User Manual SAR100 and SAR150 EVP
Contents
1. 100 Hz 43 sensonor 250 s y 100 s i B When size performance 50 s Custom Close COM port op and robustness matter Burst length Custom sampling rate Save data to file go ja 250 225 200 HH 175 CELI EE 2 125 100 75 o r 25 0 25 50 75 107 HE MHATH a25 H H 150 HH a HH HHT 295 HMH MHH 225 H H 117 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 000 020 040 050 080 100 1 20 140 1 60 1 80 200 220 240 260 280 30 320 340 360 380 400 420 440 460 480 500 Time s F 1 253252522252 E 4 H Angular rate 781 H Figure 6 PC software graphical user interface Showing 5s burst length 50Hz sampling rate angular rate measurement sequence for 250deg s SAR150 With COM 3 in use Description of first time usage of PC software 1 Enter the correct COM port number for the EVP main PCB connection in the COM port input box and press the Open COM port button The correct COM port number is the on2. Supported gyro sensors Gyro and Pressure Sensors EVP Without gyro sensor Supports all SAR100 and SAR150 gyro sensors SAR100 100 EVP SAR100 range 100 5 SAR100 250 EVP SAR100 range 250 5 SAR150 100 EVP SAR150 range 100 5 SAR150 250 EVP SAR150 range 250 5 Notice that EVP main PCBs must be without any gyros mounted when measuring from a connected satellite PCB The micro controller has only one SPI controller and cannot communicate with two gyro sensors in parallel Table 7 EVP satellite PCBs Description Mounted Supported gyro sensors SAR100 SAR150 satellite PCB Without gyro sensor Supports all SAR100 and SAR150 gyro sensors SAR100 100 satellite PCB SAR100 range 100 5 SAR100 250 satellite PCB SAR100 range 250 6 SAR150 100 satellite PCB SAR150 range 100 5 SAR150 250 satellite PCB SAR150 range 250 6 A cable for connecting satellite PCBs to EVP PCBs can be made by the customer or ordered Table 8 EVP to satellite PCB interface cable Description Length EVP to satellite PCB interface cable 30cm 12 Referred documents Table 9 Referred documents Ref Doc Description 1 TS1440 Datasheet SAR100 2 TS1514 Datasheet SAR150 DOK339 rev 1 11 11 March 2011
3. Samplingtype AR Samplingrate 100 Hz Burstlength 10s 0 0000 15 0 0100 15 0 0200 15 0 0300 13 9 9700 14 9 9800 14 9 9900 14 10 0000 13 Figure 7 Example of angular rate measurement log file not all shown Sampling frequency is 100Hz burst length is 10s DOK339 rev 1 6 11 March 2011 4 sensonor USER MANUAL EvaluationTool 5 3 SAR100 and SAR150 EVP Example of simple integrated angle test An example of a simple hands on angle test with the EVP is described in this chapter The completion of the test requires usage of the EVP log file plus some calculations and plotting in a suitable program before having a similar result as shown in Figure 8 Excel was used in this example Int angular rate 90 hands on test Angle D 30 Int angular rate Figure 8 Shows a simple hands on test done with the EVP The PCB is tilted approximately 90 around the sensitive axis and the data from the log file is bias cancelled before integrated and plotted as incremented angle vs time s A description of the hands on integrated angle test 1 2 The angular rate data is logged over a short sequence e g over approximately 10s and the results are kept in the EVP log file and thus the Save data to file choice needs to be selected At first part of the test directly after start of measurement by pressing Measure the EVP main PCB is kept steady in order to coll
4. aaea aaia aa 9 8 MAIN PCB TO SATELLITE PCB WIRING 9 9 SATELLITE PCB DESCRIPTIONS cccccsseseessseeeseeeseeesneesseesseeecaeeeaeeeaeseeeseeeesseesaeesseeseeesenesoaeseaeeceseeeseenseenaeenaean 9 10 MICRO CONTROLLER FIRMWARE 8 10 10 1 MICRO CONTROLLER TO GYRO SENSOR 8 10 11 SUMMARY TABLES FOR AVAILABLE 5 AND RELATED TOOLS 1 11 12 REFERRED DOCUMENTS cnnicccsccatcciccenctsceesanrececencnnssazesursececuiscucteavestarevteesatescereccavsseedeesvececvasveerconresueceuctseceseoretes 11 DOK339 rev 1 1 11 March 201 1 4 sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP 1 Features Up to 2000Hz sampling rate Data presentation and data log to file Available header pin rows for gyro sensor interface and signal access In system programmable micro controller firmware upgradable by USB 2 General descriptions and system contents The SAR100 and SAR150 evaluation platform EVP is an evaluation tool for rapid gyro sensor measurements in an office environment Gyro sensor data is requested from PC software and results are presented on screen Data log to file is supported and numerous
