Related Manuals for X-IO x-IMU3
Summary of Contents for X-IO x-IMU3
- Page 1 User Manual v0.11 April 6, 2022 x-IMU3 User Manual v0.11 April 6, 2022 x-io Technologies...
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Page 2: Table Of Contents
User Manual v0.11 April 6, 2022 Contents 1 Overview 2 Hardware 2.1 Board .......... - Page 3 User Manual v0.11 April 6, 2022 8.1.10 Reset command ........
- Page 4 User Manual v0.11 April 6, 2022 11.1.17 Serial number (read-only) ....... . .
- Page 5 User Manual v0.11 April 6, 2022 11.1.73 Bluetooth data messages enabled ......
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Page 6: Overview
WPA/WPA2-Personal systems. An on-board micro SD card allows the WPA/WPA2-Enterprise 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 micro SD cards up to 32 GB... -
Page 7: Hardware
User Manual v0.11 April 6, 2022 2 Hardware 2.1 Board 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. -
Page 8: Housing
User Manual v0.11 April 6, 2022 2.2 Housing The housing interfaces are annotated in Figure 2. A detailed mechanical drawing describing the housing dimensions is available on the product page. Figure 2: Housing 1. Power button 2. USB-C connector 3. -
Page 9: Technical Specification
User Manual v0.11 April 6, 2022 3 Technical specification 3.1 Temperature 3.1.1 No battery Characteristic Value Notes Operating -40°C to 85°C 1, 2 Storage -40°C to 105°C Table 1: Temperature specification (no battery) Notes 1. The temperature of the device will always be greater than the surroundings due to heat generated by electronics. -
Page 10: Accelerometer
User Manual v0.11 April 6, 2022 Notes 1. Each sample includes a timestamp for a reliable measurement of time independent of the sample rate error. See Section 9 on page 31 for more information. 2. The maximum bandwidth is achieved when the message rate is equal to the sample rate. If the message rate is less than the sample rate then samples are averaged. -
Page 11: High-G Accelerometer
User Manual v0.11 April 6, 2022 3.2.4 High-g accelerometer Characteristic Value Notes Range ±200 g Resolution 16-bit, 6.1 mg Sample rate 1600 Hz ±2% Bandwidth 800 Hz Noise 5 mg/ Hz Accuracy at 1 g 3, 4 Table 6: High-g accelerometer specification Notes 1. -
Page 12: Data Logger Capacity
User Manual v0.11 April 6, 2022 3.3 Data logger capacity 3.3.1 8 GB micro SD card Condition Value Notes Default message rates 485 hours Maximum message rates 37 hours Table 8: Data logger capacity for 8 GB micro SD card Notes 1. -
Page 13: Inertial Sensors
User Manual v0.11 April 6, 2022 by Equation (2) where v is the calibrated voltage measurement obtained from the uncalibrated voltage measurement, v , given the sensitivity, s . The units of v and v are volts. s is a ratio and therefore has no units. -
Page 14: Power Button
User Manual v0.11 April 6, 2022 3. Enter the device serial number on the calibration certificate page. 5 Power button Pressing the power button while the device is switched off will switch the device on. Pressing and holding the power button for two seconds while the device is switched on will switch the device off. -
Page 15: Wi-Fi Ap (Magenta)
User Manual v0.11 April 6, 2022 Figure 4: Cyan LED indicating that the device is switched on and in Wi-Fi client mode 6.3 Wi-Fi AP (magenta) A magenta LED, as shown in Figure 5 indicates that the device is switched on and in Wi-Fi AP mode. The LED will flash during the initialisation of the Wi-Fi network. -
Page 16: Error (Red)
User Manual v0.11 April 6, 2022 Figure 6: Blue LED indicating that the device is switched on and in Bluetooth mode 6.5 Error (red) A red LED, as shown in Figure 7 indicates an error. The LED will interrupt it’s normal behaviour to blink red each time an error message is sent by the device. -
Page 17: User Control
User Manual v0.11 April 6, 2022 Figure 8: Orange LED indicating low battery or charging status 6.7 User control The LED can be controlled by the user using the strobe and colour commands. See Section 8.1.12 on page 20 and Section 8.1.13 on page 20 for more information. -
Page 18: File Contents
User Manual v0.11 April 6, 2022 7.3 File contents The contents of the file is a byte stream as per the communication protocol described in Section 8. Each file starts with a preamble of the following messages, in order. -
Page 19: Write Setting Command
User Manual v0.11 April 6, 2022 8.1.2 Write setting command The write setting command is sent to the device to write a setting value, or sent from the device to the host in response to a read setting command. The key is the setting key and the value is the setting value. See Section 11.1 on page 33 for a complete list of settings. -
Page 20: Ping Command
User Manual v0.11 April 6, 2022 8.1.8 Ping command The ping command is sent to the device to trigger a ping response. The key is “ping” and the value is null. The device will acknowledge a ping command by sending a ping response to the host. -
Page 21: Serial Accessory Command
