Microchip Technology MM7150 User Manual

TM

MM7150 Motion Module PICtail

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board

User’s Guide

 2014 - 2016 Microchip Technology Inc. DS50002322E

Note the following details of the code protection feature on Microchip devices:

YSTEM 

CERTIFIEDBYDNV

== ISO/TS16949==

• Microchip products meet the specification contained in their particular Microchip Data Sheet.

• Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the
intended manner and under normal conditions.

• There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our
knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchip’s Data
Sheets. Most likely, the person doing so is engaged in theft of intellectual property.

• Microchip is willing to work with the customer who is concerned about the integrity of their code.

• Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not
mean that we are guaranteeing the product as “unbreakable.”

Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our
products. Attempts to break Microchip’s code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts
allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act.

Information contained in this publication regarding device applications and the like is provided only for your convenience and may be
superseded by updates. It is your responsibility to ensure that your application meets with your specifications. MICROCHIP MAKES NO
REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR
OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE,
MERCHANTABILITY OR FITNESS FOR PURPOSE. Microchip disclaims all liability arising from this information and its use. Use of Micro­chip devices in life support and/or safety applications is entirely at the buyer’s risk, and the buyer agrees to defend, indemnify and hold
harmless Microchip from any and all damages, claims, suits, or expenses resulting from such use. No licenses are conveyed, implicitly or
otherwise, under any Microchip intellectual property rights unless otherwise stated.

Trademarks

The Microchip name and logo, the Microchip logo, AnyRate, AVR, AVR logo, AVR Freaks, BeaconThings, BitCloud, CryptoMemory, CryptoRF,
dsPIC, FlashFlex, flexPWR, Heldo, JukeBlox, KEELOQ, KEELOQ logo, Kleer, LANCheck, LINK MD, maXStylus, maXTouch, MediaLB, megaAVR,
MOST, MOST logo, MPLAB, OptoLyzer, PIC, picoPower, PICSTART, PIC32 logo, Prochip Designer, QTouch, RightTouch, SAM-BA, SpyNIC,
SST, SST Logo, SuperFlash, tinyAVR, UNI/O, and XMEGA are registered trademarks of Microchip Technology Incorporated in the U.S.A. and
other countries.

ClockWorks, The Embedded Control Solutions Company, EtherSynch, Hyper Speed Control, HyperLight Load, IntelliMOS, mTouch, Precision
Edge, and Quiet-Wire are registered trademarks of Microchip Technology Incorporated in the U.S.A.

Adjacent Key Suppression, AKS, Analog-for-the-Digital Age, Any Capacitor, AnyIn, AnyOut, BodyCom, chipKIT, chipKIT logo, CodeGuard,
CryptoAuthentication, CryptoCompanion, CryptoController, dsPICDEM, dsPICDEM.net, Dynamic Average Matching, DAM, ECAN,
EtherGREEN, In-Circuit Serial Programming, ICSP, Inter-Chip Connectivity, JitterBlocker, KleerNet, KleerNet logo, Mindi, MiWi, motorBench,
MPASM, MPF, MPLAB Certified logo, MPLIB, MPLINK, MultiTRAK, NetDetach, Omniscient Code Generation, PICDEM, PICDEM.net, PICkit,
PICtail, PureSilicon, QMatrix, RightTouch logo, REAL ICE, Ripple Blocker, SAM-ICE, Serial Quad I/O, SMART-I.S., SQI, SuperSwitcher,
SuperSwitcher II, Total Endurance, TSHARC, USBCheck, VariSense, ViewSpan, WiperLock, Wireless DNA, and ZENA are trademarks of
Microchip Technology Incorporated in the U.S.A. and other countries.

SQTP is a service mark of Microchip Technology Incorporated in the U.S.A.

Silicon Storage Technology is a registered trademark of Microchip Technology Inc. in other countries.

GestIC is a registered trademark of Microchip Technology Germany II GmbH & Co. KG, a subsidiary of Microchip Technology Inc., in other
countries.

All other trademarks mentioned herein are property of their respective companies.

© 2014 - 2016, Microchip Technology Incorporated, All Rights Reserved.

ISBN: 9781522410980

QUALITYMANAGEME NTS

DS50002322E-page 2  2014 - 2016 Microchip Technology Inc.

Microchip received ISO/TS-16949:2009 certification for its worldwide
headquarters, design and wafer fabrication facilities in Chandler and
Tempe, Arizona; Gresham, Oregon and design centers in California
and India. The Company’s quality system processes and procedures
are for its PIC
devices, Serial EEPROMs, microperipherals, nonvolatile memory and
analog products. In addition, Microchip’s quality system for the design
and manufacture of development systems is ISO 9001:2000 certified.

®

MCUs and dsPIC® DSCs, KEELOQ

®

code hopping

Object of Declaration: MM7150 Motion Module PICtailTM Plus Evaluation Board (#AC243007) with
Explorer 16 Development Board

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 3

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

USER’S GUIDE

Table of Contents

Preface ........................................................................................................................... 6

Introduction............................................................................................................ 6

Document Layout .................................................................................................. 6

Audience ............................................................................................................... 7

Reference Documents........................................................................................... 7

Glossary ................................................................................................................ 7

The Microchip Web Site ........................................................................................ 7

Development Systems Customer Change Notification Service ............................ 8

Customer Support ................................................................................................. 8

Document Revision History ................................................................................... 9

Chapter 1. Hardware Setup

1.1 Hardware Requirements .............................................................................. 10

1.2 Preparing the Explorer 16 Development Board ............................................ 10

1.3 Hardware Connections for MM7150-PICtail to Explorer 16 Board ............... 10

1.3.1 Direct Plug-In ............................................................................................. 10

1.3.2 Using Extension Cable .............................................................................. 11

Chapter 2. Software/Firmware Setup

2.1 Software/Firmware requirements ................................................................. 12

2.2 MPLABX Project: .......................................................................................... 12

Chapter 3. Demo Setup

3.1 Running the Motion demo ............................................................................ 15

3.2 Calibrating Sensors ..................................................................................... 16

3.2.1 Calibration Mode ....................................................................................... 16

3.2.2 One-time Calibration Mode ....................................................................... 17

3.3 Sensor Data Display ..................................................................................... 19

3.4 Sleep/Wake .................................................................................................. 19

3.5 Flash Update ................................................................................................ 20

3.5.1 Flash Update command ............................................................................ 20

3.5.2 Flash Configuration Update Command ..................................................... 22

3.5.3 Flash Corruption Recovery ........................................................................ 28

3.6 FREEFALL Mode ......................................................................................... 29

Chapter 4. Troubleshooting

4.1 Failure to Display Welcome Screen ............................................................. 32

4.2 Error Handling .............................................................................................. 33

4.2.1 General Error Handling for VREG Functions ............................................. 33

2

4.2.2 I

4.2.3 Error Definitions (from source/headers/err.h) ............................................ 35

C Error Handling .................................................................................... 34

