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MNAV100CA User`s Manual

1. MNAV100CA User s Manual Crossb w 26 27 Z Axis Temperature 200 200 Ko 28 29 Abs Pressure 100 10000 m 30 31 Pitot Pressure 0 80 m s 32 33 Checksum 4 1 3 Scaled Mode Packet With GPS Data output rate 100Hz Bytes Description Range Units 1 2 Header 0x5555 3 N 4 5 X Axis Acceleration 2 2 G 6 7 Y Axis Acceleration 2 2 G 8 9 Z Axis Acceleration 2 2 G 10 11 X Axis Angular Rate 200 200 Deg sec 12 13 Y Axis Angular Rate 200 200 Deg sec 14 15 Z Axis Angular Rate 200 200 Deg sec 16 17 X Axis Magnetic Field 1 1 Gauss 18 19 Y Axis Magnetic Field 1 1 Gauss 20 21 Z Axis Magnetic Field 1 1 Gauss 22 23 X Axis Temperature 200 200 oC 24 25 Y Axis Temperature 200 200 oC 26 27 Z Axis Temperature 200 200 oC 28 29 Abs Pressure 100 10000 m 30 31 Pitot Pressure 0 80 m s 32 36 Divided five byte ofGPS package 37 38 Checksum 4 1 4 Scaled Mode Packet Output rate lt 100Hz with PPM without GPS Data Bytes Description Range Units 1 2 Header 0x5555 3 N 4 5 X Axis Acceleration 2 2 G 6 7 Y Axis Acceleration 2 2 G 8 9 Z Axis Acceleration 2 2 G 10 11 X Axis Angular Rate 200 200 Deg sec 12 13 Y Axis Angular Rate 200 200 Deg sec 14 15 Z Axis Angular Rate 200 200 Deg sec Doch 7430 0198 01 Rev A Page 23 Crossb w MNAV100CA User s Manual 16 17 X Axis Magnetic Field 1 1 G
2. PIN 31 PIN 16 10 TYP PIN1 10 TYP A PIN 15 DETAIL A SCALE 2 1 Figure 2 3 Connector 1 Pinout Table 2 1 Connector 1 Pin Assignments Pin Function 1 15 31 Ground 16 32 Input Power 17 20 30 Servo Power 18 RS 232 Receive Port 0 33 RS 232 Transmit Port 0 19 RS 232 Receive Port I 34 RS 232 Transmit Port I 35 PPM Input 36 High Speed Servo PWM 37 Servo 8 PWM 38 Servo 7 PWM 39 Servo 6 PWM 40 Servo 5 PWM 41 Servo 4 PWM 42 Servo 3 PWM 43 Servo 2 PWM Doch 7430 0198 01 Rev A Page 5 Crossb w MNAV100CA User s Manual 44 Servo 1 PWM 45 Servo 0 PWM The 51 pin male connector See Figure 2 2 on the bottom side of the MNAV100CA board provides the interface to connect to the Stargate Table 2 2 shows the pin assignments for this connector Table 2 2 51 Pin Connector Pin Assignments Pin Function 1 Ground 2 15 Not Connected 16 Serial Program MOSI 17 Serial Program MISO 18 SPI Serial Clock 19 GPS UARTI RXD 20 GPS UARTI TXD 21 26 Not Connected 27 MCU UARTO RXD 28 MCU UARTO TXD 29 35 Not Connected 36 JTAG Port TDI 37 JTAG Port TDO 38 JTAG Port TMS 39 JTAG Port TCK 40 47 Not Connected 48 Reset 49 Not Connected 50 Input Power 51 Ground The MMCX connector See Figure 2 1 provides connectivity to the GPS antenna Page 6 Do
3. 0x0056 Voltage Packet Ss 0x0053 Scaled Packet For example to temporarily change the packet type to Scaled send 0x55555346010003005300F0 Command Change Packet Output Rate Input UU WForSF 0x01 0x0001 Value Checksum Packet Response None Description This command allows the user to change the packet output rate If you want to change the packet rate only temporarily use SF instead of WF in the command packet above The available 2 byte Value options and their corresponding power up modes are listed below Value Hex Value Output Rate 0 0x0000 Quiet 1 0x0001 100 Hz 2 0x0002 50 Hz 4 0x0004 25 Hz 5 0x0005 20 Hz 10 Ox000A 10 Hz 50 0x0032 2 Hz When the output rate is set to Quiet the unit goes into Polled mode For example to set the unit temporarily into Polled mode send 0x555553460100010000009B The 100Hz and 50Hz update rates can be achieved only at baud rates 38400 and higher Command Set Servos output Input UU SS lt 1 byte lt 1 byte lt 2 byte Pack num of No of output BERE servos gt the first value of the servo gt first servo gt lt 1 byte lt 2 byte Sch lt 1 byte lt 2 byte No ofthe output No of output second value of the the last value of the servo gt second servo gt last servo gt servo gt Checksum Doch 7430 0198 01 Rev A Page 19 Crossb w Response Des
4. Doch 7430 0198 01 Rev A Page 37 Crossb w MNAV100CA User s Manual 12 3 2 Identification and Protection If the equipment is to be shipped to Crossbow 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 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 container s were discarded use heavy boxes with adequate padding and protection 12 3 3 Sealing the Container Seal the shipping container s with heavy tape or metal bands strong enough to handle the weight of the equipment and the container 12 3 4 Marking Please write the words FRAGILE DELICATE INSTRUMENT in several places on the outside of the shipping container s In all correspondence please refer to the equipment by the model number the serial number and the RMA number 12 3 5 Return Shipping Address Use the following address for all returned products Crossbow Technology Inc 4145 N First Street San Jose CA 95134 Attn RMA Number XXXXXX 12 4 Warranty The Crossbow product warranty is one year from date of shipment Page 38 Doc 7430 0198 01 Rev A Crossb w Crossbow T
5. 3 2 Digital Signal Cable Connections Wire Color Function Grey Yellow RS 232 Transmit Data White Green RS 232 Receive Data Black Blue RS 232 Signal Ground Let the MN AY 100CA warm up for 10 minutes when powered on for temperature stability before attempting a calibration 3 3 Setting up MICRO VIEW With the MNA V100CA connected to your PC serial port and powered open the MICRO VIEW software 1 MICRO VIEW should automatically detect the MNAV 100CA display the serial number and firmware version Set the MNAV100CA to default status voltage output data packet 100Hz update rate and 38400 baud 2 If the text in connection frame is Disconnected that shows that MICRO VIEW cannot connect Verify that you have the correct COM port selected This can be changed from the Serial Port dropdown menu If it still does not work check the connections between the MNAV100CA and the computer check the power check the serial COM port assignment on your computer Doch 7430 0198 01 Rev A Page 9 Crossb w MNAV100CA User s Manual FAMICRO VIEW MNAV Status Connector Senal Number Famerare Vernon L ei Log File I Set the update rate and serial communication baud rate as you need select output packet type from the Output dropdown menu In Voltage packet only the voltage output of the sensors Is displayed in Scaled packet the scaled sensor output and the static attitude amp heading angles w
