OS5000 User Manual
Contents
1. 15 Compass Command Summary Table eeeeeeseesseessesssesseeseeess 15 Compass Mounting Guidelines eeeeeeeeesesssesssesssesseeseee seen 20 New Mounting Positioning with Firmware Version 1 5 and Later 22 Calibrating the Compass decise i bas Dans coSteueten auod ERU ota use Qaem teda de aat 24 Optional Sort Iron GaliDEAllons eid nep dise ite t th Pel Rd Cauntera ci 28 Installing Windows Bemo UUBIITy s io odere o e t x R a dee Suadpeapscectshyeneneesenas 31 USB Drivers for the OceanServer OS5000 US family of compasses 33 Basic Commands to Configure the OS5000 cccccciiciiiiiiiiiiiiiiiiiiis 34 Depth or other sensor Connection for OS5000 USD essesusss 35 PROGRAMMING NOTES 555 vrret aoo ed red inh a Sa obrui tad va Ea btt e 36 Customer SUD COM asse preso tees e E CUR ek ete DUE 38 OCEANSERVER COMPASS MANUAL Introduction to the Tiny Compass Family The OccanServer precision 3 Axas Tilt Compensated compass products use state of the art technology to provide outstanding performance and ease of use in a lov cost design The OS5000 family of compasses are a new class of sensor components providing best in class performance for under 200 00 USD in low volume Features Compass accuracy 0 5 degrees RMS level heading 1 RMS lt 30 Tilt 1 5 RMS lt 60 Tilt 1 Degree resolution Roll amp Pitch ful2. OceanServer Digital Compass Demo Utility Y2 1 x Configure Open Port Close Port 36 OceanServer m TECHNOLOGY INC P yi rep P A Calibration X Compass Level C Baud Rate 9600 B Calibrate Z Compass 90 Degrees z Output Rate samples s Set D Show v Azimuth Depth Acc Vect IV Pitch Iv Mag S Gyro S Restore FACTORY Defaults o e n I Roll v M vect Gyro Vect A V Temp Acc S Life Count Max Pressure PSI Set M Deguass every b sentences Set S Zero Depth at surface Set P latinas Null Gyro no rotation Set G Deviation N ake Average Samples 5 A Declination Q Terminal Window v Show Compass Output AD Decimation Filter 9P 0 1R43 56Mx 80 45My 160 86M271 53A0 998 2F 9P 0 1R43 57Mx 80 46My 160 86M271 55A0 998 2B 9P 0 1R43 58Mx 80 45My 160 86M271 56A0 999 25 P 0 1R43 58Mx 80 45My 160 86M271 57A0 998 26 8P 0 1R43 58Mx 80 46My 160 85M271 60A0 999 21 USB Drivers for the OceanServer OS5000 US family of compasses You must download the USB drivers for windows directly from our web site These are only required if your using the USB interconnect option on the OS5000 US compass Remember if you have an OS5000 US it supports either RS 232 setial or USB by selecting the correct cable There are two connectors on the module The serial connector is on the TOP side and is 7 pin the USB cab
3. Lu Always mount compass with 7 pin side 1 up even when using USB connector other mounting positions available with firmware version 1 5 OCEANSERVER COMPASS MANUAL Additional Note the OS5000 USD version supports pressure measurement for depth not shown utilizes same PCB and connectors as OS5000 US above OS Compass Design Features Hardware Variants OS5000 S RS232 Only OS5000 US RS232 amp USB OS5000 T TTL Only OS5000 USD Standard Features of US Compass with Depth Magnetic Sensors Honeywell two axis AMR sensor for X Y plane sensing Honeywell z axis AMR sensor Accelerometer tilt sensor Three axis STM accelerometer Microprocessor 50 MIPS processor that supports IEEE floating point operations for accurate tilt compensation AD Conversion 24 bit Sigma Delta converters with differential inputs All Models are ROHS Compliant Additional Note The OS5000 family of compasses is the next generation of compasses offered by OceanServer Technology The table below gives a cross reference to previous generation parts Previous Generation Part Replacement Part Comments OS1000 OS5000 S Direct Replacement One part replaces both units OS1500 and 3500 OS5000 USD USDK depth connected via Serial port connector OS3000 OS5000 US Smaller 1 x1 form factor OCEANSERVER COMPASS MANUAL Specifications Parameter Value Azimuth accuracy lt 0 5 deg RMS Level Heading 0 1 deg resoluti
4. 21 C288 6P 0 2R 0 2T26 6 23 Notice Level in roll and pitch CMD C Bridge offset Calibrate X Y lt space gt when done XyxXyXyXYXyXyX XXYXVY XYXYXYXYXYXYXYXY XYXYXYXYXYXYXY XYXYXYXYXYXYXYX YYXYXYXYX YxYY YYYYYYYY YYXYXXYXYXX XXXXXXX XXXXXXXX XXXXXXXX X yy x XXX XXX X Y YYY YY YY KKK AE AO Flash Write C346 7P1 5R 0 1T26 9 06 C335 7P 0 3R 90 0T26 9 10 C335 7P 0 4R 88 4T26 9 1 A C335 7P 0 4R 90 0T26 9 17 Notice Platform rolled 90 degrees pitch 0 CMD Z Bridge offset Calibrate Z space when done EL E NAE EE BER DEECTLOLIOLLL IDE ZZZZZZZZZZZZZZZZ ZZ ZLLLZLZULL 33ee V V AGA E Flash Write C69 6P 0 4R 90 0T27 0 24 C69 7P 0 4R 88 4T27 0 28 21 OS5000 Mounting hole locations stand offs shipped with compasses Visit OceanServer s download page for 3D Models and Mechanical Drawings www ocean server com download html 4X 116 V THR 1 00 Tae UW 92 Q gt n n D L rr Hi g CI 08 EEUU New Mounting Positioning with Firmware Version 1 5 and Later On firmware version 1 4 and earlier always mount the compass with 7 pin side 1 up this is the factory default mounting position for all firmware versions Side 1 on all compass models has the white arrow imprinted on the red etch Firmware version 1 5 introduces 5 additional mounting positions for users that need the compass orientated differently in their product Note The OS5000 USDK
5. 4Mx107977 90My 79422 00Mz173 27Ax0 045Ay 0 245A20 977 3A This sentence format provides a text tag in front of each data type so the user program can parse them accurately regardless of which data elements are activated In effect evety data element has leads with its unique name Possible fields reported in the sentence use the lt esc gt Xnnnnn lt space gt command to configure the desired fields for output Hhh h Heading in degrees corrected for Declination if one is entered Ppp p Pitch angle P precedes the pitch angle in degrees Rrr rr Roll angle R precedes the roll angle in degrees Ttt t Temperature of the compass board crude measure taken from the core microprocessors internal sensor Used for relative measurements of environments not accurate We provide a single point calibration offset using the lt esc gt command Standard Factory Format for OS5000 S OS5000 US or OS5000 T The standard setting below is lt esc gt 1 lt space gt command Example C320 5P0 2R 18 3T19 0 3C Mx My Mz Magnetic field strength reported on each sensor The units are calibrated to milliguass by the user setting the local horizontal field strength before a full calibration Ax Ay Az Acceleration measured on all three sensors The units ate in G for each sensor You can also output the vector length acceleration scalar which will be close to 1G cc This is the end of line character the cc is the HEX X OR sum of the character
