NavBoard User Manual
Contents
1. Navigation Board M3 User Manual NavBoard M3 User Manual Rev A Table of Contents Contents MINN 3 1 1 RMN e E EEA 4 1 1 1 KES e E E E NE ss 4 Ere oe Le aa e EN 4 1 1 3 Magnetic field limits rrarronrrnrrnnerarrnrrnrranrnrranrnarrnnrnarnnnnnaannnnnarnneenaennenaanneenuanneennsnnee 4 PL 4 1 1 5 Precautions and User Responsibility arrarrnrrnnrnnrnnrnnrnnnnnnnnnrnernrnarnnrnnernannannennennenenn 4 1 2 MENT NNN 5 tar 2146 9 Oe 9 6 15 EEE 5 1 3 Modes Of Operation cccccecceeceeceeeeeceeeeeceeeeeeceecsecseceeeeeeseesecseeseeceeceesseeeeeseeeeeeeeseeeeeeeeees 6 2 Specifications and Characteristics cccccccsecceeceeceeceeceeceeeeceeeeeceeeseecsecseeeeeeeeeeseeeeeneeneetseeseees 7 2 1 Performance Specifications Inertial SENSOMS cccceccecesecseeceeceeceeeeeeeeseeeeeeeeeeeeeeeeeees 7 2 2 Performance Specifications Global Positioning Receiver r arrrrvarrrurnarevarnnrrrarnnrnnannnnnn 7 23 Sule Og 6 9 le SEE 8 2 4 Absolute Maximum Rangs EE ERE REEERE 8 2 9 Mechanical and Pin Assignments cccccceecseeceeceeceeeeeeeeeeeeeeeseeceeceeeeeeeeeseeseeseeseeseeeeeeees 9 2 5 1 ever 9 2 5 2 Coordinate System and Orientation arrarrnnrnanrnnrnnnrnarnnnrrarnnnrrnnnnernnnrnnernanneernennernnsnner 9 250 PSN 10 3 Sensor Details and 126 addresses ci jcccsccdecececviesnovesddenaeeus tednnndestdslnnieendnandiesedaed dv ceenendeandencdcendnendecss 13 3 12. Remove the shorting wire from step 1 4 Windows will recognize the unit as a flash drive This may take 30 to 45 seconds the first time Move the desired firmware to the flash drive from your PC just drag and drop a The filename MUST be firmware bin 6 When complete a few seconds close the flash drive folder Disconnect and reconnect the USB cable or reset the processor by shorting the R pin to ground momentarily on SV1 01 5 2 Serial Port via USB If the firmware loaded supports USB serial com Windows will identify the unit when plugged in as a serial port but you may need to point at the correct INF file so it can correctly recognize it The INF file for the LPC1343 processor to act as a serial port is named Ipc134x vcom inf and is located here www ryanmechatronics com public files software NavBoardM3 Ipc134x vcom inf 53 Recommended tools We highly recommend using Rowley Crossworks http www rowley co uk Crossworks for ARM as the tool for reprogramming the NavBoard Rowley tools are very simple to use and based on the GCC compiler chain We also recommend the tools and evaluation boards from microbuilder eu http www microbuilder eu home aspx They have an excellent set of prototyping boards tools and advice Much of the software package that has been used as one core for programming the NavBoard can be found in their LPC 1343 reference design via open source license NavBoard M3 User Manual RevA 1
3. are provided there as well 4 3 2 1 Communication in StandAlone Mode There are two methods of communication available in StandAlone mode USB serial port and TTL serial port User program on the ARM processor determines which communication protocol can be used USB communication is accessed via the USB mini B connector TTL serial 3 3V level is accessed via the TX RX pins on the SV1 connector only Note that the SV3 connector which has pins labeled TX and RX is not the ARM serial port Those pins are for accessing the serial port on the GPS receiver These methods are enabled and controlled via software and are not both active at one time currently The UART is a 3 3V level interface The unit does not support hardware handshaking Do NOT interface with a standard RS 232 port as the voltages on that port will damage the unit An external adapter that uses 3 3V to convert to RS 232 levels can be powered from the onboard 3 3V regulator 4 4 Special Interface Pins The NavBoard utilizes external pins to help with user programming of the unit not necessary if used as a sensor package only These pins are described here 4 4 1 ARM Reset SV1 Pin 3 This pin will hold the on board ARM processor in reset if grounded This guarantees the ARM will not be operating f using the unit as a sensor package only It can also be momentarily grounded to reboot the ARM This reset pin is ONLY for the ARM If any other sensors need to be
4. 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 NavBoard 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 NavBoard M3 User Manual RevA 1 2 Theory of Operation The NavBoard is an integrated set of MEMS sensors and GPS that can be managed via an onboard CPU to provide position velocity attitude and heading information along with raw sensor data and other useful information The on board ARM processor can be reprogrammed easily by dragging valid object bin files into a Windows recognized USB flash drive However the system is designed also to act as a standalone sensor package for use with any host processor A top level
