P2-AHU Manual v1.0. P2-AHU Manual. (T-Module) - 1 -

Transcription

1 P2-AHU Manual (T-Module) - 1 -

2 1. Overview - MEMS sensor based AHRS(Attitude & Heading Reference) micromodule - Acceleration 3 axis(x, Y, Z), magnetometer 3 axis(x, Y, Z) data provided - Angle 3 axis(roll, Pitch, Yaw) data provided - Acceleration, magnetometer calibration certificate provided - Module temperature( C) data provided - Communication method: Serial UART(TTL 3.3V Level) - Communication speed : bps - Attachable to a breadboard and perfboard with a pin header(2.54mm) 2. Specification Classification Specification Digital Interface Serial UART (TTL 3.3 Level) Operating Voltage DC 5 V Power consumption 400mW (nominal) Dimensions(W x L x H) 31 x 20 x 3(mm) Weight < 3.5 g Input Range Acceleration(1) ± 2 g (Standard) Magnetic(1) ± 130 ut (Standard) Static Accuracy Roll, Pitch < 2 deg Heading(2) < 4 deg Dynamic Accuracy(3) 8 deg RMS Angular Resolution 0.2 deg Update Rate 100 Hz (1) Can be changed by ordering option (2) In homogeneous magnetic environment (3) Under condition of stabilized * Noted specification can be changed without notice - 2 -

3 3. Dimension (Unit : mm) 4. Pin Out Description Pin No. Name Function 1 VCC Power supply (DC 5V) 2 RX Received Data 3 TX Transfer Data 4 GND Ground 5 Not Connect Pin 6 N/C This pin is not for use. 7 Advise not to connect to another pin

4 5. Module Notation 6. Application Circuit A. P2-AHU to MCU * P2-AHU Sensor data is retrieved to User MCU * Sensor s TX port is connected to RX port of User MCU B. P2-AHU to PC (USB Port) * P2-AHU Sensor data is retrieved to User PC * UART2USB connects P2-AHU and PC(USB Port) * UART2RS-232 Converter is used for RS-232 Port - 4 -

5 7. Communication A. Serial Interface Setting (UART TTL 3.3 Level) Baud rate 115,200 bps Data bits 8 bit Parity bits None Stop bits 1 Flow Control None B. Output Data Unit Value Unit Acceleration g Magnetic Flux Density ut Euler Angle deg Temperature C C. Output Data Protocol (Binary Protocol) Start code Inertia Data + Euler Angle Temp Checksum End code 1byte 2byte x 9 2byte 1byte 2byte [0x02] [High][Low] x 9 [High][Low] (1) [0x2C][0x03] (1) Refer to checksum Inertia Data + Euler Angle Acc_x Acc_y Acc_z Mag_x Mag_y Mag_z Roll Pitch Yaw 2byte 2byte 2byte 2byte 2byte 2byte 2byte 2byte 2byte * Acc : Acceleration, Mag : Magnetic Flux Density * Roll : X-axis Roll angle, Pitch : Y-axis Pitch angle, Yaw : Z-axis Yaw Angle * Temp : Temperature, Checksum : Data error check byte - Start code: Hex code 1Byte(0x02), End code: Hex code 2Byte(0x2C, 0x03) - Each data is composed of unsigned integer 2byte except the Start code, End code and Checksum - From the original data, the variables is used for each data byte, and the output are High and Low byte(2byte Data) - 2byte Data s output from the sensor is converted into original data with - 5 -

