1. Manuals
  2. Brands
  3. Memsic Manuals
  4. Control Systems
  5. DMU380SA Series
  6. User manual

Memsic DMU380SA Series User Manual

Inertial system
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
The MEMSIC AHRS380SA is a standalone fully-
integrated Attitude & Heading Reference System
offering a complete dynamic measurement solution
in a miniature environmentally protected package.
The AHRS380SA offers a highly-effective solution
for cost-sensitive demanding applications.
UAV Flight Control Uncertified Avionics
The MEMSIC AHRS380SA integrates highly-reliable
MEMS 6DOF inertial sensors and 3-axis magnetic sensors
with extended Kalman filtering in a miniature factory-
calibrated module to provide consistent performance
through the extreme operating environments in a wide
variety of dynamic control and navigation applications.
Applications
Unmanned Vehicle
Control
Uncertified
Avionics
Platform Stabilization
Robotics
Control
Phone: 408.964.9700
Power Sensing Solutions for a Better Life
9-32VDC @ < 350mW
AHRS380SA
Fax: 408.854.7702
AHRS380SA
ATTITUDE HEADING REFERENCE SYSTEM
Features
Complete 9DOF Inertial
Roll/Pitch/Heading
RS-232 or RS-422 Interface
Update Rate, 1Hz to
Miniature Package, 41 x 48 x 22mm
Wide Input Voltage Range, 9-32VDC
Low Power Consumption < 350 mW
Wide Temp Range, -40C to +85C
High Reliability, MTBF > 50k hours
Environmentally Protected Enclosure
E-mail: infoca@memsic.com
System
Outputs
100Hz
Roll, Pitch, Heading, Rate,
Acceleration, Mag and BIT
www.memsic.com

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the DMU380SA Series and is the answer not in the manual?

Questions and answers

Summary of Contents for Memsic DMU380SA Series

  • Page 1 AHRS380SA Power Sensing Solutions for a Better Life ATTITUDE HEADING REFERENCE SYSTEM The MEMSIC AHRS380SA is a standalone fully- integrated Attitude & Heading Reference System offering a complete dynamic measurement solution in a miniature environmentally protected package. The AHRS380SA offers a highly-effective solution for cost-sensitive demanding applications.
  • Page 2 Aluminum (Gold Chem Film - ROHS) Electrical Input Voltage (VDC) 9 to 32 NAV-VIEW software is available for Power Consumption (mW) < 350 download from MEMSIC’s website at: Digital Interface RS-232 or RS-422 (user-configurable) www.memsic.com/support Output Data Rate 2Hz to 100Hz...
  • Page 3 DMU380SA Series USER MANUAL Document Part Number: 7430-0026-01 MEMSIC, Inc., 1759 McCarthy Blvd, Milpitas, CA 95035 Tel: 408-964-9700, Fax: 408-854-7702 email: infoca@memsic.com, website: www.memsic.com...
  • Page 4 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.

  • Page 5: Table Of Contents

    DMU380SA Series User’s Manual Table of Contents Introduction ........................1 Manual Overview ....................1 Overview of the DMU380SA Series Inertial Systems ..........2 Summary of Major Changes from the 440 Series and the 350 Series ....3 1.3.1 Mechanical Size and Footprint ..............3 1.3.2 Connector Pin Out &...
  • Page 6 DMU380SA Series User’s Manual 3.12.2 Mag Alignment Procedure Using NAV-VIEW ...........17 3.13 Read Unit Configuration .................19 Theory of Operation ....................21 DMU380SA Series Default Coordinate System ..........24 4.1.1 Advanced Settings ..................25 IMU380SA Theory of Operation ................25 4.2.1 IMU380SA Advanced Settings ..............26 4.2.2...
  • Page 7 DMU380SA Series User’s Manual 7.1.1 Ping Command ....................51 7.1.2 Ping Response....................51 7.1.3 Echo Command ...................51 7.1.4 Echo Response .....................51 Interactive Commands ..................51 7.2.1 Get Packet Request ..................51 7.2.2 Algorithm Reset Command .................52 7.2.3 Algorithm Reset Response ................52 7.2.4 Calibrate Command ..................52 7.2.5...
  • Page 8 DMU380SA Series User’s Manual 8.11 Get Fields Command ..................68 8.12 Get Fields Response ..................69 Advanced BIT ......................70 Built In Test (BIT) and Status Fields ..............70 Master BIT and Status (BITstatus) Field ............72 hardwareBIT Field ....................73 hardwarePowerBIT Field ..................73 hardwareEnvironmentalBIT Field ..............73 comBIT Field ......................73...
  • Page 9 DMU380SA Series User’s Manual 14.3.4 Marking .......................93 14.3.5 Return Shipping Address ................94 14.4 Warranty ......................94 Doc# 7430-0026 Rev. 01 Page v...
  • Page 10 DMU380SA 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.

