X-Monkey User Manual
Contents
1. 9 PH IAS 8 910 K en ee ee eee 10 2 5 4 Physical Location Of Connectors 14 9 gt C DOD S cT UU 18 3 1 Main ARM Processor K k k k k k KK KK KK orbe rnc 18 3 2 me idin rio tent usss 18 3 3 SENO OU MERE eee ene ss sa 19 3 4 GPS Power and TE TT 19 3 5 l OOM MUNN error r T emr 20 3 6 20 3 7 BID 20 3 8 Barometric Pressure S l SO saya uu u uuu ba 20 3 9 Accelerometers and Magnetometers 21 Gl TOT m 21 AMUN m PG 22 5217 Ge 22 3 13 Communication 22 3 14 Input Capture port and Aux Connector nennen nennen 24 alo Memor and Storage ss yan iet isse eee 24 4 Fl ar war NIMC Ol ANON m Rm 25 4 1 25 4 1 1 OV See wowunwuxmnx2222xx rrrFrxxxppppxx Pa25PVrnsaAk E E nn 25 4 2 GPS Antenna Options T ee eee 25 TN aye2. Pull down on boot to engage serial bootloader X Monkey User Manual Rev Specifications and Characteristics de 2 5 4 Physical Location of Connectors Reprinted here is the silkscreen for the Monkey board top and bottom artwork Locations of all components and connectors can be found here Also shown is the correct orientation for plugging a servo motor into the X Monkey board 2 5 4 1 Top Side mm ES m m n x 8 Figure 3 Top side connections X Monkey User Manual Rev Specifications and Characteristics Off board active antenna On board active GPS antenna a Status LEDs CHIMU module red green blue plug in Micro SD i N a E a Reset and ISP J1 Main power SS pushbuttons connector 4 v Six 6 isolated PWM outputs Figure 4 Top side description X Monkey User Manual Rev Specifications and Characteristics LE 2 5 4 2 Bottom Side 4 44 usillar Remote ISP F WARNING JUMPING REMOVES ISOLATION SERVO S Figure 5 Bottom side connections X Monkey User Manual Rev Specifications and Characteristics INE 22 a I 5 2 ag AN a a PA E Fo sa SC Uwe t 26 X4 Input Capture and EB V 2 5 Aux Connector X5 Remote ISP ow c T Connector 79 QM kai oas Figure 7 Proper servo connection example X Mo
3. Ayan Mechatrom Bb ba X Monkey User Manual X Monkey User Manual Rev Table of Contents Contents res i suls ERE 3 1 1 MIyziuleg met T 4 IUS P u una aus 4 1 1 2 Acceleration limits r a ar td Ubro coron 4 1 1 3 Magnetic field limits 4 INK CECI 5 1 1 5 Precautions and User Responsibilitly 5 1 2 O DDKD JJJ agar 5 P IU m 6 2 Specifications and Characteristics a k k k k r k k kK 7 2 1 Performance Specifications CPU e nennen nnne nennen 7 2 2 Performance Specifications Global Positioning Receiver 7 2 3 Electrical Characteristics Monkey 7 2 4 Rang S BB Bn mme e e en 8 2 0 Mechanical and Pin Assignments a rennen enis 9 Zo Dio EN nu au ua a y_j 9 2 5 2 Coordinate System and Orientation
4. 3 UFRX VO UARMRKIGAVIwe TT 2 UHX sex VO URNA Gee 3 CIS SPOTS WO RTS1 SP_485 TXENABLE UART1 RTS or RS 485 TX enable line RTS1 TED powering external signal conditioning or sensors nnn dnd Kan sa ss eeN a usx UARTa_TX WO UART TX 33V leve _ 4858 RS485B VO RS 485 B differential signal 70 485A RS48 A VO RS 485 A differential signal For ARM pins typical use is shown but can be reconfigured Please see the LPC1768 User Manual from NXP for other pin options Table 10 Pin Assignments X4 Input Capture and Aux Connector rT ees m __ on board a cap 1o CAPIO lO O ooo 2 Capit VO Capurepin O Cap00 CAPOO VO Capwepn O 4 CAPO1 WO _ 8 Nc NIC 3 3V primary output from on board LDO System ground SDA2 SDA2 I2C SDA line to ARM 4 7k pull up to 3 3V on board 10 SCL2 SCL2 I2C SCL line to ARM 4 7k pull up to 3 3V on board For ARM pins typical use is shown but can be reconfigured Please see the LPC1768 User Manual from NXP for other pin options Table 11 Pin Assignments X5 Remote ISP Pin Label I O Description on board a 33v 33V Power S3V primary output rom on board LDO 2 VBAT VBAT Battery backup to ARM processor if required System ground 4 ISP ISP PDOWN ISP
5. iO oo Ground System ground TTTTTTTT TCK SWCLK SWD standard Ground System ground o SWD standard O SWD standard Vo SWD standard Ground Ground System ground SWD standard TDO SWO Z pou ERE ral KON zn M NN BENIN Table 4 Pin Assignments SV1 Servo Output 1 2 Pin Label Description on board 1 Servo 1 PWM output for Servo 1 Output Servo 2 PWM output for Servo 2 Output DE Coie Servo 5V and Servo Ground are isolated from main system ground This be defeated by jumping SJ3 and SJ4 Table 5 Pin Assignments SV2 Servo Output 3 4 Pin Label I O Description Mame eo Servo 5V and Servo Ground isolated from main system ground This be defeated by jumping SJ3 and SJ4 X Monkey User Manual Rev Specifications and Characteristics Table 6 Pin Assignments SV3 Servo Output 5 6 mm ee on board GIC LJ mee Output wa s MA E ass ean Servo 5V and Servo Ground isolated from main system ground This be defeated by jumping SJ3 and SJ4 Table 7 Pin Assignments X1 Main Serial Com me D __ on board 1 33VA 33VAux Power 3 3V auxiliary output from on bo
