IMU380ZA-200 USER MANUAL
Contents
1. 29 8 3 5 Returm Spline A 30 8 4 MAT 30 Appendix A Installation and Operation of NAV VIEW 3X 31 8 1 NAV VIEW 3 X Computer Requirements ee 31 8 1 1 INA WA e A 31 6 2 Ce 31 8 3 Settina up NAV VIEW S AX 000m 31 od DRC OORA EE EE 32 8 5 PAA PNA BAC Ne S E E OO E NA A 32 6 6 Raw Daa CC ono ER 33 8 7 33 8 8 RE 34 6 9 REN 30 Appendix B UART Port Sample Packet Parser C006 ee 37 ON 37 Eee 38 Appendix C UART Port Sample Packet Decoding 43 Page ii Doc 7430 3810 Rev 01 IMU380ZA 200 Users Manual MEMSIC About this Manual The following annotations have been used to provide additional information 4 NOTE Note provides additional information about the topic EXAMPLE Examples are given throughout the manual to help the reader understand the terminology PR IMPORTANT This symbol defines items that have significant meaning to the user N WARNING The user should pay particular attention to this symbol It means there is a chance that physical harm could happen to either the person or the equipm2. Vai e 13 IMU380ZA 200 UART Port Interface Definition 16 5 1 Ce si 10 32 ZEE cd oiu 16 5 3 IN MIMD SEE ORI AGS oe 9 16 Ie v EON me T oom 17 5 4 1 ee 17 5 4 2 NEW 17 5 4 3 Poy loa em 18 5 4 4 18 5 4 5 IE 18 5 4 6 INNS 18 IMU380ZA 200 Standard UART Port Commands and Messages 4 20 6 1 IS 20 6 1 1 RID OT 20 6 1 2 UNTERE 20 OC MEE rr UNT Eon e EE mem 20 6 2 1 CR 20 6 2 2 Wales oa 21 6 2 3 NS 21 6 3 Output Packets PONG se 21 Doc 7430 3810 01 IMU380ZA 200 User s Manual MEMSIC 6 3 1 Wena Om Data a
3. 10 Hz Bartlett Magnitude dB 5 S un e 80 20 Hz Bartlett 40 Hz Bartlett 90 Frequency Hz Doc 7430 3810 Rev 01 Page 15 IMU380ZA 200 Users Manual MEMSIC 5 1 03802 200 UART Port Interface Definition The IMU380ZA 200 supports a common MEMSIC packet structure that includes both command also referred to as input data packets data sent to the IMU380ZA 200 and measurement output also referred to as response packet formats data sent from the IMU380ZA 200 over the UART port This section of the manual explains these packet formats as well as the supported commands NAV VIEW 3 X also features a number of tools that can help a user understand the packet types available and information contained within the packets This section of the manual assumes that the user 15 familiar with ANSI C programming language and data type conventions For an example of the code required to parse data packets over the UART port please refer to Appendix B For qualified commercial OEM users a source code license of NAV VIEW 3 X can be made available under certain conditions Please contact your MEMSIC representative for more information 5 1 General Settings The UART serial port settings are start bit 8 data bits no parity bit 1 stop bit and no flow control Standard baud rates supported are 9600 19200 38400 and 57600 Common definitions include A word is defined to be 2 bytes or 16 bit
4. FUNCTION peekWord returns 2 byte word from buffer without popping ARGUMENTS queue ptr is pointer to the queue to return word from index is offset into buffer to which word to return RETURNS 2 byte word REMARKS does not do boundary checking please do this first HK KK KK KK KKK KK I KK KK KK KKK KK KK KKK KK KK ck ck kc kc KK k ck k kc KK KK KK KK KK KK unsigned short peekWord QUEUE TYPE queue ptr unsigned int index unsigned short word firstIndex secondIndex firstindex queue ptr front index 5 MAXOUEUE secondIndex queue ptr gt front index 1 5 MAXQUEUE word queue ptr entry firstlndex lt lt 8 OxFFOO word 0x00FF amp queue ptr entry secondIndex return word RKCKCKCKKCkCkCk kk Ck KK Ck kk KC KK KK KK KK Kk KK kk KK kk Ck ck kk ck ck kck ck k ck ck ck k ck ck k ck ck ck kc k ck kk kk FUNCTION Pop discard item s from queue MEMSIC Doc 7430 3810 Rev 01 Page 41 IMU380ZA 200 Users Manual MEMSIC ARGUMENTS queue ptr is pointer to the queue numToPop is number of items to discard RETURNS return the number of items discarded HK KK KK KK KKK KK KK KK KK KKK IK KK KK KK KK KK KKK KK KK KK KK KK KK KK KK int Pop QUEUE TYPE queue ptr int numToPop int 1 0 char tempchar for 1 07 i lt numToPop i if DeleteQueue amp tempchar queue ptr break return i KKK KK KKK KKK KK KK KK KK KK KK KK KK KK KK KKK KK KK KK KK
5. 0x5555 0x5352 x 0 lt 2 gt This command performs a core CPU reset functionally equivalent to a power cycle default power up field settings will apply The unit will respond with a software reset response before the system goes down Software Reset SR 0x5352 0 5555 0 5352 lt CRC U2 gt The unit will send this packet in response to a software reset command 6 2 3 Error Response Error Response ASCII NAK 0x1515 0 5555 0 1515 lt NAK payload gt lt CRC U2 gt The unit will send this packet in place of a normal response to a failedInputPacketType request if it could not be completed successfully NAK Payload Contents Byte Name Format Scaling Units Description 0 failedInputPacketType PEE the failed request 6 3 Output Packets Polled The following packet formats are special informational packets which can be requested using GP command 6 3 1 Identification Data Packet Identification Data ID 0 4944 0x5555 0x4944 lt CRC U2 gt This packet contains unit serialNumber and modelString The model string is terminated with 0x00 The model string contains the programmed versionString 8 bit Ascii values followed by the firmware part number string delimited by a whitespace ID Payload Contents Byte Name Format Scaling Units Description rum O jseraNomber U4 f Umiseilnumber 4 modi
6. 0x504B 0x5555 0 504 lt CRC U2 gt The unit will send this packet in response to a ping command 6 1 2 Echo Command Echo 0 4348 Packet Type Payload Ox5555 0x4348 lt echo payload gt lt CRC U2 gt The echo command allows testing and verification of the communication link The unit will respond with an echo response containing the echo data The echo data is N bytes long Echo Payload Contents O0 echopaao U first byte of echo data lehoDaal Ul Second byte of echo data pe qe a Ecedt 0 00 0 0 0 0 N 2 ecoDan Ul Secondtolstbytofechodata NI echoData u1 iastbyteofechodta 6 2 Interactive Commands Interactive commands are used to interactively request data from the IMU380ZA 200 and to calibrate or reset the IMU380ZA 200 6 2 1 Get Packet Request Get Packet GP 0x4750 Packet Type Payload 0x5555 0x4750 GP payload CRC U2 gt This command allows the user to poll for both measurement packets and special purpose output packets including VR and ID GP Payload Contents Byte Name Format Scaling Units Description 0 requestedPacketType ERE The requested packet type Refer to the sections below for Packet sent in response to GP command Doc 7430 3810 Rev 01 Page 20 IMU380ZA 200 Users Manual MEMSIC 6 2 2 Software Reset Command Software Reset SR 0 5352
7. ThesecondficldID sdata le _ mumFields 4 3 field U2 f The last field ID to write mumFields 4 1 field Data U2 The last field ID s data to write 7 4 2 Write Fields Response Write Fields 0 5746 Packet Type Payload 0x5555 0x5746 1 numFields 2 WF payload CRC U2 The unit will send this packet in response to a write fields command if the command has completed without errors WF Payload Contents 0 mumilds JU The number of fields written i jfedo U2 The first field written 3 id U2 The second field ID written a o e U2 numFields2 1 Field U2 ThelstfieldllDwrten 7 4 3 Set Fields Command Set Fields 0x5346 Packet Type Payload 0x5555 0x5346 1 numFields 4 SF payload CRC U2 gt Doc 7430 3810 Rev 01 Page 25 IMU380ZA 200 Users Manual MEMSIC This command allows the user to set the unit s current configuration SF fields immediately which will then be lost on power down NumFields is the number of words to be set The fieldO fieldl etc are the field IDs that will be written with the fieldOData Data etc respectively This command can be used to set configuration fields The unit will not set calibration or algorithm fields If at least one field is successfully set the unit will respond with a set fields response cont
8. For example if the IMU380ZA 200 is configured to output data over the UART port and the default UART port coordinate frame is used with an IMU380ZA 200 sitting on a level table the system will measure zero g along x and y axes and 1 along the z axis Normal Force acceleration is directed upward and thus will be defined as negative for the IMU380ZA 200 z axis The angular rate sensors are aligned with these same axes The rate sensors measure angular rotation rate around a given axis The rate measurements are labeled by the appropriate axis The direction of a positive rotation 15 defined by the right hand rule With the thumb of your right hand pointing along the axis in a positive direction your fingers curl around in the positive rotation direction For example if the IMU380ZA 200 is configured to output data over UART port and the default UART port coordinate frame is used with the IMU380ZA 200 sitting on a level surface and rotated clockwise on that surface the system will measure a positive rotation around the z axis The x and y axis rate sensors will measure zero angular rates and the z axis sensor will measure a positive angular rate Pitch is defined positive for a positive rotation around the y axis pitch up Roll is defined as positive for a positive rotation around the x axis roll right Yaw is defined as positive for a positive rotation around the z axis turn right Doc 7430 3810 Rev 01 Page 5 IMU3