  • Page 11: Introduction

    Customers who are connecting the DMU380SA Series products into a system with their own power supply and cable. Connections Section 3: Customers who are installing the DMU380SA Series products into a system and need details on using NAV-VIEW. Installation and Operation of NAV- VIEW Section 4: All customers should read Section 4.

  • Page 12: Overview Of The Dmu380Sa Series Inertial Systems

    At the core of the DMU380SA Series is a rugged 6-DOF (Degrees of Freedom) MEMS inertial sensor cluster that is common across all members of the DMU380SA 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 13: Summary Of Major Changes From The 440 Series And The 350 Series

    1.3.4 Operating Performance and Accuracy The DMU380SA Series has been characterized in a wide range of land and airborne applications. In the qualification testing, the dynamic accuracy of the DMU380SA Series has shown improved performance when compared to the equivalent model of 440 and 350 series products, reducing attitude estimation errors in half during certain critical dynamic maneuvers without the use of GPS aiding.

  • Page 14: Connections

    Power Input and Power Input Ground Power is applied to the DMU380SA Series on pins 1 and 2. Pin 2 is ground; Pin 1 should have 9 to 32 VDC unregulated at 350 mW. If you are using the cable supplied with the DMU380SA Series, the power supply wires are broken out of the cable at the DB-9 connector.

  • Page 15: Serial Data Interface

    (RS-232 on pins 4 and 6) port. The user is required to configure the GPS receiver to output the GPS messages that the DMU380SA Series expects. The table below shows the supported GPS protocols and guidelines for configuration.

  • Page 16: Pps Output Interface (Ins380Sa)

    DMU380SA Series User’s Manual ________________________________________________________________________ Table 5. Configuration of An External GPS Receiver for VG380SA/AHRS380SA Protocols Required Messages Required Message Rate Baud rate Ublox binary NAV-LLH, NAV-VELNED, 4 Hz 9600, 19200, 38400, NAV-STATUS 57600$ NovAtel OEM4 and BestPosB, BestVelB 9600, 19200, 38400,...

  • Page 17: Gps Antenna Connection (Ins380Sa)

    Even the best receiver can’t make up for signal loss due to a poor antenna, in-band jamming or a poor RF cable. The DMU380SA Series unit ships with an external active antenna that must be connected properly to SMA jack located next to the DB-15 connector. Placing the antenna on a 4 inch or larger ground plane is highly recommended.
  • Page 18 DMU380SA Series User’s Manual ________________________________________________________________________ Table 6. DB-9 COM Port Connections COM Port Connector DMU380SA Series Connector Pin # Signal Pin # Signal Doc# 7430-0026 Rev. 01 Page 8...

  • Page 19: 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 DMU380SA Series product to initialize. The DMU380SA Series needs to be held motionless during this period.

  • Page 20: Setting Up Nav-View

    DMU380SA Series User’s Manual ________________________________________________________________________ Setting up NAV-VIEW With the DMU380SA Series product powered up and connected to your PC serial port, open the NAV-VIEW software application. 1. NAV-VIEW should automatically detect the DMU380SA Series product and display the serial number and firmware version if it is connected.

  • Page 21: Data Playback

    DMU380SA Series User’s Manual ________________________________________________________________________ “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 22: Horizon And Compass View

    Raw Data Console Horizon and Compass View If the DMU380SA 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 23: Unit Configuration

    DMU380SA Series User’s Manual ________________________________________________________________________ vital statistics (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.

