1 ACCEPTED SOLUTION
Accepted Solutions
I just had to really zoom into the chips, impossible to see letter but I can see the markings of pin one on the board and the chip, I thought that I had something else to share but my tests so far are not going well as I don't know how to set my reference. The letters NWU and SEU is how I think I need to set them in the MOTIONFX library, but the test are not going good, what I do is Test the Fusion Heading (ism330/iism2mdc) against the raw reading of the Magnetometer in degrees they should be close but so far North is good using NWU/Gyro-Acc and NSU -MAG- the rest is 90degrees off, but I can fix it because I'm guessing.
For example, the document Getting started with MotionFX sensor fusion library in X-CUBE-MEMS1
expansion for STM32Cube, gives the data for the IKS4 but where is for the rest of the boards? or in this case the IKS02A?
After many hours and following some ST examples, the orientation string of the board is in the iks02a1_mems_control_ex.c right here: (I just have 5 days with the board and I have never used STM32 before so excuse me if you see many errors)
#include "iks02a1_mems_control_ex.h"
/**
* @brief Get accelerometer sensor orientation
* @PAram Orientation Pointer to sensor orientation
* @retval None
*/
void BSP_SENSOR_ACC_GetOrientation(char *Orientation)
{
Orientation[0] = 's';
Orientation[1] = 'e';
Orientation[2] = 'u';
}
/**
* @brief Get gyroscope sensor orientation
* @PAram Orientation Pointer to sensor orientation
* @retval None
*/
void BSP_SENSOR_GYR_GetOrientation(char *Orientation)
{
Orientation[0] = 's';
Orientation[1] = 'e';
Orientation[2] = 'u';
}
/**
* @brief Get magnetometer sensor orientation
* @PAram Orientation Pointer to sensor orientation
* @retval None
*/
void BSP_SENSOR_MAG_GetOrientation(char *Orientation)
{
Orientation[0] = 'n';
Orientation[1] = 'e';
Orientation[2] = 'u';
}So instead of define this manually I call the orientation in my code
BSP_SENSOR_ACC_GetOrientation(MotionFX_knobs.acc_orientation);
BSP_SENSOR_GYR_GetOrientation(MotionFX_knobs.gyro_orientation);
BSP_SENSOR_MAG_GetOrientation(MotionFX_knobs.mag_orientation);
And then definie the type of output ENU or NED:
//Fusion output convention (ENU) MFX_ENGINE_OUTPUT_ENU
MotionFX_knobs.output_type = MFX_ENGINE_OUTPUT_NED;But even after this changes I can't get the same Fusion heading as the heading provided by the magnetomer and my output data do not match MEMs studio data output, here is the main code used in app_mems.c in CubeIDE, the code will wait till the magnetomer is calibrated doing an 8 and getting GOOD quality, it will print based on the desire rate set up in the program to not flood the screen with messages, but the ODR is 100Hz
**
******************************************************************************
* File Name : app_mems.c
* Description : This file provides code for the configuration
* of the STMicroelectronics.X-CUBE-MEMS1.11.3.0 instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "app_mems.h"
#include "main.h"
#include <stdio.h>
#include <string.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include "iks02a1_motion_sensors.h"
#include "stm32u5xx_nucleo.h"
#include "motion_fx.h"
#include "iks02a1_mems_control_ex.h"
/* Private typedef -----------------------------------------------------------*/
typedef enum {
APP_STATE_CALIBRATING,
APP_STATE_RUNNING
} AppState_t;
/* Private define ------------------------------------------------------------*/
#define SAMPLING_FREQ_HZ 100
#define SAMPLING_PERIOD_MS (1000 / SAMPLING_FREQ_HZ)
#define STATE_SIZE (2450)
// --- NEW DEFINES FOR PRINTING FREQUENCY CONTROL ---
#define PRINT_FREQUENCY_HZ 5
#define PRINT_INTERVAL_CYCLES (SAMPLING_FREQ_HZ / PRINT_FREQUENCY_HZ)
// --------------------------------------------------
// --- KNOBS PARAMETERS FROM UM2220 ---
#define GBIAS_ACC_TH_SC (2.0f * 0.000765f) /* accel bias threshold */
#define GBIAS_GYRO_TH_SC (2.0f * 0.002f) /* gyro bias threshold */
#define GBIAS_MAG_TH_SC (2.0f * 0.001500f) /* mag bias threshold */
#define DECIMATION 1U /* no extra decimation */
// --------------------------------------------------
/* Private variables ---------------------------------------------------------*/
static MFX_knobs_t MotionFX_knobs;
static MFX_input_t data_in;
static MFX_output_t data_out;
static uint8_t mfxstate[STATE_SIZE];
static MFX_MagCal_input_t mag_data_in;
static AppState_t AppState = APP_STATE_CALIBRATING;
static uint32_t print_counter = 0;
/* Private function prototypes -----------------------------------------------*/
static void MX_IKS02A1_DataLogTerminal_Init(void);
static void MX_IKS02A1_DataLogTerminal_Process(void);
static void initialize_motion_fx(void);
static void print_full_output(void);
static void print_calibration_status(void);
void MX_MEMS_Init(void)
{
MX_IKS02A1_DataLogTerminal_Init();
}
void MX_MEMS_Process(void)
{
MX_IKS02A1_DataLogTerminal_Process();
}
/**
* @brief Initialize the application.