9. GPS Protocol Customer Axes Unit Reference Axes Unlocked Eeprom Software status Enable Fields ie Algorithm Initializing Use GPS High Gain Stationary Yaw Lock keel Restart Over Range Dynamic Motion Sensor Status Enable Fields Filter Clock Rate Sensor Over Range FilterClocks LP Cutoff Hz FilterClock 1 Comm Status Enable Fields FilterClock2 No External GPS FilterClock3 Doc 7430 3810 Rev 01 Page 36 IMU380ZA 200 Users Manual MEMSIC Appendix B UART Port Sample Packet Parser Code 8 10 Overview This appendix includes sample code written in ANSI for parsing packets from data sent by the IMU380ZA 200 over the port This code can be used by a user application reading data directly from the IMU380ZA 200 unit or perhaps from a log file The sample code contains the actual parser but also several support functions for CRC calculation and circular queue access process_xbow_packet for parsing out packets from a queue Returns these fields in structure XBOW PACKET see below Checks for CRC errors calcCRC for calculating CRC on packets Initialize initialize the queue AddQueue add item in front of queue DeleteQueue return an item from the queue peekWord for retrieving 2 bytes from the queue without popping peekByte for retrieving a byte from the queue without popping Pop discard item s from queue Size returns number
10. crc 1 return cre f RKCKCKCKCKCkCkCk Kk k kk kk KC kCKCKCK KK kk Ck KK Kk Kk Kk kk Ck Ck k kk ck ck kc k ck k ck ck k kc k ck k ck ck ck k ck ck k kk FUNCTION Initialize initialize the queue ARGUMENTS queue ptr is pointer to the queue HK KK ck k kk kk ck ck kk k ck kk ck kk ck ck Ck k ck kk ck ck kk ck ck kc k ck k kc kk void Inztialize QUEUE TYPE queue ptr queue ptr gt count 0 queue ptr ront 0 queue ptr gt rear 1 KKK KKK KK KK KKK KK KK KK KK KKK KK KK KK KK KK KK KK KK KK KK KK KK KK KK KK KK KK KKK KK KK KK KK FUNCTION AddQueue add item in front of queue ARGUMENTS item holds item to be added to queue queue ptr is pointer to the queue RETURNS returns 0 if queue is full 1 if successful HK KK kk kCk kk k ck kk k ck k kk kk k ck Ck k ck k kk ck k kc k ck kc k ck kk k ck k kc k kk ck ck kk Ck ck kk ck kk ck ck k kc k ck k ck ck kckckck ck kck kk kk int AddQueue char item QUEUE TYPE queue ptr int retval 0 if queue ptr gt count gt MAXQUEUE retval 0 queue is full else queue ptr gt count t queue ptr gt rear queue ptr gt rear 1 5 MAXQUEUE queue ptr entry queue ptr gt rear item retval 1 return retval f KKK KK KK KK KK KK KK KK KKK KKK KK KK KK KKK KK KK KK KK KK KK KK KK k ck ck KK KK KK KK KKK FUNCTION DeleteQeue return an item from the queue ARGUMENTS item will hold item popped from queu
11. I fedipaa m TheseondfidldID sdataread mumFields 4 3 field u2 Dread numFields 4 1 U2 ThelastficldID sdataread 7 4 7 Get Fields Command Get Fields GF 0x4746 0x5555 0 4746 1 numFields 2 lt CRC U2 gt This command allows user to get unit s current configuration fields NumFields is number of fields to get The 40 fieldl etc are the field IDs to get GF may be used to get configuration calibration and algorithm fields from RAM Multiple algorithm fields will not necessarily be from the same algorithm iteration If at least one field is successfully collected the unit will respond with a get fields response with data containing the field IDs of the successfully received fields If any field 1s unable to be received the unit will respond with an error response Note that both a get fields and an error response may be received as the result of a get fields command Byte Offset Name nomFields UL The number of fieldstoget a jfedo U2 f The first field to get 3 feat U2 The second field Dto get More sto get mmFields2 1 Field U2 The lastfield Dtoget 7 4 8 Get Fields Response Get Fields 0 4746 0x5555 0 4746 1 numFields 4 lt CRC U2 gt The unit will send this packet in response to a get fields request if the command has complet
12. Refer to Section 7 3 Orientation Field settings for the twenty four possible orientation settings The default setting points the connector to the right of the vehicle 5 3 Number Formats Number Format Conventions include e Oxasa prefix to hexadecimal values e single quotes to delimit ASCII characters e prefix or delimiters to specify decimal values Doc 7430 3810 Rev 01 Page 16 IMU380ZA 200 Users Manual MEMSIC Table 14 defines number formats Table 14 Number Formats Ui 0 U2 2 100065535 Us _ Unsigned nt_ 4__ ___ 0 221 __ sen Short 2 Shifted 2 s Shifted to specified or ae 14 Int 4 2 S 2 sComplement 22431024311 to 2 31 1 Floating Point IEEE754 Single fo 2127 Precision ASCII 5 4 Packet Format All of the Input and Output packets except the Ping command conform to the following structure lt 2 byte packet lt payload byte lt variable length lt 2 byte CRC 0x5555 type U2 gt length U1 gt payload U2 gt The Ping Command does not require a CRC so an IMU380ZA 200 unit can be pinged from a terminal emulator To Ping an IMU380ZA 200 unit type the ASCII string UUPK If properly connected the IMU380ZA 200 unit will respond with PK All other communications with the IMU380ZA 200 unit require the 2 byte CRC Note An IMU380ZA 200 unit will also respond to a ping command using the full packet formation with paylo
13. match baud rate selection marked Discover the COM port set for the adapter cable in the standard Windows Control Panel gt System gt Device Manager application say connected and is red check the connections between the IMU380ZA 200 product and the computer and verify that the COM port is not occupied by another device If there is a COM port conflict attempt to remap the adapted cable COM port selection using the standard Windows Control Panel gt System gt Device Manager application 4 Under the View menu you have several choices of data presentation Graph display is the default setting and will provide real time graph of all the IMU380ZA 200 data The remaining choices will be discussed in the following pages Doc 7430 3810 Rev 01 Page 31 IMU380ZA 200 Users Manual MEMSIC 8 4 Data Recording NAV VIEW 3 X allows the user to log data to a text file txt using the simple interface at the top of the screen Customers can now tailor the type of data rate of logging and can even establish predetermined recording lengths To begin logging data follow the steps below 1 Locate the icon at the top of the page or select Log to File from the File drop down menu 2 The following menu will appear as shown in Figure 13 Log to File Log File Log Logging Rate Engineering Data Fractional Rate Full Sample Rate Data 1 2 Sample Rate Raw Pack
14. which provides sensor compensation and digital filtering Measurement data packets are available at fixed continuous output rates or on a polled basis from the SPI port or the UART port The SPI port outputs data via registers and the user can perform polled reads of each register or a block burst read of a set of predefined registers Output data over the SPI port can be synchronized to an external KHz pulse The complete SPI interface is defined in Section 4 The UART port outputs data packets are asynchronous and defined in Sections 5 7 Doc 7430 3810 Rev 01 Page 4 IMU380ZA 200 Users Manual MEMSIC 3 1 IMU380ZA 200 Default Coordinate System The IMU380ZA 200 Inertial System has two default coordinate systems depending on the output data port selected Figure 4 defines the fixed coordinate system for data output via the SPI Port 2 Yaw Roll A Pitch X Y Figure 4 IMU380ZA 200 SPI Port Coordinate System Figure 5 defines the default coordinate system for data output via the UART port Note that for data output via the UART port the coordinate system is configurable with either NAV VIEW 3 X see Appendix A or by sending the appropriate serial commands Y 2 Pitch Z Figure 5 IMU380ZA 200 UART Port Default Coordinate System For both output ports the axes form an orthogonal SAE right handed coordinate system Acceleration is positive when it is oriented towards the positive side of the coordinate axis
15. 125 0 sec default 0x4 4 250 0 sec 7 0 Digital Low Pass Filter 0x00 0 Unfiltered 0x03 3 40 Hz Bartlett 0x04 4 20 Hz Bartlett 0x05 5 10 Hz Bartlett 0x06 6 5 Hz Bartlett default 0x30 48 50 Hz Butterworth 0x40 64 20 Hz Butterworth 0x50 80 10 Hz Butterworth 0x60 96 5 Hz Butterworth The rate sensor scaling selector adjusts the output scaling applied to the rate sensor as well as the limits that control the sensor over range bit in the diagnostic status register Table 7 if the system undergoes motion that exceeds this limit the over range bit is set The default scaling is 125 0 sec to change the scaling to 62 5 sec the master sends OxB901 The rate sensor dynamic range selection maps to a bit weight scale factor as defined in Table 12 Table 12 Rate Sensor Scaling Factor Dynamic Range Scale Factor 62 5 sec 400 LSB sec 125 0 sec 200 LSB sec 250 0 sec 100 LSB sec The digital low pass filter register sets the type and cutoff frequency of the filter applied to the scaled sensor data The default setting is a5 Hz Bartlett filter to switch to a 20 Hz Butterworth filter the master sends OxB840 Figure 11 describes the output response of the different Bartlett filter settings Doc 7430 3810 Rev 01 Page 14 IMU380ZA 200 Users Manual MEMSIC Figure 11 IMU380ZA 200 Bartlett Filter Response Digital Low Pass Bartlett Filter Response 0
16. Attn RMA Number XXXX XX 8 4 Warranty The MEMSIC product warranty is one year from date of shipment Doc 7430 3810 Rev 01 MEMSIC Page 30 IMU380ZA 200 Users Manual MEMSIC Appendix A Installation and Operation of NAV VIEW 3 X NAV VIEW 3 X allows users to control certain aspects of the IMU380ZA 200 operation including data recording configuration and data transfer Note that NAV VIEW will control only the data being output over the UART port 8 1 NAV VIEW Computer Requirements The following are minimum requirements for the installation of the NAV VIEW 3 X Software CPU Pentium class 1 5GHz minimum e RAM Memory 500MB minimum 1GB recommended Hard Drive Free Memory 20MB e Operating System Windows XP Windows 71M or Windows 8 8 1 1 Install NAV VIEW To install NAV VIEW 3 X onto your computer 1 Insert the CD MEMSIC Inertial Systems Product Support in the CD ROM drive 2 Locate the NAV VIEW 3 X folder Double click on the setup exe file 3 Follow the setup wizard instructions You will install NAV VIEW 3 X and NET 2 0 framework 8 2 Connections The IMU380ZA 200 evaluation kit contains a USB cable and interface board that enables the user to quickly connect the IMU380ZA 200 to a PC USB port 1 The interface board contains a mating connector for the IMU380ZA 200 and micro USB connector The board can be connected to the IMU380ZA 200 by physically attaching the IMU conn
