E-Compass Operating Manual English v1_0.fm

E-Compass Operating Manual English v1_0.fm
Operating Manual
v1.5
Table of content
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Proprietary NMEA commands . . . . . . . . . . . . . . . . . . . . . . . . . . .4
• $PNOVA00: Information message .................................. 4
• $PNOVA01: Baud rate selection .................................... 4
• $PNOVA02: NMEA $GPHDT message rate selection ... 4
• $PNOVA03: NMEA $GPGMS message rate selection ... 5
• $PNOVA04: Enable/Disable std NMEA message output 5
• $PNOVA05: NMEA $GPHDM message rate selection .. 6
• $PNOVA06: NMEA $GPHDG message rate selection .. 6
• $PNOVA10: Get magnetic declination, minimum speed, time
threshold computation parameters ....................................... 6
• $PNOVA11: Set magnetic declination, minimum speed, time
threshold computation parameters ........................................ 7
• $PNOVA51: Dummy acknowledgment ........................... 7
• $PNOVA61: Get factory calibration values...................... 7
• $PNOVA71: Get user calibration values ......................... 8
• $PNOVA82: Runtime user calibration, horizontal plan ... 9
• $PNOVA83: Runtime user calibration, 90 degrees roll ..11
• $PNOVA84: Runtime user calibration, 90 degrees pitch12
• $PNOVA85: Runtime user calibration, dynamic magnetic horizontal
plan ..................................................................................... 13
• $PNOVA86: Runtime user calibration, dynamic magnetic 90
degrees pitch ...................................................................... 15
• $PNOVA87: Abort current calibration process .............. 17
• $PNOVA88: Get the calibration configuration ............... 17
• $PNOVA89: Set the calibration configuration ............... 18
• $PNOVA98: Compute CRC .......................................... 19
• $PNOVA99: Flash sector .............................................. 19
SIRF/UBLOX NMEA commands . . . . . . . . . . . . . . . . . . . . . . . 21
Electrical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
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E-COMPASS
Operating Manual
Introduction
The 9 axis E-COMPASS is a new generation IMU featuring a GPS/
GLONASS receiver coupled with a 9 axis AHRS unit providing 3D orientation by
integrating gyroscopes and data fusing with accelerometers and magnetometers.
Electrical characteristics:
• Low power consumption, 450mW
• Power supply : 5V-15.5V (Version 1), 5V-28V (Version 2), overvoltage and
reverse polarity protected
• Embedded firmware upgrade through proprietary NMEA messages
• Runtime user calibration
• 9 axis inertial measurement unit (IMU) magnetometers, accelerometers &
gyroscopes data fusing with proprietary algorithm
• Onboard SIRF STAR V or UBLOX GNSS chipset for precise positioning and
highest sensitivity
• Windows graphical user interface (9 axis E-Compass Manager) for easy
setup, monitoring and upgrades
Vertical axis
Pitch
Roll
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Proprietary NMEA commands
Proprietary NMEA commands
General header format is $PNOVA.
All messages end/must end with carriage return “\r\n”.
$PNOVA00: Information message
General comment sent by the IMU for user information
Format: $PNOVA00,....,...,...*xx
xx: checksum
•
Example : Welcome message : $PNOVA00,NOVASAIL 9 axis ECompass,bootloader 1.0,software 1.1*xx
$PNOVA01: Baud rate selection
Serial baud rate configuration message
Format: $PNOVA01,aa...a*xx
aa...a: baud rate selection 4800, 9600, 14400, 19200, 38400
xx: checksum
• Example: $PNOVA01,38400*
Acknowledgement: $PNOVA01,BAUD RATE OK*xx
Note:
the baud rate is saved into non volatile memory
$PNOVA02: NMEA GPHDT message rate selection
Set the rate of the standard $GPHDT NMEA message
Format: $PNOVA02,aaaa*xx
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Proprietary NMEA commands
aaaa: rate selection 01Hz, 05Hz or 10Hz
xx: checksum
• Example: $PNOVA02,05Hz*
Acknowledgement: $PNOVA02,RATE SET*xx
Note:
the rate is saved into non volatile memory
$PNOVA03: NMEA $GPGMS message rate selection
Set the rate in second for the $GPGMS NMEA message
Format: $PNOVA03,aa*xx
aa: rate selection in seconds. 00 second disable permanently the GPGMS
message.
xx: checksum
• Example: $PNOVA03,05* (GPGMS is sent every 5 seconds)
Acknowledgement: $PNOVA03,RATE SET*xx
Note:
the rate is saved into non volatile memory
$PNOVA04: Enable/Disable standard NMEA message
output
Enable or disable the output of all NMEA messages.
