Related Manuals for EXEL EXLs3
Summary of Contents for EXEL EXLs3
- Page 1 EXLs3 Miniature Wireless Inertial Measurement Unit UIDE . 6.26) FIRMWARE REV EXLs3 rev09-051114...
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Page 2: Table Of Contents
Table of contents 1. GENERAL DESCRIPTION ............ 3 2. FEATURES ................3 3. HARDWARE OVERVIEW ............4 4. INTERNAL BLOCK DIAGRAM ..........6 5. REFERENCE SYSTEM ............7 6. MEASUREMENT UNITS............8 7. BLUETOOTH SETUP ............9 ... -
Page 3: General Description
EXLs3 Miniature Wireless Inertial Measurement Unit 1. GENERAL DESCRIPTION EXLs3 is a miniaturized electronic device with the function of real-time Inertial Measurement Unit (IMU). It features a complete MEMS sensor set, which is composed of a tri-axial accelerometer, gyroscope and compass, a 32-bit Cortex microprocessor for data processing and a Bluetooth radio to send real- time data. -
Page 4: Hardware Overview
The current required to recharge the battery is 250 mA. When the battery is being charged the EXLs3’s indicator LED turns red. When the battery is fully charged the LED turns green. By connecting the docking-station to a PC it is possible to access the IMU’s internal storage flash disk, in... - Page 5 The Multiple Docking-Station allows more units to be recharged at the same time. It also acts as USB hub which allows more units to be seen as multiple distinct flash disks where log files can be found. The multiple docking-station must be used with the provided Power Supply Adapter, otherwise neither battery recharging nor USB hub will work.
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Page 6: Internal Block Diagram
4. INTERNAL BLOCK DIAGRAM The following picture shows in a simplified form the internal logic of the EXLs3 unit. RAW DATA C OMPENSATED DATA Linear Acceleration 3-axis DATA-LOG (m/s²) Digital comp ON INTERNAL Accelerometer DRIVE (C SV FILE) Angular Speed... -
Page 7: Reference System
5. REFERENCE SYSTEM All raw inertial measurements (linear accelerations, angular velocity and earth magnetic field provided by the unit are referred to the reference system shown below (body frame). The orientation of the unit in the space is referred to an earth-bound frame where: X is pointing NORTH Y is pointing WEST Z is pointing UPWARDS... -
Page 8: Measurement Units
6. MEASUREMENT UNITS Main data returned in real-time by the EXLs3 to the host system are: Acceleration (AccX, AccX, AccZ) Angular Velocity (GyrX, GyrY, GyrZ) Magnetic Field (MagX, MagY, MagZ) Orientation (Q0, Q1, Q2, Q3) For the Acceleration and the Angular Velocity you can chose among several full-scale ranges in order to best fit the specific application requirement. -
Page 9: Bluetooth Setup
The communication with the unit is done via bluetooth SPP connection, so you should have a Bluetooth 2.1 internal card or USB Bluetooth dongle properly installed on your host machine. After, you must pair each EXLs3 with the host by going to View Devices and Printers (under Windows 7) and clicking on Add a device. - Page 10 After a few seconds (up to 15) you should se a list of the available EXLs3 devices and you can select the one you want to pair. After a few seconds (up to 15) you should se a list of the available EXLs3 devices and you can select the one you want to pair.
- Page 11 Ignore possible message of driver installation error, depending on the extra profiles supported by your bluetooth dongle). At the end of the process you should have the EXLs3 device added in the Devices and Printers group: By double-clicking the EXLs3 device on the window you can access the associated Properties.
- Page 12 In the Hardware tab, you must take note of the COM number (in the case above COM12) associated with the Standard Serial over Bluettoth Link function. The identified COM port is the interface your host system will use to communicate with the EXLs3 device.
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Page 13: Comunication Protocol
Byte0 0x01 8.2. Packet Data Types When in streaming mode, the EXLs3 unit can send different type of packets, depending on the value of the PACKET_TYPE parameter (see in the registers description paragraph). AGMOB_Type (Accelerometer, Gyroscope, Magnetometer, Orientation, vBattery) This is the most generic packet format, which includes all possible information at the same time. - Page 14 With this packet, the EXLs3 units sends the real-time, the acceleration, the angular velocity and the magnetic field, as well as the estimated orientation of the unit. Together are also packed the value of the EXLs3’s battery voltage and a progressive packet counter.
