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1. mj Hj nj rz 28 type Float32 29 type Float32 ration Parameter IDs 1 1 type Float32 2 type boolean UInt8 15 type Boolean Boolean 10 TT 12 13 10 type type type type UInt8 boolean UInt32 bool ean kCoeffCopySet 18 kAccelCoeffCopySet TCM User Manual r05 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 18 type UInt32 19 type UInt32 Page 58 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Mounting Reference IDs kMountedStandard 1 1 kMountedXUp 2 kMountedYUp 3 kMountedStdPlus90 4 kMountedStdPlus180 5 kMountedStdPlus270 6 kMountedZDown 1 kMountedXUpPlus90 8 kMountedXUpPlus180 9 kMountedXUpPlus270 10 kMountedYUpPlus90 11 kMountedYUpPlus180 12 kMountedYUpPlus270 13 kMountedZDownPlus90 14 kMountedzDownPlus180 15 kMountedZDownPlus270 16 Result IDs kErrNone 0 0 kErrSave 1 bi function to calculate CRC 16 Ulnt16 CRC void data UInt32 len UInt8 dataPtr UInt8 data UInt32 index 0 Update the CRC for transmitted and received data using the CCITT 16bit algorithm X 16 X 12 X 5 1 UInt16 cre 0 while len crc unsigned char crc gt gt 8 crc
2. 03 8014333463472e 2 09 5354386848804e 2 04 5402682509802e 2 12 07 1024151197772e 2 05 2436112653103e 2 13 04 6451949792704e 2 05 8693165018301e 2 14 02 5971390034516e 2 06 3781858267530e 2 15 01 2710056429342e 2 06 7373451424187e 2 16 07 9724971069144e 3 06 9231186101853e 2 17 06 9231 186101853e 2 18 06 7373451424187e 2 19 06 3781858267530e 2 20 05 8693165018301e 2 21 05 2436112653103e 2 22 04 5402682509802e 2 23 03 8014333463472e 2 24 03 0686505921968e 2 25 02 3794805168613e 2 26 01 7646051430536e 2 27 01 2456836057785e 2 28 08 3414139286254e 3 29 05 3097803863757e 3 30 03 2757326624196e 3 31 02 0737124095482e 3 32 PNI Sensor Corporation TCM User Manual June 2011 01 4823725958818e 3 DOC 1014688 r05 Page 49 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 12 kGetParam frame ID 134 This frame queries the FIR filter settings for the sensors Parameter ID should be set to 3 and the Axis ID should be set to 1 Payload Parameter ID Axis ID lt Ulnt8 gt Ulnt8 1 gt 7 4 13 k
3. 83376182 E MN L szss20G163 con 4 2 Installation Location The TCM s wide dynamic range and sophisticated calibration algorithms allow it to operate in many environments For optimal performance however you should mount the TCM with the following considerations in mind 4 2 1 Operate within sensors linear regime The TCM can be field calibrated to correct for large static magnetic fields created by the host system However each axis of the TCM has a maximum calibrated dynamic range of 125 uT if the total field exceeds this value for any axis the TCM may not give accurate heading information When mounting the TCM consider the effect of any sources of magnetic fields in the host environment that when added to the earth s field may take the sensors out of their linear regime For example large masses of ferrous metals such as transformers and vehicle chassis large electric currents permanent magnets such as electric motors and so on 4 2 2 Locate away from changing magnetic fields It is not possible to calibrate for changing magnetic anomalies Thus for greatest accuracy keep the TCM away from sources of local magnetic distortion that will change with time such as electrical equipment that will be turned on and off or ferrous bodies that will move Make sure the TCM is not mounted close to cargo or payload areas that may be loaded with large sources of local magnetic fields 4 2 3 Mount in a physically stable location
4. The frame has no payload 7 4 22 kPowerUp frame ID 23 y This frame is sent from the module after waking up from Sleep Mode The frame has no payload Since the module was previously powered down which drives the RS 232 driver TX line low break signal it is recommended to disregard the first byte 7 4 23 kSetAcqParams frame ID 24 4 This frame sets the sensor acquisition parameters in the module The payload should contain the following Payload gt PollingMode FlushFilter SensorAcqTime IntervalRespTime lt 4 Ulnt8 gt lt Ulnt8 gt lt Float32 gt lt Float32 gt TCM User Manual r05 Page 52 SUNSTAR O0 O 0O O http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con PollingMode This flag sets whether output will be presented in Poll or Push mode Poll mode is TRUE and is the default Poll mode should be selected when the host system will poll the TCM for data Push mode should be selected if the user will have the TCM output data at a relatively fixed rate to the host system See kStartIntervalMode for starting a Push Mode command FlushFilter Setting this flag to TRUE will result in the FIR filters being flushed reset after every sample The default is FALSE no flushing The filtering is set to only update the filter with
5. the TCM will begin sending new data as soon as the previous data set has been sent Note that the inverse of the IntervalRespTime is somewhat greater than the sample rate since the IntervalRespTime does not include actual acquisition time 7 4 24 kGetAcqParams frame ID 25 This frame queries the unit for acquisition parameters The frame has no payload PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 53 SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I 0 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 25 kAcqParamsDone frame ID 26 4 This frame is the response to kSetAcqParams frame The frame has no payload 7 4 26 kAcqParamsResp frame ID 27 4 This frame is the response to kGetAcqParams frame The payload should contain the same payload as the kSetAcqParams frame 7 4 27 kPowerDownDone frame ID 28 This frame is the response to kPowerDown frame This indicates that the module successfully received the kPowerDone frame and is in the process of powering down The frame has no payload 7 4 28 kFactoryUserCal frame ID 29 4 This frame clears the user magnetometer calibration coefficients The frame has no payload This frame must be followed by the kSave frame to change in non volatile memory 7 4 29 kFactoryUserCalDone frame ID 30 4 This frame is the response to kFact
6. 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con if len gt kBufferSize kPacketMinSize return Store the total len of the packet including the len bytes 2 the frame ID 1 the data len and the cre 2 If no data is sent the min len is 5 mOutData index count gt gt 8 mOutData index count amp OxFF store the frame ID mOutData index frameType copy the data to be sent while len mOutData index data compute and add the crc crc CRC mOutData index mOutDatalindextt cre gt gt 8 mOutData index crc amp OxFF Write block will copy and send the data out the serial port mSerialPort gt WriteBlock mOutData index Call the functions in serial port necessary to change the baud rate void CommProtocol SetBaud UInt32 baud mSerialPort SetBaudRate baud mSerialPort gt InClear clear any data that was already waiting in the buffer Update the CRC for transmitted and received data using the CCITT 16bit algorithm X 16 X 12 X 5 1 UIntl6 CommProtocol CRC void data UInt32 len UInt8 dataPtr UInt8 data UInt32 index 0 UInt16 crc 0 while len cre unsigned char cre gt gt 8 cre lt lt 8 crc dataPtr index crc unsigned char crc amp Oxff gt gt 4 cr
7. 06 13 44 46 2009 10 06 13 44 50 2009 10 06 13 44 50 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 44 51 2009 10 06 13 52 08 2009 10 06 13 52 11 2009 10 06 13 52 17 Event Checking preference file Preferences file not found using defaults Enabled audible feedback Disabled high contrast Disabled auto scroll Enabled 3D Model Changed computer serial portto COM1 Opened serial port COM1 Changed computer baud rate to 38400 Opened serial portCOM1 Extracted module configuration Changed endianess to big endian Extracted module inforrnation Changed taps to 32 Changed acquisition mode to poll mode Disabled filter flushing Changed mounting to Standard Changed north reference to magnetic north Disabled stability checking Disabled automatic sampling Changed calibration points to 12 Changed outputto be in Degrees Changed HPR during Calibration Data logging started Data logging started Cleared data log iv The System Log tab shows all communication between TCM Studio and the TCM module since TCM Studio was opened Closing TCM Studio will erase the system log Select the lt Export gt button at the bottom right of the screen to save the system log to a text file P
8. 70 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Message No response from the module Check connection and try again r n mStep 0 break default break PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 71 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con
9. 83376182 E MN L szss20G163 con 5 6 Data Logger Tab OM Studio Vers uu File Edit gt N Module TCM Firmware Version 0605 Serial Number 1020659 PCA Version SW TESTI Connected mm Connection Configuration Calibration Test Data Logger System Log Graph Ticks is 1 60th of a second Data Heading Pitch kPAngle Roll kRAngle Temperature MX kxAligned MY KYAligned MZ kZAligned GX kPAligned GY kRAligned GZ klZAligned Distortion Ticks 001281317 001281322 001281326 001281330 001281334 001281339 001281343 001281346 001281351 001281356 001281360 001281363 001281368 001281373 001281376 001281380 001281385 001281389 001281392 001281397 001281402 Heading 155 7 153 3 150 3 147 1 144 7 143 5 143 6 144 6 146 0 1475 148 8 150 0 150 9 151 8 152 6 153 4 154 0 1542 153 6 151 9 148 9 MX kxAligned 31 53 30 38 29 36 28 56 28 06 27 81 27 79 27 89 28 06 28 24 28 38 28 48 28 54 28 56 28 56 28 49 28 33 28 00 27 44 26 60 25 49 MY kYAligned MZ kZAligned 4 74 5 04 5 74 6 59 7 34 7 88 8 15 8 20 8 11 7 96 7 80 7 66 7 52 7 33 7 05 6 67 5 24 5 89 5 80 6 11 6 90 26 83 28 63 30 14 31 26 31 98 32 36 32 51 32 49 32 38 32 27 32 16 32 08 32 04 32 02 32 05 32 13 32 30 32 58 32 98 33 52 34 15 Heading 148 9 Pitch Roll Auto Scr
10. Big Endian FALSE is Little Endian kMountingRef Config ID 104 This sets the reference orientation for the module Please refer to and Figure 4 1 for additional information kUserCalNumPoints Config ID 124 The user must select the number of points to take during a calibration The number of sample points must be within the listed Allowable Range or the module may not work properly Calibration generally is not as good if less than the Minimum Recommended is selected but may be acceptable See Section 6 2 for additional information TCM User Manual r05 Page 44 SUNSTAR O 0 0 O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table 7 5 Sample Points Number of Samples Calibration Mode Allowable Minimum Range Recommended Full Range 10 to 32 12 2D Calibration 10 to 32 12 Limited Tilt Range 10 to 32 12 Hard Iron Only 4 to 32 6 Accelerometer Only 12 to 32 18 Accel and Mag 12 to 32 18 kUserCalAutoSampling Config ID 134 This flag is used during user calibration If set to TRUE the module automatically takes calibration sample points once the minimum change requirement is met If set to FALSE the module waits for kTakeUserCalSample to take a sample with the condition that a magnetic field vector component delta is greater than 5 uT
11. Choose a location that is isolated from excessive shock oscillation and vibration The TCM works best when stationary Any non gravitational acceleration results in a distorted reading of Earth s gravitational vector which affects the heading measurement 4 2 4 Location verification testing Location verification testing should be performed at an early stage of development to understand and accommodate the magnetic distortion contributors in a host system Determine the distance range of field distortion Place the compass in a fixed position then move or energize suspect components while observing the output to determine when they are an influence TCM User Manual r05 Page 8 SUNSTAR TIE 0 http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I 0 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Determine if the maximum field is within the linear range of the compass With the compass mounted rotate and tilt the system in as many positions as possible While doing so monitor the magnetometer outputs observing if the maximum linear range is exceeded 4 3 Mechanical Mounting Refer to Section 3 3 for dimensions hole locations and the reference frame orientation The TCM is factory calibrated with respect to its mounting holes It must be aligned within the host system with respect to these mounting holes Ensure any stand offs or screws
12. ID IA 50 7 413 kParamResp frame ID 14 4 etr tmi EA 50 7 4 14 kPowerDown frame DIANA 50 7 4 15 kSaveDone frame ID 16 4 ccc 50 7 4 16 kUserCalSampCount frame ID 17 eese 51 7 4 17 kUserCalScore frame ID 18 51 7 4 18 kSetConfigDone frame IDI94 essere 52 7 4 19 kSetParamDone frame ID 20 4 52 TCM User Manual June 2011 SUNSTAR Page ii 000 http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 20 kStartintervalMode frame ID 21 4 eem 52 7 4 21 kStoplntervalMode frame ID 22 eeesseeeeee 52 7422 kPowerUp frame ID 23 s osama odd S alor ed den 52 7 4 23 kSetAcqParams frame ID 244 52 7 4 24 kGetAcqParams frame ID 25 4 esc ded esti oed itae e 53 7 4 25 kAcqParamsDone frame ID 264 54 7 4 26 kAcqParamsResp frame ID 27 g seen 54 7 4 27 kPowerDownDone frame ID 28 eee 54 7428 kFactoryUserCal frame ID 29 JJ tasses ege 54 7 4 29 kFactoryUserCalDone frame ID30a err 54 7 4 80 kTakeUserCalSample frame ID 314 eseesss 54 7 4 31 kFactorylneiCal frame ID 36 4 aces citri br rei Re era cr 54 7 4 32 kFactoryInclCalDone frame ID327a rare 54 7 4 33 kSetMode frame ID 46 4 nnne 55 7 4 34 kSetModeResps fr
13. Studio also includes the ability to log and save the outputs of the TCM to a file All of this allows you to begin understanding the capabilities of the TCM while using the TCM Studio program s friendly interface Anything that can be performed using TCM Studio can also be performed using the RS232 interface and associated protocol Check the PNI website for the latest TCM Studio updates at www pnicorp com Note TCM Studio version 3 X is compatible with the TCM XB and the legacy TCM 6 but not other legacy TCM models Conversely legacy TCM Studio programs will not function properly with the TCM XB The TCM XB model is the current RS232 version TCM with PNI s binary communication protocol The version number of TCM Studio is identified in the upper left corner of the GUI 5 1 Installation onto a Windows or Mac System TCM Studio is provided as an executable program which can be downloaded from PNI s website It will work with Windows XP Windows Vista Windows 7 and Mac OS X operating systems Check the PNI web page at www pnicorp com for the latest version For Windows computers copy the TCMStudio msi file onto your computer Then open the file and step through the Setup Wizard For Mac computers copy the TCMStudio zip file onto your computer This automatically places the application in the working directory of your computer The Quesa plug in also in the zip file needs to be moved to Library CFMSupport if it is not already t
