3-Space Sensor Embedded Evaluation Kit User`s Manual
Contents
1. 3 Space Sensor V 3 Space Sensor Embedded Evaluation Kit Ultra Miniature Attitude amp Heading Reference System User s Manual V 3 Space Sensor Embedded Evaluation Kit Ultra Miniature Attitude amp Heading Reference System User s Manual Table of Contents 1 Usage Satety Considerations sive oo tb c GERE el lo t e e be e de deve te e e eg eee ite 1 1 1 Usage Conditions T 1 2 Technical Support and Repairs ctt eom EC RR CU HE des 1 2 3 Space Embedded Evaluation gt gt ___ ___ lt __ 2 2 1 Introduction ONS zx eie emer COR PR P E ERE GREC cd cash NU 2 3 Hardware Overview i eee elena em UR RE eie e CS HEN e eda eie eget ete ee p ed 2 3 1 3 Space Sensor Embedded Evaluation Kit 2 3 2 3 Space Sensor Embedded Modules deed 3 Space Sensor Embedded Pin Functions 21 ede eee eee DH de Y RERO tnra 2 4 Block Diagram of Evaluation Kit Operation 2 5 Electrical Characteristics eeseeeeeeeeens d 2 5 1 Absolute Maximum ___ 6 2 5 2 DC Characteristics 6 2 5 3 USB Characteristics ede beet 6b ee dente te aded eb ie p Hl 6 2 5 4 RS232 Serial Characteristics eese ERE EE tes ME 6 22. Return Data Bytes 1 Return Data Format Byte returned from the SPI transaction Description This command sends the byte specified by the first command parameter over the SPI interface The SS line state is unchanged and the result of the SPI transaction is returned as a single byte Function SPI Send String Receive String Command Value 246 0 Data Bytes Varies 1 256 bytes Data Format count count byte Return Data Bytes Varies 0 255 bytes Return Data Format byte count String of requested bytes Description This command sends a number of bytes specified by the first command parameter over the SPI interface and subsequently returns the number of bytes as received from the SPI interface The SS line state is unchanged and the number of bytes returned will always match the number specified by the first command parameter Function SPI Send String Receive String with Select Command Value 247 OxF7 Data Bytes Varies 1 256 bytes Data Format count count byte Return Data Bytes Varies 0 255 bytes Return Data Format byte count String of requested bytes Description This command selects the SPI slave sends a number of bytes specified by the first command parameter over the SPI interface and subsequently returns the number of bytes as received from the SPI interface and des
3. Screen nn notet ee ro REESE E HR D UY TTE d ex 14 4 3 Serial SPI Emulation Protocol Command n nn n nana nnns na User s Manual 1 Usage Safety Considerations 1 1 Usage Conditions Do not use the 3 Space Sensor in any system on which people s lives depend life support weapons etc Because of its reliance on a compass the 3 Space Sensor will not work properly near the earth s north or south pole Because of its reliance on a compass and accelerometer the 3 Space Sensor will not work properly in outer space or on planets with no magnetic field Care should be taken when using the 3 Space Sensor in a car or other moving vehicle as the disturbances caused by the vehicle s acceleration may cause the sensor to give inaccurate readings Because of its reliance on a compass care should be taken when using the 3 Space Sensor near ferrous metal structures magnetic fields current carrying conductors and should be kept about 6 inches away from any computer screens or towers The 3 Space Embedded module and Embedded Evaluation Kit contain components that are sensitive to electro static discharge Care should be taken when handling the module or evaluation kit board PCB layout can affect the performance of the 3 Space Embedded module Placing magnetic components ferrous metal containing components high current conductors and high frequency digital signal lines should
4. module without the need for making wire connections to a hardware SPI host Specific details of the TSS EEVK serial SPI emulation protocol and its control commands are discussed in the following pages 4 2 Serial SP Emulation Protocol Commands 4 2 1 Binary SPI Emulation Protocol The binary packet size can be one or more bytes long depending upon the nature of the command being sent to the TSS EEVK Each packet consists of an initial command value specifier byte followed by zero or more command data bytes Each binary packet is formatted as illustrated in figure 1 below C d gt First Byte Command Value E Selected from the command chart Command Data Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Data Figure 1 Typical Binary Command Packet Format Binary Return Values When a TSS EEVK command is called in binary mode any data it returns will also be returned as raw bytes in binary format 12 User s Manual 4 2 2 ASCII Text Packet Format ASCII text command packets are similar to binary command packets but are received as a single formatted line of text Each text line consists of the following an ASCII colon character followed by an integral command id in decimal followed by a list of ASCII encoded integer parameter values followed by a terminating newl
