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The Xsens Avior series Development Board (AVIOR-DEV) exposes the pins of the Avior on the External Connector, a 2.54 mm pitch header, making it easier for the user to test all the features and the peripherals offered by the Avior. Next to that, the AVIOR-DEV has a USB-C connector and two DSUB9 connectors for testing different communication protocols. It also includes 2 mikroBUS™ compatible extension sockets to connect future extensions. This chapter discusses in more detail the connections and peripherals available on the AVIOR-DEV.
The AVIOR-DEV has the following connections as shown in the figure below:
External Connector.
Main connector for the Avior.
DSUB9 female connector for RS232 or RS422 interface.
DSUB9 female connector for CAN interface.
USB-C connector.
Secondary UART extension socket
Extension sockets (for future use)
Peripheral selection switch (default 00; not as in figure)
Transceiver selection switches
Power / Sync LEDs
Xsens Avior series Development Board overview with connector designators
The External Connector makes all of the Avior pins available on a 2.54 mm pitch header. These pins can be used to directly interface with an external MCU or transceiver, or to monitor the communication while using the transceivers on the DEV board. Make sure to configure the peripheral and transceiver selection switches properly before driving these signals with an external MCU or transceiver! The pinning of the External Connector can be seen in the following table.
Pin descriptions of External Connector
|
Pin |
Avior pin |
Name |
I/O |
Notes |
|
1 |
1 |
VIN |
PWR |
Supplies VDDA with 3.3 V |
|
2 |
2, 4, 12 |
GND |
PWR |
|
|
3 |
3 |
VDDIO_IN |
PWR |
Supplies VDDIO |
|
4 |
2, 4, 12 |
GND |
PWR |
|
|
5 |
5 |
RSV |
O |
Reserved for future use |
|
6 |
7 |
RSV |
I |
Reserved for future use |
|
7 |
9 |
SEC_TX/CAN_TX |
O |
NC if SEL = 1x and SW2 = UP (int. CAN) |
|
8 |
11 |
SEC_RX/CAN_RX |
I |
NC if SEL = 1x and SW2 = UP (int. CAN) |
|
9 |
2, 4, 12 |
GND |
PWR |
|
|
10 |
2, 4, 12 |
GND |
PWR |
|
|
11 |
13 |
MAIN_TX/SCK/ADDR0 |
I/O |
Multi-protocol pin depending on peripheral selection |
|
12 |
14 |
MAIN_RX/nCS/ADDR1 |
I |
Multi-protocol pin depending on peripheral selection |
|
13 |
15 |
MAIN_RTS/DE/MISO/ADDR2 |
I/O |
Multi-protocol pin depending on peripheral selection |
|
14 |
16 |
MAIN_CTS/MOSI/ADDR3 |
I |
Multi-protocol pin depending on peripheral selection |
|
15 |
2, 4, 12 |
GND |
PWR |
|
|
16 |
2, 4, 12 |
GND |
PWR |
|
|
17 |
8 |
SCL |
I |
Do not use as peripheral selection pin! |
|
18 |
10 |
SDA |
I/O |
Do not use as peripheral selection pin! |
|
19 |
6 |
DRDY |
O |
Data ready output for SPI and I2C communication |
|
20 |
- |
FTDI_CBUS0 |
I/O |
Connected to CBUS pin of FTDI chip (USB) |
|
21 |
17 |
SYNC_IN1 |
I |
Synchronization input 1 |
|
22 |
18 |
SYNC_IN2 |
I |
Synchronization input 2 |
|
23 |
20 |
SYNC_OUT |
O |
Synchronization output |
|
24 |
- |
RSV |
O |
Reserved for future use |
The Avior-DEV can be supplied by USB or through the External Connector. The VDDA of the Avior will always be supplied with a 3.3 V voltage. The VDDIO to the Avior will default to 1.8 V in case it is not supplied by VDDIO_IN. In case the VDDIO_IN on the External Connector is used, the VDDIO voltage on the Avior will have the voltage supplied on that pin (overruling the VDDIO from the USB power).
The main UART, including flow control, can be connected to pins 11 to 14 on the External Connector as shown in the table above. When flow control is not used, the CTS pin (pin 14 on the External Connector) can be connected to ground or the peripheral selection switch can be set to 01. The following table shows the required switch configuration to use the direct UART communication.
Switch configuration for enabling UART
|
Switch |
Flow control |
No flow control |
|
SEL |
00 (default) |
01 |
|
SW1 |
Up (Ext. UART) |
Up (Ext. UART) |
|
SW2 |
- |
- |
The same pins on the External Connector that are used for the main UART can also be used for SPI when the peripheral selection is set accordingly. The following table shows the required switch configuration to use the SPI communication.
