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SHAKE SK6 User Manual Rev J

1. Angular Rate Sensor module SK6 G01 must be installed for this to operate 16 HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughesE gmail com User Manual S s W www samh engineering com Many of the sensors have multiple degrees of freedom such as the accelerometer and the magnetometer These sensors output a different channel of data for each of the space dimensions x y and z The orientation of these axes relative to the enclosure is diagrammed in Figure 2 The polarity of the data from the sensors is such that if the entity being measured such as acceleration is in the directions of the arrows in Figure 2 then the output will be positive Otherwise the output will be negative The rates at which each of the sensors output data are individually configurable from 1Hz to 256Hz This output data rate ORD is independent of the sampling rate of the sensors which is currently fixed at 1024Hz The output data is obtained from the sampled data by use of a multi rate filter if digital filtering is enabled or decimated with no filtering if digital filtering is disabled Please see the section SK6 Digital Filters for further information Normally the SK6 streams data packets at the defined ODR for each sensor however they can be disabled by modifying the configuration register shown in Table 15 If the packet streaming is disabled for a particular channel the
2. 1L rdst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Example 3 To change the output data rate ODR of the magnetometer data to 15HZ sse 43 Example 4 To Request the battery charge level sese 43 Example 5 To Request the internal temperature of the SKO sees eee eee 43 Example 6 To Power the Accelerometer Magnetometer and Vibration display and power down all Other TTT 43 Example 7 To Enable the minimum phase digital filter on the acceleration data seers 43 Example 8 To Start Data Logging Recording sss sese sese eee eee 43 The SK6 Data Packets in Raw Binary mode esse ee 45 1 Basic Raw data packets omisiones 45 2 Raw data packets with packet counter held 45 3 Raw data packets with time stamp field essen 45 4 Raw data packets with vibration motor voltage field sese 46 SK6 CONTROL REGI STERS viciccscscsisecsienisssesecsecniensseussenenaentendsaseewisecnieniien 48 Configuration Registers sees 48 Power Control Configuration Register 1 Address OX0000 sees 48 Power Control Configuration Register 2 Address 0x0001 sese 49 Communications Configuration Register Address 0x0003 sees sese eee 49 Accelerometer Configuration Register 1 Address Ox0004 eee 50 Data Output Format Register Address Ox0002 seep 50 Digital Filter Control Register ico ed A iba 51 Output Data Rate Control ReglsterS seonrrvrnnorerornrrvavnernrrnnnner
3. Communication Established with target device Starting FLASH of target SHAKE SK6 Total number of Blocks to FLASH 37 Remaining Blocks to FLASH 35 Attempting to re sync with the SK6 Resync With SK6 succesful Remaining Blocks to FLASH 21 Attempting to re sync with the SK6 Resync With SK6 succesful Main Memory Succesfully FLASHed to target Verifing Address 174678 of 174080 Target Verify OK Plese power cycle the SHAKE SK6 to start with the new firmware Press any key to continue Figure 21 11 Press return and the SHAKE will now be automatically instructed to run the new firmware and will enter standby mode If the firmware upgrade fails for any reason repeat the procedure from step 1 69 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Calibration Modes All the sensors within the SK6 are calibrated at the factory however there may be circumstances where it is required to recalibrate certain sensors It is recommended to run these calibration modes using a simple terminal application such as Hyperterminal for the MS Windows PC platform This will ensure that the test output and instructions will display correctly All of the calibration modes will write the results to non volatile FLASH memory and are stored permanently or until such time as the calibration procedure is re run B
4. ZUR addr mode freq du Gime Gna SS BS armen ERA Where addr is a fixed width two digit hex number from 1 to 255 01 to FF representing the address of the location that the profile is to be written to Address space 00 is reserved and cannot be written to 1L dst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual z s W www samh engineering com mode is a fixed width 2 hex field representing the mode of drive when the profile is triggered For pulsed drive this field must be set to the value 02 freq is a fixed width 2 hex field representing the frequency of the pulsed waveform The output frequency is twice this value For example if 250Hz is required then the value should be set to 7D ABS is a fixed width 2 hex field representing the duty ratio of the pulsed output The range of values is 1 to 9 representing 10 to 90 duty ratio respectively ampl is a fixed width 2 hex field representing the amplitude of the output Set this field to FF for maximum amplitude endl is a fixed width 2 digit hex number representing the end time of the amp value and the time at which the amp2 value will be applied to the motor A value of zero will cause the playback to cease and subsequent elements in the profile will be ignored Each unit represents 10mS of time so the range is from 10mili seconds to 2 55 seconds The last character must be a this indicates
5. lt Back Cancel Figure 6 6 In the drop down box select Show All Devices Click the Search Again button and the icon for the SHAKE SK6 should appear in the window Select this icon and press the Next button to open the Bluetooth Setup Wizard Completion Page dialog box 3 Bluetooth Setup Wizard Completion Page xj Completing Bluetooth Setup Wizard SHAKE SK6 ROO SNOOOT KC SPP will be created on the My Bluetooth Places screen of Windows Explorer To change the name of this connection enter the new name in the box above Configure To change the properties of this connection click Configure gt shortcut for this connection with this icon and name IV Start the connection Create a shortcut and then restart this wizard so that can create additional shortcuts To complete this connection click Finish lt Back Cancel Figure 7 7 Click on the Configure Button and uncheck the Secure Connection box Important 12 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com Figure 8 8 Make a note of the COM port that this connection will use from the drop down box and click the OK button 9 Check the Start the connection box and click on the Finish button 10 Ifall has gone to plan the Serial Port Icon i
6. CL1 Capacitive Sensor 1 proximity value has crossed the lower threshold Total packet length 6 bytes The SK6 Command Packets The command packets are those that are issued by the host application to the SHAKE device They consist of two types a Read command and a Write command These commands take two arguments the address to read write to from and the 8 bit value to write in the case of the write command In the case of either a Read or Write command the read or written value of the requested address is returned in an Acknowledge Response packet Configuration of the many parameters of the SHAKE device is achieved by writing the appropriate values to the appropriate registers using the Write command Details of the registers and the parameters they represent can be found in the section For the event packets the number output will be as follows 0x0001 Navigation Switch released 0x0002 Navigation Switch pressed UP 0x0003 Navigation Switch pressed DOWN 0x0004 Navigation Switch pressed CENTRE 0x0005 Capacitive Sensor Channel 0 Increasing Threshold Trigger 0x0006 Capacitive Sensor Channel 0 Decreasing Threshold Trigger 0x0007 Capacitive Sensor Channel 1 Increasing Threshold Trigger HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughesE gmail com User Manual S s W www samh engineering com 0x0008 Capacitive Sensor Channel 1 Decreasing Threshol
7. LED colour 0veride TE BIS TELS menkina oce eni a aaee e Ea EEEE O EEEE EiS 60 SK6 EXTERNAL ANALOG INPUTS nnrnnnnnnnnvvnnnnnnnnvnnnnnnnnvvnnnnnnnnvnnnnnnnnnennr 61 SK6 EXTERNAL VI BRATION DRIVER MODULE SK6 VO1 63 Pulsed drive and vibration profiles esse 63 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com EEE SK6 POLAR HEART RATE MONITOR RECEIVER MODULE SK6 HO1 66 Heart Rate Module Configuration Register 1 address UXSUU03 A 67 SK6 FIRMWARE UPGRADE cccccccccccccccccccccccccccnccccncccnnnnnnnnnnnnnnnnnnnnnnnnnnnos 68 Firmware Upgrade Procedure sss 68 SK6 CALI BRATION MODES sss 70 Battery Full Level Calibration sss eee 70 Temperature Calibration 00 00 000 cor cc rn n nn nn nara rr rn narrar 70 External Analog Inputs Calibration eee eee 70 Magnetometer Calibration sees eee 71 Accelerometer Calibration sees eee 72 Capacitive Sensors Calibration eee eee eee 72 Angular Rate Sensors Gyros CalibratioN o ooooooooocccicoccccnncococcnnnononcnnns 73 DOCUMENT HI STORY icon a 74 HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 Hardware Overview SHAKE is a tool that provides any computing platform with movement sensin
8. if the battery runs flat the data that is recorded up to this point will be available to play back once power is restored The data retention of the FLASH memory is typically 20 years Data logging memory capacity Due to the nature of the data compression the capacity of the data log memory will vary depending on the data that is being recorded Table 4 gives the maximum and minimum number of packets that can be stored for both types of packets Triple axis packets and Single axis packets 1L rdst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual g s W www samh engineering com PacketType Min Packets Max Packets Average Packets Triple Axis 1 071 400 3 750 000 2 410 700 Single Axis 2 500 000 3 750 000 3 125 000 Table 4 Data Logging Packet Storage Capacity The total time that the data logging can run for can be estimated by dividing the average storage capacity of packets by the output data rate for that sensor For example if the accelerometer were set to record at a data rate of 100Hz with all other sensors disabled then the total time that recording will run is approximately Estimated Record Time 2410700 100 seconds 24107 seconds 6 7 hours Setting up the SHAKE for data logging To set up the SK6 for data logging please follow these steps 1 Configure the logging sample rate for each sensor channel by setting the
9. lt Back Next gt Cancel Figure 4 4 Select I Know the Service want and click the Next button to open up the Bluetooth Service Selection dialog box 2 Bluetooth Service Selection Services provided by remote devices The services listed below may be provided by nearby Bluetooth devices Select a service from the list to see a description of that service Click Next to search for devices that offer the selected service Click a service to select it Y Bluetooth Serial Port Ry Network Access 8 Dial up Networking F PIM Item Transfer 3 File Transfer Fax 3 PIM Sunchranizatinn Y lt Back Cancel Figure 5 11 1L d Drive SHAKE Nor co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughesE gmail com User Manual S s W www samh engineering com 5 Scroll down to the Bluetooth Serial port and select it Press the Next button to open the Bluetooth Device Selection dialog box 2 Bluetooth Device Selection xj Select a device Remote devices must be in Discoverable mode for this computer to find them For assistance in making a remote device discoverable refer to the remote device s documentation Search Again Show all devices ha If the device you are looking for is not in the list verify that the device has power and is ope aona On some devices you must press the Connect button to make the device iscoverable
10. the packet format is SACK hhhh zz CS CR LF SNAK hhhh zz CS CR LF With time stamps enabled the packet format is SACK hhhh zzTTT CR LF SNAK hhhh zzTTT CR LF These packet contains the address and data value of the register that was accessed in the command packet that generated this acknowledge not acknowledge Where hhhh represents the register address field in hexadecimal represented as ASCII And zz is the data which will be in the data format that the register see the register spreadsheet for the data format specific to that address TTT is the time stamp if enabled and is in decimal format rolling over every 1000 counts The value is the time stamp in units of 1 102 4 seconds thus the time stamp resets about every 10 seconds AAA 41 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Total packet length 17 bytes with the checksum or timestamp enabled 14 bytes otherwise Response Packets Example If a Write command was issued to update a value of 0x20 to the configuration resister that has address 0x0014 then the following command string would be sent SWRI 0014 20 CR LF Where CR represents the byte value Ox0D and LF the value Ox0A And if successful the following would be returned if checksum disabled SACK 0014 20 CR LF If not successful
11. 0 Disable Bit 0 Capacitive Sensing 1 Enable 1 NYD Bit 1 Accelerometer DS DE 1 0 5 1 Enable l 10 0 Disable Bit 2 Angular Rate Sensor 1 Enable 0 12 z l a 0 Disable Bit 3 Vibrotactile Drivers ED 1 NYD 0 Disable Bit 4 Magnetometer Enable 1 2 0 Disable Bit 5 Temperature Y Enable 1 NYD 0 Disable Bit 6 Analog Inputs 1 Enable 1 NYD s ae 0 Disable Bit 7 Navigation Switch E Enable 1 0 Table 6 Power Control Configuration Register 1 10 Angular Rate Sensor module SK6 GO1 must be installed for this to operate EEE 48 1L d Drive SHAKE Bueh co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Power Control Configuration Register 2 Address 0x0001 Gagan Purpose Function opel Bit 0 CSO Increasing Trigger Vibration 7 S S 0 Bit 1 CSO Decreasing Trigger Vibration E S S 0 Bit 2 CS1 Increasing Trigger Vibration a E Pee 0 Bit 3 CS1 Decreasing Trigger Vibration E SN 0 Bit 4 Data Output Packet Enable for 0 T Disable 0 Capacitive Sensing Trigger Mode 1 Enable Bit 5 Reserved z oe 0 Bit 6 Reserved a E EN 0 Bit 7 Reserved a S en 0 Table 7 Power Control Configuration Register 2 Communications Configuration Register Address 0x0003 nl Purpose Function pel Bit 0 Bluetooth Security A rn 0 Bit 1 Reserved a E E 0 Bit 2 Reserved E S 0 Bit 3 Reserved Dr 0 Bit 4 Reserved A S EEE 0 Bit 5 Reserved a al a 0 Bit 6
12. 1001 0003 0009 1001 ACC 0003 0009 1001 ACC 0003 0009 1000 0003 0009 1001 0003 0009 1001 0003 0009 1001 0003 0009 1001 0003 0009 1001 0003 0009 1002 0003 0009 1001 Disconnected ANSIW 2304008 n 1 SCROLL cars NUM Capture Print echo Figure 12 15 AKE 1 Leopardstown Drive SH Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 Sensors Overview The SK6 encompasses a multitude of sensors each of which is described in detail in later sections An overview of the intrinsic sensors and their specifications are given in Table 1 below meter Angular Rate Sensors Analog I nputs E 6 U E q b Compass Heading 9 iS Es U 55 S a Accelero Magnetometer Temperature Internal Sample 1024 1024 1024 1024 varies 1024 Rate Hz Number of aonana Maximum Output Data Rate 256 256 256 256 25 256 1 n a Hz Positive 500 2 359 9 Output 69 255 OV OdegC n a Limit d sec Gauss deg Negative 500d 2 0 0 60deg Output 69 0 2 75V n a limit sec Gauss deg C S A S 1mGa 0 1 0 25d E Z A USS deg egC Output lt 2de Accuracy NYD NYD NYD n a NYD lt 1 gC n a Digital Filtering Yes Yes Yes Yes No Yes No No Available Table 1 Specifications of Sensors
