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Update user manual with develop docs (#76)
* Sn 5392 iscomm parse read (#71) * Fix is_comm docs * Bump * SN-5048 Add instructions for using WMM (#73) * Add instructions for using WMM * Update world_magnetic_model.md * Add IK-1 to user manual (#75) * Create IK1.md * Added IK1 to docs index menu * Fix typo * Fix open source hardware links
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docs/user-manual/application-config/world_magnetic_model.md
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| # World Magnetic Model (WMM) | ||
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| The World Magnetic Model (WMM) is a mathematical model that represents the Earth's magnetic field. It is developed by the National Centers for Environmental Information (NCEI) and the British Geological Survey (BGS) and is updated every five years to account for changes in the Earth's magnetic field. | ||
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| The IMX-5 uses an on-board WMM to estimate the magnetic declination, which is the angle between magnetic north and true north. | ||
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| ## Enabling WMM Declination | ||
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| The WMM declination is enabled by setting bit `SYS_CFG_BITS_MAG_ENABLE_WMM_DECLINATION` in `DID_FLASH_CONFIG.sysCfgBits` on the IMX-5. This can be done in the EvalTool > Settings > General tab by checking the `Enable WMM Declination` option. | ||
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| ## Using WMM Declination | ||
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| When enabled, the WMM declination (magnetic declination) is computed based on the current position of the IMX-5. The current WMM declination can be viewed from the `DID_INL2_STATES.magDec` variable. | ||
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| ### AHRS Mode | ||
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| When running in AHRS mode and no GPS position has previously been available, the reference latitude, longitude position (`DID_FLASH_CONFIG.refLla`) is used to initialize the IMX position and WMM declination. The user must set this `refLla` location for the WMM to generate the correct declination. | ||
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| ### Nav Mode | ||
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| When GPS is available and the IMX is in GNSS aided navigation mode (Nav mode), the WMM declination will continuously update as the current position changes. | ||
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| # Hardware Integration: IK-1 (IMX5 or GPX1) | ||
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| <center> | ||
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| </center> | ||
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| The Inertial Sense IK-1 is a breakout evaluation board for either the IMX-5 or GPX-1 multi-frequency GNSS receiver. | ||
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| - 0.1" pitch header for convenient interface. | ||
| - Interfaces with standard breadboard. | ||
| - Onboard Micro USB connector | ||
| - Onboard voltage regulation. | ||
| - Dual U.FL connectors for GPX GNSS antennas. | ||
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| ## Pinout | ||
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| **Module Pinout** | ||
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| The IK-1 module pinout is as follows | ||
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| | IK1 | IMX | GPX | Name | Type | Description | | ||
| | --------------------------------------------- | ---- | ---- | ------------------------------------------------------------ | ------------------------------------------------------------ | --------------------------------------------- | | ||
| | 1-3 | 11,21 | 11,13,15,31 | GND | Power | Supply ground | | ||
| | 4 | - | 20 | G20/LNA-EN | I/O | GPIO20, GPX LNA enable | | ||
| | 5 | - | 21 | GNSS2_PPS | O | GNSS2 PPS time synchronization output pulse (1Hz, 10% duty cycle) | | ||
| | 6 | 1 | 1 | USB_P | I/O | USB full-speed Positive Line. USB will be supported in future firmware updates. | | ||
| | 7 | 2 | 2 | USB_N | I/O | USB full-speed Negative Line. USB will be supported in future firmware updates. | | ||
| | 8 | 3 | 3 | VBKUP | Power | Backup supply voltage input (1.75V to 3.6V). Future firmware updates will use voltage applied on this pin to backup GNSS ephemeris, almanac, and other operating parameters for a faster startup when VCC is applied again. This pin MUST be connected to a backup battery or VCC. | | ||
| | 9 | 4 | 4 | G1/Rx2/RxCAN/SCL | I/O | GPIO1 <br />Serial 2 input (TTL) <br />Serial input pin from CAN transceiver<sup>\*</sup> <br />I2C SCL line | | ||
