NGIMU Incwadi Yomsebenzisi
Inguqulelo 1.6
Ukukhutshwa koluntu

Uhlaziyo lwamaxwebhu
Olu xwebhu luhlaziywa ngokuqhubekayo ukuze lubandakanye ulwazi olongezelelweyo olucelwe ngabasebenzisi kunye neempawu ezintsha ezenziwe zifumaneke kwi-software kunye nohlaziyo lwe-firmware. Nceda ujonge i-x-io
Ubugcisa webindawo yenguqulelo yamva nje yolu xwebhu kunye nesixhobo se firmware.

Imbali yoguqulelo loxwebhu

Umhla	Uguqulelo loxwebhu	Inkcazo
Nge-13 kaJanuwari 2022	1.6	Umhla wokuqala wexesha le-NTP
16 Okt 2019	1.5	Hlaziya iifoto zebhodi kunye nezindlu zeplastiki
24 kaJulayi 2019	1.4	Hlaziya i-RSSI sampumyinge Susa ialtimeter njengophawu lwexesha elizayo Yongeza iiyunithi kumgca kunye neenkcazo zokukhawulezisa umhlaba Susa iprosesa kumyalezo wobushushu Yongeza isalathisi esisezantsi kwebhetri kwitheyibhile yokuziphatha kwe-LED
07 Nov 2017	1.3	Hlaziya ulwazi lweqhosha Yongeza icandelo lamagalelo e-analogue Misa imizobo yoomatshini kunye namakhonkco kwi webindawo Hlaziya inkcazo ye-LED ebonisa ubume bekhadi le-SD
Nge-10 kaJanuwari 2017	1.2	Yongeza iireyithi zokuthumela, sample rates, kunye namaxeshaamps icandelo Chaza ixesha le-OSC tag ngokweenkcukacha ezithe vetshe Yongeza icandelo lojongano oluncedisayo Yongeza isihlomelo sokudityaniswa kwemodyuli yeGPS
19 Okt 2016	1.1	Yongeza inkcazo ye-LED ebonisa umsebenzi wekhadi le-SD Lungisa impazamo yombhalo osemazantsi ngaphezuluview icandelo
Nge-23 kaSeptemba 2016	1.0	Bonisa ukuba iqhosha kufuneka libanjwe isiqingatha sesibini ukuze livule Hlaziya inkcazo yengxabano ye-OSC yokulayisha ngaphezulu Bandakanya ipesentitage kumyalezo weRSSI Hlaziya ifoto yendlu yeplastiki kunye nomzobo oomatshini Yongeza i-AHRS yokuqala kunye nemiyalelo enguziro Yongeza umyalezo wokuphakama
19 Meyi 2016	0.6	Yongeza umyalelo we-echo Yongeza umyalezo weRSSI Yongeza umyalezo wobukhulu
nge29 kuMatshi 2016	0.5	Yongeza icandelo leprothokholi yonxibelelwano Igalelo le-analogu elichanekileyo voltagUluhlu ukuya kwi-3.1 V Hlaziya icandelo le-LED Hlaziya umfanekiso webhodi Hlaziya ifoto yendlu yeplastiki Hlaziya umzobo womatshini webhodi

19 Nov 2015	0.4	Hlaziya ifoto kunye nomzobo womatshini weprototype yamva nje yezindlu zeplastiki Bandakanya umzobo womatshini webhodi
30 Jun 2015	0.3	Iitafile ezichanekileyo ze-pinout Phawula isikhonkwane soku-1 kwifoto enenkcazo yebhodi
9 Jun 2015	0.2	Bandakanya ifoto kunye nomzobo womatshini wezindlu zeplastiki zamva nje Iitafile ezincinci azohlulwanga kumaphepha
12 Meyi 2015	0.1	Ifoto ehlaziyiweyo yeprototype yezindlu zeplastiki
10 Meyi 2015	0.0	Ukukhutshwa kokuqala

Ngaphezuluview

I-Next Generation IMU (NGIMU) yi-IMU edibeneyo kunye neqonga lokufumana idatha edibanisa i-sensors ye-onboard kunye ne-algorithms yokucubungula idatha kunye noluhlu olubanzi lwe-interfaces zonxibelelwano ukudala iqonga eliguquguqukayo elifaneleke ngokufanelekileyo kwi-real-time kunye ne-data-logging applications.
Isixhobo sinxibelelana sisebenzisa I-OSC kwaye ke iyahambelana ngokukhawuleza nezicelo ezininzi zesoftware kwaye ithe ngqo ukudibanisa neenkqubo zesiko kunye namathala eencwadi akhoyo kwiilwimi ezininzi zokucwangcisa.

1.1. Izinzwa zebhodi kunye nokufumana idatha

• I-gyroscope ye-Triple-axis (± 2000 ° / s, 400 Hz sampIxabiso)
• I-accelerometer ye-Triple-axis (± 16g, 400 Hz sampIxabiso)
• Imagnethi-axis kathathu (±1300 µT)
• Uxinzelelo lweBarometric (300-1100 hPa)
• Ukufuma
• Ubushushu1
• Ibhetri ivoltage, okwangoku, ipesentitage, kunye nexesha eliseleyo
• Amagalelo e-analogue (amajelo asi-8, 0-3.1 V, 10-bit, 1 kHz sampIxabiso)
• I-serial encedisayo (i-RS-232 ehambelanayo) ye-GPS okanye i-electronics / sensors yesiko
• Iwotshi yexesha langempela kunye

1.2. Ukusetyenzwa kwedatha ebhodini

• Zonke izixhobo zoluvo zilinganisiwe
• I-AHRS fusion algorithm ibonelela ngomlinganiselo wokuqhelaniswa noMhlaba njengequaternion, i-rotation matrix, okanye i-engile ye-Euler
• I-AHRS fusion algorithm ibonelela ngomlinganiselo wokukhawulezisa ngomgama
• Yonke imilinganiselo inamaxeshaamped
• Ungqamaniso lwamaxeshaamps kuzo zonke izixhobo kwinethiwekhi ye-Wi-Fi2

1.3. Unxibelelwano lonxibelelwano

• i-USB
• Uthotho (RS-232 iyahambelana)
•  I-Wi-Fi (802.11n, 5 GHz, i-eriyali eyakhelwe-ngaphakathi okanye yangaphandle, i-AP okanye imo yomthengi)
• Ikhadi le-SD (iyafikeleleka njenge-drive yangaphandle nge-USB)

1.4. Ulawulo lwamandla

• Amandla avela kwi-USB, unikezelo lwangaphandle okanye ibhetri
• Ukutshaja ibhetri nge-USB okanye unikezelo lwangaphandle
• Isibali-xesha sokulala

I-1I-thermometers ebhodini isetyenziselwa ukulinganisa kwaye ayijoliswanga ukunika umlinganiselo ochanekileyo wobushushu be-ambient.
2 Ungqamaniso lufuna ihardware eyongezelelweyo (irutha yeWi-Fi kunye nenkosi yongqamaniso).

