mshep0017 - Willow Technologies
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1. gt IA Syntax mpcal lt es gt Response Format mpcal value lt dcs gt lt er gt Valid Values d disabled default e enabled Query Syntax mpcal lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 26 of 42 CommBoard Module Commands fa N I ps ASIC Period Select Sets the value for the ASIC period select The lowest setting 32 will provide the fastest response but the lowest resolution The highest setting will provide the slowest response but the highest resolution Refer to specific module data sheet for more response times and maximum setting allowed Syntax ps lt aq gt lt es gt Response Format ps n lt dcs gt lt er gt Syntax n 0 32 E 64 2 128 256 4 512 default 5 1024 6 2048 7 4096 Query Syntax ps lt es gt save Save Settings Saves the configuration parameters to the CommBoard and attached module where applicable Also used to save calibration coefficients to the CommBoard and attached module where applicable Syntax save lt aq gt lt es gt Response Format Ssave lt dcs gt lt er gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 27 of 42 CommBoard e Module Commands P N2. EXAMPLE Sraw X53Y 420Z0 6E Sraw data lt dcs gt lt es gt Table 10 Raw Output Modes Start data delimiter data Selected data output End data delimiter lt dcs gt Checksum lt es gt End of message based on eol variable lt cr gt or lt If gt or lt cr gt lt lf gt NOTE For modules with a Z axis when used in other modes than raw Z axis is turned off and module is run as a Z axis system since no tilt compensation is being done PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 9 of 42 CommBoard Command Line Interface f5 N Command Line Interface The Command Line interface allows you to use a simple terminal program to communicate with the CommBoard The Command Line interface also allows applications written in any language including Assembly Basic or C to communicate with the CommBoard via the RS 232 or RS 485 Command Sequence The sequence of command line events is 1 Type in the command on the terminal program cmd lt es gt 2 The module processes the command 3 A reply is sent back to you a If no error b If error Table 11 Command Notation Table Command Symbol lt aq gt lt es gt n n n xX XX XXXX XXXXXXXX Scmdreply lt dcs gt lt es gt Scmdreply Exxx lt dcs gt lt es gt Se at Description ymbol Indi
3. Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 11 of 42 CommBoard e Command Line Interface m N I Error Codes Error codes are a bitmap to the error that has occurred and are sent when an error condition has occurred Example C194 74X 106 00Y 403 00298 00 E200 1E SCnnn nnXnnn nnYnnn nnZnnn nn Exxx lt dcs gt lt er gt Exxx xxx are hex values between 0 F The built in error command to parse error messages error ffff lt cr gt lt Ilf gt will list the error codes Table 12 Error Codes Code Description E800 EEPROM1 error E400 EEPRON2 error E200 Module not calibrated E100 Module not capable E080 Internal error E040 Command parameter invalid E020 Command data mode conflict E010 Command invalid or unavailable E008 Module not found E004 Magnetometer out of range E002 Inclinometer out of range E001 Magnetic distortion alarm a Indicates a possible problem with the unit Please contact PNI Corporation b A compass heading of 1 00 will be output when the module is not calibrated c 1 00 E200 c Indicates that the magnetic field has changed significantly since the last calibration See the specific module data sheet for the parameter range PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our we
4. 566 2261 For the most current specifications please visit our website at www pnicorp com Page 17 of 42 CommBoard e Configuration Commands r N l CONFIGURATION COMMANDS b Baud Rate Sets the baud rate of the CommBoard Syntax b lt aq gt lt es gt Response Format b value lt dcs gt lt er gt Valid Values Table 13 0 300 5 9600 default 1 600 6 19200 2 1200 7 38400 3 2400 8 57600 4 4800 Query Syntax b lt es gt ec Compass Data Enable Enables the compass data output Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax ec lt agq gt lt es gt Response Format Sec value lt dcs gt lt er gt Valid Values e enabled default d disabled Query Syntax ec lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 18 of 42 CommBoard Configuration Commands fa N l echo Echo Characters Enable Enables character echo which directs the CommBoard to echo locally typed characters onto the display Syntax echo lt aq gt lt es gt Response Format Secho value lt dcs gt lt er gt Valid Values es enabled d disabled default Query Syntax echo lt es gt em Magnetometer Data Enable Enables all of the magnetometer data output For example em