14. UIntl6 count UInt16 kDataCount return loop through and collect th lements while count The elements are received as type ie kHeading data switch data pntr read the type and go to the first byte of the data Only handling the 4 elements we are looking for case CommProtocol kHeading Move source destination size bytes Move copies th specified number of bytes from the source pointer to the destination pointer Store the heading Move amp data pntr amp heading sizeof heading increase the pointer to point to the next data element type pntr sizeof heading break case CommProtocol kPAngle Move source destination size bytes Move copies th specified number of bytes from the source pointer to the destination pointer Store the pitch Move amp data pntr amp pitch sizeof pitch increase the pointer to point to the next data element type pntr sizeof pitch break case CommProtocol kRAngle Move source destination size bytes Move copies th specified number of bytes from the source pointer to the destination pointer Store the roll Move amp data pntr amp roll sizeof roll increase the pointer to point to the next data element type pntr sizeof roll break TCM User Manual r05 Page 68 SUNSTAR I O O O http www sensor i c con TE
15. bit numbers 2 s compliment Bit 15 represents the sign of the value O positive 1 negative 15 87 0 7 0 15 8 msb Isb Isb msb Big Endian Little Endian Signed 8 Bit Integer SInt8 UInt8 based parameters are unsigned 8 bit numbers Bit 7 represents the sign of the value O positive 1 negative 7 0 byte Unsigned 32 Bit Integer Ulnt32 UInt32 based parameters are unsigned 32 bit numbers 31 24 23 1615 87 0 msb Isb Big Endian 7 0 15 8 23 1631 24 Isb msb Little Endian Unsigned 16 Bit Integer Ulnt16 UInt16 based parameters are unsigned 16 bit numbers 15 87 0 7 0 15 8 msb Isb Isb msb Big Endian Little Endian Unsigned 8 Bit Integer Ulnt8 UInt8 based parameters are unsigned 8 bit numbers TCM User Manual r05 Page 38 SUNSTAR 1 0 0 O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 3 byte Boolean SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Boolean is a 1 byte parameter that MUST have the value 0 FALSE or 1 TRUE 7 0 byte Command Commands amp Communication Frames Table 7 2 Command Set Description 1 kGetModlnfo Queries the modules type and firmware r
16. calibration pattern does not require knowing which direction the module is facing nor does it require turning the module upside down The 18 Point North Aware Calibration Pattern can provide TCM User Manual r05 Page 28 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con superior results especially at high dip angles associated with high latitudes but is more complicated and requires 1 knowing the direction of north prior to calibration 2 turning the module upside down and 3 18 calibration points 12 Point North Unaware Calibration Pattern Move the module to the following positions noting that these are not absolute heading directions but rather relative heading changes referenced to your first heading sample You do not need to know actual true or magnetic north While Figure 6 2 shows the location of the module changing this is for illustration purposes and it is best for the location of the module to remain fairly constant while only the orientation is changed Top Views Side Views Minimum 12 good user re calibration points Additional points can be added including i upside down if possible in 1 N Little D Pitch 2 Jj u 3 SA TER e T Large Positive Pitch Alternate Roll between points odd number points positive roll eve
17. communication with a TCM module Note The following files are not included in the sample codes and need to be created by the user Processes h amp TickGenerator h The comments in the code explain what is needed to be sent or received from these functions so the user can write this section for the user s platform For example with the TickGenerator h the user needs to write a routing that generates 10 msec ticks 7 5 1 Header File amp CRC 16 Function type declarations typedef struct UInt8 pollingMode flushFilter Float32 sensorAcqTime intervalRespTime attribute packed AcqParams typedef struct loat32 MagCalScore loat32 reservel oat32 AccelCalScore loat32 DistErr loat32 TiltErr Float32 TiltRange attribute packed CalScore Hj nd nj nj nj enum Frame IDs Commands kGetModInfo 1 1 kModInfoResp 2 kSetDataComponents 3 kGetData kDataResp kSetConfig kGetConfig kConfigResp 8 kSave 9 kStartCal kStopCal hf kSetParam kGetParam kParamResp kPowerDown kSaveDone 16 kUserCalSampCount 17 kUserCalScore 18 kSetConfigDone 19 kSetParamDone 20 YHOO gt BE W NH PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 57 SUNSTAR 0 0 O0 O http www sensor i c conh TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 http www sensor
18. con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I 0 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con kAccelCoeffCopySet Config ID 194 This command provides the flexibility to store up to three 3 sets of accelerometer calibration coefficients in the module The default is set number 0 To store a set of coefficients first establish the set number number 0 to 2 using kAccelCoeffCopySet then perform the accelerometer calibration The coefficient values will be stored in the defined set number 7 4 6 kGetConfig frame ID 74 This frame queries the module for the current internal configuration value The payload contains the configuration ID requested Payload Config ID Ulnt8 7 4 7 kConfigResp frame ID 84 This frame is the response to kGetConfig frame The payload contains the configuration ID and value Payload Config ID Value ID Ulnt8 gt lt Specific Example If a request to get the set declination angle the payload would look like 1 10 0 Declination ID Declination Angle Float32 7 4 8 kSave frame ID 94 This frame commands the module to save internal configurations and user calibration to non volatile memory Internal configurations and user calibration is restored on power up The frame has n
19. face Starting with the module as shown on the right take a calibration point with it being vertical 0 Now tilt the module back 45 and take another calibration point 45 then tilt the module forward 45 and take another calibration point 45 Repeat this 3 point calibration process for the module with it resting on each of its 4 corners PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 33 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Figure 6 4 Accelerometer Calibration Starting Orientations Table 6 7 18 Point Accelerometer Calibration Pattern Sample Yaw Pitch Roll Sides 1 0 0 90 2 0 90 90 3 180 0 90 4 0 90 90 5 0 0 0 6 0 0 180 First Corner 7 0 5 10 to 20 8 90 5 10 to 20 9 180 ESR 10 to 20 Second Corner 10 270 EOR 10 to 20 11 30 gt 45 10 to 20 12 120 gt 45 10 to 20 Third Corner 13 210 gt 145 10 to 20 14 300 gt 145 10 to 20 15 60 lt 45 10 to 20 Fourth Corner 16 150 lt 45 10 to 20 17 240 lt 45 10 to 20 18 330 lt 45 10 to 20 TCM User Manual r05 Page 34 SUNSTAR O O 0O 0
20. for the silk screened arrow to point in the forward direction Figure 3 1 TCM XB Mechanical Drawing PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 5 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 0 079 2 0 MILL MAX P N 850 10 004 10 001000 MATES WITH MILL MAX P N 851 XX 004 10 001000 OR EQUIVALENT f 0 002 0 0870 002 0 05 15 0 3X 62 21 0 00 The default orientation for the TCM is for the silk screened arrow to point in the forward direction Figure 3 2 TCM MB Mechanical Drawing 457 6 4 18 00 0 25 76 5 Molex PN 51146 0900 eee De 2 s dimensions in mm inches Figure 3 3 PNI Pigtailed Cable Drawing TCM User Manual r05 Page 6 SUNSTAR O0 O 0 O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 4 Set Up This section describes how to configure the TCM in your host system To install the TCM into your system follow these steps e Make electrical connections to the TCM e Evaluate the TCM using TCM Studio TCM XB only or a terminal emulation program such as HyperTerminal to ensure the compass genera
21. http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 6 2 6 Mag and Accel Calibration The TCM allows for a simultaneous magnetometer and accelerometer calibration This requires a good calibration pattern stable measurements not handheld and installation in the user s system such that the appropriate local magnetic environment is present PNI recommends 18 to 32 calibration points for a Mag and Accel Calibration although 12 points is acceptable but less likely to yield good results The Accelerometer Only Calibration pattern discussed in Section 6 2 5 will work for a Mag and Accel Calibration Optimal performance is obtained when all rotations of the cube are performed towards magnetic north to achieve the widest possible magnetic field distribution Note that combining calibrations only makes sense if all the host system s magnetic distortions steel structures or batteries for instance are present and fixed relative to the module when calibrating If the Accelerometer Only Calibration is performed the user s system distortions are not relevant which allows the TCM to be removed from the host system in order to perform the Accelerometer Only Calibration 6 3 Declination Value Declination also called magnetic variation is the difference between true and magnetic north It is measured
22. in degrees east or west of true north Correcting for declination is accomplished by storing the correct declination angle and then changing the heading reference from magnetic north to true north Declination angles vary throughout the world and change very slowly over time For the greatest possible accuracy go to the National Geophysical Data Center web page below to get the declination angle based on your latitude and longitude http www ngdc noaa gov geomagmodels Declination jsp 6 4 Other Considerations The TCM measures the total magnetic field within its vicinity and this is a combination of Earth s magnetic field and local magnetic sources The TCM can compensate for local static magnetic sources However a magnetic source which is not static can create errors such as a motor which turns on off and it is not possible to compensate for such a dynamic nature In such cases moving the TCM away from dynamic magnetic fields is recommended or taking measurements only when the state of the magnetic field is know ex only take measurements when a nearby motor is turned off PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 35 SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 Operation with PNI Binary Protocol The TCM utilizes a bina
23. lt lt 8 crc dataPtr index crc unsigned char crc amp Oxff gt gt 4 crc cro lt lt 8 lt lt 4 crc crc amp Oxff lt lt 4 lt lt 1 return crc PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 59 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 5 2 CommProtocol h File pragma once include SystemSerPort h include Processes h CommHandler is a base class that incoming messages 24 class CommHandler public Call back to be implemented in derived class virtual void HandleComm UInt8 frameType NULL UInt16 dataLen 0 E provides a callback for void dataPtr CommProtocol handles the actual serial communication with the module Process is a base class that provides CommProtocol with cooperative parallel processing The Control method will be called by a process manager on a continuous basis class CommProtocol public Process public enum Frame IDs Commands kGetModInfo 1 kModInfoResp kSetDataComponents kGetData kDataResp Data Component IDs Heading 5 Temperature 7 Aligned 21 RAligned IZAligned PAngle RAngle ANN AAA ON
24. materials have a high permeability The permeability of a given material is a measure of how well it serves as a path for magnetic lines of force relative to air which has an assigned permeability of one Unlike hard iron distortion soft iron distortion changes as the host system s orientation changes making it more difficult to compensate The TCM 3 axis digital compass features both soft iron and hard iron correction 6 1 2 Pitch and Roll The TCM uses MEMS accelerometers to measure the tilt angle of the compass This data is Output as pitch and roll data and is also used in conjunction with the magnetometers to provide a tilt compensated heading reading The TCM utilizes Euler angles as the method for determining accurate orientation This method is the same used in aircraft orientation where the outputs are Heading Yaw Pitch and Roll When using Euler angles roll is defined as the angle rotated around an axis through the center of the fuselage while pitch is rotation around an axis through the center of the wings These two rotations are independent of each other since the rotation axes rotate with the plane body For the TCM a positive pitch is when the front edge of the board is rotated upward and a positive roll is when the right edge of the board is rotated downward TCM User Manual r05 Page 26 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http w
25. sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 6 Field Calibration The magnetic sensors and accelerometers in the TCM are calibrated at PNI s factory However this is done in a magnetically controlled environment Consequently sources of magnetic distortion positioned near the TCM in the user s system will distort Earth s magnetic field and should be compensated for in the host system Examples of such sources include ferrous metals and alloys ex iron nickel non stainless steel etc batteries audio speakers current carrying wires and electric motors Compensation is accomplished by calibrating the module while mounted in the user s system It is expected that the sources of magnetic distortion will remain fixed relative to the module s position within the user s system By performing a field calibration the TCM identifies the local sources of magnetic distortion and negates their effects from the overall reading to provide an accurate compass heading Additionally the TCM s MEMS accelerometers gradually may change over time and it may be desirable to recalibrate the accelerometers from time to time The accelerometer calibration procedure corrects for changes in accelerometer gain and offset Unlike the magnetometers the accelerometers may be calibrated outside the host system Accelerometer calibration is more sensitive to noise or hand jitter than magnetometer calibration especially for