6. compass only supports orientation 1 N Pd Orientation 1 Standard flat Factory Default 22 To change to another Orientation you will need to hit the Escape key and enter command Key E Below is the output factory default is 1 Standard flat CMD E see manual you MUST recalibrate compass after changing 1 Standard flat 2 front 3 port 4 roof 5 back 6 starboard Mounting Oriention 1 6 1 Value and Enter or Esc CMD E Below are figures for orientation Options 2 6 Once you have changed the orientation you will need to recalibrate the compass starting with the XY calibration then move on to the Z from the new orientation position Note Roll and Pitch should both indicate zero values in the new orientation position prior to starting the XY calibration and then roll the compass 90 degrees for the Z calibration B Option 2 front above Option 3 Port above 23 Option 4 Roof above Option 5 Back above d gt Option 6 Starboard Calibrating the Compass Compasses operate by measuring the earth s magnetic field and locating magnetic north When mounted in real platforms or devices there are other local magnetic fields or materials that disrupt or offset the earth s magnetic field Sources to be aware of are ferrous metal electric currents and permanent magnets in electric motors 24 There are two sources of magnetic field distortion Soft iron and Hard iron S
7. Enter or Esc 4 lash Write HCHDT 212 4 T 2C HCHDT 212 4 T 2C HCHDT 212 4 T 2C MD utput Sentences 127 gt 4 alue and Enter or Esc 8 lash Write 12 4 2 5 14 0 28 6 107934 59 79258 69 173 27 0 045 8 244 0 978 12 4 2 5 14 0 28 5 107940 70 79263 87 173 25 0 045 8 244 0 9 78 12 4 2 5 14 0 28 6 107929 16 79273 99 173 26 0 045 8 245 0 977 4 2 5 14 0 28 7 107929 85 79259 35 173 25 8 8045 0 245 0 97 4 2 5 14 0 28 7 107939 34 79243 55 173 27 0 045 8 245 8 977 4 2 5 14 0 28 7 107954 94 79237 44 173 27 0 045 80 245 0 97 4 2 5 14 0 28 7 107937 20 79229 34 173 29 0 045 8 245 0 97 M TI lt C gt 22 Jan 2008 OS5888 V1 4 space Figure Compass output for each of the fout supported output formats The command lt esc gt lets you select the bit mask for the desired sentence format The compass is programmed with an output rate and it sends sentences at this fixed rate The rate is programmed with the lt esc gt R command Values lower than 1 per second use a negative number 100 is 0 01hz 10 is 0 1 hz 2 is 0 5hz Values greater than 0 are in sentences per second HZ A value of 10 is 10hz 40 is 40hz and so on If you program a rate of 0 the compass will cease output but still respond to lt esc gt commands 11 OCEANSERVER COMPASS MANUAL Format Type 0x01 1 10 C format Chhh hPpp pRrr rTtt tMx0 000My0 000Mz0 000Ax000 0Ay000 0Az000 0 cc C212 4P2 5R 14 0T28
8. N FILTER FOR AD Digital Filter Value for AD conversion higher longer filter time The default value is 3 using a higher value will add lag to the measurements but filter noise A value of D 1 provides the fastest update rate for compass data for example if you running at 40Hz update rate The value of D 3 is the default for the compass as it s shipped You will also get less resolution at D 1 and more noise in the dat lt Esc gt OUTPUT SENTENCE FORMAT Change Output Sentence Formats bit mask 1 2 4 8 16 are valid values Format 8 requires firmware version 1 4 or later and 16 version 1 6 or later Deault 1 2 is a simple NMEA like output with comma delimited data this is easy to tag and parse in user programs 4 is even simpler comma delimited data with no sentence NAME or handle lt Esc gt CHANGE ESCAPE CHARACTER careful Change Escape Character for compass default 27 ESC danger careful This is used to change the compasses ESCAPE character for applications where the compass may be on a shared output line and the system may send ASCII 27 characters If you change it you will not be able to talk to the compass unless you can send the new character value DON T CHANGE THIS UNLESS YOU ARE SURE HARDLY EVERY NEEDED lt Esc gt F RESTORE FACTORY DEFAULTS Restore Factory Defaults and calibration lt Esc gt E COMPASS ORIENTATION Allows compass six mounting orientations to be set The mo
9. OCEANSERVER COMPASS MANUAL OceanYerver T EOHNOLGOZOGSY ING Digital Compass Users Guide OS5000 Series P N 90 05000 00 REVISION 3 8 O 2007 2009 OceanServer Technology Inc 151 Martine St Fall River MA 02723 USA WWNW OcCan Setver cotm Sales ocean server com or support Mocean setver com OCEANSERVER COMPASS MANUAL Table of Contents Introduction to the Tiny Compass FamilYV ciciiciiiiiiicii ciii ani ais 3 OS Compass Design Features western scasadesdanacesbnedects desuedvnadaeteceeoarsstevecnasbeeusecetacaas 5 SPECCINCAHNONS ao HC IDE C 6 Electrical Connector and pin assignment ssssemmmRmme 8 6 0 em 9 Communicating with the compass RS 232 or USB ssuuusss 10 Ouiput Sentence Formats 355 aant ha aas de si Rennen Poen APO ee Qa is ba on NER A Revo Aus 11 Format Type 0x01 1 10 C format ssseseeeeeneenenenennnnnnnn 12 Format Type 0x02 2 10 BOHPR Sentence iius sss 13 Format Type 0x04 4 10 HCHDT Sentence iiis s lt 13 Format Type 0x08 8 10 comma delimited Sentence 13 Format Type 0x10 16 10 Direct LCD Output eesseeeeeeeeeeeeeen 13 Output Parameter Selection Table ccccccccccssssessseeeeeeeeeeeeeseaeseeeeeseeeeeeeeaaas 14 Terminal Emulation Programs for Communicating with the Compass
10. R COMPASS MANUAL 13 4096 Reserved Table The output order and bit values for each of the possible output fields is shown in the above table The lt esc gt X The lt esc gt Xmask lt space gt command uses a decimal mask If you want heading roll and pitch active add the Bit Values up for the fields I e 1 2 4 7 now use the command lt esc gt X7 lt space gt to enable these three fields Remember the mask is decimal so just add the bit field values up from the table Terminal Emulation Programs for Communicating with the Compass Hyperterm Issues OceanServer compasses will usually show up as an additional Hyperterm port when properly connected to a system If the compass cannot be communicated programmed check to confirm the Hyperterm port has the correct settings baud is 9600 8 1 N older compasses or 19200 with firmware v1 1 or later If the settings are correct it could be a Hyperterm system issue and you may want to download a different terminal program One possible program is Tera Term TeraTerm Support Forum http www neocom ca forum viewtopic php t 436 The install for version 4 51 and can be locate at http www neocom ca freeware TeraTerm teraterm_utf8_451 exe A windows version of Tera Term installer is located at www ocean setver com Compass Compass Command Summary Table The compass is configured and calibrated using a set of commands sent to it via its serial port connection The