13. Bit 2 Magnetic Field Strength Bit 3 Reserved 0 y Dee mode cio calibration constants E 1 Data not modified Bit 5 Capacitive Sense Ch 1 Bit 6 External Analog Input Ch 0 Bit 7 External Analog Input Ch 1 aa Table 13 Data Output Calibration Bypass Register T Angular Rate Sensor module SK6 GO1 must be installed for this to operate 52 1L d Drive SHAKE Bueh co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Data Output Cross Axes Calibration Bypass Register Address 0x0007 Register Factory Bit fields Channel Function Default Bit 0 Acceleration Bit 1 Angular Rate Gyros Bit 2 Magnetic Field Strength O Data modified by Bit 3 S cross axes calibration constants 1 Data not modified by Bit 4 Reserved cross axes calibration coefficients Bit 5 Reserved Bit 7 Reserved FE Table 14 Data Output Cross Axes Calibration Bypass Register Data Packet Streaming Disable Register Address 0x0012 Registe Factory Bit fields Channeli alaa Default Bit 0 Acceleration Bit 1 Angular Rate Gyros Bit 2 Magnetic Field Strength O Output Packet Bit 3 Compass Heading Streaming Enabled 1 Output Packet Bit 4 Capacitive Sense Ch 0 Streaming Disabled Bit 5 Capacitive Sense Ch 1 Bit 6 External Analog Input Ch 0 Bit 7 External Analog Input Ch 1 TTS Table 15 Data Packet Streaming Disable Registe
14. Ox7F 0x76 0x02 0x00 Example 3 An accelerometer packet in time stamped raw format with a AMES MP OOOO and with X nag and Z 1000mg would look like Ox7F Ox77 0x78 DROBNOZOO DEEE 0 5000 03 HHR SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Example 4 An accelerometer packet in vibration motor voltage raw format with a ee when the packet was created and with and would look like 0x7F Ox7F Ox7E 0x03 0x00 BEEE OxES 0x03 80 SK6 Control Registers section for details of accessible registers to read Total packet length 15bytes The SK6 Acknowledge Response Packets These packets are always sent from the SHAKE device back to the host in response to command packets There are two types an Acknowledge packet and a not Acknowledge packet An Acknowledge packet is sent upon receipt of command packet if the command s address and data fields were valid and were successfully written to or read from the register that was addressed A not Acknowledge packet is returned when either the address or data fields of the command packet are not valid or are out of bounds Acknowledge Packet Not Acknowledge Packets With the time stamp feature disabled see configuration bit in Table 10 Data Output Format Register for enabling packet time stamps in raw data mode and in the ACK and NAK packets
15. Reserved S S S 0 Bit 7 Reserved 9 PN 0 Table 8 Communications Configuration Register 49 1L d Drive SHAKE Nor co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Accelerometer Configuration Register 1 Address 0x0004 Abe ein Purpose Function el consumption Bit 0 pro E a S 0 0 Bit 1 High Pass Filter BREE 0 NYD Bit 2 reserved 0 Bit 3 reserved 0 Bit 4 reserved 0 Bit 5 reserved 0 Bit 6 reserved 0 Bit 7 reserved 0 Table 9 Accelerometer Configuration Register 1 Data Output Format Register Address 0x0002 Register N roe Factory Bit fields ES TR Default 0 Disabled Bit 0 ASCII Data Checksum i Enabled 0 Bit 1 ASCII Raw output data 0 ASCII 0 format select 1 Raw 00 Basic 01 Counter Field Enabled 10 Timestamp Field Enabled 00 11 Vibration Motor Voltage Field enabled Bit 4 reserved 0 Bit 5 reserved 0 Bit 6 reserved 0 Bit 7 reserved 0 Bit 3 2 Raw Packet Type Table 10 Data Output Format Register 50 1L d Drive SHAKE Bueh co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Digital Filter Control Registers bit 0 0 Filter P Disabled To enable disable Averaging see 1 Filter Enabled the digital filter for A ging 0x0017 0x00 the selected ompass 3 l a bit 1 0 Li
16. by powering down sensors that are not required see the section Power Control Configuration Register 1 The battery charge level can be queried any time the SK6 is connected to the host The level is a value with the range 0 to 255 where 0 indicates that the battery is empty and 255 that the battery is fully charged See the section Battery Level Register for details The status of the charge circuit can also be queried by the host The SK6 will reveal whether the external power supply is connected whether the battery is charging and when the battery is fully charged See the section Power Status Register for details SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Data Logging Data Logging Overview There may be circumstances where the SHAKE is required to acquire data while not tethered to a host computer To facilitate this requirement the SK6 can be instructed to capture any set of sensor s data and record it to non volatile FLASH memory This recorded data can subsequently be uploaded at any time to a host computer for offline processing analysis Data Logging Operation The data logging RECORD function stores data that is normally streamed over the serial link to non volatile memory All settings that apply to the sensor data such as the output data rates filter cut off frequencies calibration para
17. critically low level the SK6 will automatically shutdown to a low power sleep mode The LED 7 will flash at a low duty cycle the colour red when the battery is critically low and will extinguish once in sleep mode To revert to standby mode the mains must be reconnected to start re charging the battery and the power switch must then be cycled to reset the SK6 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Data Connections The SK6 can accept data connections from either 1 a master Bluetooth device using the serial port profile 2 an emulated serial COM port via the SK6 USB cable adapter In both cases the connection will appear to the application of the host computer as a standard serial COM port The settings for the COM port are BAUD 230400 Parity no Stop bits 1 Start bits 1 Software flow control off If low latency and high data through put are paramount consider using the SK6 USB cable connection When properly configured this will allow latencies of below 2mS whereas with the Bluetooth connection the latencies could be as high as 50mS Connection via Bluetooth When the SK6 is in Standby Mode the SK6 will listen for connection requests from another Bluetooth master device and accept any incoming connection All security features of the Bluetooth protocol are disabled by d
18. directionality of the rotation sensing The measurement range is 500 degrees of rotation per second and the output resolution is 0 1 degree second As with the accelerometers they are calibrated at the factory but only for the SK6 that they are calibrated in If the module is taken from it s parent SK6 and inserted into another SK6 re calibration may be required Calibration is also possible by the end user if they have access to a quartz locked direct drive vinyl turntable such as the Technics 1200 turntable See the SK6 Calibration Modes section for more details The Pitch and Roll channels for the SK6 G01 Gyro module are particularly sensitive to the temperature of the SK6 During the factory calibration this temperature sensitivity is calculated and stored in the block of calibration constants By default the gyro outputs are compensated for this temperature dependant offset but this can be disabled by modifying the configuration register described in Table 16 However the thermistor that measures the internal temperature of the SK6 is a few mili meters away from the gyros so the temperature compensation will not be accurate immediately after the gyros have been powered up If accurate offset is required it is recommended to allow the gyros to settle for about 3 minutes prior to using the data If the angular rate sensor is not required it can be powered down and save about 15mA of current drain Magnetometer The magnetometer sen
19. half speed for the next 200mS and then applies the brake you would send the following packet VIB 0A 00 00 00 FF 14 7F 14 00 00 The SK6 will respond with if checksum is disabled SACK VIB 00 CR LF if successful or SNAK VIB 00 CR LF if unsuccessful SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 Battery and Power Supply The SK6 contains an internal lithium polymer battery and an on board charging and supervisory circuit The SK6 should only be connected to the supplied Nokia ACP 12X charger to avoid damage to the SK6 The battery will charge once the charger is plugged into the mains and connected to the DC 5V power socket 2 Typically it will take 2 5 hours to fully charge It will charge regardless of the position of the power switch 2 though the LED indicator 7 will only illuminate to provide charging feedback when the switch is in the ON position The battery has a capacity of 330mAHr and the average current consumption of the SK6 when connected via Bluetooth is 60mA with the Gyros disabled Thus the typical battery life is about 5 5 hours If the unit is being used without Bluetooth either by using a serial cable for data communications or logging data to FLASH memory the battery life can be up to 10 hours Further improvements in battery life can be achieved
20. output data rate ODR parameters detailed in Table 12 2 If required configure the digital filtering for each sample channel by setting the parameters detailed in Table 11 3 Ifthe output data is not required in real time while logging is in operation a lot of power can be saved by disabling data streaming This can be achieved by modifying the configuration register detailed in Table 15 4 Send the command to stop data logging see Table 22 this resets the write location back to the beginning of the memory block 5 If absolute timestamps are required send the command to reset the logging timestamp clock see Table 22 and if required make a note in your application of the time that the reset was invoked This will allow reconstruction of the absolute timestamps in the host application upon playback of the logged data 6 Send the command to start data logging recording see Table 22 LED feedback that recording is in progress is provided by a white flash superimposed over the constant blue 7 If required disconnect the communications to the SK6 while recording to increase battery life either by disconnecting the Bluetooth link or removing the SK6_USB cable While the Bluetooth serial link is disconnected the LED background color will change from blue to aqua 8 The status of the data logging recording can be observed by connecting the serial link and reading the registers detailed in Table 26 Table 27 and Table 28 9 When desire
21. position HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 Getting Started Included in the SK6 box you should find the following e The SHAKE SK6 device e AUK nokia ACP 12X charger Setting up the SK6 for a connection Note All the references of the form x refer to details of Figure 2 Before attempting to connect the SK6 to a computing device attach the supplied charger to the socket labeled DC 5V 2 on the front of the enclosure Plug the charger into the mains supply and push the SK6 power switch 2 to the position closest to the navigation switch 4 to power the SK6 On After a couple of seconds the LED 7 will indicate that the SK6 is in standby mode by flashing white orange or white green depending on whether the battery is charging orange or is fully charged green The SK6 is now ready to be connected to a Bluetooth master on a host computer Please see the section Connection via the SK6 USB cable for details on how to initiate a non wireless connection Configuring your computer to connect to the SK6 using Bluetooth 1 Right click on the Bluetooth Icon in the notification area of the taskbar and select Start The Bluetooth Device if it is already not started 2 Double click on the Bluetooth Icon in the notification area of the taskbar to open My Bluetoot
22. take the form STIM 0000785628 SNVD This example shows a navigation switch down event at time 785 628 seconds Data Logging Control Data logging is controlled by commands that behave like the transport controls of a tape recorder All of these commands can be sent by writing to the configuration register that is detailed in Table 22 The RECORD command will start logging from the current position in memory The PAUSE command will pause recording and playback while retaining the current r w position in memory SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com The STOP command will stop recording and playback and rewind the r w position to the beginning of memory The PLAY command will stream all the contents of the memory over the serial link starting at the current r w position of memory The TIMER RESET command zeroes the data logging timestamp clock and should be sent prior to recording The host can keep a record of the time at which this reset was applied facilitating it to reconstruct the timestamps to UTC values later Once the RECORD command is invoked and the data logging recording is in progress it is not possible to modify any of the configuration registers Any attempts to do so will be met by a NAK Not Acknowledge response This prevents any changes such as adjusting the output data ra
23. 0 1 0 1 0 1 0 1 0 1 0 1 0 1 eee ed ia ies ferd sas sed sos sae one type Hz 3dB Cut off for MP type Hz 6 12 5 17 6 25 9 40 8 52 9 72 9 88 7 108 9 Table 3 Digital Filter Specifications 26 1 Leopardstown Drive SHAKE SK6 User Manual Blackrock Co Dublin Ireland Ph 353 86 8240409 E stephenahughes gmail com W www samh engineering com Engineering Services S N ET LLL N N N N NIL 1 IL E E l E I EE TIS Se er fh kt I l LIT Tom othe To L 1 ES th ch I I I LAME a H NN le yd ajos EE A A A a T T aaa al o al al C C C C C I prp t tt tt ttt tt Weaa aaagaaaaal 1 1 1 l tJa ToT rr rr rt Ir yOOOOOOOOOT 1 1 1 I Pr ttt tt ttt tt 555555 a a EO LE P p ht SM dy VOV I LILI LI LL LI E ggg A NI FIS rac ras rPatarrtra ra ry7e6e66e6666066 21 rir I EA AA aon H ld 9000000 Nn ny PIPPI NNN tt ye ee ee eo ee el Mo Cb Slee ete Tel ale ets oh EE sie te A A ERA 1 bop ik aw Ege EE LY al I I UME Po RT NSG GS GS 6 GN Ge S E A A A A I I ra ral SE I I EO oo Se al td T I I PE MESTE A AD HP PE oro I I OE EE ey as a g Pr dd I I E A E AS O E FE es CO eT Py CoC ed PS A ite o ro o ro o W o 10 2 10 o 10 o 10 o i ki v Q Q e e Y Y 19 N p p CS ap apnuuben Frequency Hertz Figure 13 SK6 Linear Phase Digital Filter Magnitude Responses I Stad LO A AA TIA EE A 1 NN NN Ni L L SAREE E 9 I porro tot torr E a E n ese sECS NN I Prot b
