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µFusion User Manual

1. OUT Q3 32 bit Value of quaternion 3 Address 0x13 OUT 03 OUT Q3 Quaternion value represented as floating point OUT Q4 32 bit Value of quaternion 4 Address 0x14 OUT O4 OUT O4 Quaternion value in floating point OUT Q CHECKSUM 32 bit Value of quaternion checksum Address 0x15 OUT Q CS OUT Q CS Checksum for the values of the four quaternions It is calculated as the xor of the four quaternion values OUT ROLL 32 bit Value of roll angle in degree Address 0x16 OUT ROLL OUT ROLL Roll value represented as floating point OUT PITCH 32 bit med W MFusion User Manual Value of pitch angle in degree Address 0x17 OUT PITCH OUT PITCH Pitch value represented as floating point OUT YAW 32 bit Value of yaw angle in degree Address 0x18 OUT YAW OUT YAW Yaw value represented as floating point OUT RPY CHECKSUM 32 bit Value of RPY checksum Address 0x19 OUT RPY CS OUT RPY CS Checksum for the values of roll pitch and yaw It is calculated as the xor of the three RPY values OUT ROLL VEL 32 bit Value of roll velocity in degree Address Ox1A OUT ROLL VEL OUT ROLL VEL Roll velocity value represented as floating point OUT PITCH VEL 32 bit Value of pitch velocity
2. data coming from 3 axes accelerometer 3 axes gyroscope 3 axes magnetometer to extract Attitude and Heading References Thanks to its shape weight and small dimensions it can be easily embedded on every kind PCB uFusion offers a range of communication interface options that includes UART SPI and USB 2 0 with which is possible to have access to several I O registers for configuration and data output Every uFusion is individually factory calibrated but provide the functionality to be recalibrated when mounted on the final product 1 1 Applications Helicopters quadrotors and flying UAV Underwater vehicles Camera stabilization Balancing robots Gaming and virtual reality Compensated compass Position detection Motion capture Robot navigation SLAM Antenna control 2 Specification Electrical characteristics Symbol Parameter Test condition Min Typical Max Unit Vad Supply voltage 3 2 5 6 V laa Current consumption Vdd 5V 23 mA Vinuanr Digital high level input voltage UART 1 7 5 5 V Viuuarr Digital low level input voltage UART 0 3 0 9 V Viren Digital high level input voltage SPI 1 8 3 3 V Vue Digital low level input voltage SPI 0 3 0 9 V Vou High level output voltage 2 4 3 0 3 2 V Vor Low level output voltage 0 4 V Ton Turn on time 0 8 S fuart UART communication frequency 115200 115200 921600 baud s fspi SPI communic
3. types of errors Two main errors affect mostly the real measured value offset and scale factor Offset is the constant error between the measured value and the known value typically the 0 whereas the scale factor represents the variation of the during the increase of the distance from the zero So it s possible to assume that Vreai offset scale Vineas where Vrea is the real value and Vmeas is the measured value For every sensor the values of offset and scale are estimated during the factory calibration process stored into uFusion and applied for every acquisition 1 4 Magnetometer calibration Any magnetic sensor is influenced by hard iron and soft iron interferences Hard iron interference is due to permanent magnets or magnetized iron and steel that are present around the sensor and create a magnetic field that is added directly to the Earth s magnetic field Soft iron interference is caused by all the items around the magnetometer which are composed by iron material which distorts the direction of the Earth s magnetic field In order to obtain better results in the Heading estimation these two factor have to be compensated The algorithm running on uFusion allows to compensate these distortions and provides a magnetometer calibration to estimate them T W DK HFusion User Manual When uFusion is placed in a new system it s highly suggested to run at least once the magnetometer calibration To run the calibratio
4. SR uFusion User Manual C z y NY BN HFusion User Manual Rev 0 2 May 2013 PO u Fusion User Manual Table of Contents 1 oec ee een 3 1 1 ADDUECALIDIUS acces aa ee 3 2 POCA ON ee EE 3 3 HFUSION plnOUt caer rr share Haha BER Rab ER Er IE 4 4A Engine descripti n NT 5 1 2 AXIScASSIBMIMON nn iaa 6 1 3 Factory calibration susanne her A Naa e inu Enae Sat 6 14 Magnetometer ealibiation aaa 6 De COMMUNICATION REP em 7 L5 Mt elek 7 le Pl A A iia 7 6 Fusion Registers Description cccccccccncncnnnnninnnnnnnnnnnnnonnnnnonononononnnnnnnnnnnonnnnnnnnnnnnnnnonnnnnnnnnanenenos 8 WHOLAMEIS Bil E tame age dae dean een 8 CTRL REGL 6 DIE nenn ee 9 CTRL REG2 8 Dit D dre ee 9 ACC NUMBER AVG 8 bit iiiter tette tt Rent rrt terna ade 10 GYRO NUMBER AVG 8 Bil c ee 10 MAG NUMBER AVG T8 Bit ee een ae 10 FLOAT FIXED REGISTER 32 DIE aachen ee 10 MONIT UT 32 De a On Ha 10 OUT Q2 32 Bit na ee 11 OUT Q3 Dad 11 e Me EPA ee ea 11 OUT Q CHECKSUM BED c 11 OUT otiose SiAn 11 OUT PITCH 32 bit c AS 11 OUT PAWI DD ee ER 12 OUT ROLL VEL 32 Bil nee ee ea 12 OUT PIECHLVEL 32 Dit ee daa dais 12 OUT YAW VEL 32 Bine een 12 7 fFusion suggested land Pattern ne A EEE 13 q PO A mx Fusion User Manual 1 Introduction uFusion is an easy configurable 9DoF AHRS system which mixes
