Arexx JM3-CG32 User guide

JM3-CG32

ASURO Compass / Gyro Module

ASURO Compass / Gyro Module

©2014 AREXX Engineering and JM3 Engineering

www.arexx.com

For latest updates check www.jm3-engineering.com!

AREXX Engineering & JM3 Engineering

Version: 1.03 Nov 1st, 2014 page: 1

Impressum

©2012-2014 AREXX Engineering

Nervistraat 16
8013 RS Zwolle
The Netherlands

Tel.: [phone]
Fax.: [phone]

This manual is protected by the laws of
Copyright. It is forbidden to copy all or part
of the contents without prior written
authorization!

Product specifications and delivery contents
are subject to changes. The manual is
subject to changes without prior notice.

You can find free updates of this manual on

http://www.arexx.com/

“ASURO” licensed by DLR and “AREXX” are registered trademarks from AREXX
Engineering.
All other trademark are the property of their owners. We are not responsible for
the contents of external web pages that are mentioned in this manual!

Information about limited warranty and responsibility

The warranty granted by AREXX Engineering is limited to the replacement or repair of the
Module and its accessories within the legal warranty period if the default has arisen from
production errors such as mechanical damage or missing or wrong assembly of electronic
components except for all components that are connected via plugs/sockets.
The warranty does not apply directly or indirectly to damages due to the use of the robot.
This excludes claims that fall under the legal prescription of product responsibility.

The warranty does not apply in case of irreversible changes (such as soldering of other
components, drilling of holes, etc.) of the module or its accessories or if the module is
damaged due to the disrespect of this manual!

It cannot be guaranteed that the supplied software will satisfy individual expectations or
will run completely error-free and without any interruption. Moreover the software can be
freely changed and is loaded into the unit by the user. Therefore the user carries the full
risk regarding the quality and performance of the unit including all software.
AREXX Engineering guarantees the functionality of the supplied application examples
provided the respect of the conditions specified in the data sheet. If the SAM-04-LAN or the
PC software turns out to be faulty or insufficient, the customer carries all costs for service,
repair or correction.
Please note the relevant license agreements on the CD-ROM!

The exclamation mark attracts the attention of the user to important
instructions that must be adhered to. If you make a mistake in this part, it
can lead eventually to the destruction of the robot or its accessories and
even endanger your health or that of your environment!

The "Information" symbol draws the attention to useful tips and tricks or
background information. It is not always essential to understand
everything but it is often very useful.

Symbols

The manual uses following symbols:

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Version: 1.03 Nov 1st, 2014 page: 2

Safety recommendations

IMPORTANT:

Prior to using this robot arm for the first time, please read this manual thoroughly up to the
end! They explain the correct use and inform you about potential dangers! Moreover they

contain important information that might not be obvious for all users.

- Check the polarity of the batteries or power supply.

- Keep all products dry, when the product gets wet remove the power directly.

- Remove the batteries or power when you are not using the product for a longer period.

- Before taking the module into operation, always check it and its cables for damage.

- If you have reason to believe that the device can no longer be operated safely,

disconnect it immediately and make sure it is not unintentionally operated.

- Do not operate the module in rooms or under unfavourable conditions.

- This module is equipped with highly sensitive components. Electronic components are
very sensitive to static electricity discharge. Only touch the module by the edges and
avoid direct contact with the components on the circuit board.

Normal use

This module is developed to use with robots, which allows you to determine basic behaviour patterns and reactions

of the robot to external influences yourself.

The module was developed as an experimental platform for all electronic technicians with interest in robotics. In

practical tests, it visualises the influence and effects of software parameters as well as physical parameters via the

corresponding sensor technology. Any use other than that described above is not permitted.

The product is not a toy and should be kept out of reach of children under 14 years of age! It may only be used in

closed, dry indoor rooms. The product must not get damp or wet. Use other than that described above can lead to

damage to the product and may involve additional risks such as short circuits, fire, electrical shocks etc.