17. KK KK KK ck ck KK ck ck KK KK ck ck KK KKK FUNCTION Size ARGUMENTS queue ptr is pointer to the queue RETUBNS return the number of items in the queue KCKCk kk kk KCkCk Ck k kk KK Ck ck kCkCkC kc k ck kk kCkCkCkckck kk KCkCk ck ck kk kCkCk ck ck k kk CkCkcCk ck k kk kCk Ck kck kk k kc kckck k KK KK KK kk int Size QUEUE TYPE queue ptr return queue ptr gt count KKK KKK KK KK KKK KK KK KKK KK KK KK KK KK KK KK KK KK KK KKK KK KK KK KK KK KK KK KK KK KK KK KK KKK KK FUNCTION Empty ARGUMENTS queue ptr is pointer to the queue RETURNS return 1 if empty 0 if not HK KK kk kCk kk Ck ck kk ck ck k kk kk ck ck Ck k ck k kk ck k kc k ck kk ck kk int Empty QUEUE TYPE queue ptr return queue ptr count lt 0 f KK KK KKK KK KK KK Ck kk KC CK KC KC Kk KK Kk KC KK kk KC kCk ck ck k ck ck ck k ck ck k ck ck ck k ck ckck ck ck ck ck ck ck kk kk FUNCTION Full ARGUMENTS queue ptr is pointer to the queue RETURNS return 1 if full 0 if not full HK KK ck kCkCk kk kc k kk k ck kC kk ck ck k ck kk ck kk ck ck k kc k ck kc k ck kk int F ll QOUEUE TYPE queue ptr return queue ptr gt count gt MAXQUEUE Doc 7430 3810 Rev 01 Page 42 IMU380ZA 200 Users Manual MEMSIC Appendix C UART Port Sample Packet Decoding Figure 18 Example payload from Scaled Sensor 1 data packet S1 SOS S331 18 0000 332 rrtr3sO00D0lrrfrte 23b9242624ca2artt 9681 0300 248a length
18. Mode In polled mode the IMU380ZA 200 transfers information from any memory location back to the master in two or more SPI cycles In Burst Mode the IMU380ZA 200 transfers a predefined block of data in one contiguous group of nine SPI cycles 421 IMU380ZA 200 SPI Port Polled Mode Read In polled mode data transfer begins when the SPI master sets the chip select line nSS low and clocks a 16 bit word the combination of the register address byte and a byte of don t care bits across the MOSI line For example the master sends the command 0x5800 to request the unit s serial number stored in register 0x58 The IMU380ZA 200 returns information from this address across the MISO line during the subsequent 16 clock cycles The commands sent by the master to the IMU380ZA 200 during the subsequent SPI cycle consist of either 1 Sixteen don t care bits 0x0000 for example to complete the read of a single register 2 The address of another register followed by a byte of don t care values e g 0x00 This permits back to back reads from non contiguous registers Figure 6 illustrates a polled mode read of a single register x axis rate sensor data which is composed of two bytes starting at register address 0x04 The SPI master initiates a register read by clocking in the address followed by 0x00 i e 0x0400 via MOSI this combination is referred to as a read command This is followed by an additional 16 bits 0x0000
19. databengtht7 return 0 fill out result of parsing in structure result packet type peekWord queue ptr 2 result gt length peekByte queue ptr 4 result gt crc packetCRC for counter 0 counter lt result gt length result gt data counter peekByte queue ptr 5 counter Pop queue ptr dataLength return 1 f RKCKCKCKCKCkCkCK Kk kk KC CkCkCKCK KC CK Kk KK Kk Kk KK Kk KK kk CK kk Ck k kk ck k kk ck k ck ck ck k ck ckck ck ck ck k ck ck kk kk FUNCTION calcCRC calculates a 2 byte on serial data using CRC CCITT 16 bit standard maintained by the ITU International Telecommunications Union ARGUMENTS queue ptr is pointer to queue holding area to be CRCed startIndex is offset into buffer where to begin CRC calculation num is offset into buffer where to stop CRC calculation RETURNS 2 byte CRC Doc 7430 3810 Rev 01 Page 39 IMU380ZA 200 Users Manual MEMSIC HK KK KK KKK KK KK I KK KK KK KK kc IK KK KK kc kc kck kc k ck k kc k ck k ck KK KK KK KK KK KK KK kk unsigned short calcCRC QUEUE TYPE queue ptr unsigned int startIndex unsigned int num unsigned int 0 j 0 unsigned short crc 0x1D0F non augmented inital value equivalent to augmented initial value OxFFFF for i 0 i lt num 1 1 4 crc peekByte queue ptr startIndexti lt lt 8 LOL j Ue soe FHL 1 if crc 6 0x8000 crc cro lt lt 1 0 1021 else crc
20. including Packet Rate CRC Failures and overall Elapsed Time that are calculated over a one second window This tool should be used to gather information regarding the overall health of the user configuration Incorrectly configured communication settings can result in a large number of CRC Failures and poor data transfer Doc 7430 3810 Rev 01 9f4e 0 afe dde DBec 8 9dfc a256 a256 8746 9c0 2 36 MEMSIC Page 33 IMU380ZA 200 Users Manual MEMSIC Packet Statistics Packets Received CRC Failures Awe Packet Rate Hz Elapsed Time 00 24 23 Reset Done Figure 15 Packet Statistics 8 8 Unit Configuration The Unit Configuration window gives the user the ability to view and alter the system settings see Figure 16 This window is accessed through the Unit Configuration menu item under the configuration menu Under the General tab users have the ability to verify the current configuration by selecting the Get All Values button This button simply provides users with the currently set configuration of the unit and displays the values in the left column of boxes There are three tabs within the Unit Configuration menu only the General tab applies for the IMU380ZA 200 The General tab displays some of the most commonly used settings To alter a setting simply select the check box on the left of the value that you wish to modify and then sel
21. of items in queue Empty return if queue is empty 0 if not Full return 1 if full O if not full The parser will parse the queue looking for packets Once a packet is found and the CRC checks out the packet s fields are placed in XBOW PACKET structure The parser will then return to the caller When no packets are found the parser will simply return to the caller with return value 0 The XBOW PACKET structure 15 defined as follows typedef struct xbow packet unsigned short packet type char length unsigned short crc char dats 256 2 XBOW PACKET Typically the parser would be called within a loop in a separate process or in some time triggered environment reading the queue looking for packets A separate process might add data to this queue when it arrives It is up to the user to ensure circular queue integrity by using some sort of mutual exclusion mechanism within the queue access functions Doc 7430 3810 Rev 01 Page 37 IMU380ZA 200 Users Manual MEMSIC 8 11 Code listing include lt stdio h gt buffer size 7 define MAXQUEUE 500 circular queue ui typedef struct queue tag int count int front int rear char entry MAXQUEUE QUEUE TYPE MEMSIC packet typedef struct packet unsigned short packet type char length unsigned short crc char data 256 XBOW PACKET QUEUE TYPE ciro Dut x KK KK KKK KKK KK KK KK KK KK KK KK KK KKK KKK KK
22. results of the self test as well as sensor over range information and is defined in Table 7 Doc 7430 3810 Rev 01 Page 10 IMU380ZA 200 Users Manual MEMSIC Table 7 Diagnostic Status Register Base Address 0x3C Read Only Description Default 0x0000 Accelerometer Z Axis self test bit 0 Pass 1 Fail Accelerometer Y Axis self test bit 0 Pass 1 Fail Rate Sensor Z Axis self test bit 0 Pass 1 Fail Rate Sensor Y Axis self test bit 0 Pass 1 Fail 15 14 13 12 11 10 Accelerometer X Axis self test bit 0 Pass 1 Fail Rate Sensor X Axis self test bit 0 Pass 1 Fail 5 Self Test Success Failure 0 Success 1 Failure 4 Sensor over range bit a 1 indicates one or more sensors have over ranged 3 0 Unused 45 IMU380ZA 200 SPI Register Write Methodology The user SPI master configures the IMU380ZA 200 by writing to specified registers Table 6 However unlike reads writes are performed one byte at atime The specific registers that affect system configuration are listed in Table 8 along with their write addresses Table 8 IMU380ZA 200 Configuration Registers Write Address SELF_TEST 0 35 See Table 12 Initiate self test DATA_READY 0 34 See Table 12 Configure Data Ready output signal See Table 13 Sets Output Data Rate ODR SYSTEM_CLOCK 0x36 See Table 13 Sets internal external system clock LOW PASS FILTER 0x38 See Table 14 Select the digital filter The following example high
23. to Table 9 Table 9 Self Test Data Ready Register Base Address 0x34 Read Write Description Default 0x0004 1511 10 Unit self test bit bit reset upon completion of self test 0 Disabled default 1 Enabled 2 Data ready enable bit 0 Disabled Doc 7430 3810 Rev 01 Page 12 IMU380ZA 200 Users Manual MEMSIC 1 Enabled default Data ready line polarity 0 Low upon data ready default 1 High upon data ready The self test enables the system to test individual sensors by applying a temporary bias to determine if they are responding correctly Once self test completes the self test bit bit 10 is reset to indicate that the test is finished Results of the self test are store in the status register Ox3C To initiate self test the master sends 0xB504 across the SPI bus The data ready bits enable the master to enable or disable the data ready signal provided on pin 7 of the IMU380ZA 200 and to set the data ready signal polarity high or low To enable data ready with a high signal the master sends 0xB406 4 6 2 Output Data Rate Clock Configuration Output data rate ODR and system clock configuration are combined into a single 16 bit register at memory location 0x36 individual bits are assigned according to Table 10 Note that these settings apply only to data being output via the IMU380ZA 200 SPI port and do not affect the low level UART output port Table 10 Output Data Rate Clock Configuration Regi