5. Emulator Status LEDs User s Manual 2 5 Electrical Characteristics 2 5 1 Absolute Maximum Ratings Operating Temperat te o eie coi e E e b axes 40C 85C 40F 185F Storage 60C 150C 76F 302F Supply Voltage on TSS EM VIN Pin with respect to Ground 0 3v 6 5v Supply Voltage on TSS EM VUSB Pin with respect to Ground 0 3v 6 5v Supply Voltage on TSS EEVK USB Port with respect to Ground 0 3v 6 5v Supply Voltage on TSS EEVK EXT PWR Jack with respect to Ground 0 3v 6 5v Voltage on I O Pins with respect to Ground sse 0 3v 5 5v Current Sink Source from 4mA 4 NOTICE Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only and functional operation of the device at these or other conditions beyond those indicated in the operational sections of this specification 1s not implied Exposure to absolute maximum rating conditions for extended periods may adversely affect device reliability 2 5 2 DC Characteristics The following characteristics are applicable to the operating temperature range TA 40 C to 85 Symbol Parameter Min Typ Max Units V
6. paynoi pue jeu6is N3 EZ 102 02 wasis uoqusje pe e pue suld VI0I 8 pepeyos e 013 551 ZLOZIGIZ 5851 uo suld 88 I 8 pue HOS 148 Paddems Z L0CI9CIL pieoq Jo au woy oi jspeau od uo Suid peus Z LOz SZ WM pue 5031 2102 104 Pappy Z LOZ 13 381 Uo suid pue XL 09009M8 2021321 16205 881 uo suld pauous jsurefie oj 91d pappv Z LOZISL E pueog IX penpaquia 10sueg aam au SI SIUL 102 176 eaNnos ava LNnoM tH guo I6V95 cgi 2 J0138uu05 1NS ce eno uoo BuueeuiDu31s0 A MMM oul 2102 8002 0 IX uonenje 3 NWI eoeds vL MA33SSL __ 18 User s Manual Hex Decimal Conversion Chart Second Hexadecimal digit 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 1 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 2 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 3 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 4 064 065 066 067 068 069 070 071 072 07
7. rate selection bytes are as follows Mode enum SPI Data Order Details 0 reset value 0 MSB First CPOL 0 CPHA 0 DORD 0 1 1 MSB First CPOL 0 CPHA 1 DORD 0 2 2 MSB First CPOL 1 CPHA 0 DORD 0 3 3 MSB First CPOL 1 CPHA 1 DORD 0 4 0 LSB First CPOL 0 CPHA 0 DORD 1 5 1 LSB First CPOL 0 CPHA 1 DORD 1 6 2 LSB First CPOL 1 CPHA 0 DORD 1 7 LSB First CPOL 1 CPHA 1 DORD 1 Upon reset the SPI rate will revert to rate setting 0 SPI Mode 0 MSB first Function Get SPI Mode Command Value 251 OxFB Return Data Bytes 1 Return Data Format byte Enum byte specifying the SPI mode currently selected Description This command reads the SPI mode setting For possible rate values see the description of command 250 above Upon reset the SPI rate will revert to mode setting 0 SPI Mode 0 MSB first 16 User s Manual Function Command Test TSS EM Command 230 Command Value 252 OxFC Return Data Bytes 32 Return Data Format Data as returned from TSS EM command 230 byte x 32 Description This command issues an entire command sequence for command 230 of the TSS EM module This command is useful for easily generating a known working timing correct SPI command sequence for the TSS EM module for test purposes or oscilloscope capture purposes For more complex commands use the general SPI commands Function Command Test Command Value 253 OxF
8. the external connector to the VIN pin of the TSS EM module This option may be selected if either serial or SPI communication is desired A jumper placed in position 3 routed the 3 3V regulated power to the VIN pin of the TSS EM module This regulator is powered from either USB or the AC adapter The main use of this is to power the TSS EM module with a typical 3 3v power supply without USB enumeration Note the TSS EM module can be powered from an external power source via the external break out pin pads by removing the jumper from all positions of jumper JP2 3 2 Configuring the TSS EEVK for use with USB When USB use of the TSS EEVK 15 desired perform the following steps 1 2 3 4 5 Ensure that the power switch is in the off position Ensure that the TSS EM module is correctly installed in the socket Ensure that jumper JP2 is set to position 1 Connect the mini USB connector to an available USB port on the host system using an appropriate cable Power the system on The TSS EM module will enumerate and create a virtual COM port to facilitate communication Refer to the TSS EM User s Manual for detailed information describing the TSS EM module communication protocol 3 3 Using the TSS EEVK with RS232 Serial When RS232 serial use of the TSS EEVK 15 desired perform the following steps 1 2 3 4 Mi Ensure that the power switch is in the off position Ensure that the TSS EM module is correctly installe
