UM2142

User manual

Getting started with the X-CUBE-MEMS-XT1 sensor and DSP algorithm software
expansion for STM32Cube

Introduction
As well as the on-board sensors supported by the X-CUBE-MEMS1 expansion software package for STM32Cube, the extended
X-CUBE-MEMS-XT1 version also supports devices connected via the DIL24 socket.
X-CUBE-MEMS-XT1 runs on the STM32 and includes drivers that recognize the sensors and collect temperature, humidity,
pressure and motion data from the A3G4250D, AIS328DQ, AIS3624DQ, H3LIS331DL, HTS221, IIS2DLPC, IIS2MDC,
ISM303DAC, ISM330DLC, LIS2DH12, LIS2DW12, LIS2MDL, LIS3MDL, LPS22HB, LPS22HH, LPS25HB, LPS33HW,
LSM303AGR, LSM6DS0, LSM6DS3, LSM6DSL, LSM6DSO, LSM6DSR devices.
The expansion is built on STM32Cube software technology to ease portability across different STM32 microcontrollers. The
software comes with sample implementations of the drivers running on an X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2
expansion board connected to a NUCLEO-F401RE or NUCLEO-L476RG development board.

UM2142 - Rev 5 - September 2018 www.st.com

For further information contact your local STMicroelectronics sales office.
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1 What is STM32Cube?

1.1 What is STM32Cube?

STM32Cube™ represents the STMicroelectronics initiative to make developers’ lives easier by reducing
development effort, time and cost. STM32Cube covers the STM32 portfolio.
STM32Cube version 1.x includes:
• STM32CubeMX, a graphical software configuration tool that allows the generation of C initialization code
using graphical wizards.
• A comprehensive embedded software platform specific to each series (such as the STM32CubeF4 for the
STM32F4 series), which includes:
– the STM32Cube HAL embedded abstraction-layer software, ensuring maximized portability across the
STM32 portfolio
– a consistent set of middleware components such as RTOS, USB, TCP/IP and graphics
– all embedded software utilities with a full set of examples

1.2 STM32Cube architecture

The STM32Cube firmware solution is built around three independent levels that can easily interact with one
another, as described in the diagram below.

Figure 1. Firmware architecture

Level 0: This level is divided into three sub-layers:

• Board Support Package (BSP): this layer offers a set of APIs relative to the hardware components in the
hardware boards (Audio codec, IO expander, Touchscreen, SRAM driver, LCD drivers. etc…); it is based on

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STM32Cube architecture

modular architecture allowing it to be easily ported on any hardware by just implementing the low level
routines. It is composed of two parts:
– Component: is the driver relative to the external device on the board and not related to the STM32, the
component driver provides specific APIs to the external components of the BSP driver, and can be
ported on any other board.
– BSP driver: links the component driver to a specific board and provides a set of easy to use APIs. The
API naming convention is BSP_FUNCT_Action(): e.g., BSP_LED_Init(), BSP_LED_On().
• Hardware Abstraction Layer (HAL): this layer provides the low level drivers and the hardware interfacing
methods to interact with the upper layers (application, libraries and stacks). It provides generic, multi-
instance and function-oriented APIs to help offload user application development time by providing ready to
use processes. For example, for the communication peripherals (I²C, UART, etc.) it provides APIs for
peripheral initialization and configuration, data transfer management based on polling, interrupt or DMA
processes, and communication error management. The HAL Drivers APIs are split in two categories: generic
APIs providing common, generic functions to all the STM32 series and extension APIs which provide
special, customized functions for a specific family or a specific part number.
• Basic peripheral usage examples: this layer houses the examples built around the STM32 peripherals using
the HAL and BSP resources only.
Level 1: This level is divided into two sub-layers:
• Middleware components: set of libraries covering USB Host and Device Libraries, STemWin, FreeRTOS,
FatFS, LwIP, and PolarSSL. Horizontal interaction among the components in this layer is performed directly
by calling the feature APIs, while vertical interaction with low-level drivers is managed by specific callbacks
and static macros implemented in the library system call interface. For example, FatFs implements the disk
I/O driver to access a microSD drive or USB Mass Storage Class.
• Examples based on the middleware components: each middleware component comes with one or more
examples (or applications) showing how to use it. Integration examples that use several middleware
components are provided as well.
Level 2: This level is a single layer with a global, real-time and graphical demonstration based on the middleware
service layer, the low level abstraction layer and basic peripheral usage applications for board-based functions.

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2 X-CUBE-MEMS-XT1 software expansion for STM32Cube

2.1 Overview
The X-CUBE-MEMS-XT1 software package expands STM32Cube functionality.
The key features are:
• Complete software to build applications using temperature and humidity sensors (HTS221 for both X-
NUCLEO-IKS01A1 and X-NUCLEO-IKS01A2), pressure sensor (LPS25HB for X-NUCLEO-IKS01A1 and
LPS22HB for X-NUCLEO-IKS01A2) and motion sensors (LIS3MDL and LSM6DS0 for X-NUCLEO-IKS01A1
and LSM303AGR and LSM6DSL for X-NUCLEO-IKS01A2), as per X-CUBE-MEMS1
• In addition, the following sensors available through the DIL24 adapter are supported: pressure sensor
(LPS22HB for X-NUCLEO-IKS01A1; LPS22HH and LPS33HW for X-NUCLEO-IKS01A2) and motion
sensors (LSM6DS3, LSM6DSL and LSM303AGR for X-NUCLEO-IKS01A1; H3LIS331DL, LIS2MDL,
LIS2DH12 and LIS2DW12 for both X-NUCLEO-IKS01A1 and X-NUCLEO-IKS01A2; A3G4250D, AIS328DQ,
AIS3624DQ, IIS2MDC, ISM303DAC, ISM330DLC, IIS2DLPC, LSM6DSO and LSM6DSR for X-NUCLEO-
IKS01A2)
• Easy portability across different MCU families thanks to STM32Cube
• Free user-friendly license terms
• Three sample implementations to transmit real time sensor data to a PC including the Unicleo-GUI
application and terminal application support
• Integrated Fast Fourier Transform (FFT) algorithm for vibration analysis
• Signal processing (MotionSP) middleware for vibration analysis in time and frequency domain
• Sample implementation of extended features like FIFO usage, detection of 6D orientation, free-fall,
pedometer, single/double tap, tilt, wake-up, sensor hub and self-test
This software gathers temperature, humidity, pressure and motion sensor drivers for the A3G4250D, AIS328DQ,
AIS3624DQ, H3LIS331DL, HTS221, IIS2DLPC, IIS2MDC, ISM303DAC, ISM330DLC, LIS2DH12, LIS2DW12,
LIS2MDL, LIS3MDL, LPS22HB, LPS22HH, LPS25HB, LPS33HW, LSM303AGR, LSM6DS0, LSM6DS3,
LSM6DSL, LSM6DSO and LSM6DSR devices running on STM32 Nucleo.
The package contains DataLogCustomFreeFall6D, DataLogCustomLite and DataLogExtended sample
applications that enable sensor data logging on a PC; just visit www.st.com and download the Unicleo-GUI
application and the associated documentation.
With this utility, you can choose between various sensors available on the STM32 Nucleo expansion board and
the sensor data can be viewed in plots and logged in a user selected file.