6. GPS receiver has two serial ports GPS USARTI 9600 Baud 8 bits no parity bit 1 stop bit and GPS USART2 57600 Baud 8 bits no parity bit 1 stop bit The GPS USART2 is connected to MCU USART I of the onboard AVR microcontroller 2 6 Pressure sensor The relative pressure sensor has an axial port shown as Pitot Hole in Figure 2 1 The diameter of the axial port is 0 12 inch and the length is 0 25 inch 2 7 Serial Ports The MNAV100CA has two serial ports Serial Port O Pin 3 18 and 33 and Serial Port 1 Pin 3 19 and 34 USARTO of the onboard ATmega128L microcontroller is converted to standard RS 232 and forms Serial Port 0 of the MNAV100CA The onboard GPS Receiver s Serial Port 1 is converted to standard RS 232 and made available as Serial Port 1 of the MNAV100CA Doch 7430 0198 01 Rev A Page 7 Crossb w MNAV100CA User s Manual 3 Quick Start 3 1 MICRO VIEW Software Crossbow includes MICRO VIEW software to allow use of the MNAV100CA right out of the box and makes the evaluation straightforward Install the MICRO VIEW software connect the MNAV100CA to your serial port apply power to your unit and start taking measurements NOTE The MICRO VIEW is a good GUI for a PC to talk to the MNAV100CA factory installed firmware Because the MNAV100CA firmware and tool chain are open source Crossbow cannot guarantee that MICRO VIEW would still work if the onboard firmware is changed 3 1 1 MICRO VIEW Computer Requireme
7. link The user interface software MICRO VIEW will allow you to immediately view the outputs of the MNAV100CA on a PC running Microsoft Windows The software also allows you to recalibrate the MNAV100CA sensors in some situations The development tool chain is AVR GCC installation software The MNAV100CA User s Manual contains helpful hints on programming installation and valuable digital interface information including command structure data packet formats and conversion factors Page 2 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 2 MNAV100CA Overview 2 1 MNAV100CA Layouts MMCX Connector sam Pitot Hole Figure 2 1 MNAV100CA Board 2 2 MNAV100CA Board Size Figure 2 2 shows the outline dimensions of the MNAV100CA board Doch 7430 0198 01 Rev A Page 3 Crossb w MNAV100CA User s Manual TOP VIEW BOTTOM VIEW All dimensions are in inches Figure 2 2 MNAV100CA Board Dimensions Page 4 Doch 7430 0198 01 Rev A MNAV100CA User s Manual 2 3 Connectors Connector 1 See Figure 2 1 provides an interface to the power supply Crossb w connector the servo battery connector two RS232 connectors a PPM input connector 9 servo connectors and a high speed servo connector These are compatible with standard servo battery and servo connectors Figure 2 3 shows the top view of Connector showing the pin numbers and the dimensions Table 2 1 lists the pin assignments for this connector
8. receiver control for human takeover capability The MNAV100CA has two RS 232 serial ports The sensor data may be requested via serial port 0 as a single measurement or streamed continuously And GPS can be directly read from serial port 1 The MNAV100CA can plug into a Crossbow Stargate via the 51 pin connector to form a sophisticated open source inertial platform The MNAV100CA firmware and tool chain is open source for maximum user flexibility PC based MICRO VIEW software is included to facilitate recalibration of the MNAV100CA sensors 1 1 MNAV100CA Features Figure 1 1 MNAV100CA Robotics Sensor Suite e Miniature Low Cost Robotic Vehicle Sensor Suite e Onboard R C Servo Controller Doc 7430 0198 01 Rev A Page 1 Crossb w MNAV100CA User s Manual e Standard 51 Pin Connector for Optional Stargate Auto Pilot Interface e Pre installed with Open Source Inertial Firmware e Sensor Calibration and Servo Control via MICRO VIEW GUI 1 2 Package Contents In addition to your MNAV100CA sensor product you should have e Three Cables o two digital signal cables o one power cable e GPS Antenna e One CD with Manual Open Source Code Software and development tool chain The open source code is an application program that you can use on MNAV100CA and it is a good starting point for you to write you own code The boot loader software is offered for loading the firmware image file into the microcontroller via an RS 232
9. transport cycle as 1 F seconds 0 1 F 0 01 In each cycle the GPS data is transported from time 0 and after these 7 packets are completed the data packet format changes to Scaled Mode Data packet without GPS data see table 4 1 2 The data format is shown as below Table 4 2 GPS Data Transport Cycle MNAV100CA output rate 100Hz GPS output rate F Hz Time Bytes Packet s Length 1 2 3 4 31 32 36 see Table 4 1 3 37 38 38 0 0x5555 N Sensors data GPS Packet Bytes 1 5 Checksum Bytes 1 0 01 0x5555 N Sensors da GPS Packet Bytes 6 10 Checksum 0 02 0x5555 N Sensors da GPS Packet Bytes 11 15 Checksum 0 04 0x5555 N Sensors da GPS Packet Bytes 21 25 Checksum ta ta 0 03 0x5555 N Sensors data GPS Packet Bytes 16 20 Checksum ta ta 0 05 0x5555 N Sensors da GPS Packet Bytes 26 30 Checksum 0 06 0x5555 N Sensors data GPS Packet Bytes 31 35 Checksum 0 07 Scaled Mode Packet without GPS Data see Table 4 1 2 33 Bytes 1 F Scaled Mode Packet without GPS Data see Table 4 1 2 0 01 Page 26 Doch 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 5 MNAV100CA as a Development Platform 5 1 MNAV100CA hardware development platform The MNAV100CA utilizes an ATmegal28L microcontroller to manage two 8 channel 16 bit A D converters GPS receiver 9 servo interfaces the PPM input interface and sensor c
10. 55 3 g 4 5 6 7 North Velocity Cm s LSB firs 8 9 10 11 East Velocity Cm s LSB firs 12 13 14 15 Earth Velocity Cm s LSB firs 16 17 18 19 Longitude 10e 7 Deg LSB firs 20 21 22 23 Latitude 10e 7 Deg LSB firs 24 25 26 27 Altitude mm LSB firs 28 29 ITOW ms LSB firs 30 31 32 33 Reserved 34 35 Checksum Bytes 4 1 7 PPM Data Packet Description Notes 1 TI 0x46 Header 2 Status Byte 1 3 4 Channel 0 5 6 Channe 1 8 Channe 9 10 Channe 11 12 13 14 Channe 15 16 Channe 17 18 1 2 3 Channel 4 5 6 7 Channe MSB first NOTE 1 Bits 0 7 of the Status Byte are the motion direction flags of the servos from channel 0 to 7 respectively For example if Bit 0 is reset the pulse width of channel 0 in PPM signal will be directly output to channel 0 of servo interface If Bit 0 is set the pulse width of channel 0 in PPM signal will be reversed and then output to channel 0 of servo interface When the output rate is 100Hz the GPS data is divided into 7 packets following the sensor data as shown in Table 4 2 Doch 7430 0198 01 Rev A Crossb w MNAV100CA User s Manual Suppose the time is 0 when one complete GPS data packet is valid and the GPS update rate is F Hz F 1 4 Define one complete GPS data