9. unique socket that allows for connection to the castellated edge SMT pads of the TSS EM module without soldering To insert a TSS EM module into the TSS EEVK perform the following steps 1 2 3 Ensure that the TSS EEVK 15 powered off and you are working in a static ESD safe work area Ensure that the TSS EEVK socket retention bar is either removed or in the open position Insert the TSS EM module into the socket at a 15 degree to 25 degree angle Be sure to observe correct orientation and pin alignment and be sure that the edge of the module is fully contacting the edge of the socket Gently push the module down into the socket such that the spring contacts are equally compressed Slide the socket retention bar toward the module until it is fully seated You may need to alternate pressing gently on each side of the compression bar to ensure that it is fully engaged 3 1 2 Removing TSS EM Modules from the TSS EEVK Socket To remove a TSS EM module from the TSS EEVK perform the following steps 1 2 3 Ensure that the TSS EEVK is powered off and you are working in a static ESD safe work area Gently put pressure on the center of the TSS EM module in the socket Gently slide the TSS EEVK socket retention bar away from the module until it is fully in the open position You may need to alternate applying pressure on each side in a slight wiggling or rocking action to open the socket retention bar Remove pressure from the TSS EM m
10. 3 074 075 076 077 078 079 amp 5 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 6 096 097 098 099 100 101 102 103 104 105 06 107 108 09 10 111 12 113 114 15 116 117 118 119 120 121 22 123 124 25 26 127 8 28 129 130 31 132 133 134 135 136 137 38 139 140 41 42 143 z 9 44 145 146 47 148 149 150 151 152 153 54 155 156 57 58 159 gt 4 60 161 162 63 164 165 166 167 168 169 70 171 172 73 74 175 B 76 177 178 79 180 181 182 183 184 185 86 187 188 89 90 191 92 193 194 95 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 Notes 19
11. 5 5 SPI CharacteristlCs siih 2 8 Axis Assignment 8 3 Using the TSS EEVK x 9 3 1 Initial Hardware dnte iriri is ere cease ede Pete ee da Tek cbe een aee tee deeds leds oae dee due eoa 9 3 1 1 Inserting TSS EM Modules into the TSS EEVK Socket sessi 9 3 1 2 Removing TSS EM Modules from the TSS EEVK sese en ener nennen 9 3 1 3 Communication Selection amp Routing Jumper JP1 sss enne nne tenenti enne 10 3 1 4 Power Selection amp Routing Jumper 2 10 3 2 Configuring the TSS EEVK for use with USB 10 3 3 Using the TSS EEVK with RS232 Serial 10 3 4 Using the TSS EEVK with RS232 SPI Emulation ERU 3 5 Using the TSS EEVK with Logic Level Serial 11 3 6 Using the TSS EEVK with Logic Level 11 4 TSS EEVK Serial SPI Emulation 12 4 1 Serial SPI Emulation Protocol Overview cte eer er te Re 12 4 2 Serial SPI Emulation Protocol Commands sess ener 12 4 2 1 Bmary SPI Emulation Protocols nece de eser eei sts egt i bene 12 42 2 ASCIL Text Packet Forrnat scere edat OO PORE RR HI OC epe bo edidere 13 4 2 2 ASCH Text Help
12. D Data Bytes 2 Data Format command numBytes command byte to be issued to the TSS EM followed by the number of bytes to be returned from that command Return Data Bytes Varies 1 255 Return Data Format byte count String of requested bytes as returned from TSS EM command specified by the command byte in parameter 0 Description This command issues an entire command sequence for the TSS EM module The command is specified by parameter byte 0 and the number of expected return bytes is specified by parameter 1 This command is useful for easily generating a known working timing correct SPI command sequence for the TSS EM module for test purposes or oscilloscope capture purposes For more complex commands use the general SPI commands 17 User s Manual IX Append tic Circuit Schema suonipuoo pons jenied piove o AE 90 01 GO pue 01 uo Jemod Z LOZ F suonipuo Jenued piove 0 096 0 9 2102 yona Jamod ssed q 0 pue Z LOZIZZ C 381 amod ASN JO Buipaapioeq oj 0 Pappy Z LOZIZZ Z 1 Ualp s Ueu 88 0 JaMOd 0 SBUIYMS ISIP Z LOZ CCIZ X08I MM seu 85 10 29 02 BunutueiBord YM 9I 0 0994 Z LOZ LZ Z NOW 0