5. gyro sensor signals are made available on header pin rows for evaluation and monitoring purposes Add on EVP satellite PCBs and interface cables for connections to the EVP main PCB are available EVP main PCBs and EVP satellite PCBs are also available without any target gyro sensors pre mounted Source codes and hardware schematics are available System contents EVP user manual a printed version of this document PC software USB cable EVP main PCB EVP satellite PCB optional Interface cable for EVP main to EVP satellite PCB connection optional Included CD ROM or memory stick with EVP installation files and documentation Custom USB interface cable cable Figure 1 SAR100 and SAR150 EVP system setup schematics Micro controller USB mini B connector EVP main PCB P1 header pin rows SAR100 SAR150 3 3V 5V level converter Figure 2 SAR100 and SAR150 EVP main PCB DOK339 rev 1 2 11 March 2011 4 sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP 3 Operating conditions Table 1 EVP main PCB operating conditions Parameter Specification Min Max Unit Ambient temperature for EVP main PCB 10 30 C Testing over temperature can be performed by connecting the EVP main PCB to a satellite PCB See chapter 8 and 9 for more information 4 Getting started PC software installation files and EVP documentation are included on a storage media
6. memory stick or CD ROM included in the package The latest versions of files and documentation are also found at the Sensonor web site www sensonor com To get started using these tools follow the step by step instructions below Step 1 Installation of PC software and EVP USB driver 1 2 3 Unzip and save the correct software installation file e g the one for Win Xp operating system PC Software SAR100 and SAR150 EVP vx 0 0 2 to a local drive Run the setup file setup exe A pop up message during installation will ask for permission to install a USB driver 6119 inf for the EVP This is a driver which is not verified by Windows Select nevertheless the choice Install this driver software anyway The driver file does not represent a security threat 2 Windows Security gt 9 Windows can t verify the publisher of this driver software gt Don t install this driver software You should check your manufacturer s website for updated driver software for your device Install this driver software anyway Only install driver software obtained from your manufacturer s website or disc Unsigned software from other sources may harm your computer or steal information See details Figure 3 USB driver installation click install this driver software anyway Complete the installation process by following the on screen instructions When the installation is completed click Fi
7. set according to selected measurement ranges and burst lengths For lower sampling frequencies up to 61 Hz the results are plotted real time while they for all higher sampling frequencies are plotted after data collection is completed postprocessing of data Top GUI menus e File gt Open Opens selected log file e Communication gt Send special command Resets recoverable error conditions and re enables signal processing angular rate readouts from the connected gyro sensor This feature is to be used in case there has been an over range situation which can be easily applied during a hands on test especially for the lower range gyro sensors as the 100 5 range gyro sensor e Help gt About Opens an About panel including the current PC software version DOK339 rev 1 5 11 March 2011 aw sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP 5 2 Example of measurement result log file Figure 7 shows an example of a generated log file The three first rows describe the measurement Then after an empty row line two columns for time tags s and results Isb follow Results in the file should hence be scaled by the correct scale factor see datasheets in order to have rate data 5 The results in the file may be further handled by a chosen program as Excel for e g scaling the data with the scale factor and integrating the angular rate data to a angle contributions 9
8. R150 EVP 5 4 Send special command for recoverable error handling Flags of the gyro sensor Status Register are normally 1 which means gyro sensor status is OK Status register contents are not shown by the EVP software however any 0 in this status register will result in an error code pattern 1000 000 in response to all successive angular rate read commands This error code is implemented by design and is different from any possibly valid output data indicating that the gyro sensor is not reporting reliable data Internal signal processing is held during the error condition and it continues infinitely unless a hard reset power on reset or a soft reset is performed The soft reset is a specific user initiated routine that releases the gyro sensor from the recoverable error condition involving usage of the PRCEN command The soft reset sequence is supported by the EVP and the following sequence is sent when choosing Communication gt Send special command from the roll down menu Table 2 Gyro sensor error handling commands Command Code Description Comment SGDIS1 01001110 SafeGuard Disable Command 1 MSB first SGDIS2 01100011 SafeGuard Disable Command 2 MSB first SGDIS3 00010010 SafeGuard Disable Command 3 MSB first PRCEN 10101010 Re enable signal processing after error condition MSB first SGEN 01010101 Safeguard Enable command MSB first PRCEN execution should obey the foll