11. EEPROM WF or set the unit s current configuration SF fields which will be lost on power down Writing the default configuration will not take affect until the unit is power cycled Num of fields is the number of words to be written set The list of fields are the field IDs that will be written with the field data respectively The unit will not write to calibration or algorithm fields The unit will not respond to this command Change Baud Rate UU WF 0x01 0x0002 Value Checksum None This changes the default power up baud rate of the MNAV100CA Upon sending the command power cycle the unit for the change to take effect The available 2 byte Value options and their corresponding baud rates are listed below Value Hex Value Baud Rate 0 0x0000 9600 1 0x0001 19200 2 0x0002 38400 3 0x0003 57600 For example to change the default baud rate to 9600 send 0x55555746010002000000A0 Change Packet Type UU WFor SF 0x01 0x0003 Value Checksum None This command allows the user to change the measurement mode If you want to change the packet type only temporarily use SF instead of WF in the command packet above The available 2 byte Value options and their corresponding power up modes are listed below Value Hex Value Measurement Mode Doch 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w y
12. MNAV100CA User s Manual Document 7430 0198 01 Revision A July 2005 Crossb w Crossbow Technology Inc 4145 N First Street San Jose CA 95134 Tel 408 965 3300 Fax 408 324 4840 email info xbow com website www xbow com 2005 Crossbow Technology Inc All rights reserved Information in this document is subject to change without notice Crossbow and SoftSensor are registered trademarks and MNAV is a trademark of Crossbow Technology Inc Other product and trade names are trademarks or registered trademarks of their respective holders MNAV100CA User s Manual Crossb w 1 LA Nn Table of Contents erger Ts e r a EE E EEA ENE i 1 1 1 MNAV100CA Features 1 1 2 Package Contents iio Gases 2 MNAV100CA Overview es ee eee 3 2 1 MNAV100CA Layouts nono a 3 2 2 MNAV100CA Board Size 3 2 3 CONn Ctors moii riaa ina 5 24 POWER pp otto de Ed EE de H 2 5 GPS hest Senke de enn 7 2 6 Pressure gengt 7 2 7 Serial Port nata 7 Quick tard cae 8 3 1 MICRO VIEW Software 8 3 1 1 MICRO VIEW Computer Regurements ce sese eee 8 3 1 2 Install MICRO NEW 8 32 Connections ups uearibatrekttkdedeemi eege 8 3 3 Setting up MICRO VIEW eee 9 3 4 Take Measurements oerna e a EEEE eTa ES 11 MNAV100CA Deals 12 4 1 MNAV100CA Architecture 12 4 2 MNAV100CA Coordinate System sss esse ee eee eee 13 4 3 Measurement Mode 13 4 3 1 Voltage Mode snpra ea es 13 4 3 2 Scaled mod TT 14 4 4 Sensor Calbraton sese eee eee ee
13. Page 21 Crossb w MNAV100CA User s Manual Table 4 1 MNAV100CA Data Packet Format 4 1 1 Voltage Mode Packet Bytes Description Range Units 1 2 Header 0x5555 3 VI 4 5 X Axis Acceleration 0 5 V 6 7 Y Axis Acceleration 0 5 V 8 9 Z Axis Acceleration 0 5 V 10 11 X Axis Angular Rate 0 5 V 12 13 Y Axis Angular Rate 0 5 V 14 15 Z Axis Angular Rate 0 5 V 16 17 X Axis Magnetic Field 1 1 V 18 19 Y Axis Magnetic F ield 1 1 V 20 21 Z Axis Magnetic Field 1 1 V 22 23 X Axis Temperature 0 5 V 24 25 Y Axis Temperature 0 5 V 26 27 Z Axis Temperature 0 5 V 28 29 Abs Pressure 0 5 V 30 31 Pitot P ressure 0 5 V 32 33 Checksum 4 1 2 Scaled Mode Packet Output Rate 100Hz Without GPS Data Bytes Description Range Units 1 2 Header 0x5555 3 E 4 5 X Axis Acceleration 2 2 G 6 7 Y Axis Acceleration 2 2 G 8 9 Z Axis Acceleration 2 2 G 10 11 X Axis Angular Rate 200 200 Deg sec 12 13 Y Axis Angular Rate 200 200 Deg sec 14 15 Z Axis Angular Rate 200 200 Deg sec 16 17 X Axis Magnetic Field 1 1 Gauss 18 19 Y Axis Magnetic Field 1 1 Gauss 20 21 Z Axis Magnetic Field 1 1 Gauss 22 23 X Axis Temperature 200 200 oC 24 25 Y Axis Temperature 200 200 oC Page 22 Doc 7430 0198 01 Rev A
14. Servo PWM Output Figure 4 1 MNAV100CA System Architecture The MNAV100CA analog sensor signals are sampled and converted to digital data at 100Hz The rate gyros and accelerometers data is filtered by five pole Bessel filters and all the sensors are sampled by 16 bit A D converters The firmware inside the onboard processor produces calibrated Page 12 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w angular rate measurements calibrated acceleration measurements and calibrated magnetometer measurements 4 2 MNAV100CA Coordinate System The MNA V100CA coordinate system is shown in Figure 4 2 With the port of the relative pressure sensor facing the front and the mounting plate down the axes are defined as E X axis along the top pointing to the side of the relative pressure sensor y Y axis from the side of LEDs to the side of pitch connectors yew Z axis from the top to the bottom Figure 4 2 MNAV100CA Coordinate System The axes form an orthogonal SAE right handed coordinate system The angular rate sensors are aligned with these same axes The rate sensors measure angular rotation rate around a given axis The rate measurements are labeled by the appropriate axis The direction of a positive rotation is defined by the right hand rule With the thumb of your right hand pointing along the axis in a positive direction your fingers curl around in the positive rotation direction For example if the MNAV100CA i