11. ack Ground USB Power 5 Reserved Must be no connect 6 Reserved Must be no connect Cables OceanServer offers a variety of cables which come with the compass evaluation kits or can be ordered separately OS5000 US will auto detect whether the Serial or USB cable has been plugged in Standard Cables 19 00061 24 24 OS5000 S Demo Kit Cable with Serial connection Pressure and 3 6V battery power connection picture below Demo cable provides 3 6V battery connection Cable Note this cable is a quick way to get the compass running for evaluation It is highly recommended that you operate the compass from 3 3V since the module has a linear regulator and a higher voltage than 3 3V heats up the module and wasting power and heating up the OS5000 module E OCEANSERVER COMPASS MANUAL 19 00062 24 24 OS5000 S T Series Pigtail Cable 7 Pin connector blunt cut below 19 00116 00 Aprox OS5000 US Demo Kit Cable with USB to 6 Pin connector There is also a 3 version available Communicating with the compass RS 232 or USB The USB compass requires device drivers to present itself to the system as an asynch serial port i e COMn port on Windows There are drivers supporting MAC OS and Linux variants on the www silabs com web site CP2102 bridge drivers We provide basic drivers and manuals on our web site for windows www ocean 10 OCEANSERVER COMPASS MANUAL server com compass At this point all compass design
12. am configures and operates a serial port reads the compass configuration allows for sending commands and configuring the compass The program is written in Microsoft Visual Studio C This compiler can be downloaded in trial from Microsoft com NMEA CHECKSUM GENERATION 1 Example of checksum calculations in VisualBasic Returns True if a sentence s checksum matches the calculated checksum Public Function IsValid ByVal sentence As String As Boolean Compare the characters after the asterisk to the calculation Return sentence Substring sentence IndexOf 1 GetChecksum sentence End Function 36 Calculates the checksum for a sentence Public Function GetChecksum ByVal sentence As String As String Loop through all chars to get a checksum Dim Character As Char Dim Checksum As Integer For Each Character In sentence Select Case Character Case c Ignore the dollar sign Case c Stop processing before the asterisk Exit For Case Else Is this the first value for the checksum If Checksum 0 Then Yes Set the checksum to the value Checksum Convert ToByte Character Else No XOR the checksum with this character s value Checksum Checksum Xor Convert ToByte Character End If End Select Next Return the checksum formatted as a two character hexadecimal Return Checksum ToString X2 End Function 2 Example of checksum calculations in C Ret
13. ation lt Esc gt H or or h HELP MENU Help Menu lt Esc gt A FILTER HEADING ROLL AND PITCH non gyro compass Moving average filter on roll pitch and heading Enter the number of samples to include in the average This combined with output rate will determine the period of the filter Example averaging 5 output rate 10 is half second period Esc V lt Esc gt FIRMWARE VERSION Displays the firmware version installed on this device CALIBRATE TEMPERATURE MEASUREMENT Calibrate Temperature offset in O 1C example lt esc gt 131 lt enter gt will subtract 13 1 from the reported temperature Temperature is a crude sensor and should not be used if accuracy is required it is a good relative measure of changes in the electronics rack Esc U SCALE MAGNETIC FIELD OUTPUT Calibrate and scale Raw Magnetic output milliguass of horiz field requires new calibration The value you enter is the local horizontal field strength of the earth s magnetic field After you enter this and do a calibration the compass will output 3 axis magnetic sensor values in milliguass The local H field strength can be estimated using the NOAA world magnetic model for you local area You are basically providing the compass with the value for the earths horiz field strength when it s calibrated If you know this accurately you will get good results on the calibrated data lt Esc gt D DECIMATIO
14. c vector to determine its Roll and Pitch angle you may need to filter out other dynamic acceleration introduced by your platform These accelerations will decrease the accuracy of the Roll and Pitch estimation using Euler angles Introducing filtering will improve the accuracy if the platform acceleration is dynamic and can be filtered out 1 Analog to Digital Converter Decimation Filter The analog to digital converter is an AD7799 24 bit Sigma delta converter It has an internal decimation filter that sets the filter period and the sampling update rate The lower the setting the faster the update rate can be If your using a 40hz output rate you should set this value from 3 to 2 lt esc gt D 1 9 enter to change the update rate 470 Hz 4ms settling time 242 Hz 8ms settling time 123 Hz 15 ms settling time factory default 62 Hz 32 ms settling time 50 Hz 40 ms settling time 39 Hz 48 ms settling time 33 2 Hz 60 ms settling time 19 6 Hz 101 ms settling time 90 dB rejection of 60Hz noise 16 7 Hz 120 ms settling time 90 dB rejection of 50Hz noise Use the higher values if you have large electrical or vibration noise you need to filter out at a much lower update rate 2 Averaging of readings n Sample in the average This will be a moving average filter of the magnetic readings and the accelerometer readings A value of 1 sample is no filtering the default is 6 with an 29 output rate of 10 samples p
