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1 files changed, 36 insertions, 1 deletions
diff --git a/host/docs/usrp_e3x0.dox b/host/docs/usrp_e3x0.dox index 8f94ea64d..f5ebdad7b 100644 --- a/host/docs/usrp_e3x0.dox +++ b/host/docs/usrp_e3x0.dox @@ -13,6 +13,7 @@ - Internal GPS - Soundcard mono input / stereo output - USB UART + - Internal IMU - Zynq-7020 FPGA - FPGA Capabilities: - 2 RX DDC chains in FPGA @@ -295,6 +296,40 @@ enabled with the time source is set to "gpsdo". The device provides a 3.3V supply voltage to an external antenna connected to the *GPS* port of your device. Note that this supply voltage is turned off in order to safe power upon destruction of the software object. +\subsection e3x0_hw_imu Inertial Measurement Unit (IMU) + +Your USRP-E Series device has an onboard IMU that provides +9 axis (Gyro, Accelerometer and compass) functionality. + +The USRP-E Series images ship with several example applications based on +<a href="https://github.com/richards-tech/RTIMULib">RTIMULib</a> that allow the user +to explore the basic functionality of the IMU as well as to calibrate it. + +To test the accelerometer, run: + + $ RTIMULibDrive + +This will print the current acclerometer values on the console. + +To launch the IMU calibration procedure, run: + + $ RTIMULibCal + +and follow the onscreen instructions. Please note that magnetometer calibration is important to obtain +sensible results if the IMU is to be used in sensor fusion applications. + +Using X11 forwarding over SSH (see \ref e3x0_faq) a complete sensor fusion application can be run over SSH +from a host computer by typing: + + $ RTIMULibDemo + +This should open a graphical window on the host computer that displays the various outputs of the IMU, +as well as quaternion measurements based on different sensor fusion algorithms. + +\image html e3x0_imu_demo.png "RTIMULibDemo" + +For more advanced IMU based applications please refer to the <a href="https://github.com/richards-tech/RTIMULib">RTIMULib repository</a> as well as the datasheets. + \subsection e3x0_hw_gpio Internal GPIO ### Connector @@ -578,7 +613,7 @@ You can use this to make sure the network connection is correctly set up, e.g. by pinging the USRP and making sure the LEDs start to blink. -\subsection e3x0 Frequently Asked Questions +\subsection e3x0_faq Frequently Asked Questions - Communication -# How do I enable X forwarding so I can run X apps on the E3x0?<br> |