Table 1. X-CUBE-MEMS-XT1 sensor support and availability

Availability on X- Availability on X-
Sensor name Sensor type
NUCLEO-IKS01A1 NUCLEO-IKS01A2

LPS25HB ON-BOARD N/A Pressure + Temperature

LPS22HB DIL24 ON-BOARD Pressure + Temperature
LPS22HH N/A DIL24 Pressure + Temperature
LPS33HW N/A DIL24 Pressure + Temperature
HTS221 ON-BOARD ON-BOARD Humidity + Temperature
LSM6DS0 ON-BOARD N/A Accelerometer + Gyroscope
LSM6DS3 DIL24 N/A Accelerometer + Gyroscope
LSM6DSL DIL24 ON-BOARD Accelerometer + Gyroscope
LSMDSO N/A DIL24 Accelerometer + Gyroscope
LSM6DSR N/A DIL24 Accelerometer + Gyroscope

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Architecture

Availability on X- Availability on X-
Sensor name Sensor type
NUCLEO-IKS01A1 NUCLEO-IKS01A2

ISM330DLC N/A DIL24 Accelerometer + Gyroscope

LIS2DH12 DIL24 DIL24 Accelerometer
LIS2DW12 DIL24 DIL24 Accelerometer
H3LIS331DL DIL24 DIL24 Accelerometer
AIS328DQ N/A DIL24 Accelerometer
AIS3624DQ N/A DIL24 Accelerometer
IIS2DLPC N/A DIL24 Accelerometer
LSM303AGR DIL24 ON-BOARD Accelerometer + Magnetometer
ISM303DAC N/A DIL24 Accelerometer + Magnetometer
LIS2MDL DIL24 DIL24 Magnetometer
LIS3MDL ON-BOARD N/A Magnetometer
IIS2MDC N/A DIL24 Magnetometer
A3G4250D N/A DIL24 Gyroscope

Note: See Section 3.3.3.2 How to use LSM303AGR or LIS2MDL together with LIS3MDL on X-NUCLEO-IKS01A1,
Section 3.3.3.3 How to use the LIS2MDL, IIS2MDC or ISM303DAC magnetometers on an X-NUCLEO-IKS01A2
expansion board and Section 3.3.3.4 How to use LPS22HH, LSM6DSO or LSM6DSR on an X-NUCLEO-
IKS01A2 expansion board.

2.2 Architecture
This software is a fully compliant expansion for STM32Cube, enabling development of applications using inertial
and environmental sensors.
The software is based on the hardware abstraction layer for the STM32 microcontroller, STM32CubeHAL. The
package extends STM32Cube by providing a Board Support Package (BSP) for the sensor expansion board and
a sample application for serial communication with a PC.
The software layers used by the application software to access the sensor expansion board are:
• STM32Cube HAL layer: consists of simple, generic and multi-instance set of APIs (application
programming interfaces) which interact with the upper layer applications, libraries and stacks. These generic
and extension APIs are based on a common framework so that overlying layers like middleware can function
without requiring specific microcontroller unit (MCU) hardware information. This structure improves library
code reusability and guarantees easy portability across other devices.
• Board Support Package (BSP) layer: provides software support for the STM32 Nucleo board peripherals,
excluding the MCU. These specific APIs provide a programming interface for certain board specific
peripherals like LEDs, user buttons, etc., and can also be used to fetch individual board version information.
It also provides support for initializing, configuring and reading data.

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Folder structure

Figure 2. X-CUBE-MEMS-XT1 software architecture

2.3 Folder structure

Figure 3. X-CUBE-MEMS-XT1 package folder structure

The following folders are included in the software package:

• _htmresc: contains resource files for Release_Notes.html.
• Documentation: contains a compiled HTML file detailing the software components and APIs.
• Drivers: contains the HAL drivers, the board specific drivers for each supported board or hardware platform
(including the on-board components) and the CMSIS vendor-independent hardware abstraction layer for the
Cortex-M processor series.
• Projects: contains a sample application to access sensor data using the NUCLEO-L476RG and NUCLEO-
F401RE development boards for the IAR Embedded Workbench for ARM, RealView Microcontroller
Development Kit (MDK-ARM) and SW4STM32 System Workbench for STM32 integrated development
environments.
• Utilities: contains the link to Unicleo-GUI PC application necessary for all DataLog-based sample
applications.

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APIs

2.4 APIs
Full function and parameter descriptions for the user APIs can be found in a the compiled
X_CUBE_MEMS_XT1.chm HTML file in the package Documentation folder.

2.5 Sample application description

Ready-to-use sample applications for multiple IDEs using the X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2
expansion board with the NUCLEO-F401RE or NUCLEO-L476RG development board are provided in the
"Projects" directory.
The following table summarizes the sample applications with respect to supported sensors and corresponding X-
NUCLEO expansion board.

