User manual SAR100 EVP
Contents
1. 10 0000 Figure 7 Example of angular rate measurement log file Sampling frequency 100 Hz burst length 10 s 6 3 A simple integrated angle test An example for a simple usage of the log file data is shown below The angular rate data from a short sampling sequence of 10 s are integrated to represent the angle of the PCB during the measurement Note that the bias subtraction in the beginning of the data series is necessary to have a good result This is done by averaging the data results reported e g from the first second and then subtracting this value from all measurement values before integrating these to change of angle contributions Int angular rate 90 hands on test 100 Angle gt 30 e Int angular rate Time s Figure 8 Simple hands on test The PCB is tilted 90 and data from the log file is integrated and plotted as angle vs time s 6 4 Regarding supported angular rate ranges e The standard SAR100 EVP software supports angular rate measurements up to 250 7s i e SAR100 sensors with range 50 100 or 250 s however other ranges are also Supported in custom software solutions upon request F w sensonor SAR100 Gyro Sensor Evaluation Platform 7 PC to EVP PCB interface The uC to sensor interface is SPI Data transport between PC and uC is per USB utilizing a USB framework to implement device side USB Communication Device class CDC functionality This yields a virtu2. EVP Evaluation Platform FTP File Transfer Protocol PCB Printed Circuit Board USB Universal Serial Bus 3 Description and system contents The SAR100 Gyro Sensor Evaluation Platform EVP is a low cost evaluation tool providing rapid sensor measurements in an office desk environment Sensor data is requested from PC software and results are presented on the PC screen Menus in PC software are few and easily understood Data log to file is supported Numerous sensor pins are made available on header pin rows for monitoring purposes Add on satellite boards are available and can be connected to the EVP PCB for more comprehensive testing The EVP PCBs can be shipped without any target sensors pre mounted which is the required configuration when planning to test SAR100 on a satellite PCB directly from start NOTE Make sure there is only one SAR100 sensor in the system at any time either on the EVP PCB or on the satellite PCB if using this Trying to communicate with two SAR100 sensors at the same time will give communication error System contents User Manual this document PC software Xp and Vista supported USB cable EVP PCB with uC firmware and SAR100 sensor mounted optional Satellite PCB to be ordered separately EVP PCB PC with EVP PCB software Figure 1 SAR100 EVP system contents yd w sensonor SAR100 Gyro Sensor Evaluation Platform 4 Operating conditions Table 1 EVP PCB operating cond
3. TO SENSOR OMIM AND era a AE EEE ATO AEAN EAE EAE E ET AEE O OEO TOE 8 10 SPECIAL COMMANDS ierissreorarr arenar roe NEN rar Oa ANEO E Erra NN SNAN 8 10 1 GYRO SENSORS ERROR HA NDICING jcccgusnusscecnicnscasnaversdagnsenoadancetGarsiscadaannvedsavburnuiunucea Genie ain diontais dan nousseanrdetGnsrinadaanadeasacburensains 8 11 EVP TO SATELLITE PCB WIRING DIAGRAM 2 22 cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccceccccccccccccccccccees 9 12 ORDERING INFORMATION ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccecccccccccccccccccccccccccccccccccccccecccccccccccceccccces 9 13 FREVDION HISTORI cava cecscsscen cava tecctecaccunes EEE EAEE 9 Bate Sign Rev Reference Date Dok Prepared 091215 ROW o Archive 12536 091216 HKW Checked 091215 A B 1 em Approved 091215 HAP 2 em F w sensonor SAR100 Gyro Sensor Evaluation Platform 1 Features Angular rate and temperature measurements Up to 2000 Hz sampling rate supported On screen data presentation Log to file and large data size handling capability only limited by PC RAM size Easy sensor interface access uC firmware upgradable via USB Satellite PCBs available for more comprehensive testing e g over temperature uC firmware code available PC software code available schematics available Non standard versions of PC software available 2 Abbreviations uC Micro Controller
