VN-200 User Manual
UM004
User manual
VN-200 Beta
VN -200 User Manual
Firmware v0.1.7.x
Rev 0.1.3
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Table of Contents
1 Introduction .................................................................................. 5
1.1
Product Description ..................................................................................... 5
1.2
Product Features ......................................................................................... 5
1.3
Surface-Mount Package............................................................................... 6
1.4
Rugged Package ........................................................................................... 6
1.5
Surface-Mount Development Kit ................................................................. 6
1.6
VN-200 Rugged GPS/INS Development Kit .................................................. 7
1.7
Sensor Coordinate System........................................................................... 7
2 Specifications ................................................................................ 8
2.1
VN-200 Surface-Mount Sensor (SMD) Electrical ......................................... 8
2.1.1
VN-200 SMD Power Supply ..................................................................................... 10
2.1.2
VN-200 SMD Serial (UART) Interface ...................................................................... 10
2.1.3
VN-200 SMD Serial Peripheral Interface (SPI) ........................................................ 10
2.1.4
VN-200 SMD Reset, SyncIn/Out, and Other General I/O Pins ................................ 10
2.2
VN-200 Rugged Electrical .......................................................................... 11
2.2.1
VN-200 Rugged Power Supply ................................................................................ 12
2.2.2
VN-200 Rugged Serial UART Interface .................................................................... 12
2.2.3
VN-200 Rugged Reset, SyncIn/Out, and Other General I/O Pins ........................... 12
2.3
VN-200 Surface-Mount Sensor (SMD) Dimensions ................................... 13
2.4
VN-200 Rugged Dimensions ...................................................................... 14
2.5
Absolute Maximum Ratings ....................................................................... 14
3 Basic Communication .................................................................. 15
3.1
Serial Interface .......................................................................................... 15
3.2
Checksum / CRC ......................................................................................... 15
3.2.1
8-bit Checksum ....................................................................................................... 15
3.2.2
16-bit CRC................................................................................................................ 15
3.3
SPI Interface............................................................................................... 16
4 Communication Protocol ............................................................. 19
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4.1
Numeric Formats ....................................................................................... 19
4.2
Single Precision Floating Points ................................................................. 19
4.3
Fixed-Point Numbers ................................................................................. 19
4.4
System Commands .................................................................................... 20
4.4.1
Read Register Command......................................................................................... 20
4.4.2
Write Register Command ....................................................................................... 20
4.4.3
Write Settings Command ........................................................................................ 21
4.4.4
Restore Factory Settings Command ....................................................................... 21
4.4.5
Reset Command ...................................................................................................... 22
4.5
System Error Codes ................................................................................... 23
5 System Registers ......................................................................... 24
5.1
User Tag Register ....................................................................................... 25
5.2
Model Number Register ............................................................................ 26
5.3
Hardware Revision Register....................................................................... 27
5.4
Serial Number Register .............................................................................. 28
5.5
Firmware Version Register ........................................................................ 29
5.6
Serial Baud Rate Register........................................................................... 30
5.7
Async Data Output Type Register .............................................................. 31
5.8
Async Data Output Frequency Register ..................................................... 32
5.9
Magnetic and Gravity Reference Vectors .................................................. 33
5.10
Reference Frame Rotation ..................................................................... 34
5.11
Communication Protocol Control ........................................................... 35
5.11.1
SerialCount .............................................................................................................. 35
5.11.2
SerialStatus ............................................................................................................. 36
5.11.3
SPICount .................................................................................................................. 36
5.11.4
SPIStatus ................................................................................................................. 36
5.11.5
SerialChecksum ....................................................................................................... 37
5.11.6
SPIChecksum ........................................................................................................... 37
5.11.7
ErrorMode ............................................................................................................... 37
5.12
Synchronization Control ......................................................................... 38
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5.12.1
SyncInMode ............................................................................................................ 38
5.12.2
SyncInEdge .............................................................................................................. 38
5.12.3
SyncInSkipFactor ..................................................................................................... 39
5.12.4
SyncOutMode ......................................................................................................... 39
5.12.5
SyncOutPolarity....................................................................................................... 39
5.12.6
SyncOutSkipFactor .................................................................................................. 39
5.12.7
SyncOutPulseWidth ................................................................................................ 40
5.13
Calibrated Sensor Measurements .......................................................... 41
5.14
GPS Configuration .................................................................................. 42
5.15
GPS Antenna Offset ................................................................................ 43
5.16
GPS Solution ........................................................................................... 44
5.17
INS Solution ............................................................................................ 45
6 System Registers - Default Factory State ..................................... 46
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1
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Introduction
1.1
Product Description
The VN-200 is a miniature, surface-mount, high-performance Inertial Navigation System (INS).
Incorporating the latest solid-state MEMS sensor technology, the VN-200 combines 3-axis
accelerometers, 3-axis gyros, 3-axis magnetometer, a barometer, a 52-channel GPS receiver, and a 32bit processor into a miniature surface-mount module. Along with providing calibrated inertial sensor
measurements, the VN-200 also computes and outputs a real-time, high resolution 3D position, velocity
and drift-free orientation solution that is continuous over the complete 360 degrees of motion.
1.2
Product Features
The VN-200 is available in two different configurations, as a surface-mount sensor (VN-200 SMD), or as
an enclosed sensor (VN-200 Rugged). The VN-200 Rugged provides a robust, precision anodized
aluminum clamshell enclosure, ensuring precise alignment and calibration while still retaining the
smallest possible footprint.
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Surface-Mount Package
For embedded applications, the VN-200 is available in a
miniature surface-mount package.
Features




Small Size: 22 x 24 x 3 mm
Single Power Supply: 3.2 to 5.5 V
Communication Interface: Serial TTL & SPI
Low Power Requirement: < 330 mW @ 3.3V
1.4
Rugged Package
The VN-200 Rugged consists of the VN-200 sensor installed in a
robust precision aluminum enclosure.
Features






Precision aluminum enclosure
Locking 10-pin connector
Mounting tabs with alignment holes
Compact Size: 34 x 36 x 9 mm
Single Power Supply: 4.5 to 5.5 V
Communication Interface: Serial RS-232 & TTL
1.5
Surface-Mount Development Kit
The VN-200 Development Kit provides the VN-200 surfacemount sensor installed onto a small PCB, providing easy access
to all of the features and pins on the VN-200. Communication
with the VN-200 is provided by either USB or RS-232 serial
communication ports. A 20-pin header provides easy access to
each of the critical pins. The VN-200 Development Kit also
includes all of the necessary cabling, documentation, and
support software.
Features






Pre-installed VN-200 Sensor
Onboard USB->Serial converter
Onboard TTL->RS-232 converter
30-pin 0.1” header for access to VN-200 pins
Power supply jack – 5V (Can be powered from USB)
Board Size: 76 x 76 x 14 mm
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VN-200 Rugged GPS/INS Development Kit
The VN-200 Rugged Development Kit includes the VN-200
Rugged sensor along with all of the necessary cabling required
for operation. Two cables are provided in each Development
Kit: one for RS-232 communication and a second custom cable
with a built in USB converter. The Development Kit also
includes all of the relevant documentation and support
software.