• Ukuvusa intshukumo
• Isibali-xesha sokuvuka
• 3.3 Ubonelelo lweV kubasebenzisi be-elektroniki (500 mA)

1.5. Iimpawu zeSoftware

• Open-source GUI kunye API (C #) for Windows
• Qwalasela useto lwesixhobo
• Yila idatha yexesha lokwenyani
• Ngena idatha yexesha lokwenyani file (CSV file ifomathi yokusetyenziswa nge-Excel, MATLAB, njl.
• Ugcino kunye nezixhobo zokulinganisa Impazamo! Ibhukhimaki ayichazwanga.

Hardware

2.1. Iqhosha lamandla
Iqhosha lamandla lisetyenziswa ikakhulu ukuvula nokucima isixhobo (imo yokulala). Ukucofa iqhosha ngelixa isixhobo sicinyiwe kuya kuyivula. Ukucofa kunye nokubamba iqhosha kwimizuzwana emi-2 ngelixa livuliwe kuya kulicima.
Iqhosha linokusetyenziswa njengomthombo wedatha ngumsebenzisi. Isixhobo siyakuthumela amaxeshaamped umyalezo weqhosha lonke ixesha iqhosha licofa. Oku kunokubonelela ngegalelo lomsebenzisi eliluncedo kwizicelo zexesha lokwenyani okanye indlela eluncedo yokuphawula iziganeko xa kugawulwa idatha. Jonga iCandelo 7.1.1 ngolwazi oluthe vetshe.

2.2. Ii-LEDs
Ibhodi inezikhombisi ze-5 ze-LED. I-LED nganye inombala owahlukileyo kwaye inendima ezinikeleyo. Uluhlu loku-1 ludwelisa indima kunye nokuziphatha okuhambelanayo kwi-LED nganye.

Umbala	Ibonisa	Ukuziphatha
Mhlophe	Ubume be-Wi-Fi	Cimile -Wi-Fi ivaliwe Ukudanyaza okucothayo (1 Hz) – Ayidityaniswanga Ukudanyaza ngokukhawuleza (5 Hz) -Iqhagamshelwe kwaye ilinde idilesi ye-IP Iqinile -Iqhagamshelene kwaye idilesi ye-IP ifunyenwe
Luhlaza	-	-
Luhlaza	Ubume besixhobo	Ibonisa ukuba isixhobo sivuliwe. Iza kuqhwanyaza ngalo lonke ixesha iqhosha licofa okanye kufunyanwa umyalezo.
Lubhelu	Isimo sekhadi le-SD	Cimile - Akukho khadi le-SD likhoyo Ukudanyaza okucothayo (1 Hz) -Ikhadi le-SD likhona kodwa alisebenzi Iqinile -Ikhadi le-SD likhoyo kunye nokungena kuyaqhubeka
Bomvu	Ukutshaja ibhetri	Cimile – Itshaja ayiqhagamshelwanga Iqinile – Itshaja iqhagamshelwe kwaye iyatshaja Ukudanyaza (0.3 Hz) -Itshaja iqhagamshelwe kwaye itshaja igqityiwe Ukudanyaza ngokukhawuleza (5 Hz) -Itshaja ayiqhagamshelwanga kwaye ibhetri ingaphantsi kwe-20%

Itheyibhile 1: Ukuziphatha kwe-LED

Ukuthumela umyalelo wokuchonga kwisixhobo kuya kubangela ukuba zonke ii-LED zikhanyise ngokukhawuleza imizuzwana emi-5.
Oku kunokuba luncedo xa uzama ukuchonga isixhobo esithile phakathi kweqela lezixhobo ezininzi. Jonga iCandelo 7.3.6 ngolwazi oluthe vetshe.
Ii-LEDs zinokucinywa kuseto lwesixhobo. Oku kunokuba nokusetyenziswa kwizicelo apho ukukhanya okuvela kwii-LEDs kungafunekiyo. Umyalelo wokuchonga usenokusetyenziswa xa ii-LED zivaliwe kwaye i-LED eluhlaza iya kube isaqhwanyaza ngalo lonke ixesha iqhosha licofa. Oku kuvumela umsebenzisi ukuba ajonge ukuba isixhobo sivuliwe ngelixa ii-LED zivaliwe.

2.3. I-pinout yesiriyali encedisayo
Itheyibhile 2 idwelisa ipinout yesiqhagamshelanisi esincedisayo. I-Pin 1 iphawulwe ngokwasemzimbeni kwikhonkco ngotolo oluncinci, jonga uMzobo 1.

Iphini	Isalathiso	Igama
1	N / A	Umhlaba
2	Isiphumo	RTS
3	Isiphumo	Imveliso ye-3.3 V
4	Igalelo	RX
5	Isiphumo	TX
6	Igalelo	CTS

Itheyibhile 2: Iphinikhodi yesiqhagamshelanisi esincedisayo

2.4. Uthotho pinout
Itheyibhile 3 idwelisa uthotho lokuqhagamshelwa kwepinout. I-Pin 1 iphawulwe ngokwasemzimbeni kwikhonkco ngotolo oluncinci, jonga uMzobo 1.

Iphini	Isalathiso	Igama
1	N / A	Umhlaba
2	Isiphumo	RTS
3	Igalelo	5 V igalelo
4	Igalelo	RX
5	Isiphumo	TX
6	Igalelo	CTS

Itheyibhile 3: Uthotho loqhagamshelo pinout

2.5. Amagalelo e-analogue pinout
Itheyibhile yesi-4 idwelisa amagalelo e-analogue ipinout yesiqhagamshelanisi. I-Pin 1 iphawulwe ngokwasemzimbeni kwikhonkco ngotolo oluncinci, jonga uMzobo 1.

Iphini	Isalathiso	Igama
1	N / A	Umhlaba
2	Isiphumo	Imveliso ye-3.3 V
3	Igalelo	Itshaneli ye-analogue 1
4	Igalelo	Itshaneli ye-analogue 2
5	Igalelo	Itshaneli ye-analogue 3
6	Igalelo	Itshaneli ye-analogue 4
7	Igalelo	Itshaneli ye-analogue 5
8	Igalelo	Itshaneli ye-analogue 6
9	Igalelo	Itshaneli ye-analogue 7
10	Igalelo	Itshaneli ye-analogue 8

Itheyibhile 4: I-analogue input connector pinout

2.6. Amanani enxalenye yesinxibelelanisi
Zonke iziqhagamshelo zebhodi ziyi-1.25 mm pitch Molex PicoBlade™ Headers. Itheyibhile 5 idwelisa inani lelungu ngalinye elisetyenzisiweyo ebhodini kunye namanani acetyisiweyo eenxalenye ezihambelanayo zokuxhuma.
Isidibanisi ngasinye sokukhwelana sidalwa ukusuka kwinxalenye yezindlu zeplastiki kunye neengcingo ezimbini okanye ngaphezulu.

