Aceinna IMU383 Series User manual

IMU383 Series User’s Manual
Document Number: 7430-1398-01
1
IMU383 SERIES USER MANUAL
Document Part Number: 7430-1398-01

IMU383 Series User’s Manual
Document Number: 7430-1398-01
2
ACEINNA, Inc.
email: [email protected], website: www.aceinna.com

IMU383 Series User’s Manual
Document Number: 7430-1398-01
3
Revision history
Date
Document
Revision
Associated FW
Version
Description
Author(s)
Aug 22, 2019
Rev. A
v1.1.x
Draft release of IMU383 manual
Joseph Motyka
Dec 9, 2019
Rev. B
v1.1.x
Updates to manual to describe fault
detection and settings
Joseph Motyka
Dec 18, 2019
Rev. C
v1.1.x
Fixed links to and formatting of
tables and figures.
Joseph Motyka
April 7, 2020
Rev. D
v1.1.6 / v25
Updates to manual for FW version
1.1.6, fix errors and formatting
Andrey Bondarev
Rishit Borad

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Table of Contents
1. Introduction ..............................................................................................................................9
1.1. Manual overview...............................................................................................................9
1.2. Overview of the IMU383 Series Inertial Measurement Unit ............................................9
2. Interface..................................................................................................................................11
2.1. Electrical interface...........................................................................................................11
2.1.1. Connector...................................................................................................................11
2.1.2. Power and ground pins...............................................................................................12
2.1.3. Serial interface............................................................................................................12
2.1.3.1. SPI com synchronization input..........................................................................12
2.1.4. Reserved –factory use only .......................................................................................13
2.2. Mechanical interface .......................................................................................................13
3. Theory of operation................................................................................................................14
3.1. Default coordinate system...............................................................................................15
3.1.1. Advanced settings ......................................................................................................16
3.2. Data processing chain......................................................................................................16
3.2.1. Sensor fault detection.................................................................................................16
3.2.1.1. Configuration field settings for sensor enable and sensor output select............17
3.2.1.2. User Settings......................................................................................................17
3.2.2. Advanced settings ......................................................................................................17
Note on filter settings..........................................................................................................18
3.2.3. Built-In test.................................................................................................................18
4. SPI port interface definition....................................................................................................20
4.1. SPI register map ..............................................................................................................20
4.2. SPI register read methodology ........................................................................................22
4.2.1. SPI Polled mode read.................................................................................................22
4.2.2. SPI Burst-mode read ..................................................................................................23
4.2.3. Output data scaling.....................................................................................................26
4.2.4. System information registers......................................................................................26
4.2.5. Diagnostic status register............................................................................................27
4.2.6. Sensors status registers...............................................................................................28
4.2.7. Hardware and software version..................................................................................28
4.3. SPI register write methodology.......................................................................................29
4.4. Unit configuration registers.............................................................................................30
4.4.1. Data-Ready and Self-test registers.............................................................................30

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4.4.2. Output data rate..........................................................................................................31
4.4.3. Rate-Sensor scaling and Low-Pass filter....................................................................31
4.4.4. Axis orientation settings.............................................................................................33
4.4.5. Saving the configuration to EEPROM.......................................................................34
4.4.6. Sensor control registers..............................................................................................34
4.4.7. Fault detection control registers.................................................................................35
4.5. Suggested operation conditions.......................................................................................36
4.5.1. Startup timing.............................................................................................................36
4.5.2. SPI timing...................................................................................................................36
4.6. Signal synchronization....................................................................................................37
Method 1- Using the sensor sampling indicator (Pin 1).....................................................38
Method 2- Using the Timestamp registers in the Extended Burst Message........................38
4.7. Bootloader.......................................................................................................................38
5. UART interface definition......................................................................................................39
5.1. General settings...............................................................................................................39
5.2. Number formats...............................................................................................................39
5.3. Packet format...................................................................................................................40
5.3.1. Packet header..............................................................................................................40
5.3.2. Packet type .................................................................................................................40
5.3.3. Payload length............................................................................................................41
5.3.4. Payload.......................................................................................................................41
5.3.5. 16-bit CRC-CCITT ....................................................................................................41
5.3.6. Messaging overview...................................................................................................41
6. Standard UART commands and messages.............................................................................44
6.1. Link test...........................................................................................................................44
6.1.1. Ping command............................................................................................................44
6.1.3. Echo command...........................................................................................................44
6.1.4. Echo response.............................................................................................................44
6.2. Interactive commands......................................................................................................45
6.2.1. Get Packet request......................................................................................................45
6.2.2. Error response ............................................................................................................45
6.3. Output packets (Polled)...................................................................................................45
6.3.1. Identification data packet ...........................................................................................46
6.3.2. Version data packet....................................................................................................46
6.3.3. Test 0 (Detailed BIT and status) packet.....................................................................47

