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| datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 1 / 74 april 201 3 1 features o miniature package o low noise o low bias instability o excellent performance in vibration and shock environments o 6 axe s offered in same package o electronically calibrated axis alignment o gy ros based on sensonor butterfly gyro tm o single - crystal silicon technology o no intrinsic wear - out effects o high stability a ccelerometers and inclinometers o separate aux input for 24 bit adc o insensitive to magnetic fields o full emi compliance o digital interface, rs422 o fully configurable o continuous s elf - diagnostics 2 general description stim 300 is an imu consisting of 3 high accuracy mems - based gyros , 3 high stability accelerometers and 3 high stability inclinometers in a miniature package. each axis is factory - calibrated for bias, sensitivity and c ompensated for temperature effects to provide high - accuracy measurements in the temperature range - 40c to +85c. the unit runs off a single + 5v supply. stim 300 communicates via a standard high - level rs422 interface. the use of a 32 - bit risc arm microcontroller provides flexibility in the configuration, like choice of output unit, samp l e rate , low pass filter ? 3db frequency and rs422 bit - rate and protocol paramet ers. all configurable parameters can be defined when ordering or set by customer . when stim 300 is powered up, it will perform an internal system check and synchro nise the sensor channels . as an acknowledgement of the complete power - up sequence, it will provide special datagram s containing part number, serial number and configuration data . stim 300 will then automatically proceed to provide measurement data. c onnect power and stim 300 will provide accurate measurements over the rs422 interface . the measurement data is transmitted as packages of data on a fixed format (datagram) at intervals given by the sampl e rate together with a synchronization signal (tov). t he datagram is in binary coded format in order to have an efficient transfer of data. in addition to the measurement data itself, the dat agram contains an identifier, status byte s and a 32 bit crc (cyclic redundancy check) to provide high degree of fault d etection in the transmissions. the status byte s will flag any detected errors in the system. stim 300 can also be configured to transmit data only when triggered by a separate digital input signal (exttrig) . for more advanced users, the gyro may be put in service mode. in this mode all the configuration parameters can be intermediately or permanently changed by overwriting the current settings in the flash memory. in service mode the commands and responses are in a human readable format (ascii) ; to enable the use of terminal - type software du ring typical product integration . service mode also provides the ability to perform single measurements, perform diagnostics and obtain a higher detail level of detected errors reported in the status byte s . figure 2 - 1 : STIM300 function block diagram senso n or as phone: +47 3303 5000 - fax: +47 3303 5005 sales@sensonor.com www.sensonor.com (38.6mm x 44.8mm x 21.5mm) t x d a t a + t x d a t a - r x d a t a + r x d a t a - + 5 v g n d p o w e r m a n a g e m e n t / v o l t a g e a n d f r e q u e n c y r e f e r e n c e s x - a x i s g y r o y - a x i s g y r o z - a x i s g y r o s e l f - d i a g n o s t i c s g y r o d r i v e + a d c + l p f r s 4 2 2 o u t p u t d r i v e r r s 4 2 2 i n p u t b u f f e r e x t t r i g s y s t e m c o n t r o l l e r g y r o d r i v e + a d c + l p f g y r o d r i v e + a d c + l p f x - a x i s a c c . y - a x i s a c c . z - a x i s a c c . a d c + l p f t o v a d c + l p f a d c + l p f a d c + l p f a u x + a u x - r e s e t x - a x i s i n c l . y - a x i s i n c l . z - a x i s i n c l . a d c + l p f a d c + l p f a d c + l p f c a l i b r a t i o n a n d c o m p e n s a t i o n
datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 2 / 74 a pril 201 3 3 table of contents document history ................................ ................................ ................................ ................................ ................................ ....... 1 1 features ................................ ................................ ................................ ................................ ................................ .................. 1 2 general description ................................ ................................ ................................ ................................ .......................... 1 3 table of contents ................................ ................................ ................................ ................................ ............................... 2 4 definiti ons and abbreviations used in document ................................ ................................ ................................ ... 3 4.1 definitions ................................ ................................ ................................ ................................ ................................ ............ 3 4.2 abbreviati ons ................................ ................................ ................................ ................................ ................................ ....... 3 5 absolute maximum ratings ................................ ................................ ................................ ................................ .............. 3 6 specifications ................................ ................................ ................................ ................................ ................................ ....... 4 6.1 typical performance characteristics ................................ ................................ ................................ .............. 9 6.1.1 gyro characteristics ................................ ................................ ................................ ................................ ........ 9 6.1.2 accelerometer characteristics ................................ ................................ ................................ ................ 13 6.1.3 inclinometer characteristics ................................ ................................ ................................ ..................... 16 6.1.4 aux characteristics ................................ ................................ ................................ ................................ ......... 19 6.2 configurable parameters ................................ ................................ ................................ ................................ ................... 21 6.3 datagram specifications ................................ ................................ ................................ ................................ ..................... 22 6.3.1 part number datagram ................................ ................................ ................................ ................................ .............. 22 6. 3.2 serial number datagram ................................ ................................ ................................ ................................ ............ 23 6.3.3 configuration datagram ................................ ................................ ................................ ................................ ............. 24 6.3.4 normal mode datagram ................................ ................................ ................................ ................................ ............. 27 6.3.5 cyclic redundancy check (crc) ................................ ................................ ................................ .............................. 28 6.4 status byte ................................ ................................ ................................ ................................ ................................ ......... 29 7 mechanical ................................ ................................ ................................ ................................ ................................ ........... 30 7.1 mechanical dimensions ................................ ................................ ................................ ................................ ...................... 30 7.2 pin configuration ................................ ................................ ................................ ................................ ................................ 31 7.3 definition of axes ................................ ................................ ................................ ................................ ............................... 31 8 basic operation ................................ ................................ ................................ ................................ ................................ .. 32 8.1 reset ................................ ................................ ................................ ................................ ................................ ................. 32 8.2 external trigg er ................................ ................................ ................................ ................................ ................................ . 32 8.3 time of validity (tov) ................................ ................................ ................................ ................................ ........................ 33 8.4 auxiliary input ................................ ................................ ................................ ................................ ................................ ..... 34 8.5 oper ating modes ................................ ................................ ................................ ................................ ............................... 34 8.5.1 init mode ................................ ................................ ................................ ................................ ................................ .... 35 8.5.2 normal mode ................................ ................................ ................................ ................................ ............................. 35 8.5.3 serv ice mode ................................ ................................ ................................ ................................ ............................. 41 8.6 self diagnostics ................................ ................................ ................................ ................................ ................................ .. 41 9 commands in normal mode ................................ ................................ ................................ ................................ ............. 42 9. 1 n (part number datagram) command ................................ ................................ ................................ ..................... 42 9.2 i (serial number datagram) command ................................ ................................ ................................ ................... 42 9.3 c (configuration datagram) command ................................ ................................ ................................ ................. 42 9.4 r (reset) command ................................ ................................ ................................ ................................ ........................ 43 9.5 servicemode command ................................ ................................ ................................ ................................ ................ 43 10 c ommands in service mode ................................ ................................ ................................ ................................ ......... 45 10.1 i (information) command ................................ ................................ ................................ ................................ ......... 46 10.2 a (single - shot measurement) command ................................ ................................ ................................ ............ 50 10.3 c (diagnostic) command ................................ ................................ ................................ ................................ ........... 52 10.4 d (datagram format) command ................................ ................................ ................................ ............................ 54 10.5 t (transmission parameters) command ................................ ................................ ................................ ............. 56 10.5.1 user - defined bit - rate ................................ ................................ ................................ ................................ .................. 56 10.6 r (line termination) command ................................ ................................ ................................ ................................ 58 10.7 u (output unit) command ................................ ................................ ................................ ................................ ......... 59 10.8 f (lp filter - 3db frequency) command ................................ ................................ ................................ ................ 60 10.9 m (sample rate) command ................................ ................................ ................................ ................................ ....... 