Table 2. X-CUBE-MEMS-XT1 sample application support

Supported sensors on X-NUCLEO-

Sample name Supported sensors on X-NUCLEO-IKS01A
IKS01A1

A3G4250D, AIS328DQ, AIS3624DQ,

DataLogCustomFreeFall6D H3LIS331DL, HTS221, LIS2DH12, H3LIS331DL, HTS221, IIS2MDC, IIS2DLPC,
LIS2DW12, LIS2MDL, LIS3MDL, LPS22HB, ISM303DAC, ISM330DLC, LIS2DH12,
DataLogExtended
LPS25HB, LSM303AGR, LSM6DS0, LIS2DW12, LIS2MDL, LPS22HB, LPS22HH,
DataLogTerminal LSM6DS3, LSM6DSL LPS33HW, LSM303AGR, LSM6DSL, LSM6DSO,
LSM6DSR
DataLogCustomLite Sensor/Shield-independent Sensor/Shield-independent
6DOrientation LSM6DS3 LSM6DSL
LIS2DH12, LSM303AGR, LSM6DS0,
FFT_Demo LIS2DH12, LSM303AGR, LSM6DSL
LSM6DSL
FIFOBypass2ContMode LSM6DS3 LSM6DSL
FIFOContinuousMode LSM6DS3 LSM6DSL
FIFODecimation LSM6DS3 LSM6DSL
FIFOLowPower LIS2DH12, LSM6DS3 LIS2DH12, LSM6DSL
FIFOMode LPS22HB, LSM6DS3 LPS22HB, LSM6DSL
FreeFallDetection LSM6DS3 LSM6DSL
Pedometer LSM6DS3 LSM6DSL
SelfTest LSM6DS3 LSM6DSL
SensorHub N/A LSM6DSL, LSM303AGR
SingleDoubleTap LSM6DS3 LSM6DSL
TiltDetection LSM6DS3 LSM6DSL
VibrationMonitoring N/A LSM6DSL
WakeUpDetection LSM6DS3 LSM6DSL

Note: See Section 3.3.3.2 How to use LSM303AGR or LIS2MDL together with LIS3MDL on X-NUCLEO-IKS01A1,
Section 3.3.3.3 How to use the LIS2MDL, IIS2MDC or ISM303DAC magnetometers on an X-NUCLEO-IKS01A2
expansion board and Section 3.3.3.4 How to use LPS22HH, LSM6DSO or LSM6DSR on an X-NUCLEO-
IKS01A2 expansion board.
In the DataLogCustomFreeFall6D, DataLogCustomLite, DataLogExtended and DataLogTerminal firmware
examples, the real-time sensor data is transmitted via serial port to a PC with the HAL_UART_ Transmit ( )
system call. Transmitted sensor data can be viewed with the Unicleo-GUI application
(DataLogCustomFreeFall6D, DataLogCustomLite and DataLogExtended examples) and any terminal application
like Teraterm, Hyperterminal, etc. (all the above mentioned examples plus DataLogTerminal example).

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Sample application description

The Unicleo-GUI application developed by ST (refer to the user manual on www.st.com)) can be used to read,
view and store data from the X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2 expansion board connected to a PC
via the STM32 Nucleo board. The firmware converts the sensor data into a readable format for the Unicleo-GUI
utility.
Sending temperature sensor data via UART would, for example, require the following steps:
1. Initialization: BSP_TEMPERATURE_ Init ( ...);
2. Sensor temperature reading: BSP_TEMPERATURE_Get_ Temp ( ...);
3. Data serialization: Serialize();
4. Data transmission: HAL_UART_Transmit ();
The Serialize( ) function converts the temperature data into a readable format for the Unicleo-GUI utility.
Similarly, data from other sensors is also formatted and communicated to the utility. When connected via
Teraterm, the user can use the blue button on the STM32 Nucleo expansion board to start and stop the data log.
Most of the DIL24 sensors are automatically detected by the firmware. If a sensor inserted into DIL24 has not a
unique I²C address and a value of WHO_AM_I register, it cannot be automatically recognized: thus, the popup
window notifies the user to select which sensor is actually connected.
All other firmware examples can be used as template to accelerate development and test every function
associated with each sensor. These examples can be easily modified to suit specific scenarios and are designed
for easy transfer from currently supported sensors to other sensors in actual applications.

2.5.1 DataLogCustomFreeFall6D and DataLogCustomLite sample application description

These sample applications are designed to explain how to:
• define custom data stream
• define the names and description of custom data displayed in the Unicleo-GUI
• send the data to the Unicleo-GUI for data logging and visualization
There are two types of DataLogCustom firmware:
1. DataLogCustomFreeFall6D: data from MEMS and environmental sensors together with custom data are
sent to the Unicleo-GUI and demonstrate how to be used for a practical application like displaying FreeFall
and 6D orientation data.
2. DataLogCustomLite: only custom data are sent to the Unicleo-GUI. This firmware is independent from
MEMS and environmental sensors and is fully configurable.

2.5.1.1 DataLogCustomFreeFall6D
This sample application shows how to define simple user data and send them to Unicleo-GUI for data logging and
visualization. It is designed to use the X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2 expansion board with the on-
board sensors and/or sensors in DIL24 socket.
The user can display the custom data in the Unicleo-GUI by clicking the Custom Fields button in the left vertical
toolbar.
The figure below shows the LSM303AGR acceleration in X, Y, Z axes in the graph first section, Free Fall / 6D
Orientation data from the LSM6DSL sensor in the Logic Analyzer section and Theta/Psi/ Phi tilt angles in the
Custom Int32 and Float Values section.
It is also designed to show how to acquire data from additional sensor data.

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Sample application description

Figure 4. DataLogCustomFreeFall6D - Unicleo-GUI Custom Fields Plot window

2.5.1.2 DataLogCustomLite
Differently from the previous example, this sample application is designed to be used on any attached expansion
board. This allows the user to either use his own expansion board or no expansion board at all; thus, he can send
and display any data from the STM32 to the PC with no need to create his own PC application.
Furthermore, it is possible to send binary, integer and float values from the PC to the STM32 microcontroller.
The user can define his own actions in the firmware and control the behavior or adjust parametrs in real-time.

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Sample application description

Figure 5. DataLogCustomLite - Unicleo-GUI main window

Figure 6. DataLogCustomLite - Unicleo-GUI Custom Fields Plot window shows three shifted sinus functions in the
graph first section, the counter in the Logic Analyzer section and Int32 and Float Values section.
The Unicleo-GUI custom fields also include the Custom Bit Values buttons.
Custom Int32 and Float Values fields allow the user to communicate from the PC to the firmware during runtime.
It is possible to set separately ODR graphs, ODR logic analyzer and ODR values in real-time using this feature.