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 4

Appendix A. Code Structure

A.1 Directory structure ........................................................................................ 36

A.2 Program Flow ............................................................................................... 38

A.2.1 Main.c ....................................................................................................... 38

A.2.2 Configuring and Initializing MM7150 Motion Module ................................ 38

A.2.3 Enabling Sensors and Reading data ........................................................ 39

Appendix B. Reference Schematic & Bill of Materials

B.1 MM7150 Motion Module PICtail TM Plus Evaluation Board .......................... 40

B.1.1 Bill of Materials .......................................................................................... 40

B.1.2 Reference Schematic ................................................................................ 40

Appendix C. Extension Cable for Explorer 16

C.1 Signals Connection ...................................................................................... 42

Worldwide Sales and Service .................................................................................... 43

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 5

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

USER’S GUIDE

Preface

NOTICE TO CUSTOMERS

All documentation becomes dated, and this manual is no exception. Microchip tools and
documentation are constantly evolving to meet customer needs, so some actual dialogs
and/or tool descriptions may differ from those in this document. Please refer to our web site
(www.microchip.com) to obtain the latest documentation available.

Documents are identified with a “DS” number. This number is located on the bottom of each
page, in front of the page number. The numbering convention for the DS number is
“DSXXXXXA”, where “XXXXX” is the document number and “A” is the revision level of the
document.

For the most up-to-date information on development tools, see the MPLAB
Select the Help menu, and then Topics to open a list of available online help files.

®

IDE online help.

INTRODUCTION

This chapter contains general information that will be useful to know before using the
MM7150 Motion Module PICtail
Explorer 16 development board (#DM240001) to run the demo and sample code. Items
discussed in this chapter include:

• Document Layout

• Audience

• Reference Documents

• Glossary

• The Microchip Web Site

• Development Systems Customer Change Notification Service

• Customer Support

• Document Revision History

DOCUMENT LAYOUT

This document describes how to use the MM7150-PICtail with Explorer 16
Development Board to perform the demo and modify sample code. The manual layout
is as follows:

• Chapter 1. “Hardware Setup” – Provides hardware setting information.

• Chapter 2. “Software/Firmware Setup” – Provides software and firmware set-

ting and build information.

• Chapter 3. “Demo Setup” – Includes demonstration procedures.

• Chapter 4. “Troubleshooting” – Provides troubleshooting information.

• Appendix A. “Code Structure” – Provides sample code structure information.

TM

Plus Evaluation Board (#AC243007) with the

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 6

• Appendix B. “Reference Schematic & Bill of Materials” – Provides

MM7150-PICtail adapter reference schematic & bill of materials information.

• Appendix C. “Extension Cable for Explorer 16” – Provides signals connection

information for building a custom extension cable to use with MM7150-PICtail.

AUDIENCE

This document is written for developers who are familiar with 9-axis motion sensor
applications. The purpose of this document is to describe the functions and use of the
MM7150-PICtail with Explorer 16 Development Board to perform the demos and mod­ify sample code functions as described in the Host API Design for MM7150 Application
Note.

REFERENCE DOCUMENTS

• DS00001885A - SSC7150 Motion Coprocessor Data Sheet

• DS00001888A - MM7150 Motion Module Data Sheet

• DS00001873A - Host API Design for MM7150 Motion Module Application Note

Note: Please contact your Microchip representative for the above documents and

availability.

Preface

GLOSSARY

This section describes glossary terms and acronyms used in this document.

TERM DEFINITION

EVB Evaluation Board

HID Human Interface Device

2

I

C Inter-Integrated Circuit

USB Universal Serial Bus

EC Embedded Controller

SF Sensor Fusion

THE MICROCHIP WEB SITE

Microchip provides online support via our web site at www.microchip.com. This web
site is used as a means to make files and information easily available to customers.
Accessible by using your favorite Internet browser, the web site contains the following
information:

• Product Support – Data sheets and errata, application notes and sample

programs, design resources, user’s guides and hardware support documents,
latest software releases and archived software

• General Technical Support – Frequently Asked Questions (FAQs), technical

support requests, online discussion groups, Microchip consultant program
member listing

• Business of Microchip – Product selector and ordering guides, latest Microchip

press releases, listing of seminars and events, listings of Microchip sales offices,
distributors and factory representatives

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 7

MM7150 Motion Module PICtailTM Plus Evaluation Board (#AC243007)
with Explorer 16 Development Board User’s Guide

DEVELOPMENT SYSTEMS CUSTOMER CHANGE NOTIFICATION SERVICE

Microchip’s customer notification service helps keep customers current on Microchip
products. Subscribers will receive e-mail notification whenever there are changes,
updates, revisions or errata related to a specified product family or development tool of
interest.

To register, access the Microchip web site at www.microchip.com, click on Customer
Change Notification and follow the registration instructions.

The Development Systems product group categories are:

• Compilers – The latest information on Microchip C compilers, assemblers, linkers

and other language tools. These include all MPLAB C compilers; all MPLAB
assemblers (including MPASM assembler); all MPLAB linkers (including MPLINK
object linker); and all MPLAB librarians (including MPLIB object librarian).

• Emulators – The latest information on Microchip in-circuit emulators.This

includes the MPLAB REAL ICE and MPLAB ICE 2000 in-circuit emulators.

• In-Circuit Debuggers – The latest information on the Microchip in-circuit

debuggers. This includes MPLAB ICD 3 in-circuit debuggers and PICkit 3 debug
express.

• MPLAB IDE – The latest information on Microchip MPLAB IDE, the Windows

Integrated Development Environment for development systems tools. This list is
focused on the MPLAB IDE, MPLAB IDE Project Manager, MPLAB Editor and
MPLAB SIM simulator, as well as general editing and debugging features.

• Programmers – The latest information on Microchip programmers. These include

production programmers such as MPLAB REAL ICE in-circuit emulator, MPLAB
ICD 3 in-circuit debugger and MPLAB PM3 device programmers. Also included
are nonproduction development programmers such as PICSTART Plus and
PIC-kit 2 and 3.