6. result in an incorrect attitude estimate The longer the saturation duration the more error will be present in the attitude determination A good attitude estimator shall recover once saturation has stopped and the internal filter has time to reconverge on the correct solution Please note The Monkey does NOT ship with an attitude estimator set of code but it has the processing and code memory to host an estimator of the customers design and use raw output from the CHIMU module or the on board sensors 1 1 2 Acceleration limits Excessive acceleration can include acceleration above the rated levels in continuous application static low frequency g s more elusive vibration sinusoidal random or shock impulse random events that may not show full saturation of the accelerometers in data output but have affected the sensors internally and corrupted the values Continued acceleration above the limits or excessive vibration shock events can corrupt the output acceleration 1 1 3 Magnetic field limits Magnetometers are sensitive to hard and soft iron effects as well as induced magnetic fields from high current Saturation of the local magnetic field is easily identified but lower level influence on the sensor can result in pervasive errors as well Calibration of the unit in the final configuration will help prevent errors introduced by hard iron in the local area However induced magnetic fields from high current devices or high pow
7. Free 26 5 1 Recommended Tte T 26 5 2 Firmware Upload Procedure k k k a KK K kk kk t 26 6 Appendix A Reprogramming Example k k KK KK KK KK 27 X Monkey User Manual Rev Release Notes Title Monkey Subtitle X Monkey User Manual Type Manual Document number UM5000 Revision Index Date Name Status Comments Initial Release 4 2012 MR Initial release IMPORTANT DISCLAIMERS This document and the use of any information contained therein is subject to the acceptance of the Ryan Mechatronics terms and conditions They can be downloaded from www ryanmechatronics com Ryan Mechatronics LLC makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product descriptions at any time without notice Ryan Mechatronics LLC assumes no liability for damages or otherwise due to use of the information in this document or application of any device described in this document Ryan Mechatronics LLC stresses end user compliance with all applicable laws and regulations when using devices of this nature Use by an end user in violation of any applicable laws is automatic basis for termination of warranty technical support and future sales Ryan Mechatronics LLC reserves all rights to this do
8. Please see the following link for specific information on the LPC1768 http www nxp com documents data sheet LPC1769 68 67 66 65 64 63 pdf 2 2 Performance Specifications Global Positioning Receiver Characteristics Conditions Min Typical Max Units Position Velocity and Time Time to First Fix Cold Start 29 Warm Start Hot Start accuracy SBAS i Update Rate External antenna Center feed on external antenna 3 3 V Specifications are subject to change at any time without notice 2 3 Electrical Characteristics Monkey The following electrical characteristics relate to the Monkey board with a CHIMU module attached Current draw is heavily dependent on code operation Characteristics Conditions Min Typical Max Units Power Input Supply Vad 4 5 5 0 28 V Voltage Range Referenced to GND Current Average measured at 5V 110 130 150 mA 48 MHz core operation GPS in signal acquisition track results in lower current CHIMU running SD card logging 10 Hz data at 1 Hz intervals PWM active Specifications are subject to change at any time without notice X Monkey User Manual Rev Specifications and Characteristics 2 4 Absolute Maximum Ratings Parameter Rating Acceleration any axis 0 5 ms 2000g Unpowered Output Short Circuit Duration TBD Any Pin to Common Operating Temperature Range 30 C to 85 C Storage Temperature Range 40 C to 125 C Specifications are subject to chang