15. al Crossb w 7 Appendix A Mechanical Specifications 7 1 MNAV100CA Outline Drawing All dimensions are in inches Doch 7430 0198 01 Rev A Page 29 Crossb w MNAV100CA User s Manual 8 Appendix B Sensor Calibration 8 1 Introduction The sensors of the MNAV100CA output voltages which can be converted to the scaled values to represent physical units The zero bias and scale factor are necessary for this conversion So it is necessary to perform a calibration to get the accurate zero bias and scale factor values for the sensors The parameters mentioned above are provided from the factory calibration users can also re calibrate the sensors by using MICRO VIEW software 8 2 Sensor Calibration Procedure using MICRO VIEW When you use the MICRO VIEW software for calibration the software gathers data from the MNAV100CA via RS232 and then processes this data to compute the parameters The calibration procedure involves several steps 1 Place the MNAV100CA with the x axis pointing up on a level surface connect RS232 cable to PC power the MNAV100CA and then wait for 10 minutes 2 Start MNAV VIEW select COM Port Update Rate and set the MNAV100CA in Volt Mode Click on the Calibration button to enter the calibration interface 3 Click on Keep Still keep the unit still and wait for 10 seconds Then click on Finish this Step Step 4 7 Calibrate Scale Factors of Gyroscopes 4 In the gyroscope
16. alibration in the internal EEPROM Refer to Atmel Website at http www atmel com for the datasheet of the ATmega128L 5 2 Using the AVR GCC Toolchain The firmware of the MNAV100CA is compiled under AVR GCC version 20040404 The AVR GCC is a freeware C compiler and assembler that is made available through the GNU project AVR GCC version 20040404 installation software is located at lt CD ROM gt Software Tools WinAVR 20040404 bin install exe These tools may also be obtained directly from http www avrfreaks net or http sourceforge net projects winavr You can refer to these sites for updates and changes to the tools 5 3 Loading the New Application into MNAV100CA The boot loader in the Boot Flash Section of the ATmega128L allows the CPU to program the application flash of the ATmega128L via MNAV100CA Serial Port 0 The Boot Loader Tool for the PC is shipped with the CD ROM located at lt CD ROM gt Software Tools MNAV PC Loader exe Please read the instructions in the GUI of the software before using it Doc 7430 0198 01 Rev A Page 27 Crossb w MNAV100CA User s Manual 6 Limitations 6 1 Installation The MNA V100CA should be mounted as close to the center of gravity CG of your system as possible 6 2 Range Limitations The internal sensors in the NMN AY 100CA are limited to maneuvers of less than 150 deg sec and less than 2 Gs in acceleration Page 28 Doch 7430 0198 01 Rev A MNAV100CA User s Manu
17. and All Channels You can select one of these modes from the Servo Channel menu 3 In Single channel mode move the track bar relevant to servo channel up or down the servo will respond with the specified action you also can input the value 0 65535 in the text frame under the track bar and click on S The servo will respond accordingly 4 In All Channels mode you can move the track bars or input a value in the text frames of 9 channels and then click the button Active All Servo The 9 channel servos will respond simultaneously 5 In Combined mode you can select channels by clicking the relevant checkbox right above the track bars set the value of each channel and then click on Active Selected Servo The selected channel servos will respond simultaneously Page 32 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w Figure 9 1 The Servo GUI of MICRO VIEW Doch 7430 0198 01 Rev A Page 33 Crossb w MNAV100CA User s Manual 10 Appendix D PPM GUI 10 1 Introduction The MNAV100CA provides a PPM interface which can receive and extract the PPM signal from the R C transmitter A convenient GUI is integrated into the MICRO VIEW software as shown in Figure 10 1 10 2 PPM GUI in MICRO VIEW Follow the instructions below to view PPM using MICRO VIEW 1 2 3 4 Power on the MNAV100CA and connect it to a PC start MICRO VIEW set the unit to Scaled mode set the output rat
18. auss 18 19 Y Axis Magnetic Field 1 1 Gauss 20 21 Z Axis Magnetic Field 1 1 Gauss 22 23 X Axis Temperature 200 200 HC 24 25 Y Axis Temperature 200 200 oC 26 27 Z Axis Temperature 200 200 HC 28 29 Abs Pressure 100 10000 m 30 31 Pitot Pressure 0 80 m s 32 49 PPM data packet 50 51 Checksum 4 1 5 Scaled Mode Packet Output rate lt 100Hz with PPM and GPS Data Bytes Description Range Units 12 Header 0x5555 3 ON 4 5 X Axis Acceleration 2 2 G 6 7 Y Axis Acceleration 2 2 G 8 9 Z Axis Acceleration 2 2 G 10 11 X Axis Angular Rate 200 200 Deg sec 12 13 Y Axis Angular Rate 200 200 Deg sec 14 15 Z Axis Angular Rate 200 200 Deg sec 16 17 X Axis Magnetic Field 1 1 Gauss 18 19 Y Axis Magnetic Field 1 1 Gauss 20 21 Z Axis Magnetic Field 1 1 Gauss 22 23 X Axis Temperature 200 200 oC 24 25 Y Axis Temperature 200 200 oC 26 27 Z Axis Temperature 200 200 oC 28 29 Abs Pressure 100 10000 m 30 31 Pitot P ressure 0 80 m s 32 66 GPS data packet 67 84 PPM data packet 85 86 Checksum NOTE The 200 deg sec is digital scaling range of the angular rate sensors The actual measurement range of angular rate sensors is 150 deg sec Page 24 Doch 7430 0198 01 Rev A MNAV100CA User s Manual 4 1 6 GPS Data Packet Crossb w Bytes Description Units Notes 1 2 Header 0x55
19. ber two bytes Between voltage and scaled mode the data packet format is different as below 1 In voltage mode only the voltage outputs of sensors are provided in a 33 byte packet See Table 4 1 1 as reference 2 In scaled mode the output data packet consists of the scaled outputs of sensors 28 bytes the GPS data 35 bytes Table 4 1 6 if available and the PPM data 18 bytes Table 4 1 7 if output rate is less than 100Hz The content and length of the data packet under different conditions is described in the following table Output data packet Output GPS Content Reference rate available In the table Scaled represents Scaled output of sensors GPS1 is a five byte packet divided from the whole GPS packet see Table 4 2 GPS2 is the whole GPS packet see Table 4 1 6 The above table is valid for baud rates 38 400 or higher When the update rate is 100Hz the GPS data is divided into 7 packets each packet contains 5 bytes See Table 4 1 3 and 4 2 as reference Each data packet will begin with a two byte header hex 55 55 and end with a two byte checksum The checksum is calculated in the following manner 1 Byte wise sum packet contents excluding the header and checksum itself 2 The least significant 16 bits is the checksum The packet also contains a byte representing the MNAV100CA working mode The detailed description of the data packet is shown in table 4 1 Doc 7430 0198 01 Rev A
