EM7180SFP Data Sheet
Contents
1. YYMAB Fig 15 Bottom side view of the module 17 www emmicroelectronic com EM7180SFP 7 Packing and labelling The Sensor Fusion Platform modules are packed in Tape and Reel 7 1 Module orientation in the carrier Tape O VDD GND VDD GND VDD GND SDAS SAO SDAS SAO SDAS SAO gt FEED SCLS Host SCLS Host SCLS Host 7 2 Reel information D330mm W16mm HUB 4 1000 pcs 8 Ordering Information The ordering code for the module is EM7180SFP01B EM Microelectronic Marin SA EM makes no warranties for the use of EM products other than those expressly contained in EM s applicable General Terms of Sale located at http www emmicroelectronic com EM assumes no responsibility for any errors which may have crept into this document reserves the right to change devices or specifications detailed herein at any time without notice and does not make any commitment to update the information contained herein No licenses to patents or other intellectual property rights of EM are granted in connection with the sale of EM products neither expressly nor implicitly In respect of the intended use of EM products by customer customer is solely responsible for observing existing patents and other intellectual property rights of third parties and for obtaining as the case may be the necessary licenses Important note The use of EM products as components in medical d2. Configuration File into EEPROM SFP board contains a ST24256 256Kbit 32KB serial EEPROM Its 12C device address is OxAO The user is encouraged to refer to the ST24256 datasheet for details about correct programing sequence and timing The steps to program EEPROM are given bellow Enter Pass Through State as described in the related Section Pass Through State Make sure that SENtral is not in Normal Operation it can be either in Initialized or Standby State Copy the content of Configuration File into EEPROM starting with EEPROM byte address 0x0000 Best efficiency is achieved by utilizing page write mode up to 64B at a time Please refer to ST24256 datasheet for details about correct timing between writes Verify the programing success by read back of the EEPROM content Copyright 2014 EM Microelectronic Marin SA 10 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP Leave Pass Through State and issue I2C ResetReq Write 0x01 into ResetReq register This will force SENtral to reinitialize from EEPROM see Section Power Up and Configuration File Upload 3 Communication 3 1 Timing Characteristics Communication between the Host MCU and SFP utilizes 12C bus and Host_int interrupt line The Host_int interrupt line lets the Host MCU know when SENtral has updated the quaternions or when new raw sensor data are available Conditions for Host_int interrupt are programmable SFP I2C interface comp
3. the values established by SENtral and when exiting Pass Through State any register changes will be retained Uses for the Pass Through State include Direct control of BMX055 sensors if desired Debugging Communication with the on board EEPROM Specifically if a new Configuration File is generated the host can write this into the EEPROM when in Pass Through State Since operating in Pass Through State requires stopping the SENtral algorithm Pass Through State is not recommended for accessing sensor data unless reliable heading data is not required If sensor data and reliable heading data are both desired scaled sensor data can be accessed during Normal Operation from the Results Registers as given in Table 7 Table 9 provides the registers associated with Pass Through State Copyright 2014 EM Microelectronic Marin SA 9 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP Register Name Register Value AlaorithmStatus 0x38 0 1 SENtral in Standby State i 0 SENtral not in Standby State 0 1 Enable Pass Through State PA SOUTANO 0 Disable Pass Through State 0 1 SENtral in Pass Through State PassThroughStatus 0x9E 0 SENtral not in Pass Through State Table 9 Pass Through Registers The steps to go in and out of Pass Through State are given below Enter Standby State by setting of AlgorithmControl register see section Standby State Pass Through can be also entered from I