CUSTOMER SUPPORT

Users of Microchip products can receive assistance through several channels:

• Distributor or Representative

• Local Sales Office

• Field Application Engineer (FAE)

• Technical Support

Customers should contact their distributor, representative or field application engineer
(FAE) for support. Local sales offices are also available to help customers. A listing of
sales offices and locations is included in the back of this document.

Technical support is available through the web site at:

http://www.microchip.com/support

DS50002322E-page 8  2014 - 2016 Microchip Technology Inc.

DOCUMENT REVISION HISTORY

Revision Correction

DS500002322E (11-18-16)

DS500002322D (08-18-15)

DS500002322C (07-02-15)

DS50002322B (02-18-15)

DS50002322A (11-07-14) Initial Release

• Updated information for sample code version 1.4.0

• Removed PIC24 Legacy PLib and replace with MCC

• Added section 3.5.3 for Flash Corruption Recovery

• Added Acc Range 4G/8G/16G configuration in section 3.5.2

• Updated information for sample code version 1.3.4

• Added section 3.6 “Free Fall Mode”

• Updated section 4.2.3 error code

• Added section 3.2 “Calibrating Sensors”

• Added section 3.5.2 “Flash Configuration Update” feature

• Added Appendix C “Extension Cable” info

• Updated all pictures with latest production MM7150-PICtail

• Updated all figures for sample code v1.3.3

• Added section 3.4 for Sleep/Wake feature

• Added section 3.5 for Flash Update feature, update corresponding
sections

• Changed UART baud rate from custom 125000 to standard 19200

• Updated all the figures to show the v1.3.2 sample code

• Updated the correct Document Numbers in the Reference Section

• Added section 1.1 for hardware requirements

• Added section 2.1 for software/firmware requirements

• Section 3.2 “Calibrating Sensors” removed

Preface

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 9

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

Chapter 1. Hardware Setup

1.1 HARDWARE REQUIREMENTS

• Microchip Explorer 16 Development Board

• Microchip MM7150-PICtail Motion Module PICtail Board

• Microchip PICKit3 or ICD3 or RealICE debugger

• Null-Modem Serial Cable

• USB-to-Serial Adapter

1.2 PREPARING THE EXPLORER 16 DEVELOPMENT BOARD

• Insert PIM PIC24FJ128GA010 at Explorer 16 U1A socket

• Insert strap J7 for PIC24

• S2 switch selected for PIM

• Connect MPLAB ICD3 (or REAL ICE) In-Circuit Debugger module from HOST PC
to JP1

• Connect USB-to-Serial Adapter capable of 19200 baud rate from HOST USB Port
to Explorer 16 P1

- USB-to-Serial Adapter such as Microchip MCP2200 USB to RS232 Demo

Board (Microchip part#: MCP2200EV-VCP)

USER’S GUIDE

Note: Configure Terminal Emulation Software (ex. Tera Term) for 19200 baud, 8

bits, No Parity, 1 Stop Bit, No Flow Control.

• Power Supply (+9V) at J12

1.3 HARDWARE CONNECTIONS FOR MM7150-PICTAIL TO EXPLORER 16 BOARD

Note: Before attempting to connect the MM7150-PICtail with PICtail™ Plus Edge

connector module to the Explorer 16 board, it is crucial that the power sup­ply to the Explorer 16 be disconnected. Failure to do so may damage the
MM7150 Motion Module.

1.3.1 Direct Plug-In

The MM7150-PICtail can be installed directly into the Explorer 16 Board. Insert the
MM7150-PICtail into the PICtail™ header J5 with pin 1 of the module lining up with pin
1 of the header, as seen in Figure 1-1.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 10

Hardware Setup

FIGURE 1-1: DIRECT CONNECTION OF MM7150-PICTAIL TO THE EXPLORER 16 PICTAIL™

HEADER.

1.3.2 Using Extension Cable

The MM7150-PICtail motion module can be connected to the Explorer 16 development
board via a custom extension cable. Using an extension cable will allow freedom of
movement compared with directly inserting the MM7150-PICtail board into the PICtail
header on the Explorer 16 board.

Please see Appendix C. “Extension Cable for Explorer 16” for more information.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 11

MM7150 MOTION MODULE PICTAILTM PLUS

WITH EXPLORER 16 DEVELOPMENT BOARD

Chapter 2. Software/Firmware Setup

2.1 SOFTWARE/FIRMWARE REQUIREMENTS

• Microchip MPLABX IDE v3.26 or later

• Microchip XC16 Compiler v1.26 or later

• Microchip MPLAB Code Configurator Plugin v3.16 or later

• MM7150_Exp16_Sample_Code_v1.4.0

Note: The latest sample code is available at www.microchip.com/motion or

please contact your Microchip representative for more information.

• SSC7150 Motion Coprocessor Firmware Binary

- The firmware can be updated using the flash update feature as described in

Section 3.5.1 “Flash Update command”.

- The firmware binary object code is encrypted and the update process is
secured.

EVALUATION BOARD (#AC243007)

USER’S GUIDE

Note: The latest firmware binary file is available at www.microchip.com/motion or

please contact your Microchip representative for more information.

• MM7150 Module Configuration Firmware Binary

- The configuration data can be updated using the update feature as described
in Section 3.5.2 “Flash Configuration Update Command”.

2.2 MPLABX PROJECT:

• Start MPLABX IDE as shown in Figure 2-1.

FIGURE 2-1: MPLABX IDE STARTUP SCREEN

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 12

Software/Firmware Setup

• File->Open Project Navigate to project directory and select Open Project as
shown in Figure 2-2.

FIGURE 2-2: OPEN PROJECT

• Motion Demo Project Loaded as shown in Figure 2-3:

FIGURE 2-3: PROJECT IS OPENED

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 13

MM7150 Motion Module PICtailTM Plus Evaluation Board (#AC243007)
with Explorer 16 Development Board User’s Guide

• With Explorer 16 power applied, make the project and download to Explorer 16
flash as shown in Figure 2-4:

FIGURE 2-4: SELECT DOWNLOAD OPTION

• Output screen during build process as shown in Figure 2-5:

FIGURE 2-5: BUILD PROCESS OUTPUT

DS50002322E-page 14  2014 - 2016 Microchip Technology Inc.

Chapter 3. Demo Setup



3.1 RUNNING THE MOTION DEMO

Note: Using a debugger will necessitate cycling power to the connected

MM7150-PICtail to reset its onboard EC (embedded controller). The easi­est way to accomplish this while debugging code is to remove/install power
to the Explorer 16 Development board with the MM7150-PICtail installed in
J5 header. DO NOT attempt to unplug the MM7150-PICtail while power is
applied to it through its connection to the Explorer 16 Development board.
This can cause a power spike to the MM7150-PICtail and cause it to
become inoperative.