13. IN Operating Supply Voltage on TSS EM VIN pin 32 3 3 6 0 VusB Operating Supply Voltage on TSS EM VUSB pin 3 8 5 0 6 0 V VEXTP Operating Supply Voltage on TSS EEVK EXT_PWR Port 3 2 33 6 0 V VUSBP Operating Supply Voltage on TSS EEVK USB Port 3 8 5 0 6 0 V VIL Input Low level Voltage 0 3 0 8 V VII Input High level Voltage 2 0 5 5 V VoL Output Low level Voltage 0 4 V Output High level Voltage 2 6 V ToL Output Low level Current 4 mA IoH Output High level Current 4 mA Input Capacitance 7 pF Active Current Consumption 45 60 mA 2 5 3 USB Characteristics The on chip USB interface complies with the Universal Serial Bus USB v2 0 standard parameters related to the USB interface can be found within the USB 2 0 electrical specifications 2 5 4 RS232 Serial Characteristics The on chip RS232 Serial interface is compatible with any RS232 compliant serial interface The interface utilizes a minimum wire configuration of three wires a TxD serial output and an RxD serial input and a ground wire The TSS EEVK when used in Serial SPI Emulation mode supports communication settings of 8N1 8 data bits no parity 1 stop bit format and a baud rate of 115200 The TSS EM module uses asynchronous serial communication settings of 8N1 8 data bits no parity 1 stop bit format and supports the following standard baud rates 1200 2400 4800 9600 19200 28800 38400 57600 115200 230400 460800 921600 The fa
14. be avoided during PCB layout The 3 Space Embedded Evaluation Kit contains a special socket for connecting 3 Space Embedded modules Ensure that power is removed from the board when inserting or removing 3 Space Embedded modules 1 2 Technical Support and Repairs User s Manual 2 3 Space Embedded Evaluation Kit Overview 2 1 Introduction The 3 Space Sensor T Embedded Evaluation Kit TSS EEVK is a special interface board designed to simplify interfacing and experimenting with the 3 Space Sensor Embedded module AHRS systems The TSS EEVK provides the following features Special socket accepts 3 Space Sensor Embedded modules without soldering or modification USB 2 0 interface e RS 232 interface Serial SPI interface emulation Break out pads for all 3 Space Sensor Embedded module pins Jumper configurable power options allow USB power external adapter power pin pad power Jumper configurable RS232 communication routing Power switch Mounting holes and threaded standoffs ease mechanical fastening Status LEDs The 3 Space Sensor Embedded Evaluation Kit is a packaged as a 94mmx67mmx 152mm circuit board with special carrier socket for installation of a 3 Space Sensor Embedded module The board includes mounting holes and threaded standoffs to allow the TSS EEVK board to be mechanically fastened to a target system during evaluation 2 2 Applications Robotics Motion capture Positioning and
15. cribing the TSS EEVK SPI emulation command protocol 3 5 Using the TSS EEVK with Logic Level Serial When logic level serial communication use of the TSS EEVK 15 desired perform the following steps 1 2 3 4 Ensure that the power switch 1s in the off position Ensure that the TSS EM module is correctly installed in the socket Ensure that jumper JP2 is set to select the appropriate power source and that that power source is connected Ensure that jumper JP1 is set to position 3 This disables all routing of serial communication signals to the TSS EM and allows the serial communications signals pins to be connected to an alternate source Connect the RxD and TxD break out pan pins of the TSS EM to the logic level TxD and RxD signals respectively of the desired host system Note that theses pins are designed with a native logic level of 3 3v but are 5v tolerant Also note that the two systems must also have a common ground thus the grounds of the TSS EEVK and the host system may need to be connected Power the system on The TSS EM module will now be available for communication via logic level serial Refer to the TSS EM User s Manual for detailed information describing the TSS EM module communication protocol 3 6 Using the TSS EEVK with Logic Level SPI When logic level SPI use of the TSS EEVK is desired perform the following steps 1 2 3 4 Ensure that the power switch is in the off position Ensure that the TSS EM m