5. pull up resistor on board GPS RX U blox GPS receiver 3 3V level RX serial port With TX can be used in parallel with U center program to monitor GPS operations Lo EEN KE Board has 10k pull up resistor on board GPS TX O U blox GPS receiver 3 3V level TX serial port NavBoard M3 User Manual Rev A 12 EE 3 Sensor Details and I2C addresses Presented in this section are the references for all sensors and the processor on the board Answers to questions regarding the sensor details can be found in these data sheets and manuals Each device connected to an IC bus is identified by a unique 7 bit address whether it s a microcontroller EEPROM etc and can operate as either a transmitter or receiver depending on the function of the device The I C addresses are provided here as well 3 1 GPS The GPS unit is a U Blox receiver the type easily seen on the chip itself Details can be found at www u blox com The default PC address for u blox GPS receivers is set to 0x42 The 7 bit address for this device is 0x42 The 8 bit read address is 0x85 The 8 bit write address is 0x84 Warning U Blox receivers act as a master I C device 0 1 seconds after boot up During this time it will query for external flash memory at address 0xA0 If you have any devices on your bus with this address you may experience issues with operation of the GPS We recommend if this is the case to disable the device at 0xA0 until 150 msec after boot to
6. view of the usage modes is shown in the following figure Boot Operation Operational End User per Jumper Mode Application Settings USB drive drag and drop Programming Mode Select Stand Alone ARM M3 ops m Serial port operation Sensor Package Not onboar Operation d External CPU K TTL Serial Reprogram ARM h st operation with d USB Com 1 2 1 Startup Conditions The startup conditions of the pins on the NavBoard dictate what mode the system enters On Board ARM CPU running user code For operation in standalone mode user must have code loaded and running on the processor One code example would use the SP pin on the Host connector SV2 If that pin is jumped to ground upon boot then the user code on the ARM processor could look for this condition and decide to run user code or revert to sensor package only operation NavBoard M3 User Manual Rev A Reprogramming For operation as a USB drive allowing easy reprogramming via a drag and drop of a bin file to the drive the system should be powered via USB first If not recognized as a USB drive then the B pin on the SV1 connector can be momentarily grounded and then released A Windows system should recognize it as a USB flash drive Note that this can take 45 to 60 seconds for flash drive initialization Sensor Package Only For operation as a sensor package only i e for use with the SRV robot from Surveyor the only connectio
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8. FN 13 3 2 FRGGCO IC FOOT O IS i Varvvrvrvrv4vrvrvve v se de o ENTRE E LEE E ERR REE ERR Lara nee 13 3 3 FG 13 3 4 KUE Ta FS T T ga TS CE EE 13 3 5 PA TOO CC SS EE EN at aaron NN 13 3 6 Planned FUTURE 010 2 0 EE 14 4 Hardware Integration rrarrarrnrrnrrnerrarrarnernarrarvnrnnnrnannernernernarnaennannannannennennernuennennannannennennennene 14 4 1 Fl 14 4 1 1 NUPEN 14 4 2 GPS Antenna NINE 14 4 3 BOR 10 NES ES nee 15 431 Sensor PACKAGES MOda escep e ee e anea aeee arapen ina Ra 15 4 3 2 Stand Alone Operational Mode ccccccecceeceeceeceeeeeeeeeeeeeeeceeceeeeeeeeseeeeeeueseeeseeaeees 16 4 4 Special Interface PINS cccceccecceecsecsecseceeceeeeeecsecsecsecseceeceeceeeeeetseteeteeeseeseeeeeeeeseeteeteeees 16 4al URSIN ve 16 4 4 2 ARM Boot load SV 1 PN Jansrud dandkae 17 Di SOMWATC NMS ACE esen EAE E EEEN 18 5 1 Firmware Upload Procedure ccccccceccecceececeeceeceeceeeeeeceeseeseeseeaesseceeseeseeeeeesaeseeteegess 18 5 2 Seal Porn via VSB eenean i i E ea E AE EAER ENTORN 18 5 3 POCO MMMOCMO CC TOO S EEE 18 NavBoard M3 User Manual RevA Release Notes Title NavBoard M3 Subtitle NavBoard M3 User Manual 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 a
9. ate sensors to measure angular rate 3 axis accelerometers to measure linear acceleration 3 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 The original NavBoard was designed to be complimentary to the SRV robot built by Surveyor Corporation The NavBoard M3 augments this design to include the rate sensing capability and on board processing power Application areas include but are not limited to e UAVs AUVs UAS etc e Robotics e Education e Rocket science 60000 25 ees sacha eie 150000 1306 008 i Co art v ge oa 8 NavBoard M3 User Manual Rev A 1 1 Limitations The unit like any IMU AHRS 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 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 result in an incorrect attitude estimate if an attitude estimator has been hosted on the ARM processor The longer the saturation duration the more error will be present in the attitude determination A good attitude estimator shall recove
