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<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/63905cf88449b3069d9c3441/bg1.jpg"><div class="c x0 y1 w2 h0"><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h3 y3 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h3 y9 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 ya ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x3 h3 yb ff2 fs1 fc0 sc0 ls0 ws0">S<span class="_ _0"></span>o<span class="_ _0"></span>f<span class="_ _0"></span>t<span class="_ _0"></span>w<span class="_ _1"></span>a<span class="_ _0"></span>r<span class="_ _0"></span>e <span class="_ _2"></span>U<span class="_ _0"></span>s<span class="_ _0"></span>e<span class="_ _1"></span>r<span class="_ _0"></span> <span class="_ _0"></span>G<span class="_ _0"></span>u<span class="_ _0"></span>i<span class="_ _0"></span>d<span class="_ _0"></span>e<span class="_ _1"></span> </div><div class="t m0 x4 h4 yc ff1 fs2 fc0 sc0 ls0 ws0">ICM-<span class="ls1">42607</span>-P & ICM-<span class="_ _3"></span>42670-P eMD </div><div class="t m0 x5 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">May 19, 2021<span class="_ _3"></span> </div><div class="t m0 x6 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">Version 1.2<span class="_ _3"></span> </div><div class="t m0 x2 h2 yf ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y18 ff2 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y19 ff2 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y1a ff2 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y1b ff2 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y1c ff2 fs3 fc0 sc0 ls0 ws0"> </div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
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<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/63905cf88449b3069d9c3441/bg2.jpg"><div class="c x0 y1 w2 h0"><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x7 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">2 </div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y20 ff2 fs3 fc0 sc0 ls0 ws0">T<span class="fs4">ABLE OF </span>C<span class="fs4">ONTENTS</span> </div><div class="t m0 x2 h6 y21 ff1 fs0 fc0 sc0 ls2 ws0">1.<span class="fs5 ls0"> <span class="_ _4"> </span><span class="fs0">Overview <span class="_ _5"></span><span class="ls3">................................................................................................................................................<span class="ls0"> <span class="_ _6"></span>3<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x2 h6 y22 ff1 fs0 fc0 sc0 ls2 ws0">2.<span class="fs5 ls0"> <span class="_ _4"> </span><span class="fs0">Hardware Platform<span class="_ _3"></span> <span class="_ _6"></span><span class="ls3">................................................................................................................................<span class="ls0">. <span class="_ _6"></span>3<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x8 h6 y23 ff1 fs0 fc0 sc0 ls2 ws0">2.1.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">SmartMotion Platf<span class="_ _3"></span>orm Connectivity<span class="_ _3"></span> <span class="_ _8"></span><span class="ls3">...............................................................................................<span class="ls0"> <span class="_ _6"></span>3<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x9 h6 y24 ff1 fs0 fc0 sc0 ls0 ws0">2.1.1.<span class="fs5"> <span class="_ _9"> </span></span>Jumpers configuration<span class="_ _3"></span> <span class="_ _a"></span><span class="ls3">...............................................................................................................<span class="ls0"> <span class="_ _a"></span>3<span class="fs5"> </span></span></span></div><div class="t m0 x9 h6 y25 ff1 fs0 fc0 sc0 ls0 ws0">2.1.2.<span class="fs5"> <span class="_ _9"> </span></span>Daughter boards<span class="_ _3"></span><span class="ls3">........................................................................................................................