16. ctory default baud rate 15 115200 User s Manual 2 5 5 SPI Characteristics The Serial Peripheral Interface or SPI is a full duplex synchronous serial communication standard that is commonly supported on many micro controllers and embedded systems The SPI interface is implemented as an SPI mode 0 slave device This means that the SPI clock polarity is 0 CPOL 0 and the SPI clock phase is 0 CPHA 0 Bytes are transferred one bit at a time with the MSB being transferred first The on board SPI interface has been tested at speeds up to 6MHz The diagram below illustrates a single complete SPI byte transfer Cycle Number SCK from host MOSI X 95 5 X GER GE s X s X 1 pus from host MISO from module ISS from host State Undefined The diagram and parameter table below illustrates additional timing requirements and limits of the SPI interface SCK SPlsckamosi MOSI SPlscxemiso MISO Symbol Parameter Min Max Units SPIHCLK SPI Clock Cycle Period 2 80 ns SPIsck2miso SPI SCK falling to MISO Delay 26 5 ns SPImosizsck SPI MOSI Setup time before SPI SCK rises 0 ns SPIsck2vosi SPI MOSI Hold time after SPI SCK rises 1 5 ns User s Manual 2 8 Axis Assignment 3 Space Sensor product family members have re mappable axis assignments and axis directions This flexibility allows axis assignment a
17. d in the socket Ensure that jumper JP2 is set to select the appropriate power source and that that power source is connected Ensure that jumper JP1 is set to position 1 This routes the serial communication signals to the TSS EM module Connect the DB9 serial connector to the RS232 serial port on the host system using an appropriate cable Power the system on The TSS EM module will now be available for communication via the COM port to which the system is attached Refer to the TSS EM User s Manual for detailed information describing the TSS EM module communication protocol 10 User s Manual 3 4 Using the TSS EEVK with RS232 SPI Emulation When RS232 SPI Emulation use of the TSS EEVK is desired perform the following steps 1 2 3 4 m Ensure that the power switch is in the off position Ensure that the TSS EM module is correctly installed in the socket Ensure that jumper JP2 is set to select the appropriate power source and that that power source is connected Ensure that jumper JP1 is set to position 2 This routes the serial communication signals to the TSS EEVK SPI emulation processor on the TSS EEVK board Connect the DB9 serial connector to the RS232 serial port on the host system using an appropriate cable Power the system on The TSS EM module will now be available for communication via the COM port to which the system is attached Refer to the section 4 of this manual for detailed information des
18. e ASCII digits are used to in integer and floating point values the ASCII newline character is used to signify the end of an ASCII command packet r the ASCII return character can also be used to signify the end of an ASCII command packet b the ASCII backspace character can be used to backup through the partially completed line to correct errors If a command is given in ASCII mode but does not have the right number of parameters the entire command will be ignored and an error message will result Sample ASCII commands 240 Get Product String 242 Set SPI Select Line Low 244 255Xn Send Byte Value 255 to SPI Interface ASCII Return Values values are returned in ASCII text format when an ASCII format command is issued Each command response returns the command response data followed by an additional carriage return and line feed To read the return data simply read data characters sequentially until a Windows newline a carriage return and a line feed is encountered ASCII commands that return multiple data items return comma separated lists of integers 13 User s Manual 4 2 2 ASCII Text Help Screen When connected a single ASCII question mark character will result the TSS EEVK returning an ASCII table of commands supported by the TSS EEVK SPI Emulator 4 3 Serial SPI Emulation Protocol Command Details 4 3 1 TSS EEVK Serial SPI Emulator Protocol Command Chart The tab