Once the program has been built and downloaded/programmed successfully to
Explorer 16 Flash, the user should observe a sequence of LED flashes on the Explorer
16 board’s LED panel.

The user should then observe the following message on the Explorer 16 board’s LCD
screen:

MM7150 Demo v140

Select mode:

Additionally the following message will appear in the serial terminal window on the con­nected computer:

MM7150 MOTION MODULE PICTAIL

(TM)

PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

USER’S GUIDE

Note: Beginning with revision 1.3.4 of the sample code, the build number of the

firmware currently loaded on the SSC7150 device is displayed (as shown).

FIGURE 3-1: FIRMWARE REVISION DISPLAYED

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 15

MM7150 Motion Module PICtail

(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

Once this message has been displayed, the user can begin navigating the user menu
using the Explorer 16 push buttons (S3/S6/S5/S4). The buttons are coded as follows:

FIGURE 3-2: MM7150-PICTAIL ON EXP16 OVERVIEW

As the UP/DOWN buttons are pressed, the Explorer 16 LCD screen will refresh and
change the position of the selection cursor (“>") to a list of available sensor types. The
output to the serial monitor will also change to indicate the current sensor type which
can be selected by pressing the (S5) SELECT button. Once the user selects a sensor
from the menu, the sensor data output will be displayed and updated on both the LCD
and serial monitor.

3.2 CALIBRATING SENSORS

3.2.1 Calibration Mode

In order for the sensors to function properly and indicate accurate data the user will
need to calibrate the MM7150 each time power has been removed. This calibration is
done by selecting the “Calibration” mode as shown in Figure 3-3, holding the
MM7150-PICtail which is attached via an extension cable (see Appendix C. “Extension

Cable for Explorer 16” for more information), or if not using an extension cable, by hold-

ing the entire Explorer 16 board with MM7150-PICtail installed, and moving it through
space a few times (~ 5 seconds) to make an “infinity” symbol or a “figure 8”.

DS50002322E-page 16  2014 - 2016 Microchip Technology Inc.

FIGURE 3-3: CALIBRATION MODE

Demo Setup

3.2.2

One-time Calibration Mode

Calibration of sensors is based on magnetic fields and magnetic flux present at the time
of calibration. In the event that the MM7150-PICtail was factory calibrated in a part of
the world where the magnetic flux differs significantly from its present location, the
one-time calibration may be useful. One-time calibration is similar to normal calibration
with one distinct difference, the final calibration will be save to NVM (Non-Volatile-Mem­ory) upon completion.

CAUTION: Although one-time calibration appears to be a viable solution to the normal
“quick” calibration each time power is removed from the MM7150-PICtail, extreme cau­tion must be exercised in the use of the one-time calibration. The MM7150-PICtail, like all
devices containing flash memory, has a limited life-cycle for updating flash memory. It is
strongly recommended that the one-time calibration is only used for cases where the
MM7150-PICtail’s calibration is drastically inaccurate due to magnetic field conditions
that are vastly different in new locations. Even in such cases, the one-time calibration
and update to NVM should be used “sparingly”.

Note: One-time calibration requires sleep/wake cycle in order to affect the

changes to NVM. The HOST_TO_SH_WAKE signal MUST be provided if
using an Exp16 to MM7150-PICtail extension cable.

The one-time calibration can only be completed if the NVM (Non-Volatile Memory)
update flag has not been set for the current power cycle. If the NVM update flag is
already set the only recourse is to Power-On Reset (POR) the Explorer16 with con­nected MM7150-PICtail.

FIGURE 3-4: ONE-TIME CALIBRATION - NVM UPDATE FLAG IS SET

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 17

MM7150 Motion Module PICtail

(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

One-time calibration selected from main menu:

FIGURE 3-5: ENTER ONE-TIME CALIBRATION

Press push-button S4 to start calibration. Similar to the “normal” calibration the
MM7150-PICtail is moved through space in a figure-8 to facilitate calibration. For this
mode the program will collect calibration data for at least 5 seconds and then check that
the “high accuracy” flag has been set. Once this state has been achieved, the
MM7150-PICtail is put to sleep and wakes in order to save the calibration settings to
NVM

FIGURE 3-6: ONE-TIME CALIBRATION COMPLETED

DS50002322E-page 18  2014 - 2016 Microchip Technology Inc.

3.3 SENSOR DATA DISPLAY

Demo Setup

Once calibrated the active sensors on the MM7150 motion module will send updates
to the PIC24 on the Explorer 16 board running the application program via I

2

C in the
form of HID packets including all relevant dimensions of data to be retrieved from the
device. These sensor readings will be displayed on the LCD (as well as the COM port
in a ‘linear’ formatting):

1D data
3D data
4D data:

: 79.0
: X: 50.3 Y: 75.6 Z: -32.9

X: 1.021 Y:-.642 Z:-.458 W: .348

Note: Significant digits will vary based on resolution of specific sensor. This reso-

lution can be determined by the unit exponent scaling factor. Serial data will
always be displayed to 3 significant digits.

Sample output to COM port running Tera Term serial emulator:

FIGURE 3-7: DISPLAY INCLINOMETER DATA

The sensor data is updated to the display every time a data register has changed since
the previous update.

3.4 SLEEP/WAKE

The MM7150 motion module can be set to enter deep sleep to achieve its lowest power
consumption. In the Explorer 16 sample code this can be accomplished by selecting
the SLEEP command from the main menu. The Explorer 16 host will send a POW­ER_OFF command through the I
MM7150 motion coprocessor is halted and the I

Select the WAKE command from the Explorer 16 main menu to wake the MM7150
motion module. This command will toggle the HOST_TO_SH_WAKE signal to alert the
MM7150 to wake, send the POWER_ON command via I
required time to allow the MM7150 to fully wake and allow sensor activity to resume.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 19

2

C interface. As a result of this SLEEP command the

2

C interface is stopped.

2

C interface, and wait the

MM7150 Motion Module PICtail

(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

The sleep/wake process requires that certain timing constraints must be observed
(shown below in Figure 3-1).