26. the last sample taken for example once the initial 32 samples are taken assuming FIR Taps is set to the default value of 32 any new sample is added to the end with the first sample being dropped In the case where SensorAcqTime is set to a value it would be prudent to set the module to flush the filter prior to calculating the heading This flushing will require the module to take 32 new samples to use for the calculation SensorAcqTime The SensorAcqTime sets the time between samples taken by the module in seconds The default is 0 0 seconds which means that the module will reacquire data immediately after the last acquisition This is an internal setting that is NOT tied to the time with which the module transmits data to the host system Generally speaking the SensorAcqTime is either set to 0 in which case the TCM is constantly sampling or set to equal the IntervalRespTime value The advantage of running with an SensorAcqTime of 0 is the FIR filter can run with a relatively high FIR Tap value to provide stable and timely data The advantage of using a greater SensorAcqTime is power consumption can be reduced assuming the IntervalRespTime is no less than the SensorAcqTime IntervalRespTime The IntervalRespTime is relevant when Push Mode is selected and is the time delay in seconds between completion of the TCM module sending one set of sampled data and the start of sending the next sample set The default is 0 0 seconds which means
27. tilt is possible 2D Calibration magnetic only 204 141 Recommended when the available tilt range is limited to lt 5 Hard Iron Only Calibration magnetic only 304 1E Recalibrates the hard iron offset for a prior calibration If the local field hard iron distortion has changed this calibration can bring the module back into specification Limited Tilt Range Calibration magnetic only 404 281 Recommended calibration method when 5 of tilt calibration is available but tilt 1s restricted to 45 i e full range calibration is not possible Accelerometer Only Calibration 1004 64n Select this when only accelerometer calibration will be performed Accelerometer and Magnetic Calibration 1104 6E Selected when magnetic and accelerometer calibration will be done simultaneously Below is a complete sample frame for a 2D Calibration 00 09 0A 00 00 00 14 5C F9 PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 47 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Heading pitch and roll information a output via the kDataResp frame during the calibration process This feature provides guidance during the calibration regarding calibration sample point coverage During calibration in the kDataResp frame the number of data c
28. to a value it would be prudent to set the module to flush the filter prior to calculating the heading This flushing will require the module to take 32 new samples to use for the calculation Note If the Flush Filters checkbox is checked it will take longer for the module to output updated data 5 3 8 HPR During Calibration When the lt On gt button is selected heading pitch and roll will be output on the Calibration tab during a calibration 5 3 9 Calibration Settings Automatic Sampling When selected the module will take a sample point once minimum change and stability requirements have been satisfied If the user wants to have more control over when the point will be taken then Auto Sampling should be deselected Once deselected the Take Sample button on the Calibration tab will be active Selecting the lt Take Sample gt button will indicate to the module to take a sample once the minimum requirements are met Calibration Points The user can select the number of points to take during a calibration The minimum number of points needed for an initial calibration is 10 although a hard iron only re calibration can be performed with only 4 samples The module will need to be PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 15 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 075
29. understood For instance if a system has considerable magnetic noise due to nearby motors the Synch Mode can be used to take measurements when the motors are turned off Enter Sync Mode On the Test tab above the tabs and 3D model click the Sync Mode check box to enter Sync Mode Sync Mode Output To retrieve the first reading click the lt Sync Read gt button Heading pitch and roll information will be displayed on Current Reading window If the Enable 3D Model Display box is selected on the Configuration tab then the helicopter will follow the movement as well The module will enter sleep mode after outputting the heading pitch and roll information To obtain subsequent readings the user should first click on the lt Sync Trigger gt button to wake up the module and then click on the lt Sync Read gt button to get the readings after which the module will return to sleep Exit Sync Mode Click on the lt Sync Trigger gt button and then uncheck the Sync Mode check box to exit Sync Mode Note that lt Sync Trigger gt sends a OxFF signal as an external interrupt to wake up the module This is not done for the first reading as the module is already awake PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 21 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755
30. used to mount the module are non magnetic The TCM can be mounted in various orientations as shown in Figure 4 1 All reference points are based on the white silk screened arrow on the top side of the board The orientation should be programmed in the TCM using the kSetConfig command and the kMountingRef setting as described in Section 7 4 5 Z DOWN 0 HEADING HEADING Z DOWN 180 HEADING HEADING HEADING Note that the Z axis sensor and Molex connector are on the top surface of the module Figure 4 1 Mounting Orientations PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 9 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 Operation with TCM Studio The TCM Studio evaluation software communicates with the TCM XB through the RS232 serial port of a computer The TCM MB is not compatible with TCM Studio because it is not compatible with an RS232 protocol serial port TCM Studio puts an easy to use graphical user interface GUI onto the binary command language used by the TCM Instead of manually issuing command codes the user can use buttons check boxes and dialog boxes to control the TCM and obtain data It reads the binary responses of the TCM output and formats this into labeled and easy to read data fields TCM
31. 011 Page 69 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con if mComm Ticks is a timer function mResponseTime Ticks within 3 seconds void TCM Control 1 tick 300 switch mStep case 1 mComm gt SendData frameType dataPtr 10msec dataLen Expect a response This is called each time this process gets a turn to execute UInt8 pkt kDataCount 1 the compents we are requesting preceded by the number of components being requested pkt 0 kDataCount pkt 1 CommProtocol kHeading pkt 2 CommProtocol kPAngle pkt 3 CommProtocol kRAngle pkt 4 CommProtocol kTemperature SendComm CommProtocol kSetDataComponents pkt kDataCount 1 Ticks is a timer function 1 tick 10msec mTime Ticks 100 Taking a sample in 1s mStep go to next step of process break case 2 Ticks is a timer function 1 tick 10msec if Ticks gt mTime tell the module to take a sample SendComm CommProtocol kGetData mTime Ticks second mStep break case 3 Ticks is a timer function 1 tick if Ticks TCM User Manual r05 100 take a sample every 10msec gt mResponseTime Page
32. 5 83376549 FAX 0755 83376182 E MN L szss20G163 con rotated through at least 180 degrees in the horizontal plane with a minimum of at least 1 positive and 1 negative Pitch and at least 1 positive and 1 negative Roll as part of the 12 points Calibration Method Buttons Full Range Calibration recommended calibration method when gt 45 of tilt is possible The minimum recommended number of calibration points is 12 Hard Iron Only Calibration serves as a hard iron recalibration to a prior calibration If the hard iron distortion around the module has changed this calibration can bring the module back into specification The minimum recommended number of calibration points is 6 Limited Tilt Range Calibration recommended calibration method when 5 of tilt calibration is available but tilt is restricted to lt 45 i e full range calibration is not possible The minimum recommended number of calibration points is 12 2D Calibration recommended when the available tilt range is limited to lt 5 The minimum recommended number of calibration points is 12 Accel Calibration Only The user should select this when accelerometer calibration will be performed The minimum recommended number of calibration points is 18 Accel Calibration w Mag The user should select this when magnetometer and accelerometer calibration will be performed simultaneously The minimum recommended number of calibration points is 18 5 3 10 Defa
33. 688 r05 TCM User Manual June 2011 Page 11 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 2 3 Changing Modules Once a connection has been made TCM Studio will recall the last settings If a different module is used click the lt Connect gt button once the new module is attached This will reestablish a connection assuming the module baud rate is unchanged 5 3 Configuration Tab GCM Studio Ver LU Module TCM Connected Firmware Version 0605 Serial Number 1020659 PCA Version SW TESTI Connection Configuration Calibration Test Data Logger System Log Graph Mounting Options Filter Settings Calibration Settings Taps m Standard u p se BR Automatic Sampling Calibration Points 12 a North Reference Acquisition Settings Full Range Calibration OHI Only Calibration Decinaton u0 Folket 8 O Limited Tilt Range Calibration Acquire Delay 0 000 2D Calibration O Accel only Calibration 5 interval Delay 1000 G Big O Litle O Accel Calibration with Mag Magnetic O True Mode Pol Push Endianess Flush Filters Output HPR During Calibration Degrees OMils Default Retrieve Save Enable 3D Model Display Note No settings will be changed in the modul
34. BRATION w ao e gege eh ee Re Pain bak DX ES a EE Need 25 6 1 Magnetic Field Calibration Theonm rss 26 6 1 1 Hard and Soft Iron Eftfects aaa aa anna aa aaa aaa aaaaaaaaanaa 26 6 1 2 Pitch and Roll BAN edit ees ORA teil 26 6 2 Field Calibration Procedures nennen 27 6 2 1 Full Range Calibration nemenin nte e Tia 28 6 2 2 2D Calibrati rz iuc RED a EA 31 6 2 3 Limited Tilt Range Calbration eeen 32 6 2 4 Hard Iron Only Calibration esses 33 6 2 5 Accelerometer Only Calibration rrnrorrnnrnnrnnnnnnnnrrrrrnrrnnnnnnnnrnnn 33 6 2 6 Mag and Accel Calibration iiu tete tan Dr harnais 35 6 3 Declination Value esses nennen eene ennt 35 6 4 Other Considerations ifie eto i vires 35 OPERATION WITH PNI BINARY PROTOCOL eee eee eene nnne 36 7 1 Datagram Structure eene eene nennen enses nnn nnns 36 7 2 Parameter F S sakir des eui Eege Cro ded epi nae d eva DER dog ed dota 37 7 3 Commands amp Communication Frames essen 39 7 4 kGetModlnfo frame Did 40 7 4 1 kModInfoResp frame ID 20 40 7 4 2 kSetDataComponents frame ID 324 40 7 4 3 kGetData frame ID A4 42 7 4 4 kDataResp frame ID SJ ae 42 7 4 5 kSetConfig frame ID 6g NEE 43 7 4 6 kGetConfig frame EE EE 46 7 4 7 kConfigResp frame DS mco iit etd AM te i ia ee das 46 7 4 8 kSave frame ID Ou 46 7 4 9 kStartCal frame ID 10d 47 7 4 10 kStopCal frame e E 48 7 4 11 kSetParam frame DIANA 48 7 4 12 kGetParam frame
35. C 1014688 r05 Page 39 SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 25 kGetAcqParams Queries for the sensor acquisition parameters 26 kAcqParamsDone Response to kSetAcqParams 27 kAcqParamsResp Response to kGetAcqParams 28 kPowerDownDone Response to kPowerDown 29 kFactoryUserCal Clears user magnetometer calibration coefficients 30 kFactorUserCalDone Response to kFactoryUserCal Commands the module to take a sample during user 31 kTakeUserCalSample calibratiain 36 kFactorylnciCal Clears user accelerometer calibration coefficients 37 kFactoryInclCalDone Respond to kFactorylnciCal 46 kSetMode Sets the mode of operation of the system 47 kSetModeResp Response to kSetMode 49 kSyncRead Queries the module for data in Sync Mode TCM User Manual r05 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 kGetModlnfo frame ID 1d This frame queries the module s type and firmware revision number The frame has no payload 7 4 1 kModinfoResp frame ID 2d This frame is the response to kGetModlnfo frame The payload contains the module type identifier followed by the firmware revision number Payload Ulnt32 Ulnt32 Note that the Type and Revision can be decoded from the binary
36. DOWN 90 15 2 ZDOWN 180 16 Z DOWN 270 kUserCalNumPoints 12 Ulnt32 4 32 12 PNI Sensor Corporation TCM User Manual June 2011 DOC 1014688 r05 Page 43 SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con kUserCalAutoSampling 13 Boolean True or False True 0 300 1 600 2 1200 3 1800 4 2400 5 3600 6 4800 kBaudRate 14 Ulnt8 7 7200 12 8 9600 9 14400 10 19200 11 28800 12 38400 13 57600 14 115200 kMilOutput 15 Boolean True or False False kDataCal 16 Boolean True or False True kCoeffCopySet 18 Ulnt32 0 7 0 kAccelCoeffCopySet 19 Ulnt32 0 2 0 Refer to Figure 4 1 for additional information on mounting orientations Configuration parameters and settings for kSetConfig kDeclination Config ID 14 This sets the declination angle to determine True North heading Positive declination is easterly declination and negative is westerly declination This is not applied until kTrueNorth is set to TRUE kTrueNorth Config ID 24 Flag to set compass heading output to true north heading by adding the declination angle to the magnetic north heading kBigEndian Config ID 64 Sets the Endianness of packets TRUE is
37. L 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con case CommProtocol kTemperature Move source destination size bytes Move copies th specified number of bytes from the source pointer to the destination pointer Store the heading Move amp data pntr amp temperature sizeof temperature increase the pointer to point to the next data element type pntr sizeof temperature break default Message is a function that displays a formatted string similar to printf Message Unknown type 02X r n data pntr 1 unknown data type so size is unknown so skip everything return break count One less element to read in Message is a function that displays a formatted string similar to printf Message Heading Sf Pitch sf Roll sf Temperature f r n heading pitch roll temperature mStep send next data request break default Message is a function that displays a formatted string similar to printf Message Unknown frame 02X receivedNr Mn UInt16 frameType break Have the CommProtocol build and send the frame to the module void TCM SendComm UInt8 frameType void dataPtr Ulnt16 dataLen PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2
