Related Manuals for X-IO x-IMU3
Summary of Contents for X-IO x-IMU3
- Page 1 User Manual v0.5 July 7, 2020 x-IMU3 User Manual v0.5 July 7, 2020 x-io Technologies...
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Page 2: Table Of Contents
User Manual v0.5 July 7, 2020 Contents 1 Overview 2 Hardware 3 Technical specification 3.1 Sensors .......... - Page 3 User Manual v0.5 July 7, 2020 9 Device settings 9.1 Individual settings ......... .
- Page 4 User Manual v0.5 July 7, 2020 9.1.55 Bluetooth paired link key (read-only) ......
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Page 5: Overview
An on-board micro SD card allows the WPA/WPA2-Enterprise (TBC) x-IMU3 to function as a stand-alone data logger with the ability to download files by USB and Wi-Fi. Data logging Multiple x-IMU3s operating together on the same Supports SD cards up to 32 GB... -
Page 6: Hardware
User Manual v0.5 July 7, 2020 2 Hardware Board components are annotated in Figure 1. A detailed mechanical drawing describing the board dimensions and locations of key components is available on the product page. Figure 1: Board 1. Power button 2. -
Page 7: Technical Specification
User Manual v0.5 July 7, 2020 3 Technical specification 3.1 Sensors 3.1.1 Gyroscope Characteristic Value Notes Range ±2000°/s Resolution 16-bit, 0.061°/s Sample rate 400 Hz ±TBC Bandwidth Noise Table 1: Gyroscope specification Notes 1. Each sample includes a timestamp for a reliable measurement of time independent of the sample rate tolerance. -
Page 8: Magnetometer
User Manual v0.5 July 7, 2020 3.1.3 Magnetometer Characteristic Value Notes Range ±1300 T (X, Y), ±2500 T (Z) Sample rate 20 Hz ±TBC Noise 0.3 T Accuracy at 1 a.u. 2, 3 Table 3: Magnetometer specification Notes 1. Each sample includes a timestamp for a reliable measurement of time independent of the sample rate tolerance. -
Page 9: Temperature Sensor
User Manual v0.5 July 7, 2020 3.1.5 Temperature sensor Characteristic Value Notes Range Sample rate 5 Hz ±TBC 1, 2 Accuracy Table 5: Temperature sensor specification Notes 1. Each sample includes a timestamp for a reliable measurement of time independent of the sample rate tolerance. -
Page 10: Command Messages
User Manual v0.5 July 7, 2020 Control character Abbreviation String Decimal Line Feed “ n” 0x0A Carriage Return “ r” 0x0D Table 6: Control characters LF and CR representations The first byte of a message indicates the message type. Command messages start with the character “ ”... -
Page 11: Apply Command
User Manual v0.5 July 7, 2020 7.1.4 Apply command The apply command is sent to the device to apply all settings. The key is “apply” and the value is null. This command can be sent after a write setting or default command to apply settings immediately instead of after a two second delay. -
Page 12: Reset Command
User Manual v0.5 July 7, 2020 Example*: "ping": "interface": "USB", "deviceName": "x-IMU3", "serialNumber": "0123-4567-89AB-CDEF" * The actual JSON will not include any whitespace. 7.1.10 Reset command The reset command is sent to the device to reset the device. The key is “reset” and the value is null. A reset is equivalent to switching the device off and then on again. -
Page 13: Self-Test Command
User Manual v0.5 July 7, 2020 7.1.15 Self-test command The self-test command is sent to the device to perform a self-test. The key is “test” and the value is null. The result of the self-test is obtained using the result command. The device must be stationary during the self-test. -
Page 14: Byte Stuffing
User Manual v0.5 July 7, 2020 7.2.1 Byte stuffing Byte stuffing ensures that the termination byte value, 0x0A, only occurs at the end of a binary data message. This is achieved by replacing all occurrences of the termination byte prior to termination with an escape sequence. -
Page 15: Magnetometer Message
User Manual v0.5 July 7, 2020 The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. Gyroscope X axis = 2. Gyroscope Y axis = 3. Gyroscope Z axis = 4. Accelerometer X axis = 5. -
Page 16: Rotation Matrix Message
User Manual v0.5 July 7, 2020 Argument Description Quaternion W element Quaternion X element Quaternion Y element Quaternion Z element Table 11: Quaternion message arguments The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. -
Page 17: Euler Angles Message
