e-Shock GYROCAH User manual

GYROSCOPIC CAMERA –GYROCAM
GYROCAM is the gyroscopic camera of e-Shock designed to meet the requirement of
racing competition.
The control of the camera is powered be the E-LEAN sensor technology and it can
guarantee extreme stability and rotational speed of the image when the motorcycle is
leaned.
The product is provided with a mounting bracket specifically designed for quick installation
of GYROCAM.
TECHNICAL SPECIFICATION
Nominal Supply Voltage: 12V
Supply Voltage Range: 12V… 20V
Nominal Supply Current: 250mA (@12V)
ECU Protection Class: IP 67
Temperature calibrated and compensated
Weight: 270g
Temperature range:
oOperating: -10°C … 70°C
oStorage: -10°C … 80°C
Video
Sensor 1/3" 960H SONY EXview HAD CCD II
Pixel PAL: 1020(H) x 596(V)
PAL : 15.625 KHz(H), 50 Hz(V)
Frequency response:
Roll angle -3 dB @ 7Hz

DIMENSIONS
H=96 mm
d=90 mm
L=55.8 mm

MOUNTING INSTRUCTIONS
To place the cam on the motorcycle:
1. Place the mounting bracket on the vehicle and attach it with rivets, screws (thanks
to the holes) or velcro
2. Once the mounting bracket has been positioned, place the motorcycle on the
stands to guarantee that it is not leaned
3. Open the GYROCAM and start the procedure of unbiasing to compensate for small
non-zero angles of montages linked to a non-planar positioning of the mounting
bracket.
4. Press the button depicted in the Figure above for 10 seconds until the LED start
blinking
5. The unbiasing procedure will finish when the LED stop blinking.
LED
BUTTON

ADVANCED SPECIFICATIONS
The following specifications are available on specific request for profession usage of the
system.
CAN Data transfer –Available on request:
Baudrate: 1 MBaud
Identifier length: 11 bit
OUTPUT CAN Mailbox ID: (for details contact [email protected])
oID 41Fh: Roll Angle
oID 2F0h: Accelerations
oID 2F0h and ID 2F4h: Angular rates
ID 41Fh - Bit Layout and signal description
Byte 0
Roll Angle
Bit7
RA15
RA14
RA13
RA12
RA11
RA10
RA9
RA8
Byte 1
Roll Angle
Bit15
RA7
RA6
RA5
RA4
RA3
RA2
RA1
RA0
Byte 2
Speed Read
Bit7
SR15
SR14
SR13
SR12
SR11
SR10
SR9
SR8
Byte 3
Speed Read
Bit15
SR7
SR6
SR5
SR4
SR3
SR2
SR1
SR0
NOTE: Speed Read has to be equal to the speed signal sent on ID 200h
Byte 4
Pitch Angle
Bit7
PA15
PA14
PA13
PA12
PA11
PA10
PA9
PA8
Byte 5
Pitch Angle
Bit15
PA7
PA6
PA5
PA4
PA3
PA2
PA1
PA0
INPUT CAN Mailbox ID 200h
CAN Circuitry, Differential Resistor: 120(for details contact [email protected])
CAN Circuitry, Resistor to VDD and GND: 4.7 k
Refresh rate: 10 ms
Contact [email protected] for information about bit description and signal layout

Byte 6
Fault FLAG
Bit7
FF7
FF6
FF5
FF4
FF3
FF2
FF1
FF0
NOTE: if Fault FLAG is equal to 1, then some problems may be occurred in the
measured signals and the estimated angles are posed equal to 0°
Byte 7
Temperature
Bit15
TT7
TT6
TT5
TT4
TT3
TT2
TT1
TT0
ID 2F0h - Bit Layout and signal description:
Byte 0
Ax
Bit7
AX15
AX14
AX13
AX12
AX11
AX10
AX9
AX8
Byte 1
Ax
Bit15
AX7
AX6
AX5
AX4
AX3
AX2
AX1
AX0
Byte 2
Ay
Bit23
AY15
AY14
AY13
AY12
AY11
AY10
AY9
AY8
Byte 3
Ay
Bit31
AY7
AY6
AY5
AY4
AY3
AY2
AY1
AY0
Byte 4
Az
Bit39
AZ15
AZ14
AZ13
AZ12
AZ11
AZ10
AZ9
AZ8
Byte 5
Az
Bit47
AZ7
AZ6
AZ5
AZ4
AZ3
AZ2
AZ1
AZ0
Byte 6
Wx
Bit55
WX15
WX14
WX13
WX12
WX11
WX10
WX9
WX8
Byte 7
Wx
Bit63
WX7
WX6
WX5
WX4
WX3
WX2
WX1
WX0

The specifications on this document are subject to change at E-Shock decision.
E-Shock assumes no responsibility for any claims or damages arising out of the use
of this document, or from the use of modules based on this document, including but not limited
to claims or damages based on infringement of patents, copyrights or other intellectual property rights.
For info and sale contact:
[email protected]
E-Shock srl, Milano, Italy
ID 2F4h - Bit Layout and signal description:
Byte 4
Wy
Bit39
WY15
WY14
WY13
WY12
WY11
WY10
WY9
WY8
Byte 5
Wy
Bit47
WY7
WY6
WY5
WY4
WY3
WY2
WY1
WY0
Byte 6
Wz
Bit55
WZ15
WZ14
WZ13
WZ12
WX11
WZ10
WZ9
WZ8
Byte 7
Wz
Bit63
WZ7
WZ6
WZ5
WZ4
WZ3
WZ2
WZ1
WZ0