38. NI Diaw During logical power up down or 100 mA pk 60 mA avg Sync Trigger over 4 ms Sleep Mode Current Draw 0 3 mA typical Table 3 4 Environmental Requirements Parameter Value Operating Temperature 40C to 85C Storage Temperature 40C to 85C Footnote 1 To meet performance specifications recalibration may be necessary as temperature varies TCM User Manual r05 Page 4 SUNSTAR TIE O http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table 3 5 Mechanical Characteristics Parameter Value Dimensions TCM XB 3 5 x 4 3 x 1 3 cm x wx h TCM MB 3 9 x 8 1 x 1 3 cm TCM XB 6 8 gm Red TCMMB _ 5 3gm Conector TCM XB 9 pin Molex pn 53780 0970 TCM MB 4 pin MIL MAX pn 850 10 004 10 001000 Mounting Options Screw mounts standoffs horizontal or vertical 3 3 Mechanical Drawing MILLIMETERS DIMENSIONS ARE INCHES 35 000 1 378 i 10 303 406 3 00040 025 2X 118 001 0 051 0 000 o 2 870 002 9 112 000 CLEARANCE FOR 4 40 UNC FASTENER 37 000 0 025 1 457 001 MOUNTING BLOCK STAKING 27 023 1 064 3 000 0 025 2X 118 001 0 29 000 0 025 PIN 1 MOLEX P N 53780 0970 P 1 142 001 MATES WITH MOLEX P N 51146 0900 1 588 0625 The default orientation for the TCM is
39. NI Sensor Corporation TCM User Manual June 2011 DOC 1014688 r05 Page 23 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 8 Graph Tab CM Studio Vers U Ele Edit Module TCM Connected 7 Connect e N I Firmware Version 0605 Serial Number 1020659 PCA Version SW TESTI Connection Configuration Calibration Test Data Logger System Log Graph Graph Data Filtered O User Cal MX 41 11 MX Filt MY Filt MX Cal 3481 28 71 2252 16 32 10 12 Seep 227 B 47 C Clear Auto Scroll The graph provides a 2 axis X Y plot of the measured field strength The graph can be used to visually see hard and soft iron effects within the environment measured by the TCM module as well as corrected output after a user calibration has been performed The screen shot shows the MX and MY readings as the module was held horizontally and rotated through 360 in the horizontal plane then held in a vertical orientation and rotated 360 in the vertical plane TCM User Manual r05 Page 24 SUNSTAR O O 0O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www
40. ParamResp frame ID 144 This frame contains the current FIR filter settings The format and values will the same as defined by kSetParam 7 4 14 kPowerDown frame ID 15 Payload Parameter ID Axis ID Count Value Value Value Values nt Filter Top ID ID ID m ZS 55 ES Se mine SS Value Specific Specific Specific This frame is used to completely power down the module which is referred to as putting the module in Sleep Mode The frame has no payload The module will power down all peripherals including the RS 232 driver but the driver chip has the feature to keep the Rx line enabled Any character sent to the module causes it to exit power down mode It is recommended to send the byte oxFFh 7 4 15 kSaveDone frame ID 16 This frame is the response to kSave frame The payload contains a UInt16 error code 0000h indicates no error 0001h indicates error when attempting to save data into non volatile memory Payload gt Error code 4 Ulntt6 TCM User Manual r05 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Page 50 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 16 kUserCalSampCount frame ID 17 4 This frame is sent from the module after taking a calibration sample point The payload contains the samp
41. SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con User Manual FieldForce TCM High Accuracy Electronic Compass Module INT SENSOR CORPORATION SUNSTAR I O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table of Contents 1 COPYRIGHT amp WARRANTY INFORMATION ee ee eene enne nnns 1 2 INTRODUCTION naa sk k s i w Ok wkA 2 3 SPECIFICATIONS owoc w cio Oso Oaza d cienia 3 3 1 Performance Specifications ecce nnnnnns 3 3 2 Operating Characteristics 1 2i necati spe basate bea tdasdentdeadogededessausces 4 3 3 Mechanical Drawlnhg osi te E a a eet ese EE 5 Eds eer 7 4 1 Electrical Connections eese eene eene 7 4 2 Installation LOCION a ak Fea repe caca Da d ende 8 4 2 1 Operate within sensors linear regime 00 000 enn 8 4 2 2 Locate away from changing magnetic fields 8 4 2 3 Mount in a physically stable location cccssseceesssseeeesssseeeees 8 4 2 4 Location veri
42. ame ID 47 4 55 7 4 35 kSyncRead frame ID 49 Ja egene EE A 56 7 5 Code Examples ec retten RU EP PA E 57 7 5 1 Header File amp CRC 16 Function esee 57 7 5 2 CommProtocol h File enne 60 7 5 3 CommProtocol cpp File 62 7 5 4 TEMP EM 66 7 5 5 TCM p VE 67 PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page iii SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con List of Tables Table 3 1 Performance Specifications 3 Table 3 2 I O Characteristics 4 Table 3 3 Power Requirements 4 Table 3 4 Environmental Requirements 4 Table 3 5 Mechanical Characteristics 5 Table 4 1 TCM Pin Descriptions 7 Table 5 1 Mounting Orientations 13 Table 6 1 Calibration Mode Summary 27 Table 6 2 12 Point North Unaware Calibration Pattern 30 Table 6 3 18 Point North Aware Calibration Pattern 31 Table 6 4 12 Point 2D Calibration Pattern 32 Table 6 5 12 Point Limited Tilt Calibration Pattern 32 Table 6 6 6 Point Hard Iron Only Calibration Pattern 33 Table 6 7 18 Point Accelerometer Calibration Pattern 34 Table 7 1 UART Configuration 36 Table 7 2 Command Set 39 Table 7 3 Component Identifiers 41 Table 7 4 Configuration Identifiers 43 Table 7 5 Sample Points 45 Table 7 6 Recommended FIR Filter Tap Values 49 List of Figures Figure 3 1 TCM XB Me
43. ayload contains the Mode ID requested PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 55 SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Payload Mode ID Ulnt8 7 4 35 kSyncRead frame ID 49 This frame requests a reading from the module when the unit is in Sync Mode This frame has no payload The response to this frame is kDataResp with heading pitch and roll set as the sequence of data component IDs Prior to sending the kSyncRead frame the user s system must first send an FF string which wakes up the system then wait some minimum delay time before sending the kSyncRead frame The minimum delay time is dependent on the baud rate and for a baud rate equal to or slower than 9600 there is no delay The minimum delay is defined by the same formula given for switching from Sync Mode to Normal Mode in kSetMode TCM User Manual r05 Page 56 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 5 Code Examples The following example files CommProtocol h CommProtocol cp TCM h and TCM cp would be used together for proper
44. c cro lt lt 8 lt lt 4 PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 63 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con crc crc Oxff lt lt 4 lt lt 1 return crc This is called each time this process gets a turn to execute void CommProtocol Control InLen returns the number of bytes in the input buffer of the serial object that are available for us to read UInt32 inLen mSerialPort gt InLen switch mStep case 1 wait for length bytes to be received by the serial object if inLen gt 2 Read block will return the number of requested or available bytes that are in the serial objects input buffer read the byte count mSerialPort gt ReadBlock mInData 2 byte count is ALWAYS transmitted in big endian copy byte count to mExpectedLen to native endianess mExpectedLen mInData 0 lt lt 8 mInData 1 Ticks is a timer function 1 tick 10msec wait up to 1 2s for the complete frame mExpectedLen to be received mTime Ticks 50 mStep goto the next step in the process break case 2 wait for msg complete or timeout if inLen gt mExpectedLen 2 UIntl16 crc c
45. can be stored using kAccelCoeffCopySet see Section 7 4 5 and this command references whichever set currently is being used kPAngle kRAngle Component IDs 244 254 These outputs provide pitch and roll angles The pitch range is 90 0 to 90 0 and the roll range is to 180 0 to 180 0 kXAligned kYAligned kZAligned Component IDs 274 284 294 These values represent Earth s calibrated magnetic field M vector components The default values are the factory calibrated values Note that up to eight 8 sets of values can be stored using kCoeffCopySet see Section 7 4 5 and this command references whichever set currently is being used 7 4 3 kGetData frame ID 4 This frame queries the module for data as established in kSetDataComponents The frame has no payload The complete packet for the kGetData command is 00 05 04 BF71 Where 00 05 is the byte count 04 is the kGetData command and BF 71 is the CRC 16 checksum 7 4 4 kDataResp frame ID 54 This frame is the response to the kGetData frame The first byte of the payload indicates the number of data components followed by the data component ID value pairs The sequence of component IDs follows the sequence set in the kSetDataComponents frame lt Payload Count ID Value ID Value IDgount Value nom lt Ulnt8 gt lt Ulnt8 gt gt lt Ulnt8 gt lt H gt lt Ulnt8 gt lt n
46. chanical Drawing 5 Figure 3 2 TCM MB Mechanical Drawing 6 Figure 3 3 PNI Pigtailed Cable Drawing 6 Figure 4 1 Mounting Orientations 9 Figure 6 1 Positive amp Negative Roll and Pitch Definition 27 Figure 6 2 Full Range Calibration with 12 Point North Unaware Cal Pattern 29 Figure 6 3 Full Range Calibration with 18 Point North Aware Cal Pattern 30 Figure 6 4 Accelerometer Calibration Starting Orientations 34 Figure 7 1 Datagram Structure 36 TCM User Manual June 2011 Page iv SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 1 Copyright amp Warranty Information Copyright PNI Sensor Corporation 2009 All Rights Reserved Reproduction adaptation or translation without prior written permission is prohibited except as allowed under copyright laws Revised May 2011 For most recent version visit our website at www pnicorp com PNI Sensor Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 USA Tel 707 566 2260 Fax 707 566 2261 Warranty and Limitation of Liability PNI Sensor Corporation PNI manufactures its TCM products Products from parts and components that are new or equivalent to new in performance PNI warrants that each Product to be delivered hereunder if properly used will for one year following the date of shipme
47. d With its many applications the TCM incorporates a flexible and adaptable command set Many parameters are user programmable including reporting units a wide range of sampling configurations output damping and more We re sure the TCM will help you to achieve the greatest performance from your system Thank you for selecting the TCM TCM User Manual r05 Page 2 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 3 Specifications 3 1 Performance Specifications Table 3 1 Performance Specifications Parameter Value 65 of tilt after full range calibration 0 3 rms lt 80 of tilt after full range calibration 0 5 rms Accuracy 5 of tilt after 2D calibration 2 0 rms Headin 2 ti ibration ti i xcu Fon Resolution 0 1 Repeatability 0 05 rms Range Pitch 90 Roll 180 Pitch 0 2 rms Tilt ett lt 65 of pitch 0 2 rms Pitch amp Roll Roll lt 80 of pitch 0 4 rms 86 of pitch 1 0 rms Resolution 0 01 Repeatability 0 05 rms Maximum Operational Dip Angle 85 Calibrated Field Range 25 Magnetometers Resolution 0 05 uT Repeatability 0 1 uT Footnotes 1 Specifications are subject to change Assumes the TCM is motionless and the local magnetic field is clean relati
48. d Specific Specific Specific TCM User Manual r05 Page 42 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Example If the response contains heading and pitch the payload would look like 2 5 359 9 24 10 5 ID Count Heading ID Heading Pitch ID Pitch Output Output Float32 Float32 7 4 5 kSetConfig frame ID 64 This frame sets internal configurations in the module The first byte of the payload is the configuration ID followed by a format specific value These configurations can only be set one at time Payload Config ID Value ID Ulnt8 gt lt Specific Example To configure the declination the payload would look like 1 10 0 Declination ID Declination Angle Float32 Table 7 4 Configuration Identifiers Settings Config ID4 Format Values Range Default kDeclination Float32 180 to 4180 0 kTrueNorth Boolean True or False False kBigEndian 1 2 6 Boolean True or False True kMountingRef 10 Ulnt8 1 STD 0 SKUR 3 Y UPOF 4 STD 90 5 STD 180 6 STD 270 7 Z DOWN 0 8 X UP 90 9 X UP 180 10 X UP 270 mer UP O02 12 Y UP 180 139 Y UP 270 14 2 Z
49. de can be used to take measurements when the motors are turned off The payload contains the Mode ID requested as given below Payload Mode ID Normal Mode 0 Mode ID Sync Mode 100 Ulnt8 If the module is in Sync Mode and the user desires to switch back to Normal Mode an FF string first must be sent followed by some minimum delay time prior to sending the kSetMode frame The minimum delay time is dependent on the baud rate and for a baud rate equal to or slower than 9600 there is no delay For baud rates greater than 9600 the minimum delay is equal to Minimum delay after sending FF in seconds 7E 3 10 baud rate For example with a baud rate of 38400 the minimum delay after sending FFy is Minimum delay at 38400 baud 7E 4 10 38400 4 4E 4 seconds 440 us Sync Mode generally is intended for applications in which sampling does not occur frequently For applications where Sync Mode sampling will be at a frequency of 1 Hz or higher there is a minimum allowable delay between taking samples This minimum delay between samples approximately inverse to the maximum sample rate varies from 100 msec to 1 06 second and is a function of the number of FIR filter taps as defined by the following formula Minimum Delay between Samples in seconds 0 1 0 03 number of Taps 7 4 34 kSetModeResps frame ID 47 a This frame is the response to kSetMode frame The p