Format: $PNOVA04,aaa*xx
aaa: “ON” to enable, “OFF” to disable
xx: checksum
• Example: $PNOVA04,OFF*
Acknowledgement: $PNOVA04,OK*xx
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Proprietary NMEA commands
$PNOVA05: NMEA GPHDM message rate selection
Set the rate of the standard $GPHDM NMEA message
Format: $PNOVA05,aaaa*xx
aaaa: rate selection 01Hz, 05Hz or 10Hz
xx: checksum
• Example: $PNOVA05,05Hz*
Acknowledgement: $PNOVA02,RATE SET*xx
Note:
the rate is saved into non volatile memory
$PNOVA06: NMEA GPHDG message rate selection
Set the rate of the standard $GPHDG NMEA message
Format: $PNOVA06,aaaa*xx
aaaa: rate selection 01Hz, 05Hz or 10Hz
xx: checksum
• Example: $PNOVA06,05Hz*
Acknowledgement: $PNOVA02,RATE SET*xx
Note:
the rate is saved into non volatile memory
$PNOVA10: Get magnetic declination, minimum speed, time
threshold computation parameters
Format: $PNOVA10*xx
Acknowledgement $PNOVA10,aa.a,b,cdd.d,e*xx
Format:
- aa.a minimum speed (knots) selection, 01.0, 01,1...19.9,20.0
- b: minimum time in sec, 1, 2...8, 9
- cdd.d: magnetic declination
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Proprietary NMEA commands
c: W (West) or E (East)
dd.d: 00.0 to 90.0 degrees
- e: ‘0’ fixed magnetic variation,‘1’ automatic computation of variation
- xx: checksum
•
•
Example: $PNOVA10,07.6,5,W12.3,0*xx for 7.6 knots and 5 seconds minimum
threshold for auto computation parameters, 12.3 degrees west declination, fixed
$PNOVA11: Set magnetic declination, minimum speed, time
threshold computation parameters
Format: $PNOVA11,aa.a,b,cdd.d,e*xx
- aa.a minimum speed (knots) selection, 01.0, 01,1...19.9,20.0
- b: minimum time in sec, 1, 2...8, 9
- cdd.d: magnetic declination
• c: W (West) or E (East)
• dd.d: 00.0 to 90.0 degrees
- e: ‘0’ fixed magnetic variation,‘1’ automatic computation of variation
- xx: checksum
Example: $PNOVA11,02.3,3,E03.2,1*xx for 2.3 knots and 3 seconds minimum
threshold for auto computation parameters, 3.2 degrees east declination,
automatic computation of the magnetic variation (also call declination)
Acknowledgement $PNOVA11,OK*xx
$PNOVA51: Dummy acknowledgment
IMU acknowledgment message, no information.
Format: $PNOVA51*xx
Acknowledgement $PNOVA11,NS*xx
$PNOVA61: Get factory calibration values
The acknowledgement of this message returns the factory calibration values of
the IMU for the magnetometers, accelerometers and gyroscopes.