24. 03 OREO SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Control Registers section for the data format specific to that address Total packet length 15bytes Example To write a value of value of 0x20 to the configuration resister the has address 0x0012 then the following command string would be sent SWRI 0012 20 Read Command Packet The read command packet takes the general format SREA hhhh 00 Where hhhh represents the register address field in hexadecimal represented as ASCII The data value in the register addressed is returned in an Acknowledge Response packet See the For the event packets the number output will be as follows 0x0001 Navigation Switch released 0x0002 Navigation Switch pressed UP 0x0003 Navigation Switch pressed DOWN 0x0004 Navigation Switch pressed CENTRE 0x0005 Capacitive Sensor Channel 0 Increasing Threshold Trigger 0x0006 Capacitive Sensor Channel 0 Decreasing Threshold Trigger 0x0007 Capacitive Sensor Channel 1 Increasing Threshold Trigger 0x0008 Capacitive Sensor Channel 1 Decreasing Threshold Trigger Example 1 An accelerometer packet in basic raw format and with X 41mg MEG and Z would look like 0x7F Ox7F Ox7E GROQORO0 DEHHNUNEE 0x5800x03 Example 2 A navigation switch pressed up event packet would look like Ox7F
25. 0Hz pulsed Linear Vibration waveform to drive a linear Right 0x012 ORO DE vibration actuator see page 63 for details Table 20 Vibration Request Registers Calibration Request Register Address 0x010A Value Purpose 0 Do nothing Po Enter magnetometer calibration mode 2 Enter accelerometer calibration mode 3 Enter angular rate sensor calibration mode 4 Enter temperature calibration mode 5 Enter battery calibration mode 6 Enter capacitive sensor calibration mode 7 Enter external analog input calibration mode Table 21 Calibration Request Register 1 Data Logging Command Register Address 0x010D Register Command Name Function 15 For the external vibration functionality the SK6 V01 module must be installed 14 For the external vibration functionality the SK6 V01 module must be installed 15 Angular Rate Sensor module SK6 GO1 must be installed for this to operate 56 1L d Drive SHAKE Nor co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com Value A a Starts serially streaming the contents of the 1 PLAY data logging memory from the start of the memory space 2 PAUSE Pauses data logging in either play mode or record mode Stops data logging in either play mode or 3 STOP record mode and resets the read write pointer back to the beginning of memory 4 RECORD Starts recording all the data sensors configured for o
26. 2Hz 7 PES 77 p AA AAA Group Delay for ODR 128Hz 7 ES OTTO i Group Delay for ODR 171Hz 1 per Go Up Delay for ODR 205Hz 7 100 pa SS TET pee er ERAS AS rt Group Delay for ODR 256Hz 7 tt a ee ee ee ee ee ee a ee eee EE 1 a I E gt 2 o a Qa 3 2 0 Frequency Hertz Figure 15 SK6 Linear Phase Digital Filter Group Delay 120 T T T pol HE A AAA PTR TTS Group Delay for ODR 25Hz Group Delay for ODR 35Hz Group Delay for ODR 49Hz F 100 Group Delay for ODR 68Hz F 7 Group Delay for ODR 102Hz F Group Delay for ODR 128Hz f Group Delay for ODR 171Hz Group Delay for ODR 205Hz 80 Group Delay for ODR 256Hz T T T ou E p o o e odo eet mg gt a a O e EEE ccs eea EE A SSE 3 e 0 Frequency Hertz Figure 16 SK6 Minimum Phase Digital Filter Group Delay 28 HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 Vibrotactile Display The SK6 has an onboard vibration motor with variable speed control and active braking Vibration profiles can be programmed and triggered by the host see the section Vibration Request Registers for details on how to trigger the vibration profiles The vibration profiles consist of a ser
27. 6 Modified Formatting Removed Compass Heading Filter Row from Table 8 Rev C 07 12 2006 Modified Raw data format to have an extra header byte value Ox7F Table 5 Rev D 05 01 2007 Inserted Table 13 Data Output Calibration Bypass Register Inserted Table 14 Data Output Cross Axes Calibration Bypass Register Inserted Table 15 Data Packet Streaming Disable Register Updated section SK6 Sensors section Overview to describe the streaming disable function Updated the calibration sections to calibrate the axes in the order x y Z Rev E 29 01 2007 Modified the display splash text in Run Mode paragraph Added Table 16 Temperature Compensation Enable Register Added section SK6 External Vibration Driver Module SK6 VO1 Updated section Gyro Angular Rate Sensor4F option to include a description of the temperature compensation Rev F 16 03 2007 Note Functionality additions in this version apply to firmware versions 2 00 and later Updated Table 11 Digital Filter Control Registers with the compass averaging control byte Updated the paragraph Compass Heading Sensor Added the Capacitive Sensors Threshold Packets paragraph in the section The SK6 Data Packets SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com Updated paragraph Capacitive Sensors Added Table 8 Communications Confi
28. Disconnected autodetect autodetect SCROLL caps NUM Capture Print echo Sk Figure 10 13 Scroll down the COM port number that you noted from step 8 in the Connect Using drop down box and click the OK button 14 1L d Drive SHAKE Nor co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com 14 In the port settings dialog select 230400 in the Bits per Second drop down box see Figure 11 SHAKE HyperTerminal E ioj xj File Edit View Call Transfer Help Dj l omme xix Port Settings Bits per second TE Data bits 8 y Parity None E Stop bits 1 y Elow control hawe y Restore Defaults Led Disconnected Auto detect Auto detect SCROLL CAPS NUM Capture Print echo a Figure 11 15 Click the OK button Now the output data from the SK6 should be visible scrolling in the Hyperterminal window By default the SK6 outputs just the acceleration data packets at a rate of 5 Hertz SK6 HyperTerminal loj x File Edit View Call Transfer Help Dl 33 sola S SHAKE SK6 Copyright 2006 SAMH Engineering Services Firmware Revision 1 10 Hardware Revision 1 20 Serial Number SK6 0007 No Expansion Modules Installed 0003 0009 1001 0003 0009 1000 0003 0009 1001 0003 0009 1001 0003 0009 1001 0003 0009
29. F rotation sensing The SK6 communicates to a host computer using a standard serial port link using the Bluetooth Serial Port Profile or the RS232 standard if using the SK6 USB cable adapter connected to the Aux socket The data is transferred as ASCII text facilitating integration to the end user s application This also allows the SK6 to be configured and its output to be viewed using a simple terminal application Where offline data acquisition is required the SK6 can also be used in a stand alone mode where all the sensor data is logged to the on board 64Mbit Flash memory The typical battery life of the SK6 is about 5 hours when connected to a host over Bluetooth or 10 hours if connected using the SK6 USB adapter cable or during data logging Full 6 DOF inertial sensing required the SK6 G01 Gyro module to be installed SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Main Features e Triple axis linear accelerometer with configurable full scale range of either 2g or 69 and a resolution of 1mg e Triple axis Angular Rate Sensor Gyro with full scale range of 500 deg second and a resolution of 0 1 deg second e Triple axis magnetometer with full scale range of 2 Gauss and resolution of 1mGauss e Two channel external analog input available over the Aux connector for connecting
30. Follow the instructions for the next three steps Once this calibration has been completed the data of the capacitive sensing packets will read 0 when the plates are not touched and 255 when they are touched The value will vary between these values as the distance of the human body to the plates Angular Rate Sensors Gyros Calibration This is a simple two point calibration of known rotation levels namely 45 RPM and 0 RPM 45 RPM was chose so that the calibration can be completed by using a vinyl record turntable For accuracy it is recommended that a direct drive quartz locked turntable is used such as the Technics 1200 series It is also paramount that the turntable is on a level surface and that each stage of the calibration the edges of the SK6 are parallel to the turntable platter To enter this calibration mode send SWRI 010A 03 to the SK6 After the acknowledge packet you will see Calibrating Gyro Pitch Axis rotating Place SK6 left hand side on rotating platter at 45 RPM Calibration will commence in 5 seconds Follow the instructions for the next 6 steps Once this calibration is complete the angular rate output data will be scaled to 10 units per degree per second 16 Angular Rate Sensor module SK6 GO1 must be installed for this to operate SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh eng
31. NNN We BeBonnows A I DoE Dep I EE OE OE at S N j thoi ee ee o A errr GC CCC C C C C C I Pret t tt ttt tt tl Weaaaaaaaal 1 1 1 I Porro ro or ro rr rr yOOOOOOOO OF 1 1 1 I Pr pr rn 15555585 SSS ti I pb KN USI ETTE TARGET GP of 20229202000 o I Ii LILI LLI L t E IG jacq a E a a 4 I La ee 1 ER O th oe or ko a ot I 90000000N YN I PCT eG EAN oUt ED E IE AAA IA eo EL led ile dedo iPod Iar r arr EE a le Slee el I pe Diy EE RE SIS A 6 GST fei 2 2 2 2 2 22 2 2 I Preto ot bo tet tot to tt tl WEEE EEE rur LT T I Perot PP PPK PP PP Pr rd I PP PP PPT PP RI pp I ho ho a TH se Ae a poro L ft L L f L i i li or AS 1 L f 1 L D o Ww o nn o e no o ww o g o Y A Q D o y o wo o Ro ap apnuuben Frequency Hertz Figure 14 SK6 Minimum Phase Digital Filter Magnitude Responses 2p 1L dst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual z s W www samh engineering com 150 TF a PE AA es ST Fade pre pkey ce ce oe eee e Ga ute OG A TI OS AS EN AAA RE SEE Fe ET Group Delay for ODR 25Hz 4 Tp ee aa es A A r 7 Group Delay for ODR 35Hz 7 NO ToT aT a gt Group Delay for ODR 49Hz 4 pee eT es gt gt 222232 27777 Group Delay for ODR 68Hz 1 lt c ME pd bs a ee te 7 eg r Group Delay for ODR 10
32. SHAKE Sensing Hardware Accessory for Kinaesthetic Expression Model SK6 User Manual Revision J 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Precautions Avoid use where there is very high humidity or large amounts of dust Avoid use in very hot over 50 deg C or very cold below 0 deg C locations Avoid liquid spillage onto this unit If this should happen disconnect the charger immediately Place in a warm dry location as soon as possible and leave for at least 24 hours Warranty This unit comes with a 12 month back to base warranty on all parts Firmware updates will be made available on a regular basis and can be downloaded shortly at www samh engineering com SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com Table of Contents SK6 HARDWARE OVERVIEW rrrrnnnnnnnnnnnnvvvvnnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnr 7 SK6 MAIN FEATURES ci ainia a aria 8 SK6 FRONT TOP AND SI DE PANEL annnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 9 SKG GETTING STARTED i nica 10 Setting up the SK6 for a connection eee eee ee rete reer inane 10 Configuring your computer to connect to the SK6 using Bluetooth 10 ET SE dit 16 Accelerometer
33. a Packets for details Parameter Min Typical Max Heart Rate Range BPM 25 240 Reception Range inches 14 16 18 when used with the T61 Table 31 SK6 HO1 Heart Rate Monitor Receiver Module Specifications 66 1L d Drive SHAKE Nor co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Heart Rate Module Configuration Register 1 address 0x003A aa Purpose Function Bet Bit 0 HO1 Module Power S Paste Unknown Bit 1 Pulse Visual Feedback e de Unknown Bit 2 Pulse Vibration Feedback A De Unknown Bit 3 reserved Unknown Bit 4 reserved Unknown Bit 5 reserved Unknown Bit 6 reserved Unknown Bit 7 reserved Unknown Table 32 Heart Rate Module Configuration Register 1 67 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Firmware Upgrade Warning It is important that this procedure is not interrupted If it is the SK6 may be bricked Note It is important to have the SK6 very close lt 20cm from the host Bluetooth antenna to minimize the chances of a dropped connection during this procedure Note These direction apply to the MS Windows XP platform only Note This procedure does not affect the calibration or configuration of the SHAKE Firmware Upgrade Procedure 1 Connect the charger to the mains an
34. are in decimal format and fixed to 4 significant digits and is preceded by a sign character ASCII or Each count represents a milli g one thousandth of the acceleration due to gravity thus the field can represent accelerations between 9 999g and 9 999g For the SK6 the actual range of the accelerometer is limited to about 6 000g to 6 000g Total packet length 30 bytes with the checksum enabled 27 bytes otherwise Angular Rate Packet SARS sdddd sdddd sdddd dd CS CR LF The data fields are Pitch Roll Yaw and Timestamp respectively The X Y and Z data fields are in decimal format and fixed to 4 significant digits and are preceded by a sign character ASCII or Each count represents a deci degree second one tenth of an angular degree of rotation per second thus the field can represent angular rates between 999 9deg second and 999 9deg second however the hardware will limit the values to approx 600 deg sec with 500 deg sec guaranteed Total packet length 30 bytes with the checksum enabled 27 bytes otherwise Magnetometer Packet SMAG sdddd sdddd sdddd dd CS CR LF The data fields are X Y Z and Timestamp respectively Angular Rate Sensor module SK6 G01 must be installed for this to operate SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh enginee
35. attery Full Level Calibration This will calibrate the full level of the battery to the maximum battery indication output of 255 OxFF To perform this calibration connect the SK6 to the charger and run the calibration mode by sending SWRI 010A 05 Following the acknowledge packet the following text will be output Calibrating the Battery full voltage level Make sure charger is connected Waiting for the battery to be fully charged Waiting Where the Waiting text will flash periodically Once the battery is fully charged the calibration will be complete automatically no user intervention is required Temperature Calibration This is a simple single point calibration of the internal thermistor The slope of the temperature curve is fixed and may lead to errors of up to 1degC per 20degC away from the calibration temperature To start the calibration send SWRI 010A 04 to the SK6 Following the acknowledge packet the following text will be output Calibrating Temperature Sensor Ensure thermocouple is inside closed SK6 case Use NAV Up Down to adjust the temperature and press centre to select 25 degC Select the current temperature and press the navigation switch in the centre to complete the calibration External Analog I nputs Calibration This simultaneously calibrates the DC gain of both external analog inputs To start the calibration send HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin I