50. e Pay attention to the calibration scores See Section 5 4 2 or Section 7 4 17 PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 25 SUNSTAR I 0 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 6 1 Magnetic Field Calibration Theory The main objective of a magnetic field calibration is to compensate for distortions to the magnetic field caused by the host system To that end the TCM needs to be mounted within the host system and the entire host system needs to be moved as a single unit during the calibration The TCM allows the user to perform a calibration only in a 2D plane 2D Calibration Method or with limited tilt but provides the greatest accuracy if the user can rotate through a full sphere 6 1 1 Hard and Soft Iron Effects Hard iron distortions are caused by permanent magnets and magnetized steel or iron objects within close proximity to the sensors This type of distortion remains constant and in a fixed location relative to the sensors for all heading orientations Hard iron distortions add a constant magnitude field component along each axis of sensor output Soft iron distortions are the result of interactions between the Earth s magnetic field and any magnetically soft material within close proximity to the sensors In technical terms soft
51. e taken 5 4 5 Clear Clear Mag Cal to Factory This button clears the user s calibration of the magnetometers Once selected the module reverts to its factory magnetometer calibration To save this action in nonvolatile memory click the lt Save gt button It is not necessary to clear the current calibration in order to perform a new calibration Clear Accel Cal to Factory This button clears the user s calibration of the accelerometers Once selected the module reverts back to its factory accelerometer calibration To save this action in non volatile memory click the lt Save gt button It is not necessary to clear the current calibration in order to perform a new calibration PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 19 SUNSTAR O 0 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 9 Test Tab OM Studio Ver U File Edit Module TCM Connected N I Firmware Version 0605 cc Serial Number 1020659 Dee zaw PCA Version SW TESTI Connection Configuretion Calibration Test Deta Logger System Log Graph Current Reading 3D Model Heading 230 4 Pitch Roll 000 0 007 1 Contrast Acquisition Settings Module is in POLL mode Poll time is 0 seconds Acquisition time is 0 000 seconds Inter
52. e until the lt SAVE gt button has been selected 5 3 1 Mounting Options TCM Studio supports 16 mounting orientations as illustrated previously in Figure 4 1 The descriptions in TCM Studio are slightly different from those shown in Figure 4 1 and the relationship between the two sets of descriptions is given below TCM User Manual r05 Page 12 SUSTAR O0 O0 0O O http www sensor i c co TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table 5 1 Mounting Orientations TCM Studio Figure 4 1 TCM Studio Figure 4 1 Description Description Description Description Standard STD 0 Y Sensor Up Y Up 0 Standard 90 E Y Sensor Up Plus up 5 Degrees SUSE 90 Degrees DE Standard 180 Y Sensor Up Plus up o Degrees PP 180 Degrees PRD Standard 270 A Y Sensor Up Plus ap 3 Degrees SE 270 Degrees A X Sensor Up X Up 0 Z Sensor Down Z Down 0 X Sensor Up Plus uy 5 Z Sensor Down SC s 90 Degrees S ps Plus 90 Degrees A RONN X Sensor Up Plus av 5 Z Sensor Down ver e 180 Degrees PAD Plus 180 Degrees DONE X Sensor Up Plus uy 5 Z Sensor Up Plus 4 6 270 Degrees X Up arn 270 Degrees 2 Down a70 5 3 2 North Reference Magnetic When the lt Magnetic gt button is selected heading will be relative to magnetic north True When the lt True gt but
53. effective for operation and calibration in the tilt range of 3 or more 245 is preferred The recommended calibration pattern is a circle of alternately tilted evenly spaced points with as much tilt as expected during use PNI recommends 26 calibration points for a Hard Iron Only Calibration although 4 points is acceptable Table 6 6 6 Point Hard Iron Only Calibration Pattern Sample Yaw Pitch Roll 1 0 45 45 2 60 45 45 3 120 45 45 4 180 45 45 5 240 45 45 6 300 45 45 6 2 5 Accelerometer Only Calibration The requirements for a good accelerometer calibration differ from the requirements for a good magnetometer calibration For instance a level yaw sweep no matter how many points are acquired is effectively only 1 accelerometer calibration point PNI recommends 18 to 32 calibration points for accelerometer calibration although 12 calibration points is acceptable Figure 6 4 shows the two basic starting positions for the Accelerometer Only Calibration Calibration can occur within the user s system or with the module alone It is not necessary to place the TCM on a hard surface as shown but the it must be held very still during calibration and holding it against a hard surface is one method to help ensure this Starting with the module as shown on the left in Figure 6 4 rotate the module such that it sits on each of its 6 faces Take a calibration point on each
54. evision number 2 kModlnfoResp Response to kGetModinfo 3 kSetDataComponents Sets the data components to be output 4 kGetData Queries the module for data 2 kDataResp Response to kGetData 6 kSetConfig Sets internal configurations in the module 7 kGetConiig Queries the module for the current internal configuration value 8 kConfigResp Response to kGetConfig 9 kSave Commands the module to save internal and user calibration 10 kStartCal Commands the module to start user calibration 11 kStopCal Commands the module to stop user calibration 12 kSetParam Sets the FIR filter settings for the magnetometer amp accelerometer sensors 13 kGetParam Queries for the FIR filter settings for the magnetometer amp accelerometer sensors 14 kParamResp Contains the FIR filter settings for the magnetometer amp accelerometer sensors 15 kPowerDown Used to completely power down the module 16 kSaveDone Response to kSave 17 kUserCalSampCount Sent from the module after taking a calibration sample point 18 kUserCalScore Contains the calibration score 19 kSetConfigDone Response to kSetConfig 20 kSetParamDone Response to kSetParam 21 kStartIntervalMode Commands the module to output data at a fixed interval 22 kStoplntervalMode Commands the module to stop data output at a fixed interval 23 kPowerUp Sent after wake up from power down mode 24 kSetAcqParams Sets the sensor acquisition parameters PNI Sensor Corporation TCM User Manual June 2011 DO
55. fication testing eese 8 4 3 Mechanical sip 9 5 OPERATION WITH TEM STUDIO casa io dw S 10 5 1 Installation onto a Windows or Mac System 10 5 2 CON TA close ia aka 11 5 2 1 Initial COPIE pave een 11 5 2 2 Changing Baud Rate 11 5 2 3 Changing Modules e 12 5 3 Configuration Tab 12 5 3 1 Mounting Options annann 12 5 3 2 NOM AE 13 5 3 3 qr Rr 13 5 3 4 qr a EA O 13 5 3 5 Enable 3D Modal E 14 5 3 6 eee 14 5 3 7 Acquisition EE og ul 14 5 3 8 HPR During Calibration E 15 5 3 9 Calibration Settings EN 15 5510 KE EE 16 e ae EE 16 5 4 Calibration Tab EN 17 5 4 1 LU E 17 5 4 2 Calibration Release a 18 5 4 3 Current CONTRA I A geed 19 5 4 4 OPTIONS 22 isss ai a arna 19 5 4 5 ar m 19 5 5 Test c H 20 5 5 1 Current Reading ol kn andann 20 PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Pagei SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 5 2 SD MOJE zoo sz AZ W ORA TAE 20 5 5 3 Acquisition Setting 20 5 5 4 Sync Mode Ras ene 21 5 6 Data Logger Tab zaw R AR da e end ER REUS 22 5 7 System Loge Tab hao sr thereto COS 23 5 8 Graph Tab zen cue e E eI eR Ge eae 24 FIELD CALI
56. format to character format using the ASCII standard For example the hex string 00 OD 02 54 43 4D 35 31 32 30 38 C7 87 can be decoded to read TCM5 1208 Also the TCM XB is referenced as Type TCM6 since the number of Type characters is limited to 4 7 4 2 kSetDataComponents frame ID 34 This frame sets the data components in the module s data output This is not a query for the module s data see kGetModInfo The first byte of the payload indicates the number of data components followed by the data component IDs Payload gt Count ID ID ID ID Count lt 4 Ulnt8 gt lt Ulnt8 gt lt Ulnt8 Ulnt8 gt lt Ulnt8 Page 40 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Example To query the heading and pitch the payload should contain lt Payload gt 3 2 5 24 Frame ID ID Count Heading ID Pitch ID When querying for data kGetData frame the sequence of the data component output follows the sequence of the data component IDs as set in this frame Component Component Table 7 3 Component Identifiers IDa Units degrees default kHeading Float32 or mil 0 0 to 359 9 kTemperature Float32 Celsius 40 to 85 False Default kDistortion Boolean True or False n
57. from the last sample point If the user wants to have maximum control over when the calibration sample point are taken then this flag should be set to FALSE kBaudRate Config ID 144 Baud rate index value A power down power up cycle is required when changing the baud rate kMilOutput Config ID 154 This flag sets the heading pitch and roll output to mils By default kMilOutput is set to FALSE and the heading pitch and roll output are in degrees Note that 360 degrees 6400 mils such that 1 degree 17 778 mils or 1 mil 0 05625 degree kDataCal Config ID 164 This flag sets whether or not heading pitch and roll data are output simultaneously while the TCM is being calibrated The default is TRUE such that heading pitch and roll are output during calibration FALSE disables simultaneous output kCoeffCopySet Config ID 184 This command provides the flexibility to store up to eight 8 sets of magnetometer calibration coefficients in the module The default is set number 0 To store a set of coefficients first establish the set number number 0 to 7 using kCoeffCopySet then perform the magnetometer calibration The coefficient values will be stored in the defined set number This feature is useful if the compass will be placed in multiple locations that have different local magnetic field properties PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 45 SUNSTAR O O O O http www sensor i c
58. g new data as soon as the previous data set has been sent Note that the inverse of the Interval Delay is somewhat greater than the sample rate since the Interval Delay does not include actual acquisition time TCM User Manual r05 Page 14 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Acquire Delay The Acquire Delay sets the time between samples taken by the module in seconds This is an internal setting that is NOT tied to the time with which the module transmits data to TCM Studio or the host system Generally speaking the Acquire Delay is either set to 0 in which case the TCM is constantly sampling or set to equal either the Poll Delay or Interval Delay values The advantage of running with an Acquire Delay of 0 is that the FIR filter can run with a relatively high Tap value to provide stable and timely data The advantage of using a greater Acquire Delay is that power consumption can be reduced assuming the Interval or Poll Delay are no less than the Acquire Delay Flush Filters The filtering is set to only update the filter with the last sample taken for example once the initial 32 samples are taken assuming Taps is set to the default value of 32 any new sample is added to the end with the first sample being dropped In the case where the Acquire Time is set
59. gt specific Parameter ID should be set to 3 and the Axis ID should be set to 1 The third payload byte indicates the number of FIR taps to use which can be 0 no filtering 4 8 16 or 32 This is followed by the tap values 0 to 32 total Values can be in the payload with each Value being a Float64 and suggested values given in Table 7 6 TCM User Manual r05 Page 48 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table 7 6 Recommended FIR Filter Tap Values 4 Tap Filter 04 6708657655334e 2 8 TapFilter 01 9875512449729e 2 16 Tap Filter 07 9724971069144e 3 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 32 Tap Filter 01 4823725958818e 3 04 5329134234467e 1 06 4500864832660e 2 01 2710056429342e 2 02 0737124095482e 3 04 5329 134234467e 1 01 66373258981 41 e 1 02 5971390034516e 2 03 2757326624196e 3 04 6708657655334e 2 02 4925036373620e 1 04 6451949792704e 2 05 3097803863757e 3 02 4925036373620e 1 07 1024151197772e 2 08 3414139286254e 3 01 6637325898141e 1 09 5354386848804e 2 01 2456836057785e 2 06 4500864832660e 2 01 1484431942626e 1 01 7646051430536e 2 01 9875512449729e 2 01 2567124916369e 1 02 3794805168613e 2 01 2567124916369e 1 03 0686505921968e 2 OO Qo NO AJOJN 01 1484431942626e 1
60. h include TickGenerator h const UInt8 kDataCount 4 We will be requesting 4 componets Heading pitch roll temperature This object polls the TCM module once a second for heading pitch roll and temperature TCM TCM SerPort serPort Process TCM Let the CommProtocol know this object will handle any serial data returned by the module mComm new CommProtocol this serPort mTime 0 mStep 1 TCM TCM Called by the CommProtocol object when a frame is completely received void TCM HandleComm UInt8 frameType void dataPtr UInt16 dataLen UInt8 data UInt8 dataPtr switch frameType case CommProtocol kDataResp Parse the data response UInt8 count data 0 The number of data elements returned UInt32 pntr 1 Used to retrieve the returned elements The data elements we requested Float32 heading pitch roll temperature if count kDataCount PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 67 SUNSTAR 0 0 0 O http www sensor i c conh TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Message is a function that displays a C formatted string similar to printf Message Received u data elements instead of the Su requested r n
61. he compiler s instructions to understand how the compiler implements floating point format 64 Bit Floating Point Float64 Below is the 64 bit float format in big Endian In little Endian the bytes are in reverse order in 4 byte groups eg big Endian ABCD EFGH little Endian DCBA HGFE 63 62 5251 0 S Exponent Mantissa The value v is determined as if and only if 0 lt Exponent 2047 v 1 S 2 Exponent 1023 1 Mantissa 32 Bit Floating Point Float32 Shown below is the 32 bit float format in big Endian In little Endian format the 4 bytes are in reverse order LSB first 3130 2322 0 S Exponent Mantissa The value v is determined as if and only if 0 lt Exponent lt 255 v 1 S 2 Exponent 127 1 Mantissa Signed 32 Bit Integer SInt32 SInt32 based parameters are signed 32 bit numbers 2 s compliment Bit 31 represents the sign of the value 0 positive 1 negative 31 2423 16 15 87 0 msb Isb Big Endian 7 0 15 8 23 1631 24 Isb msb Little Endian PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 37 SUNSTAR I 0 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Signed 16 Bit Integer SInt16 SIntl6 based parameters are signed 16