24. 430 3810 Rev 01 gt Ue fy Ux Page 24 IMU380ZA 200 Users Manual MEMSIC 74 Commands to Program Configuration 7 4 1 Write Fields Command Write Fields 0x5746 Packet Type Payload 0x5555 0x5746 1 numFields 4 WF payload CRC U2 This command allows the user to write default power up configuration fields to the EEPROM Writing the default configuration will not take effect until the unit is power cycled NumFields is the number of words to be written The 40 fieldl etc are the field IDs that will be written with the fieldOData field Data etc respectively The unit will not write to calibration or algorithm fields If at least one field 15 successfully written the unit will respond with a write fields response containing the field IDs of the successfully written fields If any field 1s unable to be written the unit will respond with an error response Note that both a write fields and an error response may be received as a result of a write fields command Attempts to write a field with an invalid value is one way to generate an error response table of field IDs and valid field values is available in Section 7 1 WF Payload Contents Byte Offset U U nomFields Ul The number of fields to write U2 The first field ID to write f eldDaa U2 The first field ID s data to write U2 The second field I to write field1Data U2
25. 652 4287 Sef4 4944 233d 0300010003071 49f9 5652 4287 tfd8ffba00020000000zO0000ffZlff5cOlae0000000000000000000000000000 tfdoffba 002z0000000ZffffffZlff5cOlaeOQ000000000000000000000000000 tfdoffba D00200000D00lffffffZlff5cOlaeO000000000000000000000000000 tfdoffba D0200000D00lffffffZlff5cOlaeOQ000000000000000000000000000 48 000200000001 1 5 01 0000000000000000000000000000 98 000200000001 2 1 5 01 0000000000000000000000000000 tfd8ffba000200000001ffffffZZff 5cOlae0000000000000000000000000000 tfdaffba0002000000D00ffffff2ZZ ff 5cOlae0000000000000000000000000000 tfdoffba O0200000D0D0D0ffffffZZff5cOlaeg000000000000000000000000000 tfd8ffbb 0D0200000000fffeffzZff5cOlae0000000000000000000000000000 98 0 0100000000 2 2 5 01 0000000000000000000000000000 98 0 0100000000 2 2 5 01 0000000000000000000000000000 8 000100000000 2 2 5 01 0000000000000000000000000000 000100000000 22 5 01 0000000000000000000000000000 97 000100000000 2 2 5 01 0000000000000000000000000000 Figure 14 Raw Data Console 8 7 Packet Statistics View Packet statistics can be obtained from the View menu by selecting the Packet Statistics option as shown in Figure 15 This view simply provides the user with a short list of vital statistics
26. 80ZA 200 Users Manual MEMSIC 3 2 IMUS80 Theory of Operation The product name IMU380 stands for Inertial Measurement Unit 380 and the name is indicative of inertial measurement unit functionality that the IMU380 provides by providing inertial rate and acceleration data in 6 DOF six degrees of freedom The IMU380 signal processing chain consists of the 6 DOF sensor cluster and the high speed data processor for sensor error compensation and low pass digital filtering as well as communications handling The IMU380 can output data over a synchronous SPI port or an asynchronous low level UART serial communications port The rate and acceleration sensor signals are acquired at greater than 500Hz The sensor data is filtered and down sampled to 200Hz by the processor using FIR or IIR filters user selectable see Section 4 for the filter characterization for the SPI port and down sampled to 100Hz by the processor using an IIR 2 order 10Hz Butterworth filter for the UART port The factory calibration data stored in EEPROM is used by the processor to remove temperature bias misalignment scale factor errors and non linearity from the sensor data For data output over the SPI port the IMU380ZA 200 provides a register read write capability The user may define single register reads or read from a defined burst set of registers populated with the sensor data The SPI port data output also uses two discrete lines to ensure timely availabil
27. F Degrees of Freedom MEMS inertial sensor cluster mounted on a rigid board The 6 DOF MEMS inertial sensor cluster includes three axes of MEMS angular rate sensing and three axes of MEMS linear acceleration sensing These sensors are based on rugged field proven silicon bulk micromachining technology Each sensor within the cluster is individually factory calibrated using MEMSIC s automated manufacturing process Sensor errors are compensated for temperature bias scale factor non linearity and misalignment effects using a proprietary algorithm from data collected during manufacturing Accelerometer and angular rate sensor bias shifts over temperature 40 C to 85 C are compensated and verified using calibrated thermal chambers and rate tables The 6 DOF sensor cluster data is fed into a high speed data acquisition processor which provides all the sensor compensation and communications handling X Y Z Gyros MEMS IMU380ZA 200 I O X Y 2 Acceleration Roll Pitch Yaw Rate UART Pins 3 4 or SPI Pins 3 6 High Speed X Y Z Data Acquisition Accelerometers T MEMS Sensor Compensation Sensor Temperatures B 6 DOF Sensor UART SPI Port Switch Control Pin 7 Communications Handling SPI Comm Synchronization 1 KHz Pulse Pin 2 Cluster Figure 3 IMU380ZA 200 Hardware Block Diagram The 6 DOF inertial sensor cluster data is fed into a high speed signal processing chain
28. KK KKK KK KKK KK KK KK KK KK KK KK KKK FUNCTION process xbow packet looks for packets in a queue ARGUMENTS queue ptr is pointer to queue to process result will contain the parsed info when return value is 1 RETURNS 0 when failed 1 when successful HK KK KK KK KKK KK KK Ck ck Ck k KK KK kc KK KK KKK KK KK ck ck k kc KK KK KKK KK kck k kck kk kk int process xbow packet QUEUE TYPE queue ptr XBOW PACKET result unsigned short myCRC 0 packetCRC 0 packet type 0 numToPop 0 counter 0 char packet 100 tempchar dataLength if Empty queue_ptr return 0 empty buffer find header for numToPop 0 numToPop41 Size queue ptr numToPopt 1 if 0x5555 peekWord queue ptr numToPop break Pop queue ptr numToPop Doc 7430 3810 Rev 01 Page 38 IMU380ZA 200 Users Manual MEMSIC if Size ptr lt uU header was not found return 0 make sure we can read through minimum length packet if Size queue ptr lt 7 return 0 get data length 5th byte of packet dataLength peekByte queue ptr 4 make sure we can read through entire packet 11 size queue ptr 74dataLbengtHh return 0 check CRC myCRC calcCRC queue ptr 2 dataLength 3 PacketCRC peekWord queue ptr dataLength 5 if myCRC packetCRC bad on packet remove the bad packet from the queue and return Pop queue ptr
29. MEMSIC IMU380ZA 200 USER MANUAL Document Part Number 7430 3810 01 MEMSIC Inc 1759 McCarthy Blvd Milpitas CA 95035 Tel 408 964 9700 Fax 408 854 7702 email infoca memsic com website www memsic com WARNING This product has been developed by MEMSIC exclusively for commercial applications It has not been tested for and MEMSIC makes no representation or warranty as to conformance with any military specifications or that the product is appropriate for any military application or end use Additionally any use of this product for nuclear chemical biological weapons or weapons research or for any use in missiles rockets and or UAV s of 300km or greater range or any other activity prohibited by the Export Administration Regulations is expressly prohibited without the written consent of MEMSIC and without obtaining appropriate US export license s when required by US law Diversion contrary to U S law is prohibited 2010 MEMSIC Inc All rights reserved Information in this document is subject to change without notice MEMSIC SoftSensor VG350 and IMU380 are registered trademarks of MEMSIC Inc Other product and trade names are trademarks or registered trademarks of their respective holders IMU380ZA 200 Users Manual MEMSIC 1 2 3 4 0 Table of Contents Un 1 11 Na 1 1 2 Overview of IMU380ZA 200 Inertial System 1 LT 2 2 1 ED 2 2 1 1 Connector and Matin
30. Page 8 IMU380ZA 200 Users Manual MEMSIC nSS CLK MOSI 0 0400 0 0600 C 0 0000 Figure 7 Multiple Register Read via Polled Mode 4 2 2 IMU380ZA 200 SPI Port Burst Mode Read In burst mode the IMU380ZA 200 returns data from eight predefined registers across the SPI bus without the need to provide individual register addresses Table 4 lists the registers returned during a burst mode read in the order in which they are sent Table 4 IMU380ZA 200 Burst Mode Output Registers Register Name Register Description Address X_RATE Burst mode begins when the master requests a read from register Ox3E Eight additional SPI cycles completes the read Note exactly eight SPI cycles must follow burst mode command or the system will remain in burst mode until eighth cycle 15 complete subsequent reads writes will be out of sync with the SPI transfer cycle of the IMU380ZA 200 Figure 8 illustrates the burst mode sequence nSS wo Quam Figure 8 Multiple Register Read via Burst Mode Doc 7430 3810 Rev 01 Page 9 IMU380ZA 200 Users Manual MEMSIC Note During this time the chip select line nSS can be toggled between 16 bit words or held low the entire time However after the transfer 15 complete chip select must be set high 4 3 Output Data Registers The output dat