| | 10 | 5 | 5 | G2/Tx2/TxCAN/SDA/STROBE | I/O | GPIO2 <br />Serial 2 output (TTL)<br /> Serial output pin to CAN transceiver<sup>\*</sup><br /> I2C SDA line<br />Strobe time sync input | | ||
| | 11 | 6 | 6 | G6/Rx1/MOSI | I/O | GPIO6<br /> Serial 1 input (TTL)<br /> SPI MOSI | | ||
| | 12 | 7 | 7 | G7/Tx1/MISO | I/O | GPIO7<br /> Serial 1 output (TTL)<br /> SPI MISO | | ||
| | 13 | 8 | 8 | G8/CS/STROBE | I/O | GPIO8<br /> SPI CS<br /> Strobe time sync input | | ||
| | 14 | 9 | 9 | G5/SCLK/STROBE | I/O | GPIO5<br /> SPI SCLK<br /> Strobe time sync input | | ||
| | 15 | 10 | 10 | G9/nSPI_EN/STROBE<br/>/STROBE_OUT/DRDY | I/O | GPIO9<br /> SPI Enable: Hold LOW during boot to enable SPI on G5-G8<br /> Strobe time sync input or output. SPI data ready alternate location | | ||
| | 17 | 12 | 22 | nRESET | I | System reset on logic low. May be left unconnected if not used. | | ||
| | 18 | 13 | 23 | G14/SWCLK | I/O | GPIO14 | | ||
| | 19 | 14 | 24 | G13/DRDY/XSDA | I/O | GPIO13<br /> SPI Data Ready<br /> Alt I2C SDA | | ||
| | 20 | 15 | 25 | G12/XSCL | I/O | GPIO12<br /> Alt I2C SCL | | ||
| | 21 | 16 | 26 | G11/SWDIO | I/O | GPIO11 | | ||
| | 22 | 17 | 27 | G10/BOOT_MODE | I/O | Leave unconnected. BOOT MODE used in manufacturing. !!! WARNING !!! Asserting a logic high (+3.3V) will cause the IMX to reboot into ROM bootloader (DFU) mode. | | ||
| | 23 | 18 | 28 | G4/Rx0 | I/O | GPIO4<br /> Serial 0 input (TTL) | | ||
| | 24 | 19 | 29 | G3/Tx0 | I/O | GPIO3<br /> Serial 0 output (TTL) | | ||
| | 25 | 20 | 30 | GNSS1_PPS | O | GNSS1 PPS time synchronization output pulse (1Hz, 10% duty cycle) | | ||
| | 27 | 22 | 32 | VCC | Power | 1.8V to 3.3V supply input. | | ||
| | 28 | - | 38 | G16/QDEC0.A | I/O | GPIO16 | | ||
| | 29 | - | 39 | G17/QDEC0.B | I/O | GPIO17 | | ||
| | 30 | - | 40 | VAUX | Power | Input supplies for the USB and VCC_RF (GNSS antenna supply). Connect to +3.3V (3.0V to 3.6V) to supply USB and VCC_RF. Can be left floating if USB or VCC_RF are not needed. | | ||
| | 31 | - | 41 | G18/QDEC1.A | I/O | GPIO18 | | ||
| | 32 | - | 42 | G19/QDEC1.B | I/O | GPIO19 | | ||
| | U.FL1 | - | 12 | GNSS1_RF | I | GNSS1 antenna RF input. Use an active antenna or LNA with a gain of 15-25dB. Place the LNA as close to the antenna as possible. Filtered 3.3V from VCC is injected onto the pad to power active antennas (power injection can be disabled in software). Connect to ground with 5V-14V TVS diode for ESD and surge projection (e.g. Littlefuse PESD0402-140). | | ||
| | U.FL2 | - | 14 | GNSS2_RF | I | GNSS2 antenna RF input. Same requirements as GNSS1_RF | | ||
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| ## IK-1 Schematic | ||
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| [Download Schematic](https://docs.inertialsense.com/datasheets/IK-1_schematic.pdf) | ||
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| <object data="https://docs.inertialsense.com/datasheets/IK-1_schematic.pdf" type="application/pdf" width="700px" height="600px" > | ||
| <embed src="https://docs.inertialsense.com/datasheets/IK-1_schematic.pdf" type="application/pdf" /> | ||
| </object> | ||
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| ## Design Files | ||
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| <img src="https://www.oshwa.org/wp-content/uploads/2014/03/oshw-logo.svg" width="100" align="right" /> | ||
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| Open source hardware design files, libraries, and example projects for the IMX module are found at the [Inertial Sense Hardware Design repository](https://github.com/inertialsense/IS-hdw) hosted on GitHub. These include schematic and layout files for printed circuit board designs, and 3D step models of the InertialSense products usable for CAD and circuit board designs. | ||
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| ### Reference Design Projects | ||
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| The EVB-2, IG-1, IG-2, and IK-1 circuit board projects serve as reference designs that illustrate implementation of the IMX PCB module. | ||
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| [EVB-2 evaluation board](https://github.com/inertialsense/IS-hdw/tree/main/Products/EVB-2) | ||
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| [IG-1 module](https://github.com/inertialsense/IS-hdw/tree/main/Products/IG-1) | ||
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| [IG-2 module](https://github.com/inertialsense/IS-hdw/tree/main/Products/IG-2) | ||
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| [IK-1 module](https://github.com/inertialsense/IS-hdw/tree/main/Products/IK-1) | ||
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| ## Related Parts | ||
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| | Part | Manufacturer | Manufacturer # | Description | | ||
| | ---- | ------------ | -------------- | ----------------------------------------------------- | | ||
| | | | | | |
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