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x-IMU3 User Manual v0.11
April 6, 2022

Contents

Overview

Hardware

2.1

Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2

Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1

IP67 rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical specification

3.1

Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1

No battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2

With battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2

Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1

Gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2

Accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3

Magnetometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4

High-g accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5

Temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3

Data logger capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1

8 GB micro SD card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2

32 GB micro SD card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calibration

4.1

System clock and RTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2

Battery voltmeter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3

Inertial sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4

Magnetometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5

Calibration certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power button

LED

6.1

Wireless disabled (green)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2

Wi-Fi client (cyan) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3

Wi-Fi AP (magenta) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4

Bluetooth (blue) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5

Error (red) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6

Low battery and charging (orange) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7

User control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Data logger

7.1

Start and stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2

File name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3

File contents

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Communication protocol

8.1

Command messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1

Read setting command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.2

Write setting command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3

Default command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.4

Apply command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.5

Save command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.6

Read time command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.7

Write time command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.8

Ping command

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.9

Ping response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Summary of Contents for x-IMU3

Page 1: ...x IMU3 User Manual v0 11 April 6 2022 x IMU3 User Manual v0 11 April 6 2022 x io Technologies 1...

Page 2: ...2 4 2 Battery voltmeter 12 4 3 Inertial sensors 13 4 4 Magnetometer 13 4 5 Calibration certificate 13 5 Power button 14 6 LED 14 6 1 Wireless disabled green 14 6 2 Wi Fi client cyan 14 6 3 Wi Fi AP ma...

Page 3: ...2 14 Notification message 30 8 2 15 Error message 31 9 Sample rates message rates and timestamps 31 9 1 Sample rates 31 9 2 Message rates 32 9 3 Sample averaging 32 9 4 Timestamps 32 9 5 Synchronisat...

Page 4: ...41 11 1 42 Wi Fi AP key 41 11 1 43 Wi Fi AP channel 42 11 1 44 TCP port 42 11 1 45 UDP IP address 42 11 1 46 UDP send port 42 11 1 47 UDP receive port 42 11 1 48 Synchronisation enabled 43 11 1 49 Syn...

Page 5: ...al message rate divisor 49 11 1 77 Magnetometer message rate divisor 50 11 1 78 AHRS message rate divisor 50 11 1 79 High g accelerometer message rate divisor 51 11 1 80 Temperature message rate divis...

Page 6: ...on rejection Magnetic distortion rejection 400 Hz update rate Static accuracy 1 RMS inclination 2 RMS heading Communication USB CDC Serial 3 3V UART TCP Wi Fi UDP Wi Fi Bluetooth2 Wi Fi Client and AP...

Page 7: ...and locations of key components is available on the product web page 1 2 3 4 5 6 7 8 9 10 11 Figure 1 Board 1 Power button 2 USB C connector 3 LED 4 Serial header 5 High g accelerometer 6 Inertial se...

Page 8: ...rnational standard that describes the ability of the housing to protect against the ingress of solid particles and water The first digit 6 indicates complete protection against dust and solid particle...

Page 9: ...eristic Value Notes Operating discharging 20 C to 60 C 1 2 Operating charging 0 C to 45 C 1 2 3 Storage 20 C to 25 C Table 2 Temperature specification with battery Notes 1 The temperature of the devic...

Page 10: ...samples are averaged See Section 9 on page 31 for more information 3 The accuracy at 1 g is evaluated as the deviation of the measured magnitude of gravity for a 360 rotation around the X Y and Z axis...

Page 11: ...accuracy at 1 g is evaluated as the deviation of the measured magnitude of gravity for a 360 rotation around the X Y and Z axis aligned to the horizontal axis 4 Accuracy is specified for the calibrate...

Page 12: ...ent and propriety algorithms to calculate calibration parameters specific to each device These parameters are used by the calibration models described in the following sections to compensate for the c...

Page 13: ...of the magnetic field as measured by the magnetometer Soft iron calibration also accounts for magnetometer axis sensitivity inter axis misalignment and package misalignment Hard iron characteristics a...

Page 14: ...wise the device may be switched off unintentionally 6 LED The Light Emitting Diode LED indicates the mode and status of the device using different colours and flashing behaviours 6 1 Wireless disabled...

Page 15: ...ain solid Figure 5 Magenta LED indicating that the device is switched on and in Wi Fi AP mode 6 4 Bluetooth blue A blue LED as shown in Figure 6 on the next page indicates that the device is switched...

