Related Manuals for Memsic DMU380ZA Series
Summary of Contents for Memsic DMU380ZA Series
- Page 1 DMU380ZA Series USER MANUAL Document Part Number: 7430-3810-02 MEMSIC, Inc., 1759 McCarthy Blvd, Milpitas, CA 95035 Tel: 408-964-9700, Fax: 408-854-7702 email: infoca@memsic.com, website: www.memsic.com...
- Page 2 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.
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Page 3: Table Of Contents
DMU380ZA Series User’s Manual Table of Contents Introduction ........................1 Manual Overview ....................1 Overview of the DMU380ZA Series Inertial Systems .........2 Interface ........................4 Electrical Interface ....................4 2.1.1 Connector and Mating Connector ..............4 2.1.2 Power Input and Power Input Ground ............5 2.1.3 Serial Data Interface ..................5... - Page 4 DMU380ZA Series User’s Manual DMU380ZA Register Map .................33 DMU380ZA SPI Register Read Methodology ...........34 5.2.1 DMU380ZA SPI Port Polled-Mode Read ...........35 5.2.2 DMU380ZA SPI Port Burst-Mode Read .............36 Output Data Registers ..................38 System Registers ....................38 Diagnostic Status Register ..................39 DMU380ZA SPI Register Write Methodology ..........39 Configuration Registers ..................41...
- Page 5 DMU380ZA Series User’s Manual 7.2.9 Error Response ....................54 Output Packets (Polled) ..................54 7.3.1 Identification Data Packet ................54 7.3.2 Version Data Packet ..................54 7.3.3 Test 0 (Detailed BIT and Status) Packet ............55 Output Packets (Polled or Continuous) ...............55 7.4.1 Scaled Sensor Data Packet 0 ...............55 7.4.2...
- Page 6 DMU380ZA Series User’s Manual softwareBIT Field ....................75 9.10 softwareAlgorithmBIT Field ................76 9.11 softwareDataBIT Field ..................76 9.12 hardwareStatus Field ..................76 9.13 comStatus Field ....................77 9.14 softwareStatus Field ..................77 9.15 sensorStatus Field ....................77 9.16 Configuring the Master Status.................77 9.16.1 hardwareStatusEnable Field ................78 9.16.2...
- Page 7 DMU380ZA Series User’s Manual Appendix C: Sample Packet-Parser Code .................95 Overview........................95 Code listing ........................96 Appendix D: Sample Packet Decoding ................102 Doc# 7430-3810 Rev. 02 Page v...
- Page 8 DMU380ZA Series User’s Manual About this Manual The following annotations have been used to provide additional information. NOTE Note provides additional information about the topic. EXAMPLE Examples are given throughout the manual to help the reader understand the terminology.
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Page 9: Introduction
All customers should read Section 3. Theory of Operation As the DMU380ZA Series products are inter-related, use the chart at the beginning of Section 3 to ensure that you get an overview of all of the functions and features of your DMU380ZA Series system. For example, if you have... -
Page 10: Overview Of The Dmu380Za Series Inertial Systems
It is designed for OEM applications. At the core of the DMU380ZA Series is a rugged 6-DOF (Degrees of Freedom) MEMS inertial sensor cluster that is common across all members of the DMU380ZA Series. The 6-DOF MEMS inertial sensor cluster includes three axes of MEMS angular rate sensing and three axes of MEMS linear acceleration sensing. - Page 11 ________________________________________________________________________ choice is user controlled by grounding the appropriate pin on the connector. The DMU380 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.
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Page 12: Interface
DMU380ZA Series User’s Manual ________________________________________________________________________ Interface Electrical Interface 2.1.1 Connector and Mating Connector The DMU380ZA main connector is a SAMTEC FTM-110-02-F-DV-P defined in Figure 1. The mating connector that can be used is the SAMTEC CLM-110-02. Figure 1 DMU380ZA Interface Connector The connector pin definitions are defined in Table 3. -
Page 13: Power Input And Power Input Ground
UART port. The user is required to configure the GPS receiver to output the GPS messages that the DMU380ZA Series expects. Table 4 shows the supported GPS protocols and guidelines for configuration. Note that the details of the GPS messages can be found in the respective GPS protocol documents. -
Page 14: Reserved - Factory Use Only
DMU380ZA Series User’s Manual ________________________________________________________________________ NMEA* GPGGA, GPVTG 9600, 19200, 38400, 57600 *Not recommended for airborne applications. **57600 is the preferred baud rate for optimum performance The secondary UART port should be configured to 8 data bits, 1 start bit, 1 stop bit, no parity bit, and no flow control. - Page 15 DMU380ZA Series User’s Manual ________________________________________________________________________ Figure 2 DMU380ZA Outline Drawing NOTES UNLESS OTHERWISE STATED: 1) MATING CONNECTOR SAMTEC CLM-110-02 2) DIMENSION TO CENTROID OF PIN ONE Doc# 7430-3810 Rev.02 Page 7...