  • Page 24: Advanced Configuration

    3.10 Advanced Configuration Users who wish to access some of the more advanced features of NAV-VIEW and the DMU380SA 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 25: Bit Configuration

    DMU380SA Series User’s Manual ________________________________________________________________________ Figure 8. Advanced Settings 3.11 Bit Configuration The third and final tab of the unit configuration window is “Bit Configuration” (See Figure 9). This tab allows the users to alter the logic of individual status flags that affect the masterStatus flag in the master BITstatus field (available in most output packets).

  • Page 26: Mag Alignment Procedure

    3.12 Mag Alignment Procedure  IMPORTANT The following section only applies to DMU380SA Series products with magnetometers (AHRS and INS380SA). If your particular model does not utilize magnetometers for heading or performance you can disregard Section 3.12. 3.12.1 Hard Iron/Soft Iron Overview The AHRS and INS380SA products use magnetic sensors to compute heading.

  • Page 27: 3.12.2 Mag Alignment Procedure Using Nav-View

    DMU380SA Series product by itself, you will not be correcting for the magnetism in the user system. If you then install the DMU380SA 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 28 DMU380SA Series User’s Manual ________________________________________________________________________ 4. Rotate the AHRS or INS380SA 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. The X and Y offset values indicate how far the magnetic field has been offset due to hard iron affects from components surrounding the unit.

  • Page 29: 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 30 DMU380SA Series User’s Manual ________________________________________________________________________ Doc# 7430-0026 Rev. 01 Page 20...

  • Page 31: Theory Of Operation

    DMU380SA Series starting with the basic IMU380SA and then reviewing each major variant (VG, AHRS and INS) with their associated additional features, outputs, and performance. Table 7 shows the basic features of each member of the DMU380SA Series with cross references to important sections for review.
  • Page 32 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 DMU380SA Series has a unit setting and profile block which configures the algorithm to user and application specific needs. This...
  • Page 33 Figure 14 are shown in Figure 15 to highlight key features of each product. The DMU380SA 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.

  • Page 34: Dmu380Sa Series Default Coordinate System

    Functional Block Diagram of INS, AHRS and VG Default Operating Mode. DMU380SA Series Default Coordinate System The DMU380SA Series Inertial System default coordinate system is shown in Figure 16. As with many elements of the DMU380SA Series, the coordinate system is configurable with either NAV-VIEW or by sending the appropriate serial commands.

  • Page 35: Advanced Settings

    For example, with a DMU380SA 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 DMU380SA Series z-axis.

  • Page 36: Imu380Sa Advanced Settings

    IMU380SA or other DMU380SA Series Inertial Systems. However, when a DMU380SA 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 37: Imu380Sa Built-In Test

    The dialog box allows selection of which status types to enable (hardware, software, sensor, and comm). In the case of the IMU380SA which has fewer features and options than other DMU380SA 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 38 The Integration to Orientation block integrates body frame sensed angular rate to orientation at a fixed 200 times per second within all of the DMU380SA 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 39: Vg380Sa Advanced Settings

    DMU380SA Series User’s Manual ________________________________________________________________________ The VG380SA outputs digital measurement data over the RS-232 serial link at a selectable fixed rate (100, 50, 25, 20, 10, 5 or 2 Hz) or on as requested basis using the GP, ‘Get Packet’ command. In addition to the scaled sensor packets described in the IMU380SA section, the VG380SA has additional measurement output packets including the default ‘A2’...

  • Page 40: Vg380Sa Built-In Test

    DMU380SA Series User’s Manual ________________________________________________________________________ masterFail error during an over-range condition and continue to operate with this flag until a quasi-static condition is met to allow for an algorithm restart. The quasi-static condition required is that the absolute value of each low-passed rate sensor fall below 3 deg/sec to begin initialization.

  • Page 41: Ahrs380Sa 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 DMU380SA 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 42: Ahrs380Sa Magnetometer Calibration And Alignment

    DMU380SA Series User’s Manual ________________________________________________________________________ lowers the feedback gains from the accelerometers to allow the attitude estimate to coast through the dynamic situation with primary reliance on angular rate sensors. This situation is indicated by the softwareStatusturnSwitch status flag. Using the turn switch...