User Manual v0.11 April 6, 2022 8.1.14 Serial accessory command The serial accessory command is sent to the device to transmit data to a serial accessory when the serial interface is in serial accessory mode. The key is “accessory” and the value is the data expressed as a string of up to 256 characters. -
Page 22: Bootloader Command
User Manual v0.11 April 6, 2022 Example*: "test": "EEPROM": "Passed", "RTC": "Passed", "Inertial": "Passed", "Magnetometer": "Passed", "High-g Accelerometer": "Passed", "Battery": "Passed", "SD Card": "Passed", "Wireless": "Passed", * The actual JSON will not include any whitespace. 8.1.19 Bootloader command The bootloader command is sent to the device to put the device in bootloader mode. The key is “bootloader”... -
Page 23: Byte Stuffing
User Manual v0.11 April 6, 2022 ASCII data messages consist of multiple comma-separated values terminated by the control character sequence: CR, LF. The first value is a single uppercase character indicating the message type. The second value is the timestamp in microseconds. The remaining values are arguments specific to the message type. -
Page 24: Magnetometer Message
User Manual v0.11 April 6, 2022 Argument Description Gyroscope X axis in degrees per second Gyroscope Y axis in degrees per second Gyroscope Z axis in degrees per second Accelerometer X axis in g Accelerometer Y axis in g... -
Page 25: Quaternion Message
User Manual v0.11 April 6, 2022 8.2.4 Quaternion message The quaternion message provides timestamped measurements of the orientation of the device relative to the Earth. Quaternion messages are sent continuously at the message rate configured in the device settings. The first value of an ASCII message is the character “Q”... -
Page 26: Euler Angles Message
User Manual v0.11 April 6, 2022 The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. Rotation matrix XX element = 2. Rotation matrix XY element = 3. Rotation matrix XZ element = 4. -
Page 27: Earth Acceleration Message
User Manual v0.11 April 6, 2022 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 18: Linear acceleration message arguments... -
Page 28: High-G Accelerometer Message
User Manual v0.11 April 6, 2022 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 29: Battery Message
User Manual v0.11 April 6, 2022 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 8.2.11 Battery message... -
Page 30: Serial Accessory Message
User Manual v0.11 April 6, 2022 Argument Description RSSI percentage RSSI power in dBm Table 24: RSSI message arguments The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. RSSI percentage = 2. -
Page 31: Error Message
User Manual v0.11 April 6, 2022 The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument values of: 1. String = This is a notification message. ASCII example: N,1000000,This is a notification message. Binary example:... -
Page 32: Message Rates
User Manual v0.11 April 6, 2022 Measurement source Sample rate Sample rate error Data messages Inertial, Quaternion, Rotation matrix Inertial sensor 400 Hz ±0.3% Euler angles, Linear acceleration, Earth acceleration, Temperature Magnetometer 20 Hz ±8% Magnetometer High-g accelerometer 1600 Hz ±2%... -
Page 33: Device Settings
User Manual v0.11 April 6, 2022 Value type Description “sync” number Used for synchronisation “name” string Device name “serial” string Device serial number “ip” string Device IP address “port” number TCP port “send” number UDP send port (device sends to this port) “receive”... -
Page 34: System Clock Calibration (Read-Only)
User Manual v0.11 April 6, 2022 11.1.2 System clock calibration (read-only) Description: System clock calibration value used for clock calibration. See Section 4.1 on page 12 for more information. JSON key: "systemClockCalibration" JSON value type: number Default value: 11.1.3 RTC calibration (read-only) Description: RTC calibration value used for clock calibration. -
Page 35: Accelerometer Misalignment (Read-Only)
User Manual v0.11 April 6, 2022 11.1.8 Accelerometer misalignment (read-only) Description: Accelerometer misalignment matrix (in row-major order) used for inertial sensor calibration. See Section 4.3 on page 13 for more information. JSON key: "accelerometerMisalignment" JSON value type: array of 9 numbers Default value: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]... -
Page 36: High-G Accelerometer Sensitivity (Read-Only)
User Manual v0.11 April 6, 2022 11.1.14 High-g accelerometer sensitivity (read-only) Description: High-g accelerometer sensitivity vector used for inertial sensor calibration. See Section 4.3 on page 13 for more information. JSON key: "highGAccelerometerSensitivity" JSON value type: array of 3 numbers Default value: [1.0, 1.0, 1.0]... -
Page 37: Hardware Version (Read-Only)
User Manual v0.11 April 6, 2022 11.1.20 Hardware version (read-only) Description: Hardware version. JSON key: "hardwareVersion" JSON value type: string Default value: “Unknown” 11.1.21 Serial mode Description: Serial mode. JSON key: "serialMode" JSON value type: number Default value: 11.1.22 Serial baud rate Description: Serial baud rate. -
Page 38: Serial Accessory Timeout