Format: $PNOVA61*xx
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Proprietary NMEA commands
Acknowledgement:
$PNOVA61,aaaaa,bbbbb,ccccc,ddddd,eeeee,fffff,ggggg,hhhhh,iiiii,jjjjj,kkkkk,lllll*x
x
aaaaa: magnetometer X axis zero bias (eg: 00200)
bbbbb: magnetometer Y axis zero bias
ccccc: magnetometer Z axis zero bias
ddddd: accelerometer X axis zero bias (eg. -0010)
eeeee: accelerometer Y axis zero bias
fffff: accelerometer Z axis zero bias
ggggg: gyroscope X axis zero bias (eg. -0080)
hhhhh: gyroscope Y axis zero bias
iiiii: gyroscope Z axis zero bias
jjjjj: accelerometer X axis +1G bias (eg. 16235)
kkkkk: accelerometer Y axis +1G bias
lllll: accelerometer Z axis +1G bias
xx : checksum
Example: $PNOVA61,00020,00217,-0122,00021,00089,0256,16020,15678,16965*xx
Note: this acknowledgement message returns 85 characters
$PNOVA71: Get user calibration values
The acknowledgement of this message returns the user calibration values for the
magnetometers, accelerometers and gyroscopes. The E-Compass should have
been properly calibrated by the user so that the unit returns usable values
Format: $PNOVA71*xx
Acknowledgement:
$PNOVA71,aaaaa,bbbbb,ccccc,ddddd,eeeee,fffff,ggggg,hhhhh,iiiii,jjjjj,kkkkk,lllll*x
x
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Proprietary NMEA commands
aaaaa: magnetometer X axis zero bias (eg: 00200)
bbbbb: magnetometer Y axis zero bias
ccccc: magnetometer Z axis zero bias
ddddd: accelerometer X axis zero bias (eg. -0010)
eeeee: accelerometer Y axis zero bias
fffff: accelerometer Z axis zero bias
ggggg: gyroscope X axis zero bias (eg. -0080)
hhhhh: gyroscope Y axis zero bias
iiiii: gyroscope Z axis zero bias
jjjjj: accelerometer X axis +1G bias (eg. 16235)
kkkkk: accelerometer Y axis +1G bias
lllll: accelerometer Z axis +1G bias
xx : checksum
Example: $PNOVA71,00040,00237,-0322,00525,00189,0056,16543,15970,16345*xx
Note:
this acknowledgement message returns 85 characters.
$PNOVA82: Runtime user calibration, horizontal plan
This message will start the static horizontal plan calibration. During the calibration
the E-Compass must remain in a fixed position in the horizontal plan so that the
IMU captures the zero bias of the accelerometer X/Y axis and the Gyroscope X/Y/
Z axis
Format: $PNOVA82*xx
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Proprietary NMEA commands
Vertical axis
Horizontal plan
Acknowledgement:
- $PNOVA82,HORIZONTAL PLAN CALIBRATION STARTED* : the IMU is
launching the calibration
Information message during the calibration:
- $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter thus
delaying the calibration
- $PNOVA00,UNIT NOT IN HORIZONTAL POSITION* : the IMU is detecting that
the IMU board is not placed in the horizontal plan
- $PNOVA00,CALIBRATION OK* : the IMU has finished successfully the
calibration process
Note: The calibration values are stored into non volatile memory
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Proprietary NMEA commands
$PNOVA83: Runtime user calibration, 90 degrees roll
This message will start the static 90 degrees roll calibration. During the calibration
the E-Compass must remain in a fixed 90 degrees roll position so that the IMU
captures the zero bias of the accelerometer Z axis and the 1G value of the X axis
Format: $PNOVA83*xx
Vertical
Horizontal plan
Acknowledgement:
- $PNOVA83,90 DEGREES ROLL CALIBRATION STARTED* : the IMU is
launching the calibration
Information message during the calibration:
- $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter thus
delaying the calibration
- $PNOVA00,UNIT NOT IN 90 DEGREES ROLL POSITION* : the IMU is
detecting that the IMU board is not placed in a 90 degrees roll position
- $PNOVA00,CALIBRATION OK* : the IMU has finished successfully the
calibration process
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Proprietary NMEA commands
Note: The calibration values are stored into non volatile memory
$PNOVA84: Runtime user calibration, 90 degrees pitch
This message will start the static 90 degrees pitch calibration. During the
calibration the E-Compass must remain in a fixed 90 degrees pitch position so
that the IMU captures the 1G bias of the accelerometer X/Y axis and the zero bias
of the Z axis
Format: $PNOVA84*xx
Vertical axis
Horizontal plan
Acknowledgement:
- $PNOVA84,90 DEGREES PITCH CALIBRATION STARTED* : the IMU is
launching the calibration
Information message during the calibration:
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Proprietary NMEA commands
- $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter delaying
the calibration
- $PNOVA00,UNIT NOT IN 90 DEGREES PITCH POSITION* : the IMU is
detecting that the IMU board is not placed in the horizontal plan
$PNOVA00,CALIBRATION OK* : the IMU has finished successfully the
calibration process
Note: The calibration values are stored into non volatile memory
$PNOVA85: Runtime user calibration, dynamic magnetic
horizontal plan
This message will start the dynamic horizontal plan calibration. During the
calibration the E-Compass must remain in the horizontal plan and must
accomplish at least a revolution of 540 degrees (1.5 turn) at a rotation speed of no
more than 360 degrees per second. During this calibration the IMU captures the
zero bias of the magnetic X/Y axis.