15. custom cables Additional OS5000 T Pin Color Signal Description TTL version compass notes 1 White P in Pressure Input from Transducer same OS5000 USD only 2 Black GND Ground same 3 Red Vin DC Power Input DC voltage same Unreg in the range of 3 3V 5V 4 Orange NC RESERVED Do Not Connect same 5 Black GND Ground Use with RS232 same 6 Green Tx RS 232 Transmit DB9 F pin 2 Voltage Level TTL 3V drive level Blue Rx RS 232 Receive DB9 F Pin 3 Voltage Level TTL 3V or 5V tolerant on input Note Users that only require TX signal The OS5000 compass uses low power RS 232 transceivers these will go to sleep if the compass is not connected to a valid input level and there will be NO compass output If you would like to connect the compass in TX only mode i e no input RS 232 signal you should make the following connection in the cable Compass RX Blue wire pin 7 should be connected to the Power Input Red wire pin 3 This will keep compass TX green wire Pin 6 transmitting on it regular schedule OCEANSERVER COMPASS MANUAL OS5000 US USB and OS5000 USD Bottom side 2 6 pin single row header Molex 1 25mm connector Molex 53261 0671 Available on www Mouser com along with pins and tools to make custom cables Pin Color Signal Description 1 Green USB D 2 White USB D 3 Red 5V Regulated USB Power 4 Bl
16. e program can be downloaded from WWW Ocean setver com compass Installing Window s Demo Utility The windows demo utility is located on the web Download the CompassDemo05000 zip file and open it This installer will put the compass demo program on your system www ocean setver com compass Index of compass Windows Internet Explorer jol xj Oc I fe http jwww ocean server com compass j 4 X Google P ww Index of compass Tp E db lt eb Page C Tools 74 Index of compass Name Last modified Description Parent Director 07 Sep 2007 CompassDemoOS5000 zip 07 Sep 2007 OLD CompassDEMOWindo gt 09 Feb 2007 USBdrivers 06 Sep 2007 Ta E teraterm utf8 451 exe 10 Apr 2007 il R10 4 31 Main Screen OceanServer Digital Compass Demo Utility Y2 1 x Configure Open Port Close Port Program Quit OceanServer TECHNOLOGY INC S Heading 319 9 Pitch 0 1 Roll 43 4 Configuration Screen Setup for Digital Compass Serial Com r Graphic Charts Input Port r Magnetic Chart _ Port Config 7777 Min g l Baud Rate 19200 Max parity None r Acceleration Chart j Data Bits 8 Min Stop Bits Max 32 Program Screen allows for calibration custom screen displays and other settings
17. e these distorted fields with more accuracy Example Low cost compass finds a 20 degree distortion at 90 degrees due to soft iron we will find that this is actually 20 9 degrees Soft Iron correction will help but can only do so much Mount away from permanent magnets such as motors The fields fall off as inverse squate of the distance so doubling the distance reduces the field strength by 1 4 soft iron fixed Mount the compass away from moving magnetic fields such as wires carrying current moving magnets generators etc soft iron dynamic Mount the compass as far as possible from batteries and ferrous materials such as iron and ni Some aluminum is non ferrous but some Al alloys have nickel in them soft iron fixed Mount all compasses component side up side 1 with arrow level or true to platform level with the arrow pointing forward This is also the case when using the USB connector on the OS5000 US Mount the compass in a mechanically stable location so this it moves with the vehicle or device but doesn t vibrate Metals such as aluminum brass or copper do not block magnetic fields but currents can still flow through them that could create unwanted local magnetic fields Metals such as iron and steel will distort the magnetic field 20 OceanServer ships compasses with plastic standoff but users should insure that the compass has sufficient distance from ferrous objects that could bend the earth s magnetic field a
18. er second The output rate of samples per second combines with the number of samples in the average to give you the lag in response time of the output On the depth version OS5000 USDK this is set to 1 3 Output rate of the compass sentences n samples per second Values that are negative are for less than one sample per second You can set this from 40 1 sample every 40 seconds to 2 1 sample every 2 seconds If the values are positive this is number of samples per second The range 1s 1 1 sample per second to 40 40 samples per second 40 hz lt esc gt R n lt enter gt change the output rate of the compass to n If your using output rates of greater than 20 hz you should change the D filter value to 2 or 1 Temperature Calibration not required The OS5000 reports its temperature from the sensor inside of the modules 50 MIPS microprocessor It is affected slightly by the operating voltage of the module It may require a linear offset to make it align with ambient temperature Using the command lt esc gt ttt lt enter gt you can offset this temperature Enter the value in degrees Cx10 Example 25 will add 2 5 degrees C to the measurement 92 will deduct 9 2 degrees C Note This calibration step is not required and is for users looking for better temperature accuracy Calibration of Raw Magnetic readings in milliguass not required You can set the milligauss of the Horizontal earths magnetic field using the lt esc g
19. es do not compensate for soft iron effects Soft iron batteries wires with moving currents and other high permeability materials in the near field cause these These are generally far weaker than hard iron effects Choosing a good compass mounting location with distance from soft iron structures should be attempted In cases where the sensor will be impacted by soft iron you should run the soft iron calibration available starting with firmware version 1 4 The soft iron compensation routine is started by hitting the lt Esc gt key command You want to select option 2 and follow the screen prompts see example screen shot below Important setup steps prior to running soft iron calibration Before starting the calibration you need to have the system with the compass installed and freshly calibrated via the lt esc gt C lt esc gt Z commands You must have declination set to 0 before soft iron calibration begins check setting by lt esc gt Q and make change to 0 if necessary then hit lt enter gt You will need to align the system to the four cardinal points according to an accurate reference magnetic compass 0 North 90 East 180 South 270 West in an area free of magnetic disturbance Once you have your device or system properly aligned starting at 0 North you want to start the soft iron correction with the lt esc gt command followed by entering 2 Actual calibration routine shown below COM4 Tera Term VT File Edit Setup C