19. elects the SPI slave The SS line state is set low during transfer and the number of bytes returned will always match the number specified by the first command parameter 15 User s Manual Function Set SPI Rate Command Value 248 OxF8 Data Bytes 1 Data Format byte Enum byte specifying the SPI rate to be used Description This command sets the SPI transfer rate according to rate specified by the enum in parameter byte 0 Possible rate selection bytes are as follows Rate enum value SPI Rate 0 reset value 6 Mhz 1 3Mhz 2 1 5 Mhz 3 750 Khz 4 375 Khz 5 187 Khz 6 93 75 Khz Upon reset the SPI rate will revert to rate setting 0 6 Mhz Function Get SPI Rate Command Value 249 OxF9 Return Data Bytes 1 Return Data Format byte Enum byte specifying the SPI rate currently selected Description This command reads the SPI transfer rate setting For possible rate values see the description of command 248 above Upon reset the SPI rate will revert to rate setting 0 6 Mhz Function Set SPI Mode Command Value 250 OxFA Data Bytes 1 Data Format byte Enum byte specifying the SPI mode to be used Description This command sets the SPI transfer rate according to rate specified by the enum in parameter byte 0 Possible
20. ine character The command id and parameter values are given as positive decimal integers The ASCII encoded command values must be separated by an ASCII comma character or an ASCII space character Thus legal command characters are the colon the comma the digits 0 through 9 the new line the carriage return the space and the backspace When a command calls for an integer or byte sized parameter the floating point number given for that parameter will be interpreted as being the appropriate data type For simplicity the ASCII encoded commands follow the same format as the binary encoded commands but ASCII text encodings of values are used rather than raw binary encodings Each ASCII packet is formatted as shown in figure 2 commana para M EN Bn End of Packet The ASCII newline character Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Value Selected from the command chart in decimal Start of ASCII Packet Indicated by the colon character Figure 2 Typical ASCII Command Packet Format Thus the ASCII packet consists of the the following characters the ASCII colon character signifies the start of an ASCII text packet the ASCII comma character acts as a value delimiter when multiple values are specified 0 9 th
21. ion during USB mode use 10 USBD USB Data Plus Only requires connection during USB mode use 11 VUSB 5v USB Power Supply Input Only requires connection during USB mode use 12 VIN Voltage Input 3 3v 6 0v Only required when USB power is not being used For convenience of interconnection or probing all TSS EM module pin signals are available on the TSS EEVK breakout pads For full documentation and complete specifications pertaining to the TSS EM module refer to the 3 Space Sensor Embedded User s Manual and other documentation which can be found on line at http www 3SpaceSensor com User s Manual 2 4 Block Diagram of Evaluation Kit Operation RS232 Serial Host System USB 2 0 Host System External Power Power Selection amp Routing Jumper JP2 Configuration 9 Pin Serial Port Mini USB Connector RS232 Level Shifter TSS Embedded Processor USB 2 0 Interface Asynchronous Serial Interface Interface A SPI Slave USB Mouse amp Joystick Emulation Final Orientation Non volatile Calibration amp Performance Settings Kalman Filter Scale Bias Normalization amp Error Compensation 3 Axis Accelerometer Temperature 3 Axis Sensor Rate Gyro 3 Axis Compass Serial Selection amp Routing Jumper JP1 Configuration Serial SPI
22. le below summarizes the commands supported by the TSS EEVK when used in Serial SPI Emulator mode Byte Function Parameter Bytes Response Bytes FO 240 Get Product String None byte x 16 product string F1 241 Get Version String None byte x 8 version string F2 242 SPISelect Low None None F3 243 SPI Select High None None F4 244 SPI Send Byte byte None F5 245 SPI Send Byte Receive Byte byte byte F6 246 SPI Send String Receive String count count byte count byte F7 247 SPI Send String Receive String with Select count count byte count byte F8 248 Set SPI rate rate enum None F9 249 Get SPI rate None rate enum FA 250 Set SPI Mode SPI Mode enum None FB 251 Get SPI Mode None SPI Mode enum FC 252 Command Test TSS EM Command 230 None byte x 32 command response FD 253 Command Test command numBytes byte x numBytes 4 3 1 TSS EEVK Serial SPI Emulator Protocol Command Chart In the tables below you ll find a description of each of the TSS EEVK Serial SPI Emulator commands and a brief explanation of how and where each command would be used Function Get Product String Command Value 240 OxF0 Return Data Bytes 16 Return Data Format Product String byte x 16 Description Returns the 16 byte product string for the TSS EEVK For the TSS EEVK the product
