IMU tag v1.0 User Manual Revision v1.1 - x
Contents
1. 0018 0017 00 00002 26679 31407 32932 24683 41052 41343 3067 1496 2374 47374 0018 0018 0018 0017 00 00003 26641 31484 33282 24661 41045 41341 3075 1452 2390 47377 0017 0018 0018 0017 002 00004 26636 31426 33339 24648 41036 41345 3055 1490 2376 47386 0018 0019 0018 0016 00 00005 26617 31536 33128 24670 41052 41332 3046 1470 2367 47391 0018 0019 0018 0017 00 00006 26680 31634 32893 24651 41064 41365 3080 1454 2384 47381 0018 0018 0018 0016 00 00007 26704 31363 33199 24679 41043 41350 3057 1504 2373 47386 0017 0018 0018 0017 00 00008 26676 31516 33270 24638 41072 41354 3073 1464 2383 47383 0018 0019 0018 0017 00 00009 26679 31593 33321 24653 41048 41326 3053 1502 2379 47381 0018 0019 0019 0017 00 00010 26638 31685 33098 24671 41072 41377 3049 1473 2368 47376 0017 0018 0018 0017 00 00011 26725 31489 32916 24654 41080 41320 3072 1458 2380 47386 0018 0017 0017 0018 00 00012 26692 31142 33325 24667 41052 41333 3060 1495 2372 47382 0018 0018 0018 0017 00 00013 26580 31347 33118 24644 41080 41336 3046 1466 2363 47385 0018 0021 0019 0017 00 00014 26640 31487 33250 24615 41093 41378 3059 1499 2375 47372 0018 0018 0018 0017 00 00015 26634 31648 32823 24615 41142 41432 3040 1469 2365 47351 0018 0019 0018 0017 00 00016 26730 31206 33222 24631 41090 41350 3069 1455 2374 47380 0018 0019 0018 0017 00 00017 26616 31410 33298 24617 41095 41390 3064 1506 2372 47362 0018 0018 0018 0016 00 00018 26618 31407 33240 24633 41064 41335 3041 1466 2359 47382 0017 0018 0018 0017 00 000192. 2010 Page 7 IMU tag v1 0 User Manual S O H Madgwick The menu is navigated using single characters displayed on the left Received data is buffered so that user software may adjust settings quickly for example sending the string m4123456s will 1 enter the menu 2 select the time 3 set the time as 12 34 56 and 4 save the reset Revision 1 0 23 August 2010 Page 8
3. 26602 31672 33146 24637 41089 41403 3070 1455 2381 47359 0018 0019 0019 0018 00 00020 26739 31612 32904 24601 41130 41430 3069 1462 2354 47349 0018 0019 0018 0017 00 OO OO OO OO OO COO OO OO OO AON OO CO 6 IMU tag v1 0 config Menu The IMU tag v1 0 config menu may be accessed using the Bluetooth connection and any serial terminal software e g HyperTerminal which is a part of windows XP If the serial terminal software is connected to the IMU tag v1 0 s COM port the incoming data will be visible on the screen The menu is accessed by sending the character m Upon reception the IMU tag v1 0 will stop logging and send back the text that makes up the IMU tag v1 0 config menu as shown below with default settings KKK KKK KK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KEKE IMU tag v1 0 config menu KOK ck ck KK KK KKK ck ck ck ck KK KK KR KK KK KK KK KKK KK KK KKK KKK S save and reset General 0 sample rate 64 Hz data format decimal 2 file extension txt 3 bluetooth off Real time clock 4 date dd mm yy 00 00 00 5 time hh mm ss 00 00 00 Sensors accelerometer enabled gyroscope enabled magnetometer enabled thermistor enabled auxiliary inputs enabled Motion trigger b sleep timer off c wake up threshold off KCkckckckckckckckckckckckckckckckckckckckckckckckckckckckckckckckckckckckck ck ck ck ckckok Revision 1 0 23 August
