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EVK-M9DR - User guide

UBX-21049360 - R01

Related documents

Page 31 of 32

C1-Public

Related documents

[1]

NEO-M9V Datasheet, UBX-2102978

[2]

NEO-M9V Integration Manual, UBX-21029776

[3]

M9 MDR 2.10 Interface description, UBX-21036678

[4]

u-center user guide,

[5]

RealTerm Serial Terminal,

https://realterm.sourceforge.io/

[6]

Silicon Labs 8-bit Microcontroller Software,

https://www.silabs.com/products/development-

tools/software/8-bit-8051-microcontroller-software

[7]

Silicon Labs 8-bit USB Debug Adapter,

https://www.silabs.com/development-tools/mcu/8-bit/8-

bit-usb-debug-adapter

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Revision history

Revision

Date

Name

Status / Comments

R01

03-Feb-2022

jilm

Initial release

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Summary of Contents for EVK-M9DR

Page 1: ...m EVK M9DR Evaluation kit User guide Abstract This document describes the structure and use of the EVK M9DR evaluation kit and provides information for evaluating and testing the u blox M9 single band GNSS multi mode dead reckoning technology ...

Page 2: ... rights in the products names logos and designs included in this document Copying reproduction modification or disclosure to third parties of this document or any part thereof is only permitted with the express written permission of u blox The information contained herein is provided as is and u blox assumes no liability for its use No warranty either express or implied is given including but not ...

Page 3: ...Getting started 8 3 1 Installation 8 3 1 1 Mounting the device 8 3 1 2 Mounting the antenna 8 3 1 3 Connecting the cables 8 3 1 4 Configuring the receiver optional 8 3 2 Calibration 8 3 3 Testing 9 3 4 Analysis 9 4 Advanced setup 11 4 1 Non automotive applications 11 4 1 1 Configuring the dynamic model 11 4 1 2 Configuring the IMU alignment 11 4 2 ADR setup 11 4 2 1 Providing odometer input 11 4 2...

Page 4: ...onfiguration examples 18 B 1 Wheel tick configurations 18 B 1 1 Two rear wheel ticks and direction 18 B 1 2 Single tick and direction 19 B 2 Speed configurations 19 B 2 1 Two rear wheels and direction 19 B 2 2 Single speed 20 B 2 3 Signed speed 21 B 2 4 Offset speed 21 C Step by step example 22 D Schematic 25 Related documents 31 Revision history 31 Contact 32 ...

Page 5: ...n be used with a notebook or PC running the GUI driven u center application making it the perfect companion through all stages of evaluation and design in phases of projects 1 1 Highlights Multi constellation GNSS Multi mode dead reckoning MDR Configurable CAN interface Dedicated pins for wheel tick and direction inputs USB UART RS 232 connections Battery backed RAM BBR through micro USB Wake on M...

Page 6: ...e unit for connecting the antenna 2 4 14 pin front connector The connector and its signals are described in the table below Pin no Pin name I O Level Description 14 VIN 5 24V I 5 24 V Power input can be used in place of USB 13 GND Common ground pin for case work power and serial interface connections 12 CAN_H I Connect to the vehicle CAN high wire ISO 11898 2 11 CAN_L I Connect to the vehicle CAN ...

Page 7: ...5 0x55 at the baud rate of 9600 Wait for at least 100 milliseconds before the interface is ready to accept commands 2 7 I2C SPI slide switch The switch must be kept at the I2C position to ensure correct operation of the device Contact u blox technical support for assistance if required 2 8 LED On the front panel of the unit a single blue LED may be configured to follow the receiver time pulse sign...

Page 8: ...e ensure that the antenna has contact to a ground plane with a minimum of 100 150 mm diameter 3 1 3 Connecting the cables 1 Connect the GNSS antenna to the RF connector on the front panel of the device 2 Connect the device to a PC via USB 3 1 4 Configuring the receiver optional The default configuration of the MDR firmware is usable for basic automotive applications A custom configuration can be a...