Features



1.7
(1) VN-200 Rugged Sensor
(1) 10-foot RS-232 cable
(1) 6-foot USB connector cable
Sensor Coordinate System
The VN-200 uses a right-handed coordinate system: a positive yaw angle is defined as a positive righthanded rotation around the Z-axis; a positive pitch angle is defined as a positive right-handed rotation
around the Y-axis; and a positive roll angle is defined as a positive right-handed rotation around the Xaxis. The axes direction with respect to the VN-200 module is shown in Figure 1.
Figure 1 - VN-200 Coordinate System
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Specifications
2.1
VN-200 Surface-Mount Sensor (SMD) Electrical
Figure 2 – Pin assignments (top down view)
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Table 1 – VN-200 SMD Pin Assignments
Pin #
1
2
3
4
5
6
Pin Name
GND
GND
GND
GND
TX2
RX2
7
TARE/RESTORE
8
9
10
NC
SYNC_OUT
VIN
11
ENABLE
12
13
14
TX1
RX1
RESV
15
SYNC_IN_2
16
17
18
19
SPI_SCK
SPI_MOSI
GND
SPI_MISO
20
REPRGM
21
NRST
22
23
SYNC_IN
SPI_CS
24
GPS_PPS
25
26
27
28
VBAT
RESV
RESV
GND
29
GPS_RF
30
GND
Description
Ground.
Ground.
Ground.
Ground.
Serial UART #2 data output. (sensor)
Serial UART #2 data input. (sensor)
Normally used to zero (tare) the attitude.
To tare, pulse high for at least 1 μs. During power on or device reset, holding
this pin high will cause the module to restore its default factory settings. As a
result, the pin cannot be used for tare until at least 5 ms after a
power on or reset. Internally held low with 10k resistor.
Not used.
Time synchronization output signal. See Section 5.12 for more details.
3.2 - 5.5 V input.
Leave high for normal operation. Pull low to enter sleep mode. Internally
pulled high with pull-up resistor.
Serial UART #1 data output. (sensor)
Serial UART #1 data input. (sensor)
Reserved for future use. Leave pin floating.
Reserved for future use. For backwards compatibility with older hardware
revisions this pin can be configured in software to operate as the time
synchronization input signal. For new designs it is recommended that
SYNC_IN (pin 22) is used instead. See Section 5.12 for more details.
SPI clock.
SPI input.
Ground.
SPI output.
Used to reprogram the module. Must be left floating or set to low for normal
operation. Pull high on startup to set the VN-200 in reprogram mode.
Internally held low with 10k resistor.
Microcontroller reset line. Pull low for > 20 μs to reset MCU. Internally
pulled high with 10k.
Time synchronization input signal. See Section 5.12 for more details.
SPI slave select.
GPS time pulse. One pulse per second, synchronized at rising edge. Pulse
width is 100 ms.
Optional GPS RTC battery backup. 1.4 V – 3.6 V input.
Reserved for future use.
Reserved for future use.
Ground.
Optional GPS RF input for passive antenna. The surface-mount IPX (U.FL)
connector should be used with an active GPS antenna.
Ground.
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VN-200 SMD Power Supply
The minimum operating supply voltage is 3.2 V and the absolute maximum is 5.5 V.
2.1.2
VN-200 SMD Serial (UART) Interface
The serial interface on the VN-200 operates with 3 V TTL logic.
Table 2 - Serial I/O Specifications
Specification
Input low level voltage
Input high level voltage
Output low voltage
Output high voltage
2.1.3
Min
-0.5 V
2V
0V
2.4 V
Typical
Max
0.8 V
5.5 V
0.4 V
3.0 V
VN-200 SMD Serial Peripheral Interface (SPI)
Table 3 - Serial I/O Specifications
Specification
Input low level voltage
Input high level voltage
Output low voltage
Output high voltage
Clock Frequency
Close Rise/Fall Time
2.1.4
Min
-0.5 V
2V
0V
2.4 V
Typical
8 MHz
Max
0.8 V
5.5 V
0.4 V
3.0 V
16 MHz
8 ns
VN-200 SMD Reset, SyncIn/Out, and Other General I/O Pins
Table 4 - NRST Specifications
Specification
Input low level voltage
Input high level voltage
Weak pull-up equivalent resistor
NRST pulse width
Min
-0.5 V
2V
30 kΩ
20 μs
Typical
40 kΩ
Max
0.8 V
5.5 V
50 kΩ
Table 5 - SyncIn Specifications
Specification
Input low level voltage
Input high level voltage
Input Frequency
Pulse Width
Min
-0.5 V
2V
200 Hz
500 μs
Typical
200 Hz
Max
0.8 V
5.5 V
1 kHz
Table 6 - SyncOut Specifications
Specification
Output low voltage
Output high voltage
Output high to low fall time
Output low to high rise time
Min
0V
2.4 V
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Typical
Max
0.4 V
3.0 V
125 ns
125 ns
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Output Frequency
2.2
1 Hz
200 Hz
VN-200 Rugged Electrical
Table 7 – VN-200 Rugged Pin Assignments
Pin #
1
2
3
Pin Name
VCC
TX1
RX1
4
SYNC_OUT
5
GND
6
TARE/RESTORE
7
SYNC_IN
8
9
10
TX2_TTL
RX2_TTL
RESV
Description
+5V (±0.5V)
RS-232 voltage levels data output from the sensor. (Serial UART #1)
RS-232 voltage levels data input to the sensor. (Serial UART #1)
Output signal used for synchronization purposes. Software configurable
to pulse when ADC, IMU, or attitude measurements are available.
Ground
Input signal used to zero the attitude of the sensor. If high at reset, the
device will restore to factory default state. Internally held low with 10k
resistor.
Input signal for synchronization purposes. Software configurable to
either synchronize the measurements or the output with an external
device.
Serial UART #2 data output from the device at TTL voltage level (3V).
Serial UART #2 data into the device at TTL voltage level (3V).
This pin should be left unconnected.
Figure 3 - VN-200 Rugged External Connector
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VN-200 Rugged Power Supply
The nominal power supply for the VN-200 Rugged is 5 V DC.

The VN-200 Rugged internally has overvoltage protection set at a fixed voltage of 5.8 V. Upon
an overvoltage event the protection circuitry will disable power to the VN-200 to reduce
possibility of damage to the voltage regulator onboard the VN-200.
