Vectornav VN-100 Development Kit Quick Start Guide
Contents
1. Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 4 VN 100 Quick Start Guide Version 1 1 m Computer Management oj x Ej File Action View Window Help la xl e Amf RAR WS1 1 Computer S Disk drives 2 Display adapters 3 DYD CD ROM drives Floppy disk controllers J Floppy disk drives E Human Interface Devices IDE ATAJATAPI controllers s Imaging devices gt Keyboards 1 Mice and other pointing devices 15 HID compliant mouse a Microsoft Serial BallPoint me Update Driver gt osa Pc Uninstall 1 Pr amp Ssc Scan for hardware changes sc 5 Properties E E g Universal Serial Bus controllers Disables the s STEP 3 DECREASE SERIAL PORT LATENCY In order to display the sensor state information at data rates of greater than 50Hz the default latency for the serial port needs to be reduced To decrease the latency for the COM port 1 Right click on the USB Serial Port under Ports COM amp LPT section of the Windows Device Manager If you forgot which serial port is used by the development board unplug the development board while watching the device manager window with the Ports COM amp LPT section expanded Then plug the device back in and take note of the COM port that appears Under the Po2. Quick Start Guide Version 1 1 default settings A 3D cube should now be visible on the screen and its orientation should track the orientation of the VN 100 development board Move the board around to verify its operation Bl Computer Management G Dochight 1 9 Eva Fr ly Sensor Explorer Control The default parameters for the VN 100 chip are 9600 baud with Yaw Pitch Roll output at 10Hz At 10Hz the motion is choppy when displayed on the screen so it is recommended that you display the orientation with an output rate of at least 50Hz As you increase the data output rate or number of output states keep in mind that you will also need to increase the baud rate so that you have sufficient data bandwidth STEP 5 CASE OF INSUFFICIENT BANDWIDTH First as an example try directly increasing the output rate to 50Hz Go to Commands on the Menu bar and then click Set Async Output Data Rate Sensor Explorer Control Panel lol x File View Commands Help kd Tare Sensor Prope Set Filter Tuning Model Numbe Set Active Filter Tuning Connection Port COM3 3 Hardware Rel Set Device Serial Rate Set Async Output Frequency Firmware Vers fr Set Async Output Data Type Serial Numbe en Connection Baud Rate 115200 l sgne Output Data Type Quaternion Async Output Freq 50 write Settings BR ne In the drop down box select 50Hz Copyrigh
3. Removal Minimum Read Timeout msec fo MM Set RTS On Close H Minimum Write Timeout msec b z Disable Modem Ctrl At Startup E STEP 4 START SENSOR EXPLORER To run Sensor Explorer run navigate to Start gt Programs gt VectorNav and click on the Sensor Explorer shortcut After Sensor Explorer has loaded it will ask you to select a COM port and baud rate for the sensor Choose the COM port found previously in Step 2 amp 3 Select the default Baud Rate of 9600 and click Connect Sensor Quick Connect xj Serial Port Baud Rate 3600 me a To ensure that the VN 100 is outputting at 9600 the board needs to be returned to its factory default state At any time the chip can be returned to its factory default state by resetting the VN 100 while holding the TARE RESTORE button down On the VN 100 development board press and hold the TARE RESTORE button the one closest to the jumpers then while holding down the TARE RESTORE button tap the reset button middle button This can easily be done by using your right thumb to press down the TARE RESTORE button and then roll your thumb to the left to tap the reset button After tapping the reset button you can release both buttons The eraser tip of a pencil also works well to assist in tapping the buttons This sequence performed at any time will restore the chip to its factory Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 7 VN 100
4. to hold the actual development board so that you see it from the same perspective as shown above that is the VectorNav logo should be facing towards the ceiling and your line of sight should be straight down the circuit board with the USB connector on the left and the serial connector on the right This may take several attempts to get it just right Also try to avoid moving the development board any closer than one foot from your PC monitor Most PC monitors LCD and CRT create significant magnetic distortion at a distance closer than approximately 1 foot After performing a TARE command with the development board in the orientation described above the 3D board should track the motion of the actual board For more information on how to use Sensor Explorer go to Help on the menu bar You can also find video tutorials on our website at the following address http www vectornav com support OCopyright 2009 VectorNav Technologies LLC All Rights Reserved Page 13
5. D Object Displayed Cube with Arrows i 4 mean 3D View Projection s VN 100 Development Board Output Data ae Quaternion I Serial Number 066E00383733335843023533 Asyne Output Freq 50 E I iistart TJ My Docameris pem B crete Maragenerk K Oeae 9 Balae al Sensor Erorr Contr DDOS wm STEP 11 TARE YOUR SENSOR TO MATCH SCREEN DISPLAY To have the orientation of the model on the screen track the orientation of the actual development board you need to tare the sensor in a specific orientation Place the sensor on the table and tare the sensor by navigating to Commands on the menu bar then clicking Tare Note the orientation of the development board now displayed on the screen It displayed with the circuit board plane perpendicular to the screen with the chip on top and the USB connector to the left Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 12 VN 100 Quick Start Guide Version 1 1 Baa IEA Torkade Yttre D G Dre ging DOE C3 ver ard rv core loose Nang fl Sensor extorer Se rion cev een BOM rn To get a better feel for perspective tilt the edge of the development board with the 20 pin header on it down and note the orientation of the development board on the screen The development board on the 3D display will always go to this orientation whenever a TARE command is sent To get the 3D board to track the actual board you need