Format: $PNOVA85*xx
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Proprietary NMEA commands
OR
Vertical axis
Horizontal plan
Acknowledgement:
- $PNOVA85,MAGNETIC HORIZONTAL PLAN CALIBRATION STARTED* : the
IMU is launching the calibration
Information message during the calibration:
- $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter delaying
the calibration
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Proprietary NMEA commands
- $PNOVA00,UNIT NOT IN HORIZONTAL POSITION* : the IMU is detecting that
the IMU board is not placed in the horizontal plan
- $PNOVA00,MAG Calibration 0% : the IMU is (re-)starting the calibration process
- $PNOVA00,MAG Calibration 25% : the calibration process is 25% completed
- $PNOVA00,MAG Calibration 50% : the calibration process is 50% completed
- $PNOVA00,MAG Calibration 75% : the calibration process is 75% completed
- $PNOVA00,CALIBRATION OK* : the IMU has finished successfully the
calibration process
Note: The calibration values are stored into non volatile memory
$PNOVA86: Runtime user calibration, dynamic magnetic 90
degrees pitch
This message will start the dynamic 90 degrees pitch calibration. During the
calibration the E-Compass must remain in the 90 degrees pitch plan and must
accomplish at least a revolution of 540 degrees (1.5 turn) at a rotation speed of no
more than 360 degrees per second. During this calibration the IMU captures the
zero bias of the magnetic Z axis.
Format: $PNOVA86*xx
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Proprietary NMEA commands
OR
Vertical axis
Horizontal plan
Acknowledgement:
- $PNOVA86,MAGNETIC 90 DEGREES PITCH CALIBRATION STARTED* : the
IMU is launching the calibration
Information message during the calibration:
- $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter thus
delaying the calibration
- $PNOVA00,UNIT NOT IN 90 DEGREES PITCH POSITION* : the IMU is
detecting that the IMU board is not placed in the 90 degrees pitch plan position
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Proprietary NMEA commands
- $PNOVA00,MAG Calibration 0% : the IMU is (re-)starting the calibration process
- $PNOVA00,MAG Calibration 25% : the calibration process is 25% completed
- $PNOVA00,MAG Calibration 50% : the calibration process is 50% completed
- $PNOVA00,MAG Calibration 75% : tthe calibration process is 75% completed
-$PNOVA00,CALIBRATION OK* : the IMU has finished successfully the
calibration process
Note: The calibration values are stored into non volatile memory
$PNOVA87: Abort current calibration process
Abort the current ongoing calibration process.
Format: $PNOVA87*xx
xx: checksum
Acknowledgement $PNOVA87,CALIBRATION ABORTED*xx
$PNOVA88: Get the calibration configuration
Get the calibration configuration of the IMU, user or factory values are used to
compute the AHRS fusion algorithm.
Format: $PNOVA88*xx
xx: checksum
Acknowledgement : $PNOVA88,a,b,c,d,e*xx\r\n
a: ‘0’ factory, ‘1’ user
- zero bias for the accelerometer X/Y axis, +1G bias for the accelerometer Z axis,
zero bias for the gyroscope X/Y/Z axis
b: ‘0’ factory, ‘1’ user
- zero bias for the accelerometer Z axis, +1G bias for the accelerometer X axis
c: ‘0’ factory, ‘1’ user
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Proprietary NMEA commands
- +1G bias for the accelerometer Y axis
d: ‘0’ factory, ‘1’ user
- zero bias for the magnetometer X/Y axis
e: ‘0’ factory, ‘1’ user
- zero bias for the magnetometer Z axis
Example: $PNOVA88,0,1,1,0,1*xx
The IMU is using the factory calibration of:
- zero bias accelerometer X/Y axis, +1G bias accelerometer Z axis, zero bias
gyroscope X/Y/Z axis
- magnetometer X/Y axis
And the IMU is using the user calibration of:
- zero bias for the accelerometer Z axis, +1G bias for the accelerometer X axis,
+1G bias for the accelerometer Y axis, zero bias for the magnetometer Z axis
$PNOVA89: Set the calibration configuration
Set the calibration configuration of the IMU, user or factory values are used to
compute the AHRS fusion algorithm.
