add mechanical drawing with navigation center position; clean up

Aceinna · Nov 12, 2020 · 6900a6c · 6900a6c
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diff --git a/EVB-OpenRTK330LI.rst b/EVB-OpenRTK330LI.rst
diff --git a/EVB-OpenRTK330LI/mechanical.rst b/EVB-OpenRTK330LI/mechanical.rst
diff --git a/EVK-OpenRTK330LI.rst b/EVK-OpenRTK330LI.rst
@@ -0,0 +1,91 @@
+The OpenRTK330LI EVK
+=====================
+
+.. contents:: Contents
+    :local:
+
+
+**1. Introduction**
+~~~~~~~~~~~~~~~~~~~~~
+
+    The OpenRTK evaluation kit (EVK) is a hardware platform to evaluate the
+    OpenRTK330 GNSS RTK/INS integrated positioning system and develop various
+    applications based on this platform. Supported by the online Aceinna Navigation
+    Studio the kit provides easy access to the features of OpenRTK330 and
+    explains how to integrate the device in a custom design. The OpenRTK 
+    EVK is shown below after unpacking.
+
+    .. image:: ./media/EvalKit.png
+
+where
+
+  * 1: ST-Link debugger
+  * 2: Multi-Constellation Multi-frequency GNSS antenna
+  * 3: Micro-USB cable
+  * 4: OpenRTK330 Evaluation Board (EVB) with metal flat mounting board
+  * 5: 12-V DC adapter with 5.5 x 2.1 mm power jack
+
+**2. OpenRTK330 EVB**
+~~~~~~~~~~~~~~~~~~~~~~~
+
+An OpenRTK330 Evaluation board is shown below in detail
+
+ .. figure:: ./media/EvalBoard.png
+    :width: 6.0in
+    :height: 6.0in
+
+where
+
+  * 1: OpenRTK330 GNSS/IMU integrated module
+  * 2: GNSS antenna SMA interface
+  * 3: Espressif ESP32 bluetooth module
+  * 4: SWD/JTAG connector, 20-pin
+  * 5: Extension connector with 6-pin interfaces from left to right
+
+      - GND
+      - Not Connected
+      - Not Connected
+      - Connects to pin #56 "USER_UART2_TX" of the OpenRTK330 module
+      - Connects to pin #55 "USER_UART2_RX" of the OpenRTK330 module
+      - 1PPS outlet
+
+  - 6. Extension connector with 6-pin SPI interfaces from left to right
+
+      - Connects to pin #29 "USER_MOSI" of the OpenRTK330 module
+      - Connects to pin #30 "USER_SCK" of the OpenRTK330 module
+      - Connects to pin #31 "USER_NSS" of the OpenRTK330 module
+      - Connects to pin #32 "USER_MISO" of the OpenRTK330 module
+      - Connects to pin #39 "USER_DRDY" of the OpenRTK330 module
+      - GND 
+
+  - 7. Boot mode switch with two positions (A and B)
+  - 8. RJ45 jack for Ethernet interface
+  - 9. Micro-USB port
+  - 10. CAN interface
+  - 11. Power jack for 12-v adapter
+  - 12. EVB working status LEDs from left to right 
+
+    - Yellow: ST GNSS chipset is powered on and working properly
+    - Red: valid GNSS base station data receiving
+    - Green: valid GNSS signal receiving
+
+
+.. The following pages cover:
+
+.. *   Detailed Overview
+..
+    *   Eval Board Mechanical Drawing
+    *   Eval Board Schematic
+
+
+.. toctree::
+    :maxdepth: 2
+    :hidden:
+
+    EVK-OpenRTK330LI/mechanical
+    EVK-OpenRTK330LI/schematic
+
+.. EVK-OpenRTK330LI/overview
+
+   
+   
diff --git a/EVK-OpenRTK330LI/mechanical.rst b/EVK-OpenRTK330LI/mechanical.rst