2.2.2
VN-200 Rugged Serial UART Interface
Table 8 - Serial I/O Specifications
Specification
Input low level voltage
Input high level voltage
Output low voltage
Output high voltage
Output resistance
Data rate
Pulse slew
2.2.3
Min
-25 V
Typical
-5.0 V
5.0 V
300 Ω
-5.4 V
5.5 V
10 MΩ
Max
25 V
1 Mbps
300 ns
VN-200 Rugged Reset, SyncIn/Out, and Other General I/O Pins
Table 9 - NRST Specifications
Specification
Input low level voltage
Input high level voltage
Weak pull-up equivalent resistor
NRST pulse width
Min
-0.5 V
2V
30 kΩ
20 μs
Typical
40 kΩ
Max
0.8 V
5.5 V
50 kΩ
Table 10 - SyncIn Specifications
Specification
Input low level voltage
Input high level voltage
Input Frequency
Pulse Width
Min
-0.5V
2V
200 Hz
500 μs
Typical
200 Hz
Max
0.8V
5.5V
1 kHz
Table 11 - SyncOut Specifications
Specification
Output low voltage
Output high voltage
Output high to low fall time
Output low to high rise time
Output Frequency
Min
0V
2.4 V
1 Hz
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Typical
Max
0.4 V
3.0 V
125 ns
125 ns
200 Hz
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2.3
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VN-200 Surface-Mount Sensor (SMD) Dimensions
Figure 4 – VN-200 PCB Footprint*
* Measurements are in inches
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VN-200 Rugged Dimensions
Figure 5 – VN-200 Rugged Dimensions
* Measurements are in inches
2.5
Absolute Maximum Ratings
Table 12 - Absolute Maximum Ratings
Specification
Input Voltage
Operating Temperature
Storage Temperature
Min
-0.3 V
-40 C
-40 C
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Max
5.5 V
85 C
85 C
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Basic Communication
The VN-200 module supports two communication interfaces: serial and SPI. On the serial interface, the
module communicates over a universal asynchronous receiver/transmitter (UART) and uses ASCII text
for its command and data format. On the SPI interface, the VN-200 module communicates as a slave
device on a Serial Peripheral Interface (SPI) data bus and uses a binary command and data format. Both
interfaces support the complete command set implemented by the module. A general overview of the
command format for each interface is given in the next two Sections and formatting specific to each
command and associated parameters is provided in the protocol and register Sections (Section 4 & 5).
3.1
Serial Interface
On the serial interface, the VN-200 uses ASCII text for its command format. All commands start with a
dollar sign, followed by a five character command, a comma, command specific parameters, an asterisk,
a checksum, and a newline character. An example command is shown below:
$VNRRG,11*73
3.2
Checksum / CRC
The serial interface provides the option for either an 8-bit checksum or a 16-bit cyclic redundancy check
(CRC). In the event neither the checksum nor the CRC is needed, they can be turned off by the user.
3.2.1
8-bit Checksum
The 8-bit checksum is an XOR of all bytes between, but not including, the dollar sign ($) and asterisk (*).
All comma delimiters are included in the checksum calculation. The resultant checksum is an 8-bit
number and is represented in the command as two hexadecimal characters. The C function snippet
below calculates the correct checksum:
unsigned char calculateChecksum(char* command, int length)
{
unsigned char xor = 0;
for(int i = 0; i < length; i++)
xor ^= (unsigned char)command[i];
return xor;
}
3.2.2
16-bit CRC
For cases where the 8-bit checksum does not provide enough error detection, a full 16-bit CRC is
available. The VN-200 uses the CRC16-CCITT algorithm. The resultant CRC is a 16-bit number and is
represented in the command as four hexadecimal characters. The C function snippet below calculates
the correct CRC:
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unsigned short calculateChecksum(char* command, int length)
{
unsigned int i;
unsigned short crc = 0;
for(i=0; i<length; i++){
crc = (unsigned char)(crc >> 8) | (crc << 8);
crc ^= command[i];
crc ^= (u8)(crc & 0xff) >> 4;
crc ^= (crc << 8) << 4;
crc ^= ((crc & 0xff) << 4) << 1;
}
return crc;
}
3.3
SPI Interface
The SPI interface uses a lightweight binary message format. The start of a command is signaled by
pulling the VN-200’s slave select pin (pin 23) low. Both the slave select line and clock are active low.
The first byte transmitted to the module should be the command ID and then a variable number of
bytes will follow dependent on the type of command specified. A communication transaction can be
cancelled at any time by releasing the slave select pin. Pulling the pin low again will start a new
communication transaction. All binary data is sent to and from the slave with most significant bit (MSB)
first in little-endian byte order with pad bytes inserted where required to ensure 16-bit values are
aligned to two-byte boundaries and 32-bit values are aligned to 4-byte boundaries. For example, the
serial baud rate register with a value of 9600 (0x2580) would be sent across the SPI as a 0x80, 0x25,
0x00, 0x00. Data is requested from and written to the device using multiple SPI transactions.
Figure 6 – SPI Timing Diagram
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Figure 7 - SPI Data Diagram
A response for a given SPI command will be sent over the MISO line on the next SPI transaction. Thus
the data received by the Master on the MISO line will always be the response to the previous
transaction. For example, if Yaw, Pitch, Roll and Angular Rates are desired, then the necessary SPI
transactions would proceed as shown below:
SPI Transaction 1
Line
SCK
MOSI
MISO
Bytes
8 bytes
Description
01 08 00 00 00 00 00 00 (shown as hex)
00 00 00 00 00 00 00 00 (shown as hex)
Read register 8 (Yaw, Pitch, Roll)
No response
Line
SCK
Bytes
16 bytes
SPI Transaction 2
Description
MISO
01 13 00 00 00 00 00 00 00 00 00 00 00 00 00 00
(shown as hex)
00 01 08 00 39 8A 02 43 FD 43 97 C1 CD 9D 67 42
(shown as hex)
Line
SCK
Bytes
16 bytes
MOSI
Read register 13 (Angular Rates)
Yaw, Pitch, Roll = -130.54, -18.91,
+57.90
SPI Transaction 3
MOSI
MISO
Description
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
(shown as hex)
00 01 13 00 00 F5 BF BA 00 80 12 38 B8 CC 8D 3B
(shown as hex)
No command
Rates = -0.001465, +0.000035,
+0.004327
During the first transaction the master sends the command to read register 8. The available registers
which can be read or written to are listed in Table 21 in Section 5. At the same time zeros are received
by the master, assuming no previous SPI command was sent to the VN-200 since reboot. On the second
transaction the master sends the command to read register 13. At the same time the response from the
previously requested register 8 is received by the master on the MISO line. It consists of four 32-bit
words. The first byte of the first word will always be zero. The second byte of the first word is the type
of command that this transaction is in response to. In this case it is a 0x01, which means that on the
previous transaction a read register command was issued. The third byte of the first word is the register
that was requested on the previous transaction. In this case it shows to be 0x08, which is the yaw, pitch,
roll register. The fourth byte of the first word is the error code for the previous transaction. Possible
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error codes are listed in Table 20 in Section 4.5. The remaining three 4-byte words are the yaw, pitch,
and roll respectively given as single-precision floating-point numbers. The floating-point numbers are
consistent with the IEEE 754 standard. On the third SPI transaction, 16 bytes are clocked on the SCK
line, during which zeros are sent by the master as no further data is required from the sensor. These 16
bytes are clocked out the SPI for the sole purpose of reading the response from the previous read
register 13 command. The response consists of four 32-bit words, starting with the zero byte, the
requested command byte, register ID, error code, and three single-precision floating-point numbers. If
only one register is required on a regular basis then this can be accomplished by sending the same
command twice to the VN-200. The response received on the second transaction will contain the most
up to date values for the desired register.