4. box for this and press Open COM port Verify that the green LED is visible The green LED indicates that the COM port is opened succesfully e Now correct angular rate range 250 100 or 50 s of the mounted connected sensor can be chosen as well as measurement type angular rate or temperature etc before a measurement can be started by pressing the Measure button A more detailed description of all menus and choises follows below Measurement results are graphically presented on the screen and written to a text file if the Save data to file box is checked a7 w sensonor SAR100 Gyro Sensor Evaluation Platform BB SAR100 Gyro Sensor Evaluation Platform n fog ex File Communication Help fd w sensonor When size performance and robustness matter Angular Rate s PIPIT BEE HH Hr a HHH Ho 250 0 00 040 080 120 160 200 240 280 320 360 400 440 480 520 560 600 640 680 720 760 800 840 880 920 960 1000 Time s Figure 6 PC software showing a 10 s long SAR100 measurement sequence 6 1 Descriptions for all menus buttons etc The CO
5. chart The chart shows scaled measurement results vs time s Units and range on the axis are set according to selected measurement range and burst length For lower sampling frequencies up to 61 Hz the yd y sensonor SAR100 Gyro Sensor Evaluation Platform results are plotted real time while they for higher sampling frequencies are plotted after data collection is completed Top menus e File Open Opens selected log file e Communication gt Send special command Resets a recoverable error condition and re enables angular rate readouts from the connected gyro sensor To be used in case there has been an over range situation e Help gt About Opens an About panel holding PC SW version 6 2 Measurement result log file Figure 7 shows an example of a generated log file The three first rows describes the measurement Then after an open line columns for time tags in seconds and results follows Results are presented as they are forwarded from the SAR100 sensor and they should be scaled by the correct scale factor in further handling E g results from a SAR100 100 50 sensors should be scaled by the scale factor 0 1 The results in the file may be further handled by a chosen program as Excel for e g integrating the received angular rate data to an angle Samplingtype AR Samplingrate 100 Hz Burstlength 10s 0 0000 15 0 0100 15 0 0200 15 0 0300 13 9 9700 9 9800 9 9900
6. M port handling e Comport No input box For inserting the manually selected comport Open COM port button Opens selected COM port Visible when COM port is closed Good practice Ensure to open the COM port as the first operation after start up of the software e Close COM port button Closes selected COM port Visible when COM port is open Good practice Ensure to close the COM port as the last operation before quitting the software e Connected Disconnected LED A green LED visible when COM port is open Upper row of slides and buttons e Angular rate range slide To select the correct sensor range 250 100 or 50 s e Measurement type slide To select the chosen measurement type Angular rate or Temperature Sampling rate slide To select the sampling rate 50 100 or 500 Hz or Custom to prepare to chose a custom sampling rate see below Measure button To start a measurement e Stop button To stop a measurement Enabled when a measurement sequence is in progress Lower row of check and input boxes Save data to file To save the measured data to a text file when enabled e Burst length To select the burst sampling length in seconds e Custom sampling rate To select the custom sampling rate in Hz The box is enabled when Custom rate is chosen on the Sampling rate ring slide Graphical results e Strip