31. SIC 8 9 Read Unit Configuration NAV VIEW 3 X allows users to view the current settings and calibration information for a given IMU380ZA 200 unit by accessing the Read Configuration selection from the Configuration drop down menu as shown in Figure 17 From this dialog users can print a copy of the unit s current configuration and calibration values with the click of a button Simply select the Read button at the top of the dialog box and upon completion select the Print or Print Preview buttons to print a copy to your local network printer This information can be helpful when storing hard copies of unit configuration replicating the original data sheet and for troubleshooting if you need to contact MEMSIC s Support Staff Note that several of the Read Configuration functions and fields will not be applicable to the IMU380ZA 200 Figure 17 Read Configuration la a Read Unit Configuration Read Print Preview 1 Unit ID Product Configuration Model Version Firmware O Contains Mags Internal GPS algorithm Enabled External Aiding Serial Number Architecture nee CNET Heading Track Offset 7 Packet Type Parameters i Turn Switch Threshold Packet Rate X hard iron offset Y hard iron offset Baud Rate Soft iron ratio Hardware Status Enable Fields Unlocked 1PPS External GPS O Unlocked Internal GPS GPS Baud Axes Orientation No DGPS
32. Sung SN Unit Version String aN O0 luU jZeoDelimter 6 3 2 Version Data Packet Version Data 0x5652 0x5555 0x5652 CRC U2 gt This packet contains firmware version information majorVersion changes may introduce serious incompatibilities minorVersion changes may add or modify functionality but maintain backward compatibility with previous minor versions Doc 7430 3810 Rev 01 Page 21 IMU380ZA 200 Users Manual MEMSIC patch level changes reflect bug fixes and internal modifications with little effect on the user The build stage is one of the following O release candidate 1 development 2 alpha 3 beta The buildNumber is incremented with each engineering firmware build The buildNumber and stage for released firmware are both zero The final beta candidate is v w x 3 y which 15 then changed to v w x 0 1 to create the first release candidate The last release candidate is v w x 0 z which is then changed to v w x 0 0 for release VR Payload Contents Byte Name Format Scaling Units Description Offset 0 ui Major firmware version minorVersion ui Minor firmware version 2 pa Im J Pato evel 3 stage Development Stage O release candidate 1 development 2 alpha 3 beta buildNumber ui Build number 6 4 Output Packets Polled or Continuous 6 4 1 Scaled Sensor Data Packet 1 Default IMU Dat
33. TT calculated on the entire packet excluding the 0x5555 header and the CRC field itself A discussion of the 16 bit CRC CCITT and sample code for implementing the computation of the CRC is included at the end of this document This 16 bit CRC standard is maintained by the International Telecommunication Union ITU The highlights are Width 16 bits Polynomial 0x1021 Initial value OXFFFF No XOR performed on the final value See Appendix C for sample code that implements the 16 bit CRC algorithm 5 4 6 Messaging Overview The following table summarizes the messages available by the IMU380ZA 200 Packet types are assigned mostly using the ASCII mnemonics defined above and are indicated in the summary table below and in the detailed sections for each command The payload byte length is often related to other data elements in the packet as defined in Table 15 The referenced variables are defined in the detailed sections following Output messages are sent from the IMU380ZA 200 inertial system to the user system as a result of a poll request or a continuous packet output setting Input messages are sent from the user system to the IMU380ZA 200 inertial system and will result in an associated Reply Message or NAK message Note that reply messages typically have the same lt 2 byte packet type U2 gt as the input message that evoked it but with a different payload Table 15 Message Table ASCII lt 2 byte lt payload Description Type Mnemonic pack
34. This command allows the user to read the default power up configuration fields from the EEPROM NumFields is the number of fields to read The 40 field etc are the field IDs to read RF may be used to read configuration and calibration fields from the EEPROM If at least one field is successfully read the unit will respond with a read fields response containing the field IDs and data from the successfully read fields If any field is unable to be read the unit will respond with an error response Note that both a read fields and an error response may be received as a result of a read fields command RF Payload Contents Byte Offset Name 0 nmpeds u1 The mmber of fields to read Doc 7430 3810 Rev 01 Page 26 IMU380ZA 200 Users Manual MEMSIC fel U2 Thefistfield ID to read fieldl IU f The second field ID to read Ee 00 qe U2 e Morefield IDs to read numFields 2 1 Field U2 Thelastfield ID to read 7 4 6 Read Fields Response Read Fields 0x5246 Packet Type Payload 0x5555 0x5246 1 numFields 4 RF payload CRC U2 The unit will send this packet in response to a read fields request if the command has completed without errors RF Payload Contents 0 nanmpelds ui of fields read a jfed the first Dread 3 lfieadopaa U2 ThefistfieldlD sdatrad s j fedi U2 The second field Dread
35. a Scaled Sensor Data S1 0x5331 Packet Type Payload 0x5555 0x5331 lt 51 payload lt CRC U2 gt This packet contains scaled sensor data Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees Angular rates scaled to range of 3 5 pi pi or 630 deg sec to 630 deg sec Accelerometers scaled to a range of 10 10 g Temperature scaled to a range of 100 100 51 Payload Contents Byte Name Format Scaling Units Description Offset 0 xAccel D 20 2716 fg Xaccelerometer 20 2 16 Yacceleromeer 20 2 16 g Zaccelerometer 1260 2 16 sec 1260 2 16 sec 1260 2 16 sec 16 zRateTemp _ 2002 6 deg C Zrate temperature __ as reserved 2 200 216 deg C__ Not used 20 Counter m packets Output packet counter 2 reserved ID Nomed Doc 7430 3810 Rev 01 Page 22 IMU380ZA 200 Users Manual MEMSIC 7 IMUS3SOZA 200 Advanced UART Port Commands The advanced commands allow users to programmatically change the IMU380ZA 200 settings This section of the manual documents all of the settings and options contained under the Unit Configuration tab within NAV VIEW 3 X Using these advanced commands a user s system can change or modify the settings without the need for NAV VIEW 3 X 71 Configuration Fields Configuration fields determine various behaviors of the unit
36. a registers hold the sensor information as it is measured they are overwritten only when new data is available Table 5 lists each register 15 memory address and its conversion factor Table 5 IMU380ZA 200 Data Output Registers Read Address X_RATE 0x04 X Y Z axis rate sensor information twos complement Y RATE format conversion factor 200 LSB sec default Z RATE changes with selected dynamic range Table 11 Y ACCEL X Y Z axis accelerometer information twos complement format conversion factor 4000 LSB g Z_ACCEL RATE_TEMP Rate sensor temperature information twos complement format conversion Tout C Vout 0 7311 C LSB 31 0 C BOARD_TEMP System temperature information twos complement format conversion Tout C Vout 0 7311 C LSB 31 0 C 44 System Registers In addition to the output data registers there are five additional read only registers that provide IMU380ZA 200 system information to the SPI master Table 6 provides a description of each along with their read addresses Table 6 IMU380ZA 200 System Registers Read Address DIAGNOSTIC_STATUS See Table 10 MANUF_CODE Contains the product manufacturing code UNIT_CODE Additional information about product manufacturing PRODUCT_ID Contains the product ID 0x3810 SERIAL NUMBER Unique product identification number 4 41 Diagnostic Status Register The diagnostic status register contains information describing the
37. ad O and correctly calculated CRC Example 0 5555504 009 5 4 1 Packet Header The packet header is always the bit pattern 0x5555 5 4 2 Packet Type The packet type is always two bytes long in unsigned short integer format Most input and output packet types can be interpreted as a pair of ASCII characters As a semantic aid consider the following single character acronyms P packet F fields Refers to Fields which are settings or data contained in the unit E EEPROM Refers to factory data stored in EEPROM R read Reads default non volatile fields G get Gets current volatile fields or settings W z write Writes default non volatile fields These fields are stored in non volatile memory and determine the unit s behavior on power up Modifying default fields take effect on the next power up and thereafter S set Doc 7430 3810 Rev 01 Page 17 IMU380ZA 200 Users Manual MEMSIC Sets current volatile fields or settings Modifying current fields will take effect immediately by modifying internal RAM and are lost on a power cycle 5 4 3 Payload Length The payload length is always a one byte unsigned character with a range of 0 255 The payload length byte is the length in bytes of the lt variable length payload gt portion of the packet ONLY and does not include the CRC 5 4 4 Payload The payload is of variable length based on the packet type 5 4 5 16 bit CRC CCITT Packets end with a 16 bit CRC CCI
38. aining the field IDs of the successfully set fields If any field is unable to be set the unit will respond with an error response Note that both a set fields and an error response may be received as a result of one set fields command Attempts to set a field with an invalid value is one way to generate an error response A table of field IDs and valid field values is available in Section 7 1 Byte Offset U2 Do J The number of fields to set u2 The first field to set 2 The first field ID s data to set eld U2 the second field IDtoset eldDaa U2 ThesecondfieldID sdatatoset _ ls mmFields 4 3 U2 ThelstfeldDtoset mumFields 4 1 U2 _ The last field ID s data toset 7 4 4 Set Fields Response Set Fields SF 0x5346 Packet Type Payload 0x5555 0x5346 1 numFields 2 SF payload CRC U2 gt The unit will send this packet in response to a write fields command if the command has completed without errors SF Payload Contents o mumFilds u1 Thenumberoffieldsset a fed U2 f The first field set 3 iad U2 The second field set D 0 0 Je a Moeefiddsset 0 0 numFields2 1 Field JU2 ThelastfieldIDset 7 4 5 Read Fields Command Read Fields 0x5246 Packet Type Payload 0x5555 0x5246 1 numFields 2 RF payload lt CRC U2 gt