Format: $PNOVA89,a,b,c,d,e*xx
xx: checksum
a: ‘0’ factory, ‘1’ user
- use factory or user calibration of zero bias for the accelerometer X/Y axis, +1G
bias for the accelerometer Z axis, zero bias for the gyroscope X/Y/Z axis
b: ‘0’ factory, ‘1’ user
- use factory or user calibration of zero bias for the accelerometer Z axis, +1G
bias for the accelerometer X axis
c: ‘0’ factory, ‘1’ user
- use factory or user calibration of +1G bias for the accelerometer Y axis
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Proprietary NMEA commands
d: ‘0’ factory, ‘1’ user
- use factory or user calibration of zero bias for the magnetometer X/Y axis
e: ‘0’ factory, ‘1’ user
- use factory or user calibration of zero bias for the magnetometer Z axis
Note: The calibration status is stored into non volatile memory
Acknowledgement: $PNOVA89,OK*xx\n
$PNOVA98: Compute CRC
Compute and compare the internal flash program memory checksum prior to the
embedded firmware upgrade process.
Format: $PNOVA98,aaaaaaaa*xx
aaaaaaaa: CRC 32 in hex format
xx: checksum
Example: $PNOVA98,F608F559*01
Acknowledgement:
- $PNOVA98,CRC OK, RESETING NOW FOR UPGRADE*xx when the CRC32
is matching
- $PNOVA98,CRC FAULT*xx when the CRC32 is not matching
Note: when the CRC is matching, the IMU will be reset and the upgrade of the
embedded flash memory will be launched
$PNOVA99: Flash sector
Program the data into flash program memory for further firmware upgrade.
Format: $PNOVA99,aaaa,bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb*xx
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Proprietary NMEA commands
aaaa: sector number, 1 to 1984
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb: program data, 32 bytes
xx: checksum
Example: $PNOVA99,41,84BB4CD6D632E393D59020EC01C45789*12
Flash sector 41with “84BB4CD6D632E393D59020EC01C45789” 32 bytes data
Acknowledgement:
- $PNOVA99,aaaa,OK*xx when the flash operation of the sector aaaa is
successful
- $PNOVA99,xxx,FAULT*xx when the flash operation of sector aaaa has failed
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SIRF/UBLOX NMEA commands
The E-Compass IMU is compatible with the full SIRF or UBLOX NMEA command
protocol. Please refer to the NMEA command protocol document to configure the
embedded GPS/GLONASS module.
Example: Query/Rate control of standard SIRF NMEA message $PSRF103
- $PSRF103,00,00,01,01*xx set the GGA NMEA message output every second
Acknowledgement:
- $PSRF,OK*xx
xx: checksum
Note:
the NMEA rates are saved into non volatile memory
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SIRF/UBLOX NMEA commands
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Electrical connections
A standard 6 pins socket* is used for connecting the external system to the board.
Only 4 wires are required: Ground, VCC, RS232 TX, RS232 RX
(*example of socket: JST (JAPAN SOLDERLESS TERMINALS) B6B-PH-K-S(LF)(SN) Wire-To-Board Connector,
PH Series, 6 Contacts, Header, 2 mm, Crimp, 1 Rows)
UART RS232 Rx UART RS232 Tx Vcc
(output of exter- (input of external circuitry)
nal circuitry)
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Operating Manual
Ground
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Document history
Version 1.0: First version
Version 1.1:
Changed proprietary NMEA header to $PNOVA
Added PSRF Sirf NMEA acknowledgement
Added non volatile memory storage comment for standard NMEA message rates
Added pictures for calibration chapters
Version 1.2:
Added baud rate stored into non volatile memory
Version 1.3:
Modified $PNOVA10 & $PNOVA11 chapters for magnetic declination fixed/
automatic setup and computation
Version 1.4:
Modified $PNOVA01 message, removed 2400, 57600, 115200 baud rates
Added $PNOVA05 and PNOVA06 messages
Modified electrical characteristics section:
- updated voltage input for version 2 HW revision
- added UBLOX chipset support
Version 1.5:
Added electrical connections diagram
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E-COMPASS
Operating Manual
© 2017 NOVASAIL - All rights reserved
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