9. aw sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP Table of contents 1 FEATURES 2 2 GENERAL DESCRIPTIONS AND SYSTEM CONTENTS 1 1 1 1 1 2 3 OPERATING 2 ceeded ecu 3 4 6 204 4 2 e iaaa aada aeiia aaraa 3 5 PC SOFTWARE DESCRIPTIONS c cccssessseessseeeseeesneesneessnessaeecaeeeaeseaeseeeseeeasseedseesseeesaeesenessaeseaeeeaeseeesennseenseenaeae 4 5 1 DETAILED DESCRIPTIONS FOR MENUS BUTTONS 5 5 2 EXAMPLE OF MEASUREMENT 6 5 3 EXAMPLE OF SIMPLE INTEGRATED ANGLE 7 5 4 SEND SPECIAL COMMAND FOR RECOVERABLE ERROR HANDLING 0 ccsceescecesseeeeeeceeeeeeeceneeeeeseeeeeeseeeeeeseesaeenseneaeens 8 6 PC TO MAIN PCB INTERFACE 8 7 MAIN PCB DESCRIPTIONS saa 2 2 aaa
10. cro controller to gyro sensor commands A set of gyro supported commands and expected responses are implemented in the micro controller in order to perform measurements and forward results to the PC Those commands and responses for the EVP that have direct gyro sensor relations and are not yet mentioned are listed below Table 4 Micro controller to gyro sensor commands Command Code Description Comment RARH 1000 0000 Read AR High Byte MSB first RARLX 1000 1110 Read AR Low Byte eXtended MSB first RTMP 1011 0000 Read T MSB first Table 5 Gyro sensor to micro controller responses Command Code Description Comment Angular Rate High Byte MSB first 12 bit AR data RARH dddd dddd issued before RARLX 2 s compliment command Scale factors 1 0 s LSB for 1500 5 range gyro sensors 0 25 s LSB for 4005 range gyro sensors 0 25 6 1 5 for 250s range gyro sensors 0 1 s LSB for 100 s range gyro sensors 0 05 s LSB for 50 s range gyro sensors MSB first 8 bit data 2 s compliment Internal gyro sensor gy Scale factor temperature 1 C LSB Tmin 11011000 40 C Tmax 01011111 95 C Angular Rate Low Byte RARLX 0101 dddd eXtended RTMP dddd dddd DOK339 rev 1 10 11 March 2011 w sensonor USER MANUAL 11 Summary tables for available EVPs and related tools Table 6 EVPs EvaluationTool 100 and SAR150 EVP Description Mounted
11. e COM port button Closes the selected COM port Visible when the COM port is open Note Good practice is to ensure to close the COM port as the last operation before closing the software e Connected Disconnected LED This is a green LED which is visible when the selected COM port is open Upper row of slides and buttons Angular rate range slide To select the correct gyro sensor range E g 250 10096 e Measurement type slide To select the chosen measurement type Angular rate or Temperature e Sampling rate slide To select the sampling rate 50 100 or 500 Hz or Custom to prepare to chose a custom sampling rate see below e Measure button To start measurements e Stop button To stop measurements Enabled when a measurement sequence is in progress Lower row of check and input boxes e Save data to file To save the measured data to a text file An active check box saves measured data to file e Burst length To select a burst sampling length in seconds e Custom sampling rate To select a custom sampling rate in Hz The box is enabled when Custom rate is chosen on the Sampling rate ring slide Steps of 25Hz are incrementations when using the arrows of this custom input box Graphical results e Strip chart The chart shows scaled measurement or C results vs time s Units and range on the axes are
12. e noticed from the device manager list as already described in step 1 in Chapter 4 Verify that the green LED becomes visible as seen on Figure 6 This indicates that the COM port has been successfully opened and that the connection to the EVP main PCB is established 2 Prepare to measure with the gyro sensor by selecting the correct angular rate range of the product the desired measurement type sampling frequency and burst length and possibly selecting Save data to file if a log file is this is required 3 Start a measurement series by pressing the Measure button DOK339 rev 1 4 11 March 2011 aw sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP Measurement results are graphically presented on screen and written to a text file if the Save data to file box is checked Real time data is shown for sampling frequecies up to 61Hz while data is post presented for sampling frequencies from 62 to 2000 2 This was the quick start part of the manual in order to start measuring For more details continue reading until the end of the document 5 1 Detailed descriptions for menus buttons etc COM port input box and buttons e COM port input box For selecting the assigned COMport number for the EVP main PCB e Open COM port button Opens the selected COM port Visible when the COM port is closed Note Good practice is to ensure to open the COM port as the first operation after start up of software e Clos
