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2 

 

Table of contents

 

 
 
 

  1. GENERAL DESCRIPTION .................................................... 3

 

  2. FEATURES ............................................................................ 3

 

  3. HARDWARE OVERVIEW ...................................................... 4

 

  4. INTERNAL BLOCK DIAGRAM ............................................. 6

 

  5. REFERENCE SYSTEM .......................................................... 7

 

  6. MEASUREMENT UNITS........................................................ 8

 

  7. BLUETOOTH SETUP ............................................................ 9

 

  8. COMUNICATION PROTOCOL ............................................ 13

 

8.1.

 

B

ASIC 

C

OMMANDS

 ............................................................ 13

 

8.2.

 

P

ACKET 

D

ATA 

T

YPES

 ........................................................ 13

 

8.3.

 

C

ONFIGURATION 

C

OMMANDS

 ............................................ 16

 

8.4.

 

C

ONFIGURATION 

R

EGISTERS

 ............................................. 16

 

8.5.

 

C

ONFIGURATION 

P

ARAMETER 

A

CCESS

 .............................. 19

 

8.6.

 

R

EAL 

T

IME 

C

LOCK CONFIGURATION

 ................................... 21

 

8.7.

 

O

THER COMMANDS

 ........................................................... 22

 

  APPENDIX A.  FIRMWARE UPDATE ..................................... 23

 

  LEGACY FUNCTIONS ............................................................. 26

 

 

 
 

 

 

Summary of Contents for EXLs3

Page 1: ...EXLs3 rev09 051114 EXLs3 Miniature Wireless Inertial Measurement Unit USER GUIDE FIRMWARE REV 6 26 ...

Page 2: ... 7 6 MEASUREMENT UNITS 8 7 BLUETOOTH SETUP 9 8 COMUNICATION PROTOCOL 13 8 1 BASIC COMMANDS 13 8 2 PACKET DATA TYPES 13 8 3 CONFIGURATION COMMANDS 16 8 4 CONFIGURATION REGISTERS 16 8 5 CONFIGURATION PARAMETER ACCESS 19 8 6 REAL TIME CLOCK CONFIGURATION 21 8 7 OTHER COMMANDS 22 APPENDIX A FIRMWARE UPDATE 23 LEGACY FUNCTIONS 26 ...

Page 3: ... which allows data logging to CSV files and USB interface for file transfer The on board 32 bit CPU provide algorithms for orientation estimation with Kalman filtering in order to give high quality measurement The integrated rechargeable Litium battery allows continuous data acquisition and streaming up to 3 hours and can be recharged by means of a dedicated docking station 2 FEATURES Module size ...

Page 4: ...for battery recharging and data download The Docking station allows the sensor to be interfaced to a PC via USB cable for battery recharging and data log file transfer The IMU must be properly placed in the docking station as shown in the above picture For battery recharging is alternatively possible to connect the docking station to a standard 5V power supply equipped with micro USB connector The...

Page 5: ...dapter otherwise neither battery recharging nor USB hub will work The IMU is provided with a special holder which allows easy fixing to a Velcro strap or similar The IMU must be placed as shown in the following picture by sliding it in the holder gently until the body hooks in the retainer making sure the holder s lateral rails fit in the respective sensor s slots In case of gait analysis the hold...

Page 6: ...ta and are processed in order to calculate the orientation of the unit related to a earth reference frame in real time Compensated inertial data together with Orientation data are packed and sent wirelessly to the host PC a the desired sampling rate The produced stream can also be saved in the internal flash drive as standard CSV file in order to be retrieved afterwards via USB connection for off ...

Page 7: ...ion of the unit in the space is referred to an earth bound frame where X is pointing NORTH Y is pointing WEST Z is pointing UPWARDS The orientation of the sensor is given by a quaternion q0 q1 q2 q3 representing the rotation of the unit s body frame with respect to the earth frame Thus when the X axis of the sensor is pointing NORTH and Y axis is pointing WEST the output is the Identity Quaternion...