20. evice 90 degrees so it is turned on its side Rotate 90 degrees Next rotate 360 degrees Compass looking into while at 90 degree angle back connector B a Ga Z Calibration Roll the platform 90 degrees The area should be clear of soft and hard iron objects that could disrupt the earths magnetic field cars motors wires with current magnets etc You want the calibration to be done in the same place as the C calibration as it needs to see the same earth s magnetic field Enter Z Calibration mode Push lt esc gt Z on the keyboard Slowly rotate the device 360 degrees at least one complete rotation This step should take 20 plus seconds when you just get you have found the Z max and Z min values Terminate the sequence by hitting the SPACE bar Important Note The Z command should be done in the same location to calibrate and align the Z axis sensor to the X Y This is important for tilt compensation Errors in heading when the device is tilted will result from no Z axis calibration Note If the platform is not level during the calibration procedure just abort it and re run it Le Hit space and start at step 3 above Compasses can also be calibrated in the latest version of the OceanServer Windows Demo program The basic steps are the same as described above The feature can be found under the program button Optional Soft Iron Calibration The above mentioned C Z calibration routin
21. general format of all commands to the compass ate sending it the ESCAPE command key ASCII 27 decimal noted as lt esc gt in this manual Typel lt esc gt Kvalue lt space gt Type2 lt esc gt K OCEANSERVER COMPASS MANUAL Where type 1 is the format for a command that has a value supplied Note all values are decimal integers examples 10000 1000 2345 If the value needs a floating point number such as heading we send it multiplied by 10 Example lt esc gt Q123 lt space gt is a value of 12 3 for heading The second type Type2 is commands that immediately have some action One example is the calibrate command lt esc gt C Note1 Entering Commands Push the escape Esc key prior to a key command The command keys are CASE sensitive so if it asks for a R a r will not work Note2 Some command changes require the compass to be power cycled for changes to take affect Example BAUD RATE CHANGE Key Command Esc B Description of the command BAUD RATE Set new baud rate 0 6 change takes effect after power cycle 0 4800 1 9600 2 14400 3 192000 4 38400 5 57600 6 115200 lt Esc gt R SENTENCE OUTPUT RATE Set the compass output rate 50 to 40 Rate is in samples per second and negative are seconds per sample ie 20 20 samples second 10 10 seconds per sample A rate of 0 will stop output At higher output rates the baud rate will need to be increase beyond the sta
22. ications Remember the OS5500 pressure input white wire has an internal voltage divider to allow an external 0 5 4 5V signal to be input to the OS5000 USD s AD The resistance values are two 3K resistors in series to ground 6K resistance to ground The output of your sensor must consider this divider in it s output drive circuit 35 PROGRAMMING NOTES OceanServer offers developers a Source Code Example Program that communicates with the OS5000 compass under Windows This program can be downloaded from OceanServer download page http www ocean server com download html TestComPort Running Microsoft Visual Studio be lnixi Fle Edit View Project Build Debug Data Tools Window Community Help Pogu dal i ma m Al m I sm b nas m xh xn 2 57 e 2 F EISE Compass C Demo NAE IL ese 1 Ea Compass Configuration i Properties Command H a References F Amih M Maa S Geos Average Samples __Send a E E Roll E Acc S F dte Deguass Every e z Send s E patei Temp Acc Vect SPI Err Program cs P OutputRat o A Sed n Sed OutputFormat ho Send Received Data Life Count Depth 0 00 Gyro X 001 Heading Solution Explorer F Data Sources 2 BP 40 1R 164 1T21 300 00M53066 17Mx 31894 05My 17271 60M2 38736 0241 0074x0 6484 0 210 2 0 74160 00G 0 016y0 00L61212450 28 Ei ero Le E Ready The source code progr
23. inal points according to a magnetic compass N S E W in an area free of magnetic disturbance Note You must have deviation set to 0 before this operation lt esc gt QO lt enter gt If you heading errors are very large before calibration i e too much soft iron very close to the compass don t expect anything to be able to do a good job of fixing these Esc S DEGUASS AND OFFSET RATE Degauss every n sentences This sets the frequency of the sensor degauss and offset operations The default value is something around 1 second The quicker you degauss the lower the compass lag is when 19 moving it quickly lt Esc gt T The zero roll and pitch command will allow users to zero out both roll and pitch This can only be done for applications where pitch and roll angles are lt 3 degrees in a level platform Example Below C330 7P0 8R 1 3T19 9 04 C330 7P0 8R 1 3T19 9 04 CMD T Atempting to zero Roll Pitch Success Results above lt space gt Flash Write C330 8P0 0R0 0T19 9 2C C330 8P0 0R0 0T19 9 2C Important Note Some commands may not be available in earlier firmware releases Compass Mounting Guidelines In general you should mount the compass in a location in your vehicle or device that has the least disruption to the earths magnetic field 1 2 3 4 5 6 Remember if a low cost needle compass gives large errors in your platform a vety accurate compass will still measur
24. l rotation typical 1 accuracy lt 30 tilt Pitch Angles 90 degrees Roll Angles 180 degrees Tilt compensated electronically gimbaled Tiny size 1 x1 x0 3 less than 2 grams weight Low Power Consumption lt 30ma 3 3V Hard and soft iron compensation routines Optional support for a high resolution Depth or Altitude sensor 24 bit AD Serial Interface o RS232 USB or TTL o Baud rate programmable 4 800 to 115 000 baud Rugged design o 10 000 G shock survival o 20 C to 70 C operating temperature Accuracy specified for 0 C to 50 C ASCII sentence output in several formats NMEA checksum High Data Update Rate to 40HZ Support for True or Magnetic North Output Precision components o 3 Axis magnetic sensors from Honeywell o 3 Axis Accelerometers from ST Microelectronics o 24 bit differential Analog to Digital converters from Analog Devices OCEANSERVER COMPASS MANUAL o 50 MIPS processor supporting IEEE floating point math OS5000 S Signals RS 232 Levels 3 Axis Compass 1 x 1 size with full RS 232 support single connector on the topside note arrow imprinted on this side of the module 28 M OS5000 T Signals TTL Levels 3 Axis Compass 1 x 1 size offers TTL only support single connector on the topside of the module OS5000 US Signals USB or RS 232 3 Axis tilt compensated compass 1 x 1 Has both Serial amp USB direct interface and has connectors on both sides of the module