User Manual v0.5 July 7, 2020 4. Rotation matrix YX element = 5. Rotation matrix YY element = 6. Rotation matrix YZ element = 7. Rotation matrix ZX element = 8. Rotation matrix ZY element = 9. Rotation matrix ZZ element = ASCII example: R,1000000,1.0000,0.0000,0.0000,0.0000,1.0000,0.0000,0.0000,0.0000,1. -
Page 18: Earth Acceleration Message
User Manual v0.5 July 7, 2020 Argument Description Quaternion W element Quaternion X element Quaternion Y element Quaternion Z element Linear acceleration X axis in g Linear acceleration Y axis in g Linear acceleration Z axis in g Table 14: Linear acceleration message arguments... -
Page 19: High-G Message
User Manual v0.5 July 7, 2020 values of: 1. Quaternion W element = 2. Quaternion X element = 3. Quaternion Y element = 4. Quaternion Z element = 5. Earth acceleration X axis = 6. Earth acceleration Y axis = 7. -
Page 20: Battery Message
User Manual v0.5 July 7, 2020 The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. Temperature = ASCII example: T,1000000,25.0000 Binary example: D4 40 42 0F 00 00 00 00 00 00 00 41 C8 7.2.11 Battery message... -
Page 21: Serial Accessory Message
User Manual v0.5 July 7, 2020 The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. RSSI percentage = 100.0 2. RSSI power = -50.0 ASCII example: W,1000000,100.000,-50.0000 Binary example: D7 40 42 0F 00 00 00 00 00... -
Page 22: Error Message
User Manual v0.5 July 7, 2020 ASCII example: N,1000000,This is a notification message. Binary example: CE 40 42 0F 00 00 00 00 00 54 68 69 73 20 69 73 20 61 20 6E 6F 74 69 66 69 63 61 74 69 6F 6E 20 6D 65 73 73 61 67 65 2E 7.2.15 Error message... -
Page 23: Device Settings
User Manual v0.5 July 7, 2020 Example*: "sync": null, "name": "x-IMU3", "serial": "0123-4567-89AB-CDEF", "ip": "192.168.1.1", "port": 7000, "send": 8000, "receive": 9000, "rssi": 100, "battery": 100, "power": true * The actual JSON will not include any whitespace. 9 Device settings 9.1 Individual settings... -
Page 24: Gyroscope Misalignment (Read-Only)
User Manual v0.5 July 7, 2020 9.1.5 Gyroscope misalignment (read-only) Description: Gyroscope misalignment. JSON key: "gyroscopeMisalignment" JSON value type: number Default value: 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f 9.1.6 Gyroscope sensitivity (read-only) Description: Gyroscope sensitivity. JSON key: "gyroscopeSensitivity"... -
Page 25: Soft Iron Matrix (Read-Only)
User Manual v0.5 July 7, 2020 9.1.11 Soft iron matrix (read-only) Description: Soft iron matrix. JSON key: "softIronMatrix" JSON value type: number Default value: 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f 9.1.12 Hard iron offset (read-only) Description: Hard iron offset. -
Page 26: Serial Number (Read-Only)
User Manual v0.5 July 7, 2020 9.1.17 Serial number (read-only) Description: Unique 64-bit serial number expressed as a string of 16 hexadecimal digits in the format “XXXX-XXXX-XXXX-XXXX”. Serial number. JSON key: "serialNumber" JSON value type: string Default value: “Unknown”... -
Page 27: Serial Rts/Cts Enabled
User Manual v0.5 July 7, 2020 9.1.23 Serial RTS/CTS enabled Description: Serial Request To Send (RTS)/Clear To Send (CTS) enabled. JSON key: "serialRtsCtsEnabled" JSON value type: true or false Default value: false 9.1.24 Serial accessory number of bytes Description: Serial accessory number of bytes. -
Page 28: Wireless Mode
User Manual v0.5 July 7, 2020 9.1.28 Wireless mode Description: Configures the wireless mode. The possible values are listed in Table 24. The current wireless mode is indicated by the LED colour. See Section 4 on page 9 for more information. -
Page 29: Wi-Fi Region
User Manual v0.5 July 7, 2020 9.1.31 Wi-Fi region Description: Configures the region for Wi-Fi operation. The device will operate according to the regulations of the selected region. See Section 9.1.34 for a list of channels available in each region. The possible values are listed in Table 25. -
Page 30: Wi-Fi Client Channel
User Manual v0.5 July 7, 2020 9.1.36 Wi-Fi client channel Description: Configures the channel in Wi-Fi client mode. This is the channel of the router that the device will connect to. Setting the correct channel will decrease the time taken to connect. -
Page 31: Wi-Fi Client Netmask
The SSID may be up to 31 characters long. If the SSID is left blank then the device will use an SSID made up of the product name and the serial number in the format “x-IMU3 XXXX-XXXX-XXXX-XXXX”. JSON key: "wiFiAPSsid"... -
Page 32: Wi-Fi Ap Channel