Figure 6. DataLogCustomLite - Unicleo-GUI Custom Fields Plot window

2.5.1.3 Custom data sections

The following sections list the firmware mode capabilities.

2.5.1.3.1 DataLogCustomFreeFall6D
• Graph 1: Up to 3 axes of data visualization
• Graph 2: Up to 3 axes of data visualization
• Logic Analyzer: Up to 16 channels of binary data visualization

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Sample application description

• Integers: Up to 4 integer values

• Floats: Up to 4 float values

2.5.1.3.2 DataLogCustomLite
From the firmware to the PC:
• Graph 1: Up to 6 axes of data visualization
• Graph 2: Up to 6 axes of data visualization
• Logic Analyzer: Up to 16 channels of binary data visualization
• Integers: Up to 8 integer values
• Floats: Up to 8 float values
From the PC to the firmware:
• Custom Bits: Up to 4 bit values
• Custom Floats: Up to 4 float values
• Custom Int32s: Up to 4 Int32 values

2.5.1.4 Msg.Data stream structure

Custom data has to be filled in an appropriate format into the Msg.Data[] stream structure to be sent to the
Unicleo-GUI.
It should be done in five different handler functions in the firmware ‘main.c’ file, which handles the custom data for
each format (Custom_Graph_1_Handler, Custom_Graph_2_Handler, Logic_Analyzer_Handler,
Custom_Ints_Handler and Custom_Ints_Handler).
The structure is fixed as shown in the following tables.

Table 3. DataLogCustomFreeFall6D - Msg.Data stream structure

Bytes
Msg.Data stream
Length From To

1 0 0 Destination address (same as received from GUI)

1 1 1 Source address (DEV_ADDR = 0x32)
1 2 2 Command
1 3 3 RTC hours
1 4 4 RTC minutes
1 5 5 RTC seconds (integer part)
1 6 6 RTC seconds (decimal part)
4 7 10 Pressure
4 11 14 Temperature
4 15 18 Humidity
4 19 22 Acceleration - X axis
4 23 26 Acceleration - Y axis
4 27 30 Acceleration - Z axis
4 31 34 Angular velocity - X axis
4 35 38 Angular velocity - Y axis
4 39 42 Angular velocity - Z axis
4 43 46 Magnetic field - X axis
4 47 50 Magnetic field - Y axis
4 51 54 Magnetic field - Z axis

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Sample application description

Bytes
Msg.Data stream
Length From To

4 55 58 Custom graph 1 axis 1

4 59 62 Custom graph 1 axis 2
4 63 66 Custom graph 1 axis 3
4 67 70 Custom graph 2 axis 1
4 71 74 Custom graph 2 axis 2
4 75 78 Custom graph 2 axis 3
1 79 79 Logic analyzer (channels 8 - 1)
1 80 80 Logic analyzer (channels 16 - 9)
4 81 84 Custom int32 value 1
4 85 88 Custom int32 value 2
4 89 92 Custom int32 value 3
4 93 96 Custom int32 value 4
4 97 100 Custom float value 1
4 101 104 Custom float value 2
4 105 108 Custom float value 3
4 109 112 Custom float value 4
1 113 113 New data flag bits 1 (bits 5-TEMP 4-HUM 3-PRES 2-MAG 1-GYR 0-ACC)
1 114 114 New data flag bits 2 (bits 4-FLOATS 3-INTS 2-LOG.AN 1-GRAPH2 0-GRAPH1)
115 Stream Msg.Length

Table 4. DataLogCustomLite - Msg.Data stream structure

Bytes
Msg.Data stream
Length From To

1 0 0 Destination address (same as received from GUI)

1 1 1 Source address (DEV_ADDR = 0x32)
1 2 2 Command
1 3 3 RTC hours
1 4 4 RTC minutes
1 5 5 RTC seconds (integer part)
1 6 6 RTC seconds (decimal part)
4 7 10 Custom graph 1 axis 1
4 11 14 Custom graph 1 axis 2
4 15 18 Custom graph 1 axis 3
4 19 22 Custom graph 1 axis 4
4 23 26 Custom graph 1 axis 5
4 27 30 Custom graph 1 axis 6
4 31 34 Custom graph 2 axis 1
4 35 38 Custom graph 2 axis 2

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Sample application description

Bytes
Msg.Data stream
Length From To

4 39 42 Custom graph 2 axis 3

4 43 46 Custom graph 2 axis 4
4 47 50 Custom graph 2 axis 5
4 51 54 Custom graph 2 axis 6
1 55 55 Logic analyzer (channels 8 - 1)
1 56 56 Logic analyzer (channels 16 - 9)
4 57 60 Custom int32 value 1
4 61 64 Custom int32 value 2
4 65 68 Custom int32 value 3
4 69 72 Custom int32 value 4
4 73 76 Custom int32 value 5
4 77 80 Custom int32 value 6
4 81 84 Custom int32 value 7
4 85 88 Custom int32 value 8
4 89 92 Custom float value 1
4 93 96 Custom float value 2
4 97 100 Custom float value 3
4 101 104 Custom float value 4
4 105 108 Custom float value 5
4 109 112 Custom float value 6
4 113 116 Custom float value 7
4 117 120 Custom float value 8
1 121 121 New data flag bits (bits 4-FLOATS 3-INTS 2-LOG.AN 1-GRAPH2 0-GRAPH1)
122 Msg.Length

2.5.1.5 Config and String structures

Together with the custom data, the user has to define the configuration and description of data as graph and axis
names, graph units, time axis full scale and position as well as the int and float value names and the logic
analyzer channels.
This defining operation has to be done in the sensor_commands.c file by filling the predefined message strings
called custom_config[], custom_names[], custom_names2[] and custom_names3[]. The message
formats are mandatory and well commented in the code.
The following sections give an overview of the messages.

2.5.1.5.1 custom_config
custom_config[] message contains custom configuration numbers that allow to set the data displayed by the
Unicleo-GUI. The last three configuration numbers define the parameters the firmware has to receive from the
Unicleo-GUI (modified by the user in real-time) and influence the firmware behavior during runtime.