62. here TCM User Manual r05 Page 10 SUNSTAR I O 0O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 2 Connection Tab Ne OM Studio for uu File Edit Module TCM Connected N I Firmware Version 0605 Serial Number 1020659 PCA Version SW TESTI en Connection Configuration Calibration Test Data Logger System Log Graph Computer Serial Port COMI Baud Rate 38400 Module Baud Rate 38400 5 2 1 Initial Connection If using the PNI dual connectorized cable ensure the batteries are well charged e Select the serial port the module is plugged into which is generally COM 1 e Select 38400 as the baud rate e Click the lt Connect gt button if the connection is not automatic Once a connection is made the Connected light will turn green and the module s firmware version serial number and PCA version will be displayed in the upper left next to the PNI logo 5 2 2 Changing Baud Rate To change the baud rate e Inthe Module window select the new baud rate for the module e Click the lt Power Down gt button The button will change to read lt Power Up gt e Inthe Computer window select same baud rate for the computer e Click the lt Power Up gt button The button will revert back to lt Power Down gt PNI Sensor Corporation DOC 1014
63. i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Param IDs kFIRConfig 3 kStartIntervalMode 21 kStopIntervalMode 22 kPowerUp 23 kSetAcqParams 24 kGetAcqParams 25 kAcqParamsDone 26 kAcqParamsResp 27 kPowerDoneDown 28 kFactoryUserCal 29 kFactoryUserCalDone 30 kTakeUserCalSample 31 kFactoryInclCal 36 36 kFactoryInclCalDone 31 kSetMode 46 46 kSetModeDone 47 kSyncRead 49 49 Cal Option IDs kFullRangeCal 10 10 type Float32 k2DCal 20 20 type Float32 kHIOnlyCal 30 30 type Float32 kLimitedTiltCal 40 40 type Float32 kAccelCalOnly 100 100 type Float32 kAccelCalwithMag 110 110 type Float32 3 AxisID UInt8 Count UInt8 Value Float64 Data Component IDs Heading Temperatur Distortion Aligned RAligned 5 ry 21 ry gt 3 Q le RAngle ligned 27 ligned ligned AA NAN Config Declination TrueNorth ountingRef UserCal UserCalN UserCalA BaudRate ilOutPut DataCal 15 De D DN D D AA D 8 22 IZAligned 23 type 24 25 StableCheck mPoints toSampling 14 16 type 5 type Float32 7 7 type Float32 8 type boolean 21 type Float32 type Float32 loat32 type Float32 type Float32 27 type Float32
64. ibration and 2D Calibration at least 6 for Hard Iron Only Calibration and at least 18 for Accel Only Calibration and Accel and Mag Calibration e Initiate a calibration using the kStartCal command Note that this command requires indentifying the type of calibration procedure i e Full Range 2D etc e Follow the appropriate calibration procedure discussed in Sections 6 2 1 to 6 2 6 If kUserCalAutoSampling was set to False then send a kTakeUserCalSample command when ready to take a calibration point If KUserCalAutoSampling was set to True then look for kUserCalSampCount to confirm when a calibration point has been taken During the calibration process heading pitch and roll information will be output from the module and this can be monitored using kDataResp e When the final calibration point is taken the module will present the calibration score using kUserCalScore e Ifthe calibration is acceptable see Section 7 4 17 save the calibration coefficients using kSave 6 2 1 Full Range Calibration This calibration method is appropriate when the module can be tilted 45 or more The Full Range Calibration option calibrates out hard and soft iron effects in three dimensions and allows for the highest accuracy readings Two calibration patterns are discussed below The 12 Point North Unaware Calibration Pattern is a series of 3 circles of evenly spaced points with as much tilt variation as expected during use This
65. le s z axis First Rotation Second Rotation Third Rotation North North Axis of Su Axis of Axis of Rotation Rotation Rotation Figure 6 3 Full Range Calibration with 18 Point North Aware Cal Pattern TCM User Manual r05 Page 30 SUNSTAR O0 0 0 O http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table 6 3 18 Point North Aware Calibration Pattern Sample Heading Pitch Roll First Rotation 1 0 0 0 2 0 60 0 3 180 60 180 4 180 0 180 5 180 60 180 6 0 60 0 Second Rotation 7 90 0 0 8 90 0 60 9 90 0 120 10 90 0 180 11 90 0 120 12 90 0 60 Third Rotation 13 0 0 90 14 0 60 90 15 180 60 90 16 180 0 90 17 180 60 90 18 0 60 90 6 2 2 2D Calibration PNI Sensor Corporation TCM User Manual June 2011 This calibration procedure is used for very low tilt operation lt 5 where calibrating the module with greater tilt is not practical The 2D Calibration procedure calibrates for hard and soft iron effects in only two dimensions and in general is effective for operation and calibration in the tilt range of 5 to 5 The recommended calibration pattern is a circle of evenly
66. le count with the range of 1 to 32 Payload gt Sample count lt Ulnt32 7 4 17 kUserCalScore frame ID 18 4 This frame s payload contains the calibration score which is a series of Float32 values CalScore Calparam2 Calparam3 DistErr TiltErr TiltRange Payload gt CalScore Calparam2 Accel CalScore DistErr TiltErr TiltRange lt Float32 gt lt Float32 gt lt Float82 _ gt t Float32 gt Float32 gt Float32 gt CalScore Mag CalScore Represents the over riding indicator of the quality of the magnetometer calibration Acceptable scores will be lt 1 for full range calibration lt 2 for other methods Note that it is possible to get acceptable scores for DistErr and TiltErr and still have a rather high Mag CalScore value The most likely reason for this is the TCM is close to a source of local magnetic distortion that is not fixed with respect to the module Calparam2 Reserved values for PNI use Calparam3 Accel CalScore Represents the over riding indicator of the quality of the accelerometer calibration An acceptable score is lt 1 DistErr Indicates the quality of the sample point distribution primarily looking for an even yaw distribution Significant clumping or a lack of sample points in a particular section can result in a poor score The score should be lt 1 TiltErr Indicates the contrib
67. lly works correctly e Choose a mounting location e Mechanically mount the TCM in the host system e Perform a field calibration 4 1 Electrical Connections The TCM XB incorporates a 9 pin Molex connector part number 53780 0970 which mates with Molex part 51146 0900 or equivalent The TCM MB incorporates a 4 pin Mil Max connector part number 850 10 004 10 001000 which mates with Mill Max part 851 XX 004 10 001000 or equivalent The pin out is given below in Table 4 1 Table 4 1 TCM Pin Descriptions TCM XB TCM MB Number 9 Pin Pigtailed Cable 4 Pin Connector Wire Color Connector Pin 1 GND Black GND 2 GND Gray 5 VDC 3 GND Green UART Tx 4 NC Orange UART Rx 5 NC Violet 6 NC Brown 7 UART Tx Yellow 8 UART Rx Blue 9 5 VDC Red Footnote 1 For the TCM XB pin 1 is indicated on Figure 3 1 For the TCM MB pin 1 is the pin closest to the corner After making the electrical connections it is a good idea to perform some simple tests to ensure the TCM is working as expected See Section 5 for how to operate the TCM XB with TCM Studio or Section 7 for how to operate the TCM XB or TCM MB via the UART and PNI binary protocol PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 7 SUNSTAR 0 0 O0 O http www sensor i c conh TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755
68. mStep 1 Look for the next length bytes break default break PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 65 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 5 4 TCM h File pragma once include Processes h include CommProtocol h This file contains the object providing communication to the TCM It will set up the module and parse packets received Process is a base class that provides TCM with cooperative parallel processing The Control method will be called by a process manager on a continuous basis class TCM public Process public CommHandler public TCM SerPort serPort TCM protected CommProtocol mComm UInt32 mStep mTime mResponseTime void HandleComm UInt8 frameType void dataPtr NULL UInt16 dataLen 0 void SendComm UInt8 frameType void dataPtr NULL UInt16 dataLen 0 void Control E TCM User Manual r05 Page 66 SUNSTAR O O 0 O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 5 5 TCM cpp File include TCM
69. ms to provide industry leading heading accuracy The TCM combines PNI s patented magneto inductive sensors and measurement circuit technology with a 3 axis MEMS accelerometer for unparalleled cost effectiveness and performance PNI recognizes not all applications allow for significant tilt during calibration so multiple calibration methods are available to ensure optimized performance can be obtained in the real world These include Full Range Calibration when 745 of tilt is possible during calibration 2D Calibration when constrained to calibration in a horizontal or near horizontal plane and Limited Tilt Calibration when tilt is constrained to 45 but gt 5 of tilt is possible PNI also recognizes conditions may change over time and to maintain superior heading accuracy it may be necessary to recalibrate the compass So the TCM incorporates Hard Iron Only Calibration to easily account for gradual changes in the local magnetic distorting components And the accelerometers can be recalibrated in the field if desired These advantages make PNI s TCM the choice for applications that require the highest accuracy and performance anywhere in the world under a wide range of conditions Applications for the TCM include e Unmanned vehicles underwater UUV ground UGV amp aerial UAV e Far target locaters and laser range finders e Dead reckoning systems e Systems in which the tilt angles used for calibration are physically constraine
70. n improving the CalScore should it be unacceptably high Mag CalScore Represents the over riding indicator of the quality of the magnetometer calibration Acceptable scores will be lt 1 for Full Range Calibration lt 2 for other methods Note that it is possible to get acceptable scores for Dist Error and Tilt Error and still have a rather high Mag CalScore value The most likely reason for this is the TCM is close to a source of local magnetic distortion that is not fixed with respect to the module Dist Error Indicates the quality of the sample point distribution primarily looking for an even yaw distribution Significant clumping or a lack of sample points in a particular section can result in a poor score The score should be lt 1 and close to 0 Tilt Error Indicates the contribution to the CalScore caused by tilt or lack thereof and takes into account the calibration method The score should be lt 1 and close to 0 Tilt Range This reports the larger of either half the full pitch range or half the full roll range of sample points For example if the module is pitched 10 to 20 and rolled 25 to 15 the Tilt Range value would be 20 as derived from 25 15 2 For Full Range Calibration and Hard Iron Only Calibration this should be gt 45 For 2D Calibration this ideally should be 2 For Limited Tilt Range Calibration the value should be as large a possible given the user s constraints Accel CalSc
71. n negative roll Large Negative zi Pitch l S a 10 4 Figure 6 2 Full Range Calibration with 12 Point North Unaware Cal Pattern PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 29 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Table 6 2 12 Point North Unaware Calibration Pattern Sample Yaw Pitch Roll First Circle 1 0 50 30 to 40 2 90 5 30 to 40 3 180 5 30 to 40 4 270 5 30 to 40 Second Circle 5 30 gt 445 30 to 40 6 120 gt 445 30 to 40 7 210 gt 445 30 to 40 8 300 gt 445 30 to 40 Third Circle 9 60 lt 45 30 to 40 10 150 lt 45 30 to 40 11 240 lt 45 30 to 40 12 330 lt 45 30 to 40 18 Point North Aware Calibration Pattern The pattern consists of three rotations of the module with 6 calibration points taken for each rotation The first rotation starts with the module horizontal and pointing north then rotating about the modules y axis The second rotation starts with the module horizontal and pointing east then rotating about the module s x axis The third rotation starts with the module vertical and pointing north then rotating about the modu
72. nclude CommProtocol h import an object that will provide a 10mSec tick count through a function called Ticks include TickGenerator h SerPort is an object that controls the physical serial interface It handles sending out the characters and buffers the characters read in until we are ready for them CommProtocol CommProtocol CommHandler handler SerPort serPort Process CommProtocol mHandler handler store the object that will parse the data when it is fully received mSerialPort serPort Init Initialize the serial port and variables that will control this process void CommProtocol Init UInt32 baud SetBaud baud mOldInLen 0 no data previously received mStep 1 goto the first step of our process Put together the frame to send to the module void CommProtocol SendData UInt8 frameType void dataPtr UInt32 len UInt8 data UInt8 dataPtr the data to send UInt32 index 0 our location in the frame we are putting together UIntl6 cfc the CRC to add to the end of the packet UInt16 count the total length the packet will be count UInt16 len kPacketMinSize exit without sending if there is too much data to fit inside our packet TCM User Manual r05 Page 62 SUNSTAR O0 O O O http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO
73. nt unless a different warranty time period for such Product is specified 1 in PNI s Price List in effect at time of order acceptance or ii on PNI s web site www pnicorp com at time of order acceptance be free from defects in material and workmanship and will operate in accordance with PNI s published specifications and documentation for the Product in effect at time of order PNI will make no changes to the specifications or manufacturing processes that affect form fit or function of the Product without written notice to the OEM however PNI may at any time without such notice make minor changes to specifications or manufacturing processes that do not affect the form fit or function of the Product This warranty will be void if the Products serial number or other identification marks have been defaced damaged or removed This warranty does not cover wear and tear due to normal use or damage to the Product as the result of improper usage neglect of care alteration accident or unauthorized repair THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY WHETHER EXPRESS IMPLIED OR STATUTORY INCLUDING BUT NOT LIMITED TO ANY WARRANTY OF MERCHANTABILITY FITNESS FOR ANY PARTICULAR PURPOSE OR ANY WARRANTY OTHERWISE ARISING OUT OF ANY PROPOSAL SPECIFICATION OR SAMPLE PNI NEITHER ASSUMES NOR AUTHORIZES ANY PERSON TO ASSUME FOR IT ANY OTHER LIABILITY If any Product furnished hereunder fails to conform to the above warranty OEM