*/
void MX_IKS02A1_DataLogTerminal_Init(void)
{
BSP_LED_Init(LED2);
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);
BSP_COM_Init(COM1);
printf("-- STMicroelectronics MotionFX Fusion DEMO --\r\n");
IKS02A1_MOTION_SENSOR_Init(IKS02A1_ISM330DHCX_0, MOTION_ACCELERO | MOTION_GYRO);
IKS02A1_MOTION_SENSOR_Init(IKS02A1_IIS2MDC_0, MOTION_MAGNETO);
IKS02A1_MOTION_SENSOR_Enable(IKS02A1_ISM330DHCX_0, MOTION_ACCELERO);
IKS02A1_MOTION_SENSOR_Enable(IKS02A1_ISM330DHCX_0, MOTION_GYRO);
IKS02A1_MOTION_SENSOR_Enable(IKS02A1_IIS2MDC_0, MOTION_MAGNETO);
IKS02A1_MOTION_SENSOR_SetOutputDataRate(IKS02A1_ISM330DHCX_0, MOTION_ACCELERO, SAMPLING_FREQ_HZ);
IKS02A1_MOTION_SENSOR_SetOutputDataRate(IKS02A1_ISM330DHCX_0, MOTION_GYRO, SAMPLING_FREQ_HZ);
IKS02A1_MOTION_SENSOR_SetOutputDataRate(IKS02A1_IIS2MDC_0, MOTION_MAGNETO, SAMPLING_FREQ_HZ);
initialize_motion_fx();
}
/**
* @brief Main application process.
*/
void MX_IKS02A1_DataLogTerminal_Process(void)
{
IKS02A1_MOTION_SENSOR_Axes_t acc_axes, gyro_axes, mag_axes;
float delta_time = (float)SAMPLING_PERIOD_MS / 1000.0f;
IKS02A1_MOTION_SENSOR_GetAxes(IKS02A1_ISM330DHCX_0, MOTION_ACCELERO, &acc_axes);
IKS02A1_MOTION_SENSOR_GetAxes(IKS02A1_ISM330DHCX_0, MOTION_GYRO, &gyro_axes);
IKS02A1_MOTION_SENSOR_GetAxes(IKS02A1_IIS2MDC_0, MOTION_MAGNETO, &mag_axes);
data_in.acc[0] = acc_axes.x / 1000.0f;
data_in.acc[1] = acc_axes.y / 1000.0f;
data_in.acc[2] = acc_axes.z / 1000.0f;
data_in.gyro[0] = gyro_axes.x / 1000.0f;
data_in.gyro[1] = gyro_axes.y / 1000.0f;
data_in.gyro[2] = gyro_axes.z / 1000.0f;
data_in.mag[0] = mag_axes.x / 500.0f;
data_in.mag[1] = mag_axes.y / 500.0f;
data_in.mag[2] = mag_axes.z / 500.0f;
mag_data_in.mag[0] = data_in.mag[0];
mag_data_in.mag[1] = data_in.mag[1];
mag_data_in.mag[2] = data_in.mag[2];
mag_data_in.time_stamp = HAL_GetTick();
MotionFX_MagCal_run(&mag_data_in);
if (AppState == APP_STATE_CALIBRATING)
{
print_calibration_status();
MFX_MagCal_output_t mag_cal_out;
MotionFX_MagCal_getParams(&mag_cal_out);
if (mag_cal_out.cal_quality == MFX_MAGCALGOOD)
{
printf("\r\n--- CALIBRACION COMPLETA! ---\r\n");
printf("Iniciando salida de datos de fusion...\r\n\r\n");
AppState = APP_STATE_RUNNING;
}
}
else if (AppState == APP_STATE_RUNNING)
{
MotionFX_propagate((MFXState_t *)mfxstate, &data_out, &data_in, &delta_time);
MotionFX_update((MFXState_t *)mfxstate, &data_out, &data_in, &delta_time, NULL);
// --- PRINTING CONTROL LOGIC ---
print_counter++;
if (print_counter >= PRINT_INTERVAL_CYCLES)
{
print_full_output();
print_counter = 0;
}
// ------------------------------
}
HAL_Delay(SAMPLING_PERIOD_MS);
}
/**
* @brief Initialize the MotionFX library and configure knobs.
