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IMU 6 Degrees of Freedom v4 Data Sheet

443.0048

284.0979 [general] PF3036175 Longbow Drive, Suite 200

spk.cmwebsite:

zipcode: 80301bouLDer, CoLoraDo USA

2 0 0 8 . 0 4 . 2 2

IMU6-DOF_DS_v4rev1_080422

1 Overview

th 6DoF 3 s mk-!

th 6DoF 4 il Msm u (iMu) s h s SpkFiMu , h s s h 3, pls

cs spd y csm dck d sss.

th 4 pds 3 xs ccl d, 3 xs yscpc

d, d 3 xs mc d. ech dpd chl ss slcl, s s h smpl qcy. th dc c ls

p aSCii y m, d c k blhlk ttL hdl. Cl s pdd hh LPC2138

arM7 pcss h ply x mmy csm cddlpm. addlly, h cd hs pd h warM

dlpm plm. wh h ly ll sc cd, yc d y dlpm ms!

th iMu 6-DoF 4 ss hs sss:

FreescaleMMA7260Qtriple-axisaccelerometer,settable

1.5 , 2 , 4 6 ssy

2InvenSenseIDG500500degree/secondgyros

HoneywellHMC1052LandHMC1051Zmagneticsensors

all ss ds ll hh y ml pm

h aSCii y m, h h mpd 6DoF 4 iMuMx dm pplc (sc cd ls ll). addlly,

ll sss lly mp cmpsd.

2 Electrical Specs

Inputvoltage:4.2Vto7VDC

Currentconsumption:lessthat150mA

Frequencyresponse:

Magneticsensors:312Hz

IDG500Gyros:140Hz

MMA7260QAccelerometer:

350Hz,XandYaxes

150Hz,Zaxis

F ll dscp h ss spcfcs, pls s hspc mcs d shs (ll .Spk.cm).

3 Hardware OverviewLk h 3, h 4 s dl-dck h h cll d h m d h ss d h p. ech d hs

s 3.3v l d sp h dl dl ccs.

3.1 Controller Board

Thereare a few things that the usermay want to familiarize

hmsls h d h cll d.

t d csm dlpm, dcd h ddl p

ms h LPC2138 pcss hch h s hs ccss.all aDC ls 0v 3.3v, 10-. F m dph dscp

h LPC2138s cpls, pls s h LPC2138 ussml.

3.2 Sensor Board

Thereare a few things that the usermay want to familiarize

hmsls h d h cll d.

Asstatedpreviously,thesensorboardusesHoneywellHMC1052L

andHMC1051Zmagneticsensors.Wevealsoincludedset/reset

ccy (sd l ch sss mc dms

F 1: Cll bd

1) P dc LeD

2) P sch

3) blh cc dc LeD

4) t-cl ss LeD

5) P cc

6) P p ss d, schd mcll d

7) Mc ss ls

8) acclm ss ls

9) gy ss ls

10) Pmm p d ttL sl l

DataSheet-6DOF-v4-Rev1.indd 1 8/17/09 2:47 PM

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IMU 6 Degrees of Freedom v4 Data Sheet2 0 0 8 . 0 4 . 2 2


ch msm), d ch chl h mc

sss hs hh- dl mplf s ssd y

theHMC105Xdocumentation.Supportingcomponentshavebeen

kp dsc m h sss s s cs h cccy h msms.

TheMMA7260QaccelerometerandtheIDG500gyroshaveeach

s p p h mcs cmmds, ..l clck sppss fls h ps. ths sss

ls lly mp cmpsd.

all h ss ls h dcd h PCb shld h

s sh s h 6DoF 4 ss d h h clsysm, d ll l ps 0v 3.3v.

4 Setup

wh y fs p p h 6DoF 4, y ll s h pdc LeDs h h cll d d h ss d

light up.Youwillalso seethe tri-color status LEDash afew

ms. D ml smpl ps, h ss LeD ll

l d-l-, ch cl 64 smpl ms. wh h cf m, ll cls ll . i h dc s

h cf m d smpl, h 6DoF s

s dl s d h ss LeD ll (s h sc hcf m md m dls hs).

th 6DoF 4 cms p-cfd blh. b y h blh mdl

4.1 Hard line connection

w pdd ck-d h cf h hd l, fs h s ds slsh hd

cc. th ss y s s LPC pmmdpsPgM-00714 PgM-08650, h s ll sll d

h sld ml hd h pmm dpsl h 6DoF 4. w ss s hd, y

shld chs sld dcly k c h cc.. all h sl ls pd h spc

PCbs, s ll y d d s l hm p.

i y shld chs h ms hd cc,youwillneedtoknowthatthe6DOFv4controllerboardTXand

RXlinesare0to3.3V,not5V,andcertainlynotRS-232.Ifyou

cc h cll d dcly rS-232 l, y ll

lkly dm h d.