</span> <span class="_ _6"></span>4<span class="fs5"> </span></div><div class="t m0 x9 h6 y26 ff1 fs0 fc0 sc0 ls0 ws0">2.1.3.<span class="fs5"> <span class="_ _9"> </span></span>Illustration of the conf<span class="_ _3"></span>iguration for SPI and I2C<span class="_ _b"></span> <span class="_ _0"></span><span class="ls3">........................................................................<span class="ls0"> <span class="_ _6"></span>4<span class="fs5"> </span></span></span></div><div class="t m0 x9 h6 y27 ff1 fs0 fc0 sc0 ls0 ws0">2.1.4.<span class="fs5"> <span class="_ _9"> </span></span>FSYNC support<span class="_ _3"></span> <span class="_ _5"></span><span class="ls3">.........................................................................................................................<span class="ls0"> <span class="_ _6"></span>5<span class="fs5"> </span></span></span></div><div class="t m0 x9 h6 y28 ff1 fs0 fc0 sc0 ls0 ws0">2.1.5.<span class="fs5"> <span class="_ _9"> </span></span>Getting traces on the S<span class="_ _3"></span>martMotion platform<span class="_ _3"></span> <span class="_ _2"></span><span class="ls3">................................<span class="_ _3"></span>.............................................<span class="ls0"> <span class="_ _a"></span>6<span class="fs5"> </span></span></span></div><div class="t m0 x2 h6 y29 ff1 fs0 fc0 sc0 ls2 ws0">3.<span class="fs5 ls0"> <span class="_ _4"> </span><span class="fs0">Software Environme<span class="_ _3"></span>nt<span class="ls3">............................................................................................................................</span> <span class="_ _6"></span>6<span class="fs5"> </span></span></span></div><div class="t m0 x8 h6 y2a ff1 fs0 fc0 sc0 ls2 ws0">3.1.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Prerequisite<span class="_ _3"></span> <span class="_ _5"></span><span class="ls3">...................................................................................................................................<span class="ls0"> <span class="_ _a"></span>6<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x8 h6 y2b ff1 fs0 fc0 sc0 ls2 ws0">3.2.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Package Descript<span class="_ _3"></span>ion <span class="_ _2"></span><span class="ls3">.....................................................................................................................<span class="ls0"> <span class="_ _6"></span>7<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x8 h6 y2c ff1 fs0 fc0 sc0 ls2 ws0">3.3.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Flashing Binaries<span class="_ _3"></span> <span class="_ _8"></span><span class="ls3">...........................................................................................................................<span class="ls0"> <span class="_ _a"></span>7<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x8 h6 y2d ff1 fs0 fc0 sc0 ls2 ws0">3.4.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Opening examples pr<span class="_ _3"></span>ojects<span class="_ _3"></span> <span class="_ _c"></span><span class="ls3">...........................................................................................................<span class="ls0"> <span class="_ _a"></span>8<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x2 h6 y2e ff1 fs0 fc0 sc0 ls2 ws0">4.<span class="fs5 ls0"> <span class="_ _4"> </span><span class="fs0">Example applications<span class="_ _3"></span> <span class="_ _a"></span><span class="ls3">.............................................................................................................................<span class="ls0"> <span class="_ _6"></span>9<span class="fs5"> </span></span></span></span></span></div><div class="t m0 x8 h6 y2f ff1 fs0 fc0 sc0 ls2 ws0">4.1.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Commonalities<span class="_ _3"></span><span class="ls3">...............................................................................................................................