User Manual v0.11 April 6, 2022 11.1.26 Serial accessory timeout Description: Serial accessory timeout. JSON key: "serialAccessoryTimeout" JSON value type: number Default value: 11.1.27 Serial accessory transmit enabled Description: Serial accessory transmit enabled. JSON key: "serialAccessoryTransmitEnabled" JSON value type:... -
Page 39: External Antennae Enabled
User Manual v0.11 April 6, 2022 11.1.30 External antennae enabled Description: Enables (true) or disables (false) the external antennae. An antennae must be connected to the U.FL connector if the external antennae is enabled. The internal antennae will be used if the external antennae is disabled. -
Page 40: Wi-Fi Client Key
User Manual v0.11 April 6, 2022 11.1.35 Wi-Fi client key Description: Configures the security key in Wi-Fi client mode. This is the password for the router that the device will connect to. If the router does not require a password then this setting will be ignored. -
Page 41: Wi-Fi Client Ip Address
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 42: Wi-Fi Ap Channel
User Manual v0.11 April 6, 2022 11.1.43 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 33. -
Page 43: Synchronisation Enabled
User Manual v0.11 April 6, 2022 11.1.48 Synchronisation enabled Description: Synchronisation enabled. JSON key: "synchronisationEnabled" JSON value type: true or false Default value: true 11.1.49 Synchronisation network latency Description: Synchronisation network latency. JSON key: "synchronisationNetworkLatency" JSON value type: number Default value: 11.1.50 Bluetooth address (read-only) -
Page 44: Bluetooth Discovery Mode
User Manual v0.11 April 6, 2022 11.1.53 Bluetooth discovery mode Description: Configures the Bluetooth discovery mode. The possible values are listed in Table 34. Value Mode Disabled Enabled Limited Table 34: Bluetooth discovery modes JSON key: "bluetoothDiscoveryMode" JSON value type:... -
Page 45: Data Logger File Name Time Enabled
User Manual v0.11 April 6, 2022 11.1.58 Data logger file name time enabled Description: Data logger file name time enabled. JSON key: "dataLoggerFileNameTimeEnabled" JSON value type: true or false Default value: true 11.1.59 Data logger file name counter enabled Description: Data logger file name counter enabled. -
Page 46: Axes Alignment
User Manual v0.11 April 6, 2022 11.1.62 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 47: Gyroscope Offset Correction Enabled
User Manual v0.11 April 6, 2022 11.1.63 Gyroscope offset correction enabled Description: Gyroscope offset correction enabled. JSON key: "gyroscopeOffsetCorrectionEnabled" JSON value type: true or false Default value: true 11.1.64 AHRS gain Description: Attitude Heading Reference System (AHRS) gain. JSON key: "ahrsGain"... -
Page 48: Usb Data Messages Enabled
User Manual v0.11 April 6, 2022 11.1.69 USB data messages enabled Description: Enables (true) or disables (false) the sending of data messages for the USB communication interface. The sending of notification and error messages cannot be disabled. JSON key: "usbDataMessagesEnabled"... -
Page 49: Data Logger Data Messages Enabled
User Manual v0.11 April 6, 2022 11.1.74 Data logger data messages enabled Description: Enables (true) or disables (false) the sending of data messages for the on-board data logging. The sending of notification and error messages cannot be disabled. JSON key: "dataLoggerDataMessagesEnabled"... -
Page 50: Magnetometer Message Rate Divisor
User Manual v0.11 April 6, 2022 11.1.77 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 51: High-G Accelerometer Message Rate Divisor
User Manual v0.11 April 6, 2022 11.1.79 High-g accelerometer 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 52: Battery Message Rate Divisor
"rssiMessageRateDivisor" JSON value type: number Default value: 12 Updating device firmware 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 SD card. - Page 53 User Manual v0.11 April 6, 2022 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 while the firmware is updated. This will take approximately 10 seconds.
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Page 54: Glossary
User Manual v0.11 April 6, 2022 Glossary a.u. arbitrary units ..........10 ADC Analog-to-Digital Converter . - Page 55 User Manual v0.11 April 6, 2022 JP Japan ........... 39 JSON JavaScript Object Notation .
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Page 56: Document Version History
User Manual v0.11 April 6, 2022 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 57 User Manual v0.11 April 6, 2022 v0.9 Aug 01, 2021 Add C# to overview Update board image v0.10 Jan 06, 2022 Update device settings Add temperature technical specification Remove serial accessory rate divisor setting Add calibration section v0.11 Apr 06, 2022...
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Page 58: 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’ sole discretion without any prior notice to anyone. x-io Technologies is not committed to updating this document in the future.
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