10. ccuracy 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 document and the information contained herein Reproduction use or disclosure to third parties without express permission is strictly prohibited Copyright O 2010 Ryan Mechatronics LLC NavBoard M3 User Manual Rev A 1 Introduction The Navigation Board M3 or NavBoard M3 is a miniature GPS and inertial measurement unit IMU package designed for either stand alone operation with on board processing or simply as a sensor package for integration into existing systems The NavBoard 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 The on board inertial measurement suite includes 3 axis r
11. covered by Windows operating systems as a flash drive New firmware can be loaded by dragging and dropping the firmware into this folder then resetting the unit No USB power Holding this pin low during power application will force the ARM processor into ISP programming mode via its serial port FlashMagic or other tool is needed to upload software in this manner TX ARM ARM Serial Port TX en 3 3V level Pin 1 7 on processor can be re dedicated RX ARM ARM Serial Port RX sel Pin 1 6 on RUPMIOGPIO TT can be re dedicated P19 ST e reno P1 10 S S fen eee PO 11 converter PL Lette Eee P1 0 converter For ARM pins please see the LPC1343 User Manual from NXP for other pin options NavBoard M3 User Manual Rev A 1 EE Table 2 Pin Assignments SV3 Pin PinLabel PinName VO Deserpton em om NA Smmgam o Enable ARM pin 2 6 ARM Use This pin is a GPIO pin to the on board ARM processor Originally this pin was intended via specific user code to keep the processor in low power mode unless this pin is grounded on boot This allows use as a sensor package and as a standalone unit with a simple jumper from this pin to ground It is at its core just a GPIO pin for the ARM however and is available for use 3 3V power input Use either 3 3V power input 5V power input or USB power input Do not have multiple power sources connected em ER RETT Timepulse Sync external time KA dl ERE Ko Board has 10k
12. described later and can be used for reprogramming and as a serial port SV1 ARM connector Pin 1 GND Pin 2 5V external power input Pin 3 ARM reset Ground to hold processor in reset Pin 4 ARM Bootload Enter ARM ISP programming mode Pin 5 ARM TX ARM P1_7 Pin 6 ARM RX ARM P1 6 Pin 7 ARM P8 ARM P1 9 Pin 8 ARM P9 ARM P1 10 Pin 9 ARM AO ARM PO 11 Pin 10 ARM A1 ARM P1 0 Ryan Mechatronics LLC WUWaryanmechatronics com SV3 HOST connector Pin 1 GND Pin 2 Enable ARM Use ARM P2 6 Pin 3 3 3V input Pin 4 GPS Timepulse Pin 5 I2C SDA Pin 6 GPS RX 3 3V TTL direct to GPS Pin 7 I2C SCL Pin 8 GPS TX 3 3V TIL direct to GPS Navigation Board M3 NavBoard M3 User Manual Rev A 10 EIDE Table 1 Pin Assignments SV1 r 8 Ground WA System groua 5V external power WARNING This power pin is common with USB 5V power and there is no protection Overvoltage or shorting this pin while it is connected to your computer can damage your computer If using USB power do not connect this pin to anything Use either 3 3V power input 5V power input or USB power input Do not have multiple power sources connected Le DNR Resets on board ARM processor when grounded reset ARM Forces ARM to enter boot load programming mode based boot on the following conditions load 1 USB power plugged in momentarily shorting this pin to ground will make the ARM processor be dis
13. es The next version of the NavBoard will likely replace the magnetometers and accelerometers with a combined device the LSM303DLH from STMicroelectronics http www st com stonline products literature ds 16941 pdf The magnetometer address and protocol remains the same for this device The protocol for the accelerometer will change by a minor amount and its address changes The 7 bit address for this device is 0x18 The 8 bit read address is 0x31 The 8 bit write address is 0x30 Please write your code in a modular fashion to take advantage of this future upgrade 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 NavBoard 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 4 1 Power 4 1 1 Input Power The NavBoard core electronics all operate off of 3 3V There are three methods for powering the board however 3 3V input 5V input or USB 5V input If you have 3 3V available the most efficient method is to supply the NavBoard via the 3 3V connection on SV3 This is ideal for using