4. IMU tag v1 0 User Manual S O H Madgwick IMU tag v1 0 User Manual Revision v1 1 23rd August 2010 Sebastian O H Madgwick sebmadgwick x 10 co uk www x io co uk Disclaimer The IMU tag v1 0 was originally developed by Sebastian O H Madgwick for use within his own research Due to its unique capabilities the IMU tag v1 0 may be of interest of other researchers and engineers and so has also been made available for purchase The device and associated software and documentation are provided in an as is condition no warranties whether express implied or statutory including but not limited to implied warranties of merchantability and fitness for a particular purpose apply to this software the company shall not in any circumstances be liable for special incidental or consequential damages for any reason whatsoever Revision 1 0 23 August 2010 Page IMU tag v1 0 User Manual S O H Madgwick TABLE OF CONTENTS I Product OVeEVIGW cec essa pea 1 1 Eeat fes tete ot ibo ree aU UI a E a EI 3 2 Hardware and connections iei ee edeese re scoe o en rada sa sepa ao sn od pase sa sa go seolst sU se subssdosob base sebo A 2L 232 2 2 4 2 9 PGB Topside TO 4 PCB BOttOm Ide over ccs bee tnr UNDE RP Ux 4 Connections acusa eo MAIO RU tasas UND echa uud sees aestu nto dt Udo pup es 5 VANS LEID pro
5. connection after which the button can be released Revision 1 0 23 August 2010 Page 5 IMU tag v1 0 User Manual S O H Madgwick 3 2 Data transmission Once connected i e COM port is opened by host the IMU tag v1 0 will wait 3 seconds before transmitting data See section 5 for details on interpreting data The Bluetooth bandwidth is limited to 115 2 kbps this is not sufficient to transmit the data for all sensors and inputs in decimal format at the maximum sampling rate 256 Hz The user may reduce to data throughput to be less than 115 2 kbps by disabling sensors reducing sampling rate or using a hexadecimal data representation 3 3 Bluetooth LED Blue The blue LED indicates the Bluetooth radio state as summarised in the table below LED state Bluetooth state Off Not powered and not connected Flashing Powered and not connected On Powered and connected 3 4 Bluetooth sleep timer The Bluetooth may be set in the IMU tag v1 0 config Menu to off auto off 10 s auto off 60 s on The time period represents how long the Bluetooth radio will remain powered without a connection before turning off If connected the Bluetooth radio will not turn off 4 SDcard The IMU tag v1 0 features a micro SD card socket for data logging Each time the IMU tag v1 0 is powered reset or wakes up a new file is created on the SD File names are numbered absolutely between 00000 and 65535 and will increm
6. ent once the file name exceeds 65535 it will start from 00000 again The file extension either txt or csv may be selected in the IMU tag v1 0 config menu see section 6 for details If the SD card or power supply is removed from the IMU tag during logging then the file being logged to will be empty The user should be sure to either reset the IMU tag v1 0 at the end of a desired logging period or to put the device to sleep 4 1 SD card LED Red The red LED indicates the SD card state The LED is lit each time the SD card is accessed At high data rates the LED will flash rapidly at low data rates the LED will blink infrequently 5 Interpreting data The data saved to the SD card and streamed over Bluetooth is identical All data is in ASCII and a CSV format At the start of each logging session a header is transmitted containing the Revision 1 0 23 August 2010 Page 6 IMU tag v1 0 User Manual S O H Madgwick time date sampling rate and enabled sensors While logging each sample is represented by a CSV row terminated with r n An example header and first 20 samples are shown below date dd mm yy 23 08 10 time hh mm ss 17 08 37 sample rate Hz 64 sample acc x acc y acc z gyr x gyr y gyr z mag x mag z therm ax 0 1 ax 2 ax 3 ax 4 00000 26719 31372 33220 24654 41070 41317 3042 1472 2369 47392 0018 0018 0015 0017 00 00001 26592 31749 33056 24670 41071 41381 3082 1453 2386 47369 0016 0018