5. Calibration using the CommBoard Calibration is the process used with PNI sensor technology to separate the earth s magnetic field from magnetic field distortions Magnetic field distortions are created by the environment into which the sensors are mounted By implementing a simple calibration routine with the sensors in a fixed position within the host system the maximum and minimum strength fields can be deter mined and then used to correct the sensor output for the distortions present A calibration should be performed under the following conditions e when the unit is first installed into a host system e when the unit is moved e when the unit indicates that it is in need of a calibration Follow the steps below to perform a calibration Place the unit to be calibrated into the host system Set the unit at its intended operating position in as level of a position as possible 3 Sent the Multi Polled Calibration Enable mpcal e command This enables the calibration routine Send the Go Command Rotate the unit through two 360 degree circles while maintaining a level position The rotations should be no faster than 30 seconds each to achieve the highest possible accuracy Send the h command Send the Multi Polled Calibration Disable mpcal d command This disables the calibration routine 8 Send the Save Settings save command to save the calibration information to the CommBoard and the attached module where applicable vi gt
6. m Magnetometer Update Retrieves the corrected X Y and Z axis magnetometer data Corrected data is that which isused to calculate heading The Z sensor output is not available on all modules Refer to the specific module data sheet for more information Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax m lt es gt Response Format Xn nYn NZn n lt dcs gt lt er gt Valid Values xn n PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 15 of 42 CommBoard Query Commands ep N s Single Sample Update Retrieves the user selected calibration information Based upon the settings of the various Configuration commands Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax s lt es gt Response Format selectedData lt dcs gt lt er gt Valid Values selectedData varies according to user settings sr Single Raw Sample Update Retrieves the raw data uncorrected ASIC output for the sensors selected For example X Y and Z axis magnetometers The Z sensor output is not available on all modules Refer to the spe cific module data sheet for more information Syntax sr lt es gt Response Format selectedR
7. mode with the LEDs enabled b The unit is in normal operating mode with the LEDs disabled c The unit is in a Sleep mode and will need to be awakened via the CTS Wake Up line 5 VDC 5 4 VDC 3000 10MQ 60 mA 30 mA 1 5 VDC 3 0 VDC 250 mA PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 4 of 42 CommBoard Specifications f5 N Serial Pin Descriptions Figure 1 Jumpers and Connectors Table 4 Serial Pin Descriptions J1 Pin Name TxD Reserved n c RxD o oina R wl rm gt Y Function RS 232 transmitter output transmitted data RS 232 transmitter output reserved not connected RS 232 receiver input received data RS 485 transceiver signal inverting RS 485 signal RS 485 transceiver signal non inverting RS 485 signal not connected Ground Supply voltage 5 to 12 VDC Ground RS 232 and RS 485 Jumper Settings Table 5 Jumper Configuration Configuration JMP1 installed JMP1 removed JMP2 installed JMP2 removed Mode RS 232 RS 485 RS 485 120 Q line termination RS 485 no line termination a The processor only checks the status of JMP1 at power up IF the position of the jumper needs to be changed either cycle the power or press the RESET switch after the change has been made b JMP2 must only be installed on the last
8. the most current specifications please visit our website at www pnicorp com Page 33 of 42 CommBoard SPI Interface to Sensor Module N l Interchangeable Sensor Module Unless otherwise stated e This document pertains to PNI Corporation part number 11867 e All units are in metric millimeters e Tolerances are 0 1 mm e Table 4 page 5 provides pinout definitions for connector J1 e Serial Pin Descriptions cont e Table 6 on page 6 provides pinout definitions for connector J2 e The alignment arrows in Figure 6 are defined as pointing in the forward direction CAUTION During installation ensure that the white silk screened arrows on both the stacked board and the CommBoard are pointing towards CommBoard LEDs Do not misalign or plug the stacked board into the 7 pin headers backwards Refer to Figure 6 and to Figure 7 Module Alignment Arrow e O CommBoard Alignment Arrow PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 34 of 42 CommBoard e SPI Interface to Sensor Module im N I Figure 6 CommBoard with Module Plugged In 7 Pin Headers Expoded View Figure 7 CommBoard with Interchangeable Sensor Module Item 1 CommBoard Item 2 Interchangeable Sensor Module ASSEMBLED VIEW PNI Corporation 133 A
