Monkey User Manual - Ryan Mechatronics
Contents
1. Monkey User Manual Monkey User Manual Rev Table of Contents Contents ke Lade e e eren E 3 1 1 Bivels LE 4 1 1 1 FC Tun cus A detonate T 4 Ms tee PAC COTS ei 1 1 UE 4 1 1 3 Magnetic field limits eee eee eee 4 bet c PO a ne ee ee er ee eer 4 1 1 5 Precautions and User Hesponsibultv eee eee eee 5 1 2 FAE TSR eea EE 5 t n Wee COnN 11 Te EE 5 2 Specifications ANd Characteristics eee ee ee 7 2 1 Performance Specifications CHU REEL E REEL REELLE ERE E REEL REE RE REEL EEN R rer 7 2 2 Performance Specifications Global Positioning Receiver cccceceseceeeeceeeeeeseeeeeeaeees 7 2 3 Electrical Characteristics Monkey see eee eee 7 2 4 Absolute Maximum E e CN 8 2 9 Mechanical and Pin Assignments sese ecce ee eee eee eee eee 9 2 5 1 Dimensions see eee e eee 9 2 5 2 Coordinate System and Orientation 9 Vie a Tagen E 9 2 5 4 Graphical Location of Connectors cccccecceeceeceeceeeeeeeeeceeceeceeseeeeeeseeeeeeeeeseneeteeeeees 15 I nun Eet R UE 19 3 1 Man ARM TGS EE 19 3 2 Bee na EE 20 3 3 Ts Ree ee Ee 20 3 4 OPS Power and RE Tn siainen erae neri O a i E kes 21 3 5 BT 278 K078 Tn lnn 18 o P E E TE A E a E E E eee en 22 3 6 RE ER 3 7 WR 23 3 8 Barometric Pressure Sensor sacraire RE EE EAE bedes 23 3 9 ADC ANITO IO E 24 3 10 Communication ports EE 24 SE WOU CD US OI OTT 25 SIZ Useri oand oP EE 25 A Hardware Integration EE 26 4 1 POWO E 26 4 1 1 MOUP ONGI E 26 4 2 E nn E ea a2. 4c APTURE 17 E oo a La CO Lei Gu nit X19 Input capture HIH HUHH HT were Eppe rere gt x2 User 12C and SPI 12C anc 9610979 9899 998 99A 2999939 339 232393 III RA Monkey User Manual Rev 18 3 Schematic Details Presented in this section are schematic details required for users to correctly program the board for alternate applications 3 1 Main ARM Processor Pins for the ARM connection are shown below for reference GS l LC afl G lt ful ili Am NM Ta Ath LC UOM Gs GZ fl L T GS l L TT mal mfl al GS W A 0 Ar W LI GS ul L I ADEC Arh A At A wll AS Iu Pre fl AR GAZ il D lt V GW GEZEI ARM TU R Seu nol used D SD ARM_E i MEI wgl L LS ae islet e d e Sg LPC1 762 PODOVRDVTXDSS DAA POP TOVREDSISCLA POZVTXDOVADO PY POS RADOAA DO 6 POAZ SR CLR D2 C A20 POP SR WS TD2 CAPZ 1 POIBII2SR gt X SDAISSELAIMAT2 0 POPFVI2ST _CLESCKAIMAT2 1 POE MESTE WS MISO MATZ Z POISII2 ST gt X SDAMOSM MATZ 3 POPOVTXD2 SDAZ MATS IO POM PRADZISCLAIMATS A POLSVTXDASCKOSCK POLISVRADASSELONSSEL FO 1710 TS MIS 00M0 FOMSPOCD MOSO MOSI POLIOVDSRAVSDAd PO ZOWDTRASCLA POL2IVRM ROA PO 22VWRTS4 ToA PO 23VADO OVIZSRX CLEYCAP3 IO POZSaVADOVIZSRe WS CAPS POZ5VADO 2I2ZSRX_SDATXDS PO Z6VAD0SVAOUTRADS PO 27SDAGUSE_ SDA PO Z8VSCLOVUSB_SCL PO Z9VUSB_DPLUS POZOVUSE_ DMIHUS RESET RS TOUT Y
3. in powering external signal conditioning or sensors _ Ground System ground ground BCEE nl SDATUSER D 20 SDATine to ARM 1k pull up to 33V on board For ARM pins typical use is shown but can be reconfigured Please see the LPC 1768 User Manual from NXP for other pin options Table 9 Pin Assignments X3 Spare Serial Communication Ping PinLabel Pin Name VO Desen gt js SP TX SES UART TX1 3 3V level SP RX RX WO UART RX1 UART RX1 3 3V level 3V level BE 3V Seng Reeg 3V output from on board LDO for use in powering external signal conditioning or sensors Ground System ground ground ae ee ama TO omeen UART RX3 3 3V level 6 CHIMU_TX UART TX3 3 3V level For ARM pins typical use is shown but can be reconfigured Please see the LPC 1768 User Manual from NXP for other pin options Monkey User Manual Rev 13 Table 10 Pin Assignments X10 USB BESCHE EE Table 11 Pin isi X16 Main Serial Com 3 3V output from on board LDO Gio Gran Syston ru COM RX I O UART RXO 3 3V level i NEEN For ARM pins typical use is shown but can be reconfigured Please see the LPC1768 User Manual from NXP for other pin options Table 12 Pin an assionmens X19 Input Capit VO Capurepin 7 SSS ea o Sat pa 10 o CAPO o nenn 4 ppm VO Capture pin 0 0 For ARM pins typical use is shown but can be reconfigured Please see the LPC 1768 User Manual