Page 8: ...ement units ACCELERATION a m sec2 Ka 𝐴𝑐𝑐 32768 SELECTED FULL SCALE RANGE Ka 2 g 2 x g 19 613 m sec 2 4 g 4 x g 39 227 m sec 2 8 g 8 x g 78 45 m sec 2 16 g 16 x g 156 91 m sec 2 This formula must be applied to each component AccX AccY and AccZ of the acceleration ANGULAR VELOCITY ω degree sec Kg 𝐺𝑦𝑟 32768 SELECTED FULL SCALE RANGE Kg 250 dps 250 dps 500 dps 500 dps 1000 dps 1000 dps 2000 dps 2000 d...

Page 9: ...egrees around the Z axis 0 0 1 results q0 cos 90 2 0 7071 q1 0 sin 90 2 0 q2 0 sin 90 2 0 q3 1 sin 90 2 0 7071 A rotation of 90 degrees around the Y axis 0 1 0 results q0 cos 90 2 0 7071 q1 0 sin 90 2 0 q2 1 sin 90 2 0 7071 q3 0 sin 90 2 0 The Identity Quaternion 1 0 0 0 indicates the unit s body frame X Y Z is aligned with the North West Up earth frame 7 BLUETOOTH SETUP The communication with the...

Page 10: ...s3 devices and you can select the one you want to pair After a few seconds up to 15 you should se a list of the available EXLs3 devices and you can select the one you want to pair Note for FW rev 6 26 the EXLs3 is seen as generic Bluetooth device instead of bluetooth headset ...

Page 11: ...right of your screen a notification of new COM port installation Ignore possible message of driver installation error depending on the extra profiles supported by your bluetooth dongle At the end of the process you should have the EXLs3 device added in the Devices and Printers group By double clicking the EXLs3 device on the window you can access the associated Properties ...

Page 12: ...u must take note of the COM number in the case above COM12 associated with the Standard Serial over Bluettoth Link function The identified COM port is the interface your host system will use to communicate with the EXLs3 device ...

Page 13: ...ART_STREAM 0x3D Use this command to start real time streaming of sampled and processed data to the controlling PC Byte 0 Byte1 0x3D 0x3D The sensor starts sending to the host the data sampled in real time with the format shown in the paragraph Packet Data Types STOP_STREAM Use this command to stop real time streaming Byte 0 Byte1 0x3A 0x3A The sensor responds with an acknowledge Byte0 0x01 8 2 Pac...

Page 14: ...component of the acceleration 16 bit 2 complement GYR_DATA angular velocity data packed as following Byte10 Byte11 Byte12 Byte13 Byte14 Byte15 GyrX_L GyrX_H GyrY_L GyrY_H GyrZ_L GyrZ_H GyrX_H GyrX_L X component of the angular rate 16 bit 2 complement GyrY_H GyrY_L Y component of the angular rate 16 bit 2 complement GyrZ_H GyrZ_L Z component of the angular rate 16 bit 2 complement MAG_DATA magnetic...

Page 15: ...g PACKET_TYPE register properly see the configuration register paragraph Every bit in the PACKET_TYPE register enable disable a different measurement However the field sequence in the packet is always derived from the generic AGMOB type by suppressing the unused field For instance the packet type AO has the following coding Byte0 Byte1 Byte2 Byte3 Byte4 Byte9 Byte10 Byte17 Byte18 0x20 PKT_TYPE PKT...

Page 16: ..._L Z component of the angular rate 16 bit 2 complement MAG_DATA magnetic field data packed as following Byte15 Byte16 Byte17 Byte18 Byte19 Byte20 MagX_L MagX_H MagY_L MagY_H MagZ_L MagZ_H MagX_H MagX_L X component of the magnetic field 16 bit 2 complement MagY_H MagY_L Y component of the magnetic field 16 bit 2 complement MagZ_H MagZ_L Z component of the magnetic field 16 bit 2 complement CHKSUM s...

Page 17: ...SRD 1 u8 Internal sensor divider reserved 0x38 PACKET_TYPE 1 u8 Output Packet type By setting the value of this register it is possible to indicate the information transported by the data packet when streaming or logging The following coding is used 1 0 0 B O M G A where each bit indicates if a specific measurement is enabled B Battery voltage O Orientation M Magnetometer G Gyroscope A Acceleromet...