9. unit of the network All other units need to have JMP2 removed for proper RS 485 operation PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 5 of 42 CommBoard Specifications PNI Serial Pin Descriptions cont Table 6 Connector J2 Pin oJ NI OJAaJ AJOJ rm gt 11 12 13 14 PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Function SCLK MISO MOSI SSNOT DRDY SYNC GND GIOO GIO1 GIO2 GIO3 VDD VCC GGND O Direction Output Input Output Output Input Output Output low Output low Output low Output low Page 6 of 42 CommBoard Specifications g gt N Hardware Modes The CommBoard provides a serial interface to PNI s sensor modules Its purpose is to translate a serial command from a host system into the appropriate SPI command If the sensor module does not support the command it will return the appropriate error code Otherwise it will return the associated data See the applicable PNI module data sheet for specific information on communication and control using the SPI interface e RS 232 mode uses software handshaking to communicate o Xon Q 0x 11 okay to send data o Xoff S 0x 13 stop sending data e RS 485 m
10. 42 CommB N I Configuration Commands uc Compass Units Sets the compass output to either degrees or mils Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax uc lt aq gt lt es gt Response Format Suc value lt dcs gt lt er gt Valid Values d degrees default m mils Query Syntax uc lt es gt ut Temperature Units Sets the temperature units to either Fahrenheit or Celsius Temperature output is not available on all modules Refer to the specific module data sheet for more information Syntax ut lt ag gt lt es gt Response Format Sut value lt dcs gt lt er gt Valid Values f Fahrenheit default c Celsius Query Syntax ut lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 23 of 42 CommBoard Module Commands ep N MODULE COMMANDS cc Clear Calibration Data Clears the previous calibration information Refer to the specific module data sheet for more information Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax cc lt es gt Response Format S cc lt dcs gt lt er gt damping Digital Damping Enable Enables digital damping on the compass heading output Re
11. I sn North Mode Used to set either True or Magnetic North If the value is set to true then declination is applied to get the True North heading Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax sn lt aq gt lt es gt Response Format sn value lt dcs gt lt er gt Valid Values m magnetic default t true Query Syntax sn lt es gt be Big Endian Used to set the endianism of multi byte parameters Float32 Uint32 SInt32 If enabled all parameters communicated between the module and the CommBoard are assumed to be big endian if disabled they are assumed to be little endian Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax be lt aq gt lt es gt Response Format Sbe value lt dcs gt lt er gt Valid Values e enabled default d disabled Query Syntax be lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 28 of 42 CommBoard SPI Interface to Sensor Module f5 N SPI INTERFACE TO SENSOR MODULE Table 14 SPI Pin Descriptions Pin COINI ODI al R o n o Name Description SCLK Serial clock output for the SPI port MISO Serial data input Master In Slave Out MOSI S
12. R07 Revised August 2008 ON SENSOR CORPORATION PNI CommBoard RS 232 RS 485 General Description The CommBoard is a communication interface designed to connect the MicroMag and V2Xe modules to a host system that uses a standard serial interface such as a PC It is typically used as a prototyping and evaluation tool for PNI s line of compass and magnetometer modules The PNI CommBoard is also used for production when the host system requires a higher level serial protocol to interface to the PNI sensor modules The first version of the PNI CommBoard features a user selectable RS 232 or RS 485 interface to the host system The CommBoard developer kit comes with software for the PC that has a graphical user interface GUD to control every aspect of the CommBoard and any PNI module that is attached to it In the future different interfaces may be made available as customer needs are identified Please contact PNI for support with your custom interface high volume opportunity Features Small size 53 x 25 x 11 mm RS 232 and RS 485 interfaces for connection with PCs or other serial interface systems GUI control software available from PNI either as part of the developer kit or via the web Built in support for PNI MicroMag and V2Xe sensor modules as well as several future products Voltage regulator converts 6 12 VDC to 3 VDC for power to the sensor modules Minimal code changes required when
13. Syntax ey lt aq gt lt es gt Response Format ey value lt dcs gt lt er gt Valid Values e enabled d disabled default Query Syntax ey lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 20 of 42 CommBoard Configuration Commands fa N ez Z Axis Data Enable Enables the Z axis data output The Z sensor output is not available on all modules Refer to the specific module data sheet for more information Z axis is only active in raw mode Syntax ez lt aq gt lt es gt Response Format Sez value lt dcs gt lt er gt Valid Values es enabled d disabled default Query Syntax ez lt es gt halt Single Character Halt Enable Enables sending a single Halt h command to cancel the Continous Output go mode Syntax halt lt agq gt lt es gt Response Format Shalt value lt dcs gt lt er gt Valid Values e enabled h default d disabled h lt es gt Query Syntax halt lt es gt lpm Low Power Mode Selects the low power mode for the CommBoard Once set to 1pm 2 the CommBoard will wake from ultra low power and go into 1pm 0 when it receives a character over the RS 232 interface Table 3 on page 4 lists the current draw at the different Ipm levels Syntax lpm lt aq gt lt es gt Response Format Slpm value lt dcs gt lt er gt Valid Values 0 no conve