4. DS VD DOGS VD DOGS VDOVA YDRE GYIVI YDORE GYIVI BAT VODA YISA WREFP WREF N WSs T DO TDI TM SSD 10 TRST TECRSWDCLE RTC P4 OVENET_Tbo PAP ENET TXD1 PIRIENET TX EN P4 SVENET_CRS P4 SENET_R DO PADHDEHET R amp D1 PAHaAIENET R amp ER PIDHSENET REF CLK FA MENENET MDC PIDHZIENET MDIO FA DENUSB Up LED P WM 1 HIC AP 4 0 PAL OVMCOAQUSE_PPWRCAP4 1 piZ COP SC KO Pa 24 MCABOR TIE 1 3SSEL0 P4 22MCOBO USE P R B M AT 4 0 PASS CHP Uh M SO FAM CZ PNM 7 SV MOSIO PagesyihCOAVMATA 1 P4 26M COB Pdi BVCAPO O P4af27CLEOUTIUSB_OVRCRICAPO A P4 28M C DA2 P CAP 4 O hi ATO P4 2o MCOB2 P CAPA 1 MATOLA Pa S0 VBUSAADO 4 PafsqSCK1 ADO 5 FDP Wh HIT gt D 7 FRA PPW ERAD P2 2 Puhd4 SCT 4 7 RAC E b ATAS FP2 SPM AVCI TRACEDATA Z PREP SVOSR4 TRACEDATA P2 5 Puht4 SDT RasTRACEDATAO P2 6VP CAPA OVRIM TRACECLE P2FVRD2IRTS4 P22 TD2 TXD2VENET_MDC P2 SVUSE_CONNECTIRXDZVENET_MDIO P24 O EIN TON MI P24 VEINT 2STX_CLE P2 12VEINT225TX_ws P21SVEINTHIZSTX_ SDA PS 25 MATOLOYP uh 2 PS 26 STCLEYMATO A Pula 3 P42SVRX_MCLEIMAT2 OTROS P4ZoVTX_MCLEIMATZAVRADS RTCX1 RTCA TAL ATALS EDO BLUE EDT RED ED GREEN LC AHT U AP 1 1 CLEO ToU GOU MOSIO L3 ALT APO O APO ARH ADCAVELS ARM ADCS ARM Ph ARM Phd 2 ARNE DW 3 ARE PY vt 4 GH DV 5 AR hI Pub 6 H L NIT 1 GPS TIMEPULSE UE Ij T I LZ I LU LU GL G MI 21 768 kHz DH bik dal
5. Monkey User Manual Rev 19 3 2 Power Input Main Power Connector pV Main Power RECOMMENDED RANGE 4 to 6V ONLY SV4 3 Ras 1 4 2 Ras 1 1 Ras1 a NOS SV Power In 3 3 Servo Output pervo Connections Monkey User Manual Rev 20 Ge 3 4 GPS Power and Antenna For GPS power always on jump SJ6 to R9Y this is default for shipping If power to GPS needs to be shut off to conserve power jump SJ6 to GPS PWR SHTDN and power control is dictated by ARM processor code Jump to 5V for GPS constant ON For onboard active antenna L VCC_RF is NO POP For off board active antenna L VCC_RF inductor of 27nH should be installed 0603 pads SJ9 must be selected correctly for either onboard or off board DO NOT connect jump both to this solder bridge pad Raso if cl Lo m a Choose extemal or onboard only not both UO e CR 0 L VC L R F Monkey User Manual Rev 21 as 3 9 Reprogramming SWD connector J1 is shown here CO lA LI LI LI CP God AN Wi AN AR AR PPa NDET GNU IS WW R 3 6 USB USB communication is not part of the Monkey base code However Monkey can be powered from a USB connection for easy bench testing and future code will support USB communication WARNING OTE ONLY POPULATE IF USING USB and NOT aING ADC IF USING ADC LPC Is NOT DY TOLERANT aJa USES PRM_ADCAMBUS ver Ce A E E a 5 We Ss fel a
6. OT ship with an attitude estimator set of code but it has the processing and code memory to host an estimator of the customers design and use raw output from the CHIMU module 1 1 2 Acceleration limits Excessive acceleration can include acceleration above the rated levels in continuous application static low frequency g s more elusive vibration sinusoidal random or shock impulse random events that may not show full saturation of the accelerometers in data output but have affected the sensors internally and corrupted the values Continued acceleration above the limits or excessive vibration shock events can corrupt the output acceleration 1 1 3 Magnetic field limits Magnetometers are sensitive to hard and soft iron effects as well as induced magnetic fields from high current Saturation of the local magnetic field is easily identified but lower level influence on the sensor can result in pervasive errors as well Calibration of the unit in the final configuration will help prevent errors introduced by hard iron in the local area However induced magnetic fields from high current devices or high power RF circuitry can result in operational errors After a proper calibration no axis should exceed a 1 gauss value 1 1 4 GPS GPS is a phenomenal technology allowing location of your position on the planet Earth within about a 15 foot 5 meter accuracy using a module the size of your thumb GPS is subject to many possible