14. ns to the unit should be 3 3V GND SDA and SCL In this condition no on board ARM processing should occur provided the user has not overridden this with other software 1 3 Modes of Operation The NavBoard has been designed to be simple and effective at providing software flexibility and standalone sensor capability Specific pins and mode operations are shown below Power Supply USB 5V or 3 3V No user code ARM User Code ARM Reprogramming Sensor USB as TTL serial USB Flash Serial package drive drag for serial com com out port and drop external CPU NavBoard M3 User Manual Rev A 2 Specifications and Characteristics Presented in this section are the sensor and system specifications for the NavBoard All parameters specified are VDD 3 3 V and Ta 25 C 2 1 Performance Specifications Inertial Sensors Characteristics Conditions Min Typical Max Units EJ Bandwidth All axes Output aad LSB g 29 Hk O e E e Specifications are subject to change at any time without notice 2 2 Performance Specifications Global Positioning Receiver Characteristics Conditions i i Units Position Velocity and Time Time to First Fix Cold Start Warm Start Hot Start Horizontal position Without SBAS accuracy SBAS External antenna Center feed on external antenna power supply connection Specifications are subject to change at any time without notice NavBoard M3 Use
15. prevent any issues None of the chips on the NavBoard have this address it would only be important for custom user designs 3 2 Accelerometers The 3 axis accelerometer is the LISSLVO2DQ unit from STMicroelectronics Details can be found at http www st com stonline products literature ds 11115 htm The 7 bit address for this device is Ox1D The 8 bit read address is Ox3B The 8 bit write address Is Ox3A See future upgrades for more information regarding coding for this device 3 3 Rate Sensors The 3 axis rate sensor is the ITG 3200 from Invensense Details can be found at http invensense com mems gyro itq3200 html The 7 bit address for this device is 0x68 The 8 bit read address is OxD1 The 8 bit write address is OxDO 3 4 Magnetometer The 3 axis magnetometer is from Honeywell model HMC5843 Details can be found at www magneticsensors com datasheets HMC5843 pdf The 7 bit address for this device is Ox1E The 8 bit read address is 0x3D The 8 bit write address is 0x3C 3 5 ARM processor The ARM processor is an LPC 1343 Software programming examples can be found at www nxp com http ics nxp com microcontrollers to pip LP C1311 html and the datasheet is located here http www nxp com documents data_sheet LPC1311 13 42 43 pdf To enable IC communication as a slave requires programming by the user and the slave address can be defined at that time NavBoard M3 User Manual RevA 13 ps 3 6 Planned Future Upgrad
16. r Manual Rev A 2 3 Electrical Characteristics _ Characteristics Conditions Min Typical Max Units Power 3 3V Input Supply Vag Voltage Range Referenced to GND NOTE ONLY 3 3V or 5V supply should be applied Damage can result if both supplies are active SV Input Supply Note 5V external supply and USB 5V Voltage Range input supply are common Current Average measured at 3 3V GPS and sensors require minimum 100 mA Remaining power draw dependent on user code if any Specifications are subject to change at any time without notice g 4 Absolute Maximum Ratings Parameter Rating E any axis 0 5 ms 2000g y Powered Output Short Circuit Duration Any Pin to Common Operating Temperature Range 30 C to 85 C Storage Temperature Range 40 C to 125 C e Specifications are subject to change 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 NavBoard M3 User Manual Re
17. r once saturation has stopped and the internal filter has time to reconverge on the correct solution Please note The NavBoard M3 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 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 power RF circuitry can result in operational errors After a proper calibration no axis should exceed a 1 gauss value 1 1 4 GPS GPS is a phenomenal technology allowing location of your position on the planet Earth within about a 15
18. restarted you must cycle power to the unit NavBoard M3 User Manual RevA O 4 4 2 ARM Boot load SV1 Pin 4 The ARM processor was intended to host user code There are two ways to download new code to the processor The first is via the USB port The second is via the serial port Reprogramming is accomplished via an on board boot loader in the processor 4 4 2 1 USB reprogramming If USB power is being used i e the unit is plugged into a PC then momentarily shorting this pin to ground will make the ARM processor be discovered by Windows operating systems as a flash drive New firmware can be loaded by dragging and dropping the firmware into this folder then resetting the unit 4 4 2 2 Serial port reprogramming If external power is used and USB is not connected then the unit can be reprogrammed via the serial port Holding the ARM Boot load pin low during power application will force the ARM processor into ISP programming mode via its serial port Flash Magic or a similar tool is needed to upload software in this manner NavBoard M3 User Manual RevA 5 Software Interface The NavBoard software and support GUI is open source and can be found at www ryanmechatronics com 5 1 Firmware Upload Procedure The easiest method to upload new firmware to the ARM processor is via USB Follow these simple steps 1 Short the B pin to Ground on SV1 2 Plug unit via USB into a PC running Windows XP Vista 7 3
