsAccelerometer/gyroscopeMagnetometerPressure/temperatureHumidity/temperatureNameIDNameIDNameIDNameIDLSM6DS01LIS3MDL1LPS25HB1HTS2211LSM6DS32LSM303AGR_MAG2LPS22HB3STTS7512LSM6DSL3LIS2MDL3LPS22HH4LIS2DH124H3LIS331DL5LSM303AGR6LSM6DSO7LIS2DW128LSM6DSR9LSM6DSOX10#defineLPS25HB_UNICLEO_ID_ONBOARD1#defineLPS25HB_UNICLEO_ID_DIL2#defineLPS22HB_UNICLEO_ID3#defineHTS221_UNICLEO_ID1#defineLSM6DS0_UNICLEO_ID1#defineLSM6DS3_UNICLEO_ID2#defineLSM6DSL_UNICLEO_ID3#defineLSM6DSO_UNICLEO_ID7#defineLIS3MDL_UNICLEO_ID1#defineLSM303AGR_UNICLEO_ID_MAG2Step3d.
SubstituteLSM6DSLsensordisablewithLSM6DSOdisableinthesrc/DemoSerial.
cfile,HandleMSG()function,CMD_ACCELERO_GYRO_Initcase(inboldbelow).
Serialize_s32(&Msg->Data[3],LSM6DSO_UNICLEO_ID,4);Step3e.
SubstituteLSM6DSLsensorenablewithLSM6DSOenableinthesrc/DemoSerial.
cfile,HandleMSG()function,CMD_Start_Data_Streamingcase(inboldbelow).
if((SensorsEnabled&ACCELEROMETER_SENSOR)==ACCELEROMETER_SENSOR){(void)IKS01A2_MOTION_SENSOR_Enable(IKS01A2_LSM6DSO_0,MOTION_ACCELERO);}if((SensorsEnabled&GYROSCOPE_SENSOR)==GYROSCOPE_SENSOR){(void)IKS01A2_MOTION_SENSOR_Enable(IKS01A2_LSM6DSO_0,MOTION_GYRO);}Step3f.
SubstituteLSM6DSLsensordisablewithLSM6DSOdisableinthesrc/DemoSerial.
cfile,HandleMSG()function,CMD_Stop_Data_Streamingcase(inboldbelow).
(void)IKS01A2_MOTION_SENSOR_Disable(IKS01A2_LSM6DSO_0,MOTION_ACCELERO);(void)IKS01A2_MOTION_SENSOR_Disable(IKS01A2_LSM6DSO_0,MOTION_GYRO);Step4.
Changesensororientation(optional).
AN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page4/10IntheMotionFX_Manager.
cfileMotionFX_manager_init()function,checkaccelerometer,gyroscopeandmagnetometersensororientationsetupwithrealDIL24sensororientationandupdateifnecessary.
Inourcase,weneedtocheckaccelerometerandgyroscopesensororientationsetupwithLSM6DSO(DIL24module)orientation(inboldbelow).
/***@briefInitialisesMotionFXalgorithm*@paramNone*@retvalNone*/voidMotionFX_manager_init(void){characc_orientation[4];chargyro_orientation[4];charmag_orientation[4];acc_orientation[0]='n';acc_orientation[1]='w';acc_orientation[2]='u';gyro_orientation[0]='n';gyro_orientation[1]='w';gyro_orientation[2]='u';mag_orientation[0]='n';mag_orientation[1]='e';mag_orientation[2]='u';Note:Inthisexample,nochangeisneededastheLSM6DSLsensorontheX-NUCLEOexpansionboardandtheLSM6DSOsensorontheDIL24modulehavethesameorientation.
Step5.
BuildtheapplicationandruntheUnicleo-GUISWtocheckiftheLSM6DSOsensorisactiveandtheMotionSensorFusionalgorithmisworkingproperly.
Figure3.
RunningDataLogFusionapplicationwithLSM6DSOsensor(DIL24module)inUnicleo-GUISWRELATEDLINKSSTEVAL-MKI196V1evaluationboardLSM6DSOdatasheetfreelyavailableatwww.
st.
comAN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page5/10LSM6DSOapplicationnote:AN5192,"LSM6DSO:always-on3Daccelerometerand3Dgyroscope",freelyavailableatwww.
st.
comRevisionhistoryTable2.