</span> <span class="_ _6"></span>9<span class="fs5"> </span></span></span></div><div class="t m0 x9 h6 y30 ff1 fs0 fc0 sc0 ls0 ws0">4.1.1.<span class="fs5"> <span class="_ _9"> </span></span>Interfaces <span class="_ _8"></span><span class="ls3">...................................................................................................................................<span class="ls0"> <span class="_ _a"></span>9<span class="fs5"> </span></span></span></div><div class="t m0 x9 h6 y31 ff1 fs0 fc0 sc0 ls0 ws0">4.1.2.<span class="fs5"> <span class="_ _9"> </span></span>DMP configuration<span class="_ _3"></span> <span class="_ _8"></span><span class="ls3">...................................................................................................................<span class="ls0"> <span class="_ _a"></span><span class="ls2">10<span class="_ _3"></span><span class="fs5 ls0"> </span></span></span></span></div><div class="t m0 x8 h6 y32 ff1 fs0 fc0 sc0 ls2 ws0">4.2.<span class="fs5 ls0"> <span class="_ _7"> </span></span><span class="ls4">Alg<span class="ls0">o Examp<span class="_ _3"></span>le <span class="_ _5"></span><span class="ls3">..............................................................................................................................<span class="ls0"> <span class="_ _a"></span><span class="ls2">10<span class="_ _3"></span><span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y33 ff1 fs0 fc0 sc0 ls2 ws0">4.3.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">EIS Example<span class="_ _3"></span><span class="ls3">................................................................................................................................</span> <span class="_ _a"></span><span class="ls2">14<span class="_ _3"></span><span class="fs5 ls0"> </span></span></span></span></div><div class="t m0 x8 h6 y34 ff1 fs0 fc0 sc0 ls2 ws0">4.4.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Pedometer Examp<span class="_ _3"></span>le <span class="_ _8"></span><span class="ls3">....................................................................................................................<span class="ls0"> <span class="_ _a"></span><span class="ls2">16<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y35 ff1 fs0 fc0 sc0 ls2 ws0">4.5.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Raw Example <span class="_ _5"></span><span class="ls3">................................<span class="_ _3"></span>..............................................................................................<span class="ls0"> <span class="_ _a"></span><span class="ls2">18<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y36 ff1 fs0 fc0 sc0 ls2 ws0">4.6.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Sanity Example<span class="_ _3"></span> <span class="_ _2"></span><span class="ls3">...........................................................................................................................<span class="_ _3"></span><span class="ls0"> <span class="_ _a"></span><span class="ls2">20<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y37 ff1 fs0 fc0 sc0 ls2 ws0">4.1.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Self-test Example<span class="_ _3"></span> <span class="_ _6"></span><span class="ls3">........................................................................................................................<span class="_ _3"></span><span class="ls0"> <span class="_ _a"></span><span class="ls2">20<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y38 ff1 fs0 fc0 sc0 ls2 ws0">4.2.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">SMD Example<span class="_ _3"></span> <span class="_ _2"></span><span class="ls3">.............................................................................................................................<span class="_ _3"></span><span class="ls0"> <span class="_ _a"></span><span class="ls2">21<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y39 ff1 fs0 fc0 sc0 ls2 ws0">4.3.