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6.4. Output packets (polled or continuous) ............................................................................47
6.4.1. Scaled sensor data packet 0........................................................................................48
6.4.2. Scaled sensor data packet 1 (default IMU data packet)..............................................49
7. Advanced UART commands..................................................................................................51
7.1. Configuration fields.........................................................................................................51
7.1.1. Packet rate divider......................................................................................................52
7.1.2. Unit baudrate..............................................................................................................52
7.1.3. Continuous packet type field......................................................................................52
7.1.4. Digital filter settings...................................................................................................52
7.1.5. Orientation field .........................................................................................................53
7.1.6. Sensor enable setting and Output select setting .........................................................54
7.1.7. Fault-Detection status fields.......................................................................................56
7.1.8. Fault-Detection Enable/Disable .................................................................................56
7.2. Read/Write of configuration fields..................................................................................56
7.2.1. Write Fields command ...............................................................................................56
7.2.2. Write Fields response.................................................................................................57
7.2.3. Set Fields command...................................................................................................58
7.2.4. Set Fields response.....................................................................................................58
7.2.5. Read Fields command................................................................................................59
7.2.6. Read Fields response..................................................................................................59
7.2.7. Get Fields command...................................................................................................60
7.2.8. Get Fields response ....................................................................................................60
8. Advanced UART Port BIT.....................................................................................................62
8.1. Built In Test (BIT) and Status fields ...............................................................................62
8.2. Master BIT and Status (BITstatus) field .........................................................................62
8.3. hardwareBIT field ...........................................................................................................63
8.4. softwareDataBIT field.....................................................................................................63
8.5. hardwareStatus field........................................................................................................64
8.6. sensorStatus field.............................................................................................................64
9. Bootloader ..............................................................................................................................65
9.1. Updating firmware over UART interface........................................................................65
9.1.1. Jump to BootLoader command ..................................................................................65
9.1.2. Write APP command..................................................................................................65
9.1.3. Jump to Application command...................................................................................66
9.2. Updating firmware using the SPI interface .....................................................................66

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9.2.1. Boot mode registers....................................................................................................66
9.2.2. Boot mode status register (0x78)................................................................................67
9.2.3. Boot command register (0x7A)..................................................................................68
9.2.4. Boot data register (0x7C)...........................................................................................69
9.2.5. Boot loading sequence................................................................................................70
10. Warranty and support information..........................................................................................71
10.1. Customer service.............................................................................................................71
10.2. Contact directory.............................................................................................................71
10.3. Return procedure.............................................................................................................71
10.3.1. Authorization..............................................................................................................71
10.3.2. Identification and protection ......................................................................................71
10.3.3. Sealing the container..................................................................................................72
10.3.4. Marking......................................................................................................................72
10.4. Warranty..........................................................................................................................72
Appendix A: Installation and operation of NAV-VIEW ...............................................................73
NAV-VIEW Computer requirements.........................................................................................73
Install NAV-VIEW ....................................................................................................................73
Setting up NAV-VIEW..............................................................................................................73
Data recording............................................................................................................................74
Data playback.............................................................................................................................74
Raw data console........................................................................................................................75
Packet statistics view..................................................................................................................76
Unit configuration......................................................................................................................77
Advanced configuration.............................................................................................................78
Bit configuration ........................................................................................................................79
Read unit configuration..............................................................................................................80
Appendix B: Sample Packet-Parser Code......................................................................................84
Overview....................................................................................................................................84
Code listing ................................................................................................................................85
Appendix C: Sample Packet Decoding..........................................................................................91