Isidibanisi sebhodi	Inombolo yendawo	Inombolo yenxalenye yokukhwelana
Ibhetri	Intloko ye-Molex PicoBlade™, iNtaba yoMphezulu, i-Engle yasekunene, indlela emi-2, i-P/N: 53261-0271	I-Molex PicoBlade ™ iZindlu, ibhinqa, i-2- way, P/N: 51021-0200 I-Molex Pre-Crimped Lead eSingle-Ended PicoBlade™ Female, 304mm, 28 AWG, P/N: 06-66-0015 (×2)
Uthotho oluncedisayo / Uthotho	Intloko ye-Molex PicoBlade™, iNtaba yoMphezulu, i-Engle yasekunene, indlela emi-6, i-P/N: 53261-0671	I-Molex PicoBlade ™ iZindlu, ibhinqa, i-6- way, P/N: 51021-0600 I-Molex Pre-Crimped Lead eSingle-Ended PicoBlade™ Female, 304mm, 28 AWG, P/N: 06-66-0015 (×6)
Igalelo le-Analog	Intloko ye-Molex PicoBlade™, iNtaba yoMphezulu, i-Engle yasekunene, indlela emi-10, i-P/N: 53261-1071	I-Molex PicoBlade ™ iZindlu, ibhinqa, i-10- way, P/N: 51021-1000 I-Molex Pre-Crimped Lead eSingle-Ended PicoBlade™ Female, 304mm, 28 AWG, P/N: 06-66-0015 (×10)

Itheyibhile 5: Amanani eenxalenye zesinxibelelanisi sebhodi

2.7. Imilinganiselo yebhodi
INYATHELO LE-3D file kunye nomzobo womatshini ochaza yonke imilinganiselo yebhodi iyafumaneka kwi-x-io
Ubugcisa webindawo.

Izindlu zeplastiki

Indlu yeplastiki ivale ibhodi ngebhetri ye-1000 mAh. Izindlu zibonelela ngokufikelela kuzo zonke iindawo zebhodi kwaye ziguquguqukayo ukuze izikhombisi ze-LED zibonakale. Umzobo 3 ubonisa ibhodi ehlanganiswe nebhetri ye-1000 mAh kwizindlu zeplastiki.

Umzobo 3: Ibhodi idityaniswe nebhetri ye-1000 mAh kwindlu yeplastiki
INYATHELO LE-3D file kunye nomzobo womatshini ochaza yonke imilinganiselo yezindlu iyafumaneka kwi-x-io Technologies webindawo.

Igalelo le-Analog

I-analogue inputs interface isetyenziselwa ukulinganisa umthamotages kwaye ufumane idatha evela kuluvo lwangaphandle olubonelela ngemilinganiselo njenge-analogue voltage. UmzekeloampI-le, i-sensor yamandla echasayo inokucwangciswa kwisekethe enokubakho yesahluli ukubonelela ngemilinganiselo yamandla njenge-analogue vol.tage. IVoltagimilinganiselo ithunyelwa sisixhobo njengamaxeshaamped imiyalezo ye-analogue njengoko ichaziwe kwiCandelo 7.1.13.
I-analogue inputs pinout ichazwe kwiCandelo 2.3, kwaye iinombolo zenxalenye yesihlanganisi sokukhwelana zidweliswe kwiCandelo 2.6.

4.1. Ubalulo lwamagalelo e-analogue

• Inani lamajelo: 8
• Isisombululo se-ADC: 10-bit
• SampumyingeI-1000 Hz
• UmqulutagUluhlu: 0 V ukuya kwi-3.1 V

4.2. 3.3 V imveliso yokubonelela
I-analogue input interface ibonelela ngemveliso ye-3.3 V enokuthi isetyenziswe ukunika amandla i-electronics yangaphandle. Le mveliso iyacinywa xa ifowuni ingena kwimo yokulala ukuthintela umbane wangaphandle ekukhupheni ibhetri xa ifowuni ingasebenzi.

Ujongano lweserial oluncedisayo

I-axiliary serial interface isetyenziselwa ukunxibelelana ne-electronics yangaphandle ngokusebenzisa uxhumano lwe-serial.
Umzekeloample, iSihlomelo A sichaza indlela imodyuli ye-GPS inokudityaniswa ngayo ngokuthe ngqo kwi-interface ye-serial encedisayo yokungena kunye nokuhambisa idatha ye-GPS ecaleni kwedatha ye-sensor ekhoyo. Ngaphandle koko, i-microcontroller exhunywe kwi-interface ye-serial encedisayo ingasetyenziselwa ukongeza i-input-purpose/output performance.
I-pinout ye-serial interface encedisayo ichazwe kwiCandelo le-2.3, kwaye iinombolo zenxalenye yesixhumi sokukhwelana zidweliswe kwiCandelo 2.6.

5.1. Iinkcazo zesiriyeli ezincedisayo

• Umlinganiselo weBaud: 7 bps ukuya kwi-12Mbps
• Ulawulo lokuhamba kwehardware ye-RTS/CTS: yenziwe/yayicinywa
• Guqulela imigca yedatha (yokuhambelana kweRS-232): yenziwe/yayicinywa
• Idatha: 8-bit (akukho qela)
• Misa amasuntswana: 1
• Umqulutage: 3.3 V (amagalelo ayanyamezela kwi-RS-232 voltages)

5.2. Ukuthumela idatha
Idatha ithunyelwa ukusuka kujongano oluncedisayo lwesiririya ngokuthumela umyalezo wedatha oncedisayo
isixhobo. Jonga iCandelo 7.1.15 ngolwazi oluthe vetshe.
5.3. Ukufumana idatha
Idatha efunyenwe yi-axiliary serial interface ithunyelwa sisixhobo njengomyalezo wedatha oncedisayo njengoko kuchaziwe kwiCandelo 7.2.1. Ii-bytes ezifunyenweyo zigcinwe ngaphambi kokuba zithunyelwe kunye ngomyalezo omnye xa enye yale miqathango ilandelayo ifezekisiwe:

• Inani le-bytes ezigcinwe kwisithinteli sihambelana nobungakanani be-buffer
• Akukho zibhayithi zifunyenwe ngaphezu kwexesha lokuvala
• Ulwamkelo lwe-byte elingana nonobumba oqulunqayo