6 demodulations. - Acceleration 3 axis(acc_x, Acc_y, Acc_z), magnetometer 3 axis(mag_x, Mag_y, Mag_z), Rotation angle 3 axis(roll : ±180, Pitch : ±90, Yaw : ±180 ) data output - Temperature: P2-AHU-00-1 module s internal temperature data output D. Retrieved Data Demodulation Process - To send each 2byte data of Inertia Data(accelerometer 3 axis, magnetometer 3 axis), Euler Angle(Roll, Pitch, Yaw), Temperature, a demodulation process - certain conversion factor is added and multiplied to each data generates natural number and sends as [High][Low] 2byte. Dividing and subtracting 2byte Data with certain value(conversion factor) of data demodulation process is necessary in order to obtain each data value. [Data Demodulation Method] Demodulation Method X = ([High byte] x [Low byte]) / B - A [Demodulation Conversion Factor] Demodulation Conversion Factor Data A B Accelerometer(Acc_x, Acc_y, Acc_z) magnetometer(mag_x, Mag_y, Mag_z) Euler Angle(Roll) Euler Angle(Pitch) Euler Angle(Yaw) Temperature

7 Demodulation Example) [P2-AHU Output Data (HEX code view)] A: Sensor data Start code = [0x02] Acc_x [High byte] [Low byte] = [0x13] [0x93] Acc_y [High byte] [Low byte] = [0x13] [0x79] Acc_z [High byte] [Low byte] = [0x17] [0x7A] Mag_x [High byte] [Low byte] = [0x39] [0xD2] Mag_y [High byte] [Low byte] = [0x3F] [0xA1] Mag_z [High byte] [Low byte] = [0x21] [0x0E] Roll [High byte] [Low byte] = [0x45] [0xFC] Pitch [High byte] [Low byte] = [0x23] [0x6B] Yaw [High byte] [Low byte] = [0x5D] [0xFA] Temp [High byte] [Low byte] = [0x38] [0x5A] Checksum = [0x95] End code = [0x2C][0x03] B: Demodulation Conversion (Real Data) Acc_x High = 0x13 (HEX) = 19 (DEC) Low = 0x93 (HEX) = 147 (DEC) Acc_x = ([High byte] x [Low byte]) / B A Conversion Factor] = ( 19 x ) / = Acc_x = (g)... [Refer to Demodulation Mag_x High = 0x39 (HEX) = 57 (DEC) Low = 0xD2 (HEX) = 210 (DEC) mag_x = ([High byte] x [Low byte]) / B A Conversion Factor] = ( 57 x ) / = 8.02 mag_x = 8.02 (ut)... [Refer to Demodulation Factor] Roll High = 0x45 (HEX) = 69 (DEC) Low = 0xFC (HEX) = 252 (DEC) Roll = ([High byte] x [Low byte]) / B A... [Refer to Demodulation Conversion = ( 69 x ) / = Roll = (deg) - 7 -

8 Temp High = 0x38 (HEX) = 56 (DEC) Low = 0x5A (HEX) = 90 (DEC) temp = ([High byte] x [Low byte]) / B A Conversion Factor] = ( 56 x ) / = Temp = ( C)... [Refer to Demodulation E. Checksum - From a single dummy data output of the sensor except the start and end code data(accelerometer 3 axis, magnetometer 3 axis, rotation angle 3 axis, temperature), only the lowest 1byte is used from the sum of each high and low byte per 1byte data. Checksum Example) [P2-AHU Output Data (HEX code view)] A: Sensor data Start code = [0x02] Acc_x [High byte] [Low byte] = [0x13] [0x93] Acc_y [High byte] [Low byte] = [0x13] [0x79] Acc_z [High byte] [Low byte] = [0x17] [0x7A] Mag_x [High byte] [Low byte] = [0x39] [0xD2] Mag_y [High byte] [Low byte] = [0x3F] [0xA1] Mag_z [High byte] [Low byte] = [0x21] [0x0E] Roll [High byte] [Low byte] = [0x45] [0xFC] Pitch [High byte] [Low byte] = [0x23] [0x6B] Yaw [High byte] [Low byte] = [0x5D] [0xFA] Temp [High byte] [Low byte] = [0x38] [0x5A] Checksum = [0x95] End code = [0x2C][0x03] - 8 -