Content

1. Impressum ................................................................................... 2

2. Safety recommendations ............................................................... 3

3. Introduction ................................................................................... 5

4. Manual ........................................................................................... 6

5. Schematic....................................................................................... 9

6. PCB Layout ..................................................................................... 9

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ASURO Robot

ASURO xTend with Compass / Gyro Module and Display

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Version: 1.03 Nov 1st, 2014 page: 4

Introduction

General purpose 3D accelerometer, 3D magnetometer and 3D gyroscope module for robots.
It can be directly plugged into the ASURO expansion port on the ASURO xTend board.

The sensor module is using the LSM9DS0 MEMS. It is a system-in-package featuring a 3D digital
linear acceleration sensor, a 3D digital angular rate sensor, and a 3D digital magnetic sensor.
The system can be configured to generate interrupt signals on dedicated pins and is capable of
motion and magnetic field detection.

Thresholds and timing of interrupt generators are programmable by the user. Magnetic,
accelerometer and gyroscope sensing can be enabled or set in power-down mode separately for
smart power management.

The differences between a gyro and an accelerometer is often not clear - here a clarification:

A gyroscope is very build to detect the rate of an angular rotation, but can’t detect an absolute

angle – but an accelerometer does!
The 3D accelerometer can determine the absolute angle of your robot, e.g. Roll and Pitch value

can be easily calculated by a microcontroller.
In addition you can calculate the vector of a collision impulse. This information can be used to

move around an obstacle.
A magnetometer detects the 3D magnetic earth field. It is very good in finding the magnetic north

pole for heading calculation.

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Manual

1. Connecting to ASURO xTend Board

The module will be simply plug in to the K3 connector on the ASURO xTend board. There is no
voltage regulator on the module. Attention a wrong voltage can damage the module!

1.1. PIN OUT Compass / Gyro Module

PIN 1 = VDD_3.3
PIN 2 = DENG
PIN 3 = INTG
PIN 4 = INT2
PIN 5 = INT1

PIN 6 = n/c
PIN 7 = SCA
PIN 8 = SCL
PIN 9 = DRDY
PIN 10 = GND

PIN1 Pin10

2. Software

The data access and initialization works over I2C Bus (for details on registers and functions refer to
the datasheet of the LSM9D0.
To enable the display function you have to make a change the Makefile - in the Global Defines section
you should have IOEXT_NAV defined.

# Global Defines
#
# Enable demo program for connected sensor module.

DEFINES = IOEXT_NAV

2.1. Writing to the Sensor

Principle way of writing data to I2C modules.

/**********************************************************************\

* write data to the sensor (generalized description)
\**********************************************************************/

master.TransmitBytes(I2C Addr, Register | AUTO_INC, Data Byte1, Data Byte2);

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2.2. Reading data from I2C

Principle way of reading data from I2C modules.

/**********************************************************************\
* read data from sensor (generalized description)
\**********************************************************************/

master.ReadRegisters(I2C Addr, Register | AUTO_INC, mBuffer, 6);

2.3. Initialization of the Sensor

inline void Initialize()

{
/******************************************************************\

* initialize gyro (generalized description)
* CTRL_REG1_G: 0011 1100b: Normal mode, Z-axis, DataRate = 95 Hz, Cut-Off 25
* CTRL_REG2_G: 0010 0000b: Normal mode, HP cout-off 7.2 Hz
* CTRL_REG3_G: 0000 0000b: default
* CTRL_REG4_G: 0000 0000b: continuous mode, little endian, 245 dps
* CTRL_REG5_G: 0000 0000b: default, no FIFO & INT
\*****************************************************************/

master.TransmitBytes(DGYRO, CTRL_REG1_G | AUTO_INC, 0x3C, 0x22);
master.TransmitBytes(DGYRO, CTRL_REG4_G, 0x00);

* initialize magnetometer and accelerometer
* reg address MSB is auto-increment
* power up sensor,enable x, y, z axis
* +/-2 gauss, update rate 3,125 Hz; +/- 2g, update rate 50 Hz
* all filter bypassed, Hpc = 512 Hz
* CTRL_REG0_XM: 0000 0000b: default
* CTRL_REG1_XM: 0111 0111b: accelerometer: continuous mode, no Blockupdate,
* update 200 Hz, enable x, y, z axis
* CTRL_REG2_XM: 1100 0000b: anit-alias 50Hz, +/- 2g, no self-test