36. cal jerk If the vibration motor is spinning at a steady state then the interference is easily filtered out with the on board digital filters This format is selected by setting the register 0x0002 Table 10 Data Output Format Register to Ox0E Header Data Field 3 Field 1 Field 2 Byte 2 Header Byte 3 Data Field 1 Data Field 2 Header Byte 1 Optional Optional eo eee oxte OG ox See Text See Text ADS Tate pg oa 040 Pitch Roll Yaw SeeText See Text Macmetometen ge ae oc X y z See Text See Text Packet Hs et OX7F 0x7F 0X7B Heading EN E See Text See Text Capacitive Sensor Channel Ox7F Ox7F Ox7A Proximity See Text See Text 0 Packet Capacitive Sensor Channel Ox7F Ox7F 0x79 Proximity See Text See Text 1 Packet Analog I nput Channel 0 Ox7F Ox7F 0x78 Voltage See Text See Text Packet Analog I nput Channel 1 Ox7F Ox7F 0x77 Voltage See Text See Text Packet Event Table 5 Output Data Packets in Raw Binary mode 46 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes amp gmail com User Manual S s W www samh engineering com For the event packets the number output will be as follows 0x0001 Navigation Switch released 0x0002 Navigation Switch pressed UP 0x0003 Navigation Switch pressed DOWN 0x0004 Navigation Switch pressed CENTRE 0x0005 Capacitive Sensor Channel 0 In
37. ced in the wrong orientation during this process the SK6 will notify you to repeat the last step Once this calibration is complete the acceleration output data will be scaled to 1000 units per g g is the acceleration due to gravity 9 81 ms 2 This procedure simultaneously calibrates both the 2g and the 6g accelerometer ranges Capacitive Sensors Calibration This is a simple two point calibration of the capacitive sensors namely touched and not touched The capacitive sensors are quite sensitive to variations in how the SK6 is held For best operation it is recommended that it is held such that the back face is flush to the palm of the user s hand or to some other expose skin surface of the user The capacitive sensor will also work if it is not held but connected to the charger as this will create the current loop through ground earth This calibration should be performed for one of these scenarios handheld or mains connected only and the calibration will be valid for that scenario only To enter this calibration mode send SWRI 010A 06 to the SK6 After the acknowledge packet you will see Capacitive Sense Calibration Channel 0 Disconnect PSU place SK6 face up on palm of hand and press the navigation switch in the centre position pe 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com
38. creasing Threshold Trigger 0x0006 Capacitive Sensor Channel 0 Decreasing Threshold Trigger 0x0007 Capacitive Sensor Channel 1 Increasing Threshold Trigger 0x0008 Capacitive Sensor Channel 1 Decreasing Threshold Trigger Example 1 An accelerometer packet in basic raw format and with X 1mg MEG land Z would look like Ox7F 0x7F 0x7E RODNOST HEES 0x5500x03 Example 2 A navigation switch pressed up event packet would look like Ox7F 0x7F 0x76 0x02 0x00 Example 3 An accelerometer packet in time stamped raw format with a Beann ON 0 00 and with X 5mglV22mg and Z 1000mg would look like OxTF Ox7F Ox7E OKOSNOROG DEEMON pS 0x03 EO Example 4 An accelerometer packet in vibration motor voltage raw format with a pr when the packet was created and with and would look like OxTF Ox7F Ox7E OKOSNOROG DEMEME 02200203 OREO 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Control Registers Configuration Registers The SK6 is highly configurable Configuration is achieved by writing to a set of configuration registers using the command packets Please see the section titled The SK6 Command Packets for the format of the command packets Power Control Configuration Register 1 Address 0x0000 S Current aera Purpose Function dea S Consumption S S Delta mA ae a
39. d data logging recording can be terminated by sending the STOP command see Table 22 10 The recorded data can now be uploaded to the host by sending the PLAY command see Table 22 This process could take a long time if there was a lot of data recorded so it is advisable to connect the power supply during this process To estimate the amount of time that this process will take read the number of packets in memory that need to be played back by reading the registers detailed in Table 28 33 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Communication Protocol Communication overview The data from the various sensors in SHAKE are periodically output over the serial connection by default Parameters such as the output data rate and the filter type can be configured as required Alternatively automatic data output can be disabled for any set of sensors by setting associated the output data rate parameter to zero and data can be requested by the host on a sample by sample basis There are numerous parameters that can be adjusted within the SHAKE device These parameters are stored in a non volatile memory block Access to this memory block is available to the host computer using either a Read or a Write command There are three types of packets 1 Data Packets 2 Command Packets 3 Ackn
40. d Trigger Example 1 An accelerometer packet in basic raw format and with X 1mg MEG land Z would look like Ox7F 0x7F Ox7E OROMOO E 0x5800x03 Example 2 A navigation switch pressed up event packet would look like 0x7F 0x7F 0x76 0x02 0x00 Example 3 An accelerometer packet in time stamped raw format with a AMES MP OOOO and with X nE and Z 1000mg would look like ox7F Ox7F 0x78 ANOBNOZOO ERNE 055600 03 RRs Example 4 An accelerometer packet in vibration motor voltage raw format with a when the packet was created and with and would look like OxTF Ox7F Ox7E GKUSNOKUG HEHE 55 003 RED SK6 Control Registers Command Packets Skeleton Structure The command packets take on a format that is also very similar to that used by the NMEA protocol common is GPS devices This should allow the partial re use of source code already developed for NMEA Note The command packets format are universal for ALL commands regardless of whether the data output packets are in the default ASCII mode or the raw data mode The packets take the following format SpacketID address data Where packetlD is a three character field unique to the packet type and is REA for a read and WRI for a write packet Address is the 4 digit Hex register address field data is the two digit data field HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E step
41. d plug it into the SK6 2 Turn the power switch 2 to the Off position for 2 or more seconds 3 Hold in the Navigation switch 4 while sliding the power switch to the On position Keep the navigation switch held until a brief vibration pulse is emitted and the LED goes the colour Red 4 Release the navigation switch immediately The SK6 is now in firmware upgrade mode and waiting for a connection from the host If the LED goes to the orange state then go back to step 3 5 Ensure the SK6 is within a couple of feet of the host Bluetooth antenna 6 Unzip the files SK6 RAbb hex and SK6 FU Cdd exe to any folder of your choosing on the PC 7 Double click on SK6 FU Cdd exe 8 Enter the COM port to which the SHAKE is connectable on as obtained from step 8 of the getting started guide 9 Once connected the LED 7 should go consistent green for the duration of the firmware upgrade This can take up to 5 minutes to complete depending on the connection 10 If the upgrade was successful you should see Target Verify OK displayed in the console 1 Leopardstown Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com ocControl MyProjects SHAKE Firmware ReleaseR1 1015K6_BL_Host_RO0 exe E Bootloader R1 2 Copyright 2006 SAMH Engineering Services Hex File Succesfully opened Please Enter the COM port number that the SHAKE is connectable on
42. efault so no pin code will be required Once a master device has connected the SK6 will enter Run Mode An example of how to connect to the SK6 by this method from a windows PC is outlined in the SK6 Getting Started section Note The default Bluetooth device name is SHAKE SK6 ROO SNxxxx where xxxx represents the unique device serial number in a 4 digit decimal format Bluetooth Security If security is required it can be enabled by setting the appropriate bit as detailed in Table 8 The PIN number will be the last 4 digits of the Bluetooth address of the SHAKE with digits a to f all lower case this can usually be found easily with the host software interface Once the Bluetooth security has been changed the SHAKE must be power cycled for the changes to take effect Connection via the SK6 USB cable If the navigation switch 4 was held in the down position while the power switch 2 is moved to the ON position the SK6 will boot up straight into Run Mode communications over Bluetooth will be disabled and communications will be enabled using the SK6 USB adapter cable via the Aux connector 1 Note The SK6 USB adapter cable uses the FT232RQ chip manufactured by the Future Technology Devices International Ltd Drivers are available at http www ftdichip com Drivers VCP htm for the following operating systems s Windows 98 98SE ME 2000 Server 2003 XP e s 1 Leopardstown Drive SHAKE Blackrock Co Dublin Irela
43. erennernaenennerennersrenvrsvasnennssvasnennessennsssrere 52 Data Output Calibration Bypass Register Address 0x0006 sese 52 Data Output Cross Axes Calibration Bypass Register Address 0x0007 eee 53 Data Packet Streaming Disable Register Address 0x0012 sese 53 Temperature Compensation Enable Register Address UxS0010 sese sees 54 Capacitive Sensing Trigger Mode Control Registers sss 54 SKG Request RegisterS coins 55 Data Request Register 1 Address 0x0100 rarnornervvrnvrernrvnnerernsnnrvaenesnrrsennersresvreresnernssnennsrsresessresnene 53 Data Request Register 2 Address 0x0101 resnornernrnnerernnvnnererennnrvnenesnersennersrenvrsvennennsssennsrsrenvssresnere 55 Vibration Request Register ui a i sekret 56 Calibration Request Register Address OXO10A eee 56 Data Logging Command Register Address 0x010D sese 56 SKG Query Registers niinen iiaeia aaa iaaa dinos 58 Power Status Register Address OX010 asses ee seene 58 Battery Level Resiste is eden la ean lag 58 Temperature Register 1 hege iii od ie hae ees en keine 58 Data Logging Status Register Address Ox010E sarnnnnornornvnnevernnnrrvnenenvrrvrnnererenvrevernernsrnennsrsrenvsssserere 59 Data Logging Memory Space Remaining Register oo sese ee eee 59 Table 27 Data Logging Memory Space Remaining Register see eee eee ee eee 59 Data Logging Number of Data Packets Recorded Registers non volatile sss 59 Table 28 Data Logging Number of Data Packets Recorded Registers sss 59
44. ernvnrverrveverarerarvrnevrarneesnensvesnensvensvesnvese 34 Accelerometer Packet usina iia tii 35 Angular Rate Packet mistica a a ii cerda 35 Magnetometer Packet T 35 Compass Heading Packet insano iii iia iii 36 Capacitive Sensors Packet asiatica pin 36 External Analog Inputs Packet s c scscoesceecssiovbessceneseusctnspsiecsecvetesbecesnosnepcosctneoseedenstedsnncpsesbnsiae er 36 Navigation Switch activation packets srrnrrvrnnorvrnnnvenrrnennerrrnnererennesnaenennrrrnnersresnrevasnennsenseveseressenese 36 Capacitive Sensors Threshold Packets cesscsssesssssssecceseceeeecsaeeecsaecaeesecseeecsaeeeeeaecaeeseeneeaeeatenees 37 The SK6 Command Packets 0 i ro ncncn canaria nana nn cc cc cnnnnnnns 37 Command Packets Skeleton Structure es sees ee seer eree ee ereer nenen 38 Wite Command Packets s2 ceseisc i5 faavasibectcseesscaiedabecacteisdesepaubeaassseacess aessencbeunevatsnipabistesssnbenstbbzachonss 39 Read Command A dan cpanasiaaseteossicusousap ste E REE EESO SERERE ERREN 40 The SK6 Acknowledge Response Packets nnnc 41 Acknowledge Packet Not Acknowledge Packets ccsssscssscsseesceseceeeecseeeecaeseeeecaeeeesaeeaeeaeenees 41 Response Packets Example T 42 SK6 Example Commande sees 42 Example 1 To change the output data rate ODR of the acceleration data to 5OHZ cee 42 Example 2 To change the output data rate ODR of the acceleration data to 1OOHZ eee 42 4
45. es for the values encapsulated by these packets are the same as those of the equivalent ASCII data packets described above All acknowledge packets are still returned in ASCII mode when raw mode is selected for the data packets The output data in these packets is limited to 14bits or less and as such the sequences of the two header bytes for any of these packets cannot possibly happen within the data fields The raw packets can take a number of different formats selectable by setting the appropriate bit in Table 10 Data Output Format Register 1 Basic Raw data packets 2 Raw data packets with packet counter field 3 Raw data packets with time stamp field 4 Raw data packets with vibration motor voltage field Please note that only the basic raw data packets are currently available for the Event type packets 1 Basic Raw data packets The format is shown in Table 5 This format is selected by setting the register 0x0002 Table 10 Data Output Format Register to 0x02 Neither of the optional fields are present in this format so the total packet length is 9 bytes 2 Raw data packets with packet counter field The packet count is inserted in optional field 1 It counts 0 to OxFF repeatedly but skips the value Ox7F Option field 2 is not present This format is selected by setting the register 0x0002 Table 10 Data Output Format Register to 0x06 3 Raw data packets with time stamp field The timestamp is contained in optional f
46. filter is enabled for the given channel At present the lowest frequency that the filters operate to is about 12Hz which corresponds to an ODR of 25Hz If an output data rate ODR of below 25Hz is selected via the configuration registers then filter number 1 is engaged and the data that is output is decimated from filter 1 s output with no additional filtering This means that data can be lost If the ODR is selected equal to or above 25Hz then the actual ODR from the SK6 is set to the equal or next highest ODR as listed in Table 3 This time no data is lost however the ODR is limited to the set of 9 values as listed in Table 3 If ODRs other than those listed are required then the filter must be disabled and hence run the risk of aliasing the data In order to avoid temporal smearing of the signal the linear phase filter option should be chosen This may be especially useful for gesture recognition on the accelerometer and angular rate channels If latency is of higher importance then choose the minimum phase filter option for the required channel This type of filter minimizes the group delay of the filter at the expense of a non linear phase response FilterNumber 1 5 3 415 lela Configuration Output Data Rate 25 35 49 68 102 128 171 205 256 Hz Actual Output EE 25 35 3 48 8 68 3 102 4 128 170 7 204 8 256 EPS requency Hz Stopband z Fa eae 50 50 50 50 50 50 50 50 50 Passband Ripple PE 0 1