4. value 0x18 No EEPROM and Idle bits are set or value OxOD EEPROM detected EEUploadError and Idle bits are set If the Configuration File upload failed try the following e Senda Reset command by writing 0x01 to the ResetReq register This would retry the initialization process Download the Configuration File from the EEPROM and verify its integrity as discussed in Section Updating the on board EEPROM e Reload the Configuration File from the host into the EEPROM Copyright 2014 EM Microelectronic Marin SA 5 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP 2 3 Normal Operation During Normal Operation the sensors and SENtral algorithm will run and it will be possible to obtain real time orientation and motion tracking data from SENtral The registers used in Normal Operation are given in Table 6 Register Name Register Value HostControl 0x34 ee AA 0 Enable Initialized State MagRate Requested magnetometer output data rate AccelRate Requested accelerometer output data rate divided by 10 GyroRate Requested gyroscope output data rate divided by 10 ActualMagRate Actual magnetometer output data rate ActualAccelRate Actual accelerometer output data rate divided by 10 ActualGyroRate Actual gyroscope output data rate divided by 10 oh Along with GyroRate establishes output data rate for QRateDivisor quaternion data 1 indicates an interrupt to the host will be generated for the event 0 CPUReset Non m
5. 1 SENtral in Standby State AlgorithmStat 0x38 0 SENtral not in Standby State Table 8 Standby and Result Control Registers AlgorithmControl The steps to enter and exit Standby State are given below Set bit 0 of the AlgorithmControl register This places SENtral in Standby State Read the AlgorithmStatus register If bit 0 is 1 then SENtral is in Standby State This step is optional When you are ready to exit Standby State clear the bit 0 of the AlgorithmControl register This takes SENtral out of Standby State and normally will place it back into Normal Operation Read the AlgorithmStatus register If bit 0 is 0 then SENtra is not in Standby State This step is optional 2 5 Pass Through State SENtral can be configured so the host communicates directly with devices on the sensor bus by placing SENtral into Pass Through State In Pass Through State SENitrafs sensor and host interfaces are connected by internal switches so the host system communicates directly with the sensors and or dedicated EEPROM To enter Pass Through State SENtral first should be in either standby initialized or unprogrammed State Consequently in Pass Through State the SENtral algorithm host interrupt line and sensors are disabled unless a sensor is directly turned on by the host When exiting Pass Through State SENtral will return to its prior state Note When entering Pass Through State the sensor s registers retain
6. S N DATA TO REGISTER N DATA TO REGISTER N 1 STOP Pee EeEEee gt COCEA UAE Eee ae gt ia From Host to SENtral Sees Data Transferred n bytes acknowledge From SENtral to Host Fig 8 12C Slave Write Example The 12C host interface supports both a read sequence using repeated START conditions shown in Fig 9 and a sequence in which the register address is sent in a separate sequence than the data shown in Fig 10 and Fig 77 START SLAVE ADDRESS REGISTER ADDRESS N START SLAVE ADDRESS DATA FROM REGISTER N NACK STOP eee eee EE e e oo Data Transferred n bytes acknowledge Fig 9 12C Slave Read Example with Repeated START START SLAVE ADDRESS REGISTER ADDRESS N STOP Ls Ses eeesbebs ole Be bees saree 2 Fig 10 12C Slave Write Register Address Only START SLAVE ADDRESS DATA FROM REG N DATA FROM REG N 1 NACK STOP ee P 0403 p2 0 poflfo7ps bs p40 2 os oo From Host to SENtral Data Transferred n bytes acknowledge From SENtral to Host Fig 11 12C Slave read register from current address Copyright 2014 EM Microelectronic Marin SA 12 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM 7180SFP I2C Sensor Interface Sensor Bus SENtral coprocessor communicates with BMX055 sensor and serial EEPROM over I2C sensor bus internal to SFP Host MCU can communicate directly with EEPROM and BM
7. X055 sensor when the SEWNtral coprocessor is put into Pass Through mode Note that Pass Through mode is supported when SENtral is in Standby state normal operation is suspended Communication speed in Pass Through mode is limited to 400 kbit s Fast Mode I2C Pull Up Resistance The pull up resistor value for both the host and sensor bus will depend on the I2C data rate and the number of devices on the bus Max Cb pF Rate Rise Time 12C mode kbit s 4 7kQ pull up 2 47kQ pull up High Speed 1 7 Data 1700 40 2 78 7 MHz Table 12 provides the maximum acceptable bus capacitance as a function of bus rate which can be accommodated with a 4 7 kQ or 2 4 KQ pull up resistor As a general rule each device connected to the bus represents 10 pF of capacitance on the bus so a bus with 4 devices would require a Max Cb value of gt 40 pF 12C mode Rate Rise Time Max Cb pF kbit s ns 4 7kQ pull up 2 47kQ pull up Con RN lca ai 18 EEE EE eS a High Speed 1 7 MHz High Speed 3 4 MHz Table 12 12C Pull Up Resistance Table As the table implies for most Standard and Fast Mode implementations a 4 7 kQ pull up should work well while a 2 4 kQ pull up normally should be used for Fast Plus See Section 7 1 of NXP s UM10204 specification for additional information Copyright 2014 EM Microelectronic Marin SA 13 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM 7180SFP 4 Troubleshooting This section p