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Tilt Example <span class="_ _c"></span><span class="ls3">................................................................................................................................<span class="_ _3"></span><span class="ls0">. <span class="_ _a"></span><span class="ls2">22<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y3a ff1 fs0 fc0 sc0 ls2 ws0">4.4.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">WOM Example <span class="_ _5"></span><span class="ls3">................................<span class="_ _3"></span>............................................................................................<span class="ls0"> <span class="_ _a"></span><span class="ls2">23<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x8 h6 y3b ff1 fs0 fc0 sc0 ls2 ws0">4.1.<span class="fs5 ls0"> <span class="_ _7"> </span><span class="fs0">Freefall Example<span class="_ _3"></span> <span class="_ _2"></span><span class="ls3">.........................................................................................................................<span class="ls0"> <span class="_ _6"></span><span class="ls2">23<span class="fs5 ls0"> </span></span></span></span></span></span></div><div class="t m0 x2 h2 y3c ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y3d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0"> </div></div><a class="l" rel='nofollow' onclick='return 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<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/63905cf88449b3069d9c3441/bg3.jpg"><div class="c x0 y1 w2 h0"><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x7 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">3 </div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y20 ff2 fs3 fc0 sc0 ls5 ws0">1.<span class="ls0"> <span class="_ _d"></span>O<span class="fs4">VERVIEW</span> </span></div><div class="t m0 x2 h7 y21 ff1 fs0 fc0 sc0 ls0 ws0">The purpose of this docu<span class="_ _3"></span>ment is to gui<span class="_ _3"></span>de you through the eMD <span class="_ _3"></span>(<span class="ff2">e<span class="_ _3"></span></span>mbedded <span class="ff2">M<span class="_ _3"></span></span>otion <span class="ff2">D</span>river) sol<span class="_ _3"></span>ution. The </div><div class="t m0 x2 h2 y3f ff1 fs0 fc0 sc0 ls0 ws0">software package cons<span class="_ _3"></span>ists <span class="_ _3"></span><span class="ls2">of</span> the driver code f<span class="_ _3"></span>or the IMU as we<span class="_ _3"></span>ll as a set of samples<span class="_ _3"></span> to showcase how to </div><div class="t m0 x2 h2 y40 ff1 fs0 fc0 sc0 ls0 ws0">exercise the main feat<span class="_ _3"></span>ures.<span class="_ _3"></span> These samples are des<span class="_ _3"></span>ign<span class="_ _3"></span>ed for the ATSAMG55J19 <span class="_ _3"></span>microcontroller from </div><div class="t m0 x2 h2 y41 ff1 fs0 fc0 sc0 ls0 ws0">Microchip. The supported <span class="_ _3"></span>development e<span class="_ _3"></span>nvironment is Atmel <span class="_ _3"></span>Studio 7.0.<span class="_ _b"></span> </div><div class="t m0 x2 h2 y42 ff1 fs0 fc0 sc0 ls0 ws0">This document will <span class="_ _3"></span>cover the hardw<span class="_ _3"></span>are specificities<span class="_ _3"></span><span class="ls3">, </span>the required so<span class="_ _3"></span>ftware tools<span class="_ _3"></span> and will details eac<span class="_ _3"></span>h </div><div class="t m0 x2 h2 y43 ff1 fs0 fc0 sc0 ls0 ws0">sample. </div><div class="t m0 x2 h2 y44 ff1 fs0 fc0 sc0 ls0 ws0">This document will not<span class="_ _3"></span> cover the <span class="_ _3"></span>driver implementati<span class="_ _3"></span>on details.<span class="_ _3"></span> </div><div class="t m0 x2 h2 y45 ff1 fs0 fc0 sc0 ls0 ws0">The IMU includes <span class="_ _3"></span><span class="ls2">an </span>acceleromet<span class="_ _3"></span>er and a gy<span class="_ _3"></span>roscope. It supports<span class="_ _3"></span> SPI (3 and 4 wir<span class="_ _3"></span>e) and I2C interface.