14. VDC Vin Input pin voltage 25 VDC 25 VDC CTS RxD to ground Input pin voltage TxD RTS to ground 13 2 VDC 13 2 VDC Input pin voltage D D to ground 13 2 VDC 13 2 VDC Tstre Storage Temperature 40 C 35 C PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 3 of 42 CommBoard Specifications f gt N Table 3 Characteristics Parameter Minimum Maximum Typical Operating Characteristics Current standby Low power mode no module loaded LPMO 14 4 mA RMS LPM1 7 0 mA RMS LPM2 5 4 mA RMS RS 232 Receiver Inputs CTS RxD Input threshold low 0 6 VDC Input threshold high 2 0 VDC RS 232 Transmitter Output TxD Output Voltage Swing both transmitter outputs loaded with 3KQ to GND Output resistance Vcc V V 0 output 2 V Output short circuit current Output GND RS 485 Transceiver Signals D D Input differential threshold 200 mVDC 50 mVDC Differential output voltage R 27 Q Change in magnitude of differential output voltage for complementary output states 0 2 VDC 0 2 VDC R 270 or 500 Common mode output voltage R 270 or 50 Q Change in magnitude of common mode output voltage for complementary output states 0 2 VDC R 270 or 50 Q Output sort circuit current Vy or Vz 12 V to 7 V a The unit is in normal operating
15. awData lt dcs gt lt er gt Valid Values selectedRawData varies according to user settings t Temperature Update Retrieves the temperature value Outputs are based on the setting of the Temperature Units ut command The temperature output is not available in all modules Refer to the specific data sheet for more information Syntax t lt es gt Response Format Tn n lt dcs gt lt er gt Valid Values Tn n the calibrated temperature sensor output PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 16 of 42 CommBoard Query Commands g gt N I x X Axis Sensor Update Retrieves only the corrected X axis magnetometer values used for heading calculation Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax X lt es gt Response Format Xn n lt dcs gt lt er gt Valid Values n n y Y Axis Sensor Update Retrieves only the corrected Y axis magnetometer values used for heading calculation Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax y lt es gt Response Format Yn n lt dcs gt lt er gt Valid Values n n PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707
16. bsite at www pnicorp com Page 12 of 42 CommBoard Action Commands f5 N ACTION COMMANDS factory Factory Settings Restore Restores the CommBoard and modules to the factory default configuration Syntax factory lt es gt Response Format factory lt dcs gt lt er gt go Continuous Output Instructs the CommBoard to enter continuous mode The CommBoard will begin sampling sensors at the rate specified by the Polling Frequency pollfreq command Syntax go lt es gt Response Format select data lt dcs gt lt er gt Notes Stopped using the h command h Halt Continuous Output Instructs the CommBoard to exit the continuous output mode Syntax h lt es gt if halt d see halt command h if halt e Response Format h lt des gt lt er gt help or Help Menu Instructs the CommBoard to display the Help menu Syntax help lt es gt or lt es gt Response Format Menu Data PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 13 of 42 CommBoard Action Commands ep N id Module Identification Displays the module type IF the MicroMag responds with either 01 or 02 contact PNI Corporation as there could possibly be a damaged or unconnected sensor Syntax id lt es gt Response Format Sid xx lt dcs gt lt er gt Valid Values xx 00 None xx 01 MicroMag X
17. cated query only command or variable Indicates assign only command or variable Use for query or lt val gt for assign Ending sequence lt cr gt or lt lf gt or lt cr gt lt If gt Start of checksum data RS 485 address follows If error occurs Ennn z End of checksum data lt dcs gt Checksum lt er gt Start of data n Usually a lower case n will represent a digit 0 9 n n Represents a decimal value positive or negative x Usually a lower case x will represent a hex digit 0 F XX Represents a Uint8 XXXX Represents a Uint16 XXXXXXXX Represents a Uint32 a XOR checksum method PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 10 of 42 CommBoard Command Line Interface fa N Example Command Notation m lt aq gt lt es gt This will be interpreted as a query em lt es gt This will be interpreted as assignment em lt val gt lt es gt Example Response Notation Sem lt val gt lt dcs gt lt er gt Ending Sequence The CommBoard will accept either lt cr gt or lt 1 gt or lt cr gt lt 1 gt as an end of line eol indicator EOL end of line Response The CommBoard will send a response to you in the chosen EOL format If eol cr Send r If eol If Send n If eol crlf Send r n PNI Corporation 133 Aviation Blvd Suite 101