8. ameter Symbol Min Max Unit Supply voltage Operating Temperature Table 3 Operating conditions Unless otherwise specified Vop 2 4V to 3 3V Ta 40 to 85 C Parameter Symbol Conations Wn Top W oh LeveinpstVotage vw oro vw wo Hoh Level Ouput Cures 10n vonvon a f m Cowon o vo ow 1 a Data Rate note 4 Table 4 Electrical characteristics Copyright 2014 EM Microelectronic Marin SA 3 7180SFP DS Version 1 1 10 Dec 14 www emmicroelectronic com EM7180SFP Note 1 Sensor bus in I2C Fast mode 400 kbits sec accelerometer output data rate ODR 100 Hz gyroscope ODR 190 Hz and magnetometer ODR 30 Hz Operating current consumption is the average over 30 seconds while the device is in motion Note 2 SFP is in low power still state In this state only the accelerometer is running and provides wakeup interrupt to SENtral when motion shock is sensed SENtra automatically transitions into full operational state after wakeup Note 3 Standby state is default state after power up or when SFP operations are suspended Note 4 Sensor Bus is the communication bus between SENtral and sensors Host bus is the communication bus between Host and SENtral In Pass through state the host communicates directly with sensors See section I2C Pull Up Resistance for a detailed description of the configuration taking into account pull up resistance Capacitance and targeted Data rate 2 Modes of O
9. askable 1 Error 2 QuaternionResult 3 MagResult 4 AccelResult 5 GyroResult 6 Reserved 7 Reserved EnableEvents 1 indicates a new event has been generated 0 CPUReset 1 Error EventStatus 2 QuaternionResult 3 MagResult 4 AccelResult 5 GyroResult Table 6 Normal Operation Registers Prior to entering the Normal Operation state it is necessary to perform the following Set the sensor output data rates ODRs MagRate AccelRate and GyroRate If a sensor rate is set to 0x00 SENtral will shutdown the sensor and disable SENtral background calibration There are two major points regarding setting these registers o The AccelRate and GyroRate register values should be 1 10th the desired rate while the MagRate value should match the desired ODR For example if the desired ODR is 30 Hz for the magnetometer 100 Hz for the accelerometer and 200 Hz for the gyroscope then the respective register values should be 0x1E 30d OxOA 10d and 0x14 20d o The actual accelerometer and gyro ODRs are limited to the ODRs supported by the specific sensors in this case BMX055 If the AccelRate or GyroRate register values do not correspond to a supported ODR then the next highest ODR will be used For instance if the GyroRate register is set to 0x14 which corresponds to 200 Hz but the gyro supports 95 Hz 190 Hz and 380 Hz then the actual gyro ODR will be 380 Hz since this is the closest supported rate above th
10. at requested by the register During Normal Operation the actual sensor rates can be read from ActualMagRate ActualAccelRate and ActualGyroRate registers Establish the quaternion output data rate where the quaternion output data rate equals GyroRate divided by QRateDivisor The default for QRateDivisor is 0x00 which is interpreted as 1 and results in the quaternion output data rate equalling GyroRate Establish which events will trigger an interrupt to the host by configuring the EnableEvent register It is specifically recommended to enable bit 1 the Error interrupt bit in addition to whichever other interrupts the user wants Copyright 2014 EM Microelectronic Marin SA 6 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP Once setting of ODR and EventEnable register is completed Host MCU can enable Normal Operation by setting bit Run Request in HostControl register writing 0x01 into the register This would also clear initial Host_int set after completion of configuration file upload Example steps to enter Normal Operation are given below Write Ox1EOAOF to the MagRate register Since SENtral automatically increments to the next register this also populates the AccelRate and GyroRate registers This sets MagRate to 30 Hz AccelRate to 100 Hz and GyroRate to 150 Hz Write 0x01 to the QRateDivisor Register This sets the quaternion output data rate to equal the GyroRate For writing 0x01 thi