7. al COM port on the PC host side when the EVP PCB is connected with up to USB2 0 full speed 12Mbps data rate The implemented protocol is in ASCII format The SAR100 PC to uC protocol communication is defined as Standard format lt LENGTH gt lt COMMAND gt lt RANGE gt lt RATE gt lt RATE gt lt DATA gt Stop command lt LENGTH gt lt STP_CMD gt 8 EVP PCB PCB material is FR 4 with dimensions 85 mm x 50 mm and thickness 1 6 mm Main list of PCB components are USB mini B contact for communication and 5 V supply SAR100 sensor 3 3 V regulator uC w firmware Level converter for SPI communication between uC and SAR100 Header pin connectors for monitoring EVP signals connecting satellite PCBs to the EVP Figure 9 SAR100 Gyro Sensor EVP PCB 9 uC Firmware PC communicates over the USB and the sensors expects SPI commands Therefore effectively the SASM7 uC works as an USB to SPI bridge The uC program expects the following COM port settings on the PC host side e 115200 bauds e 8 bits of data e No parity e 1 stop bit e No flow control w sensonor SAR100 Gyro Sensor Evaluation Platform A set of supported commands are implemented in the uC code in order to perform the sensors measurements and to forward them to the PC Those that have direct sensor relation are listed in the following sub chapters 9 1 uC to Sensor Commands Table 2 uC to sensor commands for gyro deriv
8. and MSB first PRCEN execution must obey the following sequence supported by the EVP 1 2 3 4 O Wait until no recoverable error conditions are flagged polling the Status Register Wait 1 second Execute the SGDIS1 2 and 3 commands Execute the PRCEN command Execute the SGEN command w sensonor SAR100 Gyro Sensor Evaluation Platform 11 EVP to Satellite PCB wiring diagram Table 5 EVP to Satellite PCB cable connections Pate apeiae panes 20 pin header P1 18 pin header P1 12 Ordering information Table 6 EVP order codes Article _Description Mountedsensor 83782 SAR100 250 50 EVP SAR100 250 50 250 s range grade 50 high performance gyro sensor 83783 SAR100 250 75 EVP SAR100 250 75 250 s range grade 75 high performance gyro sensor 83784 SAR100 250 100 EVP SAR100 250 100 250 s range grade 100 high performance gyro sensor Gyro and Pressure l 83859 Sensors EVP N A Complete PCB with components however with no mounted sensor NOTE The EVPs without sensors mounted can be of interest when planning to measure directly on a satellite PCB Table 7 EVP Satellite PCB order code Sensors supported 83758 SAR100 satellite PCB SAR100 high performance gyro sensors derivatives Satellite PCBs are delivered without any sensors mounted unless otherwise is requested Sensors and the cable for connecting the satellite PCB to the EVP PCB are made by the customer
9. atives Table 3 Sensor to uC responses for gyro derivatives MSB first 12 bit AR data RARH dddd dddd Angular Rate High Byte 2 s compliment 0 25 s LSB for SAR100 250 xx 0 10 s LSB for SAR100 100 xx RARLX 0101 dddd Angular Rate Low Byte eXtended 0 05 Ys L SB for SAR100 50 xx MSB first 8 bit data 2 s compliment RTMP dddd dddd Internal temperature 1 C LSB Tmin 11011000 40 C Tmax 01011111 95 C 10 Special commands 10 1 Gyro sensors error handling Status Register flags of the gyro sensors are normally 1 This means all is OK Any 0 in the Status Register bits will result in an error code pattern 1000 000 in response to AR read out commands The error code is different from any output data making sense and indicates that it is not reliable Internal error signal processing is held during the error condition The condition continues infinitely until a hard reset power on reset is performed or until a certain user initiated routine releases the sensor This user initiated routine is a soft reset and involves usage of the PRCEN command The soft reset sequence is supported by the EVP and is sent when choosing Communication gt Send special command from the roll down menu The following commands are needed for the soft reset of the SAR100 Table 4 Gyro sensor error handling PRCEN 10101010 Re enable signal processing after error condition MSB first SGEN 01010101 Safeguard Enable comm
