How to read IMU information using STEVAL-MKI109D?

[juseok]

I connected STEVAL-MKI236A and STEVAL-MKI109D and confirmed that the IMU information comes from Mems studio and Unico.

My final goal is that this IMU value is output in serial communication.
I want to read the output IMU 6-axis information through python and match it to ros2 topic.

Please teach me the way.

Thank you. Have a nice day

[Andrew Neil]

The list of commands supported by the STEVAL-MKI109D is in the User Manual:

https://www.st.com/resource/en/user_manual/um3420-stevalmki109d-professional-mems-tool-motherboard-for-mems-adapter-boards-stmicroelectronics.pdf#page=61

via: https://www.st.com/en/evaluation-tools/steval-mki109d.html#documentation

Or you would have to write your own firmware for  the board.

The schematics are on the 'CAD Resources' of the Product Page:

https://www.st.com/en/evaluation-tools/steval-mki109d.html#cad-resources

[juseok]

Hello
I'm testing how to read acceleration and gyro values in serial through the method you told me.
After setting the command *setdb236A, *zoff, I tried to read the data stream value through *debug, *start, but there was no response.

I checked through the command *help and found that the values can be retrieved and read through *ZrXX, but I didn't see the command *start, *debug in *help. Is this a firmware version problem?
My version is V1.5.3.

Data is currently available only with *ZrXX.

Thank you