TABLE 3-1: SLEEP / WAKE TIMING CONSTRAINTS

Delay period Reason

1 Required delay between sending the SLEEP

command & toggling WAKE

2 Required delay between toggling (3 µs min) the

wake signal and sending power ON command

3 Required delay between D3 wake and enumer-

ation sequence start

3.5 FLASH UPDATE

The MM7150 motion module firmware can be updated with the appropriate binary
image (please refer to Section 2.1 “Software/Firmware requirements” for more informa-
tion) by selecting Flash Update from the Explorer 16 main menu. The Explorer 16 sam­ple code will reset the MM7150 module into a state able to accept the new binary
image, download and CRC-check a valid binary image, program new MM7150 firm­ware binary via I

Note: The Explorer 16’s UART connection will be used to download the flash

2

C interface, and finally perform image verification.

update binary and, as such, must be connected to a HOST PC running a
terminal emulator (such as Ter a Ter m as described in

Section 1.2 “Preparing the Explorer 16 Development Board”).

70ms This is required for the coefficient write

in flash during D3 plus other house­keeping activities to go into D3 state

11ms This is required for clock source

switching after coming out of D3 state

30ms This is required for sensor initialization

after D3 state

3.5.1

Flash Update command

Figure 3-8 shows the Flash Update Command from the Exp 16 sample code select

menu.

FIGURE 3-8: FLASH UPDATE COMMAND

DS50002322E-page 20  2014 - 2016 Microchip Technology Inc.

Select “File->Send file…” from Tera Term utility (NOTE: Select Binary Option).

FIGURE 3-9: SELECT BINARY FILE

Demo Setup

FIGURE 3-10: DOWNLOADING BINARY IMAGE

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 21

MM7150 Motion Module PICtail

(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

FIGURE 3-11: FLASH UPDATE SUCCESSFUL COMPLETION

Selection of the Flash Update mode will require cycling power to the Explorer 16 (and
attached MM7150-PICtail) regardless if the flash update procedure is successful,
aborted, or an error is encountered. Initial setup for this flash update sequence
requires the MM7150 to enter "BootLoader" mode from which normal operation is not
possible, therefore a POR to the MM7150-PICtail is required.

3.5.2

Flash Configuration Update Command

The X/Y/Z orientation of the MM7150 module on the customer’s design can be modified
and saved to the MM7150’s flash. The default orientation of the A/M/G sensors of
MM7150 (placed horizontally) is:

DS50002322E-page 22  2014 - 2016 Microchip Technology Inc.

Demo Setup

For this case, the inputs to the motion algorithm (running in MM7150 firmware) can be
represented by the following 3x3 matrix (Accelerometer for example):

Matrix[3, 3] = [A00, A01, A02; A10, A11, A12; A20, A21, A22];

where Axx could be 0, 1, or -1.

So, for the horizontal orientation shown above and assuming that X/Y/Z are data read
from the hardware sensor and X’/Y’/Z’ are data input to the motion algorithm:

X’ = A00*x + A01*y + A02*z

Y’ = A10*x + A11*y + A12*z

Z’ = A20*x + A21*y + A22*z

Since the input matrix corresponds one to one in X/Y/Z to the output matrix, we obtain
the following:

X’ = 1*x + 0*y + 0*z

Y’ = 0*x + 1*y + 0*z

Z’ = 0*x + 0*y + 1*z

i.e. Resulting matrix[3, 3] = [1,0,0; 0,1,0; 0,0,1;]

This orientation configuration data must be sent to the appropriate sector in the
MM7150 firmware in the following format:

TABLE 3-2: CONFIGURATION DATA FORMAT FOR HORIZONTAL

Name Values

Header A5A5A5A5

Serial_num 00000000

ACC_matrix 010000000100000001

MAG_matrix 010000000100000001

GYR_matrix 010000000100000001

Reserved 00

ACC_config 01010110

MAG_config 02010112

GYR_config 03010168

Reserved 04010144

Reserved 05010177

Reserved 06000000

Reserved 07000000

Reserved 08000000

Reserved 09000000

ACC_range 00030000 (see Note 1)

Chk_sum 1C040000 (see Note 2)

Padded FF’s for 128 byte packet

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 23

MM7150 Motion Module PICtail



(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

Note 1: SSC7150 Firmware Build 0A00 supports the accelerometer range option

as shown below:

ACC_range = 00030000: +/- 2G

ACC_range = 00050000: +/- 4G

ACC_range = 00080000: +/- 8G

ACC_range = 000C0000: +/- 16G

2: Check sum will be calculated by the sample code flash configuration

update command, as a result this field will be ignored and can be:

00000000.

For example, the XYZ matrix result for the accelerometer (acc_matrix) takes the form
of:

ACC_matrix = 01 00 00 (X=1,0,0) 00 01 00 (Y=0,1,0) 00 00 01 (Z=0,0,1)

For MM7150_Exp16_Sample_Code_v1.4.0, the flash configuration data needs to be in
the following binary file format (derived from the above text file):

FIGURE 3-12: CONFIGURATION DATA BINARY FOR HORIZONTAL

Similarly, for the A/M/G sensors of the MM7150 placed vertically (such as when
plugged into the Explorer 16 card):

DS50002322E-page 24  2014 - 2016 Microchip Technology Inc.

Demo Setup

For the vertical orientation shown above and assuming that X/Y/Z are data read from
the hardware sensor and X’/Y’/Z’ are data input to the motion algorithm with respect to
the default X/Y/Z settings:

X’ = A00*x + A01*y + A02*z

Y’ = A10*x + A11*y + A12*z

Z’ = A20*x + A21*y + A22*z

Since, for this case, the input matrix does not correspond one to one in X/Y/Z to the
output matrix, we obtain the following translations:

X’ = 1*x + 0*y + 0*z

Y’ = 0*x + 0*y - 1*z

Z’ = 0*x + 1*y + 0*z

i.e. Resulting matrix[3, 3] = [1,0,0; 0,0,-1; 0,1,0;]

This vertical configuration data can be sent to the appropriate sector in the MM7150
firmware in the following format:

TABLE 3-3: CONFIGURATION DATA FORMAT FOR VERTICAL

Name Values

Header A5A5A5A5

Serial_num 00000000

ACC_matrix 0100000000FF000100

MAG_matrix 0100000000FF000100

GYR_matrix 0100000000FF000100

Reserved 00

ACC_config 01010110

MAG_config 02010112

GYR_config 03010168

Reserved 04010144

Reserved 05010177

Reserved 06000000

Reserved 07000000

Reserved 08000000

Reserved 09000000

ACC_range 00030000 (see Note 1)

Chk_sum 16070000 (see Note 2)

Padded FF’s for 128 byte package

For MM7150_Exp16_Sample_Code_v1.4.0, the flash configuration data must adhere
to the following binary file format:

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 25

MM7150 Motion Module PICtail





(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

FIGURE 3-13: CONFIGURATION DATA BINARY FOR VERTICAL

Using the sample code’s Flash Configuration Update mode:

FIGURE 3-14: FLASH CONFIGURATION DATA MODE

Select “File->Send file...” from TeraTerm utility: (NOTE: Select Binary Option).