DocumentrevisionhistoryDateRevisionChanges11-Jun-20191InitialreleaseAN5353AN5353-Rev1page6/10Contents1Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensor.
2Revisionhistory6AN5353ContentsAN5353-Rev1page7/10ListoffiguresFigure1.
AddLSM6DSOsensordriversinaprojectfortheSW4STM32IDE2Figure2.
AddLSM6DSOsensorincludingpathtoaprojectfortheSW4STM32IDE3Figure3.
RunningDataLogFusionapplicationwithLSM6DSOsensor(DIL24module)inUnicleo-GUISW5AN5353ListoffiguresAN5353-Rev1page8/10ListoftablesTable1.
Unicleo-GUIsupportedsensorsandIDs4Table2.
Documentrevisionhistory6AN5353ListoftablesAN5353-Rev1page9/10IMPORTANTNOTICE–PLEASEREADCAREFULLYSTMicroelectronicsNVanditssubsidiaries("ST")reservetherighttomakechanges,corrections,enhancements,modifications,andimprovementstoSTproductsand/ortothisdocumentatanytimewithoutnotice.
PurchasersshouldobtainthelatestrelevantinformationonSTproductsbeforeplacingorders.
STproductsaresoldpursuanttoST'stermsandconditionsofsaleinplaceatthetimeoforderacknowledgement.
Purchasersaresolelyresponsibleforthechoice,selection,anduseofSTproductsandSTassumesnoliabilityforapplicationassistanceorthedesignofPurchasers'products.
Nolicense,expressorimplied,toanyintellectualpropertyrightisgrantedbySTherein.
ResaleofSTproductswithprovisionsdifferentfromtheinformationsetforthhereinshallvoidanywarrantygrantedbySTforsuchproduct.
STandtheSTlogoaretrademarksofST.
ForadditionalinformationaboutSTtrademarks,pleaserefertowww.
st.
com/trademarks.
Allotherproductorservicenamesarethepropertyoftheirrespectiveowners.
Informationinthisdocumentsupersedesandreplacesinformationpreviouslysuppliedinanypriorversionsofthisdocument.
2019STMicroelectronics–AllrightsreservedAN5353AN5353-Rev1page10/10
Youcan,however,substituteindividualsensorsontheX-NUCLEOexpansionboardwithsinglesensorboardswithcompatiblepinsforthestandardDIL24socket.
HowtouseasensoronaDIL24socketinX-CUBE-MEMS1packageapplicationsAN5353ApplicationnoteAN5353-Rev1-June2019ForfurtherinformationcontactyourlocalSTMicroelectronicssalesoffice.
www.
st.
com1Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorInthisexample,wereplacetheLSM6DSLsensorontheX-NUCLEO-IKS01A2expansionboardwiththeLSM6DSOsensorconnectedtoaboardwithaDIL24socket.
WehavechosentheDataLogFusionapplication(usingMotionFXsensorfusionalgorithm)runningontheNUCLEO-L476RGdevelopmentboard.
Withminormodifications,youcanfollowthesameprocedureforothersensors,expansionboardsandSTM32Nucleoboardplatformsaswell.
Step1.
Addthesensorintheboardconfigurationheaderfile.
Intheinc/iks01a2_conf.
hfile,disabletheuseoftheLSM6DSLsensorbyinserting"0U"ashighlightedbelowinbold,andenabletheLSM6DSOsensorbyaddingthedefinestatementalsoshownbelowinbold.
#defineUSE_IKS01A2_ENV_SENSOR_HTS221_01U#defineUSE_IKS01A2_ENV_SENSOR_LPS22HB_01U#defineUSE_IKS01A2_MOTION_SENSOR_LSM6DSL_00U#defineUSE_IKS01A2_MOTION_SENSOR_LSM303AGR_ACC_01U#defineUSE_IKS01A2_MOTION_SENSOR_LSM303AGR_MAG_01U#defineUSE_IKS01A2_MOTION_SENSOR_LSM6DSO_01UStep2.
AddthesensordriversinaprojectforaspecificIDE(forexample,SW4STM32)andincludethepathtothesensordriversintotheprojectsettings.
Figure1.
AddLSM6DSOsensordriversinaprojectfortheSW4STM32IDEAN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page2/10Figure2.
AddLSM6DSOsensorincludingpathtoaprojectfortheSW4STM32IDEStep3.