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Page 16: Theory Of Operation
DMU380ZA Series starting with the basic IMU380ZA and then reviewing each major variant (VG, AHRS and INS) with their associated additional features, outputs, and performance. Table 5 shows the basic features of each member of the DMU380ZA Series with cross references to important sections for review. - Page 17 VG Series products. Built-In-Test and Status data is available in the measurement packet or via the special Status Packet T0. As shown in the software block diagram, the DMU380ZA Series has a unit setting and profile block which configures the algorithm to user and application specific needs. This...
- Page 18 Figure 4 are shown in Figure 5 to highlight key features of each product. The DMU380ZA Series products are mainly differentiated by types of aiding sensors used in the EKF for the drift correction of the 6-DOF inertial sensor cluster.
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Page 19: Dmu380Za Series Default Coordinate System
DMU380ZA Series Default Coordinate System The DMU380ZA Series Inertial System default coordinate systems are shown in Figure 6 and Figure 7. As with many elements of the DMU380ZA Series, the coordinate system is configurable with either NAV-VIEW or by sending the appropriate serial commands over the UART port. -
Page 20: Advanced Settings
For example, with a DMU380ZA Series product sitting on a level table, it will measure zero g along the x- and y-axes and -1 g along the z-axis. Normal Force acceleration is directed upward, and thus will be defined as negative for the DMU380ZA Series z-axis. -
Page 21: Imu380Za Advanced Settings
IMU380ZA or other DMU380ZA Series Inertial Systems. However, when a DMU380ZA Series product is installed in an environment with a lot of vibration, it can be helpful to reduce the vibration-based signal energy and noise prior to further processing on the signal. -
Page 22: Imu380Za Built-In Test
The dialog box allows selection of which status types to enable (hardware, software, sensor, and comm). In the case of the IMU380ZA which has fewer features and options than other DMU380ZA Series products, the only meaningful parameter is sensor over-range. It is recommended that users leave the default configuration, which is sensorStatus enabled and flag on sensor over-range. - Page 23 The Integration to Orientation block integrates body frame sensed angular rate to orientation at a fixed 200 times per second within all of the DMU380ZA Series products. For improved accuracy and to avoid singularities when dealing with the cosine rotation matrix, a quaternion formulation is used in the algorithm to provide attitude propagation.
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Page 24: Vg380Za Advanced Settings
DMU380ZA Series User’s Manual ________________________________________________________________________ If a user wants to reset the algorithm or re-enter the initialization phase, sending the algorithm reset command, ‘AR’, will force the algorithm into the reset phase. The VG380ZA outputs digital measurement data over the UART port at a selectable fixed rate (100, 50, 25, 20, 10, 5 or 2 Hz) or on as requested basis using the GP, ‘Get... -
Page 25: Vg380Za Built-In Test
DMU380ZA Series User’s Manual ________________________________________________________________________ rate over-ranges result in unrecoverable errors in roll and pitch outputs. An unrecoverable error is one where the EKF can not stabilize the resulting roll and pitch reading. If the over-ranges are expected to be of short duration (<1 sec) and a modest percentage over the maximum operating range, it is recommended that the restart on over range setting be turned off. -
Page 26: Ahrs380Za Theory Of Operation
Calibration Block, the IMU data is passed to the Integration to Orientation block. The Integration to Orientation block integrates body frame sensed angular rate to orientation at a fixed 200 times per second within all of the DMU380ZA Series products. For improved accuracy and to avoid singularities when dealing with the cosine rotation matrix, a quaternion formulation is used in the algorithm to provide attitude propagation. -
Page 27: Ahrs380Za Magnetometer Calibration And Alignment
DMU380ZA Series User’s Manual ________________________________________________________________________ estimate the X, Y and Z gyro rate bias. The AHRS380ZA adaptively tunes the EKF feedback gains in order to best balance the bias estimation and attitude correction with distortion free performance during dynamics when the object is accelerating either linearly (speed changes) or centripetally (false gravity forces from turns). - Page 28 DMU380ZA Series User’s Manual ________________________________________________________________________ magnetic field on input direction is called the soft iron effect. The AHRS380ZA can actually measure any constant magnetic field that is associated with your system and correct for it. The AHRS380ZA can also make a correction for some soft iron effects.