DS50002322E-page 26  2014 - 2016 Microchip Technology Inc.

FIGURE 3-15: SELECT BINARY FILE



Demo Setup

Select “Open” to download binary file to flash.

Following successful completion of the flash configuration update procedure (or if any
error is encountered), the Explorer 16 must be power cycled (POR).

Note: Should an issue arise due to incorrect formatting of binary data, the

MM7150 Flash can be restored using the Flash Update command in

Section 3.5.1 “Flash Update command”.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 27

MM7150 Motion Module PICtail



(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

FIGURE 3-16: FLASH CONFIGURATION UPDATE SUCCESSFUL

3.5.3 Flash Corruption Recovery

If flash update was not completed in an orderly manner, the flash ROM in SSC7150
may be corrupted. For example, when the power is down while the flash update is in
progress. In such case, the SSC7150 will power up into a boot loader mode when the
flash ROM is corrupted. The sample code has a capability to detect the boot loader
mode and re-flash the firmware binary to recovery the device.

At boot, if the boot loader mode is detected, then the flash update function runs auto­matically. The user can select and download the firmware binary file as described in

Section 3.5.1 “Flash Update command” to recover from the flash corruption state.

DS50002322E-page 28  2014 - 2016 Microchip Technology Inc.

FIGURE 3-17: BOOTLOADER MODE

Demo Setup

3.6 FREEFALL MODE

Free-fall detection by the MM7150 at the present time is not supported in the MM7150
firmware. Included in the Explorer16 with MM7150 sample code version 1.3.4 is a soft­ware solution to demonstrate free-fall detection of the MM7150.

Free-fall is the acceleration of a device due to the effects of gravity. The simplest type
of free-fall is “linear” free-fall wherein the orientation of the device remains constant
along its three axes as it moves or falls. Output from the accelerometer is based on the
effects (or acceleration) of gravity. The accelerometer is used to detect when a device
is free-falling. Starting from a stationary or static orientation, a device will have X=0g,
Y=0g, and Z =-1g accelerometer readings. The X and Y 0g readings occur because
these vectors are perpendicular to gravity and thus gravity has no effect on them. How­ever, for the Z = -1g reading, the 1g is due to the Z axis or vector being parallel to the
gravity component acting on the device in the downward direction and “-“ refers to the
direction opposite the effect of gravity.

For example, a MM7150-PICtail with a horizontal configuration (stored in flash, see

Section 3.5.2 “Flash Configuration Update Command”) is held in a static horizontal

position then the X,Y, and Z components (of acceleration) are found to be: X=0, Y=0,
Z=-1. (Refer to Figure 3-18 below, X = 0g because this vector is perpendicular to grav­ity, so also for Y = 0g. Z = -1g because its axis is parallel and opposite the direction of
gravity.) When the MM7150-PICtail device is dropped, and considering linear free-fall
only, all three axes will converge to ideally 0g.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 29

MM7150 Motion Module PICtail

(TM)

Plus Evaluation Board (#AC243007)

with Explorer 16 Development Board User’s Guide

FIGURE 3-18: MM7150 IN HORIZONTAL POSITION (GRAVITY IN NEGATIVE Z-AXIS)

For the sample code demonstration, the accelerometer is configured for maximum sen­sitivity (= 0) and data rate (=10 ms). In order to achieve a data rate = 10 ms per sample,
the output to the UART and LCD screens, which cause a viable delay during output dis­play, are disabled temporarily while the accelerometer data is collected. An extension
cable must be used (see Appendix C. “Extension Cable for Explorer 16”) for the
Explorer 16 to MM7150-PICtail in order to drop the device onto a soft landing surface.

It is virtually impossible to preserve the orientation of the MM7150-PICtail (i.e. prevent
it from tilting, rotating, or spinning) during the fall without a specialized test setup so the
sample code factors-in an offset for the X,Y, and Z readings during the collection of the
accelerometer data. When the X, Y, and Z readings are within the expected range, all
approaching zero, and continue for successive readings, free-fall is determined to be
occurring. Free-fall can be detected at heights above ~1” from the soft landing pad.
Impact with the landing pad will also be determined by observing accelerometer read­ings in excess of 1g.

DS50002322E-page 30  2014 - 2016 Microchip Technology Inc.

FIGURE 3-19: FREE FALL DETECTION MODE

The data logging begins when the first X,Y,Z readings are below the expected threshold
and all approaching zero. The “free-falling” determination is made if two successive
readings are within the predetermined range. Any discrepancies in the data logging are
due to changes in orientation of the MM7150-PICtail device as it falls. Finally, as seen
in Figure 3-20, “impact” with the “ground” or landing pad is also determined.

Demo Setup

FIGURE 3-20: FREE FALL DETECTION LOGGING

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 31

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

Chapter 4. Troubleshooting

This chapter describes troubleshooting potential issues and fixes.

4.1 FAILURE TO DISPLAY WELCOME SCREEN

If the welcome message fails to display on the Explorer 16 LCD screen and error mes­sages depicted below appear in the debugger’s output (using Microchip ICD3 or REAL
ICE debugger for instance), the most likely cause is a failure to disconnect and recon­nect power to the MM7150-PICtail. This is accomplished by disconnecting and recon­necting power to the Explorer 16 board before restarting the demo. This process serves
as a ‘hard reset’ for the SSC7150 on the MM7150-PICtail, allowing I
to reinitialize and restart.

FIGURE 4-1: ERROR MESSAGE IN DEBUGGER’S TAB

USER’S GUIDE

2

C communication

Note: If user is running on a different debugger (eg: ICD3, Real ICE etc.) the mes-

sage would appear in that debugger’s output tab.

FIGURE 4-2: ERROR MESSAGE IN DEBUGGER CONSOLE TAB.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 32

4.2 ERROR HANDLING

4.2.1 General Error Handling for VREG Functions

Note: Please refer to “DS00001873A - Host API Design for MM7150-PICtail

VREG functions which fail to complete due to certain hardware events may display
error information via error handling output on the Explorer 16 board’s LCD screen and
on the serial terminal window on the connected computer.