5. ation frequency 16 Mbit s USB 2 0 is available only through the motherboard 3 y Fusion User Manual Mechanical characteristics Symbol Parameter Test condiction Min Typical Max Unit Dim Dimensions 15x20 mm W Weight 3 g Ay Static accuracy Yaw 1 5 ii Arp Static accuracy Roll Pitch 0 5 fout Maximum output rate 190 Hz Trange Operating temperature range 20 20 60 C Wmax Maximum angular velocity 2000 s 3 uFusion pinout 6 2s u 2 2 Md 9 a a a a v v v Y 18 1718 15 3 GND GND UART TX RES UART RX RES RES NC RES INT RES GND VCC GND Figure 1 Fusion pinout Pin Name Description 1 GND Ground 2 UART_TX TTL Uart trasmitter 3 UART_RX TTL Uart receiver 4 RES Reserved Leave pin floating 5 RES Reserved Leave pin floating 6 RES Reserved Leave pin floating 7 VCC Power supply 8 GND Ground 9 GND Ground 10 INT Interrupt 11 NC Not connected Leave pin floating 12 RES Reserved Leave pin floating 13 RES Reserved Leave pin floating 14 GND Ground lee aa A Ly Fusion User Manual A 15 SPI_CS SPI chip select 0 SPI communications 1 UART communications This pin is 5V tolerant 16 SPI_CLK SPI clock 17 SPI_MISO SPI serial data output 18 SPI_MOSI SPI serial data input 4 E
6. consecutive register to be read that is also in ASCII format H R Number of register Consecutive the value of Number of register and Consecutive are always expressed by two characters The answer to this command is the following H R Value 1 Value 2 Value where Value 1 Value 2 etc are the binary values requested by the read command The write command starts with the hash symbol followed by W and the number of the register in ASCII format H W Number of register Value the value of Number of register and Value are always expressed by two characters 1 6 SPI The SPI Serial Peripheral Interface is a synchronous serial communication standard that is commonly supported by many micro controllers and other embedded systems The SPI standard defines 4 different working modes uFusion uses the Mode 3 The SPI interface uses four lines MISO master input slave output MOSI master output slave input CLK clock and CS chip select The maximum voltage accepted by the four lines is 3 3V SPI read write operations are completed in 16 or more clock cycles The first byte is sent from the master to uFusion and contains the address of the register and the following bytes containing the register data The first bit of the register address is the R W bit and it is used to indicate the Read 1 or Write 0 operation During the data transmission the big endian convention is
7. in degree Address Ox1B OUT PITCH VEL OUT PITCH VEL Pitch velocity value represented as floating point OUT YAW VEL 32 bit Value of yaw velocity in degree Address Ox1C OUT YAW VEL OUT YAW VEL Yaw velocity value represented as floating point x HFusion User Manual 7 uFusion suggested land pattern Figure 7 shows the recommended land pattern all the quotes are expressed in mm 20 KEEPOUT LAYER no copperin Z this area G p la Figure 7 Suggested land pattern BaT
8. n just set to 1 the M CAL of the CTRL REG 1 and rotate the entire system preferably as if you were tracing some eight shapes in the air After the calibration is completed the bit M CAL is automatically set to 0 5 Communication The interface with the board is composed by several I O registers which allow to set the desired configuration and acquire the output values You can access to these registers can be done through the UART and the SPI interfaces In the sections below it is described how to have access to the I O registers 1 5 UART uFusion permits to communicate through the universal asynchronous receiver transmitter UART and uses a communication protocol to read and write the I O registers The interface uses two lines Tx serial input and Rx serial output The Tx high output voltage is at 3 0 V and the Rx input accepts voltage from 1 7V to 5 5V The UART interface uses 8N1 8 data bits no parity 1 stop bit format and supports the following standard baud rates 115200 230400 460800 921600 The default baud rates is set to 115200 and can be changed by using the CTRL REG1 At the beginning Fusion works as slave waiting for a command There are two types of commands that uFusion accept register write command and register read command These two commands allow to read and write I O register The read command starts with the hash symbol followed by R the number of the register in ASCII format and the number of