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Page 29: Ahrs380Za Advanced Settings
DMU380ZA Series User’s Manual ________________________________________________________________________ WARNING The AHRS380ZA and INS380ZA units must be mounted at least 24” away from large ferrous objects and fluctuating magnetic fields. Failure to locate the unit in a clean magnetic environment will affect the attitude solution. -
Page 30: Ahrs380Za Built-In Test
DMU380ZA Series User’s Manual ________________________________________________________________________ changed in real time during a mission. The reason for this setting is to give the user an ability to turn off the magnetometer stabilization when severe magnetic distortion may be occurring. This setting is desirable when the user system temporarily moves in close proximity to a large ferrous object. -
Page 31: Ins380Za Theory Of Operation
To configure the word, select the BIT Configuration tab from the Unit Configuration menu. The dialog box allows selection of which status types to enable (hardware, software, sensor, and comm). Like the VG380ZA and IMU380ZA, MEMSIC recommends for the vast majority of users, that the default Status byte for the AHRS380ZA is sufficient. - Page 32 ________________________________________________________________________ integrates body frame sensed angular rate to orientation at a fixed 100 times per second within all of the DMU380ZA Series products (except IMU380ZA). For improved accuracy and to avoid singularities when dealing with the cosine rotation matrix, a quaternion formulation is used in the algorithm to provide attitude propagation.
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Page 33: Ins380Za Magnetometer Calibration And Alignment
DMU380ZA Series User’s Manual ________________________________________________________________________ IMPORTANT For proper operation, the INS380ZA relies on magnetic field readings from its internal 3- axis magnetometer. The INS380ZA must be installed correctly and calibrated for hard- iron and soft iron effects to avoid any system performance degradation. See section 3.4.1 for information and tips regarding installation and calibration and why magnetic calibration is necessary. - Page 34 DMU380ZA Series User’s Manual ________________________________________________________________________ used after the algorithm has initialized. This allows the Kalman Filter to estimate the roll and pitch rate sensor bias prior to entering the free gyro mode. Upon exiting the ‘free gyro’ mode (OFF), one of two behaviors will occur...
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Page 35: Ins380Za Built-In Test
To configure the word, select the BIT Configuration tab from the Unit Configuration menu. The dialog box allows selection of which status types to enable (hardware, software, sensor, and comm). Like the IMU, VG and AHRS380ZA, MEMSIC recommends for the vast majority of users, that the default Status byte for the INS380ZA is sufficient. - Page 36 DMU380ZA Series User’s Manual ________________________________________________________________________ softwareStatus and hardwareStatus (See Section 9 of the user’s manual for a description of all the BIT fields). Doc# 7430-3810 Rev. 02 Page 28...
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Page 37: Application Guide
(i.g., glider, propeller aircraft, and jet aircraft) and mission phases (i.e., launch, landing, and maneuver). In order to meet application requirements, users must dial in proper advanced settings so that the DMU380ZA Series can provide the best possible solution under given dynamic conditions. For example, Table 14 provides the recommended advanced settings for four different dynamic conditions. -
Page 38: Rotorcraft
DMU380ZA Series User’s Manual ________________________________________________________________________ **FreelyIntegrate should only be set to “ON” for severe launch conditions. Normal takeoff dynamics that a standard aircraft would experience will see the best performance with this setting in the “OFF” position. Rotorcraft Rotorcraft is a category of heavier-than-air flying machines that use lift generated by rotors. -
Page 39: Water Vehicle
DMU380ZA Series User’s Manual ________________________________________________________________________ Table 16 Recommended Advanced Settings for Land Vehicle Recommended Product VG380ZA or INS380ZA Dynamic Condition Recommended Settings Heavy Equipment Automotive Testing (IMU and VG default) Application UseMags UseGPS ON (< 4g) FreelyIntegrate Stationary Yaw Lock... - Page 40 DMU380ZA Series User’s Manual ________________________________________________________________________ Filter Rate Sensor 15 Hz 10 Hz *When not in distorted magnetic environment. EXAMPLE Figure 8 shows a typical flight profile of the fixed wing aircraft and the corresponding advanced settings that one can configure adaptively depending on a flight phase: ...