7. P Erase all Flash Code Rd Prot Oscillator MHz 12 Erase blocks used by Hex File Step 3 Hex File Hex File CACrossWorks Projects Monkey_2010_SW D hex Modified Unknown more info Step 4 Options Step 5 Start v Verify after programming Fill unused Flash Gen block checksums Execute Technical on line articles about 8051 and XA programming wwiw esacademy com fag docs b Change COM port to your com port Monkey User Manual Rev CO 8 10 11 12 Change path to hex file to where you stored the hex file to download Press the start button it will flash and verify If it fails try pressing the reset button on the Monkey board and try again If it still fails try powering the unit via a USB cable so grounds are common If it still fails drop the baud rate to 57600 h If it still fails cycle power on the Monkey and try again Close FlashMagic Power board down Flip switch S4 to RUN Put CHIMU back on be CAREFUL ABOUT PIN ALIGNMENT Power up and verify new code is running amoao Monkey User Manual Rev 30
8. PWM output isolated for servo channels 1 and 2 Servo Output 3 4 PWM output isolated for servo channels 3 and 4 Servo Output 5 6 PWM output isolated for servo channels 5 and 6 RS 485 RS 485 output optional controlled by software ADC GPIO Four 4 ADC inputs 2 buffered and 2 un buffered and two 2 GPIO lines User I2C and SPI User dedicated I2C bus SPI lines shared by SD card X1 X2 X3 Spare serial and CHIMU Two 2 3 3V level serial ports serial ports Spare port is routed to RS 485 output if selected by software CHIMU serial port available for output if CHIMU configured for SPI com only USB USB communication to ARM if supported in software Used for 5V external power WARNING This power pin is common with Primary 5V power and there is limited protection Overvoltage or shorting this pin while it is connected to your computer can damage your computer Use either 5V power input or USB power input Do not have multiple power sources connected 3 3V level serial port primary com port to from Monkey Can also be reconfigured for added GPIO SWD X10 X16 X19 J1 Monkey User Manual Rev 10 E Table 2 Pin Assignments SV4 Primary Power A Vbat ADC input to ARM intended for battery voltage monitoring 270 ohm limiting resistor in line but input voltage must be scaled off board i e Power Node WARNING This is NOT to be tied directly to a battery Do not exceed 3 3V input or damage wil
9. TUE TUF L L Ce Ce ABPM USED pas te a NT 4 GND Monkey User Manual Rev 22 as 3 LEDs LEDs green red and blue are controlled by the ARM ARN 3 8 Barometric Pressure Sensor The barometric pressure sensor is light sensitive and is located under the CHIMU module holder Baro Pressure ARM3 3V NOTE Light sensitive during operation 42C0 Pullup Keep shaded by CHIMU in layout D m Monkey User Manual Rev 23 Ge 3 9 ADC and GPIO Connector X1 is a mix of ADC buffered and unbuffered and GPIO signals ADC buffered unbuffered and GPIO ARM _ ADCO 5 I GJ tf OD 1 NI NI NI 1 ST xd xd ZU DO pi I Gest CH co 3 10 Communication ports Main com is on X16 Spare com is on X3 and can be routed thru the RS 485 driver to SV8 ARM CHIMU serial port can be used as well if the CHIMU serial pins are disabled or if CHIMU is not present spare and CHIMU serial COM Main COM x16 ee RER hd CC Oh TA 16 er n Res CMD A 16 5 2 x16 1 ADKALSD Pw oe i RS485 COM SF TES BX ENEN 29 Nen lt po Bann D mhi Ch i SP H d JAR i DE A J Ah A CG D K IM le 11 Monkey User Manual Rev N 3 11 Input Capture port Input capture or GPIO if desired connection is on X19 Jnput Capture Port 3 12 User I2C and SPI User I2C lines and SPI pins are located on X2 SPI pins are common with the SD card and can be used for debugging SD oper
10. ation or for an alternate SPI device if SD card is not used USER I2C and SPI Monkey User Manual Rev 29 4 Hardware Integration Presented in this section are selected hardware interface comments to help ease integration of the unit in the end user system Please note the Monkey is an open electrical device with no case It has no on board protection from short circuits or accidental electrical damage No system is fool proof and all correct use and planning for events in case of failure are the responsibility of the user Ryan Mechatronics cannot be held responsible for accidental or intentional damage caused by this unit either directly or indirectly 4 1 Power 4 1 1 Input Power Input power to the board is 5V but the Monkey core electronics all operate internally off of 3 3V generated via an on board low dropout linear regulator There are three methods for powering the board 5V input USB 5V input or 5V input from a servo connection after modification to the solder jumpers that remove isolation of the servo signals which is not recommended The 5V input on SV4 is common to the USB power bus If you provide 5V power to the board the onboard regulator will generate 3 3V output for the electronics Do NOT supply more than one power supply to the unit i e USB power and 5V This will ultimately lead to damage of the Monkey or your PC Critical Warning When using USB power the bare circuit board is powered by