19. solder bridge shown in picture and bridge center to red arrow indicated side On Board Passive Antenna Clear solder as shown External Active Antenna Solder bridge this jumper 4 3 Configurations There are two primary configurations for the board Standalone operation and sensor package operation These configurations are described here 4 3 1 Sensor Package Mode In this mode the on board ARM processor is not used at all The I2C bus lines are used by a separate host processor like the SRV robot from www surveyor com to acquire inertial and GPS data In order to keep the ARM processor from interfering with the host processor there are three things that can be done NavBoard M3 User Manual RevA OT e HW Option Keep ARM in reset by tying the ARM reset pin on SV3 to ground e SW Option 1 Program the ARM processor with specific software preventing use of the I2C bus e SW Option 2 Wipe the ARM processor by programming no firmware at all Both software option builds are available from www ryanmechatronics com 4 3 2 Stand Alone Operational Mode In this mode the on board ARM processor acts as the master on the I2C bus and manages all inertial sensors and GPS acquisition Output data can be seen on the serial ports In this mode the user is responsible for the software on the unit Software example code is available at www ryanmechatronics com Pre built bin files to accomplish simple data acquisition and output
20. the unit as a sensor package where a separate CPU is being used to acquire and use the data via I2C The 5V input on SV1 is common to the USB power bus If you provide 5V power to the board the onboard regulator will generate 3 3V output for the electronics Do NOT supply more than one power supply to the unit i e 3 3V and 5V or USB power and 5V This will ultimately lead to damage of the NavBoard or your PC Critical Warning When using USB power the bare circuit board is powered by your USB port Shorting the unit out or overvoltaging it can directly damage your PC Take extra precaution when using it directly interfaced to your PC 4 2 GPS Antenna Options The NavBoard has an on board passive antenna for GPS reception but with a solder jumper and user supplied antenna allows an external antenna to be used instead NavBoard M3 User Manual Rev A I There is a u FL connector J1 on the back of the unit that can be used to interface to an off board active antenna 3 3V power supplied by the NavBoard You may need an interface cable e g Digi Key p n A36232 ND to interface to your active antenna There are many options for antennas but the board was designed for a 3 3V active L1 GPS antenna The graphic below shows how to enable disable the onboard passive antenna or the external antenna Only one or the other may be used at one time On Board Passive Antenna Solder bridge as shown External Active Antenna Clear
21. vA 2 5 Mechanical and Pin Assignments 2 5 1 Dimensions Dimensions for the unit are shown below All units are in inches 20 12 5 O WwW a u s UG es X Sy wu cu ue acl N 9 om T m cs N m 3 C9 23 Y m 23 ACC MAG P m Q co C its Oo Q q or fd gt Y m t ud GYRO 2 5 2 Coordinate System and Orientation The NavBoard recently upgraded with a 3 axis MEMS rate sensor Unfortunately due to space constraints it needed to be placed on the bottom of the board This makes its coordinate system inconsistent with the other sensors and users should be aware of this when using it For the accelerometers and magnetometers The orientation shown X Y Z frame is the local body frame with Z following the right hand rule and coming up out the top of the board Each of these sensor packages is oriented to this frame For the rate sensors The noted gyro orientation shown in the previous picture gyro has Z following the right hand rule and oriented down thru the board NavBoard M3 User Manual RevA 2 5 3 Pin Assignments Shown below is a graphic of the two connectors and pin names labels The SV1 connector is for use with the on board ARM processor If you are using the device in sensor package mode only I2C with a separate processor the SV3 connector has all the connections you need typically GND 3 3V SDA and SCL Not shown is a pin out for the USB connector which is
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