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Page 41: Dmu380Za Spi Port Interface Definition
DMU380ZA Series User’s Manual ________________________________________________________________________ DMU380ZA SPI Port Interface Definition The DMU380ZA provides a SPI interface for data communications. This section of the user’s manual defines the DMU380ZA register map, register control capabilities, and the data register reading and writing methodologies. -
Page 42: Dmu380Za Spi Register Read Methodology
DMU380ZA Series User’s Manual ________________________________________________________________________ Select digital filter LOW_PASS_FILTER 0x39/0x38 0x06 Reserved 0x3A to 0x3B STATUS 0x3C See Table 23: Diagnostic register Command to perform a burst-read of the standard data- STNDRD_BURST 0x3E packet Reserved 0x3F to 0x40 Burst-Mode Command for UCB scaled-sensor 0 data-... -
Page 43: Dmu380Za Spi Port Polled-Mode Read
DMU380ZA Series User’s Manual ________________________________________________________________________ Configuration/Status information The SPI master accesses information via the SPI bus in one of two ways: Polled-Mode Burst-Mode In polled-mode, the DMU380ZA transfers information from any register back to the master in two (or more) SPI cycles . -
Page 44: Dmu380Za Spi Port Burst-Mode Read
DMU380ZA Series User’s Manual ________________________________________________________________________ Multiple-Register Polled-Read Figure 10 illustrates a polled-mode read of multiple registers. In this case, the SPI-master transmits an initial read-command (the desired register-address appended by 0x00) across MOSI followed by any number of additional read-commands (one for each register of interest). - Page 45 DMU380ZA Series User’s Manual ________________________________________________________________________ Table 20 DMU380ZA Burst-Mode Output Registers Register Name Register Address Description STATUS 0x3C System Status X_RATE 0x04 Rate Sensor Output (X-Axis) Y_RATE 0x06 Rate Sensor Output (Y-Axis) Z_RATE 0x08 Rate Sensor Output (Z-Axis) X_ACCEL 0x0A...
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Page 46: Output Data Registers
DMU380ZA Series User’s Manual ________________________________________________________________________ Output Data Registers Output data registers hold the sensor information as it is measured; they are overwritten only when new data is available. Table 21 lists each register, its memory address, and its conversion factor. Note: the scale-factor described below only applies to the values in the data registers and standard burst-mode. -
Page 47: Diagnostic Status Register
DMU380ZA Series User’s Manual ________________________________________________________________________ COMM_MASTER 0x66 See Section 9.6: Com BIT Field COMM_DATA_STATUS 0x68 See Section 9.13: Com Status Field COMM_BUS_A 0x6A See Section 9.7: Com Serial A BIT Field COMM_BUS_B 0x6C See Section 9.8: Com Serial B BIT Field... - Page 48 DMU380ZA Series User’s Manual ________________________________________________________________________ RS_DYNAMIC_RANGE 0x39 See Table 27: Set the rate-sensor dynamic range and the digital filter LOW_PASS_FILTER 0x38 MAG_ALIGN 0x50 See Section 5.7.4: Command to initiate a magnetic-alignment The following example highlights how write-commands are formed in order to initiate a sensor self-test: ...
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Page 49: Configuration Registers
DMU380ZA Series User’s Manual ________________________________________________________________________ Configuration Registers 5.7.1 Self-Test/Data-Ready Self-test and data-ready registers are combined into a single 16-bit register at memory location 0x34; individual bits are assigned according to Table 25. Table 25 Self-Test/Data-Ready Register (Base Address: 0x34), Read/Write... -
Page 50: Rate-Sensor Scaling/Low-Pass Filter
DMU380ZA Series User’s Manual ________________________________________________________________________ [ 8:11 ] 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... -
Page 51: Magnetic-Alignment
DMU380ZA Series User’s Manual ________________________________________________________________________ limits that control the sensor over-range bit in the diagnostic status register (Table 23); 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 0xB901. -
Page 52: Suggested Operation
DMU380ZA Series User’s Manual ________________________________________________________________________ discussion of the process is discussed in the section Mag Alignment Procedure found in Appendix A: Installation and Operation of NAV-VIEW. To initiate a magnetic alignment over the SPI bus, perform a write to register 0x50 by appending the write-bit/address combination with 0x01, e.g. - Page 53 DMU380ZA Series User’s Manual ________________________________________________________________________ Data should be read from the DMU380ZA when the data-ready line is set (see Section 5.7.1) Power-on nRST pulled low of master following power-on nRST released after system configured nRST held low during master boot-up sequence...
- Page 54 DMU380ZA Series User’s Manual ________________________________________________________________________ SU,NSS h,NSS V,MISO MISO bit 14 bit 13 bit 1 SU,MOSI h,MOSI MOSI bit 14 bit 13 bit 1 Figure 17 SPI Timing Diagram Doc# 7430-3810 Rev. 02 Page 46...