23. mmunication mode of the TSS EEVK User s Manual 2 3 2 3 Space Sensor Embedded Module The 3 Space Sensor Embedded module is a packaged as a 23mmx23mmx2 2mm castellated edge SMT module Alternatively the module can be through hole mounted by adding standard 0 1 header strips to the castellated edge pads 7 2911 Pat Jo SCK ke 9 13 0v SPI MISO lt VUSB Interface MOSI ic lt USBD USB ISS E P USBD Interface Serial TE E p Bes Interface RxD 8 lt a GND Ground RGB Indicator LED 3 Space Sensor Embedded Pin Functions Pad Number Signal Name Description 1 SCK SPI Serial Clock Input to Module 2 MISO INT SPI Master In Slave Out Output from Module Can be configured to act as filter update Interrupt 3 MOSI SPI Master Out Slave In Input to Module 4 SS SPI Slave Select Active Low Input to Module 5 TxD INT UART Asynchronous Transmit Data Output from Module Can be configured to act as filter update Interrupt 6 RxD UART Asynchronous Receive Data Input to Module 7 GND Ground Only one ground pad must be connected 8 GND Ground Only one ground pad must be connected Commonly connected to USB supply ground 9 USBD USB Data Minus Only requires connect
24. nd axis direction to match the desired end use requirements The natural axes of the 3 Space Sensor Embedded module are as follows The positive X axis points out of the side of the sensor with pins 1 through 6 The positive Y axis points out of the top of the sensor the component side of the board The positive Z axis points out of the back of the sensor the side with the LED towards pins 6 and 7 The natural axes of the TSS EM module are illustrated in the diagram below Y Axis Z Axis X Axis The natural axes of the 3 Space Sensor Embedded Evaluation Kit are as follows The positive X axis points out of the side of the TSS EEVK board with breakout pads 1 through 6 e The positive Y axis points out of the top of the TSS EEVK board the component side of the board The positive Z axis points out of the back of the TSS EEVK board the side with the RS232 connector The natural axes of the TSS EEVK board are illustrated in the diagram below Z Axis Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for example data axis Y could contain data from natural axis X This allows users to work with data in a reference frame they are familiar with User s Manual 3 Using the TSS EEVK 3 1 Initial Hardware Set up 3 1 1 Inserting TSS EM Modules into the TSS EEVK Socket The TSS EEVK employs a
25. odule and allow the spring contacts to push it upward at an angle Gently grab the TSS EM module by the sides and gently increase the angle to about 15 to 25 degrees Remove the TSS EM module by pulling up and away from the socket User s Manual 3 1 3 Communication Selection amp Routing Jumper JP1 Jumper JP1 15 located near the power switch and is used to select and route RS232 communication signals The table below summarizes the settings of Jumper 1 1 JP1 Position Function 1 A jumper placed in position 1 routes the serials signals from the DB9 serial port to TSS EM module 2 A jumper placed in position 2 routes the serial signals from the 9 serial port to the serial SPI emulator 3 A jumper placed in position 3 disables the routing of all serial signals from the DB9 serial port This is useful when communicating directly with the TSS EM module installed in the socket via the breakout pin pads 3 1 4 Power Selection amp Routing Jumper JP2 Jumper JP2 is located near the USB connector and is used to select and route power sources The table below summarizes the settings of Jumper JP2 JP2 Position Function A jumper placed in position 1 routes the 5 USB bus signal to the VUSB pin of the TSS EM module The jumper must be placed in this position if enumeration and communication via USB is desired A jumper placed in position 2 routes the 5 AC adapter power from
26. odule is correctly installed in the socket Ensure that jumper JP2 is set to select the appropriate power source and that that power source is connected Ensure that jumper JP1 is set to position 3 This disables all routing of serial communication and SPI signals to the TSS EM and allows the SPI communications signals pins to be connected to an alternate source Connect the MISO MOSI SCK and SS break out pan pins of the TSS EM to the corresponding logic level signals of the desired host system Note that theses pins are designed with a native logic level of 3 3v but are 5v tolerant Also note that the two systems must also have a common ground thus the grounds of the TSS EEVK and the host system may need to be connected Power the system on The TSS EM module will now be available for communication an an SPI slave device on the attached SPI master system to which it is attached Refer to the TSS EM User s Manual for detailed information describing the TSS EM module communication protocol 11 User s Manual 4 TSS EEVK Serial SPI Emulation Protocol 4 1 Serial SPI Emulation Protocol Overview The TSS EEVK has the ability to test SPI commands using a unique serial SPI emulation mode In this mode a serial communication message is sent to an on board emulation processor that translates the message into an action being taken on the SPI bus This allows users to experiment with and troubleshoot the SPI functionality of the TSS EM