47. g and vibrotactile feedback Incorporating 6 Degree of freedom inertial sensing compass heading sensing and electric field sensing in a matchbox size enclosure this hardware accessory is a valuable tool for researchers in the areas of human computer interaction HCI interfaces for artistic expression and human rehabilitation SHAKE will sense linear and rotational movements absolute orientation direction and human body proximity and will transfer this information to any computing device such as a mobile phone PDA or Laptop computer that has Bluetooth wireless connectivity Alternatively this device can be used in standalone mode where all the sensed information is time stamped and logged to FLASH memory The Bluetooth connectivity allows for up to seven SHAKE s to be connected to one host computer This provides the possibility to track the movement of multiple limbs or nodes on a person simultaneously The internal vibrotactile display is fully programmable and allows haptic sensations to be fed back in response to movement or gestures For the HCI research domain this provides the capability of the SHAKE to be used as a sensitive and accurate input device by effectively closing the kinaesthetic loop The SK6 is upgradeable It can accept up to two external sensors connected to the Aux socket 1 and there are two internal expansion slots where additional sensor modules can be installed for example the SK6 G01 module for 3 DO
48. general purpose sensors with a 3V 10mA regulated power source available on the same connector e Two proximity capacitive sensors on the front of the enclosure that can measure human body proximity to a distance of 10mm e A three position side navigation switch for general use in the end user s application e Compass heading algorithm outputs heading information for any orientation of the SK6 e Integrated programmable vibrating motor with braking capability allowing the display of immediate haptic feedback to gestures or other stimuli e In built 64Mbit of FLASH memory for data recording logging e Accurate Built in real time clock RTC for precise time stamping of data samples or events e Effective resolution on all sensor channels is greater than 12bits e All sensor channels sampled at 1kHz e All sensor channels can have the output data rate adjusted between 25Hz and 256Hz with tracking linear phase or minimum phase filtering to better than 50dB stopband attenuation e Output data rate for all channels can be adjusted between 1Hz and 256Hz with digital filtering disabled e Two internal expansion slots for add on modules such as the triple axes angular rate sensor SK6 G01 or external vibration driver module SK6 V01 e Firmware upgradable over the Bluetooth radio or using the SK6 USB adapter cable e Dimensions just 53 6mm 39 7mm 15 9mm Weight is 31 grams e Upto 10 hours operation on a single battery charge A
49. gle byte written to either volatile configuration register 0x0126 Left Channel or 0x0127 Right Channel triggers a pulsed output to the actuator The two most significant bits of the byte sent represent the amplitude of the pulses and the 6 least significant bits represent the time for which the pulses are sent These time lengths are in multiples of 26ms with the maximum pulse time length 63 26ms 1 66s The amplitude levels are 0 33 66 and 100 corresponding to amplitude bits 0b00 0b01 0b10 0b11 respectively For example to send a brief 26ms pulse to the left channel external vibration transducer at full amplitude send this SWRI 0126 C1 If successful then this response should be given SACK 0126 C1 As another example to send a long pulse of 1 66 seconds at full amplitude to the right channel send this SWRI 0127 FF If successful then this response should be given SACK 0127 FF Note As this module requires the use of the Aux connector it can not be used at the same time as the external analog inputs or the SK6 USB serial cable Pulsed drive and vibration profiles With firmware versions 2 60 and above the standard vibration profiles can be used to drive pulsed waveforms to the externally connected actuators The vibration profile is the same format as for the main motor except that the reserved fields now are used to control the frequency and duty cycle of the pulsed waveform The profile format is
50. guration Register Added Table 17 Capacitive Sensing Trigger Mode Control Registers Overhauled the section SK6 Operation Modes Updated Table 2 LED Visual Feedback Added section SK6 Data Logging Added data logging related register tables Table 22 Table 26 Table 27 and Table 28 Overhauled the section SK6 Data Connections Updated Table 1 Specifications of Sensors Added Table 19 Data Request Register 2 which includes the bit for accessing the firmware and hardware revision of the device Added text relating to sequence advancing by sending in the Magnetometer Calibration section Updated The SK6 Data Packets in Raw Binary mode section with the capacitive sense trigger packet headers Rev G 29 01 2008 Updated the paragraph Data Logging Status to include the end of playback termination message Updated the SK6 Vibrotactile Display section to reflect that a zero time value cause playback to terminate Added section HO1 Polar Heart Rate Monitor Receiver Rev H 22 04 2008 Added configuration bit in Table 10 Data Output Format Register for enabling packet counter in raw data mode Updated section The SK6 Data Packets in Raw Binary mode to include the packet counter bytes Added configuration bit in Table 10 Data Output Format Register for enabling packet time stamps in raw data mode and in the ACK and NAK packets Updated section The SK6 Acknowledge Response Packets to include the option of having a ti
51. h Places in an explorer window see Figure 3 Bluetoo ace dop x File Edit View Bluetooth Favorites Tools Help ay Qro O iP D sae je Address My Bluetooth Places Bo My Device E Bluetooth Exchange Folder q My Device Fin Bluetooth Exchange Folder View the services provided b A Sea Entire Bluetooth Neighborhood Bluetooth Setup Wizard Display previously Found Bluet Configure devices connection rearby Bluetooth d Note These directions apply to the MS Windows XP platform only and with Bluetooth security disabled default option L EE 10 1L d Drive SHAKE eee ee Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com Figure 3 3 Double click the icon labelled Bluetooth Setup Wizard to bring up the Welcome to the Bluetooth Setup Wizard Dialog box x Welcome to the Bluetooth Setup Wizard This Wizard will help you set up your Bluetooth environment What would you like to do know the service want to use and want to find a Bluetooth device that provides that service C want to find a specific Bluetooth device and configure how this computer will use its services want to configure the Bluetooth services that this computer will provide to remote devices want to change the name and or device type that this computer displays to other Bluetooth devices
52. henahughes gmail com User Manual S s W www samh engineering com Write Command Packet The write command packet takes the general format SWRI hhhh zz Where hhhh represents the register address field in hexadecimal represented as ASCII And zz is the data which must be in the data format that the register accepts see the For the event packets the number output will be as follows 0x0001 Navigation Switch released 0x0002 Navigation Switch pressed UP 0x0003 Navigation Switch pressed DOWN 0x0004 Navigation Switch pressed CENTRE 0x0005 Capacitive Sensor Channel 0 Increasing Threshold Trigger 0x0006 Capacitive Sensor Channel 0 Decreasing Threshold Trigger 0x0007 Capacitive Sensor Channel 1 Increasing Threshold Trigger 0x0008 Capacitive Sensor Channel 1 Decreasing Threshold Trigger Example 1 An accelerometer packet in basic raw format and with X 41mg MEG land Z would look like 0x7F Ox7F Ox7E OROMOZOO DEHHNUNEE 0x5800x03 Example 2 A navigation switch pressed up event packet would look like Ox7F Ox7F 0x76 0x02 0x00 Example 3 An accelerometer packet in time stamped raw format with a AMES MP ONIS and with X nag and Z 1000mg would look like Ox7F Ox77 0x78 BROBNOZOO DEEE 0 5000503 HHR Example 4 An accelerometer packet in vibration motor voltage raw format with a nm when the packet was created and with and would look like 0xTF Ox7F Ox7E DROSMOZOO DEMEME 045000
53. host can poll for sensor data packets by sending requests as detailed in Table 18 In this scenario the sensor data is processed at the rate defined in the ODR configuration registers Table 12 and when a data packet is requested the latest data packet is returned This may be useful for low duty requirements such as reading the compass heading The sensors are factory calibrated but can be re calibrated for use in different environments as described in the section SK6 Calibration Modes The calibration procedures store calibration constants in non volatile memory and are used to adjust the data from the sensors before being sent as the output data packets If required this modification of the data can be individually disabled for each sensor channel to obtain the raw sensor data Please refer to Table 13 Data Output Calibration Bypass Register for details The three triple axes sensors namely the accelerometers gyros and magnetometers are calibrated for cross axes sensitivities in addition to gain and offset The modification of the output data streams by these cross axes coefficients can be disabled by setting the appropriate bits in the configuration register as detailed in Table 14 Please note that these data modifications will also be disabled if the corresponding bits in Table 13 are set Accelerometer The accelerometer senses the linear acceleration of the SK6 There are three channels of sense data one for each of X Y and Z axes a
54. ibrated for a typical usage scenario at the factory but they can be re calibrated at any time by the end user by running the calibration process on the SK6 See the Capacitive Sensors Calibration section for more details When calibrated the streaming output value should read 0 when nothing is in close proximity to the sensor pads and 255 OxFF when the pads are firmly touched Note For optimum operation the SK6 should be held in one hand such that the back is flush to the end user s hand Compass Heading Sensor This is not a distinct sensor in itself but rather an algorithm that uses data from the magnetometer and accelerometer to calculate the compass heading The heading is always relative to the earth s magnetic north pole so it is up to the end user to compensate for their location on the planet to obtain the heading to true north The heading reading is tilt compensated so the heading will read true regardless of the orientation of the SK6 with a traditional mechanical compass it is paramount to the accuracy that it is kept absolutely normal to the gravity vector The heading given will always be in the direction of the long axis of the SHAKE labelled the x axis in Figure 2 The output is in represented in tenths of one degree i e the range is from 0 to 3600 The accelerometer and magnetometer data is always filtered using the MP digital filter number 1 see Table 3 If the digital filter enable bit is set for the compass as
55. ield 1 LSByte and optional field 2 MSByte This time stamp indicates the time in 1 102 4 of a second and resets every 1000 counts Thus the timestamp circulates approximately every 10 seconds This format is selected by setting the register 0x0002 Table 10 Data Output Format Register to Ox0A SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com 4 Raw data packets with vibration motor voltage field The voltage that is applied to the vibration motor at the time the data packet is created is contained in optional field 41 Option field 42 is not present This is useful to know for certain applications that rely on the accelerometer magnetometer or gyro sensors as the vibration can add noise and a small amount error to those signals Thus packets that have a non zero value for the vibration voltage field could be deemed to be less than certainly accurate allowing the target application to take steps to compensate for The value is normalized to 255 and if it is greater than zero the vibration motor has started vibrating It takes about 5mS for the internal vibration motor to spin up to full speed and can take 100mS to spin down if the brake is not applied in the vibration profile The spin up and spin down periods are more likely to add a small error to the inertial sensor signals as these are the periods of asymmetri
56. ies of events that indicate the motor speed and the time in steps of 10 milliseconds for which that speed will be applied to the motor Every profile can have up to 32 of these events and there can be up to 255 different profiles To upload a vibration profile to the SK6 use this packet format VIB addr resl res2 res3 speed1 end1 speed2 end2 speedN endN Where adar is a fixed width two digit hex number from 1 to 255 01 to FF representing the address of the location that the profile is to be written to Address space 00 is reserved and cannot be written to resl res2 and res3 are fixed width 2 digit hex fields that are reserved for future use and should all be set to 00 speed is a fixed width 2 hex field representing the initial speed that the motor is to run If this field is set to 00 then the motor brake will be applied Set this field to FF for maximum speed endl is a fixed width 2 digit hex number representing the end time of the speed value and the time at which the Speed2 value will be applied to the motor A value of zero will cause the playback to cease and subsequent elements in the profile will be ignored Each unit represents 10mS of time so the range is from 10mili seconds to 2 55 seconds The last character must be a this indicates to the SK6 that the end of the packet has been reached Example To upload a vibration profile to address space number 10 0x0A that drives the motor full speed for the first 200mS at
57. in Table 11 then the heading computation output is averaged over 4 computations This may be useful if a steadier heading is required at the expense of update speed Please note that for the compass to operate accurately it is paramount that the accelerometer and magnetometer be calibrated See the SK6 Calibration Modes section for more details SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com gt gt gt gt gt External Analog I nputs The SK6 hosts the ability to connect up to two external analog sensors via the Aux connector 1 The connection details can be found in the section SK6 External Analog Inputs These channels are sampled at 1kHz and have an analog cut off point of about 160Hz The output has a resolution of 1mV and the measurement range is OV to 2 75V These inputs are over voltage and reverse voltage protected to 8V The Aux connector also hosts a 3V power Supply connection so that resistive type sensors can be connected without the need for an external supply or battery Note If using the SK6 USB adapter cable to connect to the SK6 the analog inputs will be unavailable since the Aux connector is shared Under these circumstances no output data packets will be streamed for the analog input channels Temperature Sensor The SK6 contains an in
