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IMPLEMENTATION OF THE PROJECT

For running the project we need to go through some process. Process are given below.

Wiring the connection

MPU9255              STM32F4Z9I-DISCO Board
 SCL ----------------------------- PB10

 SDA ----------------------------  PB11

 INTA ---------------------------  PB1
 VCC ---------------------------   5V

 GND --------------------------- GND

USB TO TTL BOARD                     STM32F4Z9I-DISCO Board 

 TX ----------------------------------------------- PA9
 RX ----------------------------------------------  PA10

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Setup the CoCox IDE.I prefer to download the version of 1.7.8. In the newer version, there have some library and feature missing which is required for the project.

Open the Project

Change the configuration according to below picture

Rebuild all. Hopefully, there should not have any error
Connect the hardware and download the hex file to the hardware
Python Client

A Python client is included with the release package to test the performance and display log information. The client can be found in the release package under the directory (..\eMPL-pythonclient). The python client also accepts user input and provides the input the sample HAL Application. The user would be able to enable/disable sensors, enable computation algorithms, enable hardware features, and view log information. You would need to install Python (version 2.5 and above), pyserial and pygame for the python script to execute.

Installing Python 2.7 (32-bits version) or above, pyserial, and pygame

Python: https://www.python.org/downloads/
Pyserial: https://pypi.python.org/pypi/pyserial

Pygame: http://www.pygame.org/download.shtml

Connect your flashed and working hardware to your PC and find the COM port in the device manager if the connected device. You should find out the no of COM port.
Installing Python 2.7 (32-bits version) or above, pyserial, and pygame

python eMPL-client.py <COM PORT NUMBER>
Ex: python eMPL-client.py COM3

2 Windows will pop one. 1 contains a 3D Cube which corresponds with the quaternion angles outputted from the device. The other window will display any related logs or data.
Motion Driver can accept input commands and display various different data. You must first make sure the cube window is the focused window then type in the input command.

  1.  ‘8’ : Toggles Accel Sensor

  2.  ‘9’ : Toggles Gyro Sensor

  3.  ‘0’ : Toggles Compass Sensor

  4.  ‘a’ :Prints Accel Data

  5.  ‘g’ : Prints Gyro Data

  6.  ‘c’ : Prints Compass Data

  7.  ‘e’ : Prints Eular Data in radius

  8.  ‘q’ : Prints Quaternions

  9.  ‘h’ : Prints Heading Data in degrees

  10.  ‘i’ : Prints Linear Acceleration data

  11.  ‘o’ : Prints Gravity Vector data

  12.  ‘w’ : Get compass accuracy and status

  13.  ‘d’ : Register Dump

  14.  ‘p’ : Turn on Low Power Accel Mode at 20Hz sampling

  15.  ‘l’ : Load calibration data from flash memory

  16.  ‘s’ : Save calibration data to flash memory

  17.  ‘t’ : run factory self test and calibration routine

  18.  ‘1’ : Change sensor output data rate to 10Hz

  19.  ‘r’ : Prints Rotational Matrix Data

  20.  ‘2’ : Change sensor output data rate to 20Hz

  21.  ‘3’ : Change sensor output data rate to 40Hz

  22.  ‘4’ : Change sensor output data rate to 50Hz

  23.  ‘5’ : Change sensor output data rate to 100Hz

  24.  ‘,’ : set interrupts to DMP gestures only

  25.  ‘.’ : set interrupts to DMP data ready

  26.  ‘6’ : Print Pedometer data

  27.  ‘7’ : Reset Pedometer data

  28.  ‘f’ : Toggle DMP on/off

  29.  ‘m’ : Enter Low Power Interrupt Mode

  30.  ‘v’ : Toggle DMP Low Power Quaternion Generation

  31.  ‘x’ : Reset the MSP430

GitHub Link for document, source code and documentation of source code.

You can see the video of the project as well.
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