11. d by enclosures or other jamming Monkey does not have on board inertial measurement sensors but is intended to work with the CHIMU AHRS which includes e 3 axis rate sensors to measure angular rate e 3 axis accelerometers to measure linear acceleration e 3 axis magnetometer to measure magnetic flux typically used for compass type heading derivation The combination of all these capabilities with the on board ARM processing power allows a full attitude heading reference system AHRS with GPS position velocity and time updates all in one tiny package Monkey User Manual Rev Application areas include but are not limited to e UAVs AUVs UAS etc e Robotics e Education e Rocket science 1 1 Limitations The unit like any device designed to utilize GPS and IMU AHRS data can be pushed beyond the limits of its ability to sense any of the measurements it needs to operate correctly The following list includes results that are known to occur if operation when using the CHIMU module exceeds the limits listed later in this document 1 1 1 Rate limits Saturation of maximum rate in any axis for any amount of time will result in an incorrect attitude estimate The longer the saturation duration the more error will be present in the attitude determination A good attitude estimator shall recover once saturation has stopped and the internal filter has time to reconverge on the correct solution Please note The Monkey does N
12. erential with A ES RS 485A eleng A line for RS 485 differential with B Monkey User Manual Rev 12 E Table 7 Pin Assignments X1 ADC GPIO Pini PinLabel Pin Name WO Description lt lt ee ee se GPIO1 270 ohm current limited UO to ARM ja GPIOO I O 270 ohm current limited UO to ARM ADCS ADC Unbuffered ADC to ARM Do not exceed 3 3V ADC5 to ARM Do not exceed 3 3V EEE a e a ADC4 to ARM Do not exceed 3 3V Alternate use required for USB com future upgrade Power 3 3V output from on board LDO for use in powering external signal conditioning or sensors Ground System ground ground a KM ADC1 to ARM Buffer is a passive resistor divider 5k on each leg that cuts incoming voltage by a factor of 2 SV input on this line reduced to 2 5V which is within 3 3V limit of ADC ADCO Buffered ADCO to ARM Buffer is a passive resistor divider 5k on each leg that cuts incoming voltage by a factor of 2 SV input on this line reduced to 2 5V which is within 3 3V limit of ADC For ARM pins typical use is shown but can be reconfigured Please see the LPC1768 User Manual from NXP for other pin options Table 8 Pin Assignments X2 User I2C and SPI Pin Pintabel PinName VO Description 1 FSD IGS ALT VO Chip select atemate OOOO 2 Sun mo MOSIOfOARM O somos vo MIOSOtOARM O O Oo il soso vo emm O EE ES RAE ei haet 3 3V output from on board LDO for use
13. from NXP for other pin options Table 13 Pin Assignments J1 Serial Wire Debug SWD pat PinLabel PinName VO Description t Pae 33Vpower SSS 2 eeng wo Wosa O oOo GND oom mgo a wak o sson OOOO mp oom ego e TOORWO wo SWDstandard O OC o OR f Re E standard O op seg Systm ground w Rese WO zeen OOOO Monkey User Manual Rev 2 5 4 Graphical Location of Connectors Reprinted here is the silkscreen for the Monkey board top and bottom artwork Locations of all components and connectors can be found here 2 5 4 1 Top Side ETS ZL lod erg bm deg 93 ru Gei GA t kaj SU SCH CD BAS Monkey User Manual Rev 15 E On board active GPS antenna Optional external GPS antenna typically not populated U40 CHIMU module plug in Barometric pressure sensor X1 ADC GPIO port Micro SD card X10 SV4 USB Primary power input ie SV 5 6 7 buen Six 6 isolated PWM un Wee la outputs Monkey User Manual Rev Blue Red Green LEDs X3 UART 1 and 3 SV8 RS 485 Interface X16 UARTO Main Com J1 Serial Wire Debug SWD programming interface 16 E 2 5 4 2 Bottom Side pue art EIS GE 4 4PA D A H hi LAM H AT e T d LI SS La dee L G F g Ei SIS Gry e 4PAD_GND IC qb z D a OM Board B Bj FE Off BR 5 4E 4 Lit i Monkey User Manual Rev