@@ -0,0 +1,20 @@
+EVB Mechanical Drawing
+===================================
+
+.. contents:: Contents
+    :local:
+
+The following mechanical drawing shows the EVB dimension (in mm) and the position of IMU navigation center:
+
+    .. image:: ../media/EVB_IMU_Center_dimension.png
+
+
+The following mechnical drawing shows the dimension (in mm) of the mounting plate for the OpenRTK330LI EVB:
+
+.. image:: ../media/8550-3021-01_EVK_OpenRTK330LI.png
+
+
+.. note:: Use the browser's back button to return to this page.
+
+
+.. Mechanical Drawing :download:`download link <../media/8550-3021-01_EVK_OpenRTK330LI.PDF>`
diff --git a/EVB-OpenRTK330LI/overview.rst → EVK-OpenRTK330LI/overview.rst b/EVB-OpenRTK330LI/overview.rst → EVK-OpenRTK330LI/overview.rst
@@ -1,72 +1,3 @@
-Overview
-==========
-
-.. contents:: Contents
-    :local:
-
-**1. Introduction**
-~~~~~~~~~~~~~~~~~~~~~
-
-    The OpenRTK evaluation kit (EVK) is a hardware platform to evaluate the
-    OpenRTK330 GNSS RTK/INS integrated positioning system and develop various
-    applications based on this platform. Supported by the online Aceinna Navigation
-    Studio the kit provides easy access to the features of OpenRTK330 and
-    explains how to integrate the device in a custom design. The OpenRTK 
-    EVK is shown below after unpacking.
-
-    .. image:: ../media/EvalKit.png
-
-where
-
-  * 1: ST-Link debugger
-  * 2: Multi-Constellation Multi-frequency GNSS antenna
-  * 3: Micro-USB cable
-  * 4: OpenRTK330 Evaluation Board (EVB) with metal flat mounting board
-  * 5: 12-V DC adapter with 5.5 x 2.1 mm power jack
-
-**2. OpenRTK330 EVB**
-~~~~~~~~~~~~~~~~~~~~~~~
-
-An OpenRTK330 Evaluation board is shown below in detail
-
- .. figure:: ../media/EvalBoard.png
-    :width: 6.0in
-    :height: 6.0in
-
-where
-
-  * 1: OpenRTK330 GNSS/IMU integrated module
-  * 2: GNSS antenna SMA interface
-  * 3: Espressif ESP32 bluetooth module
-  * 4: SWD/JTAG connector, 20-pin
-  * 5: Extension connector with 6-pin interfaces from left to right
-
-      - GND
-      - Not Connected
-      - Not Connected
-      - Connects to pin #56 "USER_UART2_TX" of the OpenRTK330 module
-      - Connects to pin #55 "USER_UART2_RX" of the OpenRTK330 module
-      - 1PPS outlet
-
-  - 6. Extension connector with 6-pin SPI interfaces from left to right
-
-      - Connects to pin #29 "USER_MOSI" of the OpenRTK330 module
-      - Connects to pin #30 "USER_SCK" of the OpenRTK330 module
-      - Connects to pin #31 "USER_NSS" of the OpenRTK330 module
-      - Connects to pin #32 "USER_MISO" of the OpenRTK330 module
-      - Connects to pin #39 "USER_DRDY" of the OpenRTK330 module
-      - GND 
-
-  - 7. Boot mode switch with two positions (A and B)
-  - 8. RJ45 jack for Ethernet interface
-  - 9. Micro-USB port
-  - 10. CAN interface
-  - 11. Power jack for 12-v adapter
-  - 12. EVB working status LEDs from left to right 
-
-    - Yellow: ST GNSS chipset is powered on and working properly
-    - Red: valid GNSS base station data receiving
-    - Green: valid GNSS signal receiving
 