11. e consists of 2 wires the serial clock SCLS and the serial data line SDAS Both lines are bi directional SENtral is connected to the host bus via the SDAS and SCLS pins which incorporate open drain drivers within the device The host bus lines must be externally connected to a positive supply voltage Vdd via a pull up resistor See Section 2C Pull Up Resistance for more on the pull up resistor SENitrals 7 bit I2C slave address is 0b010100x where the most significant 6 bits of the slave address are pre defined in hardware and are the same for all SENtral devices The least significant bit is user configurable using the SAO pin to set the bit to 0 or 1 For example grounding the SAO pin 0 value results in the 7 bit address of 060101000 This should be set so the SENtral slave address is unique to any other devices on the host bus Data transfer is always initiated by the host Data is transferred between the host and SENtral serially through the data line SDAS in an 8 bit transfer format The transfer is synchronized by the serial clock line SCLS Supported transfer formats are single byte read multiple byte read single byte write and multiple byte write SENtral as part of SFP is not utilizing clock stretching feature of I2C bus and SCLS is driven by the Host MCU only Host I C Transfer formats Fig 8 illustrates writing data to registers in single byte or multiple byte mode START SLAVE ADDRESS REGISTER ADDRES
12. eee SWATCH GROUP ELECTRONIC SYSTEMS W EM MICROELECTRONIC MARIN SA EM7180SFP Ultra Low Power Sensor Fusion Platform Data Sheet Description The Sensor Fusion Platform SFP is small form factor integrated module containing a EM7180 SENtral Sensor Fusion Coprocessor BMX055 9 degree of freedom 9 DOF system in a package 3 axis gyroscope accelerometer magnetometer and a ST24256 32KB EEPROM containing the module firmware The SENtral Sensor Fusion Coprocessor fully controls and processes data from BMX055 9 DOF sensor The primary data output from SFP are quaternions which uniquely define device orientation or Euler angles heading pitch and roll The quaternions easily can be also converted to the rotation vector and the rotation matrix Raw or calibrated sensor data are also provided to external Host which can control individual sensor rates and power states of the platform External Host CPU can communicate with the SFP over high speed I2C bus and obtain both fusion result and raw sensor data Applications Robotics Automation Sports activity e g golf swing Motion tracking system Navigation systems Activity trackers Orientation estimation e g for binoculars Air remote pointing devices Position identification window handle Features EM7180 SENtral state of the art sensor fusion coprocessor Ultra low power consumption standby and still states reduce system power consumpti
13. evices and or medical applications including but not limited to safety and life supporting systems where malfunction of such EM products might result in damage to and or injury or death of persons is expressly prohibited as EM products are neither destined nor qualified for use as components in such medical devices and or medical applications The prohibited use of EM products in such medical devices and or medical applications is exclusively at the risk of the customer Copyright 2014 EM Microelectronic Marin SA 18 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14
14. lies with NXP s UM10204 specification and user manual rev 04 Standard Fast Fast Plus and High Speed modes of the I2C protocol are supported by SFP 12C host interface Host MCU does not need to support clock stretching when connected to SFP Below is a link to this document htto www nxp com documents user manual UM10204 pdf Parameter Symbol Standard _ Fast ___ FastPlus Min Max Min Max Min Max saco fe o o o o oo poo e sons sot RseTime h poo ao o po e Sona sorra e feo arvonen eo arwoossn 120 r tow pereaorsorcon heo a7 pe fos HIGH pereaorsccce wes fao fos k pe k fe Daarom few p E b t p tfe pewwme fo J H po o e e l P E Stop set up time set up time tsusto STO 06 oo pooo 0 26 Bus free time between STOP 0 5 amp START Table 11 Timing characteristics 3 2 Timing Waveforms SFP 2C timing requirements are set forth below in Fig 7 For the timing requirements shown in Fig 7 transitions are 30 and 70 of VDD REPEATED START START SDA t gt teu DAT lt has DAT 3 ees i gt lt tsu sto STOP SCL f flow HIGH tho sta gt lt Fig 7 12C Timing Diagram Copyright 2014 EM Microelectronic Marin SA 11 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP 3 3 Host I C Interface Host Bus The host will control SFP on the host bus via SENtrafs 2C host interface The host interfac