6. VN 100 Quick Start Guide Version 1 1 AR VECTORNAV VN 100 DEVELOPMENT KIT QUICK START GUIDE Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 1 VN 100 Quick Start Guide Version 1 1 INTRODUCTION This Quick Start Guide provides basic information and instructions to get started using the VN 100 Development board Please refer to the Development Kit User Guide for more details WHAT IS IN THE BOX The VN 100 Development Kit is a starter kit for working with the VN 100 orientation sensor The kit consists of the following items Development board 5V Regulated power supply One 6 foot USB cable One 6 foot RS 232 serial cable CD ROM a Documentation PDF b USB Device Drivers c Sensor Explorer d Docklight Serial Terminal 6 User Manual Development Kit User Manual 8 Quick Start Guide i aha a a i SENSOR EXPLORER STEP 1 INSTALL SENSOR EXPLORER Sensor Explorer is a graphical user interface to assist in visualizing the orientation output of the VN 100 sensor To install the software run setup exe provided in the Sensor Explorer directory on the Development Board CD After accepting the EULA agreement continue to click Next until you see the installation complete dialog Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 2 VN 100 Quick Start Guide Version 1 1 fe Sensor Explorer o x Installation Complete Sensor Explorer has bee
7. and notice an unexpected orientation displaying on the screen then move the sensor away from the table while maintaining the sensor s orientation and see if the output changes significantly If so then it is likely that the table or an object close by is significantly distorting the earth s magnetic field in this local region Another way of locating magnetic disturbances is to use an inexpensive compass like the one shown below You can usually find one for around 10 at a local sporting goods store If you suspect a distorted magnetic field move the compass around the region and watch for any significant deflection more than a few degrees of the compass needle If the magnetic field is strong enough to deflect the needle then it will also affect the sensor s orientation output in a similar manner STEP 10 CHANGE VISUAL REPRESENTATION TO 3D CIRCUIT BOARD To get a more realistic feel for the development board s attitude in the menu bar go to View gt 3D Object Displayed then click the VN 100 Development Board option Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 11 VN 100 Quick Start Guide Version 1 1 Sensor Explorer Control Panel loj x File view Commands Help i ru 3D view Sensor Y Attitude Graph Angular Rate Graph j Connection Port COM3 Accelerations Graph f Harda Magnetic Graph Connection Baud Rate 115200 3
8. ick System and Maintenance Click Device Manager SS SER Once the Device Manager is opened you should see the USB Serial Port listed under the Ports COM amp LPT devices Be sure to make a note of the Serial Port it is assigned to COM15 in the example below You will need this later in step 3 amp 4 when running the Sensor Explorer software CI Computer Management ol x Ej Fie Action view Window Help 1 xl e Am Ea RAR WS1 1 Computer S Disk drives 2 Display adapters 3 DYD CD ROM drives Floppy disk controllers JA Floppy disk drives gy Human Interface Devices E IDE ATAJATAPI controllers SB Imaging devices gt Keyboards 15 Mice and other pointing devices Monitors E9 Network adapters 3 Ports COM amp LPT JF Communications Port COM1 3 Printer Port LPT1 JF USB Serial Port COM15 SM Processors amp SCSI and RAID controllers Sound video and game controllers System devices Universal Serial Bus controllers 7 e Look for a Microsoft Serial BallPoint listed under Mice and other pointing devices To disable the Microsoft Serial Ballpoint device 1 Right click on the device in the Windows Device Manager 2 Select Disable from the pop up menu 3 Click Yes to confirm when the dialog pops up
9. ion and Angular Rates it will not only display the sensor s orientation on the screen but it will also enable the graphs on the right of the display STEP 8 INCREASE DATA OUTPUT RATE TO 50HZ Go to Commands then click Set Async Output Data Frequency f Sensor Enplorer Contrat panet ad Fie View Commands Help fel Tare Sensor Proper Set Filter Tuning Set Active Filter Tuning Connection Port com3 Hardware Re peu Devesiooiel bse Connection Baud Rate 115200 Firmware Verl See sme Output Freaueney Async Output Data Type Quaternion Set Async Output Data Type Serial Numbe Write Settings Async Output Freq 50 In the Set Async Output Freq Parameter dialog box choose 50Hz and then click OK Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 10 VN 100 Quick Start Guide Version 1 1 Set Async Output Freq Params Asyne Output Frequency Hz Cancel Verify in the Sensor Properties section your changes have taken effect STEP 9 TEST OUT YOUR NEW ORIENTATION SENSOR Now try rotating the VN 100 development board around in mid air The orientation of the cube should follow the sensor s orientation without any visible latency NOTE Make sure that the sensor does not come within close proximity to any ferrous magnetic materials as it will distort the sensor s measurement of the earth s magnetic field If you set the board down ona table
