Programming Osmium MIMU4444 Using AVR Dragon

Programming
The Osmium MIMU4444 / MIMU4X4C
With AVR Dragon
Revision 1.3
28 Jan 2016
Committed to Innovate
© 2016, GT Silicon Pvt Ltd, Kanpur, India
www.gt-silicon.comwww.inertialelements.com 1

2
Revision Revision Date Updates
1.0 15 Sep 2014 Initial Release of Programming Instruction Manual
1.2 14 Sep 2015 Updated with latest JTAG programming cable
1.3 28 Jan 2015 Updated for the source of firmware and MIMU4X4C
Revision History
www.inertialelements.com

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Purpose & Scope
This document carries all the necessary instructions, in
extremely simple and interactive way, required to program (i.e.
update the embedded code of) MIMU4444 and MIMU4X4C
using Atmel Studio 6.2 and AVR Dragon.

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Hardware & Software Requirement
• 64 bits computer with 4 GB SRAM and Windows 7 OS
• Atmel Studio 6.2 installed on computer
• AVR Dragon
• MIMU4444 / MIMU4X4C
• MIMU4444 JTAG cable

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Osmium MIMU4444
4x4 IMU array
4x4 IMU array
32-bits Floating
Point Atmel’s
AT32UC3C
Microcontroller
JTAG
USB
Communication
& Power

3. Click here to select
OpenShoe_runtime_framework
2. Dropdown menu
1. Go to home page of OpenShoe on SourceForge
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Click here to Download Snapshot
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Save the downloaded zip file in a separate directory
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[28Jan2016] We recommend downloading the zip folder from our
website inertialelements.com  Support Resources
Note: There are separate zip folders for MIMU4444 and MIMU4X4C

1. Dropdown menu
2. Click here to select
Navitation_algorithms
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Click here to Download Snapshot
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Save the downloaded zip file in the same
Directory where the earlier one is saved
11
[28Jan2016] We recommend downloading the zip folder from our
website inertialelements.com  Support Resources
Note: There are separate zip folders for MIMU4444 and MIMU4X4C

Extract from zip files
(You may change folders’ names)
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Open Atmel Studio 6.1
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This is how Atmel Studio appears on launch
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Click here to open Project/Solution
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Go to folder openshoe_algorithms*
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1. Select Navigation_algorithms
2. Click here to Open
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Note
18

Click here to select
Existing project
Select & right click on
Solution ‘Navigation _algorithms’
2. Click here
to add project
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1. Go to this openshoe-framework*
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1. Select OpenShoe_runtime_framework
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The project
(OpenShoe_runtime_framework)
will appear in the right window pane
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2. Click here to
edit Properties
1. Select
and right click
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2. Select
Symbols
1. Select
Toolchain
3. Select MIMU22BT
4. Click here to edit

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1. Change name to MIMU4444 for MIMU4444
OR MIMU4444BT for MIMU4X4C
2. Click to confirm

2. Select this path
3. Click here to edit path1. Select
Directories
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Click here to update path
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2. Select this folder
1. Go to this folder (src)
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2. Click to confirm
1. Note the updated path
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3 Click here to edit path
Click
here
to select
Libraries
2. Click here to select path
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Click here to update path
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2. Select this folder
1. Go to this folder (Debug)
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2. Click to confirm
1. Note the updated path
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2. Click here to
edit Properties
1. Select Navigation_algorithm

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2. Select
Symbols
1. Select
Toolchain
3. Select MIMU22BT 4. Click here to edit

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1. Change name to MIMU4444
2. Click to confirm

Don’t forget to save !
37

Now include calibration file
3. Click here
to add
1. Select &
right click
Config
2. Select to Add
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Note: Name of the file must be
user_calibration_MIMU4444.h
1. Select calibration file from appropriate location
2. Click here

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Calibration file
appears here

1. Select & right click
2. Click here
to build
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You will be asked to save the
build. Ignore it by clicking
Cancel.
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1. Note this on completion of build.
3. Click here to build complete solution
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2. Ignore this particular error at this stage.

You will be asked once again to save the build.
Ignore it by clicking Cancel.
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Note 0 Errors
Ignore Warnings

This is also worth your attention
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MIMU4444 / MIMU4X4C
1. Connect AVR Dragon with your computer
2. Connect MIMU4444 with AVR Dragon using our custom made JTAG cable.
JTAG Cable
MIMU4444
JTAG connector
AVR Dragon
MIMU4444
Auxiliary USB cable
for power
Details follow next

In order to use MIMU4X4C without BMBT4444, you must short two pins
(VIN and 5V) on MIMU4X4C board, using a jumper, all the time. This is
useful for programming MIMU4X4C

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Note the orientation
Note JTAG
connector’s
Position
Details of Connectors on AVR Dragon

1. Click on Tools
2. Click on Device Programming
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1. Select
AVR
Dragon 2. Select AT32UC3C0512C
from the dropdown menu

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1. Click here to Read JTAG id
2. Note on successful reading devive ID

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1. Click on
Memories
2. Select the .elf file
by clicking here

1. Note the directory path
2. Select .elf
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Note: Click on ‘Program’ programs MIMU4444
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Click here to start programming

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Programming under progress

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Verification under progress

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Programming
Successful !
You have successfully
programmed MIMU4444 !
Click here to close the window

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Committed to Innovate
Thank You
www.inertialelements.comwww.gt-silicon.com
Email: info@inertialelements.com
Registered Office: LIG – 1398, Avas Vikas – 3, P.O. – NSI, Kalyanpur, Kanpur (UP), India, PIN – 208017
R&D Centre: D-201, Type 1, VH Extension, IIT Kanpur, Kanpur (UP), India, PIN – 208016
Inertial Elements

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USB Micro B connector
10-pin FRC connector
2-pin JST connector
Auxiliary USB
power cable
JTAG Programming Cable
for MIMU4444 / MIMU4X4C

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Pin-out of 10-pins FRC Connector

Programming Osmium MIMU4444 Using AVR Dragon

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