58. in record pro ea H mode reads 0 otherwise Reads 1 when data logging is in playback BIE I MENER mode reads 0 otherwise Reads 1 if the data logging memory is Bit 2 Memory Almost Full Flag almost full lt 1 available reads 0 otherwise Bits 3 7 Reserved Table 26 Data Logging Status Register Data Logging Memory Space Remaining Register A Register Valid Data E Register Name Address Range Function While data logging in record 0x00 Empty mode read this register to Remaining OxFF Full gauge the proportion of memory still remaining DL Space 0x0110 Table 27 Data Logging Memory Space Remaining Register Data Logging Number of Data Packets Recorded Registers non volatile A Register r Register Name Address Function rien 0x0038 This register pair contains the value of the number of packets divided by 100 already recorded to memory DL Num Packets 0x0039 Num Packets Written 100 MSB 256 LSB Written MSB Table 28 Data Logging Number of Data Packets Recorded Registers 59 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com LED colour override registers Register S Register Name Add Valid Data Range Function s 0x00 no override 3 LED override Override the LED internal RED component ela VAL ut display function p Brightness pay 0x00 no
59. incida ii ii A danitten sd AA id 17 Gyro Angular Rate Sensor Option 00 eerie 18 M agnetometer nonni nreti ssi A Ad 18 Capacitive Sensors iii ace 18 Compass Heading Sensor 0 0 ieee eae 19 External Analog Input sss 20 Temperature SOnSOM vaciar doi iaa 20 Navigation Switch eee 20 SK6 OPERATI ON MODES kinnene db ka nnmnnn 21 Standby Mode iia a a iaa 21 R n Mod OR EEE EE 21 Sleep ee EEE EEE gs 22 SK6 DATA CONNECT ONS cici oci niiaicinica rr 23 Connection via Bluetooth sees eee eee aida 23 Bluetooth Security see 23 Connection via the SK6 USB cable sese eee 23 1L rdst Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 E stephenahughes il User Manual IN a cat EOM SK6 LED VI SUAL FEEDBACK 25 SK6 DIGITAL FILTERS iioianoiinrann aiii 26 SK6 VIBROTACT LE DISPLAY suciiicininn sar eenn eenn 29 SK6 BATTERY AND POWER SUPPLY sss 30 SK6 DATA LOGGIN O ivi 31 Data Logging Overview sss eee 31 Data Logging Operation eee 31 Data Logging Controls sees 31 Data Logging Status eee 32 Data Logging Record Terminationt sss eee eee eee ee 32 Data logging memory capacity eee e e erred 32 Setting up the SHAKE for data logging sss eee eee eee 33 SK6 COMMUNI CATION PROTOCOL annnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnr 34 Communication OVERVIEW ccoo noir dadas 34 The SKO Data Packets see eee 34 ASCII Data Packets Skeleton Structure srnnnnrnvnnvnrnvnrnvvnnnvnnnv
60. ineering com Document History Revision Date Changes ROO 12 09 2006 Initial Draft ROL 11 10 2006 Added Command Examples Removed CR and LF from command packets Added Section SK6 External Analog Inputs Added section SK6 Configuration Registers Added section SK6 Query Registers Added section SK6 Request Registers Added section SK6 Digital Filters Added section SK6 Vibrotactile Display RO2 17 10 2006 Added TOC R03 20 10 2006 Modified temperature register address from 0x0107 to 0x0108 Added Navigation Switch activation packet details Added navigation switch entry to Module Power Control Register 1 Removed checksum field from data acknowledge and command packets Changed the format of the Capacitive Sensors Packet The LED Flash Slow period was changed from 2 to 3 seconds Added the section SK6 Sensors Added the section SK6 Battery and Power Supply added the section The SK6 Data Packets in Raw mode Updated section Vibrotactile Display Added SK6 Calibration Modes section Rev A 29 11 2006 Calibration Request Register changed to 0x010A Fixed typo in vibration upload command example Fixed table of contents page references changed Digital Filter Control Registers table to indicate that the compass heading filter is not yet available Changed the default output data rate for the accelerometer from 25Hz to 5Hz Added Gyro calibration section Rev B 01 12 200
61. jack A cable assembly with such a jack is available from CUI Inc through http www digikey com part number CP 254S ND Blc Scale 2 1 WIRING SCHEME A Red Wire B Slack Wire C Yellow Wire Figure 17 Digikey Part CP 254S ND for connecting external analog signals to the SK6 ee 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com This provides the 4 required connections to stripped and tinned exposed wires do not connect the blue wire The connections are as follows A 3V DC Supply max 10mA B Analog Input Channel 1 also UART RX Analog Input Channel O also UART TX D Common Ground 0V The 3V supply is not protected from short circuits A short circuit on this line may cause the SK6 to reset or even crash If this should happen cycle the power switch 2 of the SK6 for a few seconds to ensure a clean reset Under no circumstances should the 3V line be back fed with any voltage outside the range 2 9V to 3 1V Doing so may damage the SK6 The 3V supply is useful if one needs to connect an external sensor circuit If the external circuit has active electronics then this line can drive the Vdd line of that circuit as long as the current consumption is no more than 10mA peak Alternatively this supply line can be used to drive the top resistor in a potential divider
62. ld intensity is the parameter of interest The units given on this webpage are in nT The SK6 requires this value to be converted into mGauss units which can be done by dividing the nT value by 100 For example if the total field intensity level at your location is 49 000nT then the corresponding value in mGauss is 490mGauss Once you have this value you can proceed with the calibration by sending SWRI 010A 01 to the SK6 After the acknowledge packet you will see Calibrating Magnetometers Select the earth s magnetic field magnitude in mGauss at your present location Use NAV Up Down to adjust the value and press centre to select 500 mGauss At this point enter the magnetic field value found above and press the navigation switch in the centre position The SK6 will then output Calibrating Magnetometer X axis Orient SK6 towards earths magnetic field vector to MAXIMISE the value displayed Then press NAV centre to calibrate 2100 Peak Trough 2104 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Orient the SK6 such that the current value reaches its peak or trough It is helpful if you know the direction of the earth s magnetic field vector as this will reduce the time taken to home in on the peak trough value For example referring to Figure 2 the X direction is that in the direction f
63. m of a steady stream of data with range 0 to 255 depending on the proximity of another part of the human body to the plates such as a fingertip The proximity range is about 0 to 10mm with the value increasing exponentially with the inverse of the proximity The second output form is as discrete events with dedicated data packets attributed to these events For each of the two sensors there are two triggers when the proximity value rises above a programmable threshold and when the proximity value falls below another programmable threshold These thresholds can be configured by modifying the appropriate registers that are listed in Table 17 It is important to keep the rising trigger level above the falling trigger level or unpredictable behaviour may result Typical values that would work for the rising and falling threshold levels are 200 and 150 respectively Note that output of these data packets is disabled by default to enable them set bit 4 of the configuration register listed in Table 8 This discrete trigger form of the capacitive sensor s output can also trigger any of the internally programmed vibration profiles This provides the possibility to add low latency haptic feedback in response to actuation of the sensors The vibration profile for each trigger can be set by modifying the configuration registers listed in Table 17 and they can be enabled by setting the appropriate bits listed in Table 8 The capacitive sensors are cal
64. man readable format when displayed in a terminal type application The packets take the following format if the checksum is enabled packetID datal data2 dataN CS CR LF The packets take the following format if the checksum is disabled 34 HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com e packetID datal data2 dataN CR LF Where packetlD is a three character field unique to the packet type datal are the data fields comma separated The number of data fields varies depending on the packet type CS is the checksum field optional It is a two character hexadecimal string representing an 8 bit modulo 256 checksum value of the entire packet up to and including the dataN field CR is the ASCII character for Carriage Return and has a value of 0x0D Ar in C or C LF is the ASCII character for Line Feed and has a value of Ox0A n in C or C The timestamp field is common to all the data packets and is incremented every output sample It is a decimal value of two digits The value wraps to 0 on incrementing from 99 This field provides a method to check for missing samples in the host computer s application software Accelerometer Packet SACC sdddd sdddd sdddd dd CS CR LF The data fields are X Y Z and Timestamp respectively The X Y and Z data fields
65. me stamp appended Added UART connection details to section SK6 External Analog Inputs Added Bluetooth security option see section Bluetooth Security and Table 8 Communications Configuration Register Rev 13 12 2008 Updated SK6 External Vibration Driver Module SK6 VO1 section with details on driving external linear actuators Updated table Vibration Request Registers with registers for driving external linear actuators Rev J 16 04 2009 Updated Table 10 Data Output Format Register Added paragraph Pulsed drive and vibration profiles Updated section SK6 LED Visual Feedback with details on overriding the LED colour Added Table 29 LED colour override registers Updated section The SK6 Data Packets in Raw Binary mode to include raw packets with vibration motor applied voltage field Updated Table 10 Data Output Format Register Added more example raw data packets to section The SK6 Data Packets in Raw Binary mode
66. meters etc are also applied to logged data However to allow for low power consumption the data streams can be disabled from being transmitted over the serial link without affecting the data logging see Table 15 A rudimentary form of data compression is applied to the sensor data before being written to memory This compression algorithm stores only differences in the data from one sample to the next These differences are stored in variable sized blocks from 3 bits to 16 bits depending on the magnitude of the difference Thus the number of data samples that can fit in the 60MBits of memory will depend on the nature of the data For slowly varying data the capacity can be over 3 times the capacity than that for rapidly varying data To save further memory space a timestamp packet is only written to memory each time recording is re started On data playback the time stamp is reconstructed from the initial timestamp packet and the knowledge of the sample rate at which the data was logged at The timestamp will precede every packet of data when the PLAY command is invoked As an example an entire accelerometer packet on playback would take the form STIM 0000627549 ACC 0001 0015 1007 Where the time stamp number is a 10 digit decimal numeral this example indicates a timestamp of 627 549 seconds All event packets such as those from the navigation switch and capacitive sensor triggers are also logged On playback such an event would
67. n and released to the off position This switch may be useful to trigger the start of a gesture capture or as part of a gaming controller 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Operation Modes The operation of the SK6 is best described by breaking it down into three modes of operation Each of these modes is described in the following paragraphs Standby Mode Standby mode is the default mode that the SK6 reverts to once the power switch 2 is moved to the ON position and the navigation switch 4 is not activated In this mode the LED 7 will flash white with a period of 1 second and all of the sensors and the vibration driver are powered down The SK6 will wait in this mode until another device initiates a Bluetooth connection at which point the SK6 will transition to Run Mode Run Mode If a master Bluetooth device successfully connected to the SK6 in Standby Mode or if the navigation switch 4 was held in the down position while the power switch 2 is moved to the ON position the SK6 will transition to Run Mode Once in run mode the LED 7 will illuminate blue The following text will be immediately output SHAKE SK6 Copyright 2006 SAMH Engineering Services Firmware Revision A bb Hardware Revision C dd Serial Number SK6 xxxx No option module detected in Slot 0 No option module de
68. n the My Bluetooth Places should indicated that it is connected to the SHAKE SK6 and the SK6 LED should change colour to Blue 13 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com My B a SITE File Edt View Bluetooth Favorites Tools Help amp Gsm O T search gt Folders E Address My Bluetooth Places E Go SHAKE SK6 ROO SNOOO1 SHAKE 5K6 ROD SNODD1 KC SPP vag Connected COM4 My Device Bluetooth Exchange Folder My Device Find Bluetooth Devices Bluetooth Exchange Folder View the services provided by K Search for nearby Bluetooth d Entire Bluetooth Neighborhood Bluetooth Setup Wizard Display previously Found Bluet Configure devices connection Figure 9 11 To check that the connection is working go to Start gt Run and enter hypertrm exe followed by return This will start the native windows terminal application with which you will be able to view the data output from the SK6 12 Enter any name for the connection that is meaningful to you ie SHAKE and click on the OK button X New Connection HyperTerminal E ES File Edit View Call Transfer Help Sie Sz cls l Connection Description ED BS araa Enter a name and choose an icon for the connection Name SHAKE Icon 3980582 el ac coa