SPI Transaction 1
Line
SCK
MOSI
MISO
Bytes
16 bytes
Description
01 08 00 00 00 00 00 00 00 00 00 00 00 00 00
00 (shown as hex)
00 01 08 00 39 8A 02 43 FD 43 97 C1 CD 9D 67
42 (shown as hex)
Read register 8 (Yaw, Pitch, Roll)
Yaw, Pitch, Roll = +130.54, -18.91, +57.90
SPI Transaction 2
Line
SCK
MOSI
MISO
Bytes
16 bytes
Description
01 08 00 00 00 00 00 00 00 00 00 00 00 00 00
00 (shown as hex)
00 01 08 00 C5 9A 02 43 51 50 97 C1 32 9A 67
42 (shown as hex)
Read Register 8 (Yaw, Pitch, Roll)
Yaw, Pitch, Roll = +130.60, -18.91, +57.90
At first the device would be initialized by sending the eight bytes 01 08 00 00 00 00 00 00, requesting a
read of the yaw, pitch, roll register. The response from the second transaction would be the response to
the requested yaw, pitch, roll from the first transaction. The minimum time required between SPI
transactions is 50 µs.
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4
UM004
Communication Protocol
The following Sections describe the serial and SPI data protocol used by the VN-200.
4.1
Numeric Formats
Floating-point numbers displayed as ASCII text are presented in two formats: single/double precision
floating-point and single/double precision fixed point. In order to conserve bandwidth each variable in
the register has associated with it either a floating or fixed point representation. Any time this variable
is accessed using a read/write register command or as Async output, the variable will always use its
associated data format.
4.2
Single Precision Floating Points
Single-precision floating-point numbers are represented with seven significant digits and a two digit
exponent. Both the sign of the number and exponent are provided. The decimal point will always
follow the first significant digit. An ‘E’ will separate the significant digits from the exponential digits.
Below are some samples of correct single-precision floating-point numbers:
Single Precision Floating Point Number Examples
4.3
+9.999999E+99
-7.344409E-05
-1.234567E+01
+4.893203E+00
Fixed-Point Numbers
The fixed-point representation consists of a specified number of digits to the left and right of a fixed
decimal point. The registers that use fixed point representation and their associated formatting are
listed below. It is important to note that all numeric calculations onboard the VN-200 are performed
with 32-bit or 64-bit IEEE floating-point numbers. For the sake of simplifying the output stream, some of
these numbers are displayed in ASCII as fixed point as described below.
Table 13 – Floating Point Representation
Variable Type
Yaw, Pitch, Roll
Quaternion
Magnetic
Acceleration
Angular Rate
Latitude
Fixed/Floating
Fixed
Fixed
Fixed
Fixed
Fixed
Fixed
Variable Size
32-bit float
32-bit float
32-bit float
32-bit float
32-bit float
64-bit double
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Printf/Scanf
%+08.3f
%+09.6f
%+07.4f
%+07.3f
%+09.6f
%+012.8f
Example
+082.763
+0.053362
-0.3647
-09.091
+00.001786
+32.95614564
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System Commands
This Section describes the list of commands available on the VN-200 module. All commands are
available in both ASCII text (UART) and binary (SPI) command formats.
The table below lists the commands available along with some quick information about the commands.
The Text ID is used to specify the command when using the text command format and the Binary ID is
used to specify the command when using the binary command format. More details about the
individual commands can be found in the referenced Section.
Table 14 – List of Available Commands
Command Name
Read Register
Write Register
Write Settings
Restore Factory Settings
Reset
4.4.1
Text ID
VNRRG
VNWRG
VNWNV
VNRFS
VNRST
Binary ID
0x01
0x02
0x03
0x04
0x06
Section
4.4.1
4.4.2
4.4.3
0
4.4.5
Read Register Command
This command allows the user to read any of the registers on the VN-200 module (see Section 5 for the
list of available registers). The only required parameter is the ID of the register to be read. The first
parameter of the response will contain the same register ID followed by a variable number of
parameters. The number of parameters and their formatting is specific to the requested register. Refer
to the appropriate register Section contained in Section 5 for details on this formatting. If an invalid
register is requested, an error code will be returned. The error code format is described in Section 4.5.
Table 15 - Example Read Register Command
Example Command
UART Command
UART Response
SPI Command (8 bytes)
SPI Response (8 bytes)
4.4.2
Message
$VNRRG,5*46
$VNRRG,5,9600*65
01 05 00 00 80 25 00 00
00 01 05 00 80 25 00 00
(shown as hex)
(shown as hex)
Write Register Command
This command is used to write data values to a specified register on the VN-200 module (see Section 5
for the list of available registers). The ID of the register to be written to is the first parameter. This is
followed by the data values specific to that register. Refer to the appropriate register Section in Section
5 for this formatting. If an invalid register is requested, an error code will be returned. The error code
format is described in Section 4.5.
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UM004
Table 16 - Example Write Register Command
Example Command
UART Command
UART Response
SPI Command (8 bytes)
SPI Response (8 bytes)
4.4.3
Message
$VNWRG,5,9600*60
$VNWRG,5,9600*60
02 05 00 00 80 25 00 00
00 02 05 00 80 25 00 00
(shown as hex)
(shown as hex)
Write Settings Command
This command will write the current register settings into non-volatile memory. Once the settings are
stored in non-volatile (Flash) memory, the VN-200 module can be power cycled or reset, and the register
will be reloaded from non-volatile memory. The module can always be reset to the factory settings by
issuing the Restore Factory Settings command (Section 0) or by pulling pin 7 (Tare/Restore) high during
reset.
Table 17 - Example Write Settings Command
Example Command
UART Command
UART Response
SPI Command (8 bytes)
SPI Response (8 bytes)
Message
$VNWNV*57
$VNWNV*57
03 00 00 00 00 00 00 00
00 03 00 00 00 00 00 00
(shown as hex)
(shown as hex)
Due to limitations in the flash write speed the write settings command takes ~ 500ms to
complete. Any commands that are sent to the sensor during this time will be responded to
after the operation is complete.
4.4.4
Restore Factory Settings Command
This command will restore the VN-200 module’s factory default settings (see Section 6) and reset the
module. There are no parameters for this command. The module will respond to this command before
restoring the factory settings.
Table 18 - Example Restore Factory Settings Command
Example Command
UART Command
UART Response
SPI Command (8 bytes)
SPI Response (8 bytes)
Message
$VNRFS*5F
$VNRFS*5F
04 00 00 00 00 00 00 00
00 04 00 00 00 00 00 00
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(shown as hex)
(shown as hex)
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4.4.5
UM004
Reset Command
This command will reset the module. There are no parameters required for this command. The module
will first respond to the command and will then perform a reset. Upon a reset all registers will be
reloaded with the values saved in non-volatile memory. If no values are stored in non-volatile memory,
the device will default to factory settings. Also upon reset the VN-200 will re-initialize its Kalman filter,
thus the filter will take a few seconds to completely converge on the correct attitude and correct for
gyro bias. This command is equivalent in functionality to the hardware reset performed by pulling pin
21 (NRST) low.
Table 19 - Example Reset Command
Example Command
UART Command
UART Response
SPI Command (8 bytes)
SPI Response (8 bytes)
Message
$VNRST*4D
$VNRST*4D
06 00 00 00 00 00 00 00
00 06 00 00 00 00 00 00
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(shown as hex)
(shown as hex)
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4.5
UM004
System Error Codes
In the event of an error, the VN-200 will output $VNERR, followed by an error code. The possible error
codes are listed in the table below with a description of the error.