  • Page 43: Ahrs380Sa Advanced Settings

    DMU380SA Series User’s Manual ________________________________________________________________________ During the calibration procedure, the AHRS380SA makes a series of measurements while the user system is being turned through a complete 360 degree circle. A 360 degree rotation gives the AHRS380SA visibility to hard and soft iron distortion in the horizontal plane.
  • Page 44 DMU380SA Series User’s Manual ________________________________________________________________________ Doc# 7430-0026 Rev. 01 Page 34...
  • Page 45 DMU380SA Series User’s Manual ________________________________________________________________________ Table 12. AHRS380SA Series Advanced Settings Setting Default Comments Baud Rate 38,400 9600, 19200, 57600 also available baud Packet S0, S1, A2, N0, N1 also available Type Packet 25 Hz This setting sets the rate at which selected Packet Type, packets are output. If polled Rate mode is desired, then select Quiet.

  • Page 46: Ahrs380Sa Built-In Test

    DMU380SA Series User’s Manual ________________________________________________________________________ restart on over range setting be turned off. Handling of an inertial rate sensor over-range is controlled using the restartOnOverRange switch. If this switch is off, the system will flag the overRange status flag and continue to operate through it. If this switch is on, the system will flag a masterFail error during an over-range condition and continue to operate with this flag until a quasi-static condition is met to allow for an algorithm restart.

  • Page 47: Ins380Sa Theory Of Operation

    Integration to Orientation block. The Integration to Orientation block integrates body frame sensed angular rate to orientation at a fixed 100 times per second within all of the DMU380SA Series products (except IMU380SA). 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 48 DMU380SA Series User’s Manual ________________________________________________________________________ Following the integration to orientation block, the body frame accelerometer signals are rotated into the NED level frame and are integrated to velocity. At this point, the data is blended with GPS position data, and output as a complete navigation solution.

  • Page 49: Ins380Sa Magnetometer Calibration And Alignment

    DMU380SA Series User’s Manual ________________________________________________________________________ calibration is necessary. Please review this section of the manual before proceeding to use the INS380SA.  IMPORTANT For optimal performance the INS380SA utilizes GPS readings from its internal GPS receiver. The GPS receiver requires proper antennae installation for operation. See section 4.4.1 for information and tips regarding installation and calibration.

  • Page 50: Ins380Sa Built-In Test

    DMU380SA Series User’s Manual ________________________________________________________________________ Use GPS The Use GPS setting allows users to turn on and off the GPS feedback. The default setting is ON for the INS380SA. When Use GPS is turned OFF, the INS380SA’s behavior will revert to that of an AHRS380SA. See the AHRS380SA Theory of Operation for detailed description.
  • Page 51 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 AHRS380SA, MEMSIC recommends for the vast majority of users, that the default Status byte for the INS380SA is sufficient.

  • Page 52: 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 DMU380SA Series can provide the best possible solution under given dynamic conditions. For example, Table 16 provides the recommended advanced settings for four different dynamic conditions.

  • Page 53: Rotorcraft

    DMU380SA Series User’s Manual ________________________________________________________________________ Rotorcraft Rotorcraft is a category of heavier-than-air flying machines that use lift generated by rotors. They may also include the use of static lifting surfaces, but the primary distinguishing feature being lift provided by rotating lift structures. Rotorcraft includes helicopters, autogyros, gyrodynes and tiltrotors.

  • Page 54: Water Vehicle

    DMU380SA Series User’s Manual ________________________________________________________________________ Table 18. Recommended Advanced Settings for Land Vehicle Recommended Product VG380SA or INS380SA Dynamic Condition Recommended Settings Heavy Equipment Automotive Testing (IMU and VG default) Application UseMags ON§ ON§ UseGPS ON (< 4g) FreelyIntegrate Stationary Yaw Lock...
  • Page 55 DMU380SA Series User’s Manual ________________________________________________________________________  EXAMPLE Figure 17 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:  Prelaunch is the phase of flight in which an aircraft goes through a series of checkups (hardware and software) on the ground before takeoff.

  • Page 56: Programming Guide

    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 DMU380SA Series) and measurement output or response packet formats (data sent from the DMU380SA Series).