The specifications on this document are subject to change at E-Shock decision.
E-Shock assumes no responsibility for any claims or damages arising out of the use
of this document, or from the use of modules based on this document, including but not limited
to claims or damages based on infringement of patents, copyrights or other intellectual property rights.
For info and sale contact:
[email protected]
E-Shock srl, Milano, Italy
Signal conversion
Short
name
Long name
Description
RA
Roll Angle
Physical range: +90° = 1050h
-90° = 948h
Quantization LSB: 0.1 [°]
Roll Angle [°] =
(Dec_Value*GAIN_RA)+OFFSET_RA
Roll Angle GAIN: GAIN_RA=0.1
Roll Angle OFFSET: OFFSET_RA=-327.6
Short
name
Long name
Description
PA
Pitch Angle
Physical range: +90° = 1050h
-90° = 948h
Quantization LSB: 0.1 [°]
Pitch Angle [°] =
(Dec_Value*GAIN_PA)+OFFSET_PA
Pitch Angle GAIN: GAIN_PA=0.1
Pitch Angle OFFSET: OFFSET_PA=-327.6
Short
name
Long name
Description
AX
Ax –
Longitudinal
Acceleration
Physical range: +5g = A651h
-5g = 59ADh
Quantization LSB: 0.01 [m/s2]
Ax [m/s2] = (Dec_Value*GAIN_A)+OFFSET_A
AY
Ay –Lateral
Acceleration
Physical range: +5g = A651h
-5g = 59ADh
Quantization LSB: 0.01 [m/s2]
Ay [m/s2] = (Dec_Value*GAIN_A)+OFFSET_A
AZ
Az –Vertical
Acceleration
Physical range: +5g = A651h
-5g = 59ADh
Quantization LSB: 0.01 [m/s2]
Az [m/s2] = (Dec_Value*GAIN_A)+OFFSET_A
Accelerations GAIN: GAIN_A=0.005
Accelerations OFFSET: OFFSET_A=-163.835

The specifications on this document are subject to change at E-Shock decision.
E-Shock assumes no responsibility for any claims or damages arising out of the use
of this document, or from the use of modules based on this document, including but not limited
to claims or damages based on infringement of patents, copyrights or other intellectual property rights.
For info and sale contact:
[email protected]
E-Shock srl, Milano, Italy
Short
name
Long name
Description
WX
Wx –
Longitudinal
Angular Rate
Physical range: +100°/s = A70Fh
-100°/s = 58EFh
Quantization LSB: 0.01 [°/s]
Wx [°/s] = (Dec_Value*GAIN_W)+OFFSET_W
WY
Wy –Lateral
Angular Rate
Physical range: +100°/s = A70Fh
-100°/s = 58EFh
Quantization LSB: 0.01 [°/s]
Wy [°/s] = (Dec_Value*GAIN_W)+OFFSET_W
WZ
Wz –Vertical
Angular Rate
Physical range: +100°/s = A70Fh
-100°/s = 58EFh
Quantization LSB: 0.01 [°/s]
Wz [°/s] = (Dec_Value*GAIN_W)+OFFSET_W
Angular Rates GAIN: GAIN_W=0.01
Angular Rates OFFSET: OFFSET_W=-327.67
Short
name
Long name
Description
FF
Fault FLAG
Physical range: 1 = 0080h
0 = 0000h
Quantization LSB: 1
Fault FLAG = Dec_Value* GAIN_FF
Fault FLAG GAIN: GAIN_FF=1/128
Short
name
Long name
Description
TT
Temperature
Physical range: 100°C = 00C8h
0°C = 0064h
Quantization LSB:1 [°C]
Temperature [°] = Dec_Value+OFFSET_TT
Temperature OFFSET: OFFSET_TT=-100

The specifications on this document are subject to change at E-Shock decision.
E-Shock assumes no responsibility for any claims or damages arising out of the use
of this document, or from the use of modules based on this document, including but not limited
to claims or damages based on infringement of patents, copyrights or other intellectual property rights.
For info and sale contact:
[email protected]
E-Shock srl, Milano, Italy
ID 200h - Bit Layout and signal description (sent by ECU to E-LEAN)
Byte Number
0
1
2
3
3
5
6
7
--
--
--
--
--
0x00
Speed_MSB
Speed_LSB
Speed[UNIT] = Speed[km/h]*4;
PINOUT:
DATA CONNECTOR (On Request - BINDER 709 SERIES 4 POLES FEMALE –
Cod. 09-9792-30-04):
oPIN1 –BLU- GND
oPIN2 –RED- 12V
oPIN3 –YELLOW –CANL
oPIN4 –GREEN –CANH
VIDEO CONNECTOR –Customizable on request