Page 16: ...indicating an error 6 6 Low battery and charging orange An orange LED as shown in Figure 8 on the next page indicates either a low battery the device is switched on or the charging status if the devic...

Page 17: ...automatically when a Universal Serial Bus USB host is connected or when a Hypertext Transfer Protocol HTTP client connects The data logger will start again when the USB host is disconnected or when th...

Page 18: ...message indicates the message type Command messages start with the character 0x7B in hex 123 in decimal Data messages start with either an uppercase character or a byte value greater than 0x80 128 in...

Page 19: ...r default command to apply settings immediately instead of after a two second delay Example apply null r n 8 1 5 Save command The save command is sent to the device to save all settings to Electricall...

Page 20: ...he device The key is reset and the value is null A reset is equivalent to switching the device off and then on again The device will reset two seconds after receiving this command Example reset null r...

Page 21: ...appened r n 8 1 16 Format command The format command is sent to the device to format the SD card The key is format and the value is null The command acknowledgement will not be sent until the format i...

Page 22: ...their default values the save command will succeed when the EEPROM Cyclic Redundancy Check CRC has failed and the erase command will be enabled Example factory null r n Warning Incorrect use of this c...

Page 23: ...ed by the byte stuffing process Hex Decimal Name Description 0x0A 10 END Message termination 0xDB 219 ESC Message escape 0xDC 220 ESC END Transposed message termination 0xDD 221 ESC ESC Transposed mes...

Page 24: ...gnetometer message The magnetometer message provides timestamped magnetometer measurements Magnetometer messages are sent continuously at the message rate configured in the device settings The first v...

Page 25: ...0 3 Quaternion Y element 0 4 Quaternion Z element 0 ASCII example Q 1000000 1 0000 0 0000 0 0000 0 0000 r n Binary example D1 40 42 0F 00 00 00 00 00 00 00 80 3F 00 00 00 00 00 00 00 00 00 00 00 00 0...

Page 26: ...xpressed to four decimal places The first byte of a binary message is 0xC1 equal to 0x80 A and the arguments are three contiguous 32 bit floats The message arguments are described in Table 17 Argument...

Page 27: ...0 00 00 00 00 00 00 00 00 00 00 00 0A 8 2 8 Earth acceleration message The Earth acceleration message provides timestamped measurements of Earth acceleration and the orientation of the device relative...

Page 28: ...s The message arguments are described in Table 20 Argument Description 1 High g accelerometer X axis in g 2 High g accelerometer Y axis in g 3 High g accelerometer Z axis in g Table 20 High g accelero...

Page 29: ...g status See Table 23 Table 22 Battery message arguments Charging status Description 0 Not connected 1 Charging 2 Charging complete Table 23 Charging status enumeration The following message examples...

Page 30: ...inated The first byte of a binary message is 0xD3 equal to 0x80 S and the argument is the unmodified received data The message arguments are described in Table 25 Argument Description 1 Received seria...

Page 31: ...ed The message arguments are described in Table 27 Argument Description 1 Error string Table 27 Notification message arguments The following message examples are for a timestamp of 1 second 1 000 000...

Page 32: ...tial message will be the average of 8 samples and the timestamp of the message will be that of the 8th sample 9 4 Timestamps The timestamp of a data message indicates the time at which a measurement w...

Page 33: ...Wi Fi AP mode battery number Battery percentage status number Charging status See Table 23 on page 29 Table 29 Network announcement message key value pairs Example sync 0 name x IMU3 serial 0123 4567...

Page 34: ...terSensitivity JSON value type number Default value 1 0 11 1 5 Gyroscope misalignment read only Description Gyroscope misalignment matrix in row major order used for inertial sensor calibration See Se...

Page 35: ...3 for more information JSON key accelerometerOffset JSON value type array of 3 numbers Default value 0 0 0 0 0 0 11 1 11 Soft iron matrix read only Description Soft iron matrix in row major order used...

Page 36: ...umbers Default value 0 0 0 0 0 0 11 1 16 Device name Description User defined device name up to 31 characters long JSON key deviceName JSON value type string Default value x IMU3 11 1 17 Serial number...

Page 37: ...SON value type number Default value 115200 11 1 23 Serial RTS CTS enabled Description Serial Request To Send RTS Clear To Send CTS enabled JSON key serialRtsCtsEnabled JSON value type true or false De...

Page 38: ...scription Configures the wireless mode The possible values are listed in Table 30 The current wireless mode is indicated by the LED colour See Section 6 on page 14 for more information Value Mode 0 Di...