Ubungakanani be-buffer, ixesha lokuphuma, kunye nohlobo lokusakhelo lunokulungelelaniswa kuseto lwesixhobo. UmzekeloampUkusetyenziswa kwezi setingi kukucwangcisa uphawu lokuqulunqa kwixabiso lomsebenzi womgca omtsha ('\n', ixabiso lokugqibela 10) ukuze umtya ngamnye we-ASCII, upheliswe ngunobumba womgca omtsha, ofunyenwe ngomncedisi wojongano lwesiririya. ithunyelwa njengexesha elahlukileyo-stampumyalezo we-ed.
5.4. Ukuphumelela kwe-OSC
Ukuba i-OSC i-passthrough mode ivuliwe ngoko i-serial interface ye-serial ayisayi kuthumela kwaye ifumane ngendlela echazwe kumaCandelo 5.2 kunye ne-5.3. Endaweni yoko, ujongano oluncedisayo lweserial luya kuthumela kwaye lufumane iipakethi ze-OSC ezifakwe kwiikhowudi njengeepakethi zeSLIP. Umxholo we-OSC ofunyenwe yi-interface ye-serial encedisayo ithunyelwa kuwo onke amajelo onxibelelwano asebenzayo njengexeshaamped OSC inyanda. Imiyalezo ye-OSC efunyenwe ngalo naliphi na ijelo lonxibelelwano elisebenzayo elingaqatshelwanga liya kuthunyelwa kujongano oluncedisayo lothotho. Oku kuvumela unxibelelwano oluthe ngqo kunye neqela lesithathu kunye nezixhobo ze-OSC ezisekelwe kwi-serial ngokusebenzisa imiyalezo ethunyelwe kwaye efunyenwe ecaleni kwetrafikhi ye-OSC ekhoyo.
I-NGIMU Teensy I/O Expansion Example ibonisa indlela iTeensy (i-microcontroller ehambelana ne-Arduino) exhunywe kwi-interface ye-serial encedisayo ingasetyenziselwa ukulawula ii-LED kunye nokubonelela ngedatha yenzwa usebenzisa i-OSC imodi yokudlula.

5.5. RTS/CTS ulawulo lokuhamba kwehardware
Ukuba ulawulo lokuqukuqela kwehardware ye-RTS/CTS alwenziwanga lusebenze kwisethingi yesixhobo ngoko ke igalelo leCTS kunye nemveliso ye-RTS inokulawulwa ngesandla. Oku kubonelela ngegalelo kunye nemveliso yedijithali yenjongo ngokubanzi enokuthi isetyenziswe ukudibana nombane wangaphandle. Umzekeloample: ukubona ukucofa iqhosha okanye ukulawula i-LED. Imo yemveliso ye-RTS isetwa ngokuthumela umyalezo we-RTS oncedisayo kwisixhobo njengoko kuchaziwe kwiCandelo 7.2.2. A amaxeshaampUmyalezo oncedisayo we-CTS uthunyelwa sisixhobo ngalo lonke ixesha igalelo leCTS lichaza utshintsho njengoko kuchaziwe kwiCandelo 7.1.16.

5.6. 3.3 V imveliso yokubonelela
I-axiliary serial interface ibonelela ngemveliso ye-3.3 V enokusetyenziswa ukunika amandla i-electronics yangaphandle. Le mveliso iyacinywa xa ifowuni ingena kwimo yokulala ukuthintela umbane wangaphandle ekukhupheni ibhetri xa ifowuni ingasebenzi.

Thumela amaxabiso, sample rates, kunye namaxeshaamps

Useto lwesixhobo luvumela umsebenzisi ukuba achaze ireyithi yokuthumela yohlobo lomyalezo ngamnye womlinganiselo, umzekeloample, abenzi boluvo umyalezo (iCandelo 7.1.2), umyalezo quaternion (Icandelo 7.1.4), etc. Ireyithi yokuthumela ayinasiphumo kwi sampireyithi yemilinganiselo ehambelanayo. Yonke imilinganiselo ifunyenwe ngaphakathi kwi-fixed sample mazinga adweliswe kwiThebhile 6. Amaxeshaamp kumlinganiselo ngamnye wenziwa xa i-sample ifunyenwe. Amaxeshaamp ke ngoko ngumlinganiselo othembekileyo, ozimeleyo kwi-latency okanye i-buffering ehambelana nomjelo onikiweyo wothutho.

Umlinganiselo	SampIreyithi
IGyroscope	400 Hz
I-Accelerometer	400 Hz
Imagnethimitha	20 Hz
Uxinzelelo lweBarometric	25 Hz
Ukufuma	25 Hz
Ubushushu beprosesa	1 kHz
Gyroscope kunye nobushushu be-accelerometer	100 Hz
Ubushushu boluvo lokusingqongileyo	25 Hz
Ibhetri (ipesentitage, ixesha lokukhupha, voltage, okwangoku)	5 Hz
Igalelo le-Analog	1 kHz
I-RSSI	2 Hz

Uluhlu 6: I-s esisigxina yangaphakathiampiirhafu

Ukuba umyinge wokuthumela ochaziweyo mkhulu kuno-sampireyithi yomlinganiso womlinganiso ke imilinganiselo iya kuphindwa ngaphakathi kwemiyalezo emininzi. Imilinganiselo ephindaphindiweyo inokuchongwa njengamaxesha aphindaphindiweyoamps. Kuyenzeka ukuba ucacise amaxabiso okuthumela adlula i-bandwidth yomjelo wonxibelelwano. Oku kuya kubangela ukuba imiyalezo ilahleke. Amaxeshaamps kufuneka isetyenziswe ukuqinisekisa ukuba inkqubo yokufumana yomelele kwimiyalezo elahlekileyo.

Inkqubo yonxibelelwano

Lonke unxibelelwano lufakwe ngekhowudi njenge-OSC. Idatha ethunyelwe nge-UDP isebenzisa i-OSC ngokwe-OSC v1.0 yokucaciswa. Idatha esetiwe nge-USB, i-serial okanye ebhaliweyo kwikhadi le-SD i-OSC ekhowudiweyo njengepakethe ze-SLIP ngokwe-OSC v1.1. Ukuphunyezwa kwe-OSC kusebenzisa ezi lula zilandelayo:

• Imiyalezo ye-OSC ethunyelwe kwisixhobo inokusebenzisa iindidi zeengxoxo zamanani (int32, float32, int64, ixesha le-OSC tag, 64-bit kabini, uphawu, boolean, nil, okanye Infinitum) ngokutshintshanayo, kunye neblob kunye neentlobo zengxabano yomtya ngokutshintshanayo.
• Iipateni zedilesi ye-OSC ethunyelwe kwisixhobo ayinakuqulatha nawaphi na amagama akhethekileyo: '?', '*', '[]', okanye '{}'.
• Imiyalezo ye-OSC ethunyelwa kwisixhobo inokuthunyelwa ngaphakathi kweebhandle ze-OSC. Nangona kunjalo, ukucwangciswa komyalezo akuyi kuhoywa.