9. ard LDO T7 2 G Ground System ground o RX COMRX VO T UARTRXOG 3V eve TTTTTTT _4 TX o UARTTXOGSVIee _ For ARM pins typical use is shown but be reconfigured Please see the LPC1768 User Manual from NXP for other pin options Table 8 Pin Assignments X2 ADC GPIO Pin Label I O Description on board Bus GPIO1 270 ohm current limited I O to ARM 2 GPO0 GPIOO 270 ohm current limited I O to ARM ae ADC4 Unbuffered ADC4 to ARM Do not exceed 3 3V ADC3 Unbuffered ADC3 to ARM Do not exceed 3 3V 3 3 3V Power 3 3V output from primary on board LDO for use in powering external signal conditioning or sensors Ground System ground 11 1 1 ground Fr ADC1 to ARM Buffer is a passive resistor divider 4 7k on each leg that cuts incoming voltage by a factor of 2 5V input on this line reduced to 2 5V which is within 3 3V limit of ADC ADCO Buffered ADCO to ARM Buffer is a passive resistor divider 4 7k on each leg that cuts incoming voltage by a factor of 2 SV input on this line reduced to 2 5V which is within 3 3V limit of ADC For ARM pins typical use is shown but can be reconfigured Please see the LPC1768 User Manual from NXP for other pin options X Monkey User Manual Rev Specifications and Characteristics Table 9 Pin Assignments X3 Spare Serial Communication mre m 9I omnl on board
10. be reprogrammed by using on board firmware upload capability This allows new Intel HEX formatted code to be uploaded using the serial port A top level view of the usage modes is shown in the following figure X Monkey User Manual Rev Introduction FN Boot Operation per ISP Button Operational Action state on power Mode up Program TTL Serial Reprogram Mode Select Normal Run application operation Figure 1 Boot Options 1 2 1 Startup Conditions The startup condition of the S2 ISP pushbutton on the Monkey dictates what mode the system enters when reset or power is applied On Board ARM CPU running user code For operation in standalone mode user must have code loaded and running on the processor In this case switch S2 is not depressed Reprogramming In order to reprogram the board switch 52 would be depressed before power is applied When power is applied in this state the on board boot loader of the ARM is active Programming steps in this state can be found in Appendix A Reprogramming Example X Monkey User Manual Rev Introduction 2 Specifications and Characteristics Presented in this section are the sensor and system specifications for the Monkey All parameters specified are VDD 3 3 V and Ta 25 C 2 1 Performance Specifications CPU The performance specifications of the LPC1768 core processor are too numerous and detailed to reproduce here
11. cument and the information contained herein Reproduction use or disclosure to third parties without express permission is strictly prohibited Copyright 2012 Ryan Mechatronics LLC X Monkey User Manual Rev 1 Introduction The Monkey platform provides a high performance basis for mechatronic system control Originally designed for autonomous vehicle control the platform can also be used for advanced data logging Industrial control motion control or other mechatronic applications The X Monkey platform is an enhanced version of prior Monkey circuit assemblies The X Monkey Includes o Powerful base CPU Cortex ARM7 LPC 1768 Host Controller o Cortex SWD interface tested with Rowley Crossworks o Hardware based serial boot loader for easy loading of new software o High performance U Blox LEA 6 GPS Module o Active on board antenna for increased sensitivity and jamming reduction o Autosensing off board GPS antenna switch for external antenna use 3 axis gyro rate sensor o axis accelerometer o magnetometer o RS 485 driver on board for spare port o Barometric pressure sensor o Spare analog and digital I O ports o Six 6 Isolated and dedicated PWM servo outputs o Four 4 input capture port connector o Micro SD Card o EEPROM for configuration settings o Flash data log for solid state data logging o Three status LED s red green blue o Interfaces with CHIMU module for attitude estimates and sensor inpu