* CTRL_REG4_XM: 0000 0000b: default
* CTRL_REG5_XM: 1110 1000b: enable Temp, high Res, update 50 Hz, noLatch
* CTRL_REG6_XM: 0000 0000b: +/- 2 gauss
* CTRL_REG7_XM: 1000 0000b: normal mode, continuous conversion
\******************************************************************/

master.TransmitBytes(MAGACC, CTRL_REG0_XM | AUTO_INC, 0x00, 0x77, 0xC0); // Reg0, 1, 2
master.TransmitBytes(MAGACC, CTRL_REG5_XM | AUTO_INC, 0xE8, 0x00, 0x80); // Reg5, 6, 7

}

/******************************************************************\

* CTRL_REG3_XM: 0000 0000b: default

2.4. Slave Addresses

MAGACC = 0x3A, // LSM9DS0 Magnetometer and Acceleration
DGYRO = 0xD6 // LSM9DS0 Gyro

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2.5. Register

Name

Slave Address

Type

Register address

Default

Hex

Binary

Reserved

DGYRO

--

00-0E

--

--

WHO_AM_I_G

DGYRO

r

0F

000 1111

11010100

Reserved

DGYRO

--

10-1F

--

--

CTRL_REG1_G

DGYRO

rw

20

010 0000

00000111

CTRL_REG2_G

DGYRO

rw

21

010 0001

00000000

CTRL_REG3_G

DGYRO

rw

22

010 0010

00000000

CTRL_REG4_G

DGYRO

rw

23

010 0011

00000000

CTRL_REG5_G

DGYRO

rw

24

010 0100

00000000

REFERENCE_G

DGYRO

rw

25

010 0101

00000000

Reserved

DGYRO

--

26

--

--

STATUS_REG_G

DGYRO

r

27

010 0111

output

OUT_X_L_G

DGYRO

r

28

010 1000

output

OUT_X_H_G

DGYRO

r

29

010 1001

output

OUT_Y_L_G

DGYRO

r

2A

010 1010

output

OUT_Y_H_G

DGYRO

r

2B

010 1011

output

OUT_Z_L_G

DGYRO

r

2C

010 1100

output

OUT_Z_H_G

DGYRO

r

2D

010 1101

output

FIFO_CTRL_REG_G

DGYRO

rw

2E

010 1110

00000000

FIFO_SRC_REG_G

DGYRO

r

2F

010 1111

output

INT1_CFG_G

DGYRO

rw

30

011 0000

00000000

INT1_SRC_G

DGYRO

r

31

011 0001

output

INT1_TSH_XH_G

DGYRO

rw

32

011 0010

00000000

INT1_TSH_XL_G

DGYRO

rw

33

011 0011

00000000

INT1_TSH_YH_G

DGYRO

rw

34

011 0100

00000000

INT1_TSH_YL_G

DGYRO

rw

35

011 0101

00000000

INT1_TSH_ZH_G

DGYRO

rw

36

011 0110

00000000

INT1_TSH_ZL_G

DGYRO

rw

37

011 0111

00000000

INT1_DURATION_G

DGYRO

rw

38

011 1000

00000000

Reserved

MAGACC

--

00-04

--

--

OUT_TEMP_L_XM

MAGACC

r

5

000 0101

output

OUT_TEMP_H_XM

MAGACC

r

6

000 0110

output

STATUS_REG_M

MAGACC

r

7

000 0111

output

OUT_X_L_M

MAGACC

r

8

000 1000

output

OUT_X_H_M

MAGACC

r

9

000 1001

output

OUT_Y_L_M

MAGACC

r

0A

000 1010

output

OUT_Y_H_M

MAGACC

r

0B

000 1011

output

OUT_Z_L_M

MAGACC

r

0C

000 1100

output

OUT_Z_H_M

MAGACC

r

0D

000 1101

output

Reserved

MAGACC

--

0E

000 1110

--

WHO_AM_I_XM

MAGACC

r

0F

000 1111

01001001

Reserved

MAGACC

--

10-11

--

--

INT_CTRL_REG_M

MAGACC

rw

12

001 0010

11101000

INT_SRC_REG_M

MAGACC

r

13

001 0011

output

INT_THS_L_M

MAGACC

rw

14

001 0100

00000000

INT_THS_H_M

MAGACC

rw

15

001 0101

00000000

OFFSET_X_L_M

MAGACC

rw

16

001 0110

00000000

OFFSET_X_H_M

MAGACC

rw

17