39. ase refer to Sections 5 7 Note that the two output port interface methods are controlled independently from each other The UART port output controls apply only to data being output over the UART port and the SPI output controls apply only to data being output over the SPI port 2 1 4 Reserved Factory Use Only During normal operation of the IMU380ZA 200 no connection is made to the Reserved factory use only pins These pins have internal pull up mechanisms and must have no connections for the IMU380ZA 200 to operate properly 2 2 Mechanical Interface The IMU380ZA 200 mechanical interface is defined by the outline drawing in Figure 2 37 7 e 33 4 2 3 1 66 9 50 20 2 54 M PIN ONE 5 30 MA 19 55 E 24 15 LH L 24 15 Hi 0 15 2 LT PIN 20 EO KK 4X 2 5 Figure 2 IMU380ZA 200 Outline Drawing NOTES UNLESS OTHERWISE STATED 1 INTERPRET DWG PER ANSI Y14 5M 1994 2 CONTROLLING DIMENSION MM 3 ALL DIMENSIONS ARE BASIC 4 MATING CONNECTOR SAMTEC CLM 110 02 5 DIMENSION TO CENTROID OF PIN ONE Doc 7430 3810 Rev 01 Page 3 IMU380ZA 200 Users Manual MEMSIC 3 Theory of Operation This section of the manual covers detailed theory of operation for the IMU380ZA 200 with its associated features output and performance Figure 3 shows the IMU380ZA 200 hardware block diagram At the core of the IMU380ZA 200 is a 6 DO
40. counter preamble type invalid BIT status Hex Value Data FFFE 0 001 Value Data deg C 23B9 28 241 2426 28 741 24CA 33 591 2AFF 38 968 Hex Value Data deg s Field masterFail hardwareError comError softwareError reserved masterStatus hardwareStatus 1 o _ sotwarestatus 0 _ semoSmus o _ reserved _ Doc 7430 3810 Rev 01 Page 43 IMU380ZA 200 Users Manual MEMSIC gt MEMSIC 1759 McCarthy Blvd Milpitas CA 95035 Phone 408 964 9700 Fax 408 854 7702 Website www memsic com Email infoca memsic com Doc 7430 3810 Rev 01 Page 44
41. e queue ptr is pointer to the queue RETURNS returns 0 if queue is empty 1 if successful Doc 7430 3810 Rev 01 Page 40 IMU380ZA 200 User s Manual ECKCkCkCkck k kCk kk kc k kk k ck k kk ck kk ck kk ck kk Ck ck k ck ck ck kc k ck k kc k ck k kc k ck kc k ck k kc k ck k ck ck ck ck ck ck k kc k ck kc kckckckckck ck kck kk kk int DeleteQueue char item QUEUE TYPE queue ptr int retval 0 if queue prr count lt U retval 0 queue is empty else queue ptr gt count queue ptr entry queue pLtr Lronz l queue ptr gt front queue ptr front 1 5 MAXQUEUE retval 1 return retval A KKK KK KK KK KK KKK KK KK KK KK KKK KK KK KK KKK KK KKK KKK KK KK KK ck ck ck k ck ck KK KK KK KK KKK FUNCTION peekByte returns 1 byte from buffer without popping ARGUMENTS queue ptr is pointer to the queue to return byte from index is offset into buffer to which byte to return RETURNS 1 byte REMARKS does not do boundary checking please do this first HK KK KK KK KKK KK KK KK KKK KKK KK KK KKK KK ck ck kk ck ck k ck ck kk ck ck k kc KK KK KK KK KKK KK char peekByte QUEUE TYPE queue ptr unsigned int index char byte int firstIndex firstindex queue ptr iront index lt MAXQUEUE byte queue piLr entrylfirstludex return byte RKCKCKCKCKCkCkCk Kk k KK KK KK KKK KKK KK KK KK KK kk KK KKK KK ck ck k ck ck k ck ck ck k ck ck k ck ck ck k ck ck k
42. e 21 6 3 2 21 6 4 Output Packets Polled or Continuous 4 22 6 4 1 Scaled Sensor Data Packet 1 Default IMU Data Ne 22 7 IMU380ZA 200 Advanced UART Port Commands Ne 29 7 1 23 7 2 Cn Eke 0 23 EAS iwms 23 7 4 Commands to Program Configuration ein 25 7 4 1 Watt Fields B oH II 25 7 4 2 AVENE bielas IR CS DOSE coc ee ee eE E Ea R a MUN M NIMM aE UNDE 25 7 4 3 Set ee mmm 25 7 4 4 E 26 7 4 5 Read Fields Comiman Mm a 26 7 4 6 Eee 2 7 4 7 RU T cm 27 7 4 8 eA IRC 1 ONS M A TU o NN MG oa cee eee E URN EUR T 27 o Warranty and Support niormalon ee EE EE E E cena E 29 8 1 eco 29 6 2 DE yess T 29 6 3 ROW 29 8 3 1 IO 29 8 3 2 Each 29 8 3 3 Sealme il 29 8 3 4 DY
43. ect the value using the drop down menu on the right side Once you have selected the appropriate value these settings can be set temporarily or permanently a software reset or power cycle is required for the changes to take affect by selecting from the choices at the bottom of the dialog box Once the settings have been altered a Success box will appear at the bottom of the page gt IMPORTANT Caution must be taken to ensure that the settings selected are compatible with the system that is being configured In most cases a FAIL message will appear if incompatible selections are made by the user however it is the users responsibility to ensure proper configuration of the unit Refer to Section 5 for valid IMU380ZA 200 configuration settings IMPORTANT Unit orientation selections must conform to the right hand coordinate system as noted in Section 7 3 of this user manual Selecting orientations that do not conform to these criteria are not allowed Doc 7430 3810 Rev 01 Page 34 IMU380ZA 200 Users Manual MEMSIC Figure 16 Unit Configuration Unit Configuration General Advanced BIT Configuration Field Modify Current Value Baud Rate Packet Type Packet Rate Orientation GPSProtocol Antodetect Auto detect Get Al Values Set Values Temporary reset after reboot Permanant saved after reboot Doc 7430 3810 Rev 01 Page 35 IMU380ZA 200 Users Manual MEM
44. ector to the interface board connector The board is designed to stay flat against the IMU380ZA 200 Connect the micro USB port end of the cable to the interface board micro USB connector 2 Connect the standard USB port end of the cable marked IMU380ZA 200 USB to a standard USB port on your computer If this is 1 time connecting this cable to your PC then the built in cable electronics will identify itself to Windows and install the necessary interface driver so that Windows will enable it as a standard serial COM port Subsequent connections to different USB ports will repeat this process Subsequent connections to the same USB port should allow Windows to simply recognize the cable device and re assign the same COM port 3 Make sure the USB port on the PC 15 a powered USB port capable of supplying 5 volts 3 5 volts The PC USB port will then power the system IMU380ZA 200 and Adapter Board 8 3 Setting up NAV VIEW 3 X With the IMU380ZA 200 and adapter board powered up and connected to your PC USB port open NAV VIEW 3 X software application 1 NAV VIEW should automatically detect the IMU380ZA 200 product and display the serial number and firmware version if it is properly connected 2 If NAV VIEW 3 X does not connect check that you have the correct COM port selected You will find this under the Setup menu Select the appropriate COM port and allow the unit to automatically match the baud rate by leaving the Auto
45. ed without errors Doc 7430 3810 Rev 01 Page 27 IMU380ZA 200 User s Manual GF Payload Contents mumFiel s U1 I U2 3 fieldopata JU2 5 field u 7 fieldlData U 1 numFields 4 3 field U2 numFields 4 1 field Data U2 Ul U2 U2 U2 U2 U2 U2 U2 Doc 7430 3810 Rev 01 Scaling MEMSIC Description The number of fields retrieved The first field ID retrieved The first field ID s data retrieved PNE EN EN EN The second field ID retrieved EN EN EN m The second field ID s data The last field ID retrieved The last field ID s data retrieved Page 28 IMU380ZA 200 Users Manual MEMSIC 8 Warranty and Support Information 8 1 Customer Service As a MEMSIC customer you have access to product support services which include e Single point return service e Web based support service e Same day troubleshooting assistance Worldwide MEMSIC representation e Onsite and factory training available e Preventative maintenance and repair programs e Installation assistance available 8 2 Contact Directory United States Phone 1 408 964 9700 8 AM to 5 PM PST Fax 1 408 854 7702 24 hours Email techsupportca memsic com Non U S Refer to website www memsic com 8 3 Return Procedure 8 3 1 Authorization Before returning any equipment please contact MEMSIC to obtain a Returned Material Authorization number RMA Be ready to provide the following information when re
46. ent The following paragraph heading formatting is used in this manual 1 Heading 1 1 1 Heading 2 1 1 1 Heading 3 Normal Doc 7430 3810 Rev 01 Page iii IMU380ZA 200 Users Manual MEMSIC 1 Introduction 1 1 Manual Overview This manual provides a comprehensive introduction to the MEMSIC IMU380ZA 200 product The following table highlights the content in each section and suggests how to use this manual Table 1 Manual Content Manual Section Who Should Read Section 1 All customers should read section 1 Introduction Section 2 Customers designing the electrical and mechanical interface to the Interface IMU380ZA 200 should read Section 2 Section 3 All customers should read Section 3 Section 3 provides an overview of Theory of Operation all of the functions and features of the IMU380ZA 200 Section 4 Customers designing the software interface to the IMU380ZA 200 SPI SPI Port Interface Port should review Section 4 Sections 5 7 Customers designing the software interface to the IMU380ZA 200 UART Port Interface UART Port should review Sections 5 7 1 2 Overview of the IMU380ZA 200 Inertial System This manual provides a comprehensive introduction to the MEMSIC IMU380ZA 200 and is intended to be used as a detailed technical reference and operating guide MEMSIC s IMU380 is a 6DOF Digital IMU that combines the latest in commercial MEMS Micro electromechanical Systems sensors and digital signal processing techniques