Page 9: ...tion about sensor calibration 3 3 Testing The device is now ready for actual test drives For replaying and analyzing the test drives afterwards record the data into log files with u center To collect a proper log file with sufficient information do the following steps 1 Open u center 2 Select the device with Receiver Connection COMXX 3 Enable UBX messages according to what needs to be monitored 4 ...

Page 10: ...lic 2 Open a log using File Open 3 Use the log controls Figure 2 to play pause and move the current time in the log file 4 Open different views from the View menu Refer to the u center User guide 4 for more information about its features Figure 2 u center log controls ...

Page 11: ..._MNTALG_ENA 0 2 Set the roll angle with CFG SFIMU IMU_MNTALG_ROLL 3 Set the pitch angle with CFG SFIMU IMU_MNTALG_PITCH 4 Set the yaw angle with CFG SFIMU IMU_MNTALG_YAW Refer to the NEO M9V Integration manual 2 for determining the alignment angles 4 2 ADR setup Follow these instructions in addition to section 3 1 to set up the device for testing ADR 4 2 1 Providing odometer input ADR requires odo...

Page 12: ...FODO USE_WT_PIN to 1 B If using the CAN interface or the software interface the wheel tick pin must be disabled Set the value for key ID CFG SFODO USE_WT_PIN to 0 See chapter 5 for instructions on how to configure the CAN interface It is highly recommended to verify that the configuration is correct and to perform system sanity checks If the GNSS antenna is placed at a significant distance from th...

Page 13: ... the interface Communication with the MCU can be established via UART Connect the front connector pin SEL_MCU_N to ground to enable the MCU communication The MCU UART runs at baud rate 115200 The following messages are supported CONFIG GET Reports the current CAN configuration o Hex string 0x43 0xa2 0x10 0x00 0x10 0x20 CONFIG CLEAR Deletes the current CAN configuration o Hex string 0x43 0xa2 0x12 ...

Page 14: ...ce rear left rear right wheel etc Startbit index of the LSB of the value field within the CAN message Length the bit length of the value field Endianness Big endian Motorola or Little endian Intel Sign value is signed or unsigned Factor scaling factor representing the value of one bit in the selected unit Offset positive offset which shifts the zero point of the raw value Min Forward o Wheel tick ...

Page 15: ...IG SET message s in the MSG tool 4 3 Copy and paste a CONFIG SET message into the text field 4 4 Send the message by selecting the Send Numbers button The following dialog should be displayed when a configuration has been accepted When all configuration messages have been sent 4 5 Generate a CONFIG GET message 4 6 Send the CONFIG GET message 4 7 A dialog similar to the one shown below should be di...

Page 16: ...gramming Utilities software 6 and USB debug adapter for 8 bit MCUs 7 Follow these steps to flash the new firmware 1 Power up the device 2 Connect the debugger to the 10 pin rear connector 3 If using the Silicon Labs IDE a Select Debug Connect to connect the Debugger to the MCU b Select Debug Download object file and input the correct file to the opened window c Select Download to start the flashin...

Page 17: ...17 of 32 C1 Public Appendix A CAN termination The CAN bus is terminated by including the jumper circled in Figure 4 The jumper is included by default If the termination needs to be removed open the enclosure and remove the jumper Figure 4 Jumper circled ...

Page 18: ...s below Startbit Length Byte order Value type Factor Offset Min Max Unit Source 40 16 big endian unsigned 1 0 0 65535 tick RR 56 16 big endian unsigned 1 0 0 65535 tick RL 8 2 big endian unsigned 1 0 0 3 direction direction byte bit 7 6 5 4 3 2 1 0 0 1 msb lsb 2 3 4 msb 5 lsb 6 msb 7 lsb The following CONFIG SET messages are generated for this configuration RR 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x...