*/
static void initialize_motion_fx(void)
{
__HAL_RCC_CRC_CLK_ENABLE();
MotionFX_initialize((MFXState_t *)mfxstate);
// 1) Get default knobs
MotionFX_getKnobs((MFXState_t *)mfxstate, &MotionFX_knobs);
// 2) Sensor orientation from BSP
BSP_SENSOR_ACC_GetOrientation(MotionFX_knobs.acc_orientation);
BSP_SENSOR_GYR_GetOrientation(MotionFX_knobs.gyro_orientation);
BSP_SENSOR_MAG_GetOrientation(MotionFX_knobs.mag_orientation);
// 3) Bias thresholds (from UM2220)
MotionFX_knobs.gbias_acc_th_sc = GBIAS_ACC_TH_SC;
MotionFX_knobs.gbias_gyro_th_sc = GBIAS_GYRO_TH_SC;
MotionFX_knobs.gbias_mag_th_sc = GBIAS_MAG_TH_SC;
// 4) Gyro learning mode (static)
MotionFX_knobs.LMode = 1;
// 5) Decimation
MotionFX_knobs.modx = DECIMATION;
// 6) Fusion output convention (ENU) MFX_ENGINE_OUTPUT_ENU
MotionFX_knobs.output_type = MFX_ENGINE_OUTPUT_NED;
// 7) Apply knobs
MotionFX_setKnobs((MFXState_t *)mfxstate, &MotionFX_knobs);
// 8) Inform user of orientation & output type
printf("Orientations -> ACC:%s, GYR:%s, MAG:%s\r\n",
MotionFX_knobs.acc_orientation,
MotionFX_knobs.gyro_orientation,
MotionFX_knobs.mag_orientation);
printf("Fusion output type -> %s\r\n",
(MotionFX_knobs.output_type == MFX_ENGINE_OUTPUT_ENU) ? "ENU" : "NED");
// 9) Enable 9-axis fusion
MotionFX_enable_9X((MFXState_t *)mfxstate, MFX_ENGINE_ENABLE);
// 10) Magnetometer calibration init
MotionFX_MagCal_init(SAMPLING_PERIOD_MS, 1);
printf("Slowly rotate the board in a figure-8 pattern to calibrate the magnetometer.\r\n\r\n");
}
/**
* @brief Print the full fused data output and diagnostic info.
*/
static void print_full_output(void)
{
float quat_q0 = data_out.quaternion[0];
float quat_q1 = data_out.quaternion[1];
float quat_q2 = data_out.quaternion[2];
float quat_q3 = data_out.quaternion[3];
float rot_yaw = data_out.rotation[0];
float rot_pitch = data_out.rotation[1];
float rot_roll = data_out.rotation[2];
float g_x = data_out.gravity[0];
float g_y = data_out.gravity[1];
float g_z = data_out.gravity[2];
float la_x = data_out.linear_acceleration[0];
float la_y = data_out.linear_acceleration[1];
float la_z = data_out.linear_acceleration[2];
float fused_heading = data_out.heading;
// Heading only from magnetometer
MFX_MagCal_output_t mag_cal_out;
MotionFX_MagCal_getParams(&mag_cal_out);
float mag_x_cal = data_in.mag[0] - mag_cal_out.hi_bias[0];
float mag_y_cal = data_in.mag[1] - mag_cal_out.hi_bias[1];
float mag_head_rad = atan2f(mag_y_cal, mag_x_cal);
float mag_head_deg = mag_head_rad * 180.0f / M_PI;
if (mag_head_deg < 0) mag_head_deg += 360.0f;
printf("Q(%.2f,%.2f,%.2f,%.2f) R(Y:%.2f,P:%.2f,R:%.2f) G(x:%.2f,y:%.2f,z:%.2f) LA(x:%.2f,y:%.2f,z:%.2f) H_Fused:%.2f H_MagOnly:%.2f\r\n",
quat_q0, quat_q1, quat_q2, quat_q3,
rot_yaw, rot_pitch, rot_roll,
g_x, g_y, g_z,
la_x, la_y, la_z,
fused_heading, mag_head_deg);
}
/**
* @brief Print only the magnetometer calibration status.