62 10.10 k (aux comp) command ................................ ................................ ................................ ................................ .............. 63 10.11 s (save) command ................................ ................................ ................................ ................................ ....................... 64 10.12 x (exit) command ................................ ................................ ................................ ................................ ......................... 65 10.13 z (restore to factory settings) command ................................ ................................ ................................ ..... 67 10.14 ? (help) command ................................ ................................ ................................ ................................ ....................... 68 11 marking ................................ ................................ ................................ ................................ ................................ .............. 72 12 configuration / ordering information ................................ ................................ ................................ ................. 73 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 3 / 74 a pril 201 3 4 definitions and abbreviations used in document 4.1 definitions g 0 = 9.80665m/s 2 (standard gravity) 4.2 abbreviations table 4 - 1 : abbreviations abbreviation full name bcd binary coded decimal bsl best straight line cic - filter cascaded integrator - comb filter cr carriage return fs full - scale lf line feed lp filter low - pass filter tbd to be defined lsb least significant byte msb most significant byte lsb least significant bit tov time of validity 5 absolute maximum ratings stresses beyond those listed in table 5 - 1 may cause permanent damage to the device. exposure to any absolute maximum rating condition for extended periods may affect device reliability and lifetime. table 5 - 1 : absolute maximum ratings parameter rating comment mechanical shock 1 500g/0.5ms half - sine any direction . ref: mil std - 883g esd human body model 2kv ref: jedec/esda js - 001 storage temperature - 5 5 c to +90c up to 1000 hours vsup to gnd - 0.5 to +7v rxd+ or rxd - to gnd - 0.3v to +7v rxd+ to rxd - 6v with 120 line termination = on txd+ or txd - to gnd - 8 v to + 8 v exttrig to gnd - 0.3v to +7v tov to gnd - 0.3v to +7v nrst to gnd - 0.3v to +7v aux+ to aux - 6.5v aux+ or aux - to gnd 6.5v chassis to gnd helium sensitivity 500v not to be exposed to helium concentrations higher than those normally found in the atmosphere datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 4 / 74 a pril 201 3 6 specifications table 6 - 1 : operating conditions parameter conditions min nom max unit note input range , angular rate 400 /s input range, acceleration 10 g 1 input range, inclination 1 .7 g power supply 4.5 5.0 5.5 v 2 ,3 operating temperature - 40 +85 c note 1 : other range s available, ref. note 1 in table 6 - 4 note 2: at supply voltages above 5.85v (nominal value) an internal voltage protection circuit will cut power and the unit w ill go into reset until the voltage is back within operating conditions. note 3: at supply voltages below 4.05v (nominal value) the unit will go into reset until the voltage is back within operating conditions. due to power consumption being much lower in reset compared to normal operation, the series resistance between power source and STIM300 could give rise for a n oscillating behaviour of the input voltage to the unit. table 6 - 2 : functional specifications , general parameter conditions min nom max unit note power consumption power consumption 1.5 2 w timing start - up time after power - on 1 s 1 time to transmit after reset 1 s 2 time to valid data 5 s 3 rs422 bit - rate ref. table 6 - 8 rs422 bit - rate accuracy 1 % 4 rs422 protocol start bit 1 bit data length 8 bits parity none 5 stop bits 1 bit 5 rs422 line termination input resistance line termination = on 120 input resistance line termination = off 48 125 k reset (nrst pin) logic levels high low 2.3 0.6 v v minimum hold time for reset 1 s pull - up resistor 80 10 0 k external trigger ( exttrig pin) logic levels high low 2.3 0.6 v v trigger negative transition time between triggers measurement.unit: angular rate 0.5 65 ms 6 incremental angle 0.5 65 ms 6 average rate 0.5 65 ms 6 , 7 integrated angle 0.5 8 ms 6 , 8 minimum high time before trigger, t ext_ hi 50 ns 9 minimum low time after trigger, t ext_ lo 50 ns 9 delay from external trigger to start of transmission, t e x t _dl 86 s 9 pull - up resistor 40 50 k latency 1000 s datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 5 / 74 a pril 201 3 time of validity (tov pin) output configuration open drain internal pull - up resistor to vsup 10 k active low t ov _ min 50 s 10 delay from internal time - tick to tov active, t tov _ dl 0.5 6 s 10 delay from tov active (to start of transmission, t tx _dl 8 0 s 10 chassis isolation resistance chassis to gnd (pin 15 ) 500v 10 0 m table 6 - 3 : functional s pecifications , gyros parameter conditions min nom max unit note gyro full scale (fs) 400 /s 1 resolution 24 0.22 bits /h scale f actor a ccuracy 500 ppm non - l inearity 20 0/s 40 0/s 2 5 50 ppm ppm 2 2 b andwidth ( - 3db) 262 hz 3 sample rate 2000 samples/s 4 group d elay lp - filter - 3db = 262hz lp - filter - 3db = 131hz lp - filter - 3db = 66hz lp - filter - 3db = 33hz lp - filter - 3db = 16hz 1. 5 3.0 6.0 12 24 ms ms ms ms ms 5 5 5 5 5 bias range bias error over temperature bias error over temperature gradients static temperatures t < 1c/min - 250 0 5 10 +250 /h /h /h 6 7 bias ins tability allan variance @25c 0.5 / h angular random walk allan variance @25c 0. 1 5 / hr linear acceleration effect 1 5 /h /g 8 vibration rectification coefficient 0.1 /h /g 2 rms misalignment 1 mrad 9 note 1 : output is monotonous and will saturate at 4 8 0 /s note 2: largest deviation from bsl (best straight line) over the range specified note 3 : low - pass filter - 3db frequency can be configured , ref. table 6 - 8 and section 6.1.1.4 note 4 : other values can be configured, ref. table 6 - 8 . sample rate will be same for gyros, accelerometers, inclinometers, a ux and temperature note 5 : total delay to start of datagram transmission = group delay + 0.5ms + t tov dl + t tx _dl . for out put units with delayed output, the group delay will be 5ms longer , ref. section 8.5.2.2.1 . note 6: rms - value calculated on the residuals at static temperatures over the temperature range datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 6 / 74 a pril 201 3 note 7: rms - value calculated on the residual over two temperature - cycles, ref. figure 6 - 6 note 8: minimized when linear acceleration is applied in x - direction , ref. figure 7 - 3 note 9 : ref. figure 6 - 1 for definition of reference points used in axes alignment figure 6 - 1 : r eference p oints for alignment of axes table 6 - 4 : functional specifications , accelerometers parameter conditions min nom max unit note accelerometer full scale (fs) 1 0 g 1 resolution 24 1.9 bits g scale factor accuracy 3 00 ppm non - linearity 10g 1 00 ppm 2 bandwidth ( - 3db) 262 hz 3 sample rate 2000 samples/s 4 group delay lp - filter - 3db = 262hz lp - filter - 3db = 131hz lp - filter - 3db = 66hz lp - filter - 3db = 33hz lp - filter - 3db = 16hz 6. 5 8.0 11 17 29 ms ms ms ms ms 5 5 5 5 5 bias switch on/off repeatability bias error over temperature t < 1c/min - 0.75 0 2 +0.75 m g m g rms 6 6 bias ins tability allan variance @25c 0.0 5 m g 6 velocity random walk allan variance @25c 0.06 m /s / hr 6 vibration rectification coefficient ref. figure 6 - 2 mg/ g 2 rms misalignment 1 mrad 7 note 1: other ranges possible ( 2g, 5g, 3 0g, 10 0g) note 2 : largest deviation from bsl (best straight line) over the range specified note 3 : other values can be configured, ref. table 6 - 8 and section 6.1.2.3 note 4 : other values can be configured, ref. table 6 - 8 . sample rate will be same for gyros, accelerometers, inc linometers, aux and temperature n ote 5 : total delay to start of datagram transmission = group delay + 0.5ms + t tov dl + t tx _dl note 6 : valid for 10g range. specification scale with range for other ranges note 7 : ref. figure 6 - 1 for definition of reference points used in axes alignment datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 7 / 74 a pril 201 3 figure 6 - 2 : nominal vrc at 10g rms for 10g accelerometers table 6 - 5 : functional specifications , inclinometers parameter conditions min nom max unit note inclinometer full scale (fs) 1 .7 g resolution 24 0.2 bits g scale factor accuracy 1g 5 00 ppm non - linearity 1g 5 00 ppm 1 bandwidth ( - 3db) 17 hz 2 sample rate 2000 samples/s 3 group delay lp - filter - 3db = 262hz lp - filter - 3db = 131hz lp - filter - 3db = 66hz lp - filter - 3db = 33hz lp - filter - 3db = 16hz 15 17 20 26 38 ms ms ms ms ms 4 4 4 4 4 bias switch on/off repeatability bias error over temperature t < 1c/min - 0.75 0 2 +0.75 mg mg rms bias ins tability allan variance @25c 0.0 6 mg velocity random walk allan variance @25c 0.0 8 m/s / hr 5 misalignment 1 mrad 6 note 1: largest deviation from bsl (best straight line) over the range specified note 2 : other values can be configured, ref. table 6 - 8 and section 6.1.3.3 note 3 : other values can be configured, ref. table 6 - 8 . sample rate will be same for gyros, accelerometers, inc linometers, aux and temperature n ote 4 : total delay to start of datagram transmission = group delay + 0.5ms + t tov dl + t tx _dl note 5: at 0g. velocity random walk increases by typically 15% at 1g given by the chosen technology for the inclinometers note 6 : ref. figure 6 - 1 for defin ition of reference points used in axes alignment datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 8 / 74 a pril 201 3 table 6 - 6 : functional specifications , aux iliary input parameter conditions min nom max unit note full scale (fs) 2.5 v 1 resolution 24 0.30 bits v gain error @25c 0.1 % 2 gain drift 1.3 ppm/c non - linearity 300 ppm 3 bandwidth ( - 3db) 262 hz 4 sample rate 2000 samples/s 5 group delay lp - filter - 3db = 262hz lp - filter - 3db = 131hz lp - filter - 3db = 66hz lp - filter - 3db = 33hz lp - filter - 3db = 16hz 6. 1 7.6 11 17 29 ms ms ms ms ms 6 6 6 6 6 offset error @25c 0.75 mv 2 offset drift 2 .8 v /c noise 8 v rms input impedance ref. figure 6 - 3 note 1: full - scale input voltage (fs): v in = (aux +) C ( aux - ) note 2 : gain and offset error can be calibrated by changing the calibration coefficients, ref. 8.4 and 10.10 note 3 : largest deviation from bsl (best straight line) over the range specified note 4 : other values can be configured, ref. table 6 - 8 and section 6.1.4.1 note 5 : other values can be configured, ref. table 6 - 8 . sample rate will be same for g yros, accelerometers, inc linometers, aux and temperature n ote 6 : total delay to start of datagram transmission = group delay + 0.5ms + t tov dl + t tx _dl figure 6 - 3 : aux input circuitry table 6 - 7 : functional specifications , temperature parameter conditions min nom max unit note resolution 0.0039 c bias accuracy @25c 5 c 1 scale factor accuracy 5 % sample rate 2000 samples/s 2 note 1: temperature measured at gyros. temperature calibrated at static condition and referred to ambient temperature . note 2 : other values can be configured, ref. table 6 - 8 . sample rate will be same for gyros, accelerometers, inc linometers, aux and temperature datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 9 / 74 a pril 201 3 6.1 typical performance characteristics 6.1.1 gyro characteristics 6.1.1.1 root allan variance of gyro figure 6 - 4 : typical allan - variance of gyro 6.1.1.2 initial bias drift of gyro figure 6 - 5 : typical normalized initial bias drift of gyro datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 10 / 74 a pril 201 3 6.1.1.3 bias drift over temperature figure 6 - 6 : typical bias drift over temperature datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 11 / 74 a pril 201 3 6.1.1.4 frequency characteristics of gyros figure 6 - 7 : frequency characteristics of gyros with l ow - pass filter - 3db frequency set to 16hz figure 6 - 8 : frequency characteristics of gyros with l ow - pass filter - 3db frequency set to 33hz figure 6 - 9 : frequency characteristics of gyros with l ow - pass filter - 3db frequency set to 66hz 0 10 20 30 40 50 60 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 10 20 30 40 50 60 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 phase (rad) stim202 response, dsp-rate-sel-in = 5 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 10 frequency (hz) magnitude (db) 0 20 40 60 80 100 120 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 20 40 60 80 100 120 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 phase (rad) stim202 response, dsp-rate-sel-in = 4 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 10 frequency (hz) magnitude (db) 0 50 100 150 200 250 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 50 100 150 200 250 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 phase (rad) stim202 response, dsp-rate-sel-in = 3 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 10 frequency (hz) magnitude (db) datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 12 / 74 a pril 201 3 figure 6 - 10 : frequency characteristics of gyros with l ow - pass filter - 3db frequency set to 131hz figure 6 - 11 : frequency characteristics of gyros