Page 39: ...es are listed in Table 31 Value Region 1 United States US 2 Europe EU 3 Japan JP Table 31 Wi Fi regions JSON key wiFiRegion JSON value type number Default value 2 11 1 32 Wi Fi MAC address read only D...

Page 40: ...orrect channel The possible channels are listed in Table 32 Channel Band Notes 0 All channels 1 2 3 4 5 6 7 8 9 10 11 2 4 GHz 12 13 2 4 GHz Invalid for US 14 2 4 GHz Invalid for US and EU 36 40 44 48...

Page 41: ...CP is enabled JSON key wiFiClientGateway JSON value type string Default value 192 168 1 1 11 1 41 Wi Fi AP SSID Description Configures the SSID of the device in Wi Fi AP mode This is the name of the n...

Page 42: ...157 161 165 5 GHz Invalid for EU and JP Table 33 Wi Fi AP channels JSON key wiFiAPChannel JSON value type number Default value 36 11 1 44 TCP port Description TCP port JSON key tcpPort JSON value typ...

Page 43: ...th address JSON key bluetoothAddress JSON value type number Default value 0 11 1 51 Bluetooth name Description Configures the name of the device in Bluetooth mode The name may be up to 31 characters l...

Page 44: ...n Bluetooth address of the paired device JSON key bluetoothPairedAddress JSON value type number Default value 0 11 1 55 Bluetooth paired link key read only Description Bluetooth link key of the paired...

Page 45: ...unter enabled Description Data logger file name counter enabled JSON key dataLoggerFileNameCounterEnabled JSON value type true or false Default value false 11 1 60 Data logger max file size Descriptio...

Page 46: ...ith sensor X axis but pointing the opposite direction then alignment is Y X Z The possible values are listed in Table 35 Value Axes alignment 0 X Y Z 1 X Z Y 2 X Y Z 3 X Z Y 4 X Y Z 5 X Z Y 6 X Y Z 7...

Page 47: ...ue or false Default value false 11 1 66 AHRS acceleration rejection enabled Description AHRS acceleration rejection enabled JSON key ahrsAccelerationRejectionEnabled JSON value type true or false Defa...

Page 48: ...JSON value type true or false Default value true 11 1 71 TCP data messages enabled Description Enables true or disables false the sending of data messages for the TCP communication interface The send...

Page 49: ...x 2 Euler angles 3 Linear acceleration 4 Earth acceleration Table 36 AHRS message types JSON key ahrsMessageType JSON value type number Default value 0 11 1 76 Inertial message rate divisor Descriptio...

Page 50: ...ages s Table 38 Example magnetometer message rates JSON key magnetometerMessageRateDivisor JSON value type number Default value 1 11 1 78 AHRS message rate divisor Description Configures the AHRS mess...

Page 51: ...Table 40 Example high g accelerometer message rates JSON key highGAccelerometerMessageRateDivisor JSON value type number Default value 32 11 1 80 Temperature message rate divisor Description Configur...

Page 52: ...fault value 5 11 1 82 RSSI message rate divisor Description Configures the RSSI message rate as the fixed sample of 1 Hz divided by the the message rate divisor A message rate divisor of zero will dis...

Page 53: ...v0 11 April 6 2022 2 Switch the device off 3 Hold the power button for at least five seconds when switching the device on The LED will turn white while the firmware is updated This will take approxima...

Page 54: ...Communications Device Class CR Carriage Return 18 CRC Cyclic Redundancy Check 22 CSV Comma Separated Values 17 CTS Clear To Send 37 DFS Dynamic Frequency Selection DHCP Dynamic Host Configuration Pro...

Page 55: ...esponse 13 RGB Red Green Blue 20 RMS Root Mean Square RSSI Received Signal Strength Indicator 29 RTC Real Time Clock 12 RTS Request To Send 37 SD Secure Digital 13 SLIP Serial Line Internet Protocol 2...

Page 56: ...Add self test commands Add technical specification section Add message rates section Add axes alignment and data message setting descriptions v0 4 May 20 2020 Add Wi Fi setting descriptions Add Blueto...

Page 57: ...calibration section v0 11 Apr 06 2022 Use consistent numerical formatting in examples Add LED section Change serial accessory command key Update battery life in overview Add data logger capacity sect...

Page 58: ...omers and may be used for information purposes only x io Technologies assumes no liabilities or responsibilities for errors or omissions in this document This document may be changed at any time at x...

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