<span class="_ _3"></span> </div><div class="t m0 x2 h2 y46 ff1 fs0 fc0 sc0 ls0 ws0">However, the SmartMot<span class="_ _3"></span>ion <span class="ff3">plat<span class="_ _3"></span>form doesn’t support <span class="_ _3"></span>SPI</span>-3w<span class="_ _3"></span>ire and thus, only SPI<span class="_ _3"></span>-4wire is de<span class="_ _3"></span>monstrated.<span class="_ _3"></span> </div><div class="t m0 x2 h5 y47 ff2 fs3 fc0 sc0 ls5 ws0">2.<span class="ls0"> <span class="_ _d"></span>H<span class="fs4">ARDWARE </span>P<span class="fs4">LATFORM</span> </span></div><div class="t m0 x2 h2 y48 ff1 fs0 fc0 sc0 ls0 ws0">The hardware pl<span class="_ _3"></span>atform consists<span class="_ _3"></span> <span class="ls2">of</span> the following c<span class="_ _3"></span>omponents:<span class="_ _3"></span> </div><div class="t m0 xa h8 y49 ff4 fs0 fc0 sc0 ls0 ws0">-<span class="ff1"> <span class="_ _e"> </span>SmartMotion Platform w<span class="_ _3"></span>ith Atmel <span class="_ _3"></span>SAMG55J19 MCU<span class="_ _3"></span> </span></div><div class="t m0 xa h8 y4a ff4 fs0 fc0 sc0 ls0 ws0">-<span class="ff1"> <span class="_ _e"> </span>TDK-Invensense s<span class="_ _3"></span>ensor Daughter Boards (<span class="_ _3"></span>aka DB) for <span class="_ _3"></span><span class="ls3">IMU</span> 6-axis se<span class="_ _3"></span>nsors </span></div><div class="t m0 xa h8 y4b ff4 fs0 fc0 sc0 ls0 ws0">-<span class="ff1"> <span class="_ _e"> </span>Optionally, sensor Daug<span class="_ _3"></span>hter Boards for AK09<span class="_ _3"></span>915 magnetometer<span class="_ _b"></span> </span></div><div class="t m0 x8 h9 y4c ff2 fs6 fc0 sc0 ls0 ws0">2.1. S<span class="fs5">MART</span>M<span class="fs5">OTION </span>P<span class="fs5">LA<span class="_ _1"></span>TFORM <span class="fs6">C</span>ONNEC<span class="_ _0"></span>TIVITY<span class="fs6"> </span></span></div><div class="t m0 x2 h2 y4d ff1 fs0 fc0 sc0 ls0 ws0">The SmartMotion platform<span class="_ _3"></span> is powered by <span class="_ _3"></span>its micro U<span class="_ _3"></span>SB connectors<span class="_ _3"></span> (EDBG USB or FT<span class="_ _3"></span>DI USB). Please </div><div class="t m0 x2 h2 y4e ff1 fs0 fc0 sc0 ls0 ws0">connect a micro-U<span class="_ _3"></span>SB cable to your co<span class="_ _3"></span>mputer. In this d<span class="_ _3"></span>emo software, bot<span class="_ _3"></span>h USB connector will b<span class="_ _3"></span>e used, </div><div class="t m0 x2 h2 y4f ff1 fs0 fc0 sc0 ls0 ws0">therefore, we recom<span class="_ _3"></span>mend connecting both to<span class="_ _3"></span> your computer.<span class="_ _3"></span> </div><div class="t m0 xb ha y50 ff2 fs7 fc0 sc0 ls0 ws0">2.1.1. <span class="_ _f"> </span>Jumpers configuration </div><div class="t m0 x2 h7 y51 ff2 fs0 fc0 sc0 ls2 ws0">J1<span class="ff1 ls0"> is used to selec<span class="_ _3"></span>t the source of the pow<span class="_ _3"></span>er. Using FT<span class="_ _3"></span>DI is recommended:<span class="_ _b"></span> </span></div></div><div class="c xc y52 w3 hb"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Pins </div></div><div class="c xe y52 w4 hb"><div class="t m0 xf h7 y53 ff2 fs0 fc0 sc0 ls2 ws0">J1 <span class="ls0">(PWR)<span class="_ _3"></span> </span></div></div><div class="c xc y54 w3 hb"><div class="t m0 x10 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">1 and 2 (BAT) </div></div><div class="c xe y54 w4 hb"><div class="t m0 x10 h7 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open<span class="ff2"> </span></div></div><div class="c xc y55 w3 hc"><div class="t m0 x11 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">3 and 4 (EDBG)<span class="_ _3"></span> </div></div><div class="c xe y55 w4 hc"><div class="t m0 x10 h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c xc y56 w3 hb"><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">5 and 6 (FTDI)<span class="_ _3"></span> </div></div><div class="c xe y56 w4 hb"><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short </div></div><div class="c xc y57 w3 hb"><div class="t m0 xf h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">7 and 8 (TARGET)<span