with l ow - pass filter - 3db frequency set to 262hz 0 50 100 150 200 250 300 350 400 450 500 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 50 100 150 200 250 300 350 400 450 500 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 phase (rad) stim202 response, dsp-rate-sel-in = 2 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 10 frequency (hz) magnitude (db) 0 100 200 300 400 500 600 700 800 900 1000 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 100 200 300 400 500 600 700 800 900 1000 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 phase (rad) stim202 response, dsp-rate-sel-in = 1 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 10 frequency (hz) magnitude (db) datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 13 / 74 a pril 201 3 6.1.2 accelerometer characteristics 6.1.2.1 root allan variance of accelerometer figure 6 - 12 : typical a llan - variance of accelerometer (10g accelerometer) 6.1.2.2 initial bias drift of accelerometer figure 6 - 13 : typical normlaized initial bias drift of accelerometer (10g accelerometer) datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 14 / 74 a pril 201 3 6.1.2.3 frequency characteristics of accelerometers figure 6 - 14 : frequency characteristics of accelerometers with l ow - pass filter - 3db frequency set to 16hz figure 6 - 15 : frequency characteristics of accelerometers with l ow - pass filter - 3db frequency set to 33hz figure 6 - 16 : frequency characteristics of accelerometers with l ow - pass filter - 3db frequency set to 66hz 0 10 20 30 40 50 60 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 10 20 30 40 50 60 -12 -10 -8 -6 -4 -2 0 phase (rad) STIM300 response acc input, filter select = 5 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response acc input, filter select = 5 0 20 40 60 80 100 120 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 20 40 60 80 100 120 -15 -10 -5 0 phase (rad) STIM300 response acc input, filter select = 4 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response acc input, filter select = 4 0 50 100 150 200 250 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 50 100 150 200 250 -20 -15 -10 -5 0 phase (rad) STIM300 response acc input, filter select = 3 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response acc input, filter select = 3 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 15 / 74 a pril 201 3 figure 6 - 17 : frequency characteristics of accelerometers with l ow - pass filter - 3db frequency set to 131hz figure 6 - 18 : frequency characteristics of accelerometers with l ow - pass filter - 3db frequency set to 262hz 0 50 100 150 200 250 300 350 400 450 500 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 50 100 150 200 250 300 350 400 450 500 -30 -25 -20 -15 -10 -5 0 phase (rad) STIM300 response acc input, filter select = 2 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response acc input, filter select = 2 0 100 200 300 400 500 600 700 800 900 1000 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 100 200 300 400 500 600 700 800 900 1000 -40 -30 -20 -10 0 phase (rad) STIM300 response acc input, filter select = 1 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response acc input, filter select = 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 16 / 74 a pril 201 3 6.1.3 inclinometer characteristics 6.1.3.1 root allan variance of inclinometer figure 6 - 19 : typical a llan - variance of inclinometer 6.1.3.2 initial bias drift of inclinometer figure 6 - 20 : typical normalized initial bias drift of inclin ometer datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 17 / 74 a pril 201 3 6.1.3.3 frequency characteristics of inclinometers figure 6 - 21 : frequency characteristics of inclinometers with l ow - pass filter - 3db frequency set to 16hz figure 6 - 22 : frequency characteristics of inclinometers with l ow - pass filter - 3db frequency set to 33hz figure 6 - 23 : frequency characteristics of inclinometers with l ow - pass filter - 3db frequency set to 66hz 0 10 20 30 40 50 60 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 10 20 30 40 50 60 -12 -10 -8 -6 -4 -2 0 phase (rad) STIM300 response inclinometer input, filter select = 5 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response inclinometer input, filter select = 5 0 20 40 60 80 100 120 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 20 40 60 80 100 120 -15 -10 -5 0 phase (rad) STIM300 response inclinometer input, filter select = 4 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response inclinometer input, filter select = 4 0 50 100 150 200 250 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 50 100 150 200 250 -20 -15 -10 -5 0 phase (rad) STIM300 response inclinometer input, filter select = 3 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response inclinometer input, filter select = 3 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 18 / 74 a pril 201 3 figure 6 - 24 : frequency characteristics of inclinometers with l ow - pass filter - 3db frequency set to 131hz figure 6 - 25 : frequency characteristics of inclinometers with l ow - pass filter - 3db frequency set to 262hz 0 50 100 150 200 250 300 350 400 450 500 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 50 100 150 200 250 300 350 400 450 500 -30 -25 -20 -15 -10 -5 0 phase (rad) STIM300 response inclinometer input, filter select = 2 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response inclinometer input, filter select = 2 0 100 200 300 400 500 600 700 800 900 1000 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (hz) magnitude magnitude phase 0 100 200 300 400 500 600 700 800 900 1000 -40 -30 -20 -10 0 phase (rad) STIM300 response inclinometer input, filter select = 1 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response inclinometer input, filter select = 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 19 / 74 a pril 201 3 6.1.4 aux characteristics 6.1.4.1 frequency characteristics of aux figure 6 - 26 : frequency characteristics of aux with l ow - pass filter - 3db frequency set to 16hz figure 6 - 27 : frequency characteristics of aux with l ow - pass filter - 3db frequency set to 33hz figure 6 - 28 : frequency characteristics of aux with l ow - pass filter - 3db frequency set to 66hz 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response aux input, filter select = 5 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response aux input, filter select = 4 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response aux input, filter select = 3 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 20 / 74 a pril 201 3 figure 6 - 29 : frequency characteristics of aux with l ow - pass filter - 3db frequency set to 131hz figure 6 - 30 : frequency characteristics of aux with l ow - pass filter - 3db frequency set to 262hz 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response aux input, filter select = 2 10 0 10 1 10 2 10 3 10 4 -80 -70 -60 -50 -40 -30 -20 -10 0 frequency (hz) magnitude (db) STIM300 response aux input, filter select = 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 21 / 74 a pril 201 3 6.2 configurable parameters table 6 - 8 : configurable parameters parameter configurations comments sampl e rate 125 samples/s some limitations apply to the use of higher sample rate s (>500 samples/s) , dependent on selected bit - rate and datagram content , ref. table 6 - 9 250 samples/s 500 samples/s 1000 samples/s 2000 samples/s external trigger low - pass filter - 3db frequency 16hz 33hz 66hz 131hz 262hz filter settings are independent of sample rate. low - pass filters are cic type filters with linear phase response. filter settings can be set individually for each axis . measurement unit gyro angular rate [/s] incremental angle [/sample] average angular rate [/s] integrated angle [] measurement unit accelerometer acceleration [ g ] incremental velocity [ m/s /sample] average acceleration [g] measurement unit inclinometer acceleration [ g ] incremental velocity [ m/s /sample] average acceleration [g] datagram rate together with any combination of acceleration, inclination, temperature and aux datagram termination none datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 22 / 74 a pril 201 3 table 6 - 9 : maximum sample rate datagram content number of transmitted bytes note 1 374400 bits/s note 2 460800 bits/s note 2 921600 bits/s note 2 1843200 bits/s note 2 rate 20 1000 1000 2000 2000 rate and acceleration 30 500 1000 2000 2000 rate and inclincation 30 500 1000 2000 2000 rate, acceleration and inclination 40 500 500 1000 2000 rate and temperature 27 1000 1000 2000 2000 rate, acceleration and temperature 44 500 500 1000 2000 rate, inclination and temperature 44 500 500 1000 2000 rate, acceleration, inclination and temperature 61 250 500 1000 2000 rate and aux 24 1000 1000 2000 2000 rate, acceleration and aux 34 500 1000 2000 2000 rate, inclincation and aux 34 500 1000 2000 2000 rate, acceleration, inclination and aux 44 500 500 1000 2000 rate, temperature and aux 31 500 1000 2000 2000 rate, acceleration, temperature and aux 48 500 500 1000 2000 rate, inclination, temperature and aux 48 500 500 1000 2000 rate, acceleration, inclination, temperature and aux 65 250 500 1000 2000 note 1: including datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 23 / 74 a pril 201 3 6.3.2 serial number datagram table 6 - 11 : specification of the serial number datagram byte# bit# specification 7 6 5 4 3 2 1 0 0 1 1 0 0 1 1 1 1 0 0 1 1 0 1 1 1 serial number datagram identifier: 0x b 5 for datagrams without cr+lf termination 0x b 7 for datagrams with cr+lf termination 1 0 1 0 0 1 1 1 0 ascii - character for letter n 2 s1 3 s1 2 s1 1 s1 0 s2 3 s2 2 s2 1 s2 0 high nibble: 1.digit (bcd) of serial number low nibble: 2.digit (bcd) of serial number 3 s3 3 s3 2 s3 1 s3 0 s4 3 s4 2 s4 1 s4 0 high nibble: 3.digit (bcd) of serial number low nibble: 4.digit (bcd) of serial number 4 s5 3 s5 2 s5 1 s5 0 s6 3 s6 2 s6 1 s6 0 high nibble: 5.digit (bcd) of serial number low nibble: 6.digit (bcd) of serial number 5 s7 3 s7 2 s7 1 s7 0 s8 3 s8 2 s8 1 s8 0 high nibble: 7.digit (bcd) of serial number low nibble: 8.digit (bcd) of serial number 6 s9 3 s9 2 s9 1 s9 0 s10 3 s10 2 s10 1 s10 0 high nibble: 9.digit (bcd) of serial number low nibble: 10.digit (bcd) of serial number 7 s11 3 s11 2 s11 1 s11 0 s11 3 s11 2 s11 1 s11 0 high nibble: 11.digit (bcd) of serial number low nibble: 12.digit (bcd) of serial number 8 s13 3 s13 2 s13 1 s13 0 s14 3 s14 2 s14 1 s14 0 high nibble: 13.digit (bcd) of serial number low nibble: 14.digit (bcd) of serial number 9 x x x x x x x x for future use 10 x x x x x x x x for future use 11 x x x x x x x x for future use 12 x x x x x x x x for future use 13 x x x x x x x x for future use 14 x x x x x x x x for future use 15 x x x x x x x x for future use 16 c 31 c 30 c 29 c 28 c 27 c 2 6 c 25 c 24 cyclic redundancy check is performed on all preceding bytes , ref: 6.3.5 17 c 23 c 22 c 21 c 20 c 19 c 18 c 1 7 c 16 18 c 15 c 14 c 13 c 12 c 11 c 10 c 9 c 8 19 c 7 c 6 c 5 c 4 c 3 c 2 c 1 c 0 (20) 0 0 0 0 1 1 0 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 24 / 74 a pril 201 3 6.3.3 configuration datagram table 6 - 12 : specification of the configuration datagram byte# bit# specification 7 6 5 4 3 2 1 0 0 1 1 0 0 1 1 1 1 1 1 0 0 0 1 1 1 configuration datagram identifier: 0x b c for datagrams without cr+lf termination 0x b d for datagrams with cr+lf termination 1 r 7 r 6 r 5 r 4 r 3 r 2 r 1 r 0 part number revision. content of byte represents the ascii - character of the revision. numbering sequence: - , a, b, ., z 2 f 7 f 6 f 5 f 4 f 3 f 2 f 1 f 0 firmware revision. numbering sequence: 0, 1, , 255 3 0 0 0 0 1 1 x x x x x x x x x x 0 0 1 1 0 0 x x x x x x x x x x 0 1 0 1 0 1 x x x x x x x x x x x x x x x x 0 1 x x x x x x x x x x x x x x x x 0 1 x x x x x x x x x x x x x x x x 0 1 x x x x x x x x x x x x x x x x 0 1 x x x x x x x x x x x x x x x x 0 1 system configuration, byte 1 : sample frequency = 125 samples/s sample frequency = 250 samples/s sample frequency = 500 samples/s sample frequency = 1000 samples/s sample frequency = 2000 samples/s sample frequency = external trigger aux not included in datagram aux included in datagram temperature not included in normal mode d atagram temperature included in normal mode d atagram inclination not included in normal mode d atagram inclination included in normal mode d atagram acceleration not included in normal mode d atagram acceleration included in normal mode d atagram no datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 25 / 74 a pril 201 3 8 x x x x x x x x x 0 1 x x x x x x x x x 0 1 x x x x x x x x x 0 1 x x x x x x x x x 0 0 0 x x x x x x 0 0 0 x x x x x x 0 0 1 x x x x x x 0 1 0 system configuration, byte 6: accelerometer x - axis is inactive accelerometer x - axis is active accelerometer y - axis is inactive accelerometer y - axis is active accelerometer z - axis is inactive accelerometer z - axis is active accelerometer output unit = acceleration accelerometer output unit = incremental velocity accelerometer output unit = average acceleration 9 x x x x x x x x x x 0 0 0 0 1 x x x x x 0 0 1 1 0 x x x x x 0 1 0 1 0 x x x x x x x x x x x x x x x x x x x x 0 0 0 0 1 x x x x x 0 0 1 1 0 x x x x x 0 1 0 1 0 system configuration, byte 7 : accelerometer lp filter - 3db frequency for x - axis = 16 hz accelerometer lp filter - 3db frequency for x - axis = 33 hz accelerometer lp filter - 3db frequency for x - axis = 66hz accelerometer lp filter - 3db frequency for x - axis = 1 3 1 hz accelerometer lp filter - 3db frequency for x - axis = 262 hz accelerometer lp filter - 3db frequency for y - axis = 16 hz accelerometer lp filter - 3db frequency for y - axis = 33 hz accelerometer lp fil ter - 3db frequency for y - axis = 66hz accelerometer lp filter - 3db frequency for y - axis = 1 3 1 hz accelerometer lp filter - 3db frequency for y - axis = 262 hz 10 x x x x x 0 0 0 0 1 0 0 1 1 0 0 1 0 1 0 x x x x x x x x x x x x x x x x x x x x system configuration, byte 8 : accelerometer lp filter - 3db frequency for z - axis = 16 hz accelerometer lp filter - 3db frequency for z - axis = 33 hz accelerometer lp filter - 3db frequency for z - axis = 66hz accelerometer lp filter - 3db frequency for z - axis = 1 3 1 hz accelerometer lp filter - 3db frequency for z - axis = 262 hz 11 x x x x x x x x x 0 1 x x x x x x x x x 0 1 x x x x x x x x x 0 1 x x x x x x x x x 0 0 0 x x x x x x 0 0 0 x x x x x x 0 0 1 x x x x x x 0 1 0 system configuration, byte 9 : inclinometer x - axis is inactive inclinometer x - axis is active inclinometer y - axis is inactive inclinometer y - axis is active inclinometer z - axis is inactive inclinometer z - axis is active inclinometer output unit = acceleration inclinometer output unit = incremental velocity inclinometer output unit = average acceleration 12 x x x x x x x x x x 0 0 0 0 1 x x x x x 0 0 1 1 0 x x x x x 0 1 0 1 0 x x x x x x x x x x x x x x x x x x x x 0 0 0 0 1 x x x x x 0 0 1 1 0 x x x x x 0 1 0 1 0 system configuration, byte 10 : inclinometer lp filter - 3db frequency for x - axis = 16 hz inclinometer lp filter - 3db frequency for x - axis = 33 hz inclinometer lp filter - 3db frequency for x - axis = 66hz inclinometer lp filter - 3db frequency for x - axis = 121 hz inclinometer lp filter - 3db frequency for x - axis = 262 hz inclinometer lp filter - 3db frequency for y - axis = 16 hz inclinometer lp filter - 3db frequency for y - axis = 33 hz inclinometer lp filter - 3db frequency for y - axis = 66hz inclinometer lp filter - 3db fre quency for y - axis = 121 hz inclinometer lp filter - 3db frequency for y - axis = 262 hz 13 x x x x x 0 0 0 0 1 0 0 1 1 0 0 1 0 1 0 x x x x x x x x x x x x x x x x x x x x system configuration, byte 11 : inclinometer lp filter - 3db frequency for z - axis = 16 hz inclinometer lp filter - 3db frequency for z - axis = 33 hz inclinometer lp filter - 3db frequency for z - axis = 66hz inclinometer lp filter - 3db frequency for z - axis = 121 hz inclinometer lp filter - 3db frequency for z - axis = 262 hz 14 x x x x x 0 0 0 0 1 0 0 1 1 0 0 1 0 1 0 x x x x x x x x x x x x x x x x x x x x system configuration, byte 12 : aux lp filter - 3db frequency = 16 hz aux lp filter - 3db frequency = 33 hz aux lp filter - 3db frequency = 66hz aux lp filter - 3db frequency = 121 hz aux lp filter - 3db frequency = 262 hz 15 0 x 0 x 0 x 0 x x 0 x 0 x 0 x 0 high nibble: gyro range, x - axis - 400/s low nibble: gyro range, y - axis - 400/s 16 0 0 0 0 x x x x high nibble: gyro range, z - axis - 400/s datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 26 / 74 a pril 201 3 17 0 0 0 0 0 x x x x x 0 0 0 1 1 x x x x x 0 1 1 0 1 x x x x x 0 0 1 0 0 x x x x x x x x x x 0 0 0 0 0 x x x x x 0 0 0 1 1 x x x x x 0 1 1 0 1 x x x x x 0 0 1 0 0 high nibble: accelerometer range, x - axis - 10g - 2g - 5g - 30g - 100g low nibble: accelerometer range, y - axis - 10g - 2g - 5g - 30g - 100g 18 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 0 0 1 0 0 x x x x x x x x x x x x x x x x x x x x high nibble: accelerometer range, z - axis - 10g - 2g - 5g - 30g - 100g 19 0 x 0 x 0 x 0 x x 0 x 0 x 0 x 0 high nibble: inclinometer range, x - axis - 1.7g low nibble: inclinometer range, y - axis - 1.7g 20 0 0 0 0 x x x x high nibble: inclinometer range, z - axis - 1.7g 21 0 0 0 0 x x x x high nibble: aux range - 2.5v 22 c 31 c 30 c 29 c 28 c 27 c 2 6 c 25 c 24 cyclic redundancy check is performed on all preceding bytes , ref: 6.3.5 23 c 23 c 22 c 21 c 20 c 19 c 18 c 1 7 c 16 24 c 15 c 14 c 13 c 12 c 11 c 10 c 9 c 8 25 c 7 c 6 c 5 c 4 c 3 c 2 c 1 c 0 (2 6 ) 0 0 0 0 1 1 0 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 27 / 74 a pril 201 3 6.3.4 normal mode datagram table 6 - 13 : specification of the normal mode datagram (full data content in d atagram) byte# bit# specification 7 6 5 4 3 2 1 0 0 0 0 0 1 1 1 1 1 normal mode datagram identifier for normal mode datagram with full content. identifier for reduced content datagrams can be found in table 6 - 14 1 g x 23 g x 22 g x 21 g x 20 g x 19 g x 18 g x 17 g x 16 x - axis gyro output, r ef. section 8.5.2.2.1 to 8.5.2.2.5 for conversion to units 2 g x 15 g x 14 g x 13 g x 12 g 11 g x 10 g x 9 g x 8 3 g x 7 g x 6 g x 5 g x 4 g x 3 g x 2 g x 1 g x 0 4 g y 23 g y 22 g y 21 g y 20 g y 19 g y 18 g y 17 g y 16 y - axis gyro output, r ef. section 8.5.2.2.1 to 8.5.2.2.5 for conversion to units 5 g y 15 g y 14 g y 13 g y 12 g y 11 g y 10 g y 9 g y 8 6 g y 7 g y 6 g y 5 g y 4 g y 3 g y 2 g y 1 g y 0 7 g z 23 g z 22 g z 21 g z 20 g z 19 g z 18 g z 17 g z 16 z - axis gyro output, r ef. section 8.5.2.2.1 to 8.5.2.2.5 for conversion to units 8 g z 15 g z 14 g z 13 g z 12 g z 11 g z 10 g z 9 g z 8 9 g z 7 g z 6 g z 5 g z 4 g z 3 g z 2 g z 1 g z 0 10 g s 7 g s 6 g s 5 g s 4 g s 3 g s 2 g s 1 g s 0 status byte for gyro measurements , r ef. table 6 - 16 11 ax 23 ax 22 ax 21 ax 20 ax 19 ax 18 ax 17 ax 16 x - axis accelerometer output, r ef. section 8.5.2.2.6 to 8.5.2.2.8 for conversion to units 12 ax 15 ax 14 ax 13 ax 12 ax 11 ax 10 ax 9 ax 8 13 ax 7 ax 6 ax 5 ax 4 ax 3 ax 2 ax 1 ax 0 14 ay 23 ay 22 ay 21 ay 20 ay 19 ay 18 ay 17 ay 16 y - axis accelerometer output , r ef. section 8.5.2.2.6 to 8.5.2.2.8 for conversion to units 15 ay 15 ay 14 ay 13 ay 12 ay 11 ay 10 ay 9 ay 8 16 ay 7 ay 6 ay 5 ay 4 ay 3 ay 2 ay 1 ay 0 17 az 23 az 22 az 21 az 20 az 19 az 18 az 17 az 16 z - axis accelerometer output, r ef. section 8.5.2.2.6 to 8.5.2.2.8 for conversion to units 18 az 15 az 14 az 13 az 12 az 11 az 10 az 9 az 8 19 az 7 az 6 az 5 az 4 az 3 az 2 az 1 az 0 20 a s 7 a s 6 a s 5 a s 4 a s 3 a s 2 a s 1 a s 0 status byte for accelerometer measurements , r ef. table 6 - 16 21 ix 23 ix 22 ix 21 ix 20 ix 19 ix 18 ix 17 ix 16 x - axis inclinometer output, r ef. section 8.5.2.2.9 to 8.5.2.2.11 for conversion to units 22 ix 15 ix 14 ix 13 ix 12 ix 11 ix 10 ix 9 ix 8 23 ix 7 ix 6 ix 5 ix 4 ix 3 ix 2 ix 1 ix 0 24 iy 23 iy 22 iy 21 iy 20 iy 19 iy 18 iy 17 iy 16 y - axis inclinometer output, r ef. section 8.5.2.2.9 to 8.5.2.2.11 for conversion to units 25 iy 15 iy 14 iy 13 iy 12 iy 11 iy 10 iy 9 iy 8 26 iy 7 iy 6 iy 5 iy 4 iy 3 iy 2 iy 1 iy 0 27 iz 23 iz 22 iz 21 iz 20 iz 19 iz 18 iz 17 iz 16 z - axis inclinometer output , r ef. section 8.5.2.2.9 to 8.5.2.2.11 for conversion to units 28 iz 15 iz 14 iz 13 iz 12 iz 11 iz 10 iz 9 iz 8 29 iz 7 iz 6 iz 5 iz 4 iz 3 iz 2 iz 1 iz 0 30 i s 7 i s 6 i s 5 i s 4 i s 3 i s 2 i s 1 i s 0 status byte for inclinometer measurements , r ef. table 6 - 16 31 gtx 15 gtx 14 gtx 13 gtx 12 gtx 11 gtx 10 gtx 9 gtx 8 x - axis gyro temperature data , r ef. chapter 8.5.2.2.12 for conversion to units 32 gtx 7 gtx 6 gtx 5 gtx 4 gtx 3 gtx 2 gtx 1 gtx 0 33 gty 15 gty 14 gty 13 gty 12 gty 11 gty 10 gty 9 gty 8 y - axis gyro temperature data, r ef. chapter 8.5.2.2.12 for conversion to units 34 gty 7 gty 6 gty 5 gty 4 gty 3 gty 2 gty 1 gty 0 35 gtz 15 gtz 14 gtz 13 gtz 12 gtz 11 gtz 10 gtz 9 gtz 8 z - axis gyro temperature data, r ef. chapter 8.5.2.2.12 for conversion to units 36 gtz 7 gtz 6 gtz 5 gtz 4 gtz 3 gtz 2 gtz 1 gtz 0 37 gt s 7 gt s 6 gt s 5 gt s 4 gt s 3 gt s 2 gt s 1 gt s 0 status byte for gyro temperature measurements , r ef. table 6 - 16 38 atx 15 atx 14 atx 13 atx 12 atx 11 atx 10 atx 9 atx 8 x - axis accelerometer temperature data, r ef. chapter 8.5.2.2.12 for conversion to units 39 atx 7 atx 6 atx 5 atx 4 atx 3 atx 2 atx 1 atx 0 40 aty 15 aty 14 aty 13 aty 12 aty 11 aty 10 aty 9 aty 8 y - axis accelerometer temperature data , r ef. chapter 8.5.2.2.12 for conversion to units 41 aty 7 aty 6 aty 5 aty 4 aty 3 aty 2 aty 1 aty 0 42 atz 15 atz 14 atz 13 atz 12 atz 11 atz 10 atz 9 atz 8 z - axis accelerometer temperature data, r ef. chapter 8.5.2.2.12 for conversion to units 43 atz 7 atz 6 atz 5 atz 4 atz 3 atz 2 atz 1 atz 0 44 at s 7 at s 6 at s 5 at s 4 at s 3 at s 2 at s 1 at s 0 status byte for accelerometer temperature measurements , r ef. table 6 - 16 45 itx 15 itx 14 itx 13 itx 12 itx 11 itx 10 itx 9 itx 8 x - axis inclinometer temperature data, r ef. chapter 8.5.2.2.12 for conversion to units 46 itx 7 itx 6 itx 5 itx 4 itx 3 itx 2 itx 1 itx 0 47 ity 15 ity 14 ity 13 ity 12 ity 11 ity 10 ity 9 ity 8 y - axis inclinometer temperature data , r ef. chapter 8.5.2.2.12 for conversion to units 48 ity 7 ity 6 ity 5 ity 4 ity 3 ity 2 ity 1 ity 0 49 itz 15 itz 14 itz 13 itz 12 itz 11 itz 10 itz 9 itz 8 z - axis inclinometer temperature data, r ef. chapter 8.5.2.2.12 for conversion to units 50 itz 7 itz 6 itz 5 itz 4 itz 3 itz 2 itz 1 itz 0 51 it s 7 it s 6 it s 5 it s 4 it s 3 it s 2 it s 1 it s 0 status byte for temperature measurements , r ef. table 6 - 16 52 au 23 au 22 au 21 au 20 au 19 au 18 au 17 au 16 aux output 53 au 15 au 14 au 13 au 12 au 11 au 10 au 9 au 8 54 au 7 au 6 au 5 au 4 au 3 au 2 au 1 au 0 55 au s 7 au s 6 au s 5 au s 4 au s 3 au s 2 au s 1 au s 0 status byte for aux measurement , r ef. table 6 - 16 56 n 7 n 6 n 5 n 4 n 3 n 2 n 1 n 0 counter , r ef.section 8.5.2.2.14 57 t 15 t 14 t 13 t 12 t 11 t 10 t 9 t 8 latency , r ef. section 8.5.2.2.15 for conversion to units. 58 t 7 t 6 t 5 t 4 t 3 t 2 t 1 t 0 59 c 31 c 30 c 29 c 28 c 27 c 2 6 c 25 c 24 cyclic redundancy check is performed on all preceding bytes , ref: section 6.3.5 60 c 23 c 22 c 21 c 20 c 19 c 18 c 1 7 c 16 61 c 15 c 14 c 13 c 12 c 11 c 10 c 9 c 8 62 c 7 c 6 c 5 c 4 c 3 c 2 c 1 c 0 (63 ) 0 0 0 0 1 1 0 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 28 / 74 a pril 201 3 normal mode datagrams with reduced content can be chosen at order or configured in service mode. overview of available datagrams can be found in table 6 - 14 and in section 12 . when choosing a normal mode datagram with reduced content, the norma l mode datagram will be shorter. h owever the order of requested data will be transmitted as shown in table 6 - 13 . when selecting temperature in the datagram, only temperatures for the selected measurement - clusters will be transmitted, e.g. if gyro and inclinometer data have been chosen tog ether with temperature, only temperatures for the gyros and inclinometers will be transmitted. table 6 - 14 : normal mode datagram identifiers datagram content identifier rate 0x 9 0 rate and acceleration 0x 9 1 rate and inclincation 0x 9 2 rate, acceleration and inclination 0x 9 3 rate and temperature 0x 9 4 rate, acceleration and temperature 0x a 5 rate, inclination and temperature 0x a 6 rate, acceleration, inclination and temperature 0x a 7 rate and aux 0x 9 8 rate, acceleration and aux 0x 9 9 rate, inclincation and aux 0x 9 a rate, acceleration, inclination and aux 0x 9 b rate, temperature and aux 0x 9 c rate, acceleration, temperature and aux 0x a d rate, inclination, temperature and aux 0x a e rate, acceleration, inclination, temperature and aux 0x a f 6.3.5 cyclic redundancy check (crc) at the end of all datagrams is a 32 - bit cyclic redundancy checksum. the crc checksum enables the user to detect errors in the transfer of data from STIM300. the crc is calculated using the following equation: x 32 + x 26 + x 23 + x 22 + x 16 + x 12 + x 11 + x 10 + x 8 + x 7 + x 5 + x 4 + x 2 + x + 1 seed = 0xffffffff all preceding data, including the datagram identifier, is included in the crc. the crc - algorithm requires full sets of 32 - bits (4 bytes). several of the defined datagrams from STIM300 have a length which is not an integer of 4 bytes. in order to have an efficient transmission of data and thereby avoid transmitting bytes with no meaningful content, dummy - byte(s) with content = 0x00 ar e added when the crc of the last byte(s) is calculated. example: datagram with id=0x97 ( r ate, acceleration, inclination and temperature ) has been chosen. this datagram consists of 41 bytes prior to the crc checksum. hence this datagram consists of 10 sets of 32 bits + 1 byte. in order to include the last byte in the crc checksum, 3 bytes = 0x00 is added, making the last data byte the most significant byte. table 6 - 15 lists the number of dummy - bytes needed to calculate the final crc - checksum for the different datagrams in normal mode. datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 29 / 74 a pril 201 3 table 6 - 15 : number of dummy - bytes to be added for crc - calculation datagram content ident ifier # dummy - bytes part number datagram 0xb1, 0xb3 1 serial number datagram 0xb5, 0xb7 1 configuration datagram 0xb9, 0xbb 1 rate 0x 9 0 2 rate and acceleration 0x 9 1 0 rate and inclincation 0x 9 2 0 rate, acceleration and inclination 0x 9 3 2 rate and temperature 0x 9 4 3 rate, acceleration and temperature 0x a 5 2 rate, inclination and temperature 0x a 6 2 rate, acceleration, inclination and temperature 0x a 7 1 rate and aux 0x 9 8 2 rate, acceleration and aux 0x 9 9 0 rate, inclincation and aux 0x 9 a 0 rate, acceleration, inclination and aux 0x 9 b 2 rate, temperature and aux 0x 9 c 3 rate, acceleration, temperature and aux 0x a d 2 rate, inclination, temperature and aux 0x a e 2 rate, acceleration, inclination, temperature and aux 0x a f 1 6.4 status byte table 6 - 16 : interpretation of bits in