Table 20 – Error Codes
Error Name
Code
Hard Fault
1
Serial Buffer Overflow
2
Invalid Checksum
Invalid Command
3
4
Not Enough Parameters
5
Too Many Parameters
6
Invalid Parameter
7
Invalid Register
Unauthorized Access
8
9
Watchdog Reset
10
Output Buffer Overflow
11
Insufficient Baud Rate
12
Description
If this error occurs, then the firmware on the VN-200 has experienced a
hard fault exception. To recover from this error the processor will force
a restart, and a discontinuity will occur in the serial output. The
processor will restart within 50 ms of a hard fault error.
The processor’s serial input buffer has experienced an overflow. The
processor has a 256 character input buffer.
The checksum for the received command was invalid.
The user has requested an invalid command.
The user did not supply the minimum number of required parameters
for the requested command.
The user supplied too many parameters for the requested command.
The user supplied a parameter for the requested command which was
invalid.
An invalid register was specified.
The user does not have permission to write to this register.
A watchdog reset has occurred. In the event of a non-recoverable error
the internal watchdog will reset the processor within 50 ms of the error.
The output buffer has experienced an overflow. The processor has a
2048 character output buffer.
The baud rate is not high enough to support the requested
asynchronous data output at the requested data rate.
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5
UM004
System Registers
The VN-200 module contains a collection of registers used for configuring the module and accessing the
data it produces. These registers may be read or written to using the Read Register and Write Register
commands (Sections 4.4.1 and 4.4.2). When the module is rebooted or power-cycled, values written to
the registers will revert back to their previous values unless a Write Settings command has been issued
(Section 4.4.3) to save the registers to non-volatile memory.
Table 21 below provides a quick reference for all of the registers and their associated properties. The
second column lists the Access ID, which is used to identify a specific register. The third column
indicates the width of the register in bytes (relevant only in SPI mode) and the last column provides the
Section number where a more detailed explanation of the register may be found.
Each register may be read or written to using either serial or SPI communication modes. The specific
register Sections that follow describe the format used by each communication mode.
Table 21 –System Registers
Register Name
User Tag
Model Number
Hardware Revision
Serial Number
Firmware Version
Serial Baud Rate
Asynchronous Data Output Type
Asynchronous Data Output Frequency
Magnetic and Gravity Reference Vectors
Reference Frame Rotation
Communication Protocol Control
Synchronization Control
Calibrated Sensor Measurements
GPS Configuration
GPS Antenna Offset
GPS Solution
INS Solution
Access ID
0
1
2
3
4
5
6
7
21
26
30
32
54
55
57
58
63
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Width (bytes)
20
24
4
12
4
4
4
4
6x4
9x4
7
20
11 x 4
4
3x4
68
72
Section
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
5.13
5.14
0
5.16
5.17
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5.1
UM004
User Tag Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
Tag
User Tag
0
Firmware : v0.1 and up
Access : Read / Write
User assigned tag register. Any values can be assigned to this register. They will be
stored to flash upon issuing a write settings command.
20
$VNRRG,00,SENSOR_A14*52
Number
Format
C20
Unit
-
Description
User defined tag register. Up to 20 bytes or characters.
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5.2
UM004
Model Number Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
Product Name
1
Model Number
24
Model Number
Firmware :
v0.1 and up
Access :
Read Only
$VNRRG,01,VN-200T-DEV*77
Number
Format
C24
Unit
-
Description
Product name. 24 characters.
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5.3
UM004
Hardware Revision Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
Revision
Hardware Revision Register
2
Firmware : v0.1 and up
Hardware revision.
4
Access :
Read Only
$VNRRG,02,6*6B
Number
Format
U4
Unit
-
Description
Hardware revision.
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5.4
UM004
Serial Number Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
SN[0]
Serial Number
Firmware :
3
Serial Number
12
v0.1 and up
Access :
Read Only
$VNRRG,03,0100011981*5D
Number
Format
U4
Unit
-
Description
Serial Number (32-bit unsigned integer)
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5.5
UM004
Firmware Version Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
Major Version
1
Minor Version
2
Build
3
HotFix
Firmware Version Register
4
Firmware : v0.1 and up
Firmware version.
4
Access :
Read Only
$VNRRG,04,0.1.7.0*73
Number
Format
U1
U1
U1
U1
Unit
-
Description
Major release version of firmware.
Minor release version of firmware
Build number.
Hot fix number.
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5.6
Serial Baud Rate Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
Baud Rate
4
UM004
Serial Port
5
Serial baud rate.
4
Serial Baud Rate
Firmware :
v0.1 and up
Access :
Read / Write
$VNRRG,05,115200*5D
Number
Format
U4
Unit
-
U1
-
Description
Serial baud rate.
Optional. The serial port to change the baud rate on.
If this parameter is not provided then the baud rate will be
changed for the active serial port.
1 – Serial Port 1
2 – Serial Port 2
This register specifies the baud rate of the serial data bus. The table below specifies the associated baud
rate achieved when the register is set to one of the values listed in Table 22. The response for this
command will be sent after the baud rate is changed.
Table 22 – Baud Rate Settings
Acceptable
Baud Rates
9600
19200
38400
57600
115200
128000
230400
460800
921600
The serial port parameter in this register is optional. If it is not provided, the baud rate will be
changed on the active serial port. The response to this register will include the serial port
parameter if the optional parameter is provided. If the second parameter is not provided then
the response will not include this parameter.
Upon receiving a baud rate change request, the VN-200 will send the response prior to
changing the baud rate.
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5.7
Async Data Output Type Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
ADOR
4
UM004
Serial Port
Asynchronous Data Output Type
6
Firmware : v0.1 and up
Asynchronous data output type.
4
Access :
Read / Write
$VNRRG,06,0*69
Number
Format
U4
Unit
-
U1
-
Description
Output register.
Optional. The serial port to change the asynchronous data type
on. If this parameter is not provided then the ADOR will be
changed for the active serial port.
1 – Serial Port 1
2 – Serial Port 2
This register controls the type of data that will be asynchronously outputted by the module. With this
register, the user can specify which data register will be automatically outputted when it gets updated
with a new reading. Table 23 below lists which registers can be set to asynchronously output, the value
to specify which register to output, and the header of the asynchronous data packet. Asynchronous
data output can be disabled by setting this register to zero. The asynchronous data output will be sent
out automatically at a frequency specified by the Async Data Output Frequency Register (Section 5.8).
The serial port parameter in this register is optional. If it is not provided, the ADOR will be
changed on the active serial port. The response to this register will include the serial port
parameter if the optional parameter is provided. If the second parameter is not provided then
the response will not include this parameter.
Table 23 – Asynchronous Solution Output Settings
Setting
0
19
20
22
Asynchronous Solution Output Type
Asynchronous output turned off
Calibrated Inertial Measurements
GPS Measurement
INS Solution
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Header
N/A
VNIMU
VNGPS
VNINS
Formatting Section
N/A
5.13
5.16
5.17
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5.8
Async Data Output Frequency Register
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
ADOF
4
UM004
Serial Port
Asynchronous Data Output Frequency
7
Firmware : v0.1 and up
Asynchronous data output frequency.