25. le d lt esc gt C calibrate X Y rotate 360 in 15 seconds level X Y e lt esc gt Z Calibrate X tip platform on side rotate 360 f lt esc gt Q Set the Declination value if you want True magnetic output This will offset for the delta between magnetic north and true north g lt esc gt R set the output rate for your application 34 h lt esc gt set user sentence format 1 2 4 8 i lt esc gt soft iron calibration align system to N S E W magnetic j lt esc gt A Set averaging to smooth the readings Note These are the most common commands used configurations will vary Depth or other sensor Connection for OS5000 USD OS5000 USD connection with MSI pressure transducer sensor outputs 0 5 4 5V OceanServer compass has an internal series resistor divider to change voltage range to 0 2 5V 3K 3K ohm series for its internal AD conversion User Supplies 5V DC To Pressure Sensor Pin 1 White Pressure Output 0 5 4 5V Note See page 7 for assignment of pins 3 7 OS5000 USD commands esc M nnnn lt enter gt enter max pressure for sensor PSI lt esc gt P lt space gt set zero depth pressure output via 24 bit AD resolution in 0 01 feet Note Depth assumes fresh water no internal density correction If MO lt enter gt is set the device will output the sensor voltage for use with non depth sensors One example would be an altitude sensor for airborne appl
26. le is 6 pins and on the bottom side of the module The standard USB dirvers can be downloaded from ww w silabs com CP210x VCP Drivers Drivers for Windows Mac and Linux 33 Index of compass USBdrivers Windows Internet Explorer Go v fe http www ocean server com compass USBdrivers j 4 X Google we Index of compass USBdrivers d lt EJ lt deh isp Page O Tools Index of compass USBdrivers Name Last modified Size Description Parent Directory 07 Sep 2007 10 05 055000 USB DriversV4 gt 06 Sep 2007 10 14 Ta device drivers txt 05 Sep 2007 11 47 I Internet www ocean server com compass Our demo program runs on Windows only but on all other operating systems you can open a terminal program to the virtual serial port and talk listen to the compass with it s NMEA strings If you would like a method to test the OS5000 T TTL only with a RS232 com port on a PC Black Box Networks offers a RS232 to TTL converter PN IC1157A Link Basic Commands to Configure the OS5000 1 Mount the compass in the best location away from ferrous materials 2 Configure the compass firmware hit lt Esc gt key prior to any command key a Talk to the compass using a terminal program such as Tera term Settings 19200 8 1 N to the device 9600 with firmware v1 0 b lt esc gt V Check firmware version c lt esc gt B Set compass baud rate Active after power cyc
27. nd disrupt compass accuracy Aircraft Note Most all electronic compasses use gravity to detect level and tilt with accelerometers to measure tilt including OceanServer compasses The tilt angles are determined by measuting the earth s static gravitational vector Since dynamic and static acceleration are indistinguishable when used in aircrafts with high acceleration and banking turns the dynamic acceleration will introduce an error in both roll and pitch angle reported by the compass as well as heading errors Only level headings will be accurate when aboard a plane and vibration needs to be considered Strong vibration also applies acceleration to the compass and can cause errors if the amplitude of the acceleration is significant as compared to the earth s 1G acceleration due to gravity Mounting Location Example In one real world example if the compass is mounted 2 inches from a paddle wheel the compass will see up to 90 degrees of offset in heading due to the magnets moving Since the magnetic field falls off as the inverse square of the distance moving the compass a small distance can make large improvements in the accuracy Mounting Distance inches Error heading degrees 2 90 degrees 5 10 degrees 9 1 6 degrees 11 0 2 degrees So moving the compass 10 inches from these moving magnets we were able to remove all of the significant error introduced in your reading C288 6P 0 2R 0 1T26 6 20 C288 4P 0 2R 0 2T26 6
28. ndard setting lt Esc gt X OUTPUT DATA FIELD SELECTION Fields to Display bit mask of 5 bits entered in decimal 31 all active Sum up the values Azimuth 1 Pitch 2 Roll 4 Temp 8 depth 16 lt Esc gt Q DECLINATION ANGLE INPUT FOR TRUE NORTH This allows the user to specify an fixed heading offset to be applied to all heading output data In most cases this is used to adjust for local compass deviation in your area This information can be found on the web using the World Magnetic Model and you local LATITUDE LONGITUDE Enter Declination angle to create offset for compass Azimuth Value is 10x degrees Example 103 10 3 degrees 152 15 2 degrees http en wikipedia org wiki Magnetic_declination OCEANSERVER COMPASS MANUAL lt Esc gt C CALIBRATE HARD IRON X Y SENSORS LEVEL PLANE Calibrate the compass in the platform Level the platform and prepare to rotate it very slowly When the output reports XxYy it is finding new calibration data keep rotation until you see only s output You MUST keep the platform level while you rotate Validate the Roll and Pitch angles are lt 1 degree in the output string RO x PO x before starting lt Esc gt Z CALIBRATE HARD IRON Z SENSOR ROLLED 90 Deg Rotate your platform 90 degrees on it s side This will place the Z axis in the same earths magnetic field the C calibration saw for the xy sensors Perform once complete and slow rot