20. ch 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 2 4 Power Supply The MNA V100CA can be powered by using a 4 5V to 16V DC power supply through a 3 pin connector or powered by 3 3V through the5 1 pin connector Pin 1 16 and 31 in Figure 2 3 form a 3 pin connector for the power supply The input voltage can range from 4 5V to 16V The typical power consumption is 1440mA 5 0V and less than 60mA 16V Pin 2 and 17 form a connector for the servo battery Pin 2 is Ground and Pin 17 is the Servo Power For some applications only one battery is used to drive both the MNAV100CA and the servos and the MNAV100CA hardware allows this To enable this power the system from Pin 1 16 and 31 and use a jumper connector to short Pin 17 and 32 Care should be taken to make sure that 1 The supply voltage is the standard servo voltage 2 The power supply has the capability of driving the MNAV100CA and all the servos together Generally the peak current of each servo can be as high as I A If the MNAV100CA is powered through the 51 pin connector it is recommended not to connect a power supply to the 3 pin power supply connector For example plug MNAV100CA onto the Stargate board and power up the Stargate The Stargate and MNAV100CA will work together 2 5 GPS A GPS receiver is integrated into the MNAV100CA A GPS antenna with the MMCX male connector can be directly plugged into the MNAV100CA MMCX connector See Figure 2 1 This
21. cription Command Input Packet Response Description Page 20 MNAV100CA User s Manual None This command allows the user to set the position of the servos the number of servos set in this command ranges from 1 to 9 which is specified as 1 byte num of servos in the input packet The servo channels and their corresponding byte value is listed below Servo Channel ID Byte Value 0 0x07 1 0x03 2 0x06 3 0x02 4 0x00 5 0x01 6 0x05 7 0x04 8 0x08 For example to set the servo 0 to maximum pulse width send 0x55555353 01 07 FFFF 02AC to set TWO servos servo 0 at minimum pulse width and servo 1 at the middle point send 0x55555353 02 07 0000 03 8000 0132 Set Reverse Bits of PPM Signals UU SP lt 1 byte Reverse Bits gt Checksum None This command allows the user to set the motion direction of the servos Bit 0 7 of 1 byte Reverse Bits in this command is the motion direction flags of the servos from channel 0 to 7 respectively For example if Bit 0 is reset the pulse width of channel 0 in PPM signal will be directly output to channel 0 of servo interface If Bit 0 is set the pulse width of channel 0 in PPM signal will be reversed and then output to channel 0 of servo interface Doch 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 4 6 Data Packet Format In general the digital sensor data representing each measurement is sent as a 16 bit num
22. d magnetometers are shown in the text frames Click the little button W next to the text frame if you want to write a parameter of a certain sensor click the button Write all Parameters to EEPROM if you want to write the parameters of all sensors to EEPROM Cycle the power to the MNAV100CA and set MICRO VIEW in Scaled Mode The graphs of the sensor outputs are shown You can verify if the calibration you performed is working well 19 Ki 20 To 21 Doch 7430 0198 01 Rev A Page 31 Crossb w MNAV100CA User s Manual 9 Appendix C Servo control 9 1 Introduction The MNAV100CA provides the ability to control servos which can help users to make a complete control system The MNAV100CA can support a maximum of 9 servo channels You can drive the servos by sending the command Set Servo Output described in 4 5 3 and you also can debug the servos by using the MICRO VIEW software 9 2 Debugging Servos using MICRO VIEW When you use the MICRO VIEW software to debug servos the software outputs commands to the MNAV100CA via RS232 and then the MNAV100CA sends relevant signals to drive the servo See the figure 9 1 for reference Follow the instructions below to debug the servo 1 Power the MNAV100CA and connect it to a PC start MICRO VIEW and then click on Servo GUI to enter the Servo interface 2 MICRO VIEW supports 3 modes for servo control Single Channel Combined Channels
23. e to less than 100Hz and then click on PPM to enter the PPM interface MICRO VIEW supports 8 channels of PPM signal the data from each channel is represented by the position of a bar and also displayed in the relevant text box You can reverse the signal of each PPM channel by clicking the relevant button Rev and the checkbox under this button will display the current status of this channel This change will be stored into EEPROM The CH4 signal works as a switch between PPM and serial port control of servos using R C channel 5 PPM CH4 in PPM GUI If the value of the CH4 signal is more than 10 000 decimal the servos will be controlled by the PPM signal of the R C transmitter Otherwise servos will be controlled by servo setting commands via serial port Page 34 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w PPM GUI x Cl EA EA ee AA A se K El H El El E K S El i ESEESE po PE Figure 10 1 The PPM GUI of MICRO VIEW Doch 7430 0198 01 Rev A Page 35 Crossb w MNAV100CA User s Manual 11 Appendix E Sensors List Table 11 1 shows the sensor information used in MNA V 100CA Table 11 1 MNAV100CA Sensors Sensor Type Sensor Name Manufacture Angular rate ADXRS150ABG Analog Device http www analog com Accelerometer ADXL202 E Analog Device http www analog com Magnetometer HMC1052 Honeywell http www honeywell com Magnetometer HMC1051ZL Honeywe
24. echnology Inc 4145N First Street San Jose CA 95134 Phone 408 965 3300 Fax 408 324 4840 Email info xbow com Website www xbow com