Fm hs p, ll ssm h h s hs pdd

h hd cc d ll c h h sp. Ld

y y pck d pl h 6DoF ( hs pplyp h dc). S h y 6DoF ccd

toyourserialline.Openupaterminalprogram(Hyperterminal,

tm, c) h p hch y ccd hss 115,200 d, 8 d s, sp , py

or owcontrol. Nowsimultaneouslyhold downthe spacebar

onyourkeyboardand turn the6DOFon.Youshouldsee the

cf m cm p ( ll lkly scll ps mssc h kyd ps). rls h spc d chs

p 6 l h p p sl ttL. Cycl p h s k c.

4.2 Bluetooth connection

glly spk, blh dscy ll sh h 6DoFv4asFireywitharandomMAC.IfyoureusingaBluetooth

dc h h h s ll m SpkF, cc h 6DoF 4 ccd h mcs dcs s

sl p.

i y s h r nks blh dcs

ll hh SpkF, y c dcly p sl p h lcl dc d ss dscy d cc cmmds

h h c hd-py blh ds hspp s.

th fs h d s ld y y pck, pl

y 6DoF 4 d . assm h s hs rnks blh dl (lk h blDl-rn-uSb),

h sp s y smpl. Pl y dl d p ml pm h cc p, s h sm ss

md psly (115,200 d, c.). iss h cmmd

$$$ d h dl ll s ck h CMD?.th h cmmd i d h dl ll d sch h blh dcs scds.

wh s d, ll p y h my dcs dd y h ms d MaC ddsss. th 6DoF 4 ll

showupasFireywitharandomMACaddress.Nowenterthe

cmmd C,, h s h h 6DoF 4, d h dl ll s ck h

F 2: Ss bd

1) P p

2) Mc ss ls, pls s/s l

3) accl ss ls, pls s ls

4) gy ss ls

5) vcl-m y p

6) P dc LeD


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ty. th dl p h sccssl cc

h x h ml d, yll s h ccdc LeD lh p h h 6DoF d h dl. n

y ccd d dy .

4.3 6DOF v4 Mixer demo application

F dms h 6DoF 4s p, h s c

h 6DoF 4 Mx pm. wh h 6DoF pd p dccd s dl s, cls y ml pms, p h

6DoFs sl p d s h mx pplc. Slc h pm hch h 6DoF s ccd, s h qcy d

ssy, h h s d y d .

th mx pm qs h ll chls c. i y

h y l h pm k h, chck h llchls c h cf m.

5 Using a Terminal and the Confguration

Menuoc h ly h mx pm s , h s my d smh slhly m sl h h 4, lk ch

smh d l fl h ml pm. wh llss dscp h cf m s ll s cl

dscp h 4s p.

5.1 Operation rom the Idle State

up s d s dl cf, h 4 ll chck s

hs cfd md (m h l). is md, s dl s p.

nmlly hs dl s ss s h s p s h mxpplc. i hs s, h ll ps h h ll

cs:

1) %, aSCii 37, ss h cclm 1.5 ssy2) &, aSCii 38, ss h cclm ssy 2

3) (psph), aSCii 39, ss h cclmssy 4

4) ( , aSCii 40, ss h cclm ssy 6

5) ),ASCII41,setsthesamplefrequencyto50Hz

6) *,ASCII42,setsthesamplefrequencyto100Hz

7) +,ASCII43,setsthesamplefrequencyto150Hz

8) ,,ASCII44,setsthesamplefrequencyto200Hz

9) -,ASCII45,setsthesamplefrequencyto250Hz

10).,ASCII46,setsthesamplefrequencyto300Hz

11) #, aSCii 35, ss h y md h

ll chls c

12) (spc), aSCii 32, sps h d s h

dl s (ss h aSCii 32 ll p hcf m)

op m hs dl s ll lys y p md, h s my slc hch chls c. als, cf

m hs s s d h mx pplc ll sd

mmy, hs ss m h cl cf m

ll sd mmy s. a h sm m, ll h c chl ss sd mmy h c

p m h dl s. i shld d h h pmypps hs dl s d md p s m sly

c h h 4 mx dms pplc, hs s h ss pplc cld s qck

setup.Itshouldalsobenotedthatthe300Hzsamplingrateisnot

ll m h mx pps slc, h s h hblh s xh lcy h sm d

somewherebetween250Hzand300Hzwithallchannelsactive.

Butthe300Hzoptionisavailablefromtheidlestateincasetheuser

shs y . o cs, p m h cf mhs mxmm s (m h l).