14. interference sources including anything in the GPS frequency band including harmonics of lower frequencies from digital systems and other jamming sources like foliage or direct blockage of the antenna This manual cannot begin to educate the user on limits of GPS technology but we recommend both Wikipedia and the support area on the U blox www ublox com website for more information Monkey User Manual Rev 1 1 5 Precautions and User Responsibility The Monkey is an open electrical device with no case It has no on board protection from short circuits or accidental electrical damage No system is fool proof and all correct use and planning for events in case of failure are the responsibility of the user Ryan Mechatronics cannot be held responsible for accidental or intentional damage caused by this unit either directly or indirectly 1 2 Theory of Operation The Monkey platform is an excellent prototyping system for users that want or need the power of an ARM Cortex core User application code can be run on the core However the design makes it easy for the on board ARM processor to be reprogrammed by using on board firmware upload capability This allows new Intel HEX formatted code to be uploaded using the serial port A top level view of the usage modes is shown in the following figure Boot Operation Operational Action per Slide Mode Switch Setting TTL Serial Program Reprogram Mode Select Normal Run a
15. isclosure to third parties without express permission is strictly prohibited Copyright 2010 Ryan Mechatronics LLC Monkey User Manual Rev 1 Introduction The Monkey platform provides a high performance basis for mechatronic system control Originally designed for autonomous vehicle control the platform can also be used for advanced data logging industrial control motion control or other mechatronic applications The Monkey 2010 platform is an enhanced version of prior Monkey circuit assemblies The Monkey 2010 boards include o Powerful base CPU Cortex M3 ARM7 LPC 1768 Host Controller o Cortex SWD interface tested with Rowley Crossworks o Hardware based serial boot loader for easy loading of new software o High performance U Blox NEO 5 GPS Module o Active on board antenna for increased sensitivity and jamming reduction o RS 485 driver on board for spare port o Barometric pressure sensor o Spare analog and digital I O ports o SIX 6 Isolated and dedicated PWM servo outputs o Four 4 input capture port connector o Micro SD Card o USB power and interface o Three status LED s red green blue o Interfaces with CHIMU module for attitude estimates and sensor inputs via SPI or UART Monkey has an excellent GPS module on board U Blox series with both on board and off board antenna capability The off board antenna capability is important if the unit is used in conditions where the on board antenna will be blocke
16. l occur to unit SV SV N A 5V external power WARNING This power pin is common with USB 5V power and there is limited protection Overvoltage or shorting this pin while it is connected to your computer can damage your computer If using USB power do not connect this pin to anything Use either 5V power input or USB power input Do not have multiple power sources connected Table 3 Pin Assignments SV5 Servo Output 1 2 1 Servo 1 PWM output for Servo 1 Output Servo 2 PWM output for Servo 2 Output Servo 5V supply ei sono Gru Sone Goan e 6 Beena Ground SevoGround lt lt Servo 5V and Servo Ground are isolated from main system and ground This can be defeated by jumping SJ10 and SJ14 Monkey User Manual Rev 1 E Table 4 Pin Assignments SV6 Servo Output 3 4 1 Servo 3 PWM output for Servo 3 Output Servo 4 PWM output for Servo 4 Output WEE ee Ee EES EE DE T z Cmm cm EE T EEN Servo 5V and Servo Ground are isolated from main system and ground This can be defeated by jumping SJ10 and SJ14 Table 5 Pin Assignments SV7 Servo Output 5 6 id Parabel name YO OOO oeenn O U SR 0 Output Servo 6 PWM output for Servo 6 TT ITT ITT ee er AE CoE ST T 1 RE a EE Servo DV and Servo Ground are isolated from main system and ground This can be defeated by jumping SJ10 and SJ14 Table 6 Pin Assignments SV8 RS 485 RS 485B ies B line for RS 485 diff