10. e publisher of this driver software gt Don t install this driver software You should check your manufacturer s website for updated driver software for your device Install this driver software anyway Only install driver software obtained from your manufacturer s website or disc Unsigned software from other sources may harm your computer or steal information v See details Figure 3 USB driver installation 3 User inputs from here are self instructive Let the installation process proceed F w sensonor SAR100 Gyro Sensor Evaluation Platform J H gal SAR100 Gyro Sensor Evaluation Platform Overall Progress Currently installing SAR100 Gyro Sensor Evaluation Platform Part 1 of 1 Figure 4 Installation in progress Sil SAR100 Gyro Sensor Evaluation Platform E Installation Complete The installer has finished updating your system Figure 5 Installation complete 4 When installation is complete and Finished is pressed connect the EVP PCB to an available USB port of the PC Use the USB cable that follows with the EVP PCB 5 Start the PC software from the start menu of the PC and the EVP now is ready for use 6 PC Software The EVP PC software is developed in LabWindows CVI There are a few classical roll down menues and distributed buttons and boxes to control the sensor measurements Short description of use e Enter the correct COM port in the input
11. itions Min Max Unit _ Ambient temperature for EVP Testing over temperature can be performed by connecting the EVP PCB to a satellite PCB See chapter 11 and 12 for more information 5 Getting started Make sure to obtain the current version of PC software from Sensonor Technologies This can be done by downloading the current installation package directly from the FTP server or by addressing a request to our support address customer support sensonor no The FTP server details FTP address ftp 195 1 76 74 copy and paste this address into a web browser User name sen Password sen Internet Explorer Ee e To log on to this FTP server type a user name and password FTP server 195 1 76 74 User name Password After you log on you can add this server to your Favorites and return to it easily Log on anonymously Logon _ cance Figure 2 FTP server login Software and driver installation 1 Copy the software installation package to a local folder e g C work EVP and run setup exe 2 A pop up message during installation will ask for permission to install a USB driver 6119 inf for the EVP Click Install the driver software anyway Verify that the device AT91 USB to Serial Converter COMx appears in the device manager list And notice the associated COM port number for use when opening the COM port later ta Windows Security ese amp Windows can t verify th
12. or ordered upon request The Sensonor EVP to satelilite PCB cable supports all combinations of EVPs also the versions for other gyros and pressure sensors Table 8 EVP to Satellite PCB interface cable order code Length 83794 EVP to Satellite PCB interface cable 13 Revision history Table 9 Document revision history Paragraph This is the first issue of DOK306
13. zs w sensonor SAR100 Gyro Sensor Evaluation Platform Table of contents 1 FEATURE S aarecaercss crc ceeccveeerc bacco E 2 2 ABBREVIATION E E EEEE 2 3 DESCRIPTION AND SYSTEM CONTENTS cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccceccccccccccccccccccccccccccces 2 A OPERATING CONDITIONS seriinin en EAEN TEE 3 5S CEFET TIINGSTARIED seen NEN 3 O PUPO ARE EE ica ra EA E E E E AA E 4 6 1 DESCRIPTIONS FOR ALL MENUS BUTTONS ETC cccceccecceccecceccecccsccsccecceccesceccescesccsccescscescescesccsscsecescascesceseesscssctscscuseeecs 5 6 2 MEASUREMENT RESULT LOG FILE secceccscceccecccccscescceccecceccucceccescesccsscescescascescescesccsscscescescesscsscsecssceecescesecssessctscesceseeess 6 6 3 A SIMPLE INTEGRATED ANGLE TEST 0 cceccsccecceccsccccesccecceccesccceccesccsccsscescscescescescesscsscscscescesecsscsscescscescessesscssctscuseusceess 6 6 4 REGARDING SUPPORTED ANGULAR RATE RANGES ccccsccecceccecceccesccecceccescsceccescesccsscescscescescesccsscsscescuscescessesecssctscuseuseeess 6 7 PO TORVP PCB IN PERE ACD aiscsicccicieciiccccdeaccccnincieidecnaceciivcasennetenreaneiicasdscenuasddcbasnessduaiauarseadeedscaanenideuasenesteaseoaseeadenieasananates 7 S FPPP D oa EE EE E E E 7 2 AU RIV IR oss ceccc cc coevaeestuen acess eae vns veeeseuccencersssesseesseare wor ssevesoscccssu sata assuasseaceu ss teeeusdessaseueskeessuvscesbesestesessuus tensuua euseniececeszentiess 7 9 1 Wh
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