class="_ _3"></span> </div></div><div class="c xe y57 w4 hb"><div class="t m0 x10 h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x0 y1 w2 h0"><div class="t m0 x2 h2 y58 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h7 y59 ff2 fs0 fc0 sc0 ls2 ws0">J3<span class="ff1 ls0"> is used to conf<span class="_ _3"></span>igure the FTDI comm<span class="_ _3"></span>unication. Clos<span class="_ _3"></span>e all jumpers to enabl<span class="_ _3"></span>e FTDI and RTS/CTS:<span class="_ _b"></span> </span></div></div><div class="c xc y5a w3 hb"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Pins </div></div><div class="c xe y5a w4 hb"><div class="t m0 x13 h7 y53 ff2 fs0 fc0 sc0 ls2 ws0">J3<span class="ls0"> </span></div></div><div class="c xc y5b w3 hb"><div class="t m0 x14 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">1 and 2 </div></div><div class="c xe y5b w4 hb"><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short </div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/63905cf88449b3069d9c3441/bg4.jpg"><div class="c x0 y1 w2 h0"><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x7 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">4 </div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0"> </div></div><div class="c xc y5c w3 hb"><div class="t m0 x14 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">3 and 4 </div></div><div class="c xe y5c w4 hb"><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c xc y5d w3 hb"><div class="t m0 x14 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">5 and 6 </div></div><div class="c xe y5d w4 hb"><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c xc y5e w3 hb"><div class="t m0 x14 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">7 and 8 </div></div><div class="c xe y5e w4 hb"><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x0 y1 w2 h0"><div class="t m0 x2 h2 y5f ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h7 y60 ff2 fs0 fc0 sc0 ls2 ws0">J2 <span class="ff1 ls0">is used to selec<span class="_ _3"></span>t the interface use<span class="_ _3"></span>d to com<span class="_ _3"></span>municate with s<span class="_ _3"></span>ensors. When using t<span class="_ _3"></span>he ICM in SPI mode, </span></div><div class="t m0 x2 h2 y61 ff1 fs0 fc0 sc0 ls0 ws0">the auxiliary sensor (<span class="_ _3"></span>magnetometer<span class="ff3">)<span class="_ _3"></span> will use the “<span class="_ _3"></span>AUX</span>-<span class="ff3">SCL” and “AUX<span class="_ _3"></span></span>-<span class="ff3">SDA” line<span class="_ _3"></span>s. When using the ICM </span></div><div class="t m0 x2 h2 y62 ff1 fs0 fc0 sc0 ls0 ws0">in I2C mode, it will us<span class="_ _3"></span>e the <span class="ff3">“SDA” a<span class="_ _3"></span>nd “SCL” lines:<span class="_ _3"></span></span> </div></div><div class="c x15 y63 w5 hd"><div class="t m0 x16 h7 y64 ff2 fs0 fc0 sc0 ls0 ws0">Pins </div></div><div class="c x17 y63 w6 hd"><div class="t m0 x18 h7 y64 ff2 fs0 fc0 sc0 ls2 ws0">J2 <span class="ls0"> </span></div><div class="t m0 xf h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">ICM in SPI </div></div><div class="c x19 y63 w7 hd"><div class="t m0 x18 h7 y64 ff2 fs0 fc0 sc0 ls2 ws0">J2<span class="ls0"> </span></div><div class="t m0 xf h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">ICM in I2C </div></div><div class="c x15 y65 w5 he"><div class="t m0 x13 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">1 and 2 (SDA)<span class="_ _3"></span> </div></div><div class="c x17 y65 w6 he"><div class="t m0 x1a h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x19 y65 w7 he"><div class="t m0 x1b h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x15 y66 w5 hb"><div class="t m0 x13 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">3 and 4 (SCL)<span class="_ _3"></span> </div></div><div class="c x17 y66 w6 hb"><div class="t m0 x1a h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x19 y66 w7 hb"><div class="t m0 x1b h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x15 y67 w5 hc"><div class="t m0 x1c