18. connected 5 Green GND 6 not connected 7 White CTS 8 not connected 9 not connected Pin 5 Pin 1 Figure 10 DB9 Close up PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 37 of 42 CommBoard e SPI Interface to Sensor Module N I 1 olaolNiloalal aAlwolrm satia 5 oO Table 17 Dual In Line Pin Descriptions Wire Yellow not connected Blue or Brown not connected Green Red Black Detail A 5 1 Figure 11 Dual In Line Connector Refer to Figure 11 Description TxD RS 232 CTS RxD RS 232 White or Orange not connected not connected GND Vsupply 5 to 12 VDC GND Connected to red wire Detail B 4 1 aaa to PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 38 of 42 CommBoard Unused Commands g gt N UNUSED COMMANDS The following commands are part of the CommBoard programming but are not being used by any of the PNI products currently available for use with the CommBoard i Inclinometer Update Command Type Query Command Retrieves the inclinometer values Syntax i lt es gt Response Format Pn nRn n lt dcs gt lt er gt Valid Values P Pitch R Roll z Z Axis Sens
19. e will set ex e ey e and ez e Note If any axis is disabled after em e em will still respond with em e Z axis is only active in raw mode Syntax em lt aq gt lt es gt Response Format Sem value lt dcs gt lt er gt Valid Values e enabled d disabled default Query Syntax em lt es gt eol End of Line Enable Sets the type of end of line output Syntax eol lt aq gt lt es gt Response Format Seol value lt dcs gt lt er gt Valid Values cr output cr after line lr output lr after line crlf output crlf after line default Query Syntax eol lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 19 of 42 CommBoard Configuration Commands N l et Temperature Data Enable Enables the temperature data output Temperature output is not available on all modules Refer to the specific module data sheet for more information Syntax et lt aq gt lt es gt Response Format Set value lt dcs gt lt er gt Valid Values c enabled d disabled default Query Syntax et lt es gt ex X Axis Data Enable Enables the X axis data output Syntax ex lt aq gt lt es gt Response Format ex value lt dcs gt lt er gt Valid Values e enabled d disabled default Query Syntax ex lt es gt ey Y Axis Data Enable Enables the Y axis data output
20. erial data output Master Out Slave In SSNOT Active low chip select for SPI port DRDY Data ready input not supported by V2Xe module SYNC Sync output GND Ground GIOO Reserved I O GIO1 Reserved I O GIO2 Reserved I O GIO3 Reserved I O VDD Supply voltage 3 VDC regulated VCC Unregulated CommBoard input supply voltage GND Ground SPI Port Pin Descriptions MOSI Master Out Slave In The data sent from the CommBoard Data is transferred most significant bit first The MOSI line will accept data once the SPI is enabled by taking SSNOT low Valid data must be presented at least 100 nS before the rising edge of the clock and remain valid for 100 nS after the edge New data may be presented to the MOSI pin on the falling edge of SCLK SSNOT Slave Select Line Selects the module as the operating slave device The SSNOT line must be low prior to data transfer and must stay low during the entire transfer Once the command byte is received by the module and the module begins to execute the command the SSNOT line can be deselected until the next SPI transfer SCLK Serial Clock Used to synchronize both the data in and out through the MISO and MOSI lines SCLK is generated by the CommBoard SCLK should be 1 MHz or less The CommBoard is configured to run as a master device making it an output One byte of data is exchanged over eight clock cycles Data is captured by the CommBoard on the rising edge of SCLK Data is shifted out and presen
21. es gt lt er gt Valid Values d degrees default m mils Query Syntax ui lt es gt cclip Inclinometer Clip Value Command Type Module Command Sets the clipping value for the maximum positive and negative angle of the inclinometer When the inclinometer angle exceeds this value it is clipped to the set value along with an out of range flag Syntax cclip lt agq gt lt es gt Response Format Scclip nn n lt dcs gt lt er gt Valid Values nn n Oto maximum tilt value allowed by the module 0 is default Query Syntax cclip lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 41 of 42 CommBoard Unused Commands fa N Ic Last Calibration Score Command Type Module Command Retrieves the last calibration score This option is based on the calibration score of the PNI Corporation s TCM2 module and is not available on all modules Refer to the specific module data sheet for more information Syntax lc lt es gt Response Format HnVnMn n lt dcs gt lt er gt Valid Values n is equal to the score value Hn 0 9 Vn 0 9 Mn n gt 0 PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 42 of 42