25. eee 15 4 5 Commands us breen ket avataren basar 15 4 5 1 Input Packets nreno a e E RS 16 4 5 2 Output Eackete o ierre nren EEEE E ERE GA 16 4 5 3 Command Li id edad 17 4 6 Data Packet Format 21 MNAV100CA as a Development Platform 27 5 1 MNAV100CA hardware development platfomm eee eee 27 5 2 Using the AVR GCC Toolchain sees esse eee eee 27 Doch 7430 0198 01 Rev A Page i Crossb w MNAV100CA User s Manual 5 3 Loading the New Application into MNAV100CA eee 27 D CLIMAS eegen ee ANE dn aa tees 28 6 1 Installation vicio 28 6 2 Range Lmapong crac cn cnn ni ncrncnos 28 7 Appendix A Mechanical Specifcatons ce sese ee eee 29 7 1 MNAV100CA Outline Drawing sss sss ee sees eee eee 29 8 Appendix B Sensor Calibration sese eee eee eee 30 8 1 re rt e 30 8 2 Sensor Calibration Procedure using MICRO VIEW 00 30 9 Appendix C Servo conrol sse ee esse seene 32 9 1 re e le EE 32 9 2 Debugging Servos using MICRO NIEWEN 32 10 Appendix D PPM OUT 34 10 1 Introduction 34 10 2 PPM GUI in MICRONIENW sss 34 11 Appendix TTT an a a E 36 12 Appendix F Warranty and Support Information sees esse 37 12 e 37 12 2 Contact DIteCtory cuide 37 12 3 Return Proced ros ssenari nereis ce ses ins Eege 37 12 31 A thorzation iio it 37 12 3 2 Identification and Protection sss sese 38 12 3 3 Sealing the Container 38 1233 4 Markit eege 38 12 3 5 Return Shipping Address sese eee eee 38 124 O 38 Page ii Doc 7430 0198 01 Re
26. et Response Packet Description Command Input Packet Response Ping UU PK UU P Pings MNAV100CA to verify communications The ping command does not have data or a checksum to facilitate human interaction from a keyboard Sending the ping command will cause the unit to send a ping response All bytes sent and received during the ping command and responses are ASCII printable characters Query Serial Number and Firmware Version UU GP D Checksum UU D Serial Number Version String Checksum This queries the MNAV100CA for its serial number and firmware version The serial number contains 4 bytes and should be interpreted as two words lowest order word first but with highest order byte of each word sent first For example if the expected serial number is 4003012 or hex 0x003D14C4 then the byte sequence in the serial stream is 0x14C4003D The firmware version is an ASCII string that describes the MNAV100CA firmware version Write Set Fields UU WF lt 1 byte num lt list of lt field Checksum or of fields gt fields gt data gt SF None Doch 7430 0198 01 Rev A Page 17 Crossb w Description Command Input Packet Response Description Command Input Packet Response Description Page 18 MNAV100CA User s Manual This command allows the user to write default power up configuration fields to the
27. header 0x5555 This is the ASCII string UU All communications packets except for the ping command and response end with a two byte checksum The checksum is calculated in the following manner 1 Byte wise sum packet contents excluding the header and checksum itself 2 The least significant 16 bits are the checksum MICRO VIEW is the tool to use when troubleshooting your device MICRO VIEW formulates the proper command structures and sends them over the RS 232 interface You can use MICRO VIEW to verify that the MNAV100CA is functioning correctly MICRO VIEW does not use any commands that are not listed here Doc 7430 0198 01 Rev A Page 15 Crossb w MNAV100CA User s Manual IMPORTANT The commands and MICRO VIEW support the factory firmware If the user makes some changes in the open source code and loads the new image file into the atmegal28L neither the commands nor MICRO VIEW can be guaranteed to work 4 5 1 Input Packets All communications sent to the unit except for the ping command are input packets with the following format lt 2 byte command gt lt variable length data gt lt 2 byte checksum gt This generalized input structure allows input commands to carry data for advanced user interaction All input packets can be no longer than 128 bytes All two byte input commands consist of a pair of ASCII characters As a semantic aid consider the following single character acronyms P packet F fields the
28. ith a cubic demo are displayed RS pwn ml en Dojos ooo o am elise ve e PI Page 10 Figure 3 1 the main window of MICRO VIEW Select the type of sensor data you want to display in Graphs from the Sensor menu You can zoom into the waveform by Shift Click Mouse Left Right Button and pan it by Ctrl Press Mouse Left Button By selecting the submenu Tile or Cascade of Windows you can tile or cascade the sensor Graph windows You can log data to a data file from the Logging menu You can calibrate the MNAV100CA sensors in voltage mode Select Start Cali from the Calibration menu and the calibration interface window will appear See Appendix B for detailed calibration instructions You can debug the servos by selecting Servo from the Servo PPM menu See Appendix C for detailed servo debug Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 8 PPM GUI is enabled when the output rate is less than 100 Hz in scaled mode Select PPM from the Servo PPM menu and the PPM window will appear See Appendix D for detailed instructions 9 You can replay from data file by selecting Load and Replay from the File menu and select submenu Halt or Stop if you want to halt or stop the replay Please note that only the data file logged by MICRO VIEW can be replayed 3 4 Take Measurements Once you have configu
29. ll http www honeywell com Pressure gage MPXV5004GC6U Motorola Freescale htto www freescale com Pressure abs MPXH6115A6U Motorola Freescale htto www freescale com GPS receiver TIM LP u blox http www u blox com To obtain the latest datasheets for these sensors and the GPS receiver please visit the vendor websites listed above Page 36 Doch 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 12 Appendix F Warranty and Support Information 12 1 Customer Service As a Crossbow Technology customer you have access to product support services which include e Single point return service e Web based support service e Same day troubleshooting assistance e Worldwide Crossbow representation e Onsite and factory training available e Preventative maintenance and repair programs e Installation assistance available 12 2 Contact Directory United States Phone 1 408 965 3300 8 AM to 5 PM PST Fax 1 408 324 4840 24 hours Email techsupport xbow com Non U S Refer to website www xbow com 12 3 Return Procedure 12 3 1 Authorization Before returning any equipment please contact Crossbow to obtain a Returned Material Authorization number RMA Be ready to provide the following information when requesting an RMA e Name e Address e Telephone Fax Email e Equipment Model Number e Equipment Serial Number e Installation Date e Failure Date e Fault Description e Will it connect to MICRO VIEW