7.1. Idatha evela kwisixhobo
Yonke idatha ethunyelwe kwisixhobo ithunyelwa njengexeshaampi-ed OSC bundle equlathe umyalezo omnye we-OSC.
Yonke imiyalezo yedatha, ngaphandle kweqhosha, i-axiliary serial kunye ne-serial messages, ithunyelwa ngokuqhubekayo ngemilinganiselo yokuthumela echazwe kwisethingi yesixhobo.
Amaxeshaamp ye-OSC bundle lixesha le-OSC tag. Eli linani le-64-bit esisigxina. Amasuntswana angama-32 okuqala achaza inani lesekondi ukusukela ngo-00:00 nge-1 kaJanuwari, 1900, kunye neebhithi ezingama-32 zokugqibela zicacisa iinxalenye zesekondi ukuya kokuchaneka malunga neepicoseconds ezingama-200. Olu luphawu olusetyenziswa yi-Intanethi ye-NTP amaxeshaamps. Ixesha le-OSC tag inokuguqulwa ibe kwixabiso lokugqibela lemizuzwana ngokuqala ngokutolika ixabiso njenge-64-bit engabhalwanga inani elipheleleyo kwaye ke ngoko ukwahlula-hlula eli xabiso ngo-2 32. Kubalulekile ukuba olu balo luphunyezwe kusetyenziswa udidi lwendawo edadayo echanekileyo kabini kungenjalo ukusilela. ukuchaneka kuya kubangela iimpazamo ezibalulekileyo.
7.1.1. Umyalezo weqhosha
Idilesi ye-OSC: /iqhosha
Umyalezo weqhosha uthunyelwa ngalo lonke ixesha iqhosha lamandla licofa. Umyalezo awuqulathanga mpikiswano.
7.1.2. Izivamvo
Idilesi ye-OSC: /inzwa
Umyalezo woluvo uqulethe imilinganiselo esuka kwi-gyroscope, i-accelerometer, i-magnetometer, kunye ne-barometer. Iingxoxo zomyalezo zishwankathelwa kwiThebhile yesi-7.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	I-gyroscope x-axis kwi °/s
2	iflat32	I-gyroscope y-axis kwi °/s
3	iflat32	I-Gyroscope z-axis kwi °/s
4	iflat32	I-accelerometer u-x-axis kwi-g
5	iflat32	I-accelerometer y-axis kwi-g
6	iflat32	I-Accelerometer z-axis kwi-g
7	iflat32	I-Magnetometer x i-axis kwi-µT
8	iflat32	I-Magnetometer y i-axis kwi-µT
9	iflat32	I-Magnetometer z axis kwi-µT
10	iflat32	IBarometer kwi-hPa

Itheyibhile 7: Iingxoxo zemiyalezo yoluvo

7.1.3. Ubukhulu
Idilesi ye-OSC: /ubukhulu
Umyalezo wobukhulu uqulethe imilinganiselo yegyroscope, i-accelerometer, kunye nobukhulu bemagnetometer. Iingxoxo zomyalezo zishwankathelwa kwiThebhile 8: Ubukhulu bengxoxo yemiyalezo.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ubungakanani beGyroscope kwi °/s
2	iflat32	Ubungakanani be-Accelerometer kwi-g
3	iflat32	Ubungakanani beMagnetometer kwi-µT

Uluhlu 8: Ubungakanani bengxoxo yemiyalezo

7.1.4. Ikota
Idilesi ye-OSC: /quaternion
Umyalezo we-quaternion uqulethe imveliso ye-quaternion ye-algorithm ekwibhodi ye-AHRS echaza ukuqhelaniswa nesixhobo ngokunxulumene noMhlaba (ingqungquthela ye-NWU). Iingxoxo zomyalezo zishwankathelwa kwiThebhile 9.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Quaternion w element
2	iflat32	Iquaternion x element
3	iflat32	Iquaternion y element
4	iflat32	Quaternion z element

Uluhlu 9: Iingxoxo zemiyalezo yekota

7.1.5. Ukujikeleza matrix
Idilesi ye-OSC: /matrix
Umyalezo wematrix ojikelezileyo uqulethe imveliso yematrix ejikelezayo ye-algorithm ye-AHRS echaza ukuqhelaniswa nesixhobo esinxulumene noMhlaba (ingqungquthela ye-NWU). Iimpikiswano zomyalezo zichaza imatrix kwi umqolo-owubalulekileyo njengoko kushwankathelwa kwiThebhile ye-10.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ujikelezo lwe-matrix xx element
2	iflat32	Ujikelezo lwematrix xy element
3	iflat32	Ujikelezo lwe-matrix xz element
4	iflat32	Ujikelezo lwematrix yx element
5	iflat32	Ujikelezo lwematriksi yy element
6	iflat32	Ukujikeleza matrix Yz element
7	iflat32	Ukujikeleza matrix Zx element
8	iflat32	Ukujikeleza matrix zy element
9	iflat32	Ujikelezo lwematrix zz element

Uluhlu lwe-10: Iingxoxo zomyalezo we-matrix ojikelezisayo

7.1.6. Ii-engile ze-Euler
Idilesi ye-OSC: /Euler
Umyalezo weeengile ze-Euler uqulethe i-engile ye-Euler ephuma kwi-algorithm ye-AHRS echaza ukuqhelaniswa nesixhobo esinxulumene noMhlaba (ingqungquthela ye-NWU). Iingxoxo zomyalezo zishwankathelwa kwiThebhile ye-11.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ukuqengqeleka (x) i-engile ngezidanga
2	iflat32	I-pitch (y) i-engile ngezidanga
3	iflat32	Yaw/isihloko (z) i-engile ngezidanga

7.1.7. Isantya somgca
Idilesi ye-OSC: /linear
Umyalezo wokukhawulezisa welayini uqulathe imveliso yokukhawulezisa yomgama we-onboard sensor fusion algorithm echaza isantya esingenawo umxhuzulane kwisakhelo solungelelaniso loluvo. Iingxoxo zomyalezo zishwankathelwa kwiThebhile ye-12.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ukukhawuleza kwi-x-axis yoluvo kwi-g
2	iflat32	Isantya kwisivamvo u-y-axis kwi-g
3	iflat32	Isantya kwisixhobo soluvo luka-z kwi-g

Itheyibhile 12: Iingxoxo zomyalezo wokhawuleziso womgca

7.1.8. Ukukhawulezisa komhlaba
Idilesi ye-OSC: /earth
Umyalezo wokukhawulezisa woMhlaba uqulethe imveliso yokukhawulezisa yoMhlaba ye-onboard sensor fusion algorithm echaza isantya esingenawo umxhuzulane kwisakhelo solungelelaniso loMhlaba. Iingxoxo zomyalezo zishwankathelwa kwiThebhile ye-13.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Isantya kuMhlaba u-x-axis kwi-g
2	iflat32	Isantya kuMhlaba ongu-y-axis kwi-g
3	iflat32	Isantya kuMhlaba u-z-axis kwi-g

Itheyibhile 13: Iingxoxo zomyalezo wokukhawulezisa umhlaba

7.1.9. Ukuphakama
Idilesi ye-OSC: /ubude
Umyalezo we-altitude uqulathe umlinganiselo wobude ngaphezu komphakamo wolwandle. Ingxoxo yomyalezo ishwankathelwa kwiThebhile ye-14.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ukuphakama phezu komphakamo wolwandle kwi-m

Uluhlu 14: Ingxoxo yomyalezo wobude

7.1.10. Ubushushu
Idilesi ye-OSC: /ubushushu
Umyalezo wobushushu uqulathe imilinganiselo evela kwisivamvo sobushushu ngasinye sesixhobo. Iingxoxo zemiyalezo zishwankathelwa kwiThebhile ye-15.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Iqondo lobushushu leGyroscope/i-accelerometer kwi°C
2	iflat32	Iqondo lobushushu kwi-°C