74. o distofllofi False Default kCalStatus 9 Boolean True or False Sn kPAligned 21 Float32 G 1 0 to 1 0 KRAligned 22 Float32 G 1 0 to 1 0 kIZAligned 23 Float32 G 1 0 to 1 0 kPAngle 24 Float32 degrees 90 0 to 90 0 kRAngle 25 Float32 degrees e D KXAligned 27 Float32 uT KYAligned 28 Float32 uT KZAligned 29 Float32 uT Component types are listed below All are read only values kHeading Component ID 54 Provides compass heading i e yaw or azimuth output The units default to degrees but can be set to mils using kMilOutput kTemperature Component ID 74 This value is provided by the module s internal temperature sensor Its value is in Celsius and has an accuracy of 3 C kDistortion Component ID 84 This flag indicates at least one magnetometer axis reading is beyond 125 uT PNI Sensor Corporation TCM User Manual June 2011 DOC 1014688 r05 Page 41 SUNSTAR O D 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con kCalStatus Component ID 94 This flag indicates the user calibration status False default not calibrated kPAligned kRAligned amp kIZAligned Component IDs 214 224 234 These values represent Earth s calibrated acceleration vector G components The default values are the factory calibrated values Up to three 3 sets of values
75. o payload This is the ONLY command that causes the module to save information into non volatile memory TCM User Manual r05 Page 46 SUNSTAR TIE O http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 9 kStartCal frame ID 10d This frame commands the module to start user calibration with the current sensor acquisition parameters internal configurations and FIR filter settings After sending this command the module ensures the stability condition is met takes the first calibration point and then responds with kUserCalSampCount kUserCalSampCount will continue to be sent after each sample is taken Subsequent samples will be taken when autosampling when the minimum change and stability conditions are met or manually after the kTakeUserCalSample is sent and the stability condition is met See Section 6 2 for more information on the various calibration procedures Note The payload needs to be 32 bit 4 byte If no payload is entered or if less than 4 bytes are entered the unit will default to the previous calibration method Payload Cal Option Ulnt32 9 The CalOption values are given below along with basic descriptions of the options Full Range Calibration magnetic only 104 OAx Recommended calibration method when gt 45 of
76. oll TCM Studio can capture measurement data and then export it to a text file To acquire data and export it follow the procedure below Note Select the parameters you wish to log in the Data window Use Shift Ctrl Click and Ctrl Click to select multiple items In the screen shot above Heading MX kXAligned MY kY Aligned and MZ kZAligned were selected Click the lt Go gt button to start logging The lt Go gt button changes to a lt Stop gt button after data logging begins Click the lt Stop gt button to stop logging data Click the lt Export gt button to save the data to a file Click the lt Clear gt button to clear the data from the window The data logger use ticks for time reference A tick is 1 60 second TCM User Manual r05 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Page 22 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 7 System Log Tab SCM Studio Ver 550 Ele Edit Module TCM e N I Firmware Version 0605 Serial Number 1020659 Connected PCA Version SW TESTI 7v Connection Configuration Calibration Test Data Logger System Log Graph Time Stamp 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 10 06 13 44 46 2009 10
77. omponents is set to be 3 and then followed by the data component ID value pairs The sequence of the component IDs are kHeading kPAngle and kRAngle 7 4 10 kStopCal frame ID 11d This command aborts the calibration process and is not required to generally stop a calibration process Assuming the minimum number of sample points for the calibration as defined in Table 7 5 is not acquired prior to sending kStopCal the prior calibration results are retained If the acquired number of sample points prior to sending kStopCal si within the allowable range of kUserCalNumPoints then new calibration coefficients and a new score will be generated For instance if kUserCalNumPoints is set to 32 for a full range calibration and kStopCal is sent after taking the 12 sample point then a new set of coefficients will be generated based on the 12 sample points that were taken 7 4 11 kSetParam frame ID 124 The TCM incorporates a finite impulse response FIR filter to provide a more stable heading reading The number of taps or samples represents the amount of filtering to be performed Selecting a larger number of taps can significantly slow the time for the initial sample reading and if Flush Filters is selected the rate at which data is output Payload Parameter ID Axis ID Count Value Value Value Values ID ID ID ID Ulnt8 re Ulnt8 UInt8 Di sbeciic gt Specific 1 specific
78. ore Represents the over riding indicator of the quality of the accelerometer calibration Acceptable scores will be lt 1 If either CalScore is too high click the Start button to begin a new calibration If the calibration is acceptable then click the Save button in the Calibration Results window to save the calibration to the module s flash If this button is not selected then the module will need to be recalibrated after a power cycle TCM User Manual r05 Page 18 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Note If a calibration is aborted all the score s will read 179 80 and the calibration coefficients will not be changed Clicking the lt Save gt button will not change the calibration coefficients 5 4 3 Current Configuration These indicators mimic the pertinent selections made on the Configuration tab 5 4 4 Options This window indicates how many samples are to be taken and provides real time heading pitch and roll information if HPR During Calibration is set to lt On gt both as defined on the Configuration tab Audible Feedback If selected TCM Studio will give an audible signal once a calibration point has been taken Note that an audible signal also will occur when the lt Start gt button is clicked but no data will b
79. oryUserCal frame The frame has no payload 7 4 30 kTakeUserCalSample frame ID 31 4 This frame commands the module to take a sample during user calibration The frame has no payload 7 4 31 kFactorylnciCal frame ID 36 y This frame clears the user accelerometer calibration coefficients The frame has no payload This frame must be followed by the kSave frame to change in non volatile memory 7 4 32 kFactorylnciCalDone frame ID 37 4 This frame is the response to kFactoryInclCal frame The frame has no payload TCM User Manual r05 Page 54 SUNSTAR O0 O O 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 4 33 kSetMode frame ID 46 4 Note When Sync Mode is selected the TCM will acknowledge the change in mode and immediately trigger the Sync Mode and send a data frame This frame allows the module to be placed in Sync Mode When in Sync Mode the module will stay in Sleep Mode until the user s system sends a trigger to report data When so triggered the TCM will wake up report data once then return to Sleep Mode One application of this is to lower power consumption Another use of the Sync Mode is to trigger a reading during an interval when local magnetic sources are well understood For instance if a system has considerable magnetic noise due to nearby motors the Synch Mo
80. ps representing no filtering Note that selecting a larger number of taps can significantly slow the time for the initial sample reading and if Flush Filters is selected the rate at which data is output The default setting is 32 5 3 7 Acquisition Settings Mode Poll mode should be selected when the host system will poll the TCM for data TCM Studio allows the user to simulate this on their PC In this case TCM Studio requests data from the TCM module at a relatively fixed basis Push mode should be selected if the user will have the TCM output data at a relatively fixed rate to the host system In this case the TCM module is pushing data out to TCM Studio at a relatively fixed rate Poll Delay The Poll Delay is relevant when Poll Mode is selected and is the time delay in seconds between the completion of TCM Studio receiving one set of sampled data and requesting the next sample set If the time is set to 0 then TCM Studio requests new data as soon as the previous request has been fulfilled Note that the inverse of the Poll Delay is somewhat greater than the sample rate since the Poll Delay does not include actual acquisition time Interval Delay The Interval Delay is relevant when Push Mode is selected and is the time delay in seconds between completion of the TCM module sending one set of sampled data and the start of sending the next sample set If the time is set to 0 then the TCM will begin sendin
81. rcReceived calculated and received crcs Read block will return the number of requested or available bytes that are in the serial objects input buffer mSerialPort 5ReadBlock amp mInData 2 mExpectedLen 2 TCM User Manual r05 Page 64 SUNSTAR 1 0 O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con in CRC verification don t include the CRC in the recalculation 2 crc CRC mInData mExpectedLen 2 CRC is also ALWAYS transmitted in big endian crcReceived mInData mExpectedLen 2 lt lt 8 mInData mExpectedLen 1 if cre crcReceived the cre is correct so pass the frame up for processing if mHandler mHandler gt HandleComm mInData 2 amp mInData 3 mExpectedLen kPacketMinSize else crc s don t match so clear everything that is currently in the input buffer since the data is not reliable mSerialPort gt InClear go back to looking for the length bytes mStep 1 else Ticks is a timer function 1 tick 10msec if Ticks gt mTime Corrupted message We did not get the length we were expecting within 1 2sec of receiving the length bytes Clear everything in the input buffer since the data is unreliable mSerialPort gt InClear
82. ry I enum kBufferSize 512 TCM User Manual r05 1 2 3 4 5 5 type Float32 7 type Float32 21 type 22 type 23 type 24 type 25 type F loat32 loat32 loat32 loat32 loat32 Page 60 SUNSTAR IO 0 0 http www sensor i c com TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con maximum size of our input buffer kPacketMinSize 5 minimum size of a serial packet I SerPort is a serial communication object abstracting the hardware implementation CommProtocol CommHandler handler NULL SerPort serPort NULL void Init UInt32 baud 38400 void SendData UInt8 frame void dataPtr NULL UInt32 len 0 void SetBaud UInt32 baud protected CommHandler mHandler SerPort mSerialPort UInt8 mOutData kBufferSize mInData kBufferSize UInt16 mExpectedLen UInt32 mOutLen mOldInLen mTime mStep UInt16 CRC void data UInt32 len void Control b PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 61 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 5 3 CommProtocol cpp File i
83. ry protocol that is transmitted over an RS232 UART TCM XB or a TTL UART TCM MB The parameters should be set as follows Table 7 1 UART Configuration Parameter Value Number of Data Bits 8 Start Bits 1 Stop Bits 1 Parity none 7 1 Datagram Structure The data structure is shown below ByteCount Packet Frame CRC 16 Ulnt16 1 4092 Ulnt8 Ulnt16 m e Payload Ulnt8 1 4091 Ulnt8 Figure 7 1 Datagram Structure The ByteCount is the total number of bytes in the packet including the CRC 16 checksum CRC 16 is calculated starting from the ByteCount to the last byte of the Packet Frame The ByteCount and CRC 16 are always transmitted in big Endian Two examples follow Example The complete packet for the kGetModInfo command which has no payload is ByteCount Frame ID Checksum Example Below is a complete sample packet to start a 2D Calibration kStartCal 00 09 00 00 00 14 5C F9 ByteCount Frame ID CalOption CalOption Checksum 2D Calibration TCM User Manual r05 Page 36 SUNSTAR O0 O0 0 0 http www sensor ic con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 7 2 Parameter Formats Note Floating point based parameters conform to ANSI IEEE Std 754 1985 Please refer to the Standard for more information PNI also recommends the user refer to t
84. s sole and exclusive remedy and PNI s sole and exclusive liability will be at PNI s option to repair replace or credit OEM s account with an amount equal to the price paid for any such Product which fails during the applicable warranty period provided that 1 OEM promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the deficiency 11 such Product is returned to PNI s service facility at OEM s risk and expense and 111 PNI is satisfied that claimed deficiencies exist and were not caused by accident misuse neglect alteration repair improper installation or improper testing If a Product is defective transportation charges for the return of the Product to OEM within the United States and Canada will be paid by PNI For all other locations the warranty excludes all costs of shipping customs clearance and other related charges PNI will have a reasonable time to make repairs or to replace the Product or to credit OEM s account PNI warrants any such repaired or replacement Product to be free from defects in material and workmanship on the same terms as the Product originally purchased Except for the breach of warranty remedies set forth herein or for personal injury PNI shall have no liability for any indirect or speculative damages including but not limited to consequential incidental punitive and special damages relating to the use of or inability to use this Product whether arising ou
85. spaced points Results will be optimized if the tilt in the calibration procedure can match the actual tilt experienced when in service For example if the TCM will be restrained to a level plane in service best results are obtained if calibration is exclusively in a plane where maximum tilt below would be 0 PNI recommends 12 to 32 calibration points for 2D Calibration although 10 points are acceptable but less likely to yield good results DOC 1014688 r05 Page 31 SUNSTAR I O 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 6 2 3 Table 6 4 12 Point 2D Calibration Pattern Sample Yaw Pitch Roll 1 0 0 0 2 30 max negative max negative 3 60 0 0 4 90 max positive max positive 5 120 0 0 6 150 max negative max negative 7 180 0 0 8 210 max positive max positive 9 240 0 0 10 270 max negative max negative 11 300 0 0 12 330 max positive max positive Limited Tilt Range Calibration This procedure is recommended when 45 of tilt isn t feasible but gt 5 of tilt is possible It provides both hard iron and soft iron distortion correction The recommended calibration pattern is a series of 3 circles of evenly spaced points with as much tilt variation as expec