  • Page 57: Packet Format

    (U1)> payload> The Ping Command does not require a CRC, so a DMU380SA Series unit can be pinged from a terminal emulator. To Ping a DMU380SA Series unit, type the ASCII string ‘UUPK’. If properly connected, the DMU380SA Series unit will respond with ‘PK’. All other communications with the DMU380SA Series unit require the 2-byte CRC.

  • Page 58: Payload Length

    The referenced variables are defined in the detailed sections following. Output messages are sent from the DMU380SA 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 DMU380SA Series inertial system and will result in an associated Reply Message or NAK message.
  • Page 59 DMU380SA Series User’s Manual ________________________________________________________________________ 0x4152 Algorithm Reset Input/Reply VG,AHRS, INS Message 0x1515 Error Response Reply Message 0x5743 Calibrate Input/Reply AHRS, INS Command and Message Response 0x4344 Calibration Reply AHRS, INS Completed Message Output Messages: Status & Other, (Polled Only)
  • Page 60 DMU380SA Series User’s Manual ________________________________________________________________________ 0x4746 numFields*4+ Get Fields Reply Response Message Doc# 7430-0026 Rev. 01 Page 50...

  • Page 61: Communicating With The Dmu380Sa Series

    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 DMU380SA Series, and to calibrate or reset the DMU380SA Series. 7.2.1 Get Packet Request Get Packet (‘GP’ = 0x4750)

  • Page 62: Algorithm Reset Command

    DMU380SA 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 63: Calibrate Acknowledgement Response

    DMU380SA 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 64: Error Response

    DMU380SA 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 65: Test 0 (Detailed Bit And Status) Packet

    DMU380SA 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 66: Scaled Sensor Data Packet 1 (Default Imu Data)

    DMU380SA 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 67: Angle Data Packet 1 (Default Ahrs Data)

    DMU380SA 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 68: Angle Data Packet 2 (Default Vg Data)

    DMU380SA 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 69: Nav Data Packet 0

    DMU380SA 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 70: Nav Data Packet 1 (Default Ins Data)

    DMU380SA 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 71 DMU380SA 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]...

  • Page 72: Advanced Commands

    ________________________________________________________________________ 8 Advanced Commands The advanced commands allow users to programmatically change the DMU380SA 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 73: Digital Filter Settings

    DMU380SA Series User’s Manual ________________________________________________________________________ Digital Filter Settings These two fields set the digital low pass filter cutoff frequencies (See Table 23). Each sensor listed is defined in the default factory orientation. Users must consider any additional rotation to their intended orientation.

  • Page 74: User Behavior Switches

    DMU380SA Series User’s Manual ________________________________________________________________________ Table 25. 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...

  • Page 75: Hard And Soft Iron Values

    DMU380SA Series User’s Manual ________________________________________________________________________ Hard and Soft Iron Values These fields allow access to hard iron bias and soft iron scale ratio values for magnetometer alignment (See Table 27): Table 27. DMU380 Magnetic Alignment Parameters Field Name Field ID...

  • Page 76: Commands To Program Configuration

    DMU380SA 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 77: Set Fields Command

    DMU380SA 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 78: Read Fields Command

    DMU380SA 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 79: Get Fields Response

    DMU380SA 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 80: Advanced Bit

    DMU380SA Series User’s Manual ________________________________________________________________________ 9 Advanced 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 81 DMU380SA Series User’s Manual ________________________________________________________________________  parityError  serialBError  comSerialBBIT Field  transmitBufferOverflow  receiveBufferOverflow  framingError  breakDetect  parityError  softwareError  softwareBIT Field  algorithmError  softwareAlgorithmBIT Field  initialization  overRange  missedIntegrationStep  dataError ...

  • Page 82: 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 DMU380SA Series product (See Table 29). The LSB contains BIT information and the MSB contains status information.

  • Page 83: Hardwarebit Field

    DMU380SA Series User’s Manual ________________________________________________________________________ hardwareBIT Field The hardwareBIT field contains flags that indicate various types of internal hardware errors (See Table 30). 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 84: Comserialabit Field

    DMU380SA Series User’s Manual ________________________________________________________________________ comSerialABIT Field The comSerialABIT field (See Table 34) contains flags that indicate low level errors with external serial port A (the user serial port). The serialAError flag in the comBIT field is the bit-wise OR of this comSerialABIT field.