Uluhlu 15: Iingxoxo zomyalezo wobushushu

7.1.11. Ukufuma
Idilesi ye-OSC: /ukufuma
Umyalezo wokufuma uqulathe umlinganiselo wokufuma onxulumeneyo. Ingxoxo yomyalezo ishwankathelwa kwiThebhile ye-16.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ukufuma okuhambelanayo kwi-%

Uluhlu 16: Ingxoxo yomyalezo wokufuma

7.1.12. Ibhetri
Idilesi ye-OSC: /ibhetri
Umyalezo webhetri unevolthi yebhetritage kunye nemilinganiselo yangoku kunye neemeko ze-algorithm ye-fuel gauge. Iingxoxo zomyalezo zishwankathelwa kwiThebhile ye-17.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Inqanaba lebhetri kwi%
2	iflat32	Ixesha lokukhupha kwimizuzu
3	iflat32	Ibhetri ivoltage kwiV
4	iflat32	Ibhetri yangoku kwi-mA
5	umtya	Imeko yetshaja

Uluhlu 17: Iingxoxo zomyalezo webhetri

7.1.13. Amagalelo e-analogue
Idilesi ye-OSC: /analogue
Umyalezo wamagalelo e-analogu uqulethe imilinganiselo yegalelo le-analogu voltages. Iingxoxo zomyalezo zishwankathelwa kwiThebhile ye-18.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Ijelo loku-1 voltage kwiV
2	iflat32	Ijelo loku-2 voltage kwiV
3	iflat32	Ijelo loku-3 voltage kwiV
4	iflat32	Ijelo loku-4 voltage kwiV
5	iflat32	Ijelo loku-5 voltage kwiV
6	iflat32	Ijelo loku-6 voltage kwiV
7	iflat32	Ijelo loku-7 voltage kwiV
8	iflat32	Ijelo loku-8 voltage kwiV

Uluhlu lwe-18: I-analogue ifaka iingxoxo zomyalezo

7.1.14. I-RSSI
Idilesi ye-OSC: /RSSI
Umyalezo we-RSSI uqulethe i-RSSI (Yamkela iSalathi saMandla oMqondiso) yomlinganiselo woqhagamshelwano olungenazingcingo. Lo mlinganiselo usebenza kuphela ukuba imodyuli yeWi-Fi isebenza kwimowudi yomxhasi. Iingxoxo zomyalezo zishwankathelwa kwiThebhile ye-19.

Ingxoxo	Uhlobo	Inkcazo
1	iflat32	Umlinganiselo we-RSSI kwi-dBm
2	iflat32	Umlinganiselo we-RSSI ngokwepesentitage apho i-0% ukuya kwi-100% imele uluhlu -100 dBm ukuya -50 dBm.

Uluhlu 19: Ingxoxo yomyalezo weRSSI

7.1.15 Idatha encedisayo yothotho

Idilesi ye-OSC: /aux serial

Umyalezo we-serial oncedisayo uqulethe idatha efunyenwe nge-axiliary serial interface. Ingxoxo yomyalezo inokuba yenye yeendidi ezimbini ngokuxhomekeke kwisethingi yesixhobo njengoko ishwankathelwe Uluhlu loku-20.

Ingxoxo	Uhlobo	Inkcazo
1	iblob	Idatha ifunyenwe nge-interface ye-serial encedisayo.
1	umtya	Idatha efunyenwe ngoncediso lwesiriyali ujongano nazo zonke ii-byte ezingasebenziyo endaweni yazo ngeperi yeempawu "/0".

Itheyibhile 20: Ingxoxo yomyalezo wedata oncedisayo

7.1.16 Igalelo lothotho lwe-CTS oluncedisayo

Idilesi ye-OSC: /aux serial/cts

Umyalezo we-CTS oncedisayo we-CTS uqulethe imeko yegalelo le-CTS ye-interface ye-serial encedisayo xa ulawulo lokuhamba kwe-hardware luvaliwe. Lo myalezo uthunyelwa qho xa imeko ye-CTS itshintsha. Ingxoxo yomyalezo ishwankathelwa kwiThebhile yama-21.

Ingxoxo	Uhlobo	Inkcazo
1	boolean	Imeko yegalelo leCTS. Bubuxoki = phantsi, Yinyaniso = phezulu.

Itheyibhile 21: Ingxoxo yomyalezo oncedisayo we-CTS

7.1.17. Uthotho CTS igalelo
Idilesi ye-OSC: /serial/cts
Umyalezo we-CTS wothotho uqulethe imeko yegalelo le-CTS yojongano lothotho xa ulawulo lokuhamba kwehardware luvaliwe. Lo myalezo uthunyelwa qho xa imeko ye-CTS itshintsha. Ingxoxo yomyalezo ishwankathelwa kwiThebhile yama-22.

Ingxoxo	Uhlobo	Inkcazo
1	boolean	Imeko yegalelo leCTS. Bubuxoki = phantsi, Yinyaniso = phezulu.

Itheyibhile 22: Uthotho CTS igalelo umyalezo ingxoxo

7.2. Idatha kwisixhobo
Idatha ithunyelwa kwisixhobo njengemiyalezo ye-OSC. Isixhobo asiyi kuthumela umyalezo we-OSC ekuphenduleni.
7.2.1. Idatha yochungechunge oluncedisayo
Idilesi ye-OSC: /auxserial
Umyalezo we-serial oncedisayo usetyenziselwa ukuthumela idatha (i-byte enye okanye ngaphezulu) ukusuka kwi-interface ye-serial encedisayo. Lo myalezo unokuthunyelwa kuphela ukuba imo ye-'OSC yokugqitha' ayenziwanga. Ingxoxo yomyalezo ishwankathelwa kwiThebhile yama-23.

Ingxoxo	Uhlobo	Inkcazo
1	OSC-blob / OSC-umtya	Idatha kufuneka idluliselwe kwi-interface ye-serial encedisayo

Itheyibhile 23: Iingxoxo zomyalezo wedata oncedisayo

7.2.2. Imveliso ye-serial encedisayo ye-RTS
Idilesi ye-OSC: /aux serial/rts
Umyalezo we-RTS oncedisayo usetyenziselwa ukulawula imveliso ye-RTS ye-interface ye-serial encedisayo.
Lo myalezo unokuthunyelwa kuphela ukuba ulawulo lokuhamba kwehardware luvaliwe. Ingxoxo yomyalezo ishwankathelwa kwiThebhile yama-24.

Ingxoxo	Uhlobo	Inkcazo
1	Int32/float32/boolean	Imeko yemveliso ye-RTS. 0 okanye ubuxoki = phantsi, non-zero okanye inyaniso = phezulu.

Itheyibhile 24: Iingxoxo zomyalezo we-RTS oncedisayo

7.2.3. Uthotho RTS imveliso
Idilesi ye-OSC: /serial/rts
Umyalezo we-Serial we-RTS usetyenziselwa ukulawula imveliso ye-RTS yojongano lothotho. Lo myalezo unokuthunyelwa kuphela ukuba ulawulo lokuhamba kwehardware luvaliwe. Ingxoxo yomyalezo ishwankathelwa kwiThebhile yama-25.