4
Access :
Read / Write
$VNRRG,07,40*5C
Number
Format
U4
Unit
Hz
U1
-
Description
Output frequency.
Optional. The serial port to change the asynchronous data type
frequency on. If this parameter is not provided then the ADOF will
be changed for the active serial port.
1 – Serial Port 1
2 – Serial Port 2
Table 24 - ADOR Data Rates
Acceptable
Data Rates (Hz)
1
2
4
5
10
20
25
40
50
100
200
The serial port parameter in this register is optional. If it is not provided, the ADOF will be
changed on the active serial port. The response to this register will include the serial port
parameter if the optional parameter is provided. If the second parameter is not provided, the
response will not include this parameter.
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5.9
UM004
Magnetic and Gravity Reference Vectors
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset Name
0
MagRefX
4
MagRefY
8
MagRefZ
12
AccRefX
16
AccRefY
20
AccRefZ
Magnetic and Gravity Reference Vectors
21
Firmware : v0.1 and up
Magnetic and gravity reference vectors.
24
Access :
Read / Write
$VNRRG,21,1,0,1.8,0,0,-9.79375*53
Number
Format
F4
F4
F4
F4
F4
F4
Unit
N/A
N/A
N/A
m/s^2
m/s^2
m/s^2
Description
X-Axis Magnetic Reference
Y-Axis Magnetic Reference
Z-Axis Magnetic Reference
X-Axis Gravity Reference
Y-Axis Gravity Reference
Z-Axis Gravity Reference
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5.10
UM004
Reference Frame Rotation
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
0
C[0,0]
4
C[0,1]
8
C[0,2]
12
C[1,0]
16
C[1,1]
20
C[1,2]
24
C[2,0]
28
C[2,1]
32
C[2,2]
Reference Frame Rotation
26
Firmware : v0.1 and up
Access : Read / Write
Allows the measurements of the VN-200 to be rotated into a different reference
frame.
36
$VNRRG,26,1,0,0,0,1,0,0,0,1*6A
Number
Format
F4
F4
F4
F4
F4
F4
F4
F4
F4
Unit
-
Description
This register contains a transformation matrix that allows for the transformation of measured
acceleration, magnetic, and angular rates from the body frame of the VN-200 to any other arbitrary
frame of reference. The use of this register allows for the sensor to be placed in any arbitrary
orientation with respect to the user’s desired body coordinate frame. This register can also be used to
correct for any orientation errors due to mounting the VN-200 on the user’s circuit board.
{ }
[
] { }
} are a measured parameter such as acceleration in the body reference frame
The variables {
} are a measured parameter, such as acceleration in
with respect to the VN-200. The variables {
the user’s frame of reference. The reference frame rotation register needs to be loaded with the
transformation matrix that will transform measurements from the body reference frame of the VN-200
to the desired user frame of reference. It is crucial that these two frames of reference be rigidly
attached to each other. All nine numbers are represented by single-precision floating-points.
The reference frame rotation is performed on all vector measurements prior to entering the
INS filter. As such, changing this register while the attitude filter is running may lead to
unexpected behavior in the INS output. After setting the reference frame rotation register to
its new value, send a write settings command and then reset the VN-200. This will allow the
INS filter to startup with the newly set reference frame rotation.
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5.11
UM004
Communication Protocol Control
Register ID :
Comment :
Size (Bytes):
Example Serial Read Register
Response:
Byte
Offset Name
Communication Protocol Control
30
Firmware : v0.1 and up
Access : Read / Write
Contains parameters that control settings relating to the communication protocol
used to communicate with the VN-200.
7
$VNRRG,30,2,0,0,0,1,0,1*6E
Number
Format
Unit
0
SerialCount
U1
-
1
SerialStatus
U1
-
2
SPICount
U1
-
3
SPIStatus
U1
-
4
5
6
SerialChecksum
SPIChecksum
ErrorMode
U1
U1
U1
-
5.11.1
Description
Provides the ability to append a counter to the end of the serial
asynchronous messages.
Provides the ability to append the status to the end of the serial
asynchronous messages.
Provides the ability to append a counter to the end of the SPI
packets.
Provides the ability to append the status to the end of the SPI
packets.
Choose the type of checksum used for serial communications.
Choose the type of checksum used for the SPI communications.
Choose the action taken when errors are generated.
SerialCount
The SerialCount field provides a means of appending a time or counter to the end of all asynchronous
communication messages transmitted on the serial interface. The values for each of these counters
come directly from the Synchronization Status Register.
With the SerialCount field set to OFF, a typical serial asynchronous message would appear as the
following:
$VNYPR,+010.071,+000.278,-002.026*60
With the SerialCount field set to one of the non-zero values, the same asynchronous message would
appear instead as:
$VNYPR,+010.071,+000.278,-002.026,T1162704*2F
When the SerialCount field is enabled, the counter will always be appended to the end of the message
just prior to the checksum. The counter will be preceded by the T character to distinguish it from the
status field.
Table 25 – SerialCount Field
Mode
NONE
SYNCIN_COUNT
SYNCIN_TIME
SYNCOUT_COUNT
Value
0
1
2
3
Description
OFF
SyncIn Counter
SyncIn Time
SyncOut Counter
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5.11.2
UM004
SerialStatus
The SerialStatus field provides a means of tracking real-time status information pertaining to the overall
state of the sensor measurements and onboard filtering algorithm. This information is very useful in
situations where action must be taken when certain crucial events occur, such as the detection of gyro
saturation or magnetic interference. As with the SerialCount, a typical serial asynchronous message
would appear as the following:
$VNYPR,+010.071,+000.278,-002.026*60
With the SerialStatus field set to one of the non-zero values, the same asynchronous message would
appear instead as:
$VNYPR,+010.071,+000.278,-002.026,S0000*1F
When the SerialStatus field is enabled the status will always be appended to the end of the message just
prior to the checksum. If both the SerialCount and SerialStatus are enabled, the SerialStatus will be
displayed first. The counter will be preceded by the ‘S’ character to distinguish it from the counter field.
The status consists of 4 hexadecimal characters.
Table 26 – AsyncStatus
Value
0
1
5.11.3
Description
OFF
ON
SPICount
The SPICount field provides a means of appending a time or counter to the end of all SPI packets. The
values for each of these counters come directly from the Synchronization Status Register.
Table 27 – SPICount Field
Mode
NONE
SYNCIN_COUNT
SYNCIN_TIME
SYNCOUT_COUNT
5.11.4
Value
0
1
2
3
Description
OFF
SyncIn Counter
SyncIn Time
SyncOut Counter
SPIStatus
The AsyncStatus field provides a means of tracking real-time status information pertaining to the overall
state of the sensor measurements and onboard filtering algorithm. This information is very useful in
situations where action must be taken when certain crucial events happen, such as the detection of gyro
saturation or magnetic interference.
Table 28 – SPIStatus
Value
0
1
Description
OFF
ON
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5.11.5
UM004
SerialChecksum
This field controls the type of checksum used for the serial communications. Normally, the VN-200 uses
an 8-bit checksum identical to the type used for normal GPS NMEA packets. This form of checksum
however offers only a limited means of error checking. As an alternative, a full 16-bit CRC (CRC16-CCITT
with polynomial = 0x07) is also offered. The 2-byte CRC value is printed using 4 hexadecimal digits.