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Page 55: Dmu380 Uart Port Interface Definition
Depending on the model you purchased, various commands and output modes are supported. However, all models support a common packet structure that includes both command or input data packets (data sent to the DMU380ZA Series) and measurement output or response packet formats (data sent from the DMU380ZA Series). -
Page 56: Packet Format
(U1)> payload> The Ping Command does not require a CRC, so a DMU380ZA Series unit can be pinged from a terminal emulator. To Ping a DMU380ZA Series unit, type the ASCII string ‘UUPK’. If properly connected, the DMU380ZA Series unit will respond with ‘PK’. All other communications with the DMU380ZA Series unit require the 2-byte CRC. -
Page 57: Payload Length
The referenced variables are defined in the detailed sections following. Output messages are sent from the DMU380ZA Series 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 DMU380ZA Series inertial system and will result in an associated Reply Message or NAK message. - Page 58 DMU380ZA Series User’s Manual ________________________________________________________________________ Request Message Input/Reply 0x4152 Algorithm Reset VG,AHRS, INS Message 0x1515 Error Response Reply Message Calibrate Input/Reply 0x5743 AHRS, INS Command and Message Response 0x4344 Calibration Reply AHRS, INS Completed Message Output Messages: Status & Other, (Polled Only)
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Page 59: Dmu380 Standard Uart Port Commands And Messages
Second to last byte of echo data echoData… Last byte of echo data Interactive Commands Interactive commands are used to interactively request data from the DMU380ZA Series, and to calibrate or reset the DMU380ZA Series. 7.2.1 Get Packet Request Get Packet (‘GP’ = 0x4750) -
Page 60: Algorithm Reset Command
DMU380ZA Series User’s Manual ________________________________________________________________________ This command allows the user to poll for both measurement packets and special purpose output packets including ‘T0’, ‘VR’, and ‘ID’. GP Payload Contents Byte Offset Name Format Scaling Units Description requestedPacketType The requested packet type Refer to the sections below for Packet Definitions sent in response to the ‘GP’... -
Page 61: Calibrate Acknowledgement Response
DMU380ZA Series User’s Manual ________________________________________________________________________ through >360 degrees yaw and then send 0x000B calibration request to terminate. Terminate magnetic alignment. The unit will send a CC response containing the hard-iron and soft-iron values. To accept the parameters, store them 0x000B using the write magnetic calibration command. -
Page 62: Error Response
DMU380ZA Series User’s Manual ________________________________________________________________________ 7.2.9 Error Response Error Response (ASCII NAK, NAK = 0x1515) Preamble Packet Type Length Payload Termination 0x5555 0x1515 0x02 <NAK payload> <CRC (U2)> The unit will send this packet in place of a normal response to a faiiledInputPacketType request if it could not be completed successfully. -
Page 63: Test 0 (Detailed Bit And Status) Packet
DMU380ZA Series User’s Manual ________________________________________________________________________ Byte Offset Name Format Scaling Units Description majorVersion Major firmware version minorVersion Minor firmware version patch Patch level stage Development Stage (0=release candidate, 1=development, 2=alpha, 3=beta) buildNumber Build number 7.3.3 Test 0 (Detailed BIT and Status) Packet Test (‘T0’... -
Page 64: Scaled Sensor Data Packet 1 (Default Imu Data)
DMU380ZA Series User’s Manual ________________________________________________________________________ Accelerometers: scaled to a range of [-10,+10) g Magnetometers: scaled to a range of [-1,+1) Gauss Temperature: scaled to a range of [-100, +100)°C S0 Payload Contents Byte Offset Name Format Scaling Units Description xAccel... -
Page 65: Angle Data Packet 1 (Default Ahrs Data)
DMU380ZA Series User’s Manual ________________________________________________________________________ [1260°/2^16] [°/sec] xRateTemp 200/2^16 deg. C X rate temperature yRateTemp 200/2^16 deg. C Y rate temperature zRateTemp 200/2^16 deg. C Z rate temperature CPU board boardTemp 200/2^16 deg. C temperature Counter packets Output packet counter... -
Page 66: Angle Data Packet 2 (Default Vg Data)
DMU380ZA Series User’s Manual ________________________________________________________________________ A1 Payload Contents Byte Offset Name Format Scaling Units Description rollAngle 2*pi/2^16 Radians Roll angle [360°/2^16] [°] pitchAngle 2*pi/2^16 Radians Pitch angle [360°/2^16] [°] yawAngleMag 2*pi/2^16 Radians Yaw angle (magnetic north) [360°/2^16] [°] xRateCorrected 7*pi/2^16... -
Page 67: Nav Data Packet 0
DMU380ZA Series User’s Manual ________________________________________________________________________ A2 Payload Contents Byte Offset Name Format Scaling Units Description rollAngle 2*pi/2^16 Radians Roll angle [360°/2^16] [°] pitchAngle 2*pi/2^16 Radians Pitch angle [360°/2^16] [°] yawAngleTrue 2*pi/2^16 Radians Yaw angle (free) [360°/2^16] [°] xRateCorrected 7*pi/2^16 rad/s X angular rate corrected [1260°/2^16]... -
Page 68: Nav Data Packet 1 (Default Ins Data)
DMU380ZA Series User’s Manual ________________________________________________________________________ N0 Payload Contents Byte Offset Name Format Scaling Units Description rollAngle 2*pi/2^16 Radians Roll angle [360°/2^16] [°] pitchAngle 2*pi/2^16 Radians Pitch angle [360°/2^16] [°] yawAngleTrue 2*pi/2^16 Radians Yaw angle (true north) [360°/2^16] [°] xRateCorrected 7*pi/2^16... - Page 69 DMU380ZA Series User’s Manual ________________________________________________________________________ [360°/2^16] [°] pitchAngle 2*pi/2^16 Radians Pitch angle [360°/2^16] [°] yawAngleTrue 2*pi/2^16 Radians Yaw angle (true north) [360°/2^16] [°] xRateCorrected 7*pi/2^16 rad/s X angular rate corrected [1260°/2^16] [°/sec] yRateCorrected 7*pi/2^16 rad/s Y angular rate corrected [1260°/2^16] [°/sec]...