30. mode outputs 4 3 2 Scaled mode In scaled mode the analog sensors are sampled and GPS data is extracted then converted to digital data and scaled to engineering units The digital data represents the actual value of the quantities measured The sensor data is sent as signed 16 bit integers GPS data for velocity altitude longitude and latitude is sent as signed 32 bit integers and the data for ITOW low 2 byte is sent as 16 bit unsigned integer See the Data Packet Format section for a complete description of the scaled mode outputs To convert the acceleration data into G s use the following conversion accel data GR 2 where accel is the actual measured acceleration in G s data is the digital data sent by the MNAV100CA and GR is the G Range 2 G 1 G 9 80 m 2 SL To convert the angular rate data into degrees per second use the following conversion rate data RR 2 where rate is the actual measured angular rate in sec data is the digital data sent by the MNAV100CA and RR is the Angular rate Range 200 sec To convert the magnetic data into Gauss use the following conversion magn data MR 2 where magn is the actual measured magnetic in Gauss data is the digital data sent by the MNAV100CA and MR is the Magnetic Range 2 Gauss To convert the temperature data into C use the following conversion temp data TR 2 where temp is the actual measured temperature in C data is the digital data sen
31. nts The following are minimum capabilities that your computer should have to run MICRO VIEW successfully e CPU Pentium class e RAM Memory 64MB minimum e Hard Drive Free Memory 80MB e Operating System Windows 2000 XP 3 1 2 Install MICRO VIEW To install MICRO VIEW in your computer 1 Insert the CD in the CD ROM drive 2 Run lt CDROM gt A MICRO VIEW 1 0 setup exe follow the wizard to install MICRO VIEW 3 2 Connections The MNAV100CA is shipped with 3 cables two digital signal cables and one power cable to connect the MNAV100CA to a PC Serial port and power supply Follow the instructions below 1 Connect the 3 pin end of the power cable to the power pins 1 16 and 31 of Connector 1 of the MNAV100CA 2 Connect the other end of the power cable to the batteries or other DC power supply Page 8 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 6 WARNING Do not reverse the power leads Applying the wrong power to the MNAV100CA can damage the unit There is no reverse voltage protection and Crossbow Technology is not responsible for resulting damage to the unit Table 3 1 Power Cable Connections Wire Color Function Red Power Input 4 5 16V Brown Power Ground 3 Connect the 3 pin end of the digital signal cable to the RS232 pins 3 18 and 33 of Connector 1 of the MNAV100CA 4 Connect the 9 pin end of the digital signal cable to the serial port of your computer Table
32. red MICRO VIEW to work with your MNAV100CA pick the kind of measurement you wish to see The Graphs for rates acceleration magnetic flux or pressure can be displayed Now you re ready to use the MNAV100CA Doch 7430 0198 01 Rev A Page 11 Crossb w MNAV100CA User s Manual 4 MNAV100CA Details 4 1 MNAV100CA Architecture The MNAV100CA is a nine axis measurement system that outputs acceleration angular rates and magnetic orientation The MNAV100CA consists of the following subsystems 1 Inertial Sensor Array This is an assembly of three accelerometers three gyros rate sensors with temperature sensors 2 Three axis magneto resistive magnetometers that can be used to compute heading 3 A GPS receiver for position and velocity measurement 4 A static pressure sensor and a dynamic pressure sensor that can be used to compute the altitude and airspeed 5 Servo Driving Circuit The integrated circuit that can support up to 9 servos 6 The R C Receiver PPM interface that can be used to read the PPM signal from the R C receiver 7 Data processing module which receives the signals from all the sensors GPS and PPM interface and transmits digital data via the serial link and outputs standard servo signals See the Appendix E for the sensor list These blocks are shown in the system block diagram below in Figure 4 1 NA SW Sensor Servo RS 232 Data uy gt Atmel 128 KS A Bue W z Connector LS 8 Channel
33. s Step 12 Place the MNAV100CA with the z axis pointing up on the level surface click on Z Up keep the MNAV100CA still for 10 seconds and then click on Finish This Step 13 Place the MNAV100CA with the z axis pointing down on the level surface click on Z Down keep the MNA V100CA still for 10 seconds and then click on Finish This Step 14 To calibrate magnetometers for relative field estimate in magnetometers section repeat steps 8 13 Step 15 17 Calibrate the zero bias of the pressure sensors 15 In the pressure section click on Ground Level Zero keep the MNAV100CA still for 10 seconds and then click on Finish This Step 16 Keep the port of the pressure sensor open to the static air click on Static Zero keep the MNAV100CA still for 10 seconds and then click on Finish This Step 17 The default scale factors of absolute pressure and pitot pressure have been shown in relevant sections and stored in EEPROM 18 Click on Check Cali Result if Pass is displayed the calibration result is valid if Failure with some help message is shown please follow the instructions in the help message Click the little button R next to the text frame if you want to read the parameter of a certain sensor click on Read all Parameters from EEPROM if you want to read the parameters of all sensors from EEPROM The Zero Bias and Scale Factor of gyros accelerometers an
34. s sitting on a level surface and you rotate it clockwise on that surface this will be a positive rotation around the z axis The x and y axis rate sensors would measure zero angular rates and the z axis sensor would measure a positive angular rate 4 3 Measurement Modes The MNAV100CA can be set to operate in one of two modes Voltage mode or Scaled mode The measurement mode selects the information that is sent in the data packet over the RS 232 interface See the Data Packet Format section for the actual structure of the data packet in each mode The default system operation is Voltage mode 4 3 1 Voltage Mode In voltage mode the analog sensors are sampled and converted to digital data with 0 1 mV resolution The digital data represents the direct output from the sensors The data is 16 bit for each sensor and is sent as 2 bytes in the data packet over the serial interface The data of the accelerometers Doch 7430 0198 01 Rev A Page 13 Crossb w MNAV100CA User s Manual absolute pressure sensor and pitot pressure sensor are sent as unsigned integers where as the data of the angular rates temperatures and magnetometers are sent as signed integers The voltage data is scaled as for angular rate and temperature voltage 2 5V data 5 V 2 for other sensor voltage data 5 V 2 where voltage is the voltage measured at the sensor See the Data Packet Format section for a complete description of the voltage