12. e Hex File CACrosswworks Projects4Monkey 2010 SwwD hex Modified Unknown more info v Verify after programming Fill unused Flash Technical on line articles about 8051 and programming www esacademwy com fag docs Change COM port to your com port Change path to hex file to where you stored the hex file to download Press the start button it will flash and verify If it fails try pressing the reset button on the Monkey board and try again If it still fails try powering the unit via a USB cable so grounds are common If it still fails drop the baud rate to 57600 If it still fails cycle power on the Monkey and try again 9 Close FlashMagic 10 Power board down 11 Put CHIMU back on be CAREFUL ABOUT PIN ALIGNMENT 12 Power up without any buttons pressed and verify new code is running 207020090 X Monkey User Manual Rev Appendix A Reprogramming Example eg
13. e at any time without notice Stresses above those listed under the Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only functional operation of the device at or near these or any other conditions above those indicated in the operational section of this specification is not implied Exposure to absolute maximum rating conditions for extended periods of time may affect device reliability Drops onto hard surfaces can cause shocks of greater than 2000 g and can exceed the absolute maximum rating of the device Exercise care during handling to avoid damage X Monkey User Manual Rev Specifications and Characteristics 2 5 Mechanical and Pin Assignments 2 5 1 Dimensions Dimensions and outline for the unit are shown below All units are in inches Figure 2 Mechanical Dimensions Mounting holes are designed to accommodate standard 4 40 screw sizes 2 5 2 Coordinate System and Orientation The Monkey board does not have a coordinate system of its own but when used with the CHIMU attitude estimator it follows a standard X Y Z coordinate system as shown where X is out the nose of the Monkey board Y is to the right and Z points down X Monkey User Manual Rev Specifications and Characteristics 2 5 3 Pin Assignments Shown in this section are names for each of the signals on the Monkey connectors along with warnings information as applicable Table 1 User Con
14. e to use and based on the GCC compiler chain In addition to the Crossworks package the CrossConnect LITE and SWD adapter should be purchased if debugging on board using the SWD connector is planned 5 2 Firmware Upload Procedure Firmware can be uploaded using the SWD connector and suitable Cortex debugging tools or it can be uploaded via the serial port as an Intel HEX formatted file An example of uploading firmware via this method can be found in Appendix A Reprogramming Example X Monkey User Manual Rev Software Interface 2 6 Appendix A Reprogramming Example oteps to load a new Hex file firmware image into the Monkey 2010 board 1 Download and install the latest version of FlashMagic from this site http www flashmagictool com Power down Monkey Remove CHIMU module if present from Monkey board to be on the safe side Plug USB node or other USB to serial converter into Monkey Press the S2 button on Monkey and KEEP IT HELD DOWN FOR THE NEXT STEP Power up Monkey or press the S1 button and release it Release the S2 button Run FlashMagic and reprogram a Open settings file fms or if fms file is not available select settings shown below COND O1 2 N Nr Nr Nr QM ee Fle ISP Options Tools Help GH ABS COM Port COM Baud Rate 230400 Interface None ISP d Erase all Flash Code Rd Prot Oscillator MHz 12 blocks used by Hex Fil
15. er RF circuitry can result in operational errors After a proper calibration no axis should exceed a 1 gauss value X Monkey User Manual Rev Introduction 1 1 4 GPS GPS is a phenomenal technology allowing location of your position on the planet Earth within about a 15 foot 5 meter accuracy using a module the size of your thumb GPS is subject to many possible interference sources including anything in the GPS frequency band including harmonics of lower frequencies from digital systems and other jamming sources like foliage or direct blockage of the antenna This manual cannot begin to educate the user on limits of GPS technology but we recommend both Wikipedia and the support area on the U blox www ublox com website for more information 1 1 5 Precautions and User Responsibility The Monkey is an open electrical device with no case It has no on board protection from short circuits or accidental electrical damage No system is fool proof and all correct use and planning for events in case of failure are the responsibility of the user Ryan Mechatronics cannot be held responsible for accidental or intentional damage caused by this unit either directly or indirectly 1 2 Theory of Operation The Monkey platform is an excellent prototyping system for users that want or need the power of an ARM Cortex core User application code can be run on the core However the design makes it easy for the on board ARM processor to
