ST X-CUBE-MEMS1 User Manual
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ST X-CUBE-MEMS1 User Manual

ST X-CUBE-MEMS1 User Manual

Motionpe real-time pose estimation library
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UM2223
User manual
Getting started with MotionPE real-time pose estimation library in X-CUBE-
MEMS1 expansion for STM32Cube
Introduction
The MotionPE middleware library is part of the
X-CUBE-MEMS1
software and runs on STM32. It provides real-time information
about the user current pose based on data from a device.
It is able to distinguish the following poses: sitting, standing and lying down. The library is intended for wrist-worn devices.
This library is intended to work with ST MEMS only.
®
The algorithm is provided in static library format and is designed to be used on STM32 microcontrollers based on the ARM
®
®
®
®
®
®
®
Cortex
-M3, ARM
Cortex
-M33, ARM
Cortex
-M4 or ARM
Cortex
-M7 architecture.
It is built on top of
STM32Cube
software technology to ease portability across different STM32 microcontrollers.
The software comes with sample implementation running on
X-NUCLEO-IKS01A3
or X-NUCLEO-IKS4A1expansion board on a
NUCLEO-F401RE,
NUCLEO-U575ZI-Q
or
NUCLEO-L152RE
development board.
UM2223 - Rev 5 - August 2024
www.st.com
For further information contact your local STMicroelectronics sales office.

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Summary of Contents for ST X-CUBE-MEMS1

  • Page 1 It is able to distinguish the following poses: sitting, standing and lying down. The library is intended for wrist-worn devices. This library is intended to work with ST MEMS only. ®...

  • Page 2: Acronyms And Abbreviations

    UM2223 Acronyms and abbreviations Acronyms and abbreviations Table 1. List of acronyms Acronym Description Application programming interface Board support package Graphical user interface Hardware abstraction layer Integrated development environment UM2223 - Rev 5 page 2/17...

  • Page 3: Motionpe Middleware Library In X-Cube-Mems1 Software Expansion For Stm32Cube

    The library acquires data from the accelerometer and provides information about the user current pose based on data from a device. The library is designed for ST MEMS only. Functionality and performance when using other MEMS sensors are not analyzed and can be significantly different from what described in the document.

  • Page 4: Figure 1. Example Of Sensor Orientations

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube • void MotionPE_Update(MPE_input_t *data_in, MPE_output_t *data_out) – executes pose estimation algorithm – *data_in parameter is a pointer to a structure with input data – the parameters for the structure type MPE_input_t are: ◦...

  • Page 5: Figure 2. Orientation System For Wrist-Worn Devices

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube Figure 2. Orientation system for wrist-worn devices UM2223 - Rev 5 page 5/17...

  • Page 6: Api Flow Chart

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube 2.2.3 API flow chart Figure 3. MotionPE API logic sequence Start Initialize GetLibVersion SetOrientation_Acc Wait Expiring Timer Data Read Interrupt Read Accelerometer Data Update Get Pose Estimation Code 2.2.4 Demo code The following demonstration code reads data from the accelerometer sensor and gets the estimated pose.

  • Page 7: Algorithm Performance

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube […] #define VERSION_STR_LENG 35 […] /* Initialization */ char lib_version[VERSION_STR_LENG]; char acc_orientation[3]; /* Pose Estimation API initialization function */ MotionPE_Initialize(); /* Optional: Get version */ MotionPE_GetLibVersion(lib_version); /* Set accelerometer orientation */ acc_orientation[0] ='n';...

  • Page 8: Sample Application

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube Sample application The MotionPE middleware can be easily manipulated to build user applications. A sample application is provided in the Application folder. It is designed to run on a NUCLEO-F401RE,...

  • Page 9: Figure 5. Mems-Studio - Connect

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube Step 2. Launch the MEMS-Studio application to open the main application window. If an STM32 Nucleo board with supported firmware is connected to the PC, the appropriate COM port is automatically detected. Press the [Connect] button to establish connection to the evaluation board.

  • Page 10: Figure 7. Mems-Studio - Library Evaluation - Pose Estimation

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube Step 4. Click on the [Pose Estimation] to open the dedicated page for this library. Figure 7. MEMS-Studio - Library Evaluation - Pose Estimation Step 5. Click on [Save to File] to open the dataloging configuration window. Select the sensor and pose estimation data to be saved in the file.

  • Page 11: Figure 9. Mems-Studio - Library Evaluation - Data Injection

    UM2223 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube Step 6. Data Injection mode can be used to send the previously acquired data to the library and receive the result. Select the [Data Injection] tab on the vertical tool bar to open the dedicated view for this functionality.

  • Page 12: References

    References References All of the following resources are freely available on www.st.com. 1. UM1859: Getting started with the X-CUBE-MEMS1 motion MEMS and environmental sensor software expansion for STM32Cube 2. UM1724: STM32 Nucleo-64 boards (MB1136) 3. UM3233: Getting started with MEMS-Studio...

  • Page 13: Revision History

    UM2223 Revision history Table 5. Document revision history Date Version Changes 18-May-2017 Initial release. Added references to NUCLEO-L152RE development board, Figure 2. Orientation system for wrist- 06-Feb-2018 worn devices and Table 3. Elapsed time (μs) algorithm. 21-Mar-2018 Updated Introduction, Section 2.1 MotionPE overview and Section 2.2.5 Algorithm performance. Updated Figure 1.

  • Page 14: Table Of Contents

    Acronyms and abbreviations ............2 MotionPE middleware library in X-CUBE-MEMS1 software expansion for STM32Cube .

  • Page 15: List Of Tables

    UM2223 List of tables List of tables Table 1. List of acronyms ..............2 Table 2.

  • Page 16: List Of Figures

    UM2223 List of figures List of figures Figure 1. Example of sensor orientations ............4 Figure 2.
  • Page 17 ST’s terms and conditions of sale in place at the time of order acknowledgment. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of purchasers’...

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