13. ect the correct bias Then in the next part of the test the EVP main PCB is tilted up on the side around the gyro sensitive axis in one more or less smooth movement to approximately a or 90 degree position relative to the starting position The EVP main PCB can be kept in this 90 degrees position until end of test or moved back if the signal the plotted angle is desired to move back to zero in the final plot When the test is finished as indicated by Measure button is again lit and the Stop button is not the log file contents can be imported to a suitable program for further handling and data presentation An example of such a program is Excel as used here The gyro bias is now found in the chosen program by averaging the first ten to fifty result the exact number of averaged results is not so important unless the accuracy of the angle result is crucial Next a gyro bias cancellation is done on all the collected gyro data typically in a new column in the same spread sheet if in Excel Now finally the bias cancelled data is summed up integrated to small angle contributions and plotted ina chart similar to the one shown in Figure 8 Plots showing the integrated angle changing from 0 to approximately 90 degrees at the maximum for such a test are good confirmations for successful bias cancellations and correct use of scale factors DOK339 rev 1 7 11 2011 aw sensonor USER MANUAL EvaluationTool SAR100 and SA
14. nish See Figure 4 and Figure 5 Verify the USB driver successfully installed by connecting the EVP main EVP and finding the AT91 USB to Serial Converter COMx in the device manager win Xp example Notice_at the same time the associated COM port number as this is needed for configuring the PC software correctly in the next step R100 Gyro Sensor Evaluation Platform o Ea SAR100 Gyro Sensor Evaluation Platform tol amp Installation Complete The installer has finished updating your system Overall Progress Currently installing SAR100 Gyro Sensor Evaluation Platform Part 1 of 1 Figure 4 Installation in progress Figure 5 Installation complete DOK339 rev 1 3 11 March 2011 ay sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP Step 2 First PC software start up Keep the EVP main PCB connected to the PC via USB or ensure to connect it again 2 Start PC software from PC start menu 3 The graphical user interface should appear on screen and the EVP is now ready for use 5 PC Software descriptions The EVP PC software has been developed LabWindows CVI There are a few classical roll down menues available Distributed buttons and input boxes are set up to control gyro sensor measurements SAR100 SAR150 Gyro Evaluation Platform DER File Communication Help A e Measurement type Sampling rate y 1500 s Angular rate 50 Hz
15. owing sequence Waits until no recoverable error conditions are flagged polling the Status Register Wait 1 second Execute the SGDIS1 2 and 3 commands Execute the PRCEN command Execute the SGEN command gt Notice that both hard and soft reset mechanisms be relevant for real applications order to handle recoverable error situations like over range The gyro sensor then returns to normal operation and continues to measure angular rate 6 PC to main interface descriptions The micro controller to gyro sensor interface is SPI Data transport between PC and micro controller is via USB utilizing a USB framework to implement device side USB Communication Device Class CDC functionality This yields a virtual COM port on the PC host side when the EVP PCB is connected with up to USB2 0 full speed 12Mbps data rate The implemented PC software to main PCB micro controller protocol is an ASCII format type with the following details definitions Standard format lt LENGTH gt lt COMMAND gt lt RANGE gt lt RATE gt lt RATE gt lt DATA gt Special commands as e g the STOP command lt LENGTH gt lt STP_CMD gt DOK339 rev 1 8 11 March 2011 4 sensonor USER MANUAL EvaluationTool 7 Main PCB descriptions SAR100 and SAR150 EVP PCB material is FR 4 with dimensions 85 mm x 50 mm and thickness 1 6 mm List of PCB main components USB mini B contact for communication and 5V
16. supply Gyro sensor 3 3V regulator 3 3V to 5V level signal converter between micro controller and gyro sensor micro controller 18 MHz crystal Header pin connectors for monitoring EVP signals and connection of satellite PCBs 8 Main PCB to satellite PCB wiring diagram Table 3 shows EVP main PCB to satellite PCB wiring diagram Table 3 EVP main PCB to satellite PCB wiring diagram Pin name SAR100 SAR150 EVP SAR100 SAR150 satellite PCB P1 20 pin header pin row P1 18 pin header pin row SCLK 5 Pin 09 Pin 01 MOSI MOSIO Pin 10 Pin 06 MISO MISOO Pin 11 Pin 07 NCS 500 Pin 12 Pin 08 9 Satellite PCB descriptions The EVP SAR100 SAR150 satellite PCB is shown in Figure 9 The P1 header pin rows enables access to gyro sensor singals and pins Satellite PCB P1 in header pin rows SAR100 SAR150 Figure 9 SAR100 SAR150 satellite PCB DOK339 rev 1 9 11 March 2011 aw sensonor USER MANUAL EvaluationTool SAR100 and SAR150 EVP 10 Micro controller firmware descriptions The PC software communicates with the micro controller on the EVP main PCB via USB and gyro sensors expects SPI commands Therefore effectively the micro controller works as an USB to SPI bridge The micro controller program expects the following COM port settings on the PC host side 115200 bauds 8 bits of data e No parity 1 stop bit No flow control 10 1 Mi
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