47. et byte length type U2 gt U1 gt Link Test 0 504 Ping Command and Response Input Reply Message _ Ping Command and Response Input Reply Message 0x4348 Echo Command and Response Input Reply Message Interactive Commands Get Packet Request Input Message Input Reply Message Reply Message Identification Data Output Message Output Message 0 4750 0x5352 0 1515 Output Messages Status amp Other Polled Only ID 0x5652 Outpt Doc 7430 3810 Rev 01 Page 18 IMU380ZA 200 Users Manual MEMSIC Messages Measurement Data Continuous or Polled 0x5331 Scaled Sensor 1 Data Output Message Advanced Commands SF 0 5346 numFields 4 1 Set Fields Request Input Message SF 0 5346 numFields 2 1 Set Fields Response ReplyMessage RE 0x5246 numFields 2 1_ Read Fields Request Input Message GE 0 4746 numFields 2 1 Get Fields Request Input Message GF 0 4246 mumFields 4vl Get Fields Response Reply Message Doc 7430 3810 Rev 01 Page 19 IMU380ZA 200 Users Manual MEMSIC IMU380ZA 200 Standard UART Port Commands and Messages 6 1 Link Test 6 1 1 Ping Command Ping 0x504B 0x5555 __ _ The ping command has no payload Sending ping command will cause unit to send a ping response To facilitate human input from a terminal the length and CRC fields are not required Example 0x5555504B009ef4 or 0x5555504B Ping
48. ets Hex 1 4 Sample Rate 1 10 Sample Rate Test Duration C 1 100 Sample Rate Days 1 2 C Hours lo 3 Samples Second 1 A Minutes 0 Seconds Sample e Seconds lo Figure 13 Log to File 3 Select the Browse box to enter file name and location that you wish to save your data to Select the type of data you wish to record Engineering Data records the converted values provided from the system in engineering units Hex Data provides the raw hex values separated into columns displaying the value and the Raw Packets will simply record the raw hex strings as they are sent from the unit 5 Users can also select a predetermined Test Duration from the menu Using the arrows simply select the duration of your data recording 6 Logging Rate can also be adjusted using the features on the right side of the menu 7 Once you have completed the customization of your data recording you will be returned to the main screen where you can start the recording process using the button at the top of the page or select Start Logging from the File menu Stopping the data recording can be accomplished using the button and the recording can also be paused using the 1 button 85 Data Playback In addition to data recording NAV VIEW 3 X allows the user to replay saved data that has been stored in a log file 1 To playback data select Playback Mode from the Data Sou
49. g Connector 4 2 2 1 2 Power Input and Power Input Ground 9 3 21 3 Sm JJ 3 2 1 4 Reserved Factory Use ONIY qr 3 Ze En 3 TC ORY OE CACO Tm Tet 4 3 1 IMU380ZA 200 Default Coordinate ystem EAEE a 5 52 Tieory of 6 PMU 200 SPE Fort Intertace ED 7 4 1 IMUS380ZA 200 Register T 7 42 IMU380ZA 200 SPI Register Read Methodology 8 4 2 1 IMU380ZA 200 SPI Port Polled Mode Read et 8 4 2 2 IMU380ZA 200 SPI Port Burst Mode Read et 9 4 3 OU ae 10 4 4 ST 10 4 4 1 Seius Ra 10 4 5 IMU380ZA 200 SPI Register Write Methodology et 11 do ere 12 4 6 1 Self TESU Edd 12 4 6 2 Output Data Rate Clock Config tatiOn 13 4 6 3 Rate Sensor Scaling Low Pass FilteT bete v bun ed Ris tu
50. in this case to complete the SPI data transfer cycle As the master transmits the read command on MOSI the IMU380ZA 200 begins to transmit data back over MISO The data word that is transmitted as the read command is being sent consists of 16 don t care bits The subsequent 16 bit message contains the x axis rate sensor information most significant byte followed by least significant byte nSS i CLK MOSI 0x0400 0 0000 Figure 6 Single Register Read via Figure 7 illustrates a multiple register polled read As in the previous example the SPI master transmits the read command the desired register address appended by 0x00 across the MOSI line followed by any number of additional read commands one for each register of interest The IMU380ZA 200 transfers the requested information concurrently across the MISO line to the master To complete the data transfer the final read command must be followed by an additional 16 clock cycles to transfer the last 16 bits of data In this example the master requests data from four separate registers x axis rate 0x0400 y axis rate 0x0600 z axis acceleration and system status 0x3C00 The transfer of 0x0000 across MOSI line completes the read by returning the status data across the MISO line SPI cycle consists of 16 clock cycles A read command consists of an 8 bit register address and a zero byte 0x00 Doc 7430 3810 Rev 01
51. is Accelerometer Output Most Significant Byte ZACC R lx Z Axis Accelerometer Output Most Significant Byte Reserved NA ouooo NA E DII BOARD TEMP 0x18 N A Temperature measured by the board temperature sensor N See Table 12 Initiate self test DATA_READY R W 0x35 0x34 0x04 See Table 12 Configure Data Ready output signal See Table 13 Sets Output Data Rate ODR SYSTEM CLOCK R W 0x37 0x36 0x01 See Table 13 Sets the system clock internal external See Table 14 Set the dynamic range of the rate sensor LOW PASS FILTER R W 0x39 0x38 0x06 See Table 14 Select the digital filter status R poc See Table 10 Diagnostic register BURSTMODE R pg N A Command MANUF CODE _ RR Jxs32 Manufacturing code indicating year and location UNT CODE RR 0x54 Jx0000 Unit information code PRODUCTID AR 096 Product identification code SERIAL NUMBER R oss Vares Serial number Reserved saAooeF f an external sync pulse is applied then system cannot return to using internal timing without resetting system and removing the sync signal Doc 7430 3810 Rev 01 Page 7 IMU380ZA 200 Users Manual MEMSIC 4 2 1 03802 200 SPI Register Read Methodology The IMU380ZA 200 SPI port uses registers to store two types of data 1 Sensor data 2 Configuration Status information The user master device accesses this information via the SPI bus in one of two ways 1 Polled Mode 2 Burst
52. ity of the data on the registers The DATA READY line can be monitored to define when the data is available on the registers and the IKHZ PULSE line can be input to synchronize the data See Section 4 of the manual for a detailed SPI communications definition For the UART port IMU data can be output at a selectable fixed rate 100 50 25 20 10 5 or 2 Hz or on an as requested basis using the GP Get Packet command The UART port IMU data is available in the Scaled Sensor Data S1 Packet measurement packet format which is output in scaled engineering units See Section 6 of the manual for a detailed description of the data S1 data packet Doc 7430 3810 Rev 01 Page 6 IMU380ZA 200 Users Manual MEMSIC 4 IMU380ZA 200 SPI Port Interface Definition The IMU380ZA 200 provides a SPI port interface for data communications This section of the manual will define the IMU380ZA 200 register map register control capabilities and the data register reading and writing methodology 41 IMU380ZA 200 Register Map Table 3 contains the register map defined for the IMU380ZA 200 Table 3 IMU380ZA 200 Registry Map Name Read Write Address _ Function X Axis Rate Sensor Output Most Significant Byte R _ 2 R E Rate Sensor Output Most Significant Byte ZRATE R px Z Axis Rate Sensor Output Most Significant Byte XACC R px X Axis Accelerometer Output Most Significant Byte yac R poc N A Y Ax
53. l MEMSIC 2 Interface 2 1 Electrical Interface 2 1 1 Connector and Mating Connector The IMU380ZA 200 main connector is SAMTEC FTM 110 02 F DV P defined in Figure 1 The mating connector that can used is the SAMTEC CLM 110 02 Figure 1 IMU380ZA 200 Interface Connector The connector pin definitions are defined in Table 2 Table 2 IMU380ZA 200 Interface Connector Pin Definition Reserved factory use only Doc 7430 3810 Rev 01 Page 2 IMU380ZA 200 Users Manual MEMSIC 2 1 2 Power Input and Power Input Ground Power is applied to the IMU380ZA 200 on pins 10 through 15 Pins 13 15 are ground Pins 10 12 accepts 3 to 5 VDC unregulated input Note that these are redundant power ground input pairs WARNING Do not reverse the power leads or damage may occur 2 1 3 Serial Data Interface The user can select the serial interface port for the IMU380ZA 200 If the connector pin 7 is left floating then the IMU380ZA 200 is configured for SPI communications on pins 3 6 Pin 7 is then used as the DATA READY discrete for SPI communications The user can also synchronize the output data on the SPI port by providing a 1 KHz input pulse on Pin 2 For the complete SPI interface definition please refer to Section 4 If the connector pin 7 is grounded then the IMU380ZA 200 15 configured for low level UART output on pins 3 and 4 This is a standard UART asynchronous output data port For the complete UART interface definition ple
54. lights how write commands are formed in order to initiate a sensor self test Select the write address of the desired register e g 0x35 for self test Change the most significant bit of the address to the write bit e g 0x35 becomes OxB5 e Create the write command by appending the write bit address combination with the value to be written to the register e g OXB504 see Table 10 for a description of self test register Doc 7430 3810 Rev 01 Page 11 IMU380ZA 200 Users Manual MEMSIC Figure 9 illustrates the sensor self test command sent over SPI 55 n CLK Figure 9 Single Register Write to Initiate Self Test As described in Table 9 below the self test command bit remains set until the test completes The master must read from register 0x34 to assess if the test is complete Figure 10 Note as described in the Register Reads section a register read returns two bytes in this case a read from register 0x34 returns data from registers 0x34 self test information and 0x35 data ready settings The value read from the IMU380ZA 200 must be parsed according to Table 9 to determine self test status nSS CLK MOSI 0 3400 0x0000 Figure 10 Polled Read of the Self Test Data Ready Register 4 6 Configuration Registers 4 6 1 Self Test Data Heady Self test and data ready registers are combined into a single 16 bit register at memory location 0x34 individual bits are assigned according