9. ngine description uFusion works as an Attitude and Heading References System It uses a Kalman filter that takes accelerometer gyroscope and magnetometer data as input in order to estimate a drift free attitude reference in a 360 3D space with high accuracy in both static and dynamic conditions The Kalman filter runs in a 32 bit ARM processor at the frequency of 190Hz Accelerometer gyroscope and magnetometer are factory calibrated but run time calibrations for magnetometer and gyroscope are provided Gyroscope biases are automatically calibrated during the normal operations of the engine while magnetic calibration is active only when selected by the specific register Accelerometer Magnetometer Factory calibration ARM 32bit Processor I O Kalman Filter UART SPI Registers RPY estimation Sensors Controll Calibration Unit Figure 2 Fusion high level schematic T cC Y Fusion User Manual 1 2 Axis assignment uFusion uses the ENU East North Up fixed reference system In this representation the X axis points to East the Y axis points to North and the Z axis points Up Every output rotation is expressed according to this reference In Figure 3 it is shown how this representation has been fixed on uFusion Figure 3 pFusion axis assignement 1 3 Factory calibration The data coming from the three sensors are not usable as soon as acquired Thess measures are affected by different
10. ometer calibration is stopped this bit is automatically set to 0 Default 0 0 Magnetometer calibration is not running 1 Magnetometer calibration is running M_CAL_RES Magnetometer calibration result At the end of the magnetometer calibration if this bit is set to 1 it is successful and 0 otherwise INT_DRDY Interrupt activation an INT1 pin when a new data is ready Interrupt is active high Default 1 0 Interrupt disabled 1 Interrupt enabled UART SP1 UART SP2 UART communication speed As soon as the value of these registers has changed the UART starts to communicate with the new speed UART SP1 UART SP2 Speed Baud s 0 0 115200 230400 0 1 1 1 0 460800 1 921600 CTRL REG2 8 bit Control register 2 Address 0x02 Default 0x00 CQ SEND CKS SEND CRPY SEND 0 0 0 F OUT1 F OUT2 CQ SEND Continues quaternion sending When this bit is set uFusion sends automatically via UART the four quaternions as soon as updated This function is not available during SPI communications CKS SEND When CQ SEND 1 and this bit is set to 1 also the quaternions checksum is automatically sent CRPY SEND Continues RPY sending When this bit is set uFusion sends automatically via UART the Roll Pitch and Yaw as soon as updated This function is not available during SPI communications X r Fu
11. sion User Manual F OUT1 Output data rate This bits are used only when CQ SEND or CRPY SEND are set F OUT2 F OUT1 F OUT2 Freq Hz 0 0 190 0 1 95 1 0 50 1 1 25 ACC NUMBER AVG 8 bit Number of average applied on the accelerometer raw data Address 0x08 Default 0x01 N AVG ACC N AVG ACC Number of average value represented as unsigned integer GYRO NUMBER AVG 8 bit Number of average applied on the gyroscope raw data Address 0x09 Default 0x01 N AVG N AVG GYRO Number of average value represented as unsigned integer MAG NUMBER AVG 8 bit Number of average applied on the magnetometer raw data Address OxOA Default 0x01 N_AVG N_AVG_MAG Number of average value represented as unsigned integer FLOAT_FIXED_REGISTER 32 bit Fixed float register This register contains a fixed value and can be useful to set the right method to acquire data Address 0x10 FLOAT_FIXED_ REGISTER FLOAT_FIXED_ REGISTER 9854 328125 9854 215 OUT Q1 32 bit Value of quaternion 1 Address Ox1 1 FE W DK HFusion User Manual OUT Q1 OUT Q1 Quaternion value represented as floating point OUT Q2 32 bit Value of quaternion 2 Address 0x12 OUT Q2 OUT O2 Quaternion value represented as floating point
12. used q4 Ms OF y Fusion User Manual Figure 4 Errore L origine riferimento non amp stata trovata and Figure 5 show respectively examples of reading and multireading operations while Figure 6 shows an example of writing operation Figure 4 SPI reading CS s JU AU AU AUAUAUAUAUAUAUAUAUAUAUAUAUAUAUAUAUAUAUAU AU JE MISO mosi XX Dn Dn 1 RW AD6 AD5 AD4 AD3 AD2 AD1 ADO D1 DO Dn Dn 1 p REG1 REG2 Figure 5 SPI multireading mso X X X X X X X X X XX RW AD6 AD5 AD4 AD3 AD2 AD1 ADO Dn Dn 1 wes Emu D1 DO D1 DO Figure 6 SPI writing To avoid communications problems some time constrain have to be respected Symbol Parameter Min Max Unit Temm Time between two SPI communications 3 us Tpyte Time between two 8 HS 6 uFusion Registers Description WHO AM I 8 bit Who am Address 0x00 Are PO A rt Fusion User Manual WHO AM I WHO AM I OxA5 CTRL_REG1 8 bit Control register 1 Address 0x01 Default OxC8 PW M_EN M_CAL M CAL RES INT DRDY UART_SP1 UART_SP2 PW Power Mode Default 1 0 Power down 1 Power on _EN Magnetometer enable Default 1 0 Magnetometer disabled 1 Magnetometer Enabled M_CAL Magnetometer calibration When this bit is set to 1 the magnetometer calibration starts running When the magnet

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