86. subsequent use at high tilt angles Because of this a stabilized fixture is recommended for accelerometer calibration although resting the unit against a stable surface often is sufficient Alternatively the TCM can be returned to PNI for accelerometer recalibration Key Points e Accelerometer calibration requires rotating the TCM through a full sphere of coverage But the TCM does need to be incorporated into the user s system during calibration e Magnetometer calibration requires incorporating the module into the user s system such that the magnetic components of the user s system can be compensated for e Magnetometer and accelerometer calibrations can be performed simultaneously But it may be easier to perform them separately since the requirements of each calibration are significantly different Magnetometer calibration requires the module be incorporated in the user s system while accelerometer calibration requires full sphere coverage e Full Range magnetometer Calibration provides the highest heading accuracy but often performing a Full Range Calibration is not practical 2D and Limited Tilt Calibration allow for good calibration when the range of allowable motion is limited Hard Iron Only Calibration relatively easily updates the hard iron compensation coefficients e The number of calibration sample points and the calibration pattern is dependent on the calibration method and these are discussed in Section 6 2
87. t of contract negligence tort or under any warranty theory or for infringement of any other party s intellectual property rights irrespective of whether PNI had advance notice of the possibility of any such damages including but not limited to loss of use revenue or profit In no event shall PNI s total liability for all claims regarding a Product exceed the price paid for the Product PNI neither assumes nor authorizes any person to assume for it any other liabilities Some states and provinces do not allow limitations on how long an implied warranty lasts or the exclusion or limitation of incidental or consequential damages so the above limitations or exclusions may not apply to you This warranty gives you specific legal rights and you may have other rights that vary by state or province PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 1 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 2 Introduction Thank you for purchasing PNI Sensor Corporation s FieldForce TCM XB pn 12810 or FieldForce TCM MB pn 13095 tilt compensated 3 axis digital compass The TCM is a high performance low power consumption tilt compensated electronic compass module that incorporates PNI s advanced magnetic distortion compensation and calibration scoring algorith
88. ted during use PNI recommends 12 to 32 calibration points for a Limited Tilt Range Calibration although 10 calibration points is acceptable but less likely to yield good results Table 6 5 12 Point Limited Tilt Calibration Pattern Sample Yaw Pitch Roll First Circle 1 0 0 0 2 90 0 0 3 180 0 0 6 270 0 0 Second Circle 7 45 gt 5 gt 5 8 135 gt 5 gt 5 11 225 gt 5 gt 5 12 315 gt 5 gt 5 Third Circle 13 45 lt 5 lt 5 14 135 lt 5 lt 5 17 225 lt 5 lt 5 18 315 lt 5 lt 5 TCM User Manual r05 SUNSTAR O O 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Page 32 SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Note that a similar and acceptable alternative pattern would be to follow the recommended 12 point North Unaware Full Range Calibration pattern but substituting the gt 45 of pitch with whatever pitch can be achieved and the 10 to 20 or roll with whatever roll can be achieved up to these limits See Section 6 2 1 6 2 4 Hard Iron Only Calibration Over time the magnetic distortions around the TCM may change for a variety of reasons The Hard Iron Only Calibration allows for quick recalibration of the module for hard iron effects and generally is
89. tion tab Clicking the lt Start gt button begins the calibration process If Automatic Sampling is not checked on the Configuration tab it is necessary to click the lt Take Sample gt button to take a calibration sample point This should be repeated until the total number of samples as set on the Configuration tab is taken changing the orientation of the module between samples as discussed in Section 6 2 If Automatic Sampling is checked the module will need to be held steady for a short time and then a sample automatically will be taken Once the window indicates the next number the module s orientation should be changed and held steady for the next sample Once the pre set number of samples has been taken as set on the Configuration tab the calibration is complete PNI Sensor Corporation TCM User Manual June 2011 DOC 1014688 r05 Page 17 SUNSTAR I D 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 4 2 Calibration Results Once the calibration is complete the Calibration Results window will indicate the quality of the calibration This may take a few seconds The primary purpose of these scores is to demonstrate that the field calibration was successful as demonstrated by a low CalScore The other parameters provide information that may assist i
90. ton is selected heading will be relative to true north In this case the declination needs to be set in the Declination window Refer to Section 6 3 for more information 5 3 3 Endianess Select either the lt Big gt or lt Little gt Endian button The default setting is lt Big gt See Sections 7 2 and 7 3 for additional information 5 3 4 Output The TCM module can output heading pitch and roll in either degrees or mils Click either the lt Degrees gt or lt Mils gt button The default is lt Degrees gt There are 6400 mils in a circle such that 1 degree 17 7778 mils and 1 mil 0 05625 degree PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 13 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 3 5 Enable 3D Model TCM Studio s Test tab includes a live action 3 D rendering of a helicopter Some computer systems may not have the graphics capability to render the 3D Model for this reason it may be necessary to turn off this feature 5 3 6 Filter Setting Taps The TCM incorporates a finite impulse response FIR filter to effectively provide a more stable heading reading The number of taps or samples represents the amount of filtering to be performed The user should select either 0 4 8 16 or 32 taps with zero ta
91. ult Clicking this button reverts TCM Studio program to the factory default settings 5 3 11 Retrieve Clicking on this button causes TCM Studio to read the settings from the module and display them on the screen TCM User Manual r05 Page 16 SUNSTAR IO 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 4 Calibration Tab ta OM Studio Ver LU File Edit PCA Version SW TESTI TPN Connection Configuration Calibration Test Data Logger System Log Graph Module TCM Firmware Version 0605 Serial Number 1020659 Connected Samples Calibration Results Mag CalScore 12 Dist Error Tilt Error Tilt Range Accel CalScore Take Sample Current Configuration Options Audible Feedback Number of samples is 12 Limited Tilt Cal v Automatic Sampling Accel Only Cal Hard Iron Only Cal 2D Only Cal Pitch 000 0 Roll 000 0 Heading 000 0 AccelCal with Mag Full Range Cal Clear Accel Calto Factory ClearMaq Cal to Factory Save Note The default settings of the module are recommended for the highest accuracy and quality of calibration 5 4 1 Samples Before proceeding refer to Section 6 2 for the recommended calibration procedure corresponding to the calibration method selected on the Configura
92. ution to the CalScore caused by tilt or lack thereof The score takes into account the calibration method The score should be lt 1 PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 51 SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con TiltRange This reports the larger of either half the full pitch range or half the full roll range of sample points For example if the module is pitched 10 to 20 and rolled 25 to 15 the Tilt Range value would be 20 as derived from 25 15 2 For Full Range Calibration and Hard Iron Only Calibration this should be gt 45 For 2D Calibration this ideally should be 2 For Limited Tilt Range Calibration the value should be as large a possible given the user s constraints 7 4 18 kSetConfigDone frame ID 194 This frame is the response to kSetConfig frame The frame has no payload 7 4 19 kSetParamDone frame ID 20 This frame is the response to kSetParam frame The frame has no payload 7 4 20 kStartintervalMode frame ID 21 This frame commands the module to output data at a fixed time interval otherwise known as Push mode See kSetAcqParams The frame has no payload 7 4 21 kStoplntervalMode frame ID 22 4 This frame commands the module to stop data output when in Push mode
93. val time is 0 10 Filters are NOT flushed Module Output is in Degrees Sync Trigger Sync Read Sync Mode 5 5 1 Current Reading Once the lt Go gt button is selected the module will begin outputting heading pitch and roll information Selecting the lt Stop gt button or changing tabs will halt the output of the module Contrast Selecting this box sets the Current Readings window to have yellow lettering on a black background rather than black lettering on a white background 5 5 2 3D Model The helicopter will follow the movement of the TCM and give a visual representation of the module s orientation assuming the Enable 3D Model Display box is selected on the Configuration tab 5 5 3 Acquisition Settings These indicators mimic the pertinent selections made on the Configuration tab TCM User Manual r05 Page 20 SUNSTAR O0 O 0O 0 http www sensor i c co TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR I DL 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 5 5 4 Sync Mode Sync Mode enables the module to stay in sleep mode until the user s system sends a trigger to report data When so triggered the TCM will wake up report data once then return to sleep mode One application of this is to lower power consumption Another use of the Sync Mode is to trigger a reading during an interval when local magnetic sources are well
94. ve to the calibration 2 For example if the calibration was performed over 10 of tilt then the TCM would provide lt 2 rms accuracy over 20 of tilt 3 Performance at maximum operational dip angle will be somewhat degraded PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 3 SUNSTAR O O O O http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con 3 2 Operating Characteristics Table 3 2 I O Characteristics Parameter Value Communication TCM XB Binary RS232 UART Interface TCM MB Binary CMOS TTL UART Communication Rate 300 to 115200 baud Maximum Sample Rate 30 samples sec Time to Initial Initial power up 210 ms Good Data Sleep mode recovery 80 ms Footnotes 1 The maximum sample rate is dependent on the strength of the magnetic field and typically will be from 25 to 32 samples sec 2 FIR taps set to 0 Table 3 3 Power Requirements Parameter Value Sidon Village TCM XB 3 6 to 5 VDC unregulated PPP TCM MB 3 3 to 5 VDC unregulated max sample rate 20 mA typical MAR 8 Hz sample rate 16 mA typical max sample rate 17 mA typical bs 8 Hz sample rate 13 mA typical Average Current Draw During application of external 120 mA pk 60 mA avg power over 2 ms PRAE GUME
95. with a calibration ensure the TCM module is properly installed in the host system The module should be properly installed as discussed in Section 4 and the software should be properly configured with respect to the mounting orientation Endianness magnetic vs true north etc PNI Sensor Corporation DOC 1014688 r05 TCM User Manual June 2011 Page 27 SUNSTAR 0 0 0 O http www sensor i c conh TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR IO 0 0 http www sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con Sections 5 3 and 5 4 outline how to perform a calibration using TCM Studio To perform a calibration using the PNI binary protocol follow the steps listed below Refer to Section 7 for information on how to implement the commands listed e Using the kSetParam command set the number of tap filters to 32 e Using the kSetConfig command set kUserCalAutoSampling False is generally recommended but True may be more convenient e Using the kSetConfig command set kCoeffCopySet magnetometer calibration and or kAccelCoeffCopySet accelerometer calibration These fields allow the user to save multiple sets of calibration coefficients 0 is the default e Using the kSetConfig command again set kUserCalNumPoints to the appropriate number of calibration points The number of calibration points should be at least 12 for Full Range Calibration Limited Tilt Range Cal
96. ww sensor i c con TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con NORTH HEADING OR DIRECTION OF TRAVEL NEGATIVE As ei ROLL i AXIS POSITIVE NEGATIVE POSITIVE PITCH AXIS Figure 6 1 Positive amp Negative Roll and Pitch Definition 6 2 Field Calibration Procedures Below are instructions for performing both magnetic and accelerometer field calibrations of the TCM module Calibration of the TCM XB may be performed using TCM Studio or using the PNI binary protocol while the calibration of the TCM MB must be performed using the PNI binary protocol The calibration sequences described in the following sections demonstrate a good distribution of the recommended minimum sample points Note that during calibration it is recommended that the location of the module remains fairly constant while the orientation is changed Table 6 1 Calibration Mode Summary Calibration Sensors Accurac Tilt Range during Number of Mode Calibrated y Calibration Samples Full Range Magnetic Sensors 0 3 rms 2145 10 to 32 2D Calibration Magnetic Sensors 2 SEDE 10 to 32 Limited Tilt Range Magnetic Sensors 2 over 2x tilt range 5 to 45 10 to 32 Hard Iron Only Magnetic Sensors Restores prior accuracy gt 3 4 to 32 SE Accelerometers Restores prior accuracy 180 12 to 32 Magnetic Sensors gt 5 Accel and Mag BsAGeelaronieten gt 0 3 rms 180 12 to 32 Before proceeding
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