10. l Baud Parameters dialog box Make sure that the Change Sensor Explorer s serial baud rate to match new device baud rate checkbox is selected and click OK Set Serial Baud Paramet aE Device Serial Baud Rate Change Sensor Explorer s IV serial baud rate to match new device baud rate Cancel Verify in the Sensor Properties section your changes have taken effect Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 9 VN 100 Quick Start Guide Version 1 1 STEP 7 CHANGE DATA OUTPUT TYPE TO QUATERNION Changing the data output type from Yaw Pitch Roll to Quaternion will provide a singularity free attitude representation Go to Commands then click Set Async Output Data Type Sensor Explorer Control Panel jol x File View Commands Help k w Tare Sensor Propet Set Filter Tuning Model Numbel Set Active Filter Tuning Connection Port Gang Hardware Re Sa eap n i Connection Baud Rate 115200 5 Set Async Output Frequency 7 Firmware Very Async Output Data Type Quatermion Set Async Output Data Type Serial Numbe Write Settings Async Output Freq 50 In the Set Async Output Data Type dialog box choose Quaternion Magnetic Acceleration and Angular Rates and click OK Set Async Output Data Type x Asyne Output Data Type Quaternion Magnetic Acceleration and Angular Rates Cancel By selecting Quaternion Magnetic Accelerat
11. n successfully installed Click Close to exit Please use Windows Update to check for any critical updates to the NET Framework Cancel STEP 2 DISABLE MICROSOFT SERIAL BALLPOINT MOUSE Connect your version of the VN 100 DEV to the computer using either the serial cable or a USB cable both provided If using the serial cable remember to power the VN 100 DEV using the 5 V power supply An issue exists with Microsoft XP Vista and how they handle the USB device driver After installing the correct USB device driver XP and Vista will sometimes install a second incorrect device driver If you see the following information box shown below then you MUST disable the mouse driver prior to using the VN 100 i Found New Hardware x Microsoft Serial BallPoint ee gh 9 20PM During the install of the Microsoft Serial Ballpoint your current mouse may appear to become unresponsive for 15 60 seconds as Windows adds a new mouse driver After you regain control of your mouse go to Windows Device Manager To open the Device Manager on Windows XP Click Start Click Control Panel Click Performance and Maintenance this step is skipped in Classic View Click System On the Hardware tab click Device Manager Oe we Ne Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 3 VN 100 Quick Start Guide Version 1 1 To open the Device Manager on Windows Vista Click Start Click Control Panel Cl
12. rt Settings tab click the Advanced button In the Advanced Settings dialog box Change the Latency Timer to 1ms under the BM Options Click OK at the top right of the Advanced Settings dialog box Click OK at the bottom right of the USB Serial Port dialog box Oe E Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 5 VN 100 Quick Start Guide Version 1 1 C Computer Management 3 Computer Disk drives Display adapters DYD CD ROM drives aE Floppy disk controllers Hb Floppy disk drives ig Human Interface Devices H E IDE ATAJATAPI controllers 4 Imaging devices H Keyboards m Mice and other pointing devices Monitors Network adapters J Ports COM amp LPT 3 Communications Port COM1 3 Printer Port LPT1 USB Serial Port COM15 USB Serial Port COM15 Properties Copyright 2009 VectorNav Technologies LLC All Rights Reserved Page 6 VN 100 Quick Start Guide Version 1 1 Advanced Settings for COM15 21 x COM Port Number comis MUSE Transfer Sizes Cancel Select lower settings to correct performance problems at low baud rates Defaults Select higher settings for faster performance Receive Bytes 4096 Transmit Bytes 4096 Md MBM Options M Miscellaneous Options Select lower settings to correct response problems Serial Enumerator Vv Latency Timer msec o EINE E Cancel If Power Off Timeouts Event On Surprise
13. t 2009 VectorNav Technologies LLC All Rights Reserved Page 8 VN 100 Quick Start Guide Version 1 1 Set Async Output Freg Asyne Output Frequency Hz EN Cancel Each time that you change any of the settings from the Commands section from the Menu bar always check the Sensor Properties section to see if your desired change took effect Notice that even though 50Hz was selected from the Command section the Sensor Properties still reflects 10 Hz in the Async Output Freq bottom right box Any time that you increase either the Async Output Freq or change the Async Output Data Type to output more variables than previously displayed always make sure that the baud rate serial bandwidth is sufficient to display at your desired settings In this case since there wasn t sufficient bandwidth thus the settings did not take effect STEP 6 CHANGE BAUD RATE TO 115200 Go to Commands on the Menu bar and then click Set Device Serial Rate Sensor Explorer Control Panel lolx File View Commands Help ld Tare Sensor Prope Set Filter Tuning Model Numbel Set Active Filter Tuning Conneck n Ei Er Set Device Serial Rate j Hardware Re Set Async Output Frequency Connection Baud Rate 115200 Firmware Vers Async Output Data Type Quaternion Set Async Output Data Type Write Settings Async Output Freq 50 Serial Numbe Select 115200 baud in the Set Seria
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