h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">5 and 6 (AUX-S<span class="_ _3"></span>CL) </div></div><div class="c x17 y67 w6 hc"><div class="t m0 x1b h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x19 y67 w7 hc"><div class="t m0 x1a h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x15 y68 w5 hb"><div class="t m0 x1c h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">7 and 8 (AUX-S<span class="_ _3"></span>DA) </div></div><div class="c x17 y68 w6 hb"><div class="t m0 x1b h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x19 y68 w7 hb"><div class="t m0 x1a h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x0 y1 w2 h0"><div class="t m0 x2 h7 y69 ff2 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h7 y6a ff2 fs0 fc0 sc0 ls2 ws0">J7 <span class="ff1 ls0">is used to com<span class="_ _3"></span>municate with the Dau<span class="_ _3"></span>ghter Board. Close <span class="_ _3"></span>it when using the ICM<span class="_ _3"></span> in SPI mode:<span class="_ _b"></span> </span></div></div><div class="c x15 y6b w5 hd"><div class="t m0 x16 h7 y64 ff2 fs0 fc0 sc0 ls0 ws0">Pins </div></div><div class="c x17 y6b w6 hd"><div class="t m0 x18 h7 y64 ff2 fs0 fc0 sc0 ls2 ws0">J7 <span class="ls0"> </span></div><div class="t m0 xf h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">ICM in SPI </div></div><div class="c x19 y6b w7 hd"><div class="t m0 x18 h7 y64 ff2 fs0 fc0 sc0 ls2 ws0">J7<span class="ls0"> </span></div><div class="t m0 xf h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">ICM in I2C </div></div><div class="c x15 y6c w5 hb"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">1 and 2 </div></div><div class="c x17 y6c w6 hb"><div class="t m0 x1b h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x19 y6c w7 hb"><div class="t m0 x1a h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x0 y1 w2 h0"><div class="t m0 x2 h2 y6d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h7 y6e ff1 fs0 fc0 sc0 ls0 ws0">On the magnetome<span class="_ _3"></span>ter daughter board, t<span class="_ _3"></span>he jumper <span class="ff2 ls6">J1</span> is used t<span class="_ _3"></span>o select how it com<span class="_ _3"></span>municates with the </div><div class="t m0 x2 h2 y6f ff1 fs0 fc0 sc0 ls0 ws0">MCU (aux interface or re<span class="_ _3"></span>gular interface). <span class="_ _3"></span>When the ICM is i<span class="_ _3"></span>n SPI mode, it uses t<span class="_ _3"></span>he auxiliary interfac<span class="_ _3"></span>e, </div><div class="t m0 x2 h2 y70 ff1 fs0 fc0 sc0 ls0 ws0">whereas when ICM <span class="_ _3"></span>is in I2C mode, it uses t<span class="_ _3"></span>he regular in<span class="_ _3"></span>terface:<span class="_ _3"></span> </div></div><div class="c x1d y71 w8 hf"><div class="t m0 x16 h7 y64 ff2 fs0 fc0 sc0 ls0 ws0">Pins </div></div><div class="c x1e y71 w9 hf"><div class="t m0 xf h7 y64 ff2 fs0 fc0 sc0 ls0 ws0">J1 (AKM DB) <span class="_ _3"></span> </div><div class="t m0 x1f h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">ICM in SPI </div></div><div class="c x20 y71 wa hf"><div class="t m0 x21 h7 y64 ff2 fs0 fc0 sc0 ls0 ws0">J1 (AKM DB)<span class="_ _3"></span> </div><div class="t m0 x12 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">ICM in I2C </div></div><div class="c x1d y72 w8 hb"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">1 and 2 </div></div><div class="c x1e y72 w9 hb"><div class="t m0 x22 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x20 y72 wa hb"><div class="t m0 x23 h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x1d y73 w8 hb"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">3 and 4 </div></div><div class="c x1e y73 w9 hb"><div class="t m0 x22 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x20 y73 wa hb"><div class="t m0 x23 h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x1d y74 w8 hb"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">5 and 6 </div></div><div class="c x1e y74 w9 hb"><div class="t m0 x18 h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x20 y74 wa hb"><div class="t m0 x24 