status byte bit status bit information comment 7 0=ok, 1=system integrity error 6 0=ok, 1= start - up 5 0=ok, 1=outside operating conditions 4 0=ok, 1=overload bits 0 - 2 will flag the overload channel(s) 3 0=ok, 1=error in measurement - channel bits 0 - 2 will flag the error channel(s) 2 0=ok, 1=z - channel 1 0=ok, 1=y - channel 0 0=ok, 1=x - channel (or aux) datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 30 / 74 a pril 201 3 7 mechanical table 7 - 1 : mechanical specifications parameter conditions min nom max unit note housing material aluminium , alloy 6082 - t6, din en 754 - 2 surface treatment passivation surtec 650 1 weight 55 grams volume 32.6 1.99 ccm cu in dust and humidity classification ip 67 connector type micro - d number of pins 1 5 contact type female plug proposed plug to fit connector axon mda 2 15 p proposed cover to fit plug for best emi performance axon micro - d emi back shell fixation bolts m4 iso 4762 / din 912 recommended torque steel base aluminium base 3.5 3.0 nm nm note 1: hexavalent chromium free 7.1 mechanical dimensions all dimensions are in mm. figure 7 - 1 : mechanical dimensions table 7 - 2 : nominal position of accelerometer mass - centres (ref. figure 6 - 1 for reference definition) axis x - offset y - offset z - offset x - 33.47mm - 8.67mm 12.92mm y - 24.90mm - 5.14mm 16.03mm z - 27.50mm - 11.78mm 6.81mm datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 31 / 74 a pril 201 3 7.2 pin configuration figure 7 - 2 : pin configuration as seen from front of stim 300 table 7 - 3 : pin descriptions pin# label type description 1 txd - output rs422 negative output 2 rxd - input rs422 negative input 3 tst out put test pin: do not connect 4 tov out put time of validity (if not in use, leave floating) 5 nrst input reset (if not in use, connect to vsup or leave floating) 6 aux_gnd input aux signal ground (internally connected to power ground) 7 aux - input aux nega tive signal input 8 vsup supply power supply (+5v) 9 txd+ output rs422 positive output 10 rxd+ input rs422 positive input 11 exttrig input external trigger (if not in use, connect to vsup or leave floating) 12 gnd input test pin : connect to ground (0v) 13 gnd input test pin : connect to ground (0v) 14 aux + input aux posi tive signal input 15 gnd supply power ground (0v) 7.3 definition of axes figure 7 - 3 : definition of axes 1 t x d - 2 r x d - 3 t s t 4 t o v 5 n r s t 6 a u x _ g n d 7 a u x - 8 v s u p 9 t x d + 1 0 r x d + 1 1 e x t t r i g 1 2 g n d 1 3 g n d 1 4 a u x + 1 5 g n d x y z datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 32 / 74 a pril 201 3 8 basic operation stim 300 is very simple to use. unless having been configured with external trigger, the unit will start performing measurements and transmit the results over the rs422 interface without any need for additional signalling or set - up after power - on . figure 8 - 1 shows the simp lest connecti on set - up for stim 300 . figure 8 - 1 : transmit - only electrical connection diagram in order to take full advantage of all features of stim 300 , the unit needs to be connected as shown in figure 8 - 2 . in this set - up the system can reset the unit without having to toggle power, the external trigger function can be utilized, configuration parameters can be changed and extended information l ike diagnostic informat ion can be read from the device. figure 8 - 2 : full function electrical connection diagram 8.1 reset stim 300 has a separate reset pin (n rst) in order for the application to reset the unit without having to toggle power . the reset is active low and has an internal pull - up. hence the input could be left floating if not in use. the reset signal is routed to the reset of the microcontroller and effectively forces s tim 300 into init mode (ref. figure 8 - 6 and section 8.5.1 ). 8.2 external trigger stim 300 has a separate digital input pin to be used when the unit has been configured to transmit only upon external trigger. the measurements themselves will be continuously running at the highest sampl e rate (2000 samples/s) in order to ensure s hortest possible latency when a transmission is requested. the input is set to trigger on the falling edge of the input signal and will then transmit one datagram containing the result of the latest measurement . 5 v t x d + t x d - n r s t s t i m 3 0 0 r x d - r x d + s y s t e m e x t t r i g 8 1 1 5 9 1 1 5 1 2 1 3 5 v t x d + t x d - r x d - r x d + n r s t t o v s t i m 3 0 0 t x d + t x d - r x d - r x d + r e s e t s y s t e m e x t e r n a l t r i g g e r e x t t r i g a u x + a u x - e x t e r n a l u n i t o u t + o u t - t i m e o f v a l i d i y 8 1 1 4 5 9 1 1 0 2 1 4 7 1 5 1 2 1 3 6 a u x _ g n d datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 33 / 74 a pril 201 3 the input has a n internal pull - up. hence t he input could be left floating if not in use. please note that the commands in normal mode are active even if the datagram transmission has been configured to transmit only upon external trigger. this means that e.g. if the normal mode command c is issued over the rs - 422 interface, the stim 300 will transmit a configuration datagram independent on the external trigger input. also when stim 300 is in init mode (after power on or reset), it will transmit the 3 datagrams as described in section 8.5.1 . the timing diagram is shown in figure 8 - 3 . latency is the time between the moment at which the sample has been digitized + low pass - filtered and the external trigger. figure 8 - 3 : timing of external trigger 8.3 time of validity (tov) the tov - output serves 2 purposes: ? provide a synchronisation - signal derived from the internal clock of STIM300 ? provide means to signal when a datagram is being transmitted ( nb: not when configured to external trigger) the tov r aising edge occurs synchronous to the sample rate. the falling edge occurs after the last bit of the datagram has been transmitted. figure 8 - 4 and figure 8 - 5 show the timing diagram of the tov - output. figure 8 - 4 : timing of tov (example: sample rate = 10 00samples/s) n e w r a w d a t a a v a i l a b l e t i n t e r n a l _ s a m p l e 0 . 5 m s c o m p e n s a t i o n # n # n + 1 # n + 2 # n + 3 s a m p l e # n n + 1 n + 2 n + 3 s a m p l e a v a i l a b l e f o r t r a n s m i s s i o n # n # n + 1 # n + 2 # n - 1 e x t e r n a l t r i g g e r t e x t _ l o t r a n s m i t t e d d a t a # n t e x t _ d l l a t e n c y # n + 1 l a t e n c y n + 4 n + 5 # n + 4 # n + 5 # n + 3 # n + 4 # n + 4 l a t e n c y t e x t _ h i n e w r a w d a t a a v a i l a b l e t i n t e r n a l _ s a m p l e 0 . 5 m s c o m p e n s a t i o n # n # n + 1 # n + 2 # n + 3 s a m p l e # n n + 1 n + 2 n + 3 t o v t t x _ d l t r a n s m i t t e d d a t a # n # n + 2 t t o v _ d l datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 34 / 74 a pril 201 3 figure 8 - 5 : timing of tov with external trigger 8.4 auxiliary input stim 300 provides input in order to digitize an external signal . the digitizer is a 24 bit sigma - delta adc. the aux data (24 bits + status byte) can be included in the datagrams, ref. sections 12 and 10.4 . a simple compensation of the aux data is performed as shown in equation 1 . the aux data will be low - pass filtered. the bandwidth can be changed in service mode, ref. section 10.8 . equation 1 : aux compensation algorithm : where a and b are coefficients that can be programmed by the user in servicemode ( k (aux comp) - command) 8.5 operating modes the operating modes of stim 300 are shown in figure 8 - 6 : n e w r a w d a t a a v a i l a b l e t i n t e r n a l _ s a m p l e 0 . 5 m s c o m p e n s a t i o n # n # n + 1 # n + 2 # n + 3 s a m p l e # n n + 1 n + 2 n + 3 t o v t t o v _ m i n t r a n s m i t t e d d a t a # n # n + 1 e x t e r n a l t r i g g e r t t o v _ d l b input aux a output aux ? ? ? _ _ n o r m a l m o d e i n i t m o d e s e r v i c e m o d e r e s e t r e s e t o r e x i t t o i n i t m o d e - c o m m a n d p o w e r o n e x i t t o n o r m a l m o d e - c o m m a n d s e r v i c e m o d e - c o m m a n d datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 35 / 74 a pril 201 3 figure 8 - 6 : operating modes 8.5.1 init mode init mode is entered after the following conditions: ? power on ? after a n external reset ? when receiving a reset - command in normal mode ? when exiting to init mode from service mode . in init m ode the system waits for internal references to settle, resets and synchronizes the sensor channels and transmits t hree special datagrams containing part number , serial number and configuration data . please note that length and format of the special datagrams are different to the datagrams in normal mode. the content and format of the p art n umber datagram is specified in table 6 - 10 . the content and format of the s erial n umber datagram is specified in table 6 - 11 . the content and format of the c onfiguration datagram is specified in table 6 - 12 . after having transmitted the special part number , serial number and c onfiguration datagram s , stim 300 enters normal mode. all these special datagrams can also be requested by commands in normal m ode, ref. section : 9 . 8.5.2 normal mode in normal mode stim 300 will constantly measure the available sensor channels at the configured sample rate. note that if external trigger has been chosen, the internal sampl e rate will be set to maximum in order to minimize latency . stim 300 will continue to transmit data regardless of any errors reported in the status - byte s (ref. table 6 - 16 ) . hence the content of th e status - byte should continuously be examined. the content of the part number datagram is specified in table 6 - 13 . 8.5.2.1 start - up when stim 300 enters normal mode from init mode, there will be a start - up period where stim 300 is stabilizing the gyros. during this period bit 6 is set in the status - byte (ref. table 6 - 16 ) to communicate its condition. once stabilized, bit 6 will be cleared. during this period the output data should be regarded as non - valid. there will not be any start - up period when stim 300 is exiting from service mode directly to normal mode. datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 36 / 74 a pril 201 3 8.5.2.2 data output options and interpretation 8.5.2.2.1 delayed gyro output the inherent group delay of the gyro - , accelerometer - , inclinometer - and aux - signals are different, ref. table 6 - 3 , table 6 - 4 , table 6 - 5 and table 6 - 6 respectively. an option is available to delay the gyro signals by 5ms in order for the group delay of gyros, accelerometers and aux to be similar . to enable this feature, select the gyro output - unit 8, ref. section 12 and 10.7 . 8.5.2.2.2 gyro output unit = angular rate in the case of stim 300 being configured to output angular rate, equation 2 and figure 8 - 7 show how to convert to [/s]. please note that the output data is represented as twos complement (most significant bit is the sign - bit). equation 2 : converting output to [/s]: w here ar 1 is the most significant byte of the 24bit output ar 2 is the middle byte of the 24bit output ar 3 is the least significant byte of the 24bit output figure 8 - 7 : converting output bytes to [/s] 8.5.2.2.3 gyro output unit = incremental angle in the case of stim 300 being configured to output incremental angle per sample , the equations for conversion to [ /sample ] can be found in equation 3 and figure 8 - 8 . please note that the output data is represented as twos complement (most significant bit is the sign - bit). equation 3 : convert ing output to [/sample] where ia 1 is the most significant byte of the 24bit output ia 2 is the middle byte of the 24bit output ia 3 is the least significant byte of the 24bit output figure 8 - 8 : converting output bytes to [ /sample ] ? ? 14 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / ar ar ar s output ? ? ? ? ? ? s i g n b i t 2 3 2 8 b i t 2 2 2 7 b i t 2 1 2 6 b i t 2 0 2 5 b i t 1 9 2 4 b i t 1 8 2 3 b i t 1 7 2 2 b i t 1 6 2 1 b i t 1 5 2 0 b i t 1 4 2 - 1 b i t 1 3 2 - 2 b i t 1 2 2 - 3 b i t 1 1 2 - 4 b i t 1 0 2 - 5 b i t 9 2 - 6 b i t 8 2 - 7 b i t 7 2 - 8 b i t 6 2 - 9 b i t 5 2 - 1 0 b i t 4 2 - 1 1 b i t 3 2 - 1 2 b i t 2 2 - 1 3 b i t 1 2 - 1 4 b i t 0 a r 1 a r 2 a r 3 ? ? 21 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / ia ia ia sample output ? ? ? ? ? ? s i g n b i t 2 3 2 1 b i t 2 2 2 0 b i t 2 1 2 - 1 b i t 2 0 2 - 2 b i t 1 9 2 - 3 b i t 1 8 2 - 4 b i t 1 7 2 - 5 b i t 1 6 2 - 6 b i t 1 5 2 - 7 b i t 1 4 2 - 8 b i t 1 3 2 - 9 b i t 1 2 2 - 1 0 b i t 1 1 2 - 1 1 b i t 1 0 2 - 1 2 b i t 9 2 - 1 3 b i t 8 2 - 1 4 b i t 7 2 - 1 5 b i t 6 2 - 1 6 b i t 5 2 - 1 7 b i t 4 2 - 1 8 b i t 3 2 - 1 9 b i t 2 2 - 2 0 b i t 1 2 - 2 1 b i t 0 i a 1 i a 2 i a 3 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 37 / 74 a pril 201 3 8.5.2.2.4 gyro output unit = average angular rate in the case of STIM300 being configured to output average angular rate, the transmitted data will be the average of the samples since last transmission. e.g. in the case of continuous transmission of datagrams and a sample rate of 500hz, each transmission will contain the average of the four previous inte rnal samples. please note that the configured low - pass filtering is performed prior to calculating the average. the average is calculated on the samples using the conventional equation for average calculation: equation 4 : calc ulating average : where angular_rate m is one angular rate data sampled at 2000 samples/s n is number of samples since last transmission conversion to [/s] is the same as for angular rate and is described in equation 2 . 