29. oft iron effects are caused by un magnetized ferrous materials in the area of the compass Hard Iron effects are caused by magnetized ferrous materials near the compass Hard Iron can be cancelled out by going through the rotational calibration described bellow Soft iron effects should be addressed during the design in phase and compasses should be located away from such items to minimize impact to the sensor OceanServer compasses with firmware version V1 4 and later include a soft iron calibration option The soft iron correction routines work very well if the soft iron effects ate minimized If you look at the measured data regarding distortion at a distance in the earlier table you will see that the placement of soft iron a small distance from the compass can make huge differences Magnetic Field Examples Ferrous Matetial in Tail Non Fetrous Bow Plus an Electric Motor Compass Placement Least Magnetic Creating Magnetic Field Disturbance Field Disturbance Best Place for Not an Ideal Place for Compass Compass Placement Placement Users will need to calibrate the compass Step 1 Select appropriate location and install OceanServer Compass in device IMPORTANT NOTE Compasses require users to hit the lt Esc gt key prior to each programming calibration step This has been added to prevent accidental programming Step 2 Open a Hyperterm window to take two separate measurements X Y together followed by Z f
30. on Inclination pitch and roll accuracy Typical 1 accuracy lt 30 tilt Inclination range 80 degrees output for full rotation at decreased accuracy pitch 90 degrees roll 180 degrees Temperature range Accuracy specified for 0 C to 50 C 40 C to 85 C operation decreased accuracy at temp extremes Humidity 20 80 RH non condensing Shock Operating 3 000 G 0 5 ms 10 000 G 0 1ms Data Refresh Rate 0 01 Hz to 40Hz sentence output rate Size 1 x 1 x 0 3 module Weight 2 grams Supply Voltage 3 3V 5VDC Will operate with up to 15VDC using 3x the power Power consumption 30 ma 3 3V S variant 35 ma 5V US variant in USB mode Serial Data Interface RS 232C levels TTL and USB 2 0 based on Variant 4800 115000 baud 8 bit 1 stop no parity 19200 default Sentence Format NMEA0183 Style four sentence formats supporting xor parity SHCHDT OHPR C comma delimited Supports Acceleration amp Magnetic sensor output in X Y Z OCEANSERVER COMPASS MANUAL Magnetic Routines Compensation Hard Iron and Soft Iron calibrations supported note Soft iron V1 4 or later firmware OCEANSERVER COMPASS MANUAL Electrical Connector and pin assignment OS5000 S OS5000 US TOP Side 1 Serial Connector and OS5000 T 7 pin Molex 1 25mm connector Molex 51021 0700 Available on www Mouser com along with pins and tool to make
31. ontrol Window Help C358 8P8 5R8 0T18 4 23 C358 8P8 5R8 0T18 4 23 C358 8P8 5R8 0T18 4 23 C358 8P8 5R8 0T18 5 22 C358 8P8 5R8 0T18 4 23 C358 8P8 5R8 0T18 4 23 C358 8P8 5R8 0T18 4 23 C358 8P8 5R8 0T18 4 23 A 6 019 280 BELU HE oft Iron lt Off 1 On 2 Calibrate 2 gt 6 alue and Enter or Esc lign platform exactly North 8 degrees then hit Space Bar lign exactly East 98 degrees then hit Space Bar gt lign exactly South 188 degrees then hit lt Space Bar gt lign exactly West 2780 degrees then hit lt Space Bar ft Iron Values 0 8 1T18 4 x01 C348 9PB 3R 8 1T18 4x01 8 3T18 4 85 28 After you run through the calibration process you will see the correction values generated by the process At this point the soft iron calibration is completed You should go back and check the cardinal points with your system You should see your system more inline with the cardinal points If the compass is still not reporting accurate information compared to the known good reference compass you should run through the calibration process again and carefully check each step In some cases the magnetic field may be too disturbed for accurate calibration and distance from soft iron is the best solution Compass Settings Relating to Filtering Measurements Not Required for Most Applications Since the OS5000 family of digital compasses use a fast 3 axis accelerometer to sense the gravity 1G stati
32. or calibration The Virtual terminal settings for the compass serial port 19200 baud 1 stop no parity We recommend Tera TERM free software A Nema string of data will begin outputting when connected properly ie C328 3P28 4R 12 4T21 1D21 01 Step 3 Calibrating X Y a Check that the platform is level observe Pitch PO x and Roll RO x data and confirm they are less than 1 degree Next fully rotate the platform to make sure it will remain level during the calibration process The area should be clear of soft and hard iron objects that could disrupt the earths magnetic field cats motots wires with cutrent magnets etc Rotate 360 Degrees Parallel to the Earth Compass looking into Back connector Bm G X Y Calibration b Calibrating X Y Enter lt Esc gt key next enter uppercase C key and slowly rotate the device at least one complete rotation for at least 20 plus seconds Note the device should be kept as level as possible to calibrate the X Y magnetic sensing elements Terminate sequence with SPACE bar key after you have slowly rotated the device and observed the following output this indicates you have found the X Y max and X Y min values 26 C Final X Y Note If the platform is not level during the calibration procedure just abort by hitting the SPACE bar and re run it i e Hit space and start at step a above Step 4 Z Calibration Rotate d
33. s between the and the This is the NMEA standard format OS5000 USD Example C328 3P28 4R 12 4T21 1D21 01 lt checksum gt cr It e Compass heading 328 3 degrees e Pitch angle 28 4 degrees e Roll angle 12 4 degrees OCEANSERVER COMPASS MANUAL e Temp 21 1 degrees e Depth 21 01 feet This is only output on the OS5000 USD Format Type 0x02 2 10 0HPR Sentence SOHPR value value2 value3 value4 cc The OHPR sentence is activated with the lt esc gt 2 lt space gt command It provides a comma delimited list of all of the parameters selected for output with the lt esc gt X command Format Type 0x04 4 10 HCHDT Sentence HCHDT 212 4 T 2C The NMEA0183 standard true heading sentence is supported for output The HCHDT sentence is activated with the lt esc gt 4 lt space gt command To have the heading be true the user must program the compass with the local declination value using the lt esc gt Qnnnn lt space gt where nnnn is the degress times 10 for local heading offset Example lt esc gt Q125 lt enter gt will offset the heading 12 5 degrees for every value reported Format Type 0x08 8 10 comma delimited Sentence value1 value2 value3 va This sentence outputs the data as a simple comma delimited list of the requested values This sentence is activated by the lt esc gt 8 lt space gt command and it outputs all data elements selected in the lt esc gt Xmask lt space gt command This