16. f failure are the responsibility of the user Ryan Mechatronics cannot be held responsible for accidental or intentional damage caused by this unit either directly or indirectly 4 1 Power 4 1 1 Input Power Input power to the board is 4 5 to 28V but the Monkey core electronics all operate internally off of 3 3V generated via an on board low dropout linear regulators Critical Warning There are jumpers that allow you to send input power to the servo connectors If you jump these the servo isolation is defeated However more critically you must limit your input voltage to the maximum servo voltage typically 5V 4 2 GPS Antenna Options The Monkey has an on board active patch antenna for GPS reception It also has an external antenna attachment On board circuitry automatically switches to the external antenna if attached X Monkey User Manual Rev Hardware Integration LN 5 Software Interface A set of core Monkey base software is available as a mixed open source proprietary library set and can be found at www ryanmechatronics com Monkey is intended for developers so all functionality while tested may not be included in this source code Any missing desired code is the responsibility of the user and not the responsibility of Ryan Mechatronics 5 1 Recommended tools We highly recommend using Rowley Crossworks http www rowley co uk Crossworks for ARM as the tool for reprogramming the Monkey Rowley tools are very simpl
17. ied by the auxiliary 3 3V supply to allow greater power savings if you disable the LED supply 3 8 Barometric Pressure Sensor The barometric pressure sensor is light sensitive and is located under the CHIMU module holder X Monkey User Manual Rev Schematic Details Baro Pressure NOTE Light sensitive during operation Keep shaded by CHIMUJ in layout BARO XCLR ARM SDA XCLR RM SCL1 ARM3 3V T DDD 3 9 Accelerometers and Magnetometers X Monkey has an on board 3 axes combined accelerometer and magnetometer sensor the LSM303 VDD SDA_A VDD SCL_A VDD IO SCL M VDD IO SDA M VDD M DRDY M VDD INT2 GND INT1 GND SAO A GND C1 GND SET1 GND SET2 LSM303DLMTR 3 10 Rate sensors X Monkey has an on board 3 axes rate sensor the ITG 3050 Address is 1101000x x 1 X Monkey User Manual Rev Schematic Details 3 11 MPU 9150 X Monkey has pads that allow an MPU 9150 to be installed This component is new and is not yet on the stock X Monkey 3 12ADC and GPIO Connector X1 is a mix of ADC buffered and unbuffered and GPIO signals ADC buffered unbuffered and GPIO 3 13Communication ports Main com is on X1 this is UART 0 Spare com UART1 and UART3 formerly called CHIMU com are on connector UART1 can be routed thru the RS 485 driver to the same connector The RS 485 chip can be completely turned off via power control to the chi
18. nector Overview Connector Connector Name Description Function Main Power Primary power input to the system and input for battery voltage monitoring SWD Serial Wire Serial Wire Debug interface to ARM processor interface to ARM Serial Wire Debug interface to ARM processor Servo ee 122 PWM output isolated for servo channels 1 and 2 Servo Output 3 4 PWM output isolated for servo channels 3 and 4 Servo Output 5 6 PWM output isolated for servo channels 5 and 6 X1 Main Com 3 3V level serial port UARTO primary com port to from Monkey ADC GPIO Four 4 ADC inputs 2 buffered and 2 un buffered and two 2 GPIO lines Spare serial and CHIMU Two 2 3 3V level serial ports serial ports Spare port is routed to RS 485 output if selected by software CHIMU serial port available for output if CHIMU configured for SPI com only Input Capture and Aux Four 4 input capture ports for servo PWM input capture Connector Can also be reconfigured for added GPIO User dedicated I2C bus also Remote ISP Spare port for ISP serial port reprogramming and battery backup 09 CHIMU Allows plug in of CHIMU attitude estimator module Table 2 Pin Assignments J1 Primary Power Pin Label I O Description on board X Monkey User Manual Rev Specifications and Characteristics Table 3 Pin Assignments J2 Serial Wire me Seg mem m ____ on board sav 7