22. fer to specific module data sheet for more information Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax damping lt ag gt lt es gt Response Format Sdamping value lt dcs gt lt er gt Valid Values d disabled default e enabled Query Syntax damping lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 24 of 42 CommBoard e N Module Commands dampsize Digital Damping Sample Size Sets the value for the digital damping of the compass heading output Refer to specific module data sheet for more information Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax dampsize lt aq gt lt es gt Response Format Sdampsize nn lt dcs gt lt er gt Valid Values nn 1 8 for the MicorMag 1 is the default 1 8 for the V2Xe 1 is the default Query Syntax dampsize lt es gt mag_dec Declination Value Sets the declination offset for a reading of True North Based on the setting of the Compass Units uc command Positive declination is easterly declination and negative is westerly declination This is not applied until True North is set to true Declination also called magnetic variati
23. ode is only Half Duplex o The Continuous Output go command is not allowed since Half Duplex implies queried responses only o The CommBoard acts as a Slave when the JMP1 is removed Example FFOO SC194 74X 106 00Y 403 00298 00 E200 1E DdSsS data lt dcs gt lt es gt Table 7 Hardware Modes RS 485 data delimiter Dd Destination address Ss Source address Start data delimiter data Selected data output is End data delimiter lt dcs gt Checksum lt es gt End of message based on eol variable lt cr gt or lt If gt or lt cr gt lt lf gt NOTE The query and response format must match All examples in this manual show the query and response of the RS 232 mode When using RS 485 just add the RS 485 data delimiter destination address source address and checksum to the examples shown Checksum The CommBoard uses a XOR checksum method from the beginning of the string up to but not including the end data delimiter Examples RS 232 RS 485 Sent Command id no checksum required l00ffSid 37 Reply id 3 27 looff id 06 PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 7 of 42 CommBoard Specifications g gt N Standard Data Output Modes PNI Standard Output Mode sdo t The PNI Standard Output Mode may be configured to provide all
24. on is the difference between true and magnetic north relative to a point on the earth It is measured in degrees east or west of true north Correcting for declination is accomplished by storing the correct declination angle and then changing the head ing 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 Geo physical Data Center web page below to get the declination angle based on your latitude and lon gitude http www ngdc noaa gov cgi bin seg gmag fldsnthl pl Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax mag_dec lt aq gt lt es gt Response Format Smag_dec nnn lt dcs gt lt er gt Valid Values nnn 180 If uc d then mag_dec is in degrees default is 0 nnn 3200 If uc m then mag_dec is in mils default is 0 Query Syntax mag_dec lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 25 of 42 CommBoard e Module Commands P N I mpcal Multi Polled Calibration Enable Enables the multi polled calibration Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data 2 Axis Compass
25. or Update Command Type Query Command Retrieves only the corrected Z axis magnetometer values The Z sensor output is not available on all modules Refer to the specific module data sheet for more information Syntax Z lt es gt Response Format Zn n lt dcs gt lt er gt Valid Values n n PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 39 of 42 CommBoard Unused Commands N ep Pitch Data Enable Command Type Configuration Command Enables the pitch data output Syntax ep lt aq gt lt es gt Response Format Sep value lt dcs gt lt er gt Valid Values e enabled d disabled default Query Syntax ep lt es gt er Roll Data Enable Command Type Configuration Command Enables the roll data output Syntax er lt aq gt lt es gt Response Format er value lt dcs gt lt er gt Valid Values e enabled d disabled default Query Syntax er lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 40 of 42 CommBoard Unused Commands N ui Inclinometer Units Command Type Configuration Command Sets the inclinometer units to either degrees or mils Syntax ui lt ag gt lt es gt Response Format Sui value lt dc
26. rsion default 1 LEDs off 2 ultra low power Query Syntax lpm lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 21 of 42 CommBoard Configuration Commands fa N pollfreq Polling Frequency Sets the sample polling frequency of the Continuous Output go command Syntax pollfreq lt aq gt lt es gt Response Format Spollfreq nn lt dcs gt lt er gt Valid Values nn 0 1 sample 2 seconds 1 16 value in Hz default is 8 Query Syntax pollfreq lt es gt rs485 RS 485 Slave Address Sets the slave address for the CommBoard in RS 485 mode Syntax rs485 lt aq gt lt es gt Response Format rs485 xx lt dcs gt lt er gt Valid