SubstitutethesensorontheX-NUCLEOexpansionboardwiththesinglesensorontheDIL24socketboardintheX-CUBE-MEMS1application.
Step3a.
SubstitutetheLSM6DSLsensorhandlerwiththeLSM6DSOsensorhandlerinthesrc/main.
cfile,main()function(inboldbelow).
/*AcquiredatafromenabledsensorsandfillMsgstream*/RTC_Handler(&msg_dat);Accelero_Sensor_Handler(&msg_dat,IKS01A2_LSM6DSO_0);Gyro_Sensor_Handler(&msg_dat,IKS01A2_LSM6DSO_0);Magneto_Sensor_Handler(&msg_dat,IKS01A2_LSM303AGR_MAG_0);Humidity_Sensor_Handler(&msg_dat,IKS01A2_HTS221_0);Temperature_Sensor_Handler(&msg_dat,IKS01A2_HTS221_0);Pressure_Sensor_Handler(&msg_dat,IKS01A2_LPS22HB_0);Step3b.
SubstitutetheLSM6DSLsensorinitializationwithLSM6DSOinitializationinthesrc/main.
cfile,Init_Sensors()function(inboldbelow).
/***@briefInitializeallsensors*@paramNone*@retvalNone*/staticvoidInit_Sensors(void){(void)IKS01A2_MOTION_SENSOR_Init(IKS01A2_LSM6DSO_0,MOTION_ACCELERO|MOTION_GYRO);(void)IKS01A2_MOTION_SENSOR_Init(IKS01A2_LSM303AGR_MAG_0,MOTION_MAGNETO);(void)IKS01A2_ENV_SENSOR_Init(IKS01A2_HTS221_0,ENV_TEMPERATURE|ENV_HUMIDITY);(void)IKS01A2_ENV_SENSOR_Init(IKS01A2_LPS22HB_0,ENV_PRESSURE);}AN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page3/10Step3c.
AddtheLSM6DSOsensorUnicleoIDfromthetablebelowtothesrc/DemoSerial.
cfile(inboldbelowthetable).
Table1.
Unicleo-GUIsupportedsensorsandIDsAccelerometer/gyroscopeMagnetometerPressure/temperatureHumidity/temperatureNameIDNameIDNameIDNameIDLSM6DS01LIS3MDL1LPS25HB1HTS2211LSM6DS32LSM303AGR_MAG2LPS22HB3STTS7512LSM6DSL3LIS2MDL3LPS22HH4LIS2DH124H3LIS331DL5LSM303AGR6LSM6DSO7LIS2DW128LSM6DSR9LSM6DSOX10#defineLPS25HB_UNICLEO_ID_ONBOARD1#defineLPS25HB_UNICLEO_ID_DIL2#defineLPS22HB_UNICLEO_ID3#defineHTS221_UNICLEO_ID1#defineLSM6DS0_UNICLEO_ID1#defineLSM6DS3_UNICLEO_ID2#defineLSM6DSL_UNICLEO_ID3#defineLSM6DSO_UNICLEO_ID7#defineLIS3MDL_UNICLEO_ID1#defineLSM303AGR_UNICLEO_ID_MAG2Step3d.
SubstituteLSM6DSLsensordisablewithLSM6DSOdisableinthesrc/DemoSerial.
cfile,HandleMSG()function,CMD_ACCELERO_GYRO_Initcase(inboldbelow).
Serialize_s32(&Msg->Data[3],LSM6DSO_UNICLEO_ID,4);Step3e.
SubstituteLSM6DSLsensorenablewithLSM6DSOenableinthesrc/DemoSerial.
cfile,HandleMSG()function,CMD_Start_Data_Streamingcase(inboldbelow).
if((SensorsEnabled&ACCELEROMETER_SENSOR)==ACCELEROMETER_SENSOR){(void)IKS01A2_MOTION_SENSOR_Enable(IKS01A2_LSM6DSO_0,MOTION_ACCELERO);}if((SensorsEnabled&GYROSCOPE_SENSOR)==GYROSCOPE_SENSOR){(void)IKS01A2_MOTION_SENSOR_Enable(IKS01A2_LSM6DSO_0,MOTION_GYRO);}Step3f.
SubstituteLSM6DSLsensordisablewithLSM6DSOdisableinthesrc/DemoSerial.
cfile,HandleMSG()function,CMD_Stop_Data_Streamingcase(inboldbelow).