17. n 26 Ds e EIER IC e EE 28 5 1 Recommended TOONS EE 28 5 2 Firmware Upload Procedure cccccccccecceeceececeeceeceeceeeeeeecseceeseeseeeeeeceeseeseeseeseeeeseeseegens 28 D Appendix A Reprogramming Example eee eee ee ee e e e eee 29 Monkey User Manual Rev Release Notes Title Monkey Subtitle Monkey User Manual Type Manual Document number UM3000 Revision Index Date Name Status Comments Initial Release 11 2010 MR Initial release IMPORTANT DISCLAIMERS This document and the use of any information contained therein is subject to the acceptance of the Ryan Mechatronics terms and conditions They can be downloaded from www ryanmechatronics com Ryan Mechatronics LLC makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product descriptions at any time without notice Ryan Mechatronics LLC assumes no liability for damages or otherwise due to use of the information in this document or application of any device described in this document Ryan Mechatronics LLC stresses end user compliance with all applicable laws and regulations when using devices of this nature Use by an end user in violation of any applicable laws is automatic basis for termination of warranty technical support and future sales Ryan Mechatronics LLC reserves all rights to this document and the information contained herein Reproduction use or d
18. pplication Operation 1 2 1 Startup Conditions The startup condition of the S4 switch on the Monkey dictates what mode the system enters when reset or power is applied Monkey User Manual Rev On Board ARM CPU running user code For operation in standalone mode user must have code loaded and running on the processor In this case switch S4 would be in the RUN position Reprogramming In order to reprogram the board switch 4 would be set to PRG before power is applied When power is applied in this state the on board boot loader of the ARM is active Programming steps in this state can be found in Appendix A Reprogramming Example Monkey User Manual Rev 6 EE 2 Specifications and Characteristics Presented in this section are the sensor and system specifications for the Monkey All parameters specified are VDD 3 3 V and Ta 25 C 2 1 Performance Specifications CPU The performance specifications of the LPC1768 core processor are too numerous and detailed to reproduce here Please see the following link for specific information on the LPC1 68 http Awww nxp com documents data sheet LPC1769 68 67 66 65 64 63 pdf 2 2 Performance Specifications Global Positioning Receiver Characteristics Conditions Min Typical Max Units Position Velocity and Time Time to First Fix Cold Start Warm Start Hot Start 29 29 lt 1 Horizontal position Without SBAS lt 2 5 suey sas Ma
19. s for extended periods of time may affect device reliability Drops onto hard surfaces can cause shocks of greater than 2000 g and can exceed the absolute maximum rating of the device Exercise care during handling to avoid damage Monkey User Manual Rev 8 EE 2 5 Mechanical and Pin Assignments 2 5 1 Dimensions Dimensions and outline for the unit are shown below All units are in inches 70 11 Mounting holes are designed to accommodate standard 4 40 screw sizes 2 5 2 Coordinate System and Orientation The Monkey board does not have a coordinate system of its own but when used with the CHIMU attitude estimator it follows a standard X Y Z coordinate system as shown where X is out the nose of the Monkey board Y is to the right and Z points down 2 5 3 Pin Assignments Shown in this section are names for each of the signals on the Monkey connectors along with warnings information as applicable Monkey User Manual Rev Table 1 User Connector Overview Connector Connector Name Description ID Function SV4 Main Power Primary 5V power input to the system and input for battery voltage monitoring WARNING This power pin is common with USB 5V power and there is limited protection Overvoltage or shorting this pin while it is connected to your computer can damage your computer Use either 5V power input or USB power input Do not have multiple power sources connected Servo Output 1 2