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Page 70: Dmu380Za Advanced Uart Port Commands
________________________________________________________________________ 8 DMU380ZA Advanced UART Port Commands The advanced commands allow users to programmatically change the DMU380ZA Series settings. This section of the manual documents all of the settings and options contained under the Unit Configuration tab within NAV-VIEW. Using these advanced commands, a user’s system can change or modify the settings without the need for NAV-VIEW. -
Page 71: Digital Filter Settings
DMU380ZA Series User’s Manual ________________________________________________________________________ Digital Filter Settings These two fields set the digital low pass filter cutoff frequencies (See Table 35). Each sensor listed is defined in the default factory orientation. Users must consider any additional rotation to their intended orientation. - Page 72 DMU380ZA Series User’s Manual ________________________________________________________________________ Table 37 DMU380 Orientation Fields Orientation Field Value X Axis Y Axis Z Axis 0x0000 0x0009 0x0023 0x002A 0x0041 0x0048 0x0062 0x006B 0x0085 0x008C 0x0092 0x009B 0x00C4 0x00CD 0x00D3 0x00DA 0x0111 0x0118 0x0124 0x012D 0x0150...
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Page 73: User Behavior Switches
DMU380ZA Series User’s Manual ________________________________________________________________________ User Behavior Switches This field allows on the fly user interaction with behavioral aspects of the algorithm (See Table 38). Table 38 DMU380 Behavior Switches Description Bits Meaning Free Integrate 0 = use feedback to stabilize the algorithm, 1 = 6DOF inertial... - Page 74 DMU380ZA Series User’s Manual ________________________________________________________________________ Table 40 DMU380 Heading Track Offset Field Name Field ID Format Scaling Units Heading Track Offset 2*pi/2^16 Radians (heading-track) 0x000C [360°/2^16] [°] Doc# 7430-3810 Rev. 02 Page 66...
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Page 75: Commands To Program Configuration
DMU380ZA Series User’s Manual ________________________________________________________________________ Commands to Program Configuration 8.8.1 Write Fields Command Write Fields (‘WF’ = 0x5746) Terminatio Preamble Packet Type Length 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. -
Page 76: Set Fields Command
DMU380ZA Series User’s Manual ________________________________________________________________________ … … More field IDs written numFields*2 – 1 Field… The last field ID written 8.8.2 Set Fields Command Set Fields (‘SF’ = 0x5346) Preamble Packet Type Length Payload Termination 0x5555 0x5346 1+numFields*4 <SF payload>... -
Page 77: Read Fields Command
DMU380ZA Series User’s Manual ________________________________________________________________________ Read Fields Command Read Fields (‘RF’ = 0x5246) Preamble Packet Type Length Payload Termination 0x5555 0x5246 1+numFields*2 <RF payload> <CRC (U2)> This command allows the user to read the default power-up configuration fields from the EEPROM. -
Page 78: Get Fields Response
DMU380ZA Series User’s Manual ________________________________________________________________________ This command allows the user to get the unit’s current configuration fields. NumFields is the number of fields to get. The field0, field1, 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. -
Page 79: Dmu380Za Advanced Uart Port Bit
DMU380ZA Series User’s Manual ________________________________________________________________________ 9 DMU380ZA Advanced UART Port BIT Built In Test (BIT) and Status Fields Internal health and status are monitored and communicated in both hardware and software. The ultimate indication of a fatal problem is a hardware BIT signal on the user connector which is mirrored in the software BIT field as the masterFail flag. - Page 80 DMU380ZA Series User’s Manual ________________________________________________________________________ parityError serialBError comSerialBBIT Field transmitBufferOverflow receiveBufferOverflow framingError breakDetect parityError softwareError softwareBIT Field algorithmError softwareAlgorithmBIT Field initialization overRange missedIntegrationStep dataError ...