5.2 Operation rom the Confguration Menu

t s h 4 m ml pm, s p y pm

choice(115,200baud,hardwareowcontrol,8databits,onestop

, py), pl y bl Dl d p p y 4. whh dcs cc, h bl Dl ll p h cc

slshd ck y. th 4 s h md dls. Pss h spc ll p h cf m

(Stat0 d Stat1 ll cm s ll), d hs h ylls:

6DOF v4 setup, version 1.0

1) View/edit active channellist

2) Change output mode,curerntly binary

3) Set Auto run mode,curerntly off

4) Set accelerometersensitivity, currently 1.5 g

5) Set output frequency,currently 100

6) Change output port,currently Bluetooth

9) Save settings and run unit

5.3 Active Channel List

Pss 1 ll p h c chl ls:

1) Magneto X = on

2) Magneto Y = on

3) Magneto Z = on

4) Accel X = on

5) Accel Y = on

6) Accel Z = on

7) Pitch = on8) Roll = on

9) Yaw = on

Press the number of the channel you wish tochange,or press x to exit.

t ch chl m c c ( h s), jspss h m h chl y sh ch. is l


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c; pss m ll p h ll ls ,

h h chl y shd ch s pps s. Pss ms d l . Pss x s y ck

h m m.

5.4 Output Mode

Pss 2 m h m m ll l h p md m

y aSCii d ck . wh hs p mds, ysk?

i h p mds, h d m ll c chls s md

byanA(ASCII65)atthestartandaZ(ASCII90)attheend.Also

h mds, ch chl s pd xcly h sqcsh h c chl ls, h h dd smpl

c h mmdly lls h a d pcds h fs cmsm, hch s sy:

1) C

2) MagX

3) MagY

4) MagZ

5) AccelX

6) AccelY

7) AccelZ

8) Pch

9) rll

10)Yaw

th c s ys h cms s MSb-LSb, d ll m0 32767. i y h chls slcd s c, h d

s md m h m d ssq d ms p hp sqc.

i y md, ch c chl p cms s 2 ys: MSbd LSb, h sqc, d hy ll lys 0 d

1023 cs d m 10- aDCs. th dh h

dataframeinbinarymodewillbe4bytes(A,Z,andcountare

lys ps) pls 2 ys ch c msm. S ll chls c h d m ll 22 ys d.

i aSCii md, h c d c msms pd

aSCii s s s d h ml pm, pls llmsms d h c dlmd h tab chcs(aSCii 9) s ll s c d l d h d

h d m. ths mks d cp d mp spdsh lly smpl m.

5.5 Auto Run Mode

Pss 3 m h m m ll l h s. iy d s h 4 aSCii md, s hs . i h s , h 4 ll lys m s pmy dl s,

hch ms h ll lys # smpl d ll lys y md.

o md s h h s s c h 4 ll smpl mmdly p p p, slshm

blh cc h blh s c. Pss h

spc ll p h cf m .

5.6 Setting the Accelerometer Sensitivity

Pss 4 m h m m ll p h ll

sm:

Set to:

1) 1.5g

2) 2g

3) 4g

4) 6g

Js pss h m hch cspds y chc d h 4ll h m m h h ssy chd.

5.7 Setting the Output Frequency

Pss 5 m h m m ll ll y ch h

smpl qcy. Smply pss cs d dcs, x h m m.

Theminimumfrequencysettingis10Hz,andthereisnomaximum

s. ths lls h s xpm h smll d msd hh smpl s.

5.8 Setting the output port

Pss 6 ll ll y l h p p, h blh

sl ttL. a slc hs p, y ll pmpd cycl p hs s cm c.

5.9 Save Settings and Run Unit

Pss 9 m h m m ll s h c ss ashandexitthecongurationmenu.Iftheautorunfeaturehas

cd h ll mmdly. i hs s, h ll h l dl s d

ddl p.

6 Bandwidth Considerations and Firmware

th 6DoF 4 ds h y fl fm, hh h

isenoughmemoryleftin theLPC2138ashprogramspaceto

mplm sm fl. th lly s p ddh

theMMA7260Qaccelerometeris350HzfortheXandYaxes,and

150HzfortheZaxis.Therearealsoadditionalsinglepolelowpass

fls dc sch s m h ss h pls s

1591Hz (recommended by Freescale).The internally set output

bandwidthfortheIDG300gyrosensorsis120Hz,alongwithsingle

polelowpassltersat96Hz(recommendedbyInvenSense).The

HMC1052LandHMC1051Zmagneticsensorsdonthaveinternal

fl, ch xs hs xl sl pl l pss fl s

at319Hz.Ofcourse,itsagoodideafortheusertoconsiderthese

ms h dlp pplc s h h pp

fl s plc h smpl s slcd.


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5/8IMU6-DOF_DS_v4rev1_080422

2007 SpkFun elctoncs, inc. all rhts rsvd. Poduct tus, spcfctons, systm qumnts nd vlblty subjct to chn wthout notc. goChon s tdmk o SpkFun elctoncs, inc. all oth

tdmks contnd hn th popty o th spctv owns.


all sc cd d schmcs h 6DoF 4 ly ll

m h 4s pdc dscp p. Sc cd s cmpldh gCC s warM (hp://.s..-kl.d/

_pjcs/m_pjcs/#m). Pmm s ypcllyd h h SpkF LPC pmm dp (SKu #s:

PgM-00714 PgM-08650) d Flsh Mc, hch s llforfreedownloadathttp://www.ashmagictool.com/.


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