(void)IKS01A2_MOTION_SENSOR_Disable(IKS01A2_LSM6DSO_0,MOTION_ACCELERO);(void)IKS01A2_MOTION_SENSOR_Disable(IKS01A2_LSM6DSO_0,MOTION_GYRO);Step4.
Changesensororientation(optional).
AN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page4/10IntheMotionFX_Manager.
cfileMotionFX_manager_init()function,checkaccelerometer,gyroscopeandmagnetometersensororientationsetupwithrealDIL24sensororientationandupdateifnecessary.
Inourcase,weneedtocheckaccelerometerandgyroscopesensororientationsetupwithLSM6DSO(DIL24module)orientation(inboldbelow).
/***@briefInitialisesMotionFXalgorithm*@paramNone*@retvalNone*/voidMotionFX_manager_init(void){characc_orientation[4];chargyro_orientation[4];charmag_orientation[4];acc_orientation[0]='n';acc_orientation[1]='w';acc_orientation[2]='u';gyro_orientation[0]='n';gyro_orientation[1]='w';gyro_orientation[2]='u';mag_orientation[0]='n';mag_orientation[1]='e';mag_orientation[2]='u';Note:Inthisexample,nochangeisneededastheLSM6DSLsensorontheX-NUCLEOexpansionboardandtheLSM6DSOsensorontheDIL24modulehavethesameorientation.
Step5.
BuildtheapplicationandruntheUnicleo-GUISWtocheckiftheLSM6DSOsensorisactiveandtheMotionSensorFusionalgorithmisworkingproperly.
Figure3.
RunningDataLogFusionapplicationwithLSM6DSOsensor(DIL24module)inUnicleo-GUISWRELATEDLINKSSTEVAL-MKI196V1evaluationboardLSM6DSOdatasheetfreelyavailableatwww.
st.
comAN5353Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensorAN5353-Rev1page5/10LSM6DSOapplicationnote:AN5192,"LSM6DSO:always-on3Daccelerometerand3Dgyroscope",freelyavailableatwww.
st.
comRevisionhistoryTable2.
DocumentrevisionhistoryDateRevisionChanges11-Jun-20191InitialreleaseAN5353AN5353-Rev1page6/10Contents1Stepbystepproceduretoreplaceanon-boardsensorwithaDIL24sensor.
2Revisionhistory6AN5353ContentsAN5353-Rev1page7/10ListoffiguresFigure1.
AddLSM6DSOsensordriversinaprojectfortheSW4STM32IDE2Figure2.
AddLSM6DSOsensorincludingpathtoaprojectfortheSW4STM32IDE3Figure3.
RunningDataLogFusionapplicationwithLSM6DSOsensor(DIL24module)inUnicleo-GUISW5AN5353ListoffiguresAN5353-Rev1page8/10ListoftablesTable1.
Unicleo-GUIsupportedsensorsandIDs4Table2.
Documentrevisionhistory6AN5353ListoftablesAN5353-Rev1page9/10IMPORTANTNOTICE–PLEASEREADCAREFULLYSTMicroelectronicsNVanditssubsidiaries("ST")reservetherighttomakechanges,corrections,enhancements,modifications,andimprovementstoSTproductsand/ortothisdocumentatanytimewithoutnotice.
PurchasersshouldobtainthelatestrelevantinformationonSTproductsbeforeplacingorders.
STproductsaresoldpursuanttoST'stermsandconditionsofsaleinplaceatthetimeoforderacknowledgement.
Purchasersaresolelyresponsibleforthechoice,selection,anduseofSTproductsandSTassumesnoliabilityforapplicationassistanceorthedesignofPurchasers'products.
Nolicense,expressorimplied,toanyintellectualpropertyrightisgrantedbySTherein.
ResaleofSTproductswithprovisionsdifferentfromtheinformationsetforthhereinshallvoidanywarrantygrantedbySTforsuchproduct.
STandtheSTlogoaretrademarksofST.
ForadditionalinformationaboutSTtrademarks,pleaserefertowww.
st.
com/trademarks.
Allotherproductorservicenamesarethepropertyoftheirrespectiveowners.
Informationinthisdocumentsupersedesandreplacesinformationpreviouslysuppliedinanypriorversionsofthisdocument.
2019STMicroelectronics–AllrightsreservedAN5353AN5353-Rev1page10/10
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