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Sample application description

Table 5. DataLogCustomFreeFall6D and DataLogCustomLite - custom_config definition

Bytes Msg.Data configuration

DataLogCustomFreeF
Length From To DataLogCustomLite
all6D

Destination address (same as received from

1 0 0
GUI)
1 1 1 Source address (DEV_ADDR = 0x32)
1 2 2 0x50 CMD_SENSOR
1 3 3 Command
1 4 4 Sensor type
1 5 5 Number of graphs (0 - 2)
Number of graph 1 axes
1 6 6
(0 - 3) (0 - 6)
Number of graph 2 axes
1 7 7
(0 - 3) (0 - 6)
1 8 8 Number of log. an. channels (0 - 16)
Number of int32 values
1 9 9
(0 - 4) (0 - 8)
Number of float values
1 10 10
(0 - 4) (0 - 8)
1 11 11 Number of awaited bit values (0 - 4)
1 12 12 Number of awaited int32 values (0 - 4)
1 13 13 Number of awaited float values (0 - 4)
14 Msg.Length configuration

2.5.1.5.2 custom_names
custom_names[] message string 1 contains custom names and parameters delimited by "|".

Important: Each name or parameter has a variable size but the maximum length of the whole string is 250 bytes.

Table 6. DataLogCustomXXX and DataLogCustomLite - custom_names definition

Name or parameter (max. length 250 bytes)

DataLogCustomFreeFall6D DataLogCustomLite

Graph 1 name
Graph 1 axis 1 name
Graph 1 axis 2 name
Graph 1 axis 3 name
Leave empty Graph 1 axis 4 name
Leave empty Graph 1 axis 5 name
Leave empty Graph 1 axis 6 name
Graph 1 units
Graph 1 full scale

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Sample application description

Name or parameter (max. length 250 bytes)

DataLogCustomFreeFall6D DataLogCustomLite

Graph 1 integer values with time axis on: 0x01-bottom, 0x03-middle, 0x05-top
Graph 1 float values with time axis on: 0x11-bottom, 0x13-middle, 0x15-top
Graph 2 name
Graph 2 axis 1 name
Graph 2 axis 2 name
Graph 2 axis 3 name
Leave empty Graph 2 axis 4 name
Leave empty Graph 2 axis 5 name
Leave empty Graph 2 axis 6 name
Graph 2 units
Graph 2 full scale
Graph 2 integer values with time axis on: 0x01-bottom, 0x03-middle, 0x05-top
Graph 2 float values with time axis on: 0x11-bottom, 0x13-middle, 0x15-top

2.5.1.5.3 custom_names2
custom_names2[] message string 2 contains custom names and parameters delimited by "|".

Important: Each name or parameter has a variable size but the maximum length of the whole string is 250 bytes.

The DataLogCustomFreeFall6D and DataLogCustomLite name or parameter custom_names2 definition are:

• Log. an. CH 1 name
• Log. an. CH 2 name
• Log. an. CH 3 name
• Log. an. CH 4 name
• Log. an. CH 5 name
• Log. an. CH 6 name
• Log. an. CH 7 name
• Log. an. CH 8 name
• Log. an. CH 9 name
• Log. an. CH 10 name
• Log. an. CH 11 name
• Log. an. CH 12 name
• Log. an. CH 13 name
• Log. an. CH 14 name
• Log. an. CH 15 name
• Log. an. CH 16 name
• Awaited bit 1 name
• Awaited bit 2 name
• Awaited bit 3 name
• Awaited bit 4 name
• Awaited int32 1 name
• Awaited int32 2 name
• Awaited int32 3 name
• Awaited int32 4 name

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Sample application description

• Awaited float 1 name

• Awaited float 2 name
• Awaited float 3 name
• Awaited float 4 name

2.5.1.5.4 custom_names3
custom_names3[] message string 3 contains custom names and parameters delimited by "|".

Important: Each name or parameter has a variable size but the maximum length of the whole string is 250 bytes.

Table 7. DataLogCustomFreeFall6D and DataLogCustomLite - custom_names3 definition

Name or parameter (max. length 250 Bytes)

DataLogCustomFreeFall6D DataLogCustomLite

Cust. int32 value 1 name

Cust. int32 value 1 units
Cust. int32 value 2 name
Cust. int32 value 2 units
Cust. int32 value 3 name
Cust. int32 value 3 units
Cust. int32 value 4 name
Cust. int32 value 4 units
Leave empty Cust. int32 value 5 name
Leave empty Cust. int32 value 5 units
Leave empty Cust. int32 value 6 name
Leave empty Cust. int32 value 6 units
Leave empty Cust. int32 value 7 name
Leave empty Cust. int32 value 7 units
Leave empty Cust. int32 value 8 name
Leave empty Cust. int32 value 8 units
Cust. float value 1 name
Cust. float value 1 units
Cust. float value 2 name
Cust. float value 2 units
Cust. float value 3 name
Cust. float value 3 units
Cust. float value 4 name
Cust. float value 4 units
Leave empty Cust. float value 5 name
Leave empty Cust. float value 5 units
Leave empty Cust. float value 6 name
Leave empty Cust. float value 6 units
Leave empty Cust. float value 7 name
Leave empty Cust. float value 7 units

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Sample application description

Name or parameter (max. length 250 Bytes)

DataLogCustomFreeFall6D DataLogCustomLite

Leave empty Cust. float value 8 name

Leave empty Cust. float value 8 units

2.5.2 Sensor Hub sample application description

This sample application is designed as a template showing how to set up and use the LSM6DSL Sensor Hub
functionality.
It has been implemented for the X-NUCLEO-IKS01A2 MEMS Shield board for the simple hardware switching
possibility. This example uses LSM6DSL and LSM303AGR on-board sensors to simulate the 9-axis device
returning accelerometer, gyroscope and magnetometer data to any PC terminal application like Tera Term and
similar.
The X-NUCLEO-IKS01A2 hardware configuration has to be changed from Default to Sensor Hub as shown in
the following table:

Table 8. X-NUCLEO-IKS01A2 LSM6DSL Sensor Hub hardware configuration

Jumper Default Sensor Hub

JP7 1-2 3-4 (I2C1=I2C2, I2Cx=GND) 2-3 (I2C1=I2Cx)

JP8 1-2 3-4 (I2C1=I2C2, I2Cx=GND) 2-3 (I2C1=I2Cx)

2.5.3 FFT_Demo sample application description

The FFT_Demo provides frequency analysis of acceleration data using Fast Fourier Transform (FFT) algorithm, to
detect vibration from devices such as motors, fans and pumps.
FFT_Demo project supports the following sensors:
• Accelerometer on the X-NUCLEO-IKS01A1 expansion board:
– LSM6DS0
• Accelerometers on the X-NUCLEO-IKS01A2 expansion board:
– LSM303AGR
– LSM6DSL
• Evaluation boards plugged to X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2 DIL24 socket:
– STEVAL-MKI172V1 (LSM303AGR) (X-NUCLEO-IKS01A1).
– STEVAL-MKI178V1 (LSM6DSL) (X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2)
– STEVAL-MKI168V1 (IIS2DH) (X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2)
– STEVAL-MKI135V1 (LIS2DH) (X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2)
– STEVAL-MKI151V1 (LIS2DH12) (X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2)
There are two PC applications that can be used with the FFT_Demo: Unicleo-GUI or Terminal.