7. lution triple axis magnetometer 1 Gauss e 16 bit resolution temperature sensor e 5x 12 bit resolution single ended analogue inputs 0 to 3 3 V Data interfaces e Class I Bluetooth radio SPP 115 2 kbps e Micro SD card FAT12 FAT16 and FAT32 support Power saving e Device motion trigger wake up and Sleep timer e Bluetooth may be turned off or put on sleep timer e Un used sensors may be disabled to conserve power e Data may be represented in hexadecimal to reduce SD card and Bluetooth data rates Revision 1 0 23 August 2010 Page 3 IMU tag v1 0 User Manual S O H Madgwick 2 Hardware and connections 2 1 Top side Accelerometer Magnetometer Gyroscopes Temperature sensor e gt f 2 42 Header pins 2 2 PCB Bottom side q Push button SD card socket Status LEDs Bluetooth MAC address Bluetooth chip antenna Revision 1 0 23 August 2010 Page 4 IMU tag v1 0 User Manual S O H Madgwick 2 3 Connections Header Pin Description VDD Power supply input 3 3 V minimum 3 V maximum 3 3V GND Power supply input Ground RST RESET pull low to reset unit RTCC will not be reset AX0 Analogue input 0 0 to 3 3V analogue signal 1 Analogue input 1 0 to 3 3V analogue signal 2 Analogue input 2 0 to 3 3V analogue signal AX3 Analogue input 3 0 to 3 3V analogue signal AX4 Analogue input 4 0 to 3 3V analogue signal 2 4 Status LEDs LED Descri
8. n Een cn rei t Eden OR 5 Button behavIQUE uc terere oodedersuesshavscececadeuesuussesoceletsbvssusedvesseatdssuecscodedexsive 5 SEEMS PREISE UP EC T c 3 3 2 3 3 3 4 Connect to the IMU tag v1 0 via Bluetooth 5 D ta transmisso a0 ine sevt sats an a a a 6 Bl etooth LED Blue 6 Bluetooth sleep i eee 6 4 SD Car EEEE E EEE EEEE T AT i 4 1 SDcard LED Red enian a A E AaS 6 5 Interpreting dada Ceo DUE p dbi 6 IMU tag v1 0 config Mni eere reor n ene ventu nen aee thua 7 Revision 1 0 23 August 2010 Page 2 IMU tag v1 0 User Manual S O H Madgwick 1 Product overview The IMU tag v1 0 is a small low powered inertial magnetic data logger capable of logging sensor data to an on board micro SD card and streaming sensor data directly to a computer in real time via Bluetooth Sensor data is easily interpreted by any user software as it is represented as comma separated text values The device was originally developed to enable the ambulatory monitoring of a patient s motion for a medical research project This device requires a regulated 3 3V power supply and provides raw un calibrated sensor measurements l l Features Sensors e 16 bit resolution triple axis accelerometer 3 e 16 bit resolution triple axis gyroscope 1200 s e 12 bit reso
9. ption Blue Bluetooth power and connection state Green Logging state on while logging Red SD card state 2 5 Button behaviour Action Behaviour Press amp release Reset device and start new logging session If device is asleep it will wake up first Press amp hold Terminate logging session and put device to sleep If device is asleep it will wake up and force Bluetooth power until button is released 3 Bluetooth The IMU tag v1 0 features a Class I 100 m range Bluetooth radio The unit operates as a Bluetooth slave with a SPP Serial Port Profile and is so recognised by a host e g UAB dongle as a COM port with a baud rate of 115 2 kbps 3 1 Connect to the IMU tag v1 0 via Bluetooth A Bluetooth host may achieve a connection with the IMU tag v1 0 through a standard Bluetooth paring process This is a straightforward process that will be facilitated by the software wizard associated with the Bluetooth host device or OS The IMU tag v1 0 will be recognised by other Bluetooth devices by its name and may be connected to using its predefined paring code Name IMU tag v1 0 lt last characters of the devices MAC address gt Paring code 1234 If the Bluetooth radio is turned off in user the IMU tag v1 0 config Menu or its sleep timer expired before a connection can be made the user can force Bluetooth radio be remain powered by not releasing the button when waking the IMU tag v1 0 up from sleep The user may then achieve a
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