Page 18: ...eing removed before starting streaming logging When the EXLs3 is put back in the docking station and the power supply is restored it stops streaming logging This behavior can be used to synchronize the start stop time of several sensors 0x02 continuous data logging when the EXLs3 is not powered by the docking station without start stop commands In this operating mode no Bluetooth connection is req...

Page 19: ...f the sensor is not in streaming mode WRITE_PARAMETERS Use this command to write one or more parameters to the sensor Byte0 Byte1 Byte2 Byte3 Byte4 Byte 4 N 1 Byte 4 N 0x64 N Add_L Add_H Buffer_data CHKSUM The sensor responds with an acknowledge Byte0 0x01 This command is only accepted if the sensor is not in sampling streaming mode The parameters change takes effect from the following sampling st...

Page 20: ...pe WriteParameter command 1 byte at address 0x38 value 0x02 OpCode Nbyte AddL AddH Value CHKSUM 0x64 0x01 0x38 0x00 0x02 0x9F Set ACC_FS at 16 g WriteParameter command 1 byte at address 0x34 value 0x03 OpCode Nbyte AddL AddH Value CHKSUM 0x64 0x01 0x34 0x00 0x03 0x9C Read SW_RELEASE ReadParameter command 16 byte at address 0x02 OpCode Nbyte AddL AddH CHKSUM 0x65 0x0F 0x02 0x00 0x76 The EXLs3 respo...

Page 21: ...DD HH mm SS CHKSUM YY Year 0 99 MM Month 1 12 DD Day 1 31 HH Hour 0 23 Mm Minute 0 59 SS second 0 59 The sensor responds with an acknowledge Byte0 0x01 This command is only accepted if the sensor is not in sampling streaming mode GET_CLOCK Use this command to GET the data and time from RTC Byte0 Byte1 0x6F 0x6F The sensor responds with Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 YY MM DD HH mm SS CH...

Page 22: ...values Byte0 Byte1 0x67 0x67 The sensor responds with an acknowledge Byte0 0x01 This command is only accepted if the sensor is not in sampling streaming mode NOTE This command does not reset the calibration parameters START_BOOTLOADER Use this command to start the bootloader at the next device s switching on Byte0 Byte1 Byte2 Byte4 0x80 0xBA 0xBA CHKSUM The device responds with an acknowledge Byte...

Page 23: ...lator but can be used with any similar program We are also assuming that the user already paired the device with the PC thus having a COM port corresponding to the device WARNING This operation should be done with care and at your own risk Be sure that the binary file you are going to load to the EXLs3 unit is provided by EXEL only If the firmware file is not correct your device can be damaged per...

Page 24: ...ence of C and wait the file to be uploaded 6 Select the file to send EXLs3_xxxx bin to the EXLs3 unit by choosing File Transfer Ymodem Send option WARNING only select trusted binary files provided by EXEL otherwise you can damage your product permanently 7 The file transfer take place ...

Page 25: ...n close the communication port by pressing File Disconnect 9 After the firmware transfer the EXLs3 unit should exit bootloader mode and the LED should turn green 10 It is advised you switch off and then switch on the EXLs3 unit before using it ...

Page 26: ...t number ranging from 0 to 255 CHECKSUM_XOR calculated as XOR of previous Bytes ACC_DATA acceleration data sub packed as following Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 AccX_L AccX_H AccY_L AccY_H AccZ_L AccZ_H AccX_H AccX_L X component of the acceleration 2 complement AccY_H AccY_L Y component of the acceleration 2 complement AccZ_H AccZ_L Z component of the acceleration 2 complement GYR_DATA angul...

Page 27: ...te18 Byte19 0x20 PKT_ID Pkt_count q0 q1 q2 q3 CHECKSUM_XOR Packet Header the first packet byte is always 0x20 PKT_ID the identifier for the packet type For the orientation data packet it s 0x0C PKT_COUNT progressive packet number ranging from 0 to 255 q0 q3 the orientation of the device expressed in quaternion form Each one of the components is a 32 bit floating point number in the IEEE 754 standa...

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