Ingxoxo	Uhlobo	Inkcazo
1	Int32/float32/boolean	Imeko yemveliso ye-RTS. 0 okanye ubuxoki = phantsi, non-zero okanye inyaniso = phezulu.

Itheyibhile 25: Uthotho lweempikiswano zomyalezo we-RTS

7.3. Imiyalelo
Yonke imiyalelo ithunyelwa njengemiyalezo ye-OSC. Isixhobo siya kuqinisekisa ukwamkelwa komyalelo ngokuthumela umyalezo ofanayo we-OSC emva kumamkeli.
7.3.1. Beka ixesha
Idilesi ye-OSC: /ixesha
Umyalelo wexesha omiselweyo umisela umhla kunye nexesha kwisixhobo. Ingxoxo yomyalezo lixesha le-OSCtag.
7.3.2. Thula
Idilesi ye-OSC: /thulisa
Umyalelo ongathethiyo uthintela ukuthunyelwa kwayo yonke imiyalezo yedatha edweliswe kwiCandelo 7.1. Imiyalezo yesiqinisekiso somyalelo kunye nokuseta funda/bhala imiyalezo ephendulayo isaza kuthunyelwa. Isixhobo siya kuhlala sithulisiwe de kuthunyelwe umyalelo wothuliso.

7.3.3. Susa ukuthula
Idilesi ye-OSC: /khulula
Umyalelo ongathuliyo uya kuguqula isimo sokuthula esichazwe kwiCandelo 7.3.2.
7.3.4. Lungisa kwakhona
Idilesi ye-OSC: /seta ngokutsha
Umyalelo wokusetha ngokutsha uya kwenza ukusetwa kwakhona kwesoftware. Oku kulingana nokucima isixhobo uze usivule kwakhona. Ukusetha kwakhona isoftware kuya kwenziwa imizuzwana emi-3 emva kokuba umyalelo ufunyenwe ukuqinisekisa ukuba umamkeli uyakwazi ukuqinisekisa umyalelo phambi kokuba uphunyezwe.

7.3.5. Lala
Idilesi ye-OSC: / lala
Umyalelo wokulala uya kubeka isixhobo kwimodi yokulala (cinyiwe). Isixhobo asiyi kungena kwimodi yokulala kude kube yimizuzwana emi-3 emva kokuba umyalelo ufunyenwe ukuqinisekisa ukuba umamkeli uyakwazi ukuqinisekisa umyalelo ngaphambi kokuba uphunyezwe.
7.3.6. Isazisi
Idilesi ye-OSC: /chonga
Umyalelo wokuchonga uya kubangela ukuba zonke ii-LED zikhanyise ngokukhawuleza imizuzwana emi-5. Oku kunokuba luncedo xa uzama ukuchonga isixhobo esithile phakathi kweqela lezixhobo ezininzi.
7.3.7. Faka isicelo
Idilesi ye-OSC: /sebenzisa
Umyalelo wokusetyenziswa uya kunyanzela isixhobo ukuba sisebenzise ngokukhawuleza zonke iisetingi ezilindileyo ezibhaliweyo kodwa ezingekasetyenziswa. Ukuqinisekiswa kwalo myalelo kuthunyelwa emva kokuba zonke izicwangciso zisetyenzisiwe.
7.3.8. Buyisela okungagqibekanga
Idilesi ye-OSC: /ehlala ikho
Umyalelo omiselweyo wokubuyisela uya kusetha ngokutsha zonke izicwangciso zesixhobo kumaxabiso azo amiselweyo efektri.
7.3.9. I-AHRS iqalisa
Idilesi ye-OSC: /ahrs/initialise
Umyalelo wokuqalisa we-AHRS uya kuqalisa kwakhona i-algorithm ye-AHRS.
7.3.10. AHRS zero yaw
Idilesi ye-OSC: /ahrs/zero
Umyalelo we-AHRS ongunothi we-yaw uya kuthi zero inxalenye ye-yaw yendlela yangoku ye-algorithm ye-AHRS. Lo myalelo unokukhutshwa kuphela xa imagnetometer ingahoywa kwiisetingi ze-AHRS.
7.3.11. I-Echo
Idilesi ye-OSC: /echo
Umyalelo we-echo unokuthunyelwa nazo naziphi na iingxoxo kwaye isixhobo siya kuphendula ngomyalezo ofanayo we-OSC.
7.4. Iisetingi
Useto lwesixhobo luyafundwa kwaye lubhalwe kusetyenziswa imiyalezo ye-OSC. Isetingi ithebhu yesoftwe yesixhobo
inikeza ufikelelo kuzo zonke izicwangciso zesixhobo kwaye ibandakanya uxwebhu oluneenkcukacha zocwangciso ngalunye.
7.4.1. Funda
Izicwangciso zifundwa ngokuthumela umyalezo we-OSC kunye nedilesi ye-OSC ehambelanayo kwaye akukho mpikiswano. Isixhobo siya kuphendula ngomyalezo we-OSC kunye nedilesi ye-OSC efanayo kunye nexabiso lokumisela langoku njengengxabano.
7.4.2. Bhala
Izicwangciso zibhalwa ngokuthumela umyalezo we-OSC ngolungiselelo oluhambelanayo nedilesi ye-OSC kunye nexabiso lengxabano. Isixhobo siya kuphendula ngomyalezo we-OSC kunye nedilesi ye-OSC efanayo kunye nexabiso elitsha lokumisela njengengxabano.
Olunye useto olubhaliweyo alusetyenziswa ngoko nangoko kuba oku kunokubangela ukulahleka konxibelelwano nesixhobo ukuba useto oluchaphazela ijelo lonxibelelwano lulungisiwe. Olu seto lusetyenziswa kwimizuzwana emi-3 emva kokubhalwa kokugqibela kwayo nayiphi na isethingi.

7.5. Iimpazamo
Isixhobo siya kuthumela imiyalezo yemposiso njengomyalezo we-OSC ngedilesi ye-OSC: /impazamo kunye nengxabano yomtya omnye.
A. Ukudibanisa imodyuli yeGPS kunye neNGIMU
Eli candelo lichaza indlela yokudibanisa imodyuli ye-GPS engaphandle kweshelufu kunye ne-NGIMU. I-NGIMU iyahambelana nayo nayiphi na imodyuli ye-serial ye-GPS, i "I-Adafruit Ultimate GPS  Ukuqhambuka-itshaneli engama-66 w/10 Hz uhlaziyo-Uguqulelo 3” yakhethwa apha ngeenjongo zokubonisa. Le modyuli inokuthengwa kuyo Adafruit okanye nawuphi na omnye umsasazi.
A.1. Ukuseta izixhobo
Ikliphu yebhetri yengqekembe ye-CR1220 kunye neengcingo ezincedisayo ze-serial interface kufuneka zithengiswe kwibhodi yemodyuli ye-GPS. I-axiliary serial interface isihlanganisi iinombolo zecandelo zichazwe kwiCandelo 2.6. Uxhulumaniso olufunekayo phakathi kwe-port ye-serial encedisayo kunye nemodyuli ye-GPS ichazwe kwiThebhile 26. Umzobo 5 ubonisa imodyuli ye-GPS edibeneyo kunye nekhonkco ye-interface ye-serial encedisayo.