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Page 81: Master Bit And Status (Bitstatus) Field
overRange (enabled by default) Master BIT and Status (BITstatus) Field The BITstatus field is the global indication of health and status of the DMU380ZA Series product (See Table 41). The LSB contains BIT information and the MSB contains status information. -
Page 82: Hardwarebit Field
DMU380ZA Series User’s Manual ________________________________________________________________________ hardwareBIT Field The hardwareBIT field contains flags that indicate various types of internal hardware errors (See Table 42). Each of these types has an associated message with low level error signals. The hardwareError flag in the BITstatus field is the bit-wise OR of this hardwareBIT field. -
Page 83: Comserialabit Field
DMU380ZA Series User’s Manual ________________________________________________________________________ Table 45 DMU380 COM BIT Field comBIT Field Bits Meaning Category serialAError 0 = normal, 1 = error Soft serialBError 0 = normal, 1 = error Soft Reserved 2:15 comSerialABIT Field The comSerialABIT field (See Table 46) contains flags that indicate low level errors with external serial port A (the user serial port). -
Page 84: Softwarealgorithmbit Field
DMU380ZA Series User’s Manual ________________________________________________________________________ Reserved 2:15 9.10 softwareAlgorithmBIT Field The softwareAlgorithmBIT field contains flags that indicate low level software algorithm errors (See Table 49). The algorithmError flag in the softwareBIT field is the bit-wise OR of this softwareAlgorithmBIT field. -
Page 85: Comstatus Field
DMU380ZA Series User’s Manual ________________________________________________________________________ 9.13 comStatus Field The comStatus field contains flags that indicate various external communication conditions and alerts that are not errors or problems (See Table 52). The comStatus flag in the BITstatus field is the bit-wise OR of the logical AND of the comStatus field and the comStatusEnable field. -
Page 86: Hardwarestatusenable Field
DMU380ZA Series User’s Manual ________________________________________________________________________ Table 55 DMU380 Master Status Byte Configuration Fields configuration fields field ID Valid Values Description hardwareStatusEnable 0x0010 Bit mask of enabled hardware status signals Bit mask of enabled communication status comStatusEnable signals 0x0011 softwareStatusEnable 0x0012... -
Page 87: 10 Warranty And Support Information
10.3.2 Identification and Protection If the equipment is 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. -
Page 88: Sealing The Container
Return Shipping Address Use the following address for all returned products: MEMSIC, Inc. 1759 McCarthy Blvd. Milpitas, CA 95035 Attn: RMA Number (XXXXXX) 10.4 Warranty The MEMSIC product warranty is one year from date of shipment. Doc# 7430-3810 Rev. 02 Page 80... -
Page 89: Appendix A: Installation And Operation Of Nav-View
9-32 VDC with a maximum current draw of 350 mA. 4. Allow at least 60 seconds after power up for the DMU380ZA Series product to initialize. The DMU380ZA Series needs to be held motionless during this period. -
Page 90: Setting Up Nav-View
DMU380ZA Series User’s Manual ________________________________________________________________________ Setting up NAV-VIEW With the DMU380ZA Series product powered up and connected to your PC serial port, open the NAV-VIEW software application. 1. NAV-VIEW should automatically detect the DMU380ZA Series product and display the serial number and firmware version if it is connected. -
Page 91: Data Playback
DMU380ZA Series User’s Manual ________________________________________________________________________ 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. -
Page 92: Horizon And Compass View
Figure 21 Raw Data Console Horizon and Compass View If the DMU380ZA Series product you have connected is capable of providing heading and angle information (see Table 2), NAV-VIEW can provide a compass and a simulated artificial horizon view. To activate these views, simply select “Horizon View” and/or “Compass View”... -
Page 93: Packet Statistics View
DMU380ZA Series User’s Manual ________________________________________________________________________ Packet Statistics View Packet statistics can be obtained from the “View” menu by selecting the “Packet Statistics” option (See Figure 23). This view simply provides the user with a short list of vital statistics (including Packet Rate, CRC Failures, and overall Elapsed Time) that are calculated over a one second window. -
Page 94: Advanced Configuration
Figure 24 Unit Configuration Advanced Configuration Users who wish to access some of the more advanced features of NAV-VIEW and the DMU380ZA Series products can do so by selecting the “Advanced” tab at the top of the “Unit Configuration” window. WARNING Users are strongly encouraged to read and thoroughly understand the consequences of altering the settings in the “Advanced”... -
Page 95: Bit Configuration
DMU380ZA Series User’s Manual ________________________________________________________________________ temporarily or permanently setting values. When all selections have been finalized, simply press the “Set Values” button to change the selected settings. Figure 25 Advanced Settings Bit Configuration The third and final tab of the unit configuration window is “Bit Configuration” (See Figure 26). -
Page 96: Mag Alignment Procedure
Figure 26 BIT Configuration Mag Alignment Procedure IMPORTANT The following section only applies to DMU380ZA Series products with magnetometers (AHRS and INS380ZA). If your particular model does not utilize magnetometers for heading or performance you can disregard the following section. -
Page 97: Mag Alignment Procedure Using Nav-View
DMU380ZA Series product by itself, you will not be correcting for the magnetism in the user system. If you then install the DMU380ZA Series product in the system (i.e. a vehicle), and the vehicle is magnetic, you will still see errors arising from the magnetism of the vehicle. - Page 98 DMU380ZA Series User’s Manual ________________________________________________________________________ Figure 27 Mag Alignment 4. Rotate the AHRS or INS380ZA product through 380 degrees of rotation or until you receive a message to stop. 5. Once you have completed your rotation, you will be given data concerning the calibration accuracy.