Table 29 – SerialChecksum
Value
0
1
2
5.11.6
Description
OFF
8-Bit Checksum
16-Bit CRC
SPIChecksum
This field controls the type of checksum used for the SPI communications. The checksum is appended to
the end of the binary data packet. The 16-bit CRC is identical to the one described above for the
SerialChecksum.
Table 30 – SPIChecksum
Value
0
1
2
5.11.7
Description
OFF
8-Bit Checksum
16-Bit CRC
ErrorMode
This field controls the type of action taken by the VN-200 when an error event occurs. If the send error
mode is enabled then a message similar to the one shown below will be sent on the serial bus when an
error event occurs.
$VNERR,03*72
Regardless of the state of the ErrorMode, the number of error events is always recorded and is made
available in the SysErrors field of the Communication Protocol Status Register.
Table 31 – ErrorMode
Value
0
1
2
Description
Ignore Error
Send Error
Send Error and set ADOR register to OFF
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5.12
Synchronization Control
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset
0
1
2
4
8
9
10
12
16
UM004
Name
SyncInMode
SyncInEdge
SyncInSkipFactor
RESERVED
SyncOutMode
SyncOutPolarity
SyncOutSkipFactor
SyncOutPulseWidth
RESERVED
5.12.1
Synchronization Control
32
Firmware : v0.1 and up
Access : Read / Write
Contains parameters which allow the timing of the VN-200 to be synchronized with
external devices.
20
$VNRRG,32,6,0,0,0,6,1,0,100000000,0*6E
Number
Format
U1
U1
U2
U4
U1
U1
U2
U4
U4
Unit
ns
ns
Description
Input signal synchronization mode
Input signal synchronization edge selection
Input signal trigger skip factor
Reserved for future use. Defaults to 0.
Output synchronization signal mode
Output synchronization signal polarity
Output synchronization signal skip factor
Output synchronization signal pulse width
Reserved for future use. Defaults to 0.
SyncInMode
The SyncInMode register controls the behavior of the SyncIn event. If the mode is set to COUNT, the
internal clock will be used to control the ADC timing. If SyncInMode is set to ASYNC, the ADC loop will
run on a SyncIn event. The relationship between the SyncIn event and a SyncIn trigger is defined by the
SyncInEdge and SyncInSkipFactor parameters. It is very important to note that the VN-200 must always
operate at an internal rate of 200 Hz. If the SyncIn event is used to control the ADC sampling, the SyncIn
event must be kept always at 200 Hz. If set to ASYNC, the VN-200 will output asynchronous serial
messages upon each trigger event.
Table 32 – SyncIn Mode
Mode
COUNT2
ADC2
ASYNC2
COUNT
ADC
ASYNC
GPS_PPS
Pin
SYNC_IN_2
SYNC_IN_2
SYNC_IN_2
SYNC_IN
SYNC_IN
SYNC_IN
GPS_PPS
Value
0
1
2
3
4
5
6
Description
Count number of trigger events on SYNC_IN_2 (pin 15).
Start ADC sampling on trigger of SYNC_IN_2 (pin 15).
Output asynchronous message on trigger of SYNC_IN_2 (pin 15).
Count number of trigger events on SYNC_IN (pin 22).
Start ADC sampling on trigger of SYNC_IN (pin 22).
Output asynchronous message on trigger of SYNC_IN (pin 22).
Count number of trigger events on GPS_PPS (pin 24).
The SyncIn pin is set by default to operate on pin 22. For reverse compatibility with existing
VectorNav products it is possible to remap the SyncIn pin to operate on pin 15 instead. For
future designs it is recommended that pin 22 is used for the SyncIn feature.
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5.12.2
UM004
SyncInEdge
The SyncInEdge register controls the type of edge the signal is set to trigger on. The factory default
state is to trigger on a rising edge.
Table 33 – SyncInEdge Mode
Value
0
1
5.12.3
Description
Trigger on rising edge
Trigger on falling edge
SyncInSkipFactor
The SyncInSkipFactor defines how many times trigger edges defined by SyncInEdge should occur prior to
triggering a SyncIn event. The action performed on a SyncIn event is determined by the SyncIn mode.
For example, if the SyncInSkipFactor was set to 4 and a 1 kHz signal was attached to the SyncIn pin, the
SyncIn event would only occur at 200 Hz.
5.12.4
SyncOutMode
The SyncOutMode register controls the behavior of the SyncOut pin. If this is set to ADC, the SyncOut
will start the pulse when the internal ADC loop starts. This mode is used to make a sensor the Master in
a multi-sensor network array. If this is set to IMU mode, the pulse will start when IMU measurements
become available. If this is set to INS mode, the pulse will start when INS measurements are made
available. Changes to this register take effect immediately.
Table 34 – SyncOutMode
Mode
NONE
ADC
IMU
INS
GPS
5.12.5
Value
0
1
2
3
6
Description
None
Trigger at start of ADC sampling
Trigger when IMU measurements are available
Trigger when INS measurements are available
Trigger when GPS PPS pulse is present and GPS has a position fix.
SyncOutPolarity
The SyncOutPolarity register controls the polarity of the output pulse on the SyncOut pin. Changes to
this register take effect immediately.
Table 35 – SyncOutPolarity
Value
0
1
5.12.6
Description
Negative Pulse
Positive Pulse
SyncOutSkipFactor
The SyncOutSkipFactor defines how many times the sync out event should be skipped before actually
triggering the SyncOut pin.
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5.12.7
UM004
SyncOutPulseWidth
The SyncOutPulseWidth field controls the desired width of the SyncOut pulse.
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5.13
UM004
Calibrated Sensor Measurements
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset Name
0
MagX
4
MagY
8
MagZ
12
AccelX
16
AccelY
20
AccelZ
24
GyroX
28
GyroY
32
GyroZ
36
Temp
40
Pressure
Calibrated Sensor Measurements
54
Firmware : v0.1 and up
Access :
Calibrated measurements from all onboard sensors.
44
$VNRRG,54,+01.5656,-00.2630,+01.5138,-00.888,+00.051,09.814,+00.004525,+00.000271,+00.021949,+20.4,+00098.968*58
Number
Format
Unit
Description
F4
gauss Magnetic X-axis measurement.
F4
gauss Magnetic Y-axis measurement.
F4
gauss Magnetic Z-axis measurement.
F4
m/s2 Acceleration X-axis measurement.
F4
m/s2 Acceleration Y-axis measurement.
F4
m/s2 Acceleration Z-axis measurement.
F4
rad/s X-axis angular rate.
F4
rad/s Y-axis angular rate.
F4
rad/s Z-axis angular rate.
F4
C
Temperature.
F4
kPa Pressure measurement.
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Read Only
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5.14
UM004
GPS Configuration
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset Name
GPS Configuration
Firmware : v0.1 and up
55
Access :
Read / Write
4
$VNRRG,55,2,0,0,0*71
Number
Format
Unit
0
Mode
U1
-
1
NMEA_Serial1
U1
-
2
NMEA_Serial2
U1
-
3
NMEA_Rate
U1
-
4
GPS_Delay
U1
-
Description
GPS mode.