19. nkey User Manual Rev Specifications and Characteristics E EE 3 Schematic Details Presented in this section are schematic details required for users to correctly program the board for alternate applications 3 1 Main ARM Processor Pins for the ARM connection are shown below for reference ETOP a Cat pt at a Ja Je la jn la s lu ls la la le ls s s le ln p o 0 ore 0 0 0 yao 7 o J gt a 0 m 0 gt a hu F a n 0 E m 0 ta 0 0 X 0 e gho gt a 0 P 0 Tho gt out a 0 MFTAF ALL 3 2 Power Input Main power input can operate from 4 5 to 28 V input X Monkey User Manual Rev Schematic Details LN Main Power Connector 3 3 Servo Output 3 4 GPS Power and Antenna Unlike previous Monkey builds GPS power is controlled only by a software pin interface Also there is an auto detect switch on board that automatically shifts from the on board active antenna to the external antenna if there is an active external antenna plugged in X Monkey User Manual Rev Schematic Details LE 3 5 Reprogramming SWD connector J2 is shown here It is a standard Cortex SWD connection 3 6 USB USB communication is not part of Monkey code No USB connectors are present on the 3 LEDs LEDs green red and blue are controlled by the ARM Power is suppl
20. p to save power in sleep modes X Monkey User Manual Rev Schematic Details Spare and CHIMU serial COM Main COM 3 6 eee g cise ARM SP_485 TX_ENABLE RTS1 X1 1 L5 0 qua SP CTS1 53048 04 ec ARM SP_C X3 2 ot _ARM SP_1X aoe ARM SP RX X3 4 53048 10 ARM SP_485_TX_ENABL lt p A ARM D NC ARM SP_485_TERM_EN GND GNDPAD LTC2854HDD 1k R31 ARM3 3V X Monkey User Manual Rev Schematic Details r s 3 14Input Capture port and Aux Connector Input capture GPIO if desired connection is on X4 Also on this port is the user I2C port 12C2 and spare ground and 3 3V for external use Auxillary Connector User I2C Battery Backup Remote ISP Input Capture 3 15Memory and Storage X Monkey has three different memory storage capabilities Micro SD card data flash solid state memory and I2C EEPROM for reading writing configuration settings EMORY LOGGING and CONFIGURATION 50 CARD CONFIGURATION Pulled to ground when card inserted X Monkey User Manual Rev Schematic Details TER 4 Hardware Integration Presented in this section are selected hardware interface comments to help ease integration of the unit in the end user system Please note the Monkey is an open electrical device with no case It has no on board protection from short circuits or accidental electrical damage No system is fool proof and all correct use and planning for events in case o
21. ts via SPI or UART Monkey has an excellent GPS module on board U Blox series with both on board and off board antenna capability The off board antenna capability is important if the unit is used in conditions where the on board antenna will be blocked by enclosures or other jamming X Monkey User Manual Rev Introduction Monkey has on board inertial measurement sensors but is intended to work with the CHIMU AHRS as a plug in module to offload attitude determination The CHIMU includes e 3 axis rate sensors to measure angular rate e axis accelerometers to measure linear acceleration e axis magnetometer to measure magnetic flux typically used for compass type heading derivation The combination of all these capabilities with the on board ARM processing power allows a full attitude heading reference system AHRS with GPS position velocity and time updates all in one tiny package Application areas include but are not limited to UAVs AUVs UAS etc Robotics Education Rocket science 1 1 Limitations The unit like any device designed to utilize GPS and IMU AHRS data can be pushed beyond the limits of its ability to sense any of the measurements it needs to operate correctly The following list includes results that are known to occur if operation when using the CHIMU module exceeds the limits listed later in this document 1 1 1 Rate limits Saturation of maximum rate in any axis for any amount of time will
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