8.5.2.2.5 gyro output unit = integrated angle in the case of STIM300 being configured to output integrated angle , the transmitted data will be the continuously integrated angle since power - on or reset. the integrated angle takes values in the interval [ - 4, 4> and will naturally wrap - around with no error - message indication in the status - byte. conversion to [] is t he same as for incremental angle and is described in equation 3 . 8.5.2.2.6 accelerometer output unit = acceleration in the case of stim 300 being configured to output acceleration , equation 5 and figure 8 - 9 show how to do this . please note that the output data is represented as twos complement (most significant bit is the sign - bit). equation 5 : converting output to [ g ]: range conversion: 2g 5g 10g 30g 100g where a cc 1 is the most significant byte of the 24bit output a cc 2 is the middle byte of the 24bit output a cc 3 is the least significant byte of the 24bit output figure 8 - 9 : converting output bytes to [g ] (example is valid for 10g range ) ? ? n e rat angular s rate angular average m n m ? ? ? ? .. 1 _ / _ _ ? ? 21 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( acc acc acc g output ? ? ? ? ? ? ? 20 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( acc acc acc g output ? ? ? ? ? ? ? 19 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( acc acc acc g output ? ? ? ? ? ? ? 18 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( acc acc acc g output ? ? ? ? ? ? ? 16 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( acc acc acc g output ? ? ? ? ? s i g n b i t 2 3 2 - 1 5 b i t 2 2 2 - 1 6 b i t 2 1 2 - 1 7 b i t 2 0 2 - 1 8 b i t 1 9 2 - 1 9 b i t 1 8 2 3 b i t 1 7 2 2 b i t 1 6 2 1 b i t 1 5 2 0 b i t 1 4 2 - 1 b i t 1 3 2 - 2 b i t 1 2 2 - 3 b i t 1 1 2 - 4 b i t 1 0 2 - 5 b i t 9 2 - 6 b i t 8 2 - 7 b i t 7 2 - 8 b i t 6 2 - 9 b i t 5 2 - 1 0 b i t 4 2 - 1 1 b i t 3 2 - 1 2 b i t 2 2 - 1 3 b i t 1 2 - 1 4 b i t 0 a c c 1 a c c 2 a c c 3 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 38 / 74 a pril 201 3 8.5.2.2.7 acceler ometer output unit = incremental velocity in the case of STIM300 being configured to output incremental velocity per sample , the equations for conversion to [ m/s/sample ] can be found in equation 6 and figure 8 - 10 . please note that the output data is represented as twos complement (most significan t bit is the sign - bit). equation 6 : converting output to [ m/s /sample] range conversion: 2g 5g 10g 30g 100g where i v 1 is the most significant byte of the 24bit output i v 2 is the middle byte of the 24bit output i v 3 is the least significant byte of the 24bit output figure 8 - 10 : converting output bytes to [ m/s /sample] (example is valid for 10g range) 8.5.2.2.8 acceler ometer output unit = average acceleration in the case of STIM300 being configured to output average acceleration, the transmitted data will be the average of the samples since last transmission. e.g. in the case of continuous transmission of datagrams and a sample rate of 500hz, each transmission will contain the average of the four internal samp les . the average is calculated on the samples using the conventional equation for average calculation: equation 7 : calculating average : where acceleration m is one acceleration data sampled at 2000 samples/s n is number of samples since last transmission conversion to g ] is the same as for angular rate and is described in equation 5 . ? ? 24 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / / iv iv iv sample s m output ? ? ? ? ? ? ? 23 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / / iv iv iv sample s m output ? ? ? ? ? ? ? 22 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / / iv iv iv sample s m output ? ? ? ? ? ? ? 21 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / / iv iv iv sample s m output ? ? ? ? ? ? ? 19 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / / iv iv iv sample s m output ? ? ? ? ? s i g n b i t 2 3 2 0 b i t 2 2 2 - 1 b i t 2 1 2 - 2 b i t 2 0 2 - 3 b i t 1 9 2 - 4 b i t 1 8 2 - 5 b i t 1 7 2 - 6 b i t 1 6 2 - 7 b i t 1 5 2 - 8 b i t 1 4 2 - 9 b i t 1 3 2 - 1 0 b i t 1 2 2 - 1 1 b i t 1 1 2 - 1 2 b i t 1 0 2 - 1 3 b i t 9 2 - 1 4 b i t 8 2 - 1 5 b i t 7 2 - 1 6 b i t 6 2 - 1 7 b i t 5 2 - 1 8 b i t 4 2 - 1 9 b i t 3 2 - 2 0 b i t 2 2 - 2 1 b i t 1 2 - 2 2 b i t 0 i v 1 i v 2 i v 3 ? ? n n o accelerati g output m n m ? ? ? .. 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 39 / 74 a pril 201 3 8.5.2.2.9 inclinometer output unit = acceleration in the case of STIM300 being configured to output acceleration , equation 8 and figure 8 - 11 show how to do this. please note that the output data is represented as twos complem ent (most significant bit is the sign - bit). equation 8 : converting output to [ g ]: where ac c 1 is the most significant byte of the 24bit output ac c 2 is the middle byte of the 24bit output ac c 3 is the least significant byte of the 24bit output figure 8 - 11 : converting output bytes to [g ] 8.5.2.2.10 inclinometer output unit = incremental velocity in the case of STIM300 being configured to output incremental velocity per sample, the equations for conversion to [ m/s/sample ] can be found in equation 9 and figure 8 - 12 . please note that the output data is represented as twos complement (most significant bit is the sign - bit). equation 9 : converting output to [ m/s /sample] where i v 1 is the most significant byte of the 24bit output i v 2 is the middle byte of the 24bit output i v 3 is the least significant byte of the 24bit output figure 8 - 12 : converting output bytes to [m/s/sample] 8.5.2.2.11 inclinometer output unit = average acceleration in the case of STIM300 being configured to output average acceleration, the transmitted data will be the average of the samples since last transmission. e.g. in the case of continuous transmission of datagrams and a sample rate of 500hz, each transmission will contain the average of the four internal samp les . the average is calculated on the samples using the conventional equation for average calculation: equation 10 : calculating average : where inclin ation m is one inclin ation data sampled at 2000 samples/s conversion to [g ] is the same as for angular rate and is described in equation 8 . ? ? 22 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( acc acc acc g output ? ? ? ? ? s i g n b i t 2 3 2 - 1 5 b i t 2 2 2 - 1 6 b i t 2 1 2 - 1 7 b i t 2 0 2 - 1 8 b i t 1 9 2 - 1 9 b i t 1 8 2 - 2 0 b i t 1 7 2 - 2 1 b i t 1 6 2 - 2 2 b i t 1 5 2 0 b i t 1 4 2 - 1 b i t 1 3 2 - 2 b i t 1 2 2 - 3 b i t 1 1 2 - 4 b i t 1 0 2 - 5 b i t 9 2 - 6 b i t 8 2 - 7 b i t 7 2 - 8 b i t 6 2 - 9 b i t 5 2 - 1 0 b i t 4 2 - 1 1 b i t 3 2 - 1 2 b i t 2 2 - 1 3 b i t 1 2 - 1 4 b i t 0 a c c 1 a c c 2 a c c 3 ? ? 25 3 8 2 16 1 2 ) ( 2 ) ( 2 ) ( / / iv iv iv sample s m output ? ? ? ? ? s i g n b i t 2 3 2 - 2 3 b i t 2 2 2 - 2 4 b i t 2 1 2 - 2 5 b i t 2 0 2 - 3 b i t 1 9 2 - 4 b i t 1 8 2 - 5 b i t 1 7 2 - 6 b i t 1 6 2 - 7 b i t 1 5 2 - 8 b i t 1 4 2 - 9 b i t 1 3 2 - 1 0 b i t 1 2 2 - 1 1 b i t 1 1 2 - 1 2 b i t 1 0 2 - 1 3 b i t 9 2 - 1 4 b i t 8 2 - 1 5 b i t 7 2 - 1 6 b i t 6 2 - 1 7 b i t 5 2 - 1 8 b i t 4 2 - 1 9 b i t 3 2 - 2 0 b i t 2 2 - 2 1 b i t 1 2 - 2 2 b i t 0 i v 1 i v 2 i v 3 ? ? n n inclinatio g output m n m ? ? ? .. 1 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 40 / 74 a pril 201 3 8.5.2.2.12 temperature temperature data for each axis is available in certain dat agrams (ref. section 12 ). equation 11 and figure 8 - 13 show how to convert to [c]. please note that the output data is represented as twos complement (most significant bit is the sign - bit) : equation 11 : converting temperature data to [c ] where t 1 is the most significant byte of the 16 bit output t 2 is the least significant byte of the 16 bit output figure 8 - 13 : converting temperature data to [ c ] 8.5.2.2.13 aux in the case of STIM300 being configured to aux - data , equation 12 and figure 8 - 9 show how to do this. please note that the output data is represented as twos complemen t (most significant bit is the sign - bit). equation 12 : converting output to [ v ]: where a ux 1 is the most significant byte of the 24bit output a ux 2 is the middle byte of the 24bit output a ux 3 is the least significant byte of the 24bit output figure 8 - 14 : converting output bytes to [v ] 8.5.2.2.14 counter counter is continuously counting the internal samples (2000 samples/s). counter is an un - signed single byte taking values in the interval [0 , 255]. the counter will naturally wrap - around with no error - message indication in the status - byte. ? ? 8 2 8 1 2 ) ( 2 ) ( t t c output ? ? ? ? s i g n b i t 1 5 2 6 b i t 1 4 2 5 b i t 1 3 2 4 b i t 1 2 2 3 b i t 1 1 2 2 b i t 1 0 2 1 b i t 9 2 0 b i t 8 2 - 1 b i t 7 2 - 2 b i t 6 2 - 3 b i t 5 2 - 4 b i t 4 2 - 5 b i t 3 2 - 6 b i t 2 2 - 7 b i t 1 2 - 8 b i t 0 t 1 t 2 ? ? v aux aux aux v output 5 2 ) ( 2 ) ( 2 ) ( 24 3 8 2 16 1 ? ? ? ? ? ? s i g n b i t 2 3 5 * 2 - 1 8 b i t 2 2 5 * 2 - 1 9 b i t 2 1 5 * 2 - 2 0 b i t 2 0 5 * 2 - 2 1 b i t 1 9 5 * 2 - 2 2 b i t 1 8 5 * 2 - 2 3 b i t 1 7 5 * 2 - 2 4 b i t 1 6 5 * 2 - 2 b i t 1 5 5 * 2 - 3 b i t 1 4 5 * 2 - 4 b i t 1 3 5 * 2 - 5 b i t 1 2 5 * 2 - 6 b i t 1 1 5 * 2 - 7 b i t 1 0 5 * 2 - 8 b i t 9 5 * 2 - 9 b i t 8 5 * 2 - 1 0 b i t 7 5 * 2 - 1 1 b i t 6 5 * 2 - 1 2 b i t 5 5 * 2 - 1 3 b i t 4 5 * 2 - 1 4 b i t 3 5 * 2 - 1 5 b i t 2 5 * 2 - 1 6 b i t 1 5 * 2 - 1 7 b i t 0 a u x 1 a u x 2 a u x 3 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 41 / 74 a pril 201 3 8.5.2.2.15 latency to calculate the latency in [s], refer to equation 13 and figure 8 - 15 . please note that latency is an unsigned word. equation 13 : converting output to [ s ]: where lt 1 is the most significant byte of the 16 bit output lt 2 is the least significant byte of the 16 bit output figure 8 - 15 : converting output bytes to [ s ] 8.5.3 service mode in service mode the communication i nterface is human readable and hence the co mmunication format (ascii) supports the use of terminal - based software during the development phase, when the configuration of a device needs to be changed or during investigations into an observed problem. when service mode is entered, stim 300 will respond with its configuration informatio n (same as the response to the i (information) command, ref: figure 10 - 1 ). a set of commands are available, ref. section 10 , enabling the user to change intermediately or permanently the configuration parameters, display latest measurement results, display higher details on error information and perform a full diagnostic of the unit. in s ervice mode the gyro measurements will still be running in the background, enabling to switch directly back to normal mode without the need for any stabilisation time of filters, etc. h owever the measurement data itself, when st im 300 is in service mode are not transmitted and therefore lost. by using the a ( single - shot measurement ) command (ref. section 10.2 ) it is possible to display single measurement results. exiting service mode can be done in several ways: 1. using the external reset. this will force stim 300 into init mode. please be advised that during init mode, all the configuration parameters are loaded from flash. if any of the configuration parameters have been changed during the service mode session but not saved to flash, these changes will be overwritten by the content already stored in flash. 2. using the x (exit) command. when using this command a parameter is required to decide whether the device should go to init mode or to normal mode. when exiting to normal mode, any of the changes made to the configuration parameters will still be valid. how ever, if not saved, the configuration parameters will be overwritten by the content already stored in flash at the next power - up or reset. 8.6 s elf diagnostics stim 300 is constantly checking its internal status. the checks include: o check of internal referen ces o check of sensors (error and overload) o check of internal temperatures o check of ram and flash o check of supply voltage when an error situation i s detect ed , the corresponding bit in the status byte (ref. table 6 - 16 ) will be set. the bits in the status are valid for the data in a single transmission. hence any error condition is not latched. in service mode it is possible to see the last detected error b y using the i e ( information on last error in normal mode ) command, ref. section 10.1 or run a full diagnostic and see the result of the individual checks by using the c (diagnostic) command, ref. section 10.3 . ? ? ) ( 2 ) ( 2 8 1 lt lt s output ? ? ? ? 