Switch configuration for enabling SPI
|
Switch |
SPI (CAN) |
|
SEL |
10 |
|
SW1 |
Up (Ext. UART) |
|
SW2 |
- |
When using SPI, the DRDY pin on the External Connector (pin 19) can be used as a data ready pin, indicating new messages are available to be read by the host.
The I2C pins on the External Connector can be used for I2C communication when the peripheral selection is set accordingly. The following table shows the required switch configuration to use the I2C communication.
Switch configuration for enabling I2C
|
Switch |
SPI (CAN) |
|
SEL |
11 |
|
SW1 |
Up (Ext. UART) |
|
SW2 |
- |
When using I2C, the DRDY pin on the External Connector (pin 19) can be used as a data ready pin, indicating new messages are available to be read by the host, and the first three ADDR pins (pins 11 to 13) can be used to set the I2C address (pin 14 is reserved). The table below shows the different supported I2C addresses (7 bit, without the read/write bit).
|
I2C address |
A2 |
A1 |
A0 |
|
0x1D |
0 |
0 |
0 |
|
0x1E |
0 |
0 |
1 |
|
0x28 |
0 |
1 |
0 |
|
0x29 |
0 |
1 |
1 |
|
0x68 |
1 |
0 |
0 |
|
0x69 |
1 |
0 |
1 |
|
0x6A |
1 |
1 |
0 |
|
0x6B (default) |
1 |
1 |
1 |
The USB-C port on the Avior-DEV can be used to connect the Avior to a host through the included USB-A to USB-C cable. The USB device requires the drivers that are automatically included when downloading the MT Software Suite. The following table shows the required switch configuration for this connection.
|
Switch |
Position |
|
SEL |
00 (default) |
|
SW1 |
Down (default) |
|
SW2 |
- |
The upper DSUB9 female connector (next to the USB-C) can be used to connect to either a RS232 or RS422 peripheral. The following figure and table show the pinning of this DSUB9 connector. Note that the pinning is the same as on the 600-series development board for the RS232 signals, but different for the RS422 signals. Pin 9 is by default not connected, but can be connected to VIN by placing a zero-Ohm resistor on R3.
Pinout of DSUB9 connector RS232/422
DSUB9 connector 2 pinning for RS232/422
|
Pin |
RS232 |
RS422 |
I/O |
Description |
|
2 |
TXD |
TXD- |
O |
Transmit output (negative RS422 output) |
|
3 |
RXD |
RXD+ |
I |
Receiver input (positive RS422 input) |
|
5 |
GND |
GND |
PWR |
|
|
7 |
CTS |
RXD- |
I |
Clear to send input (negative RS422 input) |
|
8 |
RTS |
TXD+ |
O |
Ready to send output (positive RS422 output) |
|
9 |
(VIN) |
(VIN) |
(PWR) |
Optional (when R3 is placed) |
The following table shows the required switch configuration for the RS232 and RS422 connections.
Switch configuration for enabling RS232/422
|
Switch |
RS232 |
RS422 |
|
SEL |
00 (default) |
01 |
|
SW1 |
Middle (RSxxx) |
Middle (RSxxx) |
|
SW2 |
- |
- |
The lower DSUB9 female connector can be used to connect a CAN bus to the Avior. The table below shows the pinning of this connector. The CAN bus interface includes a 120 Ohm termination resistor on the Avior-DEV (R4), which can be removed if required. The following figure and table show the pinning of this DSUB9 connector. Pin 9 is by default not connected but can be connected to VIN by placing a zero-Ohm resistor on R5.
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DSUB9 connector 1 pinning for CAN
|
Pin |
Name |
I/O |
Description |
|
2 |
CANL |
I/O |
CAN low |
|
5 |
GND |
PWR |
|
|
7 |
CANH |
I/O |
CAN high |
|
9 |
(VIN) |
(PWR) |
Optional (when R5 is placed) |
The following table shows the required switch configuration for the CAN connection on the DSUB9 connector.
Switch configuration for enabling CAN (with internal transceiver)
|
Switch |
CAN |
|
SEL |
1x |
|
SW1 |
- |
|
SW2 |
Up (Int. CAN) |
When you want to connect your own CAN transceiver instead of using the transceiver on the Avior-DEV, you need to configure the switches as shown in the table below.