34. s present themselves as serial port devices at a baud rate 8 bits 1 stop bit ASYNCH Using a windows system open up a TeraTerm terminal emulator port to the compass device The factory default baud is 19200 8 1 N This change has been made so Windows OS does not mistakenly recognize the compass as a serial mouse The baud rate can be changed back to 9600 using the lt Esc gt B command Output Sentence Formats COM3 Tera Term YT 21 x File Edit Setup Control Window Help SELL GF SR IS MEAN ATICEMCHAS BOHgr 3398 ESOS 31hx0 0458y 0 245Az20 2 70H3E fx utput Sentences 127 gt 15 alue and Enter or Esc 1 lash Write C212 4P2 5R 14 0T28 4Mx107977 904Hu 79422 00M2173 270 x8 8450 y 0 245020 977 3R C212 4P2 5R 14 0T28 5Mx187972 36Mu 79392 24M2173 248 x8 0450 uy 0 245020 9778 34 C212 4F2 5R 14 0128 5Hx107291 91H9 72358 29H2173 2496x0 0458y 0 245Az0 97813F i utput Sentences 127 gt 1 and Enter or Esc 2 Write 212 4 2 5 14 0 28 4 107971 90 79328 18 173 28 0 045 8 245 0 978 x28 212 4 2 5 14 0 28 5 1079780 20 79316 39 173 30 0 045 0 245 0 978 x24 212 4 2 5 14 0 28 5 107975 65 79282 02 173 32 0 045 80 246 0 978 x25 212 4 2 5 14 80 28 5 107973 60 79261 95 173 30 0 045 80 245 0 978 x24 212 4 2 5 14 0 28 5 107939 68 79260 61 173 32 0 045 0 246 0 978 x29 ecl 212 4 2 5 14 0 28 5 107934 25 79268 47 173 29 0 045 0 245 0 978 x28 i ut put Sentences 127 gt 2 alue and
35. sentence format is only available with firmwate version 1 4 or later Format Type 0x10 16 10 Direct LCD Output Azimuth 0 0 Elevation 0 0 In this mode the compass directly sends the data and formatting commands required for a Crystalfontz 2x16 LCD display This can be used in applications for antenna aiming In this mode the compass is temporarly mounted to the antenna in the field and a cable then goes to a small handheld box with and LCD and a 9V battery This is all that s needed create a very accurate antenna positing system The compass is OCEANSERVER COMPASS MANUAL calibrated for a particular antenna frame to remove it s soft are hard iron effects and the compass will provide excellent results for quickly and accurately aiming antennas This sentence is activated by the lt esc gt 16 lt space gt command You should also change the output rate to 2 lt esc gt r set to 2 This sentence format is only available with firmware version 1 5 or later Output Parameter Selection Table Note not all compasses support all features Order Bit value base 10 Parameter Name 1 1 Azimuth 2 2 Pitch Angle 3 4 Roll Angle 4 8 Temperature 5 16 Depth feet 6 32 Magnetic Vector Length 7 64 3 axis Magnetic Field readings x y z 8 128 Acceleration Vector Length 9 256 3 axis Acceleration Readings x y z 10 512 reserved 11 1024 2 axis Gryo Output X y 12 2048 Reserved OCEANSERVE
36. t U mmmm lt enter gt This is milliguassx10 Example 1794 for 179 4 milligauss You can use the NOAA provided web model using your latitude and longitude and nanoTesla Horizontal for the earth s field in your local area Convert this to milligauss divide by 100 Make this change in compass settings before you calibrate the compass and the magnetic vector output will be in milliGuass NOAA Link http www ngdc noaa gov seg geomag jsp IGREWMM jsp defaultModel WMM M210 12 Mx121 21 My12 12 Mz171 1 M Vector Intensity Mx X component My Y component Mz Z component Acceleration Raw Output Data The acceleration raw data in G s can be output The format is as follows G1 001 Gx0 621 Gy0 212 Gz0 754 30 G Gravity vector will be close to 1 if no dynamic acceleration present Gx X axis component of acceleration in G s Gy Y axis component of acceleration in G s Gz Z axis component of acceleration in G s The G vector overall length will tell you if the platform is stable or experiencing dynamic acceleration Any dynamic acceleration changes the vector length from near 1 to a lower or higher value Configuring the output sentence of the compass Not Required The lt esc gt X decimal lt enter gt command will let you set the bit mask of what values the compass outputs If you enter the max value of 4095 all 12 bits set the compass will output all values Use the Compass Demo program to help your set this field on the compass Th
37. unting positions allow the user to mount the compass on all six sides on a box for placing in locations where flat mounting is not possible These are shown graphically in a later section of this manual Mounting options 1 6 E 1 Default flat This transformation is not possible on the OS5000 USDK compass lt Esc gt a ACCLEROMETER MAXIMUM RANGE Change Accelerometer maximum measurement range Options are 0 1 default is 0 2G output 1 6G Important Note 6G output results in less roll and pitch resolution The 6G range should only be used if the user is trying to measure the effects of X Y Z acceleration more than the angle of the compass The lt esc gt X command lets the user select accleratoin vector and scalar data output lt Esc gt amp DUMP CONFIGURATION PARAMETERS Dump all compass settings in a form that can be parsed or saved and sent back to the factory when configuration questions arise FW_Version V1 5 FW_Date 1 Jul 08 Serial_number 000765431 Test_date 01 Jan 08 Output_Format 1 Display_Fields 15 HW_Mounting_Pos 1 Baud_Rate 5 Set Reset_Rate 8 Output_Rate 40 Averagine 0 lt Esc gt SOFT IRON COMPENSATION Soft Iron Compensation The values are O disable 1 enable 2 generate calibration When you enter generate 2 you need to have the system with the compass in installed and freshly calibrated via the lt esc gt C lt esc gt Z commands You will need to align the system to card
38. urns True if a sentence s checksum matches the calculated checksum public bool IsValid string sentence Compare the characters after the asterisk to the calculation return sentence Substring sentence IndexOf 1 GetChecksum sentence 37 Calculates the checksum for a sentence public string GetChecksum string sentence Loop through all chars to get a checksum int Checksum 0 foreach char Character in sentence if Character S Ignore the dollar sign else if Character Stop processing before the asterisk break else Is this the first value for the checksum if Checksum 0 Yes Set the checksum to the value Checksum Convert ToByte Character else No XOR the checksum with this character s value Checksum Checksum s Convert ToByte Character Return the checksum formatted as a two character hexadecimal return Checksum ToString X2 Customer Support Send technical questions to support ocean server com OceanServer Technology Inc 151 Martine St Fall River MA 02723 USA Copyright 2007 09 by OceanServer Technology Inc All Rights Reserved 38
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