15. nitialized or Upload Error State see section Power Up and Configuration File Upload Write 0x01 to the PassThroughControl register This places SENtral in Pass Through State Read the PassThroughStatus register If bit 0 is 1 then SENftral is in Pass Through State This step is optional When you are done in Pass Through State write 0x00 to the PassThroughControl register This terminates Pass Through mode and returns SENtral to Standby State Restore setting of the AlgorithmControl register This takes SENtra out of Standby State and normally will place it back into Normal Operation 2 6 Updating the on board EEPROM This section describes method to check or update Configuration File stored in on board EEPROM device Checking Configuration File Revision SFP module is always delivered with a stable and tested version of the Configuration File revision However updated Configuration File might be available on SENtral product website please ask your contact person for more detail Register Name Register Register Value Address ROM Version 0x70 0x71 ROM Revision RAM Version 0x72 0x73 RAM Version Configuration File Version Table 10 Revision Registers RAM Version register can be read during Normal Operation of the device It contains a 16bit Configuration File Version which can be compared with SFP Configuration File versions which are available for download from the SENtral product website Uploading
16. om 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP Standby Pass Through Request Request Normal Standby Pass Through Operation Sandoy State Pass Through State Done Done Fig 5 SENtral Operational States 2 2 Power Up and Configuration File Upload After powering up or issuing a ResetReq command SENtral automatically initializes the registers and then uploads Configuration file from an EEPROM on the sensor bus as indicated in Fig 4 SENtral sets Host_int interrupt pin high when the upload is completed signal is cleared after enabling Normal Operation or setting ResetReq Host MCU should check result of EEPROM upload by reading Sentra Status register see Table 5 Correct configuration file upload completion is indicated by value Ox0B in Sentra Status register EEPROM detected EEUploadDone and Idle bits are set If the upload was successful the Host can enter Normal Operation as described in section Normal Operation Register Name Register Value 0 EEPROM 1 EEPROM detected 1 EEUploadDone 1 EEPROM upload completed SentralStatus 2 EEUploadError 1 Calculated CRC of EEPROM is correct Only valid when EEUploadDone 1 3 Idle 1 Device in Upload Error or Initialized state 4 NoOEEPROM 1 No EEPROM detected ResetReq 0 ResetRequest 1 Emulate a hard power down power up Table 5 Configuration File Upload from EEPROM Registers Error during upload is indicated either by
17. on dramatically VDD from 2 4V to 3 3V Industry leading heading and tracking accuracy 9 axis sensing with Bosch BMX055 3 axis gyroscope 3 axis accelerometer and 3 axis magnetometer Variety of outputs for accelerated application development Quaternions Heading Pitch Roll Calibrated and raw sensor data Small Form Factor module 10 16mm x 10 28mm 2C interface 100 to 3400kbps Standard Fast Fast Plus and High Speed modes Host CPU driver source code available 10 28 2 19 SCLS Host_ Int 0 00 All dimensions in mim to o 5 oa Fig 1 Actual Size Copyright 2014 EM Microelectronic Marin SA 7180SFP DS Version 1 1 10 Dec 14 www emmicroelectronic com EM 7180SFP 1 Main characteristics 1 1 Pin Assignment Pint pinnamoe ath O Desertion vo Pwa e spas o Forbs SDA data ine goea Ce f sos ov PChostbus SCL cookie moea Ca rom o mepo Host MCU rte e ono Pwr Table 1 SFP Pin Assignments Note 1 I O Types are PWR Power supply Connections I Digital Input O Digital Output OD Open Drain External Pull up is required Note 2 Note that pull ups on 12C lines SDAs SCLs are not included on the module and need to be provided externally See Section 2C Pull Up Resistance for more information on the pull up resistor sizes Note 3 Host_int signal should be connected to GPIO of Host MCU which can be used as an inte
18. p Sensor Fusion Host MCU Platform Host_Int GND I 1 L Fig 12 Sensor Fusion Platform Connection to Host MCU 6 Package Information 6 1 Module dimensions The 2 following figures describe the sensor fusion platform dimensions and recommended assembly footprint The Module thickness is max 2 1mm at BMX055 sensor location 10 28 787 VDD 533 SDAS 2 1793 SCLS Host Int 0 00 All dimensions in mm Qo iE oo To Fig 13 Reference outline dimensions top view component side Copyright 2014 EM Microelectronic Marin SA 16 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 10 28 7 87 5 33 2 79_ a 0 76 i VDD GND 1 52 m 0 29 SDAS SAO SCLS Host_Int 0 00 0 00 All dimensions in mm Fig 14 Landing pattern recommendation 10 16 EM7180SFP The SFP pins are organized on a standard 0 1 pitch which is compatible with many prototyping boards 6 2 Soldering and usage information The SFP module is rated MSL1 and complies with lead free reflow profile according to Jedec J STD 020 6 3 Module marking As shown in Fig 15 each module is marked with a lot number made of 5 alphanumeric characters as follows YY year of assembly M Month of assembly AB Lot number code Copyright 2014 EM Microelectronic Marin SA 7180SFP DS Version 1 1 10 Dec 14
