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EVK-M9DR - User guide

UBX-21049360 - R01

Appendix

Page 20 of 32

C1-Public

The following CONFIG SET messages are generated for this configuration:

•

RR

: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x34 0x0c 0x00 0x00 0x00 0x00

0x00 0x10 0x64 0x00 0x39 0x01 0x41 0x58

•

RL

: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x38 0x0c 0x00 0x00 0x00 0x00

0x00 0x10 0x64 0x00 0x29 0x01 0x35 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.2.2

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 following CONFIG SET messages are generated for this configuration:

•

speed

: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x18 0x08 0x00 0x00 0x00

0x00 0xff 0x00 0xe8 0x03 0x4a 0x00 0xa7 0xc0

•

dir

: 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x08 0x02 0x00 0x00 0x00 0x00

0x03 0x00 0xe8 0x03 0x5f 0x00 0xaa 0x00

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Содержание EVK-M9DR

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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 ...

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

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

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

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

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

Страница 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...

Страница 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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