20. sworks for ARM as the tool for reprogramming the Monkey Rowley tools are very simple to use and based on the GCC compiler chain In addition to the Crossworks package the CrossConnect LITE and SWD adapter should be purchased if debugging on board using the SWD connector is planned 5 2 Firmware Upload Procedure Firmware can be uploaded using the SWD connector and suitable Cortex debugging tools or it can be uploaded via the serial port as an Intel HEX formatted file An example of uploading firmware via this method can be found in Appendix A Reprogramming Example Monkey User Manual Rev 28 Gm 6 Appendix A Reprogramming Example Steps to load a new Hex file firmware image into the Monkey 2010 board 1 Download and install the latest version of FlashMagic from this site http www flashmagictool com Power down Monkey Remove CHIMU module if present from Monkey board to be on the safe side Plug USB node or other USB to serial converter into Monkey Move the 4 switch on Monkey away from RUN this is a little slide switch near the USB connector E 6 Power up Monkey T Run FlashMagic and reprogram a Open settings file fms or if fms file is not available select settings shown below i Flash Magic NON PRODUCTION USE ONLY File ISP Options Tools Help DH A2AS9 vES gt we ROB step 1 Communications Step 2 Erase COM Port CU MB Baud Rate 230400 Interface None IS
21. x Navigation Message dependent 2 2 4 b s men ME ken BEER H 9 H External antenna Center feed on external antenna 3 0 e Specifications are subject to change at any time without notice 2 3 Electrical Characteristics Monkey The following electrical characteristics relate to the Monkey board with a CHIMU module attached Current draw is heavily dependent on code operation Characteristics Conditions Min Typical Max Units Power SV Input Supply Vad Voltage Range Referenced to GND Current Average measured at 5V 110 150 180 mA 48 Mhz core operation GPS in signal acquisition track results in lower current CHIMU running SD card logging 10 Hz data at 1 Hz intervals PWM active e Specifications are subject to change at any time without notice Monkey User Manual Rev 2 4 Absolute Maximum Ratings Parameter Rating Acceleration any axis 0 5 ms 2000g Unpowered Output Short Circuit Duration TBD Any Pin to Common Operating Temperature Range 30 C to 85 C Storage Temperature Range 40 C to 125 C e Specifications are subject to change at any time without notice Stresses above those listed under the Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only functional operation of the device at or near these or any other conditions above those indicated in the operational section of this specification is not implied Exposure to absolute maximum rating condition
22. your USB port Shorting the unit out or overvoltaging it can directly damage your PC Take extra precaution when using it directly interfaced to your PC 4 2 GPS Antenna Options The Monkey has an on board active patch antenna for GPS reception but with a solder jumper inductor edge SMA connector and user supplied antenna an external antenna to be used instead The graphic below shows how to enable disable the onboard passive antenna or the external antenna Only one or the other may be used at one time Monkey User Manual Rev O Solder jumper 1 On board antenna Jump as shown 2 Off board antenna clear and jump to side marked off SMA antenna connector 1 On board antenna Not needed 2 Off board antenna Install 3g TK oo i OCH CR So w N a pe 4583 em On board antenna No pop 1 2 Off board antenna 27nH 0603 Tome Te A 3 pe ave ee ian Ovd P 22 Monkey User Manual Rev 27 Eed 5 Software Interface A set of core Monkey base software will soon be released as open source and can be found at www ryanmechatronics com Monkey is intended for developers so all functionality while tested may not be included in this source code Any missing desired code is the responsibility of the user and not the responsibility of Ryan Mechatronics 5 1 Recommended tools We highly recommend using Rowley Crossworks http www rowley co uk Cros
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