For example, in the case of a VREG Read operation of register 16h which encounters
a problem while reading data in response to receiving a HIDI2C_HOST_INT (which
indicates that a MM7150 sensor has data available) the following will be displayed on
the Explorer 16 board’s LCD:

where:

VRRd:16 - Attempting a VREG Read operation on register 16h (VREG ACXD register)

err=0x31 – Error code generated (see error code definitions in Section 4.2.3)

Push S5 to cont - Press button S5 to attempt to recover from the reported error

The same error is displayed on the serial terminal window on the connected computer:

Troubleshooting

Motion Module Application Note” for more information regarding virtual reg­isters (VREG) defined and used in the sample code.

VRRd:16 err=0x31

Push S5 to cont

FIGURE 4-3: SERIAL TERMINAL GENERAL ERROR HANDLING DISPLAY

TABLE 4-1: GENERAL ERROR HANDLER FUNCTION ABBREVIATION

Function Error Handler Output Abbreviation

VREG_init( ) Vini

HOST_SF_LIB_VREG_read( ) VRRd

HOST_SF_LIB_VREG_write ( ) VRWr

I2cIO( ) i2c

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 33

MM7150 Motion Module PICtailTM Plus Evaluation Board (#AC243007)
with Explorer 16 Development Board User’s Guide

4.2.2 I

Upper level functions which employ I2C function calls for the Explorer 16 board’s PIC24
to MM7150 interface that fail to complete will display error information. The I

2

C Error Handling

2

C error
handling display is output on the Explorer 16 board’s LCD screen and on the serial ter­minal window on the connected computer.

Note: Most, if not all, I

specific to the PIC24 on the Explorer 16 board, I
as an error to illustrate where the issue was encountered. For this demo, in
the rare event that a fully functional I

2

C errors are hardware dependent. As this sample code is

2

C interface encounters an error, the

2

C errors are simply flagged

error “recovery” method will require resetting the Explorer 16 board and,
hence, the connected MM7150-PICtail.

For example, in the case of an i2cIO operation which encounters an issue, wherein the
MM7150 fails to ACK properly, the following will be displayed on the Explorer 16
board’s LCD:

i2c error=0x29

POR Exp16 Board

where:

i2c - error occurred in i2cIO() function

error=0x29 – error code generated (see error code definitions in Section 4.2.3)

POR Exp16 Board - Power On Reset Explorer 16 board (and connected

MM7150-PICtail)

The same error is displayed on the serial terminal window on the connected computer:

FIGURE 4-4: SERIAL TERMINAL I2C ERROR HANDLING DISPLAY

DS50002322E-page 34  2014 - 2016 Microchip Technology Inc.

Troubleshooting

4.2.3 Error Definitions (from source/headers/err.h)

Error Value Definition Module/Type

0 SUCCESS

10h ID_FAIL sf.c

11h HID_DESC_FAIL sf.c

12h RPT_DESC_FAIL sf.c

14h REP_PARS_FAIL sf.c

15h NO_EOC_FAIL sf.c

16h RESET_FAIL sf.c

17h POWER_ON_FAIL sf.c

18h GET_FEAT_FAIL sf.c

19h SET_FEAT_FAIL sf.c

1Ah SET_RPT_FAIL sf.c

1Bh SLEEP_CMD_FAIL sf.c

1Ch HID_GET_RPT_INPT_FAIL sf.c

1Dh HID_GET_RPT_FEAT_FAIL sf.c

1Eh WAKE_CMD_FAIL sf.c

21h I2C_ERROR i2cIO.c

22h I2C_BUF_OVERFLO i2cIO.c

23h WRITE_COLL i2cIO.c

24h NOT_ACK i2cIO.c

25h BUS_COLL i2cIO.c

26h RX_OVRFLO i2cIO.c

27h HID_DESC_RET i2CIO.c

28h REP_DESC_RET i2cIO.c

29h I2C_TIMEOUT_ERR i2cio.c

31h HID_INT_FAIL vregs.c

32h VREG_ACCESS_ERR vregs.c

33h VREG_OFFSET_ERR vregs.c

41h FLSH_INFO_ERR flash_update.c

42h FLSH_WRITE_ERR flash_update.c

43h FLSH_VERIFY_ERR flash_update.c

44h FLSH_CRC_ERR flash_update.c

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 35

Appendix A. Code Structure



A.1 DIRECTORY STRUCTURE

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

USER’S GUIDE

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 36

Code Structure

TABLE A-1: DIRECTORY STRUCTURE OF THE SENSOR FUSION SAMPLE CODE

Files Description

\source\headers\app.h Include for all other underlying h files and typedefs

\source\headers\err.h Functions and parameters for error handling

\source\headers\flash_update.h Functions for flash update

\source\headers\i2cIO.h Functions and parameters specific to I

with MM7150 module

\source\headers\lcd.h Functions relevant to LCD operation

\source\headers\sf.h Functions relevant to decoding and encoding HID com-

mands and packets

\source\headers\system.h Functions relevant to running the demo

\source\headers\vregs.h

Functions relevant to the creation of the virtual register
layer of the MM7150 API library

\source\src\err.c

\source\src\flash_update.c

\source\src\i2cIO.c

\source\src\lcd.c
\source\src\mmain.c

Error handling functions for I

Functions for flash update.

Functions to communicate with MM7150 Module via

2

I

C

LCD support for Explorer 16 board

Functions to setup Explorer 16 board environment,

2

C and VREG operations

COM port UART2, interrupts, timers, I
HID_initialization, start HID handshaking with EC via

2

I

C commands

\source\src\sf.c

Functions to get HID tables from MM7150 Module,
send power and reset HID commands, get HID report
descriptors, parse descriptors, get input from sensor
devices

\source\src\system.c

Initiates the motion demo by configuring LED’s, LCD,
Serial, and buttons

\source\src\utils.c

\source\src\vregs.c

Assorted functions

Mediator between HID-I

2

C communication and user

Commands (interactive layer of API)

mcc_generated_files\ext_int.h

mcc_generated_files\i2c1.h

mcc_generated_files\interrupt_manager.h

mcc_generated_files\mcc.h

mcc_generated_files\pin_manager.h

mcc_generated_files\tmr1.h

mcc_generated_files\tmr2.h

mcc_generated_files\traps.h

mcc_generated_files\uart2.h

mcc_generated_files\ext_int.c

mcc_generated_files\i2c1.c

mcc_generated_files\interrupt_manager.c

mcc_generated_files\mcc.c

mcc_generated_files\pin_manager.c

mcc_generated_files\tmr1.c

mcc_generated_files\tmr2.c

Functions for external interrupt

Functions and data definitions for I2C1 driver

Functions for interrupt initialization

Include for all other MCC generated header files

Macro functions for GPIOs

Functions for Timer 1

Functions for Timer 2

Functions for traps

Functions for UART 2

External interrupt handler

I2C1 driver functions and interrupt handler

Interrupt initialization and management

System initialization

GPIO configuration

Timer 1 driver functions and interrupt handler

Timer 2 driver functions and interrupt handler

2

C communication

2

C,

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 37

MM7150 Motion Module PICtailTM Plus Evaluation Board (#AC243007)