2.5.3.1 Unicleo-GUI
The FFT_Demo firmware is automatically detected by the Unicleo-GUI; dedicated options and a Spectrum plot
are available to select a sensor and display data.

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Sample application description

Figure 7. FFT_Demo Unicleo-GUI - Options tab

Figure 8. FFT_Demo Unicleo-GUI - Spectrum plot

Data can be saved as .csv file and directly opened in Excel (or similar).

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Sample application description

Figure 9. FFT_Demo interpretation of the saved data

To calculate frequency of each bin use the following formula:

Sampling frequency
an = n ∙ (1)
2 ∙ Number of samples
where an is the n-th bin of the graph and
n = 0,1, 2…, Number of samples − 1 (2)

2.5.3.2 Terminal
The user can select a menu option by simply pressing its number on the PC keyboard.
Pressing m or M on the keyboard, the Main menu appears.
Pressing h or H on the keyboard the following two options are switched in the main menu:
• enable HP filter/disable HP filter (allows enabling or disabling the Terminal AXL internal high pass filter)
• enable DC nulling/disable DC nulling (allows enabling or disabling the nulling of 0 Hz part in the calculated
frequency spectrum – earth gravity)
The sensor in use can be switched by pressing s or S on the keyboard.
Options not allowed in the actual sensor setup are disabled and marked by * in the menu.

Figure 10. FFT_Demo Terminal mode - main menu

The signal maximum frequency that can be displayed in the FFT graph is ODR/2.
The signal minumum magnitude that can be displayed is 1% of the maximum graph magnitude.
Under the FFT graph, there are the following info bars:
• The maximum calculated frequency in the whole displayable frequency range and its value
• The maximum frequency value calculated by using the Flat top window(1)
• The maximum calculated bin frequency displayed in the FFT graph(2)

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Sample application description

• The input AC signal maximum amplitude(3)

1. Only when the HP filter is enabled

2. Together with the bin range.
3. Maximum and minimum values.

The number of FFT samples (256, 512, 1024) is transformed into 51 bins displayed in the graph.
The graph bin contains the interval of frequencies and displays only the frequency biggest magnitude in that
interval.
FFT samples 512
Grapℎ refresℎ rate ≥ e.g. = 1.28 seconds (5)
ODR 400 Hz

Figure 11. FFT_Demo Terminal mode - spectrum plot

Figure 12. FFT_Demo Terminal mode - signal information

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Sample application description

Figure 13. FFT_Demo Terminal mode - output data

Figure 14. FFT_Demo Terminal mode - sensor selection

2.5.3.3 Vibration monitoring sample application description

This sample implementation uses Signal Processing (MotionSP) library and performs analysis of acceleration
data to detect vibration from devices such as motors, fans and pumps.
The library features:
• time and frequency domain analysis
• acceleration RMS, speed RMA and acceleration peak value calculation
• analyses performed for all 3 axes at the same time
• selectable window for FFT analysis
Frequency domain analysis uses Fast Fourier Transform (FFT) algorithm and displays the result in separate plots
for X, Y and Z axis.
Time domain analysis calculates Acceleration RMS, Acceleration Peak and Speed RMS values which are
displayed below FFT plots. Acceleration Peak can be reset by pressing the red X button next to the value to
restart calculating the result from zero.
You can set the accelerometer output data rate and full scale, number of FFT samples, magnitude, etc., and also
choose whether to leave the input data unchanged by selecting rectangular window or to multiply the acceleration
data by either hanning, hamming or flat top window to avoid spectral leakage.

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Sample application description

Vibration Monitoring sample application supports only the LSM6DSL sensor on the X-NUCLEO-IKS01A2
expansion board together with Unicleo-GUI Windows PC application.

Figure 15. Vibration Monitoring - Unicleo-GUI spectrum plots, settings and calculated results

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System setup guide

3 System setup guide

3.1 Hardware description

3.1.1 STM32 Nucleo platform

STM32 Nucleo development boards provide an affordable and flexible way for users to test solutions and build
prototypes with any STM32 microcontroller line.
The Arduino™ connectivity support and ST morpho connectors make it easy to expand the functionality of the
STM32 Nucleo open development platform with a wide range of specialized expansion boards to choose from.
The STM32 Nucleo board does not require separate probes as it integrates the ST-LINK/V2-1 debugger/
programmer.
The STM32 Nucleo board comes with the comprehensive STM32 software HAL library together with various
packaged software examples.

Figure 16. STM32 Nucleo board

Information regarding the STM32 Nucleo board is available at www.st.com/stm32nucleo

3.1.2 X-NUCLEO-IKS01A1 expansion board

The X-NUCLEO-IKS01A1 is a sensor expansion board for the STM32 Nucleo board. It is also compatible with
Arduino UNO R3 connector layout and is designed around humidity (HTS221), pressure (LPS25HB) and motion
(LIS3MDL and LSM6DS0) sensing devices. The X-NUCLEO-IKS01A1 interfaces with the STM32 MCU via the I²C
pin, and the user can change the default I²C port and the device IRQ by changing a resistor on the evaluation
board.

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You can attach one among H3LIS331DL, LIS2DH12, LPS22HB, LSM303AGR, LSM6DS3 or LSM6DSL DIL24
expansion components to be used in place of the on-board sensors.
See Section 3.3.3.2 How to use LSM303AGR or LIS2MDL together with LIS3MDL on X-NUCLEO-IKS01A1,
Section 3.3.3.3 How to use the LIS2MDL, IIS2MDC or ISM303DAC magnetometers on an X-NUCLEO-IKS01A2
expansion board and Section 3.3.3.4 How to use LPS22HH, LSM6DSO or LSM6DSR on an X-NUCLEO-IKS01A2
expansion board.