 
 .. **2.1 OpenRTK330 module**

diff --git a/EVB-OpenRTK330LI/schematic.rst → EVK-OpenRTK330LI/schematic.rst b/EVB-OpenRTK330LI/schematic.rst → EVK-OpenRTK330LI/schematic.rst
diff --git a/Module-OpenRTK330LI.rst b/Module-OpenRTK330LI.rst
@@ -0,0 +1,42 @@
+The OpenRTK330LI Module
+==========================
+
+The Aceinna OpenRTK330 module integrates a ST Teseo V automotive grade
+multi-constellation, multi-frequency Global Navigation Satellite System
+(**GNSS**) chipset (supports GPS, GALILEO, GLONASS, Beidou, QZSS), a
+triple-redundant 6-axis (3-axis accelerometer and 3-axis gyro) **MEMS**
+Inertial Measurement Unit (**IMU**), and a ST M4 MCU as the processor.
+OpenRTK330 module is targeted for commecial applicaiton for the mass
+market that requires a reliable, high-precision and yet cost effective
+**GNSS/INS** integrated positioning solution.
+
+Features with:
+
+  * 100 Hz GNSS/INS integrated position, velocity and attitude solution
+  * Integrated tripple redundant 6-axis IMU sensors
+  * Integrated multi-frequency GNSS chipset with the following two frequency plans
+
+    +-----------+-----------------------+-----------------------+
+    | GNSS      | L1/L2 plan            | L1/L5 plan            |
+    +-----------+-----------------------+-----------------------+
+    | GPS       | L1 C/A + L2C          | L1 C/A + L5           |
+    +-----------+-----------------------+-----------------------+
+    | GLONASS   | G1                    | G1                    |
+    +-----------+-----------------------+-----------------------+
+    | BeiDou    | B1I + B2I             | B1I + B2A             |
+    +-----------+-----------------------+-----------------------+
+    | Galileo   | E1 + E5b              | E1 + E5b              |
+    +-----------+-----------------------+-----------------------+
+    | QZSS      | L1 C/A + L2C          | L1 C/A + L5           |
+    +-----------+-----------------------+-----------------------+
+
+  * RTK algorithms on-board for up to centimetre accuracy
+  * UART / SPI / CAN / Ethernet Interfaces
+
+
+.. toctree::
+    :maxdepth: 2
+    :hidden:
+
+    Module-OpenRTK330LI/technical_specs
+    Module-OpenRTK330LI/communication_ports
diff --git a/Communication_ports.rst → Module-OpenRTK330LI/communication_ports.rst b/Communication_ports.rst → Module-OpenRTK330LI/communication_ports.rst
@@ -94,7 +94,7 @@ set these two serial port numbers.
 *Case 1*: The GNSS/DEBUG of OpenRTK330 EVK is the USER serial port number plus 1 and 2 respectively. 
 Just configure the "useDefaultUart" field to 1, and the "uart" field does not work at this time.
 
-.. image:: media/Fig_27_Micro_USB.png
+.. image:: ../media/Fig_27_Micro_USB.png
 
 *Case 2*: If the user needs to specify the GNSS/DEBUG serial port number, or does not use the GNSS/DEBUG 
 serial port (the user has not made a hardware connection), the "useDefaultUart" needs to be configured 

diff --git a/OpenRTK330.rst → Module-OpenRTK330LI/technical_specs.rst b/OpenRTK330.rst → Module-OpenRTK330LI/technical_specs.rst
@@ -1,36 +1,6 @@
-The Aceinna OpenRTK330 module integrates a ST Teseo V automotive grade
-multi-constellation, multi-frequency Global Navigation Satellite System
-(**GNSS**) chipset (supports GPS, GALILEO, GLONASS, Beidou, QZSS), a
-triple-redundant 6-axis (3-axis accelerometer and 3-axis gyro) **MEMS**
-Inertial Measurement Unit (**IMU**), and a ST M4 MCU as the processor.
-OpenRTK330 module is targeted for commecial applicaiton for the mass
-market that requires a reliable, high-precision and yet cost effective
-**GNSS/INS** integrated positioning solution.
-
-* 100 Hz GNSS/INS integrated position, velocity and attitude solution
-* Integrated tripple redundant 6-axis IMU sensors
-* Integrated multi-frequency GNSS chipset
-* Supported GNSS
-
-  +-----------+-----------------------+-----------------------+
-  | GNSS      | L1/L2 plan            | L1/L5 plan            |
-  +-----------+-----------------------+-----------------------+
-  | GPS       | L1 C/A + L2C          | L1 C/A + L5           |
-  +-----------+-----------------------+-----------------------+
-  | GLONASS   | G1                    | G1                    |
-  +-----------+-----------------------+-----------------------+
-  | BeiDou    | B1I + B2I             | B1I + B2A             |
-  +-----------+-----------------------+-----------------------+
-  | Galileo   | E1 + E5b              | E1 + E5b              |
-  +-----------+-----------------------+-----------------------+
-  | QZSS      | L1 C/A + L2C          | L1 C/A + L5           |
-  +-----------+-----------------------+-----------------------+
-
-* RTK algorithms on-board for up to centimetre accuracy
-* UART / SPI / CAN / Ethernet Interfaces
 
 Technical characteristics
-=========================
+==========================
 
  +-------------------------------------------------------------------+
  | **Accuracy** [#f1]_                                               |
@@ -139,11 +109,11 @@ Technical characteristics
 
 
 
-OpenRTK330 Module Pin Definitions
+Pin Definitions
 =================================
 
 
- .. image:: media/OpenRTK330LI_pin_n.png
+ .. image:: ../media/OpenRTK330LI_pin_n.png
 
 
  +---------+-------------------+----------+-----------------------------------------------------------------+

diff --git a/firmwareBuild/RAWDATA.rst b/firmwareBuild/RAWDATA.rst
@@ -28,7 +28,7 @@ Build
 