19. peration 2 1 Initialization Prior to entering Normal Operation SENtral must upload the Configuration File from on board EEPROM into its Configuration RAM This file contains information regarding how the user s sensor system is configured such as sensor models sensor slave addresses GPIO pin assignments etc The Configuration File is pre programmed into SFP EEPROM upon delivery but updates might be available as discussed in Updating the on board EEPROM Fig 4 provides a flow chart of the initialization process and a detailed discussion of the initialization process follows in Power Up and Configuration File Upload Power Up Watchdog Reset Or I2C ResetReq Automatic Initialization amp Upload of Configuration File from EEPROM Yes Upload Successful Initialized State Upload Error State Set Sensor ODR amp EnableEvent Register Debug EEPROM content amp set I2C ResetReq to Retry Run Request Normal Operation Fig 4 SFP Initialization Sequence Once the initialization sequence is complete there are three states in which SENtral may reside Normal Operation Standby and Pass Through Fig 5 indicates the recommended way to get from one state to another and these states are discussed in detail in Sections Normal Operation Standby State and Pass Through State Copyright 2014 EM Microelectronic Marin SA 4 www emmicroelectronic c
20. register indicates a non zero value then the value provides additional information on the sensor that is causing a problem as given in Table 15 Copyright 2014 EM Microelectronic Marin SA 14 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM 7180SFP 0 MagNACK 1 NACK from magnetometer 1 AcceINACK 1 NACK from accelerometer 2 GyroNACK 1 NACK from gyroscope 4 MagDevicelDErr 1 Unexpected DevicelD SensorStatus 0x36 from magnetometer 5 AccelDevicelDErr 1 Unexpected DevicelD from accelerometer 6 GyroDevicelDErr 1 Unexpected DevicelD from gyroscope Table 15 SensorStatus Register Indications If the ErrorRegister indicates a non zero value then the value provides additional information on the sensor that is causing a problem as given in Table 16 E a Magnetometer initialization failed This error can be caused by a wrong a ee driver physically bad sensor Accelerometer initialization failed connection or incorrect 12C device Gyroscope initialization failed address in the driver 0x11 Magnetometer rate failure RER l oo o g This error indicates the given sensor Accelerometer rate failure is unreliable and has stopped roducing data Gyroscope rate failure j i Table 16 ErrorRegister Indications Copyright 2014 EM Microelectronic Marin SA 15 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP 5 Typical Application Circuit Vo
21. rovides guidance in troubleshooting SENtral and is divided into hardware related and software related errors 4 1 Hardware Related Error Conditions Possible indications of a hardware related problem are given below in Table 13 Register Name Error Indication 0 1 CPUReset Watchdog or Power on Reset occurred and EEPROM upload even tale wee failed See Section Power Up and Configuration File Upload 2 1 EEUploadError Issue with uploading from the dedicated EEPROM Sentra Status 0x37 4 1 No EEPROM detected see Section Power Up and Configuration File Upload Table 13 Hardware Related Error Indications In the event of such errors SENtral will enter Standby State shut down the sensors and generate an interrupt to the host Possible reasons for hardware related errors include problems with an external EEPROM upload power transients detected by power management and errors in software detected by Watchdog Often the error can be cleared by sending the ResetReq command and reloading the Configuration File 4 2 Software Related Error Conditions Possible indications of software related errors are given below in Table 14 EventStatus 1 1 Error Non zero value indicates sensor related error Check SensorStatus 0x36 sensors by communicating in Pass Through State see Table 15 ErrorRegister Non zero value indicated an error See Table 16 Table 14 Software Related Error Indications If the SensorStatus
22. rrupt source SAO signal can be used to resolve unlikely 12C address alias problem on the Host 12C bus Note 4 In most applications SAO can be connected to ground see Section Host 2C Interface Host Bus for more details 1 2 Block Diagram SENTRAL U7180 or a n w N ET Host INT Fig 2 Sensor Fusion Platform Block Diagram Copyright 2014 EM Microelectronic Marin SA 2 7180SFP DS Version 1 1 10 Dec 14 1 3 Sensing axis orientations EM7180SFP The orientation of the module is defined by the BMX055 chip orientation on the board as shown in Fig 3 gravity Fig 3 Orientation of the module 1 4 Absolute Maximum Ratings 50 C to 150 C ESD HBM versus GND VDD 2000 pin to pin Table 2 Absolute Maximum Ratings Stresses above these listed maximum ratings may cause permanent damage to the device operation cannot be guaranteed Exposure beyond these absolute maximum ratings may affect device reliability or cause malfunction 1 7 Electrical Characteristics 1 5 Handling Procedures This device has built in protection against high static voltages or electric fields however anti static precautions must be taken as for any other CMOS component Unless otherwise specified proper operation can only occur when all terminal voltages are kept within the voltage range Unused inputs must always be tied to a defined logic voltage level 1 6 Operating Conditions Par