27. stabilization Vibration analysis nertial augmented localization Personnel pedestrian navigation and tracking Unmanned air land water vehicle navigation Education and performing arts Healthcare monitoring Gaming and motion control Accessibility interfaces Virtual reality and immersive simulation User s Manual 2 3 Hardware Overview 2 3 1 3 Space Sensor Embedded Evaluation Kit 12 Jumper JP1 13 Status LEDs 11 Power Switch 1 TSS EM Socket 10 External Power Jack 9 External Power Pads 2 Breakout Pads 1 6 8 RS232 Serial Port 10 11 12 13 TSS EM v1 0 YEI 3 Sensor Embedded EUK V1 8 7 USB Power Pads 3 Breakout Pads 7 12 T5S EEUK v1 8 6 Mini USB Port 4 3 3v Power Pads 5 Jumper JP2 TSS EM Socket This socket securely holds a TSS EM module without requiring soldering Breakout Pin Pads 1 6 These pads are directly connected to pins 1 through 6 of the TSS EM installed in the socket These pins can be soldered to or contacted with a probe for testing and measurement purposes Breakout Pin Pads 7 12 These pads are directly connected to pins 7 through 12 of the TSS EM installed in the socket These pins can be soldered to or contacted with a probe for testing and meas
28. string should be TSS EEVK SPI EMU Function Read Product Version Command Value 241 OxF1 Return Data Bytes 8 Return Data Format Product Version byte x 8 Description Returns the 8 byte version string for the TSS EEVK Unused bytes will be padded with spaces This string will be something like 1 0 0 14 User s Manual Function Set Select Line Low Command Value 242 0xF2 Description This command sets the slave select line SS of the SPI interface to a low state Since the TSS EM module uses an active low slave select this will select the TSS EM module to enable further SPI communication Function Set Select Line High Command Value 243 0 Description This command sets the slave select line SS of the SPI interface to a high state Since the TSS EM module uses an active low slave select this will deselect the TSS EM module and disable further SPI communication Function SPI Send Byte Command Value 244 0 4 Data Bytes 1 Data Format byte Byte to be transmitted via SPI Description This command sends the byte specified by the first command parameter over the SPI interface The SS line state is unchanged and the nothing is returned Function SPI Send Byte Receive Byte Command Value 245 0 5 Data Bytes 1 Data Format byte Byte to be transmitted via SPI
29. urement purposes 3 3v Power Pads These pads can be soldered to or probed to access the regulated 3 3V on board power supply signals Jumper JP2 Jumper JP2 is used to select the power source that is routed to the TSS EM module Mini USB Port This is a 5 pin mini USB connector that is used to connect the TSS EEVK to a computer via USB The USB connector provides for both power and communication signals USB Power Pads These pads can be soldered to or probed to access the 5 USB power supply signals RS232 Serial Port This is a 9 pin DSUB RS 232 serial connector that can be used to connect to a PC serial port via a straight through 9 pin serial cable The position of jumper JP1 affects the routing of the RS232 communication signals External Power Pads These pads can be soldered to or probed to access the 5 external power supply signals External Power Jack This jack can be used to power the development board via an external 5v AC adapter The jack is type EIAJ 1 0 70mm ID 2 35mm OD and is commonly available on cell phone chargers Power Switch This switch can be used to switch the power to both the TSS EM module and TSS EEVK board on and off Jumper JP1 Jumper 1 1 is used to select the routing of the RS 232 serial communication signals Status LEDs These LEDs are used to indicate information LEDI is blue and indicates power status of the EEVK board LED2 is orange and indicates serial co
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