Enable user’s selected sensor; set

its sensitivity and data reporting

rate; retrieve the unit exponent

factor for the data

Retrieve and display sensor data
until the user presses reset
button to exit, and disable user’s

selected sensor

features

display_menu(): Display menu to

user and begin handling button

presses until a selection is made

features

VREG_init(): Initialize VREGS;

Retrieve HID & report descriptors,

and all device features

f

e

ature

s

sys_init( ): Initialize interrupts,

LED’s, LCD screen, buttons, and

serial communication (19200

baud)

with Explorer 16 Development Board User’s Guide

TABLE A-1: DIRECTORY STRUCTURE OF THE SENSOR FUSION SAMPLE CODE (CONTINUED)

Files Description

mcc_generated_files\traps.c

mcc_generated_files\uart2.c

main.c

MM7150_PIC24F_Config.mc3

Traps functions and handler

UART 2 driver functions and interrupt handler

main function

MCC Configuration File

A.2 PROGRAM FLOW

A.2.1 Main.c

FIGURE A-1: PROGRAM FLOW CHART

A.2.2 Configuring and Initializing MM7150 Motion Module

Note: For a more comprehensive explanation of the API library functions, see the

Host API Design for MM7150 Application Note.

VREG_init (VREGS.c)–procedureforpreparingmotionmodulefordatareporting

1. hid_i2c_descriptor_handler(GET_HID_DESC)

DS50002322E-page 38  2014 - 2016 Microchip Technology Inc.

- RetrieveandparsetheHIDdescriptortable

2. hid_i2c_cmd_process (POWER_ON)

- WaketheEC

3. hid_i2c_cmd_process (RESET)

- ResettheEC

4. hid_i2c_descriptor_handler(GET_REPT_DESC)

- Retrieveandparsereportdescriptortable

5. hid_i2c_cmd_process (HID_GET_RPT_FEAT, rept_ID)

- Get feature reports for sensors

A.2.3 Enabling Sensors and Reading data

1. HOST_SF_LIB_write(0, 0bXXXXXXXXXX0101)

- Enable one or multiple sensors

2. HOST_SF_LIB_write regX, sensitivity value

- Optional - edit sensitivity per sensor

3. HOST_SF_LIB_write regX, data rate value

- Optional - edit data rate per sensor

4. HOST_SF_LIB_write(DATA_REG)

- Read input data from the enabled sensors

Code Structure

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 39

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

USER’S GUIDE

Appendix B. Reference Schematic & Bill of Materials

B.1 MM7150 MOTION MODULE PICTAIL TM PLUS EVALUATION BOARD

B.1.1 Bill of Materials

Designator Quantity Description Value

J1 1 CON HDR-2.54 Male 1x4 Gold 5.84MH TH VERT HDR-2.54 Male 1x4

J2 1 CON HDR-2.54 Male 1x6 Tin 5.84MH TH VERT HDR-2.54 Male 1x6

J3 1 CON HDR-2.54 Female 1x6 Gold TH R/A HDR-2.54 Female 1x6

JP1, JP2, JP3 3 CON HDR-2.54 Male 1x2 HDR-2.54 Male 1x2

LED1, LED2 2 DIO LED YELLOW 2.1V 30mA 6mcd Clear SMD 0805 YELLOW

LED3 1 LED 3MM RT ANG HI EFF GRN PC MNT - Dialight

551-0209F

R1, R2, R4 3 RES TKF 301R 1% 1/10W SMD 0603 301R

R3, R5 2 RES TKF 10k 1% 1/16W SMD 0603, RES TKF 0R 1/10W

SMD 0603

R6 1 RES TKF 0R 1/10W SMD 0603 0R

R7, R8 2 RES TKF 2.21k 1% 1/10W SMD 0603 2.21k

R9 1 RES TKF 2.21k 1% 1/10W SMD 0603 DNP

U1 1 MM7150 Motion Module

GREEN

10k, DNP

B.1.2 Reference Schematic

The MM7150 Motion Module PICtail TM Plus Evaluation Board (#AC243007) reference
schematic is shown in the next page.

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 40

DS50002322E-page 41  2014 - 2016 Microchip Technology Inc.

MM7150 Motion Module PICtail

with Explorer 16 Development Board User’s Guide

TM

Plus Evaluation Board (#AC243007)

MM7150 MOTION MODULE PICTAILTM PLUS

EVALUATION BOARD (#AC243007)

WITH EXPLORER 16 DEVELOPMENT BOARD

USER’S GUIDE

Appendix C. Extension Cable for Explorer 16

Please refer to MM7150-PICTail Reference Schematic (B.1.2 “Reference Sche-

matic”) and create an extension cable of up to 20” (with proper shielding) for ease of

motion during calibration.

Note: Per industry data, I2C bus at 400KHz without buffer can have length up to

2 meters with limiting factor of wiring capacitance. Designers should take
this into consideration if planning to build longer extension cable which is
out of scope of this user’s guide.

C.1 SIGNALS CONNECTION

TABLE C-1: CONNECTION SUMMARY BETWEEN MM7150 TO EXP16 BOARD

MM7150

Signal Name

+3.3V 7 1 21 +3.3V 21

GND 8 2 15 GND 9

HIDI2C_HOST_INT 4 3 18 RE8/INT1 18

HIDI2C_HOST_DAT 16 5 8 RG3/SDA1 8

HIDI2C_HOST_CLK 15 6 6 RG2/SCL1 6

HOST_TO_SH_WAKE 1 NC 17 RE9 17

SSC7150

Module Pin

SSC7150 J3

Header

Module Z1

PICtail

Connector

Exp16 J6

Header Name

Exp16 J6

Header Pin

 2014 - 2016 Microchip Technology Inc. DS50002322E-page 42

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DS50002322E-page 43  2014 - 2016 Microchip Technology Inc.

11/07/16

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