23. s step is optional since the default also sets the quaternion output data rate equal to GyroRate Write 0x07 to the EnableEvents register This sets up the host to receive interrupts from SENtral whenever the quaternion results registers are updated an error has been detected or when SENtral needs to be reset After performing the steps listed above SENtral is ready to start generating orientation data Below are the steps to follow when operating in Normal Operation state Write 0x01 to the HostControl register This sets the RunRequest bit to 1 and enables the sensors and the SENtral algorithm Read the ActualMagRate ActualAccelRate and ActualGyroRate registers to ensure the ODRs are as expected If operating in an interrupt driven mode then the Host MCU waits until it receives an interrupt signal from SENtral Alternatively the host may operate on a polling basis rather than an interrupt driven basis in which case the interrupt line may not be used Once an interrupt is received by the Host or the Host otherwise decides to read new data read the EventStatus register a Interpret and act on the EventStatus register in the priority shown in Fig 6 If bit 1 the Error bit is 1 or if bit 0 the CPUReset bit is 1 see Section Error and CPUReset If bits 2 3 4 or 5 the Results bits are 1 read the desired data see Section Read Results b Repeat steps c e until new orientation data is no
24. t needed and or the host decides to enter a different state Reading the EventStatus register clears it It is possible for more than one bit position to be 1 in the EventStatus register especially if the host does not always read the EventStatus register after receiving an interrupt Similarly if multiple bits are set to 1 in the EventStatus register once the register is read all the bits will be set to 0 For this reason the EventStatus register should be processed in the priority shown in Fig 6 as information will be cleared for events that are not handled Host Receives Interrupt from Sentral Host Reads EventStatus Register EventStatus Error Initialize Sentral EventStatus CPUReset ventStatus Quaternion or Sensor Result Read Results Exit Interrupt Routine Fig 6 SENtral Normal Operation Flow Copyright 2014 EM Microelectronic Marin SA 7 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP A discussion of how to handle the various events follows e Error and CPUReset In the event of an error SENtra will trigger an error interrupt and SENtral will enter Standby State When CPUReset bit is seen it also indicates potential problem watchdog reset occurred See the Section Updating the on board EEPROM for recommendations on Troubleshooting and or reset SENtral by sending 0x01 to the ResetReqg register at address Ox9B e Read Resul
25. ts The Results Registers addresses formats and full scale ranges are given below in Table 7 SENtral allows switching between Quaternions and Heading Pitch Roll Euler Angles output and between calibrated and raw sensor data using AlgorithmControl register See Table 8 For an explanation of how to convert the quaternions to the rotation vector or the rotation matrix see corresponding application note The resolution is 32 kHz for all timestamps Note All multi byte elements are stored and transmitted using the Little Endian convention the least significant byte is stored at the lowest address and transmitted first over the C bus Address ee OX 00 03 Normalized Quaternion X or Heading Float32 0 0 1 0 or n ay 04 07 Normalized Quaternion Y or Pitch Float32 0 0 1 0 or 7 2 az oo normarea oaeen z orror Pease ooroo Table 7 Results Registers Copyright 2014 EM Microelectronic Marin SA 8 www emmicroelectronic com 7180SFP DS Version 1 1 10 Dec 14 EM7180SFP 2 4 Standby State In Standby State overall system power consumption is dramatically reduced because both the SENtral algorithm and the sensors are shut down Table 8 provides the registers associated with Standby State Register Name Register Value 2 1 HPR output 0 Quaternion output default 1 1 Raw Data Output 0 Calibrated Data Output default 0 1 StandbyEnable 0 Disable Standby State default 0
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