  • Page 85: Softwarealgorithmbit Field

    DMU380SA Series User’s Manual ________________________________________________________________________ 9.10 softwareAlgorithmBIT Field The softwareAlgorithmBIT field contains flags that indicate low level software algorithm errors (See Table 37). The algorithmError flag in the softwareBIT field is the bit-wise OR of this softwareAlgorithmBIT field. Table 37. DMU380 Software Algorithm BIT Field...

  • Page 86: Softwarestatus Field

    DMU380SA Series User’s Manual ________________________________________________________________________ Table 40. DMU380 COM Status BIT Field comStatus Field Bits Meaning 0 = external GPS data is being received, 1 = no external noExternalGPS GPS data is available Reserved 1:15 9.14 softwareStatus Field The softwareStatus field contains flags that indicate various software conditions and alerts that are not errors or problems (See Table 41).

  • Page 87: Comstatusenable Field

    DMU380SA Series User’s Manual ________________________________________________________________________ field imply that the corresponding hardwareStatus field signal, if asserted, will cause the hardwareStatus and masterStatus flags to be asserted in the BITstatus field. 9.16.2 comStatusEnable Field This field is a bit mask of the comStatus field (see BIT and status definitions). This field allows the user to determine which low level comStatus field signals will flag the comStatus and masterStatus flags in the BITstatus field.

  • Page 88: 10 Appendix A. Mechanical Specifications

    DMU380SA Series User’s Manual ________________________________________________________________________ 10 Appendix A. Mechanical Specifications Figure 19. DMU380SA Series Outline Drawing (IMU, VG, AHRS) Doc# 7430-0026 Rev. 01 Page 78...
  • Page 89 DMU380SA Series User’s Manual ________________________________________________________________________ Figure 20. DMU380SA Series Outline Drawing (INS) Doc# 7430-0026 Rev.01 Page 79...

  • Page 90: 11 Appendix B. Nmea Message Format

    DMU380SA Series User’s Manual ________________________________________________________________________ 11 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 91 DMU380SA 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# 7430-0026 Rev.01 Page 81...

  • Page 92: 12 Appendix C. Sample Packet-Parser Code

    This appendix includes sample code written in ANSI C for parsing packets from data sent by the DMU380SA Series Inertial Systems. This code can be used by a user application reading data directly from the DMU380SA Series product, or perhaps from a log file.

  • Page 93: Code Listing

    DMU380SA Series User’s Manual ________________________________________________________________________ 12.2 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 94 DMU380SA 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 95 DMU380SA 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 96 DMU380SA 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 97 DMU380SA 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 98 DMU380SA 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...

  • Page 99: 13 Appendix D. Sample Packet Decoding

    DMU380SA Series User’s Manual ________________________________________________________________________ 13 Appendix D. Sample Packet Decoding Figure 21. Example payload from Angle Data Packet 2 (A2) Doc# 7430-0026 Rev.01 Page 89...
  • Page 100 DMU380SA Series User’s Manual ________________________________________________________________________ Figure 22. Example payload from Scaled Data Packet 1 (S1) Doc# 7430-0026 Rev. 01 Page 90...
  • Page 101 DMU380SA Series User’s Manual ________________________________________________________________________ Figure 23. Example payload from Nav Data Packet 1 (N1) Doc# 7430-0026 Rev.01 Page 91...

  • Page 102: 14 Warranty And Support Information

    Will it connect to NAV-VIEW? 14.3.2 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 103: 14.3.3 Sealing The Container

    DMU380SA Series User’s Manual ________________________________________________________________________ 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.
  • Page 104 14.3.5 Return Shipping Address Use the following address for all returned products: MEMSIC, Inc. 1759 McCarthy Blvd. Milpitas, CA 95035 Attn: RMA Number (XXXXXX) 14.4 Warranty The MEMSIC product warranty is one year from date of shipment. Doc# 7430-0026 Rev. 01 Page 94...
  • Page 105 DMU380SA 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# 7430-0026 Rev.01 Page 95...

Table of Contents