User Manual v0.5 July 7, 2020 9.1.43 Wi-Fi AP channel Description: Configures the channel of the device in Wi-Fi AP mode. This is the channel of the network created by the device. The possible channels are listed in Table 27. -
Page 33: Synchronisation Enabled
User Manual v0.5 July 7, 2020 9.1.48 Synchronisation enabled Description: Synchronisation enabled. JSON key: "synchronisationEnabled" JSON value type: true or false Default value: true 9.1.49 Synchronisation network latency Description: Synchronisation network latency. JSON key: "synchronisationNetworkLatency" JSON value type: number Default value: 9.1.50 Bluetooth address (read-only) -
Page 34: Bluetooth Discovery Mode
User Manual v0.5 July 7, 2020 9.1.53 Bluetooth discovery mode Description: Configures the Bluetooth discovery mode. The possible values are listed in Table 28. See Section 5 on page 9 for more information about Bluetooth discovery. Value Mode Disabled... -
Page 35: Data Logger File Name Number
User Manual v0.5 July 7, 2020 9.1.58 Data logger file name number Description: Data logger file name number. JSON key: "dataLoggerFileNameNumber" JSON value type: number Default value: 9.1.59 Data logger file name is time Description: Data logger file name is time. -
Page 36: Axes Alignment
User Manual v0.5 July 7, 2020 9.1.62 Axes alignment Description: Axes alignment describing the sensor axes relative to the body axes. For example, if the body X axis is aligned with the sensor Y axis and the body Y axis is aligned with sensor X axis but pointing the opposite direction then alignment is +Y-X+Z. -
Page 37: Gyroscope Offset Correction Enabled
User Manual v0.5 July 7, 2020 9.1.63 Gyroscope offset correction enabled Description: Gyroscope offset correction enabled. JSON key: "gyroscopeOffsetCorrectionEnabled" JSON value type: true or false Default value: true 9.1.64 AHRS gain Description: Attitude Heading Reference System (AHRS) gain. JSON key: "ahrsGain"... -
Page 38: Serial Data Messages Enabled
User Manual v0.5 July 7, 2020 9.1.68 Serial data messages enabled Description: Enables (true) or disables (false) the sending of data messages for the serial communication interface when it is in normal mode. The sending of notification and error messages cannot be disabled. -
Page 39: Ahrs Message Type
User Manual v0.5 July 7, 2020 9.1.73 AHRS message type Description: Configures the AHRS message type. The possible values are listed in Table 30. Value Message type Quaternion Rotation matrix Euler angles Linear acceleration Earth acceleration Table 30: AHRS message types JSON key: "ahrsMessageType"... -
Page 40: Magnetometer Message Rate Divisor
User Manual v0.5 July 7, 2020 9.1.75 Magnetometer message rate divisor Description: Configures the magnetometer message rate as the fixed sample of 20 Hz divided by the the message rate divisor. A message rate divisor of zero will disable the messages. -
Page 41: High-G Message Rate Divisor
User Manual v0.5 July 7, 2020 9.1.77 High-g message rate divisor Description: Configures the high-g accelerometer message rate as the fixed sample of 1600 Hz divided by the the message rate divisor. A message rate divisor of zero will disable the messages. -
Page 42: Batterymessageratedivisor
The following instructions describe how to update the device firmware to the latest firmware provided on the product page. 1. Copy the firmware file (x-IMU3-Firmware-vX.X.hex) to the Secure Digital (SD) card. 2. Switch the device off. 3. Hold the power button for at least five seconds when switching the device on. The LED will turn white... -
Page 43: Glossary
User Manual v0.5 July 7, 2020 Glossary a.u. arbitrary units ..................8 AHRS Attitude Heading Reference System . - Page 44 User Manual v0.5 July 7, 2020 RMS Root Mean Square RSSI Received Signal Strength Indicator ..............20 RTC Real-Time Clock .
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Page 45: Document Version History
User Manual v0.5 July 7, 2020 Document version history Version Date Changes v0.0 April 7, 2020 Advanced release v0.1 April 14, 2020 Add overview and hardware sections Remove hyphenations Add missing acronyms to glossary Move glossary, disclaimer, and document version history to end of document v0.2... -
Page 46: Disclaimer
Technologies assumes no liabilities or responsibilities for errors or omissions in this document. This document may be changed at any time at x-io Technologies’s sole discretion without any prior notice to anyone. x-io Technologies is not committed to updating this document in the future.