*/
static void print_calibration_status(void)
{
MFX_MagCal_output_t mag_cal_out;
MotionFX_MagCal_getParams(&mag_cal_out);
MFX_MagCal_quality_t cal_quality = mag_cal_out.cal_quality;
char *quality_str;
switch(cal_quality)
{
case MFX_MAGCALUNKNOWN: quality_str = "UNKNOWN"; break;
case MFX_MAGCALPOOR: quality_str = "POOR"; break;
case MFX_MAGCALOK: quality_str = "OK"; break;
case MFX_MAGCALGOOD: quality_str = "GOOD"; break;
default: quality_str = "ERROR"; break;
}
// Overwrite same line in terminal
printf("Calibrating... Quality: %s \r", quality_str);
}
#ifdef __cplusplus
}
#endif
I was testing the output between ENU and NED output, here is the NED output. The board is pointing North and the Fusion Heading and direction of some axes do not match the output of MEMs studio, the output is Quaternion, Rotation, Gravity, LinearAccel and Heading.
-- STMicroelectronics MotionFX Fusion DEMO --
Orientations -> ACC:seu, GYR:seu, MAG:neu
Fusion output type -> NED
Slowly rotate the board in a figure-8 pattern to calibrate the magnetometer.
Q(0.01,-0.03,-0.85,0.52) R(Y:243.30,P:-0.57,R:3.72) G(x:0.01,y:0.06,z:1.00) LA(x:-0.00,y:-0.00,z:-0.02) H_Fused:243.30 H_MagOnly:358.91
Q(0.01,-0.03,-0.85,0.52) R(Y:243.31,P:-0.56,R:3.72) G(x:0.01,y:0.06,z:1.00) LA(x:-0.00,y:-0.00,z:-0.02) H_Fused:243.31 H_MagOnly:357.28
Q(0.01,-0.03,-0.85,0.52) R(Y:243.31,P:-0.56,R:3.74) G(x:0.01,y:0.07,z:1.00) LA(x:-0.00,y:-0.00,z:-0.02) H_Fused:243.31 H_MagOnly:357.35
ENU output is more similar to the one I get in MEMs studio:
-- STMicroelectronics MotionFX Fusion DEMO --
Orientations -> ACC:seu, GYR:seu, MAG:neu
Fusion output type -> ENU
Slowly rotate the board in a figure-8 pattern to calibrate the magnetometer.
Q(-0.03,0.01,0.87,0.49) R(Y:238.56,P:0.51,R:-3.71) G(x:0.06,y:0.01,z:-1.00) LA(x:-0.00,y:-0.00,z:0.03) H_Fused:238.56 H_MagOnly:3.37
Q(-0.03,0.01,0.87,0.49) R(Y:238.56,P:0.50,R:-3.71) G(x:0.06,y:0.01,z:-1.00) LA(x:-0.00,y:-0.00,z:0.02) H_Fused:238.56 H_MagOnly:0.67
Q(-0.03,0.01,0.87,0.49) R(Y:238.56,P:0.51,R:-3.70) G(x:0.06,y:0.01,z:-1.00) LA(x:-0.00,y:-0.00,z:0.02) H_Fused:238.56 H_MagOnly:2.74
MEMs Studio (My terminal units vs MEMs studio are different for G and LinAcc)
Why I can't get the heading correctly? Why in my output the Yaw is wrong?
What am I doing wrong?
Kind Regards