2 1 5 2 8 2 7 2 6 2 5 2 4 2 3 2 2 2 1 b i t 1 5 2 0 b i t 1 4 b i t 1 3 b i t 1 2 b i t 1 1 b i t 1 0 b i t 9 b i t 8 b i t 7 b i t 6 2 1 4 b i t 5 2 1 3 b i t 4 2 1 2 b i t 3 2 1 1 b i t 2 2 1 0 b i t 1 2 9 b i t 0 l t 1 l t 2 datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 42 / 74 a pril 201 3 9 commands in normal mode s everal commands are available in normal mode, as listed in table 9 - 1 . please note that all commands in normal mode must be transmitted in upper case letters . table 9 - 1 available commands in normal mode command short description n transmits one part number datagram i transmits one serial number datagram c transmits one configuration datagram r reset s the unit servicemode enters service mode table 9 - 2 list of special ascii characters used in normal mode char hex dec short description datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 43 / 74 a pril 201 3 9.4 r ( reset ) command general description: force a reset table 9 - 6 : available r ( reset ) command syntax response r datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 44 / 74 a pril 201 3 serial number = n255808460 0 2002 product = stim 300 part number = 8 4167 - 4 4000 - 3 3 1 rev c fw config = swd12046 rev 2 gyro output unit = [/ s ] C angular rate accelerometer output unit = [ g ] C acceleration inclinometer output unit = [g] - acceleration sampl e rate [samples/s ] = 2 000 gyro config = xyz accelerometer config = xyz inclinometer config = xyz gyro range: x - axis: 400/s y - axis: 400/s z - axis: 400/s accelerometer range: x - axis: 10g y - axis: 10g z - axis: 10g inclinometer range: x - axis: 1.7g y - axis: 1.7g z - axis: 1.7g aux range: 2.5v gyro lp filter - 3 d b frequency, x - axis [hz] = 2 62 gyro lp filter - 3 d b frequency, y - axis [hz] = 2 62 gyro lp filter - 3 d b frequency, z - axis [hz] = 2 62 accelerometer lp filter - 3 d b frequency, x - axis [hz] = 2 62 accelerometer lp filter - 3 d b frequency, y - axis [hz] = 2 62 accelerometer lp filter - 3 d b frequency, z - axis [hz] = 2 62 inclinometer lp filter - 3 d b frequency, x - axis [hz] = 2 62 inclinometer lp filter - 3 d b frequency, y - axis [hz] = 2 62 inclinometer lp filter - 3 d b frequency, z - axis [hz] = 2 62 aux lp filter - 3 d b frequency [hz] = 2 62 aux comp coeff : a = 1.000000 0 e+00 , b = 0.000000 0 e+00 datagram = rate, acceleration, inclination datagram termination = none bit - rate [ bits/s ] = 1843200 data length = 8 stop bits = 1 parity = none line termination = on > figure 9 - 1 : example of response from servicemode command datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 45 / 74 a pril 201 3 10 commands in service mode several commands are available in service mode, as listed in table 10 - 1 . please note that all commands in service mode are case - sensitive (commands are lower case letters, whilst some parameters may be capital case letters) . table 10 - 1 available commands in service mode command short description i lists specific information (e.g. serial number, configuration, error information) a performs a single - shot measurement c performs a diagnostic of the unit d changes datagram format t changes transmission parameters (e.g. bit - rate , data - length, stop - bits) r turns line termination on or off u changes measurement output unit f changes lp filter - 3db frequency m changes sampl e rate k changes coefficients of the aux compensation algorithm s saves configuration data x exits service mode and returns to normal mode or init mode z restore to factory settings ? help function on the available commands in service mode table 10 - 2 list of special ascii characters used in service mode char hex dec short description datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 46 / 74 a pril 201 3 10.1 i (information) command general description: lists various requested information about the device table 10 - 3 : available i (information) commands syntax response i datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 47 / 74 a pril 201 3 > i serial number = n25580846002002 product = STIM300 part number = 8 4167 - 4 4000 - 3 3 1 rev c fw config = swd12046 rev 2 gyro output unit = [/ s ] C angular rate accelerometer output unit = [ g ] C acceleration inclinometer output unit = [g] - acceleration sampl e rate [samples/s] = 2 000 gyro config = xyz accelerometer config = xyz inclinometer config = xyz gyro range: x - axis: 400/s y - axis: 400/s z - axis: 400/s accelerometer range: x - axis: 10g y - axis: 10g z - axis: 10g inclinometer range: x - axis: 1.7g y - axis: 1.7g z - axis: 1.7g aux range: 2.5v gyro lp filter - 3 d b frequency, x - axis [hz] = 2 62 gyro lp filter - 3 d b frequency, y - axis [hz] = 2 62 gyro lp filter - 3 d b frequency, z - axis [hz] = 2 62 accelerometer lp filter - 3 d b frequency, x - axis [hz] = 2 62 accelerometer lp filter - 3 d b frequency, y - axis [hz] = 2 62 accelerometer lp filter - 3 d b frequency, z - axis [h z] = 2 62 inclinometer lp filter - 3 d b frequency, x - axis [hz] = 2 62 inclinometer lp filter - 3 d b frequency, y - axis [hz] = 2 62 inclinometer lp filter - 3 d b frequency, z - axis [hz] = 2 62 aux lp filter - 3 d b frequency [hz] = 2 62 aux comp coeff : a = 1.000000 0 e+00 , b = 0.000000 0 e+00 datagram = rate, acceleration, inclination datagram termination = none bit - rate [bits/s] = 18432 00 data length = 8 stop bits = 1 parity = none line termination = on > figure 10 - 1 : example of response from i (information) command > i s serial number = n255808460 0 2002 > figure 10 - 2 : example of response from i s (information on serial number) command > i n product = stim 300 > figure 10 - 3 : example of response from i n (information on product name) command datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 48 / 74 a pril 201 3 > i x part number = 8 4167 - 4 4000 - 3 3 1 rev c > figure 10 - 4 : example of response from i x (information on part number) command > i a gyro config = x y z accelerometer config = x y z inclinometer config = xyz gyro range: x - axis: 400/s y - axis: 400/s z - axis: 400/s accelerometer range: x - axis: 10g y - axis: 10g z - axis: 10g inclinometer range: x - axis: 1.7g y - axis: 1.7g z - axis: 1.7g aux range: 2.5v > figure 10 - 5 : example of response from i a (information on axis configuration) command > i p fw config = swd12046 rev 2 > figure 10 - 6 : example of response from i p (information on fw configuration) command > i m sampl e rate [samples/s] = 2 000 > figure 10 - 7 : example of response from i m (information on sampl e rate ) command > i f gyro lp filter - 3 d b frequency , x - axis [hz] = 262 gyro lp filter - 3 d b frequency , y - axis [hz] = 262 gyro lp filter - 3 d b frequency , z - axis [hz] = 262 accelerometer lp filter - 3 d b frequency, x - axis [hz] = 262 accelerometer lp filter - 3 d b frequency, y - axis [hz] = 262 accelerometer lp filter - 3 d b frequency, z - axis [hz] = 262 inclinometer lp filter - 3 d b frequency, x - axis [hz] = 262 inclinometer lp filter - 3 d b frequency, y - axis [hz] = 262 inclinometer lp filter - 3 d b frequency, z - axis [hz] = 262 aux lp filter - 3 d b frequency [hz] = 2 62 > figure 10 - 8 : example of response from i f (information on lp filter - 3db frequency ) command datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 49 / 74 a pril 201 3 > i d datagram = rate, acceleration, inclination datagram termination = none > figure 10 - 9 : example of response from i d (information on datagram transmission mode and termination ) command > i t bit - rate [bits/s] = 18432 00 data length = 8 stop bits = 1 parity = none > figure 10 - 10 : example of response from i t (information on transmission parameters) command > i r line termination = on > figure 10 - 11 : example of response from i r (information on line termination ) command > i u gyro output unit = [/ s ] C angular rate accelerometer output unit = [ g ] C acceleration inclinometer output unit = [ g ] C acceleration > figure 10 - 12 : example of response from i u (information on output unit ) command >i k aux comp coeff: a = 1.0200000e+00, b = 3.4000000e - 02 > figure 10 - 13 : example of response from i k (information on aux comp ) command > i e gyro x - axis i - ch overflow = failed > figure 10 - 14 : example of response from i e (information on last error in normal mode) command datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 50 / 74 a pril 201 3 10.2 a (single - shot measurement) command general description: displays the result of latest measurement (measurement process running constantly in the back - ground). nb: single - shot measurement - command is not available if sample rate is set to external trigger. table 10 - 6 : available a (single - shot measurement) command syntax response a datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 51 / 74 a pril 201 3 >a gyro x - axis = 0.00071 /s gyro y - axis = 0.12324 /s gyro z - axis = 480.00000 /s gyro status = 00 010 1 0 0 = not ok bit 4 : overload bit 2 : error in z - channel accelerometer x - axis = 0 . 04 2 113 g accelerometer y - axis = 0.000342 g accelerometer z - axis = 0.929376 g accelerometer status = 00000000 = ok inclinometer x - axis = 0 . 04 2 6473 g inclinometer y - axis = 0.0003832 g inclin ometer z - axis = 0.92 46325 g inclin ometer status = 00000000 = ok temperature gyro x - axis = 32.326 c temperature gyro y - axis = 32.467 c temperature gyro z - axis = 32.265 c temperature status = 00000000 = ok temperature acc x - axis = 32.846 c temperature acc y - axis = 32.477 c temperature acc z - axis = 32.965 c temperature status = 00000000 = ok temperature inc x - axis = 32.326 c temperature inc y - axis = 32.123 c temperature inc z - axis = 32.326 c temperature status = 00000000 = ok aux = - 0.8356746 v aux status = 00000000 = ok counter = 10 latency = 5 16 us > figure 10 - 16 : example of response from a (single - shot measurement) command with error flagging datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 52 / 74 a pril 201 3 10.3 c (diagnostic) command general description: performs a diagnostic of the unit . table 10 - 8 : available c (diagnostic) command syntax response c datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 53 / 74 a pril 201 3 gyro y - axis exc. dc = ok gyro y - axis spi = ok gyro y - axis exc.ampl = ok gyro y - axis overrun = ok gyro z - axis: gyro z - axis data ready = ok gyro z - axis exc.freq = ok gyro z - axis asic temp = ok gyro z - axis sensor temp = ok gyro z - axis compensated rate signal = ok gyro z - axis dasic communication = ok gyro z - axis q - ch range = ok gyro z - axis i - ch range = o k gyro z - axis det. dc = ok gyro z - axis exc. dc = ok gyro z - axis spi = ok gyro z - axis exc.ampl = ok gyro z - axis overrun = ok accelerometer x - axis: accelerometer x - axis compensated signal = ok accelerometer x - axis temperature = ok external adc communication = ok accelerometer y - axis: accelerometer y - axis compensated signal = ok accelerometer y - axis temperature = ok external adc communication = ok accelerometer z - axis: accelerometer z - axis compensated signal = ok accelerometer z - axi s temperature = ok external adc communication = ok inclinometer x - axis: inclinometer x - axis compensated signal = ok inclinometer x - axis temperature = ok external adc communication = ok inclinometer y - axis: inclinometer y - axis compensated signal = ok inclinometer y - axis temperature = ok external adc communication = ok inclinometer z - axis: inclinometer z - axis compensated signal = ok inclinometer z - axis temperature = ok external adc communication = ok aux: aux = ok external adc communication = ok > figure 10 - 17 : example of response from c (diagnostic) command datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 54 / 74 a pril 201 3 10.4 d (datagram format ) command general description: sets the datagram transmission mode and termination ( ref. table 6 - 8 and section 12 ). note that the datagram format could be considered invalid, even if it has been entered correctly. this is because a valid datagram format also depends on the sample rate and chosen datagram content (ref. table 6 - 9 and error message e007 in table 10 - 13 ). note that t his change will only be effective until STIM300 is initialized, reset or powered off, unless the new setting has been stored in flash using the save - command (ref. chapter 10.11 ). in order to use or test a new setting in normal mode without permanently storing it, this can be achieved by using the exit n - command (ref. chapter 10.12 ). table 10 - 10 : available d (datagram format ) c ommand syntax response d datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 55 / 74 a pril 201 3 > d 3,1 datagram = rate, acceleration, inclination datagram termination = datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 56 / 74 a pril 201 3 10.5 t (transmission parameters) command general description: changes the transmission parameters for the rs422 interface . n ote that the bit - rate could be considered invalid, even if it has been entered correctly . this is because a valid bit - rate also depend s on the sample rate and chosen datagram content (ref. table 6 - 9 and error message e007 in table 10 - 18 ). note that this change will only be effective until STIM300 is initialized, reset or powered off, unless the new setting has been stored in flash using the save - command (ref. chapter 10.11 ). in order to use or test a new setting in normal mode without permanently storing it, this can be achieved by using the exit n - com mand (ref. chapter 10.12 ). table 10 - 14 : available t (transmission parameters) commands syntax response t datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 57 / 74 a pril 201 3 equation 15 : set bit - rate where n is an integer the actually set bit - rate will hence be the closest to requested bit - rate. the response of the t (transmission parameters) - command will be the set bit - rate. be aware that for certain bit - rates above 1.5mbit/s, the deviation between the requested bit - rate and set bit - rate could be larger than 1% and may be in conflict with the rs422 specification. no warnings are issued related to this issue. as a safety precaution, the new bit - rate can only be permanently by the s (save) - command later using the new bit - rate. table 10 - 18 : error messages for t (transmission parameters) commands error message possible reason e001 unkown command command is incorrectly entered e002 incorrect number of parameters too many or too few parameters, use of comma between command and first parameter e003 invalid parameter value of parameter outside valid range e007 datagram will be too long to transmit combination of bit - rate , sample rate and datagram content results in a datagram that cannot be transmitted > t 2 , 1 , 2 bit - rate [bits/s] = 9216 00 data length = 8 stop bits = 1 parity = even > figure 10 - 20 : example of response from t (transmission parameters) command to set standard bit - rate >t f , 500000 bit - rate [bits/s] = 500023 data length = 8 stop bits = 1 parity = even > figure 10 - 21 : example of response from t (transmission parameters) command to set user - defined bit - rate s bits n rate bit set / 85504000 ? ? datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 58 / 74 a pril 201 3 10.6 r (line termination) command general description: turns the line termination on or off. line termination should be on when communicating point - point (single master C single slave). note that this change will only be effective until STIM300 is initialized, reset or powered off, unless the new setting has been stored in flash using the save - command (ref. chapter 10.11 ). in order to use or test a new setting in normal mode without permanently storing it, this can be achieved by using the exit n - command (ref. chapter 10.12 ). table 10 - 19 : available r (line termination) command syntax response r datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 59 / 74 a pril 201 3 10.7 u (output unit) command general description: sets the output unit of the transmission in normal mode. note that this change will only be effective until STIM300 is initialized, reset or powered off, unless the new setting has been stored in flash using the save - command (ref. chapter 10.11 ). in order to use or test a new s etting in normal mode without permanently storing it, this can be achieved by using the exit n - command (ref. chapter 10.12 ). table 10 - 22 : available u (output unit) com mand syntax response u datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 60 / 74 a pril 201 3 10.8 f ( lp filter - 3db frequency ) command general description: changes the low - pass filter - 3db frequency for one or all axes. note that low pass filter settings should be considered together with sample rate in order to avoid issues with folding due to undersampling. no warnings will be issued by STIM300 if e.g. a h igh filter bandwidth and a low sample rate have been chosen. n ote that change in filter setting will change the group delay, ref. table 6 - 8 . note that this change w ill only be effective until STIM300 is initialized, reset or powered off, unless the new setting has been stored in flash using the save - command (ref. chapter 10 .11 ). in order to use or test a new setting in normal mode without permanently storing it, this can be achieved by using the exit n - command (ref. chapter 10.12 ). table 10 - 25 : available f ( lp filter - 3db frequency ) commands syntax response f datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 61 / 74 a pril 201 3 >f 3 gyro lp filter - 3 d b frequency, x - axis [hz] = 131 gyro lp filter - 3 d b frequency, y - axis [hz] = 131 gyro lp filter - 3 d b frequency, z - axis [hz] = 131 accelerometer lp filter - 3 d b frequency, x - axis [hz] = 131 accelerometer lp filter - 3db frequency, y - axis [hz] = 131 accelerometer lp filter - 3db frequency, z - axis [hz] = 131 inclinometer lp filter - 3 d b frequency, x - axis [hz] = 131 inclinometer lp filter - 3db frequency, y - axis [hz] = 131 inclinometer lp filter - 3db frequency, z - axis [hz] = 131 aux lp filter - 3 d b frequency [hz] = 131 > figure 10 - 27 : example of response from f (lp filter - 3db frequency) command >f 1,g gyro lp filter - 3 d b frequency, x - axis [hz] = 33 gyro lp filter - 3db frequency, y - axis [hz] = 33 gyro lp filter - 3db frequency, z - axis [hz] = 33 > figure 10 - 28 : example of response from f (lp filter - 3db frequency) command >f 0,u aux lp filter - 3 d b frequency [hz] = 16 > figure 10 - 29 : example of response from f (lp filter - 3db frequency) command datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 62 / 74 a pril 201 3 10.9 m (sampl e rate) command general description: changes the sampl e rate in normal mode. the sampl e rate is the same for all channels. note that the sample rate could be considered invalid, even if it has been entered correctly. this is because a valid sample rate also depends on the sample rate and chosen datagram content (ref. table 6 - 9 and error message e007 in table 10 - 32 ). note that sample rate should be considered together with filter settings in order to av oid issues with folding due to undersampling. no warnings will be issued by STIM300 if e.g. a high filter bandwidth and a low sample rate have been chosen. note that this change will only be effective until STIM300 is initialized, reset or powered off, unl ess the new setting has been stored in flash using the save - command (ref. chapter 10.11 ). in order to use or test a new setting in normal mode without permanently storing it, this can be achieved by using the exit n - command (ref. chapter 10.12 ). table 10 - 30 : available m (sampl e rate ) command syntax response m datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 63 / 74 a pril 201 3 10.10 k ( aux comp) command general description: changes the compensation coefficients of the aux input. note that this change will only be effective until STIM300 is initialized, reset or powered off, unless the new setting has been stored in flash using the save - command (ref. chapter 10.11 ). in order to use or test a new s etting in normal mode without permanently storing it, this can be achieved by using the exit n - command (ref. chapter 10.12 ). table 10 - 33 : available k ( aux comp ) command syntax response k datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 64 / 74 a pril 201 3 10.11 s (save) command general description: saves configuration parameters to flash. this will permanently change the configuration parameters and hence be valid after an initialisation or power - off. the flash used in STIM300 is specified to be capable of minim um 1000 saves. a save - counter has been implemented and when the number of saves exceeds 1000, there will be issued a warning. STIM300 will always attempt to save the configuration when receiving the s (save) command regardless of the content of the save - co unter. table 10 - 35 : available s (save) command syntax response s datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 65 / 74 a pril 201 3 10.12 x (exit) command general description: terminates service mode and returns to normal mode directly or via init mode (ref. figure 8 - 6 ). table 10 - 37 : available x (exit) command syntax response x datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 66 / 74 a pril 201 3 >x i current system parameters do not match flash content. confirm exit(y/n): n > figure 10 - 39 : example of response from x i (exit) command after system parameters ha ve been changed but not saved with c onfirmed not to exit. >x n current system parameters does not match flash content. confirm exit (y/n) : n e003 invalid parameter > figure 10 - 40 : example of response from x n (exit) command after system parameters ha ve been changed but not saved with i ncorrect response to confirmation. datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 67 / 74 a pril 201 3 10.13 z (restore to factory settings) command general descriptio n: restores the configuration of the unit to its factory settings. table 10 - 40 : available z ( restore to factory settings ) commands syntax response z datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 68 / 74 a pril 201 3 10.14 ? (help) command general description: help function on the available commands in service mode. table 10 - 42 : available ? (help) commands syntax response ? datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 69 / 74 a pril 201 3 > ? i i: lists the product co nfiguration data i s: returns the serial n umber i n: returns the product name i x: returns the part num ber i a : returns the axis configuration i p: returns the fw configuration and revision i m: returns the sampl e rate i f : returns the lp filter - 3db frequency i d: returns the datagram format i t: returns the transmis sion parameters i r: returns the line ter mination setting i u: returns the output u nit i k : returns the compensation coeffic ients of aux input i e: prints the extended error information fr om the last detected error in normal mode > figure 10 - 44 : example of response from ? i (help on information) command >? a a: performs a single - shot measurement > figure 10 - 45 : example of response from ? a (help on single - shot measurement) command >? c c: performs a diagnosti c of the unit > figure 10 - 46 : example of response from ? c (help on diagnostic) command >? d d datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 70 / 74 a pril 201 3 >? t t < bit - rate code > [','< bit - rate >] : changes the bit - rate [ bits/s ] t < bit - rate code > [','< bit - rate >] , datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 71 / 74 a pril 201 3 >? f f < - 3dbfreq>: changes the lp filte r - 3db frequency [h z ] for all sensors and axes f < - 3dbfreq>, datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 72 / 74 a pril 201 3 ? z z: restores factory settings > figure 10 - 56 : example of response from ? z (help on restore to factory settings ) command 11 marking figure 11 - 1 : example of marking of stim 300 s t i m 3 0 0 p n o : 8 4 1 6 7 - 4 4 0 0 0 - 3 2 1 s e q : n 2 5 5 8 1 1 4 0 0 0 1 0 2 5 * n 2 5 5 8 1 1 4 0 0 0 1 0 2 5 * * 8 4 1 6 7 - 4 4 0 0 0 - 3 2 1 * r e v . : c * c * d c i n + 5 v 4 0 0 / s 1 0 g datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 73 / 74 a pril 201 3 12 configuration / ordering information the STIM300 will be delivered according to the configuration code as shown below . all configuration parameters can be changed later in service mode, ref. section 8.5.3 . a full list of configurable parameters can be found in table 6 - 8 . configuration parameters in bold letters show the standard option . range measurement output/rs422 prod_id - sample rate filter band - width gyro output unit acc. output unit incl. output unit - datagram bit - rate termination *) bit - rate must be specified. see section 10.5 for limitations example: 84167 - 41 3 02 - 3 30 has the following configuration: o gyro range = 400/s, accelerometer range = 10g o sample rate = 2000 samples/s o low - pass filter bandwidth = 33 hz o gyro output unit = integrated angle [] o accelerometer output unit = acceleration [ g ] o inclinometer output unit = average acceleration [g] o datagram containing rate, acceleration and inclination o bit - rate = 1843200 bits/s o datagram termination = none o line termi nation o ff filter b andwidth: 0 = 16hz 1 = 33hz 2 = 66hz 3 = 131hz 4 = 262hz sampl e rate: 0 = 125 samples/s 1 = 250 samples/s 2 = 500 samples/s 3 = 1000 samples/s 4 = 2000 samples/s 5 = external trigger bit - rate : 0 = 374400 bits/s 1 = 460800 bits/s 2 = 921600 bits/s 3 = 1843200 bits/s f = user - defined* gyro o utput unit: 0 = angular rate [/s] 1 = incremental angle [/sample] 2 = average angular rate [/s] 3 = integrated angle [] 8 = angular rate [/s] C delayed 9 = incremental angle [/sample] C delayed a = average angular rate [/s] C delayed b = integrated angle [] - delayed acc. output unit: 0 = acceleration [g] 1 = incremental velocity [m/s/sample] 2 = average acceleration [g] termination line datagram 0 off none 1 on none 2 off datasheet butterflygyro ? s tim300 inertia measurement unit ts1524 rev.8 74 / 74 a pril 201 3 notes information furnished by sensonor is believed to be accurate and reliable. however, no responsibility is assumed by sensonor for its use, nor for any infringements of patents or other rights of third parties that may result from its use. sensonor reserves the right to make changes without further notice to any products herein. sensonor makes no warranty, representation or guara ntee regarding the suitability of its products for any particular purpose, nor does sensonor assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitatio n consequential or incidental damages. no license is granted by implication or otherwise under any patent or patent rights of sensonor . trademarks and registered trademarks are the property of their respective owners. sensonor products are not intended for any application in which the failure of the sensonor product could create a situation where personal injury or death may occur. should buyer purchase or use sensonor products for any such unintended or unauthorized application, buyer shall indemnify and h old sensonor and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonab le legal fees arising out of, directly or indirectly, any claim of personal injury or death associat ed with such unintended or unauthorized use, even if such claim alleges that sensonor was negligent regarding the design or manufacture of the part. sensonor as phone: +47 3303 5000 - fax: +47 3303 5005 sales@sensonor.com www.sensonor.com |
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