001 0111

00000000

OFFSET_Y_L_M

MAGACC

rw

18

001 01000

00000000

OFFSET_Y_H_M

MAGACC

rw

19

001 01001

00000000

OFFSET_Z_L_M

MAGACC

rw

1A

001 01010

00000000

OFFSET_Z_H_M

MAGACC

rw

1B

001 01011

00000000

REFERENCE_X

MAGACC

rw

1C

001 01100

00000000

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REFERENCE_Y

MAGACC

rw

1D

001 01101

00000000

REFERENCE_Z

MAGACC

rw

1E

001 01110

00000000

CTRL_REG0_XM

MAGACC

rw

1F

001 1111

00000000

CTRL_REG1_XM

MAGACC

rw

20

010 0000

00000111

CTRL_REG2_XM

MAGACC

rw

21

010 0001

00000000

CTRL_REG3_XM

MAGACC

rw

22

010 0010

00000000

CTRL_REG4_XM

MAGACC

rw

23

010 0011

00000000

CTRL_REG5_XM

MAGACC

rw

24

010 0100

00011000

CTRL_REG6_XM

MAGACC

rw

25

010 0101

00100000

CTRL_REG7_XM

MAGACC

rw

26

010 0110

00000001

STATUS_REG_A

MAGACC

r

27

010 0111

output

OUT_X_L_A

MAGACC

r

28

010 1000

output

OUT_X_H_A

MAGACC

r

29

010 1001

output

OUT_Y_L_A

MAGACC

r

2A

010 1010

output

OUT_Y_H_A

MAGACC

r

2B

010 1011

output

OUT_Z_L_A

MAGACC

r

2C

010 1100

output

OUT_Z_H_A

MAGACC

r

2D

010 1101

output

FIFO_CTRL_REG

MAGACC

rw

2E

010 1110

00000000

FIFO_SRC_REG

MAGACC

r

2F

010 1111

output

INT_GEN_1_REG

MAGACC

rw

30

011 0000

00000000

INT_GEN_1_SRC

MAGACC

r

31

011 0001

output

INT_GEN_1_THS

MAGACC

rw

32

011 0010

00000000

INT_GEN_1_DURATION

MAGACC

rw

33

011 0011

00000000

INT_GEN_2_REG

MAGACC

rw

34

011 0100

00000000

INT_GEN_2_SRC

MAGACC

r

35

011 0101

output

INT_GEN_2_THS

MAGACC

rw

36

011 0110

00000000

INT_GEN_2_DURATION

MAGACC

rw

37

011 0111

00000000

CLICK_CFG

MAGACC

rw

38

011 1000

00000000

CLICK_SRC

MAGACC

r

39

011 1001

output

CLICK_THS

MAGACC

rw

3A

011 1010

00000000

TIME_LIMIT

MAGACC

rw

3B

011 1011

00000000

TIME _LATENCY

MAGACC

rw

3C

011 1100

00000000

TIME_WINDOW

MAGACC

rw

3D

011 1101

00000000

Act_THS

MAGACC

rw

3E

011 1110

00000000

Act_DUR

MAGACC

rw

3F

011 1111

00000000

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3. Technical Data

VDD = 3.3 V +/- 5%
IDD ≤ 6.5 mA (typ.)
Temperature Range: -10 to 65 °C

Key Features of the LSM09D0:

 3 acceleration channels, 3 angular rate channels, 3 magnetic field channels
 ±2/±4/±6/±8/±16 g linear acceleration full scale
 ±2/±4/±8/±12 gauss magnetic full scale
 ±245/±500/±2000 dps angular rate full scale
 16-bit data output
 I2C serial interfaces <= 400 kHz
 Power-down mode / low-power mode
 Programmable interrupt generators
 Embedded self-test
 Embedded temperature sensor
 Embedded FIFO
 Position and motion detection functions
 Click/double-click recognition
 Intelligent power saving for handheld devices

For more details of the chip functionality please refer to the datasheet of the LSM9D0.

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4. Schematic

5. PCB

Top view:

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