Switch configuration for enabling CAN (without internal transceiver)
|
Switch |
External CAN |
|
SEL |
1x |
|
SW1 |
- |
|
SW2 |
Down (Ext. CAN) |
AVIOR-DEV power supply specifications
|
Power |
Min |
Typ |
Max |
Unit |
Remarks |
|
VUSB |
4.5 |
5 |
5.5 |
V |
USB connector |
|
VVIN |
3.2[1] |
|
5.1 |
V |
External Connector and DSUB |
|
VVDDIO_IN |
1.7 |
|
3.4 |
V |
External Connector |
|
IIN @ 5V |
|
100 |
500 |
mA |
USB, External Connector and DSUB |
|
IOUT, SOCK |
|
|
250 |
mA |
Maximum total current output through the extension sockets |
|
IOUT,DSUB |
|
|
500 |
mA |
Maximum total current output through DSUB connector power pins when R3 and/or R5 are placed |
[1] The VIN must be 4.5 V minimum when extension boards are connected without USB supply!
AVIOR-DEV interfaces electrical specifications
|
Interface |
Symbol |
Min |
Typ |
Max |
Unit |
Description |
|
CAN |
VI(DIFF)(R) |
-4.0 |
|
0.5 |
V |
Recessive differential input voltage -12V < V(CANH, CANL) < +12V
|
|
VI(DIFF)(D) |
0.9 |
|
9.0 |
V |
Dominant differential input voltage -12V < V(CANH, CANL) < +12V
|
|
|
VO(DIFF)(R) |
-500 |
0 |
50 |
mV |
Recessive differential output voltage |
|
|
VI(DIFF)(D) |
-1.3 |
2.0 |
5.0 |
V |
Dominant differential output voltage |
|
|
VO(L)(D) |
0.5 |
1.5 |
2.25 |
V |
CANL dominant output voltage |
|
|
VO(H)(D) |
2.75 |
3.5 |
4.5 |
V |
CANH dominant output voltage |
|
|
RTERM |
110 |
120 |
140 |
Ω |
Termination resistance (when enabled) |
|
|
RS232 |
VIL |
-15 |
|
0.6 |
V |
Low input voltage |
|
VIH |
2.0 |
|
±15 |
V |
High input voltage |
|
|
VIN |
3 |
5 |
7 |
kΩ |
Input resistance |
|
|
VOT |
±5.0 |
±5.5 |
|
V |
Driver output voltage swing |
|
|
RS422 |
VCM_IN |
-7 |
|
12 |
V |
Input common mode voltage |
|
VTH |
-200 |
-125 |
-50 |
mV |
Differential input voltage threshold |
|
|
ΔVTH |
|
25 |
|
mV |
Input hysteresis voltage |
|
|
RIN |
96 |
|
|
kΩ |
Input resistance (with termination disabled) |
|
|
RTERM |
100 |
120 |
150 |
Ω |
Termination resistance (when enabled) |
|
|
VOD |
1.5 |
|
3.3 |
V |
Differential output voltage (RL = 54 Ω) |
|
|
VCM_OUT |
|
|
3 |
V |
Output common mode voltage |
|
|
EXT_IN[2] |
VIL |
0 |
|
0.15 |
V |
Low input voltage on External Connector |
|
VIH |
VDDIO-0.2 |
|
3.6 |
V |
High input voltage on External Connector |
|
|
EXT_OUT[2] |
VOL |
0 |
|
0.4 |
V |
Low output voltage on External Connector (1 mA sink) |
|
VOH |
0.8*VDDIO |
|
VDDIO |
V |
High output voltage on External Connector (-20 μA source) |
[2] When using only USB for power, VDDIO is 1.8 V.
Absolute maximum ratings AVIOR-DEV
|
Parameter |
Symbol |
Min |
Max |
Unit |
Comments |
|
Power input voltage |
VIN |
-0.3 |
6 |
V |
For all power inputs (USB, External Connector and DSUB) |
|
CAN DC |
VCAN_DC |
-58 |
58 |
V |
Common mode voltage of CAN_H and CAN_L with respect to ground |
|
CAN Differential |
VCAN_DIFF |
-17 |
17 |
V |
Differential voltage between CAN_H and CAN_L |
|
RS232/RS422 inputs |
VRS232 |
-18 |
18 |
V |
|
|
EXT inputs |
VI |
-0.3 |
5.5 |
V |
Input voltage on External Connector pins |
|
EXT outputs |
IO |
|
±40 |
mA |
Output current on External Connector pins |
|
ESD protection |
|
|
±2000 |
V |
Human body model |
The following figures show the dimensions of the Avior-DEV. All dimensions are in mm.
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Avior-DEV Development Board drawing (Top and Side view)