 Algorithm Code Interfaces
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~
- This section describes the detail code interfaces for user to briefly understand the firmware frame and to embedd their own algorithms quickly. It's recommended to refer to the `OpenRTK330 module hardware <https://openrtk.readthedocs.io/en/latest/OpenRTK330.html>`_ and `EVB hardware and layout <https://openrtk.readthedocs.io/en/latest/EVB-OpenRTK330LI/schematic.html>`_ for understanding of the firmware here.
+ This section describes the detail code interfaces for user to briefly understand the firmware frame and to embedd their own algorithms quickly. It's recommended to refer to the `OpenRTK330 module hardware <https://openrtk.readthedocs.io/en/latest/OpenRTK330.html>`_ and `EVB hardware and layout <https://openrtk.readthedocs.io/en/latest/EVK-OpenRTK330LI/schematic.html>`_ for understanding of the firmware here.
 
  Checking the "main.c" source file, the whole system is initialized here, and the four UART ports of the MCU are initialzed with a baud rate of 460800 per seconds and are used as the system's primary I/O. Most importantly, there are four RTOS tasks created as the follows:
 

diff --git a/firmwareBuild/RTK_App.rst → firmwareBuild/RTK_INS_App.rst b/firmwareBuild/RTK_App.rst → firmwareBuild/RTK_INS_App.rst
diff --git a/index.rst b/index.rst
@@ -49,24 +49,23 @@ including custom data structures and packets very simple.
    \part{RTK/IMU Modules}
 
 .. toctree::
-    :caption: OpenRTK330 Modules
+    :caption: The OpenRTK330LI Module
     :maxdepth: 1
     :hidden:
     :titlesonly:
 
-    OpenRTK330
-    Communication_ports.rst
+    Module-OpenRTK330LI
 
 .. raw:: latex
 
    \part{Evaluation Kits}
 
 .. toctree::
-    :caption: Evaluation Kits
+    :caption: The OpenRTK330LI EVK
     :maxdepth: 1
     :hidden:
 
-    EVB-OpenRTK330LI
+    EVK-OpenRTK330LI
 
 .. raw:: latex
 

diff --git a/media/EVB_IMU_Center_dimension.png b/media/EVB_IMU_Center_dimension.png
diff --git a/quick_start.rst b/quick_start.rst
@@ -170,7 +170,7 @@ Usage Steps
 Note
 ~~~~~~~
 
-This section presents a brief introduction and quick start on using OpenRTK330LI EVK for RTK and INS positioning. Please refer to the remaining sections of this tutorial chapter for more detailed descriptions on the EVK's features and usage.
+This section presents a brief introduction and quick start on using OpenRTK330LI EVK for RTK and INS positioning. Please refer to the remaining sections of this tutorial chapter to explore more on OpenRTK330LI's features and its usage.
 
 
 

diff --git a/useOpenRTK/EVK-Vehicle-Installation.rst b/useOpenRTK/EVK-Vehicle-Installation.rst
@@ -10,7 +10,7 @@ Reference coordinate frames
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 In order to install the OpenRTK330 EVB on vehicle for driving test, a few reference frames listed below has to be defined  
 
- * **The IMU body frame** is defined as below and shown in the figure. By default the INS solution of OpenRTK330 is provided at the center of navigation of the IMU (approximate center of the yellow triangle on the module product label).
+ * **The IMU body frame** is defined as below and shown in the figure. By default the INS solution of OpenRTK330 is provided at the center of navigation of the IMU (refer to the `mechanical drawing <https://openrtk.readthedocs.io/en/latest/EVK-OpenRTK330LI/mechanical.html>`_ for accurate IMU navigation center position on the EVB).
 
   * x-axis: points to the same direction as the SMA antenna interface
   * z-axis: perpendicular to x-axis and points downward
-Original file line number
+Diff line change
@@ Expand Up / @@ -170,7 +170,7 @@ Usage Steps @@
     Note
     ~~~~~~~
-    This section presents a brief introduction and quick start on using OpenRTK330LI EVK for RTK and INS positioning. Please refer to the remaining sections of this tutorial chapter for more detailed descriptions on the EVK's features and usage.
+    This section presents a brief introduction and quick start on using OpenRTK330LI EVK for RTK and INS positioning. Please refer to the remaining sections of this tutorial chapter to explore more on OpenRTK330LI's features and its usage.
@@ Expand Down @@