Page 19: ...k 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x20 0x10 0x00 0x00 0x00 0x00 0xff 0xff 0xe8 0x03 0x44 0x01 0xb1 0x68 dir 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x08 0x02 0x00 0x00 0x00 0x00 0x03 0x00 0xe8 0x03 0x5f 0x01 0xab 0x01 B 2 Speed configurations B 2 1 Two rear wheels and direction This configuration uses speed from two rear wheels and a separate direction signal ...

Page 20: ...01 B 2 2 Single speed This configuration uses a single speed signal and a separate direction signal The configuration entries are described in the tables below Startbit Length Byte order Value type Factor Offset Min Max Unit Source 24 8 little endian unsigned 1 0 0 255 mph combined 8 2 little endian unsigned 1 0 0 3 direction direction byte bit 7 6 5 4 3 2 1 0 0 1 msb lsb 2 3 msb lsb 4 5 6 7 The f...

Page 21: ...b 0x03 RL 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x34 0x10 0x00 0x00 0x00 0x80 0xff 0x7f 0x0a 0x00 0x29 0x03 0xcb 0xa3 B 2 4 Offset speed This configuration uses an offset speed signal from both rear wheels The configuration entries are described in the tables below Startbit Length Byte order Value type Factor Offset Min Max Unit Source 16 16 little endian unsigned 0 01 50 50 605 3...

Page 22: ...ect MDR 2 10 4 Update the receiver if necessary Tools Firmware Update Configuring the receiver Receiver configuration can be set with UBX CFG VALSET message and the appropriate configuration keys 1 Disable output messages on I2C MCU is connected to I2C o CFG I2COUTPROT UBX false o CFG I2COUTPROT NMEA false 2 Enable automatic alignment o CFG SFIMU AUTO_MNTALG_ENA true 3 Optional Enable priority nav...

Page 23: ...e MCU UART 4 Set baud rate to 115200 5 Restart the EVK 6 MCU startup dialog should appear in the terminal Generating the CONFIG SET strings with the MSG tool From section B 1 1 Startbit Length Byte order Value type Factor Offset Min Max Unit Source 40 16 big endian unsigned 1 0 0 65535 tick RR 56 16 big endian unsigned 1 0 0 65535 tick RL 8 2 big endian unsigned 1 0 0 3 direction direction ...

Page 24: ...8 0x03 0x34 0x01 0xa9 0xa8 RL 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x38 0x10 0x00 0x00 0x00 0x00 0xff 0xff 0xe8 0x03 0x24 0x01 0xa9 0x48 dir 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x08 0x02 0x00 0x00 0x00 0x00 0x03 0x00 0xe8 0x03 0x5f 0x01 0xab 0x01 Sending CONFIG SET strings to MCU 8 Open RealTerm 9 Select the Send tab 10 Copy and paste the rear right wheel tick ...

Page 25: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 25 of 32 C1 Public D Schematic The following pages include the complete schematic for the EVK M9DR board ...

Page 26: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 26 of 32 C1 Public ...

Page 27: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 27 of 32 C1 Public ...

Page 28: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 28 of 32 C1 Public ...

Page 29: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 29 of 32 C1 Public ...

Page 30: ...EVK M9DR User guide UBX 21049360 R01 Appendix Page 30 of 32 C1 Public ...

Page 31: ...ealterm sourceforge io 6 Silicon Labs 8 bit Microcontroller Software https www silabs com products development tools software 8 bit 8051 microcontroller software 7 Silicon Labs 8 bit USB Debug Adapter https www silabs com development tools mcu 8 bit 8 bit usb debug adapter For regular updates to u blox documentation and to receive product change notifications register on our homepage www u blox co...

Page 32: ...ional Office China Beijing Phone 86 10 68 133 545 E mail info_cn u blox com Support support_cn u blox com Regional Office China Chongqing Phone 86 23 6815 1588 E mail info_cn u blox com Support support_cn u blox com Regional Office China Shanghai Phone 86 21 6090 4832 E mail info_cn u blox com Support support_cn u blox com Regional Office China Shenzhen Phone 86 755 8627 1083 E mail info_cn u blox...

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