- Page 15 CHKSUM: sum modulo-256 of all previous bytes: Byte32 CHKSUM AGMB_Type (Accelerometer, Gyroscope, Magnetometer, vBattery) Byte0 Byte1 Byte2..Byte3 Byte4 .. Byte9 Byte10 .. Byte15 Byte16 .. Byte21 Byte22 .. Byte23 Byte24 0x20 PKT_TYPE PKT_CNT ACC_DATA GYR_DATA MAG_DATA V_BATT CHKSUM PKT_HEAD = 0x97 : packet header which identify the type of packet Remaining data fields are coded the same of AGMOB packet O_Type (Orientation) Byte0...
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Page 16: Configuration Commands
The EXLs3’s configuration parameters (sampling frequency, full-scale ranges, etc. ) are mapped into a register file, where each parameter has a specific address. The user can modify each parameter in order to adapt the operation of the EXLs3 to the specific requirement of the user’s application. - Page 17 LENGTH ADDRESS PARAMETER NAME TYPE DESCRIPTION (bytes) info about the device’s SW 0x02 SW_RELEASE String (read only) info about the device’s HW 0x12 HW_RELEASE String (read only) Bluetooth name maximum 15 characters max plus null char (‘/0’) 0x22 BT_NAME string (WARNING: changing this parameter will require entering the Bootloader Mode in order to take effect) Full-scale range of the Accelerometer...
- Page 18 0x52 SWRFD When the EXLs3 is put back in the docking station and the power supply is restored, it stops streaming/logging This behavior can be used to synchronize the start/stop time of several sensors.
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Page 19: Configuration Parameter Access
To save permanently the current parameters use SAVE_PARAMETERS command. SAVE_PARAMETERS Use this command to save in non-volatile memory the current set of parameters, so that it will be retained also after switching the EXLs3 off. Byte0 Byte1 0x66... - Page 20 Read SW_RELEASE ReadParameter command 16 byte, at address 0x02 OpCode Nbyte AddL AddH CHKSUM 0x65 0x0F 0x02 0x00 0x76 The EXLs3 responds with a stream similar to this: Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 Byte10 Byte11...
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Page 21: Real Time Clock Configuration
8.6. Real Time Clock configuration The EXLs3 device is equipped with a Real Time Clock which allow time keeping for proper file creation and time stamping. It is possible to read/write the RTC register by using the following commands. SET_CLOCK Use this command to set the time and date value in the RTC. -
Page 22: Other Commands
8.7. Other commands POWER_OFF Use this command to switch-off the device. Byte0 Byte1 Byte2 Byte3 Byte4 0x32 0x32 0x32 0x32 CHKSUM The sensor responds with an acknowledge, right before switching-off. Byte0 0x01 This command is only accepted if the sensor is not in sampling/streaming mode. RESTORE_PARAMETERS Use this command to restore all settings to the default values. -
Page 23: Appendix A. Firmware Update
WARNING! This operation should be done with care and at your own risk. Be sure that the binary file you are going to load to the EXLs3 unit is provided by EXEL only. If the firmware file is not correct your device can be damaged permanently. - Page 24 5. Press on the keyboard the key “1”. The bootloader starts showing a continuous sequence of “C” and wait the file to be uploaded. 6. Select the file to send (EXLs3_xxxx.bin) to the EXLs3 unit by choosing File / Transfer / Ymodem / Send option.
- Page 25 8. When the process is completed you can close the communication port by pressing File / Disconnect 9. After the firmware transfer the EXLs3 unit should exit bootloader mode and the LED should turn green. 10. It is advised you switch-off and then switch-on the EXLs3 unit before using it.
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Page 26: Legacy Functions
LEGACY FUNCTIONS The following configuration parameters and packet format have been kept for compatibility with the initial implementation. It is advised not to use them anymore, and use newer packet formats CONFIGURATION PARAMETERS LENGTH ADDRESS PARAMETER NAME TYPE DESCRIPTION (bytes) 0x38 PACKET_TYPE... - Page 27 ORIENT_Type (quaternion) When this packet type is chosen, the node samples the sensors, applies the internally stored calibration and computes the orientation of the device using one of the available algorithms. The orientation is represented in quaternion form and represents the orientation of the device with respect to a local earth fixed frame.
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