69. nd SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com e Windows Vista Longhorn e Windows XP 64 bit e Windows XP Embedded Windows CE NET 4 2 5 0 MAC OS 8 9 OS X Linux 2 4 and greater SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 LED Visual Feedback The SK6 contains a single RGB Light Emitting Diode LED 7 to provide the end user with feedback as to the state of the device Table 2 summarises the LED feedback The LED colour brightness can also be overridden by updating any of the volatile configuration registers as detailed in Table 29 LED colour override registers There are three registers one for each of the red green and blue components of the LED If any of the registers are set to a value that is not equal to zero the override is enabled and the colour is displayed according to the value in the registers The colour will remain the same until either the registers values are adjusted or the SHAKE is power cycled In the latter case the SHAKE reverts to normal state based visual feedback LED LED LED Flash Flash Indicates that Constant Fast Slow Red None None Firmware Upgrade over Bluetooth Orange none None Firmware Upgrade over Serial Cable Blue none None Run Mode Battery operated Blue none Orange R
70. near channel and to Heading Sensor o Phase select the filter Section a 1 Minimum type between a Capacitive Phase linear phase FIR Filter Properties bits 2 to 7 minimum phase Capacitive Reserved minimum group Sensor Ch 1 0x0019 0x01 delay FIR filter Filter Properties Analog Input Ch 0 Filter 0x001A 0x01 Properties Analog Input Ch 1 Filter 0x001B 0x01 Properties Table 11 Digital Filter Control Registers 51 1L dst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual z s W www samh engineering com Output Data Rate Control Registers Register Default Value Valid Data SEE Register Name Address H2 Range Function Acceleration ODR 0x0008 With Digital IA n Filter Disabled Angular Rate ODR 11 09 0 gonger ay 0 to 255 To control the rate in packets Magnetometer ODR Ox000A 0 ON per second at With Digital Which the SK6 Se ae eau 0x000B 0 S S outputs the Capacitive Sensor Ch inclusive acer oe i 0x000C 0 packets 0 ODR ER If set to 0 the Capacitive Sensor Ch 0x000D 0 listed for ODR respective data 1 ODR channel is in Table 3 hic Analog Input Ch 0 0x000E 0 disabled ODR Analog Input Ch 1 ODR Ox000F 0 Table 12 Output Data Rate Control Registers Data Output Calibration Bypass Register Address 0x0006 Register Factory Bit fields Channeli delicado Default Bit 0 Acceleration Bit 1 Angular Rate Gyros
71. nge of heart rate monitor chest straps such as the T61 Once enabled a data packet will be output every time a heart beat is detected The polar chest straps usually come in two types coded and non coded This module does not provide code decoding and as such either type of strap will suffice Please be aware however that this module will not work with the new generation of 2 4GHz transmitters Direct pulse feedback can be enabled where every heart pulse can trigger a red flash of the LED or a brief vibration or both Please see Table 32 for details The range of reception is quite sensitive to the relative orientations of the chest strap and the SHAKE For maximum sensitivity the long axis of the SHAKE the X axis should be aligned such that it is parallel to the tangent of the belt The receiver is very sensitive to alternating magnetic fields and shock vibrations and as such triggering vibration samples can cause false triggers It is recommended that vibration feedback is not used while measuring heart rate except for the Pulse Vibration Feedback see Table 32 which is designed so as not to interfere This module will only operate with V1 40 of the SHAKE SK6 hardware and with firmware versions 2 10 or higher The heart rate output packet takes the form SHR dddd dd CS CR LF Where the field dddd is the heart rate in beats per minute BPM in deimal format And the dd field is the timestamp field see section The SK6 Dat
72. ngular Rate Sensor module SK6 GO1 must be installed for this feature roll yaw Z 1 2 3 4 5 6 7 Earth Axis 1L rdst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Front Top and Side Panel Xx pitch Figure 2 SK6 Connections Aux or Auxiliary connector This is a 4 pole 2 5mm socket and is multiplexed between serial communications and external analog inputs The tip connection always provides a regulated 3V supply with up to 10mA capability The DC 5V connector takes a Nokia ACP 12X charger for charging the internal battery and for running the SK6 from the mains directly The power switch shown here in the OFF position Slide forward to turn the SK6 to the ON position This also serves as the reset switch The three way navigation switch If enabled the state of this switch is transmitted to the host on any change This switch is also used as a method to enter the Firmware Upgrade mode The position of capacitive proximity sensor number 2 The square indents serve as a tactile indication as to their position The position of capacitive proximity sensor number 1 The status LED which indicates the mode of operation the battery charging status the connection status amongst other indicators This LED only provides feedback when the power switch is in the ON
73. nsors SWRI 0000 1A If successful then this response should be given SACK 0000 1A Example 7 To Enable the minimum phase digital filter on the acceleration data SWRI 0014 03 If successful then this response should be given SACK 0014 03 Example 8 To Start Data Logging Recording SWRI 010D 04 1 L d Drive SHAKE en PG Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual g s W www samh engineering com If successful then this response should be given SACK 010D 04 44 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com The SK6 Data Packets in Raw Binary mode The SK6 data is optionally available to be output in raw binary mode This is a preferable method of data output as it reduces the bandwidth requirements by as much as 80 This reduces signal latency especially over Bluetooth connection of both sensor signals and vibration trigger commands It also allows higher data rates to be achieved The header of the raw data packets consists of three bytes the first two of which are always Ox7F Data fields are always 16 bit 2 s complement integer format and the least significant byte LSB always precedes the most significant byte MSB see Table 5 The two optional fields are 8bit byte fields All of the data rang
74. override LED override Override the LED internal GREEN component Sula GAL VET gt display function T Brightness p ay LED override 0x00 no override Override the LED internal BLUE component ULL T UE display function P Brightness pay Table 29 LED colour override registers 60 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 External Analog I nputs The SK6 allows for up to two external analog signals to be sampled The specification of the sampling is detailed in Table 30 Parameter Min Nominal Max Sample Rate Hz 1024 1024 1024 Sample Resolution bits 11 11 5 12 Analog Lowpass Filter 3dB Corner Frequency Hz pee DY met Analog Lowpass Filter E Attenuation at Nyquist dB Miele SEE 108 Input Voltage Range Volts Odo 2 7 O to 2 75 0 to 2 8 Output Counts per Volt 980 1000 1020 Input I mpedance at DC kOhm 105 110 1115 Input I mpedance at 100Hz kOhm 22 25 28 Input Over Voltage Tolerance 8 Volts O to 10kHz DC Supply Voltage on Aux 2 9 3 31 Connector Tip Volts DC Supply Voltage Current 10 12 Rating mA DC Supply Voltage Output 1 15 2 I mpedance ohm Table 30 External Analog I nputs Specifications These analog inputs are available through the Aux connector 1 on the front of the SK6 This is a 2 5mm 4 pole socket that will accept a 2 5mm 4 pole
75. owledge Response Packets All the packets that are sent out by the SK6 can optionally contain a two byte checksum field Since the Bluetooth Serial Port Profile has inbuilt error correction this should not be required if connecting wirelessly However if connecting using the serial cable it is recommended that this field is enabled The SK6 Data Packets Data packets are those packets that are output by the SHAKE device to the host application typically they encapsulate the SHAKE s sensor data These packets default to ASCII format so that they can be easily viewed in a terminal type application and parsed with higher level host applications If high data throughput or minimum processor overhead on the host are required such as on a mobile phone or PDA where processor resources are limited then raw output data mode can be selected This mode outputs the data in a packed format and typically consumes one fifth of the bandwidth required by ASCII mode This format will look unintelligible when viewed with an ASCII viewer or on a terminal application and care should be taken when parsing it to get meaningful results ASCII Data Packets Skeleton Structure The default data packets take on a format that is very similar to that used by the NMEA protocol common is GPS devices This should allow the partial re use of source code already developed for NMEA All packets are in ASCII making debugging easier The data will display clearly and in a hu
76. r 53 1L dst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Temperature Compensation Enable Register Address 0x0010 Register p PE Factory Bit fields Channel Function Default Bit 0 Reserved Bit 1 Angular Rate Gyros Bit 2 Reserved O Output Packet Temperature Bit 3 Reserved Compensation Disabled 1 Output Packet Bit 5 Reserved Bit 6 Reserved a e 2 a po a Table 16 Temperature Compensation Enable Register Capacitive Sensing Trigger Mode Control Registers A E Register Default Valid Data Register Name Function Address Value Range CSO Increasing Trigger Threshold 0x0028 0x00 CSO Decreasing Trigger Threshold 0x0029 0x00 CSO Increasing Trigger Vibration Profile Playback OA oe CSO Decreasing Trigger Vibration Profile Playback 0x002B 0x00 0 to 255 CS1 Increasing Trigger Threshold 0x002C 0x00 CS1 Decreasing Trigger Threshold 0x002D 0x00 CS1 Increasing Trigger Vibration Profile Playback oe VG CS1 Decreasing Trigger Vibration Profile Playback one oe Table 17 Capacitive Sensing Trigger Mode Control Registers 54 HAKE 1 Leopardstown Drive 5 Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 Request Registers The SK6 Request registers are write only virtual registers tha
77. reland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com WRI 010A 07 to the SK6 Following the acknowledge packet the following text will be output Calibrating the external analog inputs Plug in the accurate 1 00V DC supply to the analog inputs and press nav centre Connect a well regulated low noise source to both the analog inputs see SK6 External Analog Inputs and then press the navigation switch 4 in the centre position to complete the calibration Magnetometer Calibration Calibrating the magnetometers is vital for proper operation of the compass heading algorithm It may be necessary to re calibrate if the SK6 is used next to an object that has some residual magnetism that interferes with the earth s magnetic field for example if it is used when mounted to a PDA or mobile phone Note It is important to perform this calibration while the charger is disconnected as the charging current will interfere with the magnetic field being measured It is also advisable to perform the calibration in an open preferably outdoor location away from any magnetic materials such as steel or power cables The magnetometers can be calibrated to the earth s magnetic field if it is first known what the earth s magnetic field strength magnitude is at your current location This can be found by visiting http www geomag bgs ac uk gifs wmm_calc html where the total fie
78. ring com The X Y and Z data fields are in decimal format and fixed to 4 significant digits and is preceded by a sign character ASCII or Each count represents a milli Gauss thus the field can represent magnetic flux density between 9 999 Gauss and 9 999 Gauss The SK6 guarantees a range of at least 2 Gauss Total packet length 30 bytes with the checksum enabled 27 bytes otherwise Compass Heading Packet SHED dddd dd CS CR LF The data fields are Compass Heading and Timestamp respectively The compass heading field is in decimal format and fixed to 4 significant digits This value is unsigned and each count represents one tenth of a degree of rotation The valid range is from 0000 to 3599 Total packet length 17 bytes with the checksum enabled 14 bytes otherwise Capacitive Sensors Packet C50 dddd dd CS CR LF 5081 dddd dd Cs CR LF The data fields are Steady State proximity and Timestamp respectively The proximity value is a relative value in the range 0 to 255 that follows the proximity of a user s hand to the sensor The closer one s proximity to the sense plates the higher the value output Total packet length 17 bytes with the checksum enabled 14 bytes otherwise External Analog Inputs Packet AIO dddd dd CS CR LF AI1 dddd dd CS CR LF Where the data fields are analog voltage in mV and Timestamp There are two analog inputs AIO and All and there i
79. rom the centre of the SK6 away from the Aux connector with the unit upright Thus the maximum can be quickly found by orienting the SK6 such this direction points in the same direction as earth s magnetic field vector and slightly adjusting the orientation The peak trough values are held and it is this value that is stored and used for calibration The LED remains green during the calibration but goes briefly red if a new peak trough are found freeing your constant visual attention from the terminal window This step must be repeated for each of X Y Y Z and the Z orientations Once these steps are complete the data in the magnetometer packets will be calibrated such that each unit will correspond to 1mGauss of magnetic field strength Note If the navigation switch is awkward to press then the sequence can be advanced by sending a semicolon character instead Accelerometer Calibration This is a simple two point calibration of known acceleration levels namely 1g and 1g To enter this calibration mode send SWRI 010A 02 to the SK6 After the acknowledge packet you will see Calibrating Accelerometer X axis Place SK6 top end on level surface Keep the SKG still Calibration will commence in 5 seconds Follow the instructions for the next 6 steps It is advisable to have a spirit level to ensure that the surface on which you place the SK6 is level to earth s surface If the SK6 is not kept still or is pla
80. s a dedicated output packet for each The external analog inputs are sampled with a full scale range of 2 5V and one output least significant bit represents one mV Thus the valid output range is from 0 to approx 2800 Total packet length 17 bytes with the checksum enabled 14 bytes otherwise Navigation Switch activation packets SNVU SNVD SNVC SNVN CR LF CR LF CR LF CR LF SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughese gmail com User Manual S s W www samh engineering com These packets are sent out within 10mS of a press or release of the three position navigation switch 4 NVU Navigation switch pressed to the up position in the direction away from the power switch 2 NVD Navigation switch pressed to the down position in the direction towards the power switch 2 NVC Navigation switch pressed in the centre position NVN Navigation switch has been released to its normal position Total packet length 6 bytes Capacitive Sensors Threshold Packets If enabled these packets are sent out within 5mS of the capacitive sensor proximity values crossing the thresholds as listed in Table 17 CUO Capacitive Sensor 0 proximity value has crossed the upper threshold CLO Capacitive Sensor 0 proximity value has crossed the lower threshold CU1 Capacitive Sensor 1 proximity value has crossed the upper threshold