9 B: Checksum Calculation Checksum (Acc_x[High byte] ~ Temp[Low byte] per 1byte total, the lowest 1byte) = 0x13 + 0x93 + 0x13 + 0x79 + 0x17 + 0x7A...Accelerometer 3 axis + 0x39 + 0xD2 + 0x3F + 0xA1 + 0x21 + 0x0E...Magnetometer 3 axis + 0x45 + 0xFC + 0x23 + 0x6B + 0x5D + 0xFA...Rotation Angle 3 axis + 0x38 + 0x5A...Temperature = 0x0795 & 0x00FF...The lowest byte is used = 0x0095 Checksum = 0x95 8. Application Setup - Window PC based LabVIEW Program - Download this program on the Seller s or Manufacturer s Website. - Open setup.exe from the Application folder(compressed file format). [Application Folder Image] - After running setup.exe, Setup ready window pops up. - Install Application and DLL file to run successfully

10 - Click on 라이센스협약에동의합니다 (Click on Agree to License Agreement) - Application Process is completed, Click on 다음 (Next) to install

11 - Application installation is completed. - Windows Start Menu 2-AHU-00-01_Application Run P2-AHU exe or Run P2-AHU exe on Application Installation folder 9. Application Use - P2-AHU Module Operation Visualization Program - P2-AHU Module Data Log Saving Feature - COM PORT and 3D Path File Folder Location is fundamentally set - Use after customizing user setting of COM PORT and 3D Path File Folder s Location

12 [Application 화면구성 ] A. Communication Setting - VISA resource name: User COM PORT Setting (COM PORT Setting connected to Sensor) - Fundamental communication setting, user change not allowed (Baud rate:115200bps, Data bits:8bit, Parity:None, Stop bits:1bit, Flow Control:None) [Communication Setting] B. Output Data - P2-AHU data output - In the order of Acc_x, Acc_y, Acc_z, Mag_x, Mag_y, Mag_z, Roll, Pitch, Yaw, Temperature, Checksum data output - Checksum error : confirm receiving data checksum error, when LED lit, error occurence

13 [Output Data] C. 3D Path folder setting - 3D Path file setting which is necessary for Euler Angle 3D output - Use P2-AHU-00-01_3D_0.1.wrl file in the Application install file folder - Folder setting or P2-AHU-00-01_3D_0.1.wrl file, move to c:\ [3D Path folder setting] D. Data Save setting(save data log) - Setup output data storage location and file name - C:\ 실험데이터 \P2-AHU-00-01\test.lvm of basic setting - In the order of test001.lvm, test002.lvm..., test100.lvm file name automatic save - Save activation button : Save activated/deactivated mode change with pressing the button, LED light on : activated [Data Save setting] E. Application START/STOP - : application start button, located on the upper toolbar - : application stop buttom [Start Button] [Stop button]

14 10. Product < Top View > < Bottom View > 11. Application < Breadboard Attached > < Perfboard Attached >

15 12. Notes - Please read the manual carefully before using our product. - Please use this product after checking Output pin map. - If power supply is unstable, output data can be unreliable. - This product is equipped with magnetometer, so in the area under magnetic field influence, the data can be unreliable. - Please keep this product away from magnetic object while using or storing. Magnetic objects can be the cause of degradation or failure. - Be careful with electric shock. This product is equipped with precise sensor. - If a physical force is applied, it can be the case of the sensor data s error and degradation because of the change in Calibration value. Please handle with care. - There could be a little flaw on the product during Calibration process, but it is in normal condition. - When you are not using this product, please put it safely into the antistatic cover to protect it from damage. 13. Contact - Seller: Intellane Co., Ltd. - Address: #218 Byzantium 1st, 1318, Baekseok2-dong, Ilsandong-gu Goyang City, Gyeonggi-do, , SOUTH KOREA - Tel.: Fax.: Website : sales@intellane.com Intellane holds the copyright of this manual and infringe of copyright is prohibited