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Page 99: Read Unit Configuration
“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. - Page 100 DMU380ZA Series User’s Manual ________________________________________________________________________ Figure 29 Read Configuration Doc# 7430-3810 Rev. 02 Page 92...
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Page 101: Appendix B: Nmea Message Format
DMU380ZA Series User’s Manual ________________________________________________________________________ Appendix B: NMEA Message Format The GPS receiver outputs data in NMEA-0183 format at 9600 Baud, 8 bits, no parity bit, and 1 stop bit. The GGA and RMC message packet formats are explained in this section. - Page 102 DMU380ZA Series User’s Manual ________________________________________________________________________ <CR> <LF> End of message Fix Status Description No fix / Invalid Standard GPS (2D/3D) Differential GPS Estimated (DR) Fix Doc# 7430-3810 Rev. 02 Page 94...
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Page 103: Appendix C: Sample Packet-Parser Code
This appendix includes sample code written in ANSI C for parsing packets from data sent by the DMU380ZA Series Inertial Systems. This code can be used by a user application reading data directly from the DMU380ZA Series product, or perhaps from a log file. -
Page 104: Code Listing
DMU380ZA Series User’s Manual ________________________________________________________________________ Code listing #include <stdio.h> /* buffer size */ #define MAXQUEUE 500 * circular queue typedef struct queue_tag int count; int front; int rear; char entry[MAXQUEUE]; } QUEUE_TYPE; * MEMSIC packet typedef struct xbow_packet unsigned short packet_type;... - Page 105 DMU380ZA Series User’s Manual ________________________________________________________________________ /* find header */ for(numToPop=0; numToPop+1<Size(queue_ptr) ;numToPop+=1) if(0x5555==peekWord(queue_ptr, numToPop)) break; Pop(queue_ptr, numToPop); if(Size(queue_ptr) <= 0) /* header was not found */ return 0; /* make sure we can read through minimum length packet */ if(Size(queue_ptr)<7) return 0;...
- Page 106 DMU380ZA Series User’s Manual ________________________________________________________________________ result->crc = packetCRC; for(counter=0; counter < result->length; counter++) result->data[counter] = peekByte(queue_ptr, 5+counter); Pop(queue_ptr, dataLength+7); return 1; /******************************************************************************* * FUNCTION: calcCRC calculates a 2-byte CRC on serial data using CRC-CCITT 16-bit standard maintained by the ITU (International Telecommunications Union).
- Page 107 DMU380ZA Series User’s Manual ________________________________________________________________________ queue_ptr->rear = -1; /******************************************************************************* * 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...
- Page 108 DMU380ZA Series User’s Manual ________________________________________________________________________ return retval; /******************************************************************************* * 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...
- Page 109 DMU380ZA Series User’s Manual ________________________________________________________________________ *******************************************************************************/ int Pop(QUEUE_TYPE *queue_ptr, int numToPop) int i=0; char tempchar; for(i=0; i<numToPop; i++) if(!DeleteQueue(&tempchar, queue_ptr)) break; return i; /******************************************************************************* * FUNCTION: Size * ARGUMENTS: queue_ptr is pointer to the queue * RETURNS: return the number of items in the queue...
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Page 110: Appendix D: Sample Packet Decoding
DMU380ZA Series User’s Manual ________________________________________________________________________ Appendix D: Sample Packet Decoding Figure 30 Example payload from Angle Data Packet 2 (A2) Doc# 7430-3810 Rev. 02 Page 102... - Page 111 DMU380ZA Series User’s Manual ________________________________________________________________________ Figure 31 Example payload from Scaled Data Packet 1 (S1) Doc# 7430-3810 Rev.02 Page 103...
- Page 112 DMU380ZA Series User’s Manual ________________________________________________________________________ Figure 32 Example payload from Nav Data Packet 1 (N1) Doc# 7430-3810 Rev. 02 Page 104...
- Page 113 DMU380ZA Series User’s Manual ________________________________________________________________________ 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.02 Page 105...
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