81. s indicated in Figure 2 There are two ranges in which the accelerometer can operate 2g range and 6g range 1g is the acceleration due to gravity The 2g range has better accuracy and resolution than the 6g range better for tilt sensing The resolution of the data output is 1mg one thousandth the acceleration due to gravity The RMS noise is about 1mg for a 25Hz bandwidth on the X and Y axes and 2mg of the Z axis The accelerometers are calibrated for full scale range and zero acceleration offset at the factory but they can be re calibrated at any time by the end user by running the calibration process on the SK6 See the Accelerometer Calibration section for more details If the acceleration sensing is not required it can be powered down and save about 0 6mA of current drain SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com ERA AAA A A AE Gyro Angular Rate Sensor option The angular rate sensors aka Gyros measure angular rate movement of the SK6 This sensor complements the accelerometers to provide a full six degree of freedom inertial sensing capability This may be used for capturing complex gestures There are 3 channels of sense data one for each of Pitch rotation about the Y axis Roll rotation about the X axis and Yaw rotation about the Z axis Please refer to Figure 2 for the
82. ses the magnetic field strength in the immediate vicinity of the SK6 There are three channels of sense data one for each of X Y and Z axes as indicated in Figure 2 The maximum sense range for these sensors will vary from unit to unit but a minimum range of 2 Gauss is guaranteed The output data resolution is 1 mGauss The magnetometers are calibrated for full scale range and zero magnetic field strength offset at the factory but they can be re calibrated at any time by the end user by running the calibration process on the SK6 See the Magnetometer Calibration section for more details If the magnetometer is not required it can be powered down and save about 4mA of current drain Note The magnetometer is best used when operating the SK6 from the internal battery The charging currents from the charger can influence the output by several milli Gauss especially the Z axis Future revisions of the firmware may compensate for this Capacitive Sensors The capacitive sensors comprise of small metal plates directly under the top surface of the SK6 as indicated in Figure 2 6 and 5 Their output takes two distinct and individually configurable forms Angular Rate Sensor module SK6 GO01 must be installed for this to operate SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com The first of these takes the for
83. t allow the host to command the SK6 to perform a particular task such as sending a particular sensor data packet or triggering a particular vibration profile Such requests are achieved by writing to these registers using the command packets Please see the section titled The SK6 Command Packets for the format of the command packets Data Request Register 1 Address 0x0100 Table 18 Data Request Register 1 Data Request Register 2 Address 0x0101 Register E 25 0 no action Bit 0 Output Start up Splash 1 send the start up splash text firmware revision hardware revision etc Bits 1 7 reserved Table 19 Data Request Register 2 Angular Rate Sensor module SK6 GO1 must be installed for this to operate 55 1L dst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual z s W www samh engineering com Vibration Request Registers Register Name ida Valid Data Range Function Address Play vibration profile Vibration Main 0x0102 0x00 to OxFF number on the internal vibrating motor Play vibration profile Vibration Left 0x0103 0x00 to OxFF number on the external left vibrating motor Play vibration profile Vibration Right 0x0104 0x00 to OxFF number on the external right vibrating motor Output a 170Hz pulsed Linear Vibration waveform to drive a linear Left eani E vibration actuator see page 63 for details Output a 17
84. tected in Slot 1 Where A represents the firmware revision major number bb represents the firmware revision minor number E represents the hardware revision major number dd represents the hardware revision minor number xxxx represents the serial number formatted as a 4 digit decimal number note The start up display splash can be requested at any time when connected see Table 19 This is the main mode of operation for the SK6 The sensors that are configured to run will be powered up and if data streaming is enabled the data from these sensors will be streamed over the serial link at their configured data rates 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com The SK6 will process a wide range of commands from the host such as configuration commands vibration driver commands data logging commands and calibration mode commands The SK6 will remain in run mode until either 1 the serial link is disrupted 2 the host initiates a disconnect At which point the SK6 will revert back to Standby Mode If the SK6 is running on the battery and the battery becomes empty then it will enter Sleep Mode note If the SK6 data logging is recording at the time the host initiates a disconnect then the SK6 will remain in Run Mode and the LED will turn a blue green aqua color Sleep Mode If the battery reaches a
85. ternal thermistor that measures the temperature of the main circuit board Typically this temperature will rise by about 4 deg C above the surrounding ambient temperature after about 30 mins of use although this depends on several factors such as the SK6 s processor load and any extra insulation surrounding the SK6 s enclosure This thermistor is also used for temperature compensation of the Gyro module zero rate offset if the SK6 G01 is installed The output range of the temperature sensor is from 0 degC to 60 degC and the resolution is 0 25 degC The temperature is sampled once per second and is not available as an auto output like the other sensor channels it must be requested by the host by sending the Temperature Request packet This sensor is factory calibrated at 25 degC but they can be re calibrated at any time by the end user by running the calibration process on the SK6 See the Temperature Calibration section for more details Navigation Switch On the right hand side of the SK6 is a three position navigation switch 4 If this is enabled any press of this switch will result in one of 4 data packets being sent to the host The rate at which this switch is sampled is 100 Hz so the maximum latency is about 10mS if connected via the SK6 USB adapter cable otherwise the Bluetooth latency must be added to this figure The 4 packets represent any of the following the switch being moved to the up position down position centre positio
86. tes of the sensors to be incurred while recording is in progress If changes are required during a record session then the PAUSE command may be invoked the necessary changes made to the configuration registers and the RECORD command may be sent to re invoke recording The timestamp clock continues to run as normal while the recording is in PAUSE mode Data Logging Status The status of data logging can be read at any time The state of the data logging transport can be ascertained this way such as whether data logging is recording playing or stopped by reading the register detailed in Table 26 There is also a pair of registers that contain a count of the total number of data packets written to memory where each count of these registers represents 100 packets see Table 28 In addition there is a single byte register that indicates the proportion of space left in the memory bank where 255 would indicate that the memory is empty and 0 would indicate that the memory is full see Table 27 Also the text Logging Data Upload Complete is output once all the packets stored in memory have been played back Data Logging Record Termination The data logging record function will continue indefinitely until either one of the following situations is reached 1 A STOP or PAUSE command is issued 2 The memory becomes full 3 The battery reaches a critically low level In the event that power is lost to the SK6 during recording i e
87. the following would be returned if checksum disabled SNAK 0014 20 CR LF The reason for the unsuccessful command is not given in the current implementation of this protocol SK6 Example Commands This section gives a few examples of the text strings that can be sent to the SK6 to perform certain functions Example 1 To change the output data rate ODR of the acceleration data to 50Hz Send this string SWRI 0008 32 If successful then this response should be given SACK 0008 32 If unsuccessful then this response should be given SNAK 0008 32 Example 2 To change the output data rate ODR of the acceleration data to 100Hz SWRI 0008 64 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Example 3 To change the output data rate ODR of the magnetometer data to 15Hz SWRI 000A 0F Example 4 To Request the battery charge level SREA 0105 00 If successful then this response should be given ACK 0105 98 Where the battery level is 0x98 0xFF 100 in percent or 59 6 Example 5 To Request the internal temperature of the SK6 SREA 0107 00 If successful then this response should be given SACK 0107 64 Where the temperature is 0x64 0 25 25degC Example 6 To Power the Accelerometer Magnetometer and Vibration display and power down all other se
88. to the SK6 that the end of the packet has been reached Example To upload a vibration profile to address space number 10 0x0A that drives the actuator with a pulsed waveform that is full amplitude for the first 200mS at half amplitude for the next 200mS all at a frequency of 250Hz and duty ratio of 50 you would send the following packet SVIE 0A 02 70 05 BH MA MA MA AG The SK6 will respond with if checksum is disabled SACK VIB 00 CR LF if successful or SNAK VIB 00 CR LF if unsuccessful 1L d Drive SHAKE Nor co Buble Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughesE gmail com User Manual S s W www samh engineering com E A B 7 c Scale 2 1 WIRING SCHEME A Red Wire C Yellow Wire D Green Wire Figure 19 Digikey Part CP 254S ND for connecting up to two external vibration pager motors to the SK6 Left Motor Drive Yellow Wire Left Motor Drive Black Wire Mi M2 3V Pager Motor Left 3V Pager Motor Right Motor Common Green Wire Figure 20 SK6 VO1 External Vibration Motors connection schematic 65 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Polar Heart Rate Monitor Receiver Module SK6 HO1 The optionally available SK6 HO1 module provides reception of the pulses from the Polar ra
89. un Mode Mains Operated Battery Charging Blue none Green Run Mode Mains Operated Battery Full Blue none Red Run Mode Mains Operated Battery Empty 8 Run Mode Data packets are being lost due to AES hed any bad connection or too high data rate none White Orange Standby Mode DE Battery none White Green Standby Mode Mains Operated Battery Full none White Red Standby Mode Mains Operated Battery Empty Blue White any Run Mode Data Logging Recording Aqua White any Standby Mode Data Logging Recording Table 2 LED Visual Feedback P The LED Flash Fast is illuminated for 0 5seconds and extinguished for 0 5 seconds repeatedly 7 The LED Flash Slow is illuminated for 0 5 seconds and extinguished for 1 5 seconds repeatedly This will appear as a flicker with no apparent periodic pattern Combined with blue it may appear as purple AAA AAA SSS aaa SSS 25 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Digital Filters The SK6 has a low pass filter slot available for each sensor channel These filters are individually configurable for stop band frequency and phase characteristics Linear and minimum phase options are available There are a total of 9 different filter stop band frequencies to choose from and as such this limits the output data rates ODRs to a fixed set of values if the
90. utput to memory Resets the data logging timestamp clock to 5 TIMER_RESET zero but only if recording is not already in progress 6 Reserved 7 Reserved 8 Reserved Table 22 Data Logging Command Register 57 1 Leopardstown Drive SHAKE Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com SK6 Query Registers The SK6 Query registers are read only volatile registers that allow the host to interrogate the SK6 for particular information such as the battery level or the device temperature Such queries are achieved by reading from these registers using the command packets Please see The SK6 Command Packets section for the format of the command packets Power Status Register Address 0x0106 Table 23 Power Status Register Battery Level Register Register Name EE Valid Data Range Function same oos Boris eee Table 24 Battery Level Register Temperature Register Register Name Kr reg Function 0x00 OdegC Read the SK6 onboard INS Sen OxFF 64degC temperature in 0 25degC steps Table 25 Temperature Register 58 1L dst Drive SHAKE Saad Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual W www samh engineering com Data Logging Status Register Address 0x010E Register A PA Bit fields Flag Name Function E Reads 1 when data logging is
91. where the bottom resistor element is the sensor a thermistor a light dependant resistor LDR a force sensor or a bend sensor could all be used in this situation For example to connect a thermistor use the following circuit 3V Red Wire 1 Analog Channel 0 Yellow Wire o RTI t THERMISTOR Common Ground Green Wire Figure 18 Connecting a resistive sensor to the SK6 The optimum value for R1 will depend on the sensor used and the measurement range required 62 SHAKE 1 Leopardstown Drive Blackrock Co Dublin Ireland SK6 Ph 353 86 8240409 Engineering Services E stephenahughes gmail com User Manual S s W www samh engineering com SK6 External Vibration Driver Module SK6 VO1 The optionally available SK6 V01 module allows up to two external vibration motors to be connected to the SHAKE via the Aux connector 1 using the supplied cable depicted in Figure 19 The motors must be rated so that the steady state maximum current drain is 100mA at 3V Most off the shelf pager motors that are rated for 3V operation will meet this criterion The motors should be connected as depicted in the schematic of Figure 20 The operation of the drive electronics is the same as that for the internal vibration motor they can be triggered to play back any uploaded vibration profiles Additionally with firmware versions 2 50 and above linear actuators can be driven with a pulsed waveform at a fixed frequency of 170Hz A sin

SHAKE SK6 User Manual Rev J

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