Figure 17. X-NUCLEO-IKS01A1 expansion board

3.1.3 X-NUCLEO-IKS01A2 expansion board

The X-NUCLEO-IKS01A2 is a motion MEMS and environmental sensor expansion board for STM32 Nucleo.
It is compatible with the Arduino UNO R3 connector layout, and is designed around the LSM6DSL 3D
accelerometer and 3D gyroscope, the LSM303AGR 3D accelerometer and 3D magnetometer, the HTS221
humidity and temperature sensor and the LPS22HB pressure sensor.
The X-NUCLEO-IKS01A2 interfaces with the STM32 microcontroller via the I²C pin, and it is possible to change
the default I²C port.
You can attach one of the A3G4250D, AIS328DQ, AIS3624DQ, H3LIS331DL, IIS2DLPC, IIS2MDC, ISM303DAC,
ISM330DLC, LIS2DH12, LIS2DW12, LIS2MDL, LPS22HH, LPS33HW, LSM6DSL, LSM6DSO and LSM6DSR
DIL24 expansion components to be used in place of the on-board sensors.
See Section 3.3.3.2 How to use LSM303AGR or LIS2MDL together with LIS3MDL on X-NUCLEO-IKS01A1,
Section 3.3.3.3 How to use the LIS2MDL, IIS2MDC or ISM303DAC magnetometers on an X-NUCLEO-IKS01A2
expansion board and Section 3.3.3.4 How to use LPS22HH, LSM6DSO or LSM6DSR on an X-NUCLEO-IKS01A2
expansion board.

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Software description

Figure 18. X-NUCLEO-IKS01A2 MEMS and environmental sensor expansion board

3.2 Software description

The following software components are required for a suitable development environment for creating applications
with the STM32 Nucleo development board equipped with the sensor expansion board:
• X-CUBE-MEMS-XT1: an STM32Cube expansion for sensor application development. The X-CUBE-MEMS-
XT1 and associated documentation is available on www.st.com
• One of the following supported development tool-chains and compilers:
– IAR Embedded Workbench for ARM® (IAR-EWARM) toolchain + ST-LINK
– RealView Microcontroller Development Kit (MDK-ARM-STM32) toolchain + ST-LINK
– SW4STM32 System Workbench for STM32 + ST-LINK

3.3 Hardware and software setup

This section describes the hardware and software setup procedures. It also describes the system setup needed
for the above.

3.3.1 Hardware setup

The following hardware components are required:
1. One STM32 Nucleo development platform (order code: NUCLEO-F401RE or NUCLEO-L476RG)
2. One sensor expansion board (order code: X-NUCLEO-IKS01A1 or X-NUCLEO-IKS01A2)
3. One USB type A to Mini-B USB cable to connect the STM32 Nucleo to the PC

3.3.2 Software setup

This section lists the minimum requirements for the developer to setup the SDK, run the sample testing scenario
based on the Unicleo-GUI utility and customize applications.

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Hardware and software setup

3.3.2.1 Development Tool-chains and compilers

Select one of the Integrated Development Environments supported by the STM32Cube expansion software and
follow the system requirements and setup information provided by the same IDE provider.

3.3.2.2 PC utility
The Unicleo-GUI application for PC has following minimum requirements:
• PC running Windows 7 or higher
• At least 2 GB RAM
• USB port
• 40 MB HD space

3.3.3 System setup guide

This section describes how to setup different hardware components before writing and executing an application
on theSTM32 Nucleo board with the sensors expansion board.

3.3.3.1 STM32 Nucleo and sensor expansion boards setup

The STM32 Nucleo board integrates the ST-LINK/V2-1 debugger/programmer. Developers can download the
relevant version of the ST-LINK/V2-1 USB driver at STSW-LINK007 or STSW-LINK009 (according to the
Microsoft Windows OS version).
The X-NUCLEO-IKS01A1 and X-NUCLEO-IKS01A2 sensor expansion boards can be easily connected to the
STM32 Nucleo board through the Arduino UNO R3 extension connector and can interface with the external
STM32 microcontroller on STM32 Nucleo via the Inter-Integrated Circuit (I²C) transport layer.

Figure 19. X-NUCLEO-IKS01A2 expansion board on STM32 Nucleo development board

3.3.3.2 How to use LSM303AGR or LIS2MDL together with LIS3MDL on X-NUCLEO-IKS01A1

Using the LSM303AGR or LIS2MDL magnetometer in DIL24 socket together with the X-NUCLEO-IKS01A1
expansion board on-board LIS3MDL magnetometer requires the following procedure.

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Step 1. Disconnect the SB3 solder bridge on the X-NUCLEO-IKS01A1.

Step 2. Connect the SB4 solder bridge on the X-NUCLEO-IKS01A1.
Step 3. Change the LIS3MDL_MAG_I2C_ADDRESS_HIGH value to LIS3MDL_MAG_I2C_ADDRESS_LOW in the
\Drivers\BSP\X_NUCLEO_IKS01A1\ x_nucleo_iks01a1_magneto.c file inside the
BSP_LIS3MDL_MAGNETO_Init() function.
Step 4. Compile and download the firmware to the STM32 Nucleo development board.

3.3.3.3 How to use the LIS2MDL, IIS2MDC or ISM303DAC magnetometers on an X-NUCLEO-IKS01A2 expansion
board
Using the LIS2MDL, IIS2MDC or ISM303DAC magnetometers in DIL24 socket on an X-NUCLEO-IKS01A2
expansion board requires SB1 and SB2 solder bridge disconnection.
The LSM303AGR on-board sensor has to be disconnected from the I²C bus, because it has the same I²C address
with the above mentioned magnetometers.

3.3.3.4 How to use LPS22HH, LSM6DSO or LSM6DSR on an X-NUCLEO-IKS01A2 expansion board

Using the LPS22HH, LSM6DSO or LSM6DSR sensors in DIL24 socket on an X-NUCLEO-IKS01A2 expansion
board requires pulling the INT1 pin of the device to the GND during power up (connecting the STM32 Nucleo
board to the USB) to enable I²C communication (instead of I3C).
This can be done by connecting jumper wire between any GND pin (e.g. Arduino connector CN6.6, CN6.7 or
CN5.7) and INT1 pin (Arduino connector CN9.5).
After power up, this connection has to be removed.