55. number Please refer to Section 5 3 for a complete list of the available packet types 7 3 Orientation Field This field defines the rotation from the factory to user axis sets This rotation 15 relative to the default factory orientation connector aft baseplate down The default factory axis set is Ux Uy Uz defined by the connector pointing in the Uy direction and the baseplate pointing in the Uz direction The user axis set is X Y Z as defined by this field A depiction of the factory axis set is shown below in Figure 12 Y Pitch Yaw Z Figure 12 Default UART Port Orientation Doc 7430 3810 Rev 01 Page 23 IMU380ZA 200 User s Manual X Axis Sign X Axis Y Axis MEMSIC 0 positive 1 negative 12 O Ux 1 Uy 2 Uz 32 Y Axis Sign 0 positive negative 4 5 O Uy 1 2 Uz 2 Ux 3 Z Axis Sign ed 0 positive negative Z Axis Reserved 78 O Uz 1 Ux 2 Uy 3 N A There are 24 possible orientation configurations Setting Writing the field to anything else generates a NAK and has no effect Orientation Field Value 0x0000 0 0009 0 0023 0x002A mon e te 0x062 am fe MEN a diu oxooss u 0 0085 0x008C 0x0092 0x009B Du ue uk 0x00C4 Uz ey lm O 0x00CD 0x00D3 0x00DA 0x0111 0x0118 mo s oom ey mu xx tie 0059 ety Ox065 ___ 0 0165 0x016C Doc 7
56. questing a RMA Name Address e Telephone Fax Email Equipment Model Number e Equipment Serial Number e Installation Date e Failure Date Fault Description Will it connect to NAV VIEW 3 X 8 3 2 Identification and Protection If the equipment 15 to be shipped to MEMSIC for service or repair please attach a tag TO THE EQUIPMENT as well as the shipping container s identifying the owner Also indicate the service or repair required the problems encountered and other information considered valuable to the service facility such as the list of information provided to request the RMA number Place the equipment in the original shipping container s making sure there is adequate packing around all sides of the equipment If the original shipping containers were discarded use heavy boxes with adequate padding and protection 8 3 3 Sealing the Container Seal the shipping container s with heavy tape or metal bands strong enough to handle the weight of the equipment and the container 6 3 4 Marking Please write the words FRAGILE DELICATE INSTRUMENT in several places on the outside of the shipping container s In all correspondence please refer to the equipment by the model number the serial number and the RMA number Doc 7430 3810 Rev 01 Page 29 IMU380ZA 200 User s Manual 8 3 5 Return Shipping Address Use the following address for all returned products MEMSIC Inc 1759 McCarthy Blvd Milpitas CA 95035
57. rce drop down menu at the top LIVE Mode from DMU LIVE Mode From DML 2 Selecting Playback mode will open a text prompt which will allow users to specify the location of the file they wish to play back All three file formats are supported Engineering Hex and Raw for playback In addition each time recording 15 stopped started a new section 15 created These sections can be individually played back by using the drop down menu and associated VCR controls Data Source 3 Once the file is selected users can utilize the VCR style controls at the top of the page to start stop and pause the playback of the data Doc 7430 3810 Rev 01 Page 32 IMU380ZA 200 User s Manual 4 NAV VIEW 3 X also provides users with the ability to alter the start time for data playback Using the slidebar at the top of the page users can adjust the starting time 8 6 Data Console NAV VIEW 3 X offers some unique debugging tools that may assist programmers in the development process One such tool is the Raw Data Console From the View drop down menu simply select the Raw Data Console This console provides users with a simple display of the packets that have been transmitted to the unit Tx and the messages received Rx An example is provided below in Figure 14 Raw Data Console 504b 4750 4746 4750 504b 4750 4746 4750 00 02 07 02 00 02 07 02 4944 233d 0300010003071 49f9 5
58. s All communications to and from the unit are packets that start with a single word alternating bit preamble 0x5555 This is the ASCII string UU e multiple byte values are transmitted Big Endian Most Significant Byte First e All communication packets end with a single word CRC 2 bytes CRC s are calculated on all packet bytes excluding the preamble and CRC itself Input packets with incorrect CRC s will be ignored e Each complete communication packet must be transmitted to the IMU380ZA 200 inertial system within a 4 second period 5 2 Default UART Port Settings The IMU380 default settings are described in Table 13 below of the IMU380 UART port s advanced settings are accessible thru NAV VIEW 3 X under the Configuration Menu Unit Configuration settings Table 13 IMU380 UART Port Default Settings Setting Default Comments Baud Rate 38400 9600 19200 57600 also available Packet Type This 15 the only data packet available for output over the UART port Packet Rate 100Hz This parameter sets the rate at which the selected Packet Type packets are output If polled mode is desired then select Quiet If Quiet is selected the IMU380 will only send measurement packets in response to GP commands Orientation See Figure 5 To configure the axis orientation select the desired measurement for each axis NAV VIEW 3 X will show the corresponding image of the IMU380ZA 200 so it easy to visualize the mode of operation
59. ster Base Address 0x36 Read Write Description Default 0x0101 System Output Data Rate 0x00 0 Data output suppressed 0x01 1 200 Hz default 0x02 2 100 Hz 0x03 3 50 Hz 0x04 4 25 Hz 0x05 5 20 Hz 0x06 6 10 Hz 0x07 7 5 Hz 0x08 8 4 Hz 0x09 9 2 Hz 0x10 10 1 Hz System Clock currently unused 0 External Clock 1 Internal Clock default The ODR enables the master to specify the output rate of data provided by the IMU380ZA 200 Setting this register directly affects the data ready signal The default ODR is 200 Hz to change the ODR to 100 Hz the master sends 0xB702 The system clock setting bit 0 switches between the internal IMU380ZA 200 system clock and the external 1 KHz sync signal To switch to an external clock the master sends OxB600 4 6 3 Rate Sensor Scaling Low Pass Filter The rate sensor scaling and digital low pass filter configuration are combined into a single 16 bit register at memory location 0x38 individual bits are assigned according to Table 11 Note that these settings apply only to data being output the IMU380ZA 200 SPI port and do not affect the low level output port Doc 7430 3810 Rev 01 Page 13 IMU380ZA 200 Users Manual MEMSIC Table 11 Sensor Scaling Digital Low Pass Filter Register Base Address 0x38 Read Write Description Default 0x0206 8 11 Rate Sensor Scaling Dynamic Range Selector 0 1 1 62 5 sec 0x2 2
60. that can be modified by the user These include settings like baud rate packet output rate and axes orientation These fields are stored in EEPROM and loaded on power up These fields can be read from the EEPROM using the RF command These fields can be written to the EEPROM affecting the default power up behavior using the WF command The current value of these fields which may be different from the value stored in the EEPROM can also be accessed using the command All of these fields can also be modified immediately for the duration of the current power cycle using the SF command The unit will always power up in the configuration stored in the EEPROM Configuration fields can only be set or written with valid data from the table below Configuration fields FieldID Valid Values 0 1 2 5 10 20 quiet 100Hz 50Hz 25Hz 20Hz 10Hz 5Hz Packet rate divider 0 0001 25 50 2Hz Unit BAUD rate 0 0002 0 1 2 3 9600 19200 38400 57600 Any output Not all output packets available for all Continuous packet type 0 0003 packet products See detailed product descriptions Determine forward rightward and downward Orientation 0 0007 See below facing sides Note BAUD rate SF has immediate effect Some output data may be lost Response will be received at new BAUD rate 7 2 Continuous Packet Type Field This is the packet type that 15 being continually output The supported packet depends on the model
61. to provide a small cost effective alternative to existing IMU Systems The IMU380ZA 200 is designed for OEM applications At the core of the IMU380 is a rugged 6 DOF Degrees of Freedom MEMS inertial sensor board The 6 DOF MEMS inertial sensor board includes three axes of MEMS angular rate sensing and three axes of MEMS linear acceleration sensing These sensors are based on rugged field proven silicon bulk micromachining technology Each sensor within the board is individually factory calibrated for temperature and non linearity effects during MEMSIC s manufacturing and test process using automated thermal chambers and rate tables Coupled with the 6 DOF MEMS inertial sensor board is a high performance processor CPU that utilizes the inertial sensor measurements to accurately compute angular rate and linear acceleration The IMU380ZA 200 is packaged in a light weight rugged unsealed metal enclosure that is designed for cost sensitive commercial and OEM applications The IMU380 can be configured to output data over a SPI Port or a low level UART serial port The port choice is user controlled by grounding the appropriate pin on the connector The IMU380ZA 200 low level UART output data port is supported by MEMSIC s NAV VIEW 3 X a powerful PC based operating tool that provides complete field configuration diagnostics charting of sensor performance and data logging with playback Doc 7430 3810 Rev 01 Page 1 IMU380ZA 200 Users Manua
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