0 = Use onboard GPS.
1 = Use external GPS with hardware PPS support.
2 = Use external GPS with software PPS support.
Selects which NMEA GPS packets are outputted on serial port #1.
See table below for available NMEA messages.
Selects which NMEA GPS packets are outputted on serial port #2.
See table below for available NMEA messages.
GPS NMEA message skip factor. If set to 2 then the sensor will
send out every other NMEA message. NMEA messages are
internally collected at 5Hz.
0 – Off
1 – 5Hz
5 – 1Hz
GPS delay for software based PPS support. This parameter is
only used when Mode=2. Sets the number of INS filter steps the
GPS data is delayed by. The INS filter runs at 200Hz (5ms).
0 = No delay
4 = 20ms delay
Table 36 - NMEA Messages
Name
GGA
GLL
GRS
GSA
GST
GSV
RMC
VTG
Bit Offset
0
1
2
3
4
5
6
7
Description
Global positioning system fix data
Latitude and longitude
GNSS Range Residuals
GNSS DOP and Active Satellites
GNSS Pseudo Range Error Statistics
GNSS Satellites in View
Recommended Minimum Data
Course over ground and Ground speed
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5.15
UM004
GPS Antenna Offset
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset Name
0
PosX
4
PosY
8
PosZ
GPS Antenna Offset
57
Firmware : v0.1 and up
Access : Read Only
Configures the position offset of the GPS antenna from the VN-200 in the vehicle
reference frame.
12
$VNRRG,57,0,0,0*6D
Number
Format
F4
F4
F4
Unit
m
m
m
Description
Relative position of GPS antenna. (X-axis)
Relative position of GPS antenna. (Y-axis)
Relative position of GPS antenna. (Z-axis)
The position of the GPS antenna relative to the sensor in the vehicle coordinate frame also referred to
as the GPS antenna lever arm. In the example scenario shown in Figure 8 below, the GPS antenna offset
is X= +2.5m, Y= +0.0m, Z= -2.0m.
Figure 8 - GPS Antenna Offset
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5.16
UM004
GPS Solution
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset Name
0
Time
8
Week
10
GpsFix
11
NumSats
16
Latitude
24
Longitude
32
Altitude
40
NedVelX
44
NedVelY
48
NedVelZ
52
NorthAcc
56
EastAcc
60
VertAcc
64
SpeedAcc
68
TimeAcc
GPS Solution
Firmware : v0.1 and up
58
Access : Read / Write
Available at 5 Hz only.
72
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Number
Format
Unit
Description
F8
sec
GPS time of week in seconds.
U2
week GPS week.
U1
GPS fix type. See table below.
U1
Number of GPS satellites used in solution.
F8
deg Latitude in degrees.
F8
deg Longitude in degrees.
F8
m
Altitude above ellipsoid. (WGS84)
F4
m/s Velocity measurement in north direction.
F4
m/s Velocity measurement in east direction.
F4
m/s Velocity measurement in down direction.
F4
m
North position accuracy estimate. (North)
F4
m
East position accuracy estimate. (East)
F4
m
Vertical position accuracy estimate. (Down)
F4
m/s Speed accuracy estimate.
F4
sec
Time accuracy estimate.
Table 37 - GPS Fix
Value
0
1
2
3
Description
No fix
Time only
2D
3D
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5.17
UM004
INS Solution
Register ID :
Comment :
Size (Bytes):
Example Serial Read
Register Response:
Byte
Offset
0
8
10
12
16
20
24
32
40
48
52
56
60
64
68
INS Solution
Firmware : v0.1 and up
63
Access :
Read Only
72
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Number
Format
Unit Description
F8
sec
GPS time of week in seconds.
U2
week GPS week.
X2
Status flags for INS filter. Hexadecimal format. See table below.
F4
deg Heading angle relative to true north.
F4
deg Pitch angle relative to horizon.
F4
deg Roll angle relative to horizon.
F8
deg INS solution position in geodetic latitude.
F8
deg INS solution position in geodetic longitude.
F8
m
Height above ellipsoid. (WGS84)
F4
m/s INS solution velocity in NED frame. (North)
F4
m/s INS solution velocity in NED frame. (East)
F4
m/s INS solution velocity in NED frame. (Down)
F4
deg Uncertainty in attitude estimate.
F4
m
Uncertainty in position estimate.
F4
m/s Uncertainty in velocity estimate.
Name
Time
Week
Status
Heading
Pitch
Roll
Latitude
Longitude
Altitude
NedVelX
NedVelY
NedVelZ
AttUncertainty
PosUncertainty
VelUncertainty
Table 38 - INS Status
Name
Bit Offset
Format
Mode
0
2 bits
GpsFix
2
1 bit
Error
3
4 bits
Reserved
7
9 bits
Description
Indicates the current mode of the INS filter.
0 = Not tracking. Insufficient dynamic motion to estimate attitude.
1 = Sufficient dynamic motion, but solution not within performance specs.
2 = INS is tracking and operating within specifications.
Indicates whether the GPS has a proper fix.
Sensor measurement error code. See table below.
0 = No errors detected.
Reserved for future use.
Table 39 - Error Bitfield
Name
Time Error
Bit Offset
0
Format
1 bit
IMU Error
1
1 bit
Mag/Pres Error
2
1 bit
GPS Error
3
1 bit
Description
High if INS filter loop exceeds 5 ms.
High if IMU communication error is
detected.
High if Magnetometer or Pressure sensor
error is detected.
High if GPS communication error is
detected.
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6
UM004
System Registers - Default Factory State
The following table details the VN-200’s settings as it is delivered from the factory. These settings may
be restored by issuing a Restore Factory Settings command (Section 0) or by using the Restore Factory
Settings signal pins.
Table 40 – Factory Default Register Values
Settings Name
Serial Baud Rate
Async Data Output Frequency
Async Data Output Type
Magnetic and Gravity Reference Vectors
Reference Frame Rotation
Communication Protocol Control
Synchronization Control
GPS Antenna Offset
Default Factory Value
115200 (Both serial ports)
40 Hz (Both serial ports)
INS : INS Solution (Both serial ports)
+1.0e+0, +0.0e+0, +1.8e+0
+0.0e+0, +0.0e+0, -9.793746e+0
1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0
0,0,0,0,1,0,1
3,0,0,0,6,1,0,100000000,0
0,0,0
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UM004
Please Read Carefully:
Information in this document is provided solely in connection with VectorNav Technologies, LLC (“VectorNav”)
products. VectorNav reserves the right to make changes, corrections, modifications, or improvements to this
document, and the products and services described herein at any time, without notice.
All VectorNav products are sold pursuant of VectorNav’s terms and conditions of sale.
No license to any intellectual property, expressed or implied, is granted under this document. If any part of this
document refers to any third party products or services it shall not be deemed a license grant by VectorNav for the
use of such third party products or services, or any intellectual property contained therein or considered as a
warranty covering the use in any manner whatsoever of such third party products or services or any intellectual
property contained therein.
Information in this document supersedes and replaces all information previously supplied.
The VectorNav logo is a registered trademark of VectorNav Technologies, LLC. All other names are the property of
their respective owners.
© 2012 VectorNav Technologies, LLC – All rights reserved
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