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x1d y75 w8 h10"><div class="t m0 xd h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">7 and 8 </div></div><div class="c x1e y75 w9 h10"><div class="t m0 x18 h2 y53 ff1 fs0 fc1 sc0 ls0 ws0">Open </div></div><div class="c x20 y75 wa h10"><div class="t m0 x24 h7 y53 ff2 fs0 fc0 sc0 ls0 ws0">Short<span class="ff1"> </span></div></div><div class="c x0 y1 w2 h0"><div class="t m0 xb ha y16 ff2 fs7 fc0 sc0 ls0 ws0">2.1.2. <span class="_ _f"> </span>Daughter boards </div><div class="t m0 x2 h2 y76 ff1 fs0 fc0 sc0 ls0 ws0">Daughter boards mus<span class="_ _3"></span>t be connected on:<span class="_ _3"></span> </div><div class="t m0 xb h11 y77 ff5 fs0 fc0 sc0 ls0 ws0">•<span class="ff1"> <span class="_ _10"> </span><span class="ff3">“<span class="ff6">TDK Sensor DB</span>”<span class="_ _3"></span> slot of the ICM</span>:<span class="ff6"> </span>TDK s<span class="_ _3"></span>ensor DB CN<span class="_ _3"></span>1 on SmartMotio<span class="_ _3"></span>n CN5<span class="_ _3"></span> </span></div><div class="t m0 xb h2 y78 ff5 fs0 fc0 sc0 ls0 ws0">•<span class="ff1"> <span class="_ _10"> </span><span class="ff3">“Other Sensor DB” sl<span class="_ _3"></span>ot of the magneto<span class="_ _3"></span>meter</span>: A<span class="_ _3"></span>KM DB CN1 on Smart<span class="_ _3"></span>Motion CN3<span class="_ _3"></span> </span></div><div class="t m0 xb ha y79 ff2 fs7 fc0 sc0 ls0 ws0">2.1.3. <span class="_ _f"> </span>Illustration of the configuration for SPI and I2C </div><div class="t m0 x2 h7 y7a ff1 fs0 fc0 sc0 ls0 ws0">Platform configuration wh<span class="_ _3"></span>en commun<span class="_ _3"></span>icating with ICM through <span class="_ _3"></span><span class="ff2 fc2">S<span class="_ _3"></span>PI</span>: </div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/63905cf88449b3069d9c3441/bg5.jpg"><div class="c x0 y1 w2 h0"><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x7 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">5 </div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x25 h2 y7b ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h7 y7c ff1 fs0 fc0 sc0 ls0 ws0">Platform configuration wh<span class="_ _3"></span>en commun<span class="_ _3"></span>icating with ICM through <span class="_ _3"></span><span class="ff2 fc3 ls3">I2C<span class="_ _3"></span></span>: </div><div class="t m0 x26 h2 y7d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 xb ha y7e ff2 fs7 fc0 sc0 ls0 ws0">2.1.4. <span class="_ _f"> </span>FSYNC support </div><div class="t m0 x2 h2 y7f ff1 fs0 fc0 sc0 ls0 ws0">The IMU has a dedicat<span class="_ _3"></span>ed FSYNC pin allowi<span class="_ _3"></span>ng accel and gyro sa<span class="_ _3"></span>mples to be tagged bas<span class="_ _3"></span>ed on an external </div><div class="t m0 x2 h2 y80 ff1 fs0 fc0 sc0 ls0 ws0">signal. In this softwar<span class="_ _3"></span>e, for demo purpos<span class="_ _3"></span>e, the external<span class="_ _3"></span> signal will be generated <span class="_ _3"></span>by the MCU. However, </div><div class="t m0 x2 h2 y81 ff3 fs0 fc0 sc0 ls0 ws0">the MCU’s output p<span class="_ _3"></span>in is not routed up <span class="_ _3"></span>to the<span class="ff1"> IC<span class="_ _3"></span>M device. A <span class="_ _3"></span>hardware bridge n<span class="_ _3"></span>eeds to be soldered <span class="_ _3"></span>on the </span></div><div class="t m0 x2 h2 y82 ff1 fs0 fc0 sc0 ls0 ws0">SmartMotion board<span class="_ _3"></span>s: </div><div class="t m0 xa h2 y83 ff5 fs0 fc0 sc0 ls0 ws0">•<span class="ff1"> <span class="_ _10"> </span>Solder a wire from J2<span class="_ _3"></span>00 PA29 to CN5 pi<span class="_ _3"></span>n 1 if us<span class="_ _3"></span>ing a DB </span></div><div class="t m0 xa h2 y84 ff5 fs0 fc0 sc0 ls0 ws0">•<span class="ff1"> <span class="_ _10"> </span>Solder a wire from J2<span class="_ _3"></span>00 PA29 <span class="ls3">to<span class="_ _3"></span></span> CN1 pin 17 if usin<span class="_ _3"></span>g an EVB </span></div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