I-pin ye-serial encedisayo	Iphini yemodyuli yeGPS
Umhlaba	"GND"
RTS	Ayidityaniswanga
Imveliso ye-3.3 V	"3.3V"
RX	"TX"
TX	"RX"
CTS	Ayidityaniswanga

Itheyibhile 26: Udibaniso oluncedisayo lwe-serial interface kwimodyuli yeGPS

Umzobo 4: Imodyuli ye-GPS edibeneyo kunye nekhonkco ye-serial interface ye-serial

Ibhetri yentsimbi ye-CR1220 iyimfuneko ukugcina useto lwemodyuli ye-GPS kunye nokunika amandla iwotshi yexesha lokwenyani ngelixa amandla angaphandle engekho. Imodyuli yeGPS iya kuphelelwa ngamandla ngalo lonke ixesha i-NGIMU icinyiwe. Iwotshi yexesha lokwenyani iyalinciphisa kakhulu ixesha elifunekayo lokufumana isitshixo seGPS. Ibhetri inokulindeleka ukuba ihlale malunga neentsuku ezingama-240.

A.2. Iisetingi ze-NGIMU
I-audiliary serial baud isethingi kufuneka imiselwe ku-9600. Lo ngumlinganiselo webhaud ongagqibekanga wemodyuli yeGPS. Imodyuli yeGPS ithumela idatha kwiipakethi ezahlukeneyo ze-ASCII, nganye ipheliswe ngumbhalo omtsha womgca. I-auxiliary serial framing setting character kufuneka ke ngoko imiselwe ku-10 ukuze ipakethe nganye ye-ASCII ibe namaxesha.amped kwaye igqithiswe/ifakwe yi-NGIMU ngokwahlukeneyo. Uluhlu oluncedisayo 'thumela njengoluhlu' kufuneka luvulwe ukuze iipakethi zitolikwe njengeentambo yisoftware ye-NGIMU. Zonke ezinye iisetingi kufuneka zishiywe kumaxabiso angagqibekanga ukuze useto luhambelane nezo ziboniswe kuMfanekiso 5.

Umzobo 5: Izicwangciso ze-serial interface ezincedisayo ezilungiselelwe imodyuli yeGPS

A.3. Viewukungenisa kunye nokusetyenzwa kwedatha yeGPS
Nje ukuba izicwangciso ze-NGIMU ziqwalaselwe njengoko kuchaziwe kwiCandelo A.2, idatha ye-GPS iya kufunyanwa kwaye idluliselwe kuwo onke amajelo onxibelelwano asebenzayo njengexesha.amped umyalezo wedatha oncedisayo njengoko kuchaziwe kwiCandelo 7.1.15. I-NGIMU GUI ingasetyenziswa view idata engenayo yeGPS usebenzisa iAuxiliary Serial Terminal (phantsi kweZixhobo menu). Umzobo we-6 ubonisa idatha ye-GPS engenayo emva kokuba ukulungiswa kwe-GPS kuphunyeziwe. Imodyuli inokuthatha amashumi emizuzu ukufezekisa ukulungiswa xa inikwe amandla okokuqala.

Umzobo 6: Ekufikeni kwedatha yeGPS eboniswe kwiSiteshi seSicebisi esiNcedisayo

Iisetingi zemodyuli yeGPS engagqibekanga ibonelela ngedatha yeGPS kwiintlobo ezine zepakethe ye-NMEA: GPGGA, GPGSA, GPRMC, kunye neGPVTG. I INMEA Reference Manual inika inkcazo ecacileyo yedatha equlethwe kwipakethi nganye kwezi.
Isoftware ye-NGIMU inokusetyenziselwa ukuloga idatha yexesha lokwenyani njenge CSV files okanye ukuguqula idatha efakwe kwikhadi le-SD file kwi CSV files. Idatha yeGPS inikwe kwi-auxserial.csv file. I file iqulathe imihlathi emibini: umhlathi wokuqala lixeshaamp yepakethe ye-NMEA enikeziweyo eyenziwe yi-NGIMU xa ipakethi ifunyenwe kwimodyuli ye-GPS, kwaye ikholamu yesibini yipakethi ye-NMEA. Umsebenzisi kufuneka aphathe ukungenisa kunye nokutolika le datha.

A.4. Ukuqwalasela ireyithi yohlaziyo ye-10 Hz
Useto olusisiseko lwemodyuli yeGPS luthumela idatha ngereyithi yohlaziyo lwe-1 Hz. Imodyuli inokuthi iqwalaselwe ukuthumela idatha kunye nereyithi yokuhlaziya ye-10 Hz. Oku kuphunyezwa ngokuthumela iipakethi zomyalelo ukulungisa izicwangciso njengoko kuchazwe kumaCandelo A.4.1 kunye ne-A.4.2. Ipakethe nganye yomyalelo inokuthunyelwa kusetyenziswa i-NGIMU GUI ye-Auxiliary Serial Terminal (phantsi kweZixhobo menu). Imodyuli yeGPS iya kubuyela kuseto oluhlala lukhona ukuba ibhetri isusiwe.
Iipakethi zomyalelo ezichazwe kweli candelo zenziwe ngokwe Ipakethe yomyalelo weGlobalTop PMTK amaxwebhu aneetshekhi ezibalwe kusetyenziswa i-intanethi NMEA checksum calculator.

A.4.1. Inyathelo 1 - Guqula izinga le-baud ukuya kwi-115200
Thumela ipakethe yomyalelo “$PMTK251,115200*1F\r\n” kwimodyuli yeGPS. Idatha engenayo iyakuvela emva koko njengedatha 'yenkunkuma' ngenxa yokuba umlinganiselo wangoku we-serial baud oncedisayo we-9600 awuhambelani nomlinganiselo omtsha wemodyuli ye-GPS we-115200. Ummiselo we-serial baud oncedisayo kufuneka umiselwe ku-115200 kwizicwangciso ze-NGIMU phambi kokuba idatha ivela ngokuchanekileyo kwakhona.

A.4.2. Inyathelo lesi-2 - Guqula izinga lemveliso ukuya kwi-10 Hz
Thumela ipakethe yomyalelo “$PMTK220,100*2F\r\n” kwimodyuli yeGPS. Imodyuli yeGPS ngoku iya kuthumela idatha ngereyithi yohlaziyo ye-10 Hz.
A.4.3. Ukugcina useto lwemodyuli yeGPS
Imodyuli yeGPS iya kugcina useto ngokuzenzekelayo. Nangona kunjalo, imodyuli yeGPS iya kubuyela kwisethingi engagqibekanga ukuba ibhetri isusiwe.

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