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About this Manual
The following symbols are used to provide additional information.
X NOTE
Note provides additional information about the topic.
☑EXAMPLE
This symbol indicates an example that will help the reader understand the terminology.
PIMPORTANT
This symbol defines items that have significant meaning to the user
WARNING
The user should pay particular attention to this symbol. It means there is a chance that physical
harm could happen to either the person or the equipment.
This manual uses the following paragraph heading formats:
1 Heading 1
1.1 Heading 2
1.1.1 Heading 3
1.1.1.1 Heading 4
Normal

IMU383 Series User’s Manual
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1. Introduction
1.1. Manual overview
This manual describes ACEINNA’s IMU383 IMU Inertial Measurement Unit. The IMU383 will
be referred to as “the unit” frequently in this document.
Table 1 below highlights the content in each section and suggests how to use this manual.
Table 1: Manual content
Manual Section
Who Should Read?
Section 1:
Manual Overview
All customers should read Sections 1.1 and 1.2.
Section 2:
Interface
Customers designing the electrical and mechanical interface to
the IMU383 series products should read Section 2.
Section 3:
Theory of Operation
All customers should read Section 3.
Section 4:
SPI Port Interface
Customers designing the software interface to the IMU383
series products SPI Port should review Section 4.
Section 5-8:
UART Port Interface
Customers designing the software Interface To the IMU383
series products UART Port should review Sections 5, 6, 7, 0.
Section 9:
IMU383 Bootloader
Customers that intend to update Aceinna firmware in the unit
should read Section 9.
Section 10:
Warranty and Support Information
All customers should read Section 10.
Appendix A:
Installation and Operation of NAV-
VIEW
All customers should read Appendix A.
Appendix B:
Sample Packet-Parser Code
All customers that intend to create scripts to interface with
serial messages should read Appendix B
Appendix C:
Sample Packet Decoding
All customers that intend to create scripts to interface with
serial messages should read Appendix C
1.2. Overview of the IMU383 Series Inertial Measurement Unit
This manual describes the use of ACEINNA’s IMU383 and is intended to be used as a detailed
technical reference and operating guide. ACEINNA’s IMU383 Series products combine the latest
in high-performance commercial MEMS (Micro-electromechanical Systems) sensors and digital
signal processing techniques to provide a small, cost-effective alternative to existing IMU systems.

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The IMU383 Series is ACEINNA’s fifth generation of MEMS-based Inertial Systems, building on
over a decade of field experience, and encompassing thousands of deployed units and millions of
operational hours in a wide range of land, marine, airborne, and instrumentation applications. It is
designed for OEM applications.
At the core of the IMU383 Series is a trio of rugged 6-DOF (Degrees of Freedom) MEMS inertial
sensor clusters. Each 6-DOF MEMS inertial sensor cluster includes three axes of MEMS angular
rate sensing and three axes of MEMS linear acceleration sensing. These sensors are based on
rugged, field proven silicon bulk micromachining technology. Each sensor within the cluster is
individually factory calibrated for temperature and non-linearity effects during ACEINNA’s
manufacturing and test process using automated thermal chambers and rate tables.
The differentiating feature of the IMU383 Series is the trio of redundant 6-DOF MEMS sensor
clusters. This redundancy has two direct benefits:
1) Combining multiple sensor reading improves the noise characteristics of the output signal
2) Using more than one sensor enables the unit to operate through a single sensor-chip failure by
detecting and voting out the failed part. Failures include stuck or railed readings as well as
sustained inconsistency between the three sensor sets.
Another unique feature of the IMU383 Series is the extensive field configurability of the units. This
field configurability allows the IMU383 Series of Inertial Systems to satisfy a wide range of
applications and performance requirements with a single mass-produced hardware platform. The
basic configurability includes parameters such as baud rate (UART), clock speed (SPI), packet
type, and output data rate, and the advanced configurability includes the defining of custom axes.
The IMU383 Series module is packaged in a lightweight, rugged, unsealed metal enclosure that is
designed for cost-sensitive commercial and OEM applications. The unit can be configured to output
data over a SPI Port or a low level UART serial port. The port choice is user controlled by
grounding the appropriate pin on the connector. ACEINNA’s NAV-VIEW 3.X Windows
application supports using the unit low level UART data port. NAV-VIEW 3.X is a powerful
Windows-based operating tool that provides complete field configuration, diagnostics, charting of
sensor performance, and data logging with playback.