3.3.3.5 Unicleo-GUI setup

The Unicleo-GUI is a graphical user interface that can be used to interact and obtain data from sensors on the
expansion board, and display acquired sensor data in tables and graphs; download the user manual from
www.st.com for installation and usage instructions.

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Revision history

Table 9. Document revision history

Date Version Changes

01-Dec-2016 1 Initial release.

Updated Section "Introduction", Section 2.1: "Overview", Figure 2: "X-CUBE-MEMS-XT1 software

architecture", Section 2.3: "Folder structure", Section 2.5: "Sample application description"
12-Jun-2016 2
Added Section 2.5.1: "DataLogCustomDemo, DataLogCustomFreeFall6D and DataLogCustomLite
sample application description" and Section 2.5.2: "Sensor Hub sample application description"
Updated title, Section 2.1: "Overview", Figure 2. "X-CUBE-MEMS-XT1 software architecture", Section
2.5: "Sample application description", Section 2.5.1: "DataLogCustomFreeFall6D and
DataLogCustomLite sample application description".
Added DataLogCustomDemo, Section 2.5.1.1: "DataLogCustomFreeFall6D", Section 2.5.1.2:
15-Nov-2017 3 "DataLogCustomLite", Section 2.5.1.3: "Custom data sections", Section 2.5.1.3.1:
"DataLogCustomFreeFall6D", Section 2.5.1.3.2: "DataLogCustomLite", Section 2.5.1.4: "Msg.Data
stream structure", Section 2.5.1.5: "Config and String structures", Section 2.5.1.5.1: "custom_config",
Section 2.5.1.5.2: "custom_names", Section 2.5.1.5.3: "custom_names2", Section 2.5.1.5.4:
"custom_names3", Section 2.5.3: "FFT_Demo sample application description", Section 2.5.3.1:
"Unicleo-GUI" and Section 2.5.3.2: "Terminal"
Updated Section Introduction, Section 2.1 Overview, Section 2.5 Sample application description,
Section 2.5.1 DataLogCustomFreeFall6D and DataLogCustomLite sample application description,
Section 2.5.1.1 DataLogCustomFreeFall6D, Section 3.1.2 X-NUCLEO-IKS01A1 expansion board and
26-Jan-2018 4 Section 3.1.3 X-NUCLEO-IKS01A2 expansion board.
Added Section 3.3.3.3 How to use LSM303AGR or LIS2MDL together with LIS3MDL on X-NUCLEO-
IKS01A1 and Section 3.3.3.2 How to use the LIS2MDL, IIS2MDC or ISM303DAC magnetometers on
an X-NUCLEO-IKS01A2 expansion board.
Updated Section Introduction, Section 2.1 Overview, Figure 2. X-CUBE-MEMS-XT1 software
architecture, Section 2.5 Sample application description, Section 3.1.2 X-NUCLEO-IKS01A1
12-Sep-2018 5 expansion board and Section 3.1.3 X-NUCLEO-IKS01A2 expansion board.
Added Section 2.5.3.3 Vibration monitoring sample application description and Section 3.3.3.4 How to
use LPS22HH, LSM6DSO or LSM6DSR on an X-NUCLEO-IKS01A2 expansion board.

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Contents

Contents
1 What is STM32Cube? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1 What is STM32Cube?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 STM32Cube architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 X-CUBE-MEMS-XT1 software expansion for STM32Cube . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Folder structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.4 APIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.5 Sample application description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5.1 DataLogCustomFreeFall6D and DataLogCustomLite sample application description . . . . . 8

2.5.2 Sensor Hub sample application description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.5.3 FFT_Demo sample application description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3 System setup guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

3.1 Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1.1 STM32 Nucleo platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.1.2 X-NUCLEO-IKS01A1 expansion board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.1.3 X-NUCLEO-IKS01A2 expansion board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.2 Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.3 Hardware and software setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3.1 Hardware setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.3.2 Software setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.3.3 System setup guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

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List of tables

List of tables
Table 1. X-CUBE-MEMS-XT1 sensor support and availability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Table 2. X-CUBE-MEMS-XT1 sample application support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 3. DataLogCustomFreeFall6D - Msg.Data stream structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 4. DataLogCustomLite - Msg.Data stream structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 5. DataLogCustomFreeFall6D and DataLogCustomLite - custom_config definition . . . . . . . . . . . . . . . . . . . . . . . . 14
Table 6. DataLogCustomXXX and DataLogCustomLite - custom_names definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Table 7. DataLogCustomFreeFall6D and DataLogCustomLite - custom_names3 definition . . . . . . . . . . . . . . . . . . . . . . 16
Table 8. X-NUCLEO-IKS01A2 LSM6DSL Sensor Hub hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Table 9. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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List of figures

List of figures
Figure 1. Firmware architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 2. X-CUBE-MEMS-XT1 software architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 3. X-CUBE-MEMS-XT1 package folder structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 4. DataLogCustomFreeFall6D - Unicleo-GUI Custom Fields Plot window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 5. DataLogCustomLite - Unicleo-GUI main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 6. DataLogCustomLite - Unicleo-GUI Custom Fields Plot window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 7. FFT_Demo Unicleo-GUI - Options tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 8. FFT_Demo Unicleo-GUI - Spectrum plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 9. FFT_Demo interpretation of the saved data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 10. FFT_Demo Terminal mode - main menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 11. FFT_Demo Terminal mode - spectrum plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 12. FFT_Demo Terminal mode - signal information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 13. FFT_Demo Terminal mode - output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 14. FFT_Demo Terminal mode - sensor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 15. Vibration Monitoring - Unicleo-GUI spectrum plots, settings and calculated results . . . . . . . . . . . . . . . . . . . . 22
Figure 16. STM32 Nucleo board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 17. X-NUCLEO-IKS01A1 expansion board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 18. X-NUCLEO-IKS01A2 MEMS and environmental sensor expansion board . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 19. X-NUCLEO-IKS01A2 expansion board on STM32 Nucleo development board . . . . . . . . . . . . . . . . . . . . . . . 26

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 UM2142

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