35. se are settings or data contained in the unit R read pertains to default non volatile fields G get pertains to current fields or settings W write pertains to default non volatile fields S set pertains to current fields or settings G and S refer to current fields Modifying current fields with S takes effect immediately and are lost on a power cycle R and W refer to default power up fields These fields are stored in non volatile memory and determine the unit s behavior on power up Modifying default fields takes effect on the next power up and thereafter There are 5 user input commands PK GP WF SF and SS NOTE The MNAV100CA commands are case sensitive 4 5 2 Output Packets All communications received from the unit except for the ping response are output packets with the following format lt 1 byte packet type gt lt variable length data gt lt 2 byte checksum gt All packet types will be single printable ASCII characters All output packets can be no longer than 128 bytes Page 16 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w There are 5 output packet types P D S A and N The P is response type packet which is sent in response to a Ping request The remaining packets are available using the get packet command polling or can be configured for continuous fixed rate output 4 5 3 Command List Command Input Packet Response Packet Description Command Input Pack
36. section select the angle you want to rotate through when you calibrate the scale factors of the gyros 5 Click on X Rotate rotate the MNAV100CA through the angle specified in step 4 around the positive x axis direction and then click on Finish This Step 6 Click on Y Rotate rotate the MNAV100CA through the angle specified in step 4 around the positive y axis direction and then click on Finish This Step 7 Click on Z Rotate rotate the MNAV100CA through the angle specified in step 4 around the positive z axis direction and then click on Finish This Step Step 8 13 Calibrate Bias and Scale Factors of Accelerometers 8 In the accelerometers section place the MNAV100CA with the x axis pointing up on the level surface click on X Up keep the unit still for 10 seconds and then click on Finish this Step Page 30 Doch 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w 9 Place the MNAV100CA with the x axis pointing down on the level surface click on X Down keep the MNAV100CA still for 10 seconds and then click on Finish This Step 10 Place the MNAV100CA with the y axis pointing up on the level surface click on Y Up keep the MNAV100CA still for 10 seconds and then click on Finish This Step 11 Place the MNAV100CA with the y axis pointing down on the level surface click on Y Down keep the MNAV100CA still for 10 seconds and then click on Finish Thi
37. t by the MNAV100CA and TR is the Temperature Range 200 c Page 14 Doc 7430 0198 01 Rev A MNAV100CA User s Manual Crossb w To convert the absolute pressure data into altitude and velocity use the following conversion press data PR 2 where press is the altitude in meters and velocity in m s data is the digital data sent by the MNAV100CA and PR is the pressure Range 10000m for absolute pressure and 80m s for pitot pressure The GPS data is directly scaled and represents velocity in cm s altitude in millimeters longitude amp latitude in 10e 7 degrees and ITOW in milliseconds 4 4 Sensor Calibration A calibration procedure performed at the factory will provide initial parameters for sensors The user can also re calibrate sensors using the MICRO VIEW software The firmware will then apply these parameters to each of the sensors to provide a scaled output e Rate sensors are calibrated for bias and scale factor e Accelerometers are calibrated for bias and scale factor e Magnetometers are calibrated for bias and scale factor e Pressure sensors are calibrated for bias and default scale factor is stored in EEPROM See Appendix B for detailed calibration instructions 4 5 Commands The MNAV100CA has a simple command packet structure You send a command to the MNAV100CA over the RS 232 interface and the MNAV100CA will execute the command All communications to and from the unit are packets that start with a two byte
38. v A MNAV100CA User s Manual Crossb w About this Manual The following annotations have been used to provide additional information NOTE Note provides additional information about the topic M EXAMPLE Examples are given throughout the manual to help the reader understand the terminology r IMPORTANT This symbol defines items that have significant meaning to the user 6 WARNING The user should pay particular attention to this symbol It means there is a chance that physical harm could happen to either the person or the equipment The following paragraph heading formatting is used in this manual 1 Heading 1 1 1 Heading 2 1 1 1 Heading 3 Normal Doch 7430 0198 01 Rev A Page iii MNAV100CA User s Manual Crossb w 1 Introduction The MNAV100CA is a calibrated digital sensor system with servo drivers designed for miniature ground and air robotic vehicle navigation and control All sensors required for complete airframe stabilization and navigation are integrated into one compact module The MNAV100CA includes 3 axis accelerometers 3 axis angular rate sensors and 3 axis magnetometers static pressure altitude and dynamic pressure airspeed sensors and a GPS receiver module The MNAV100CA R C servo controller allows direct connection of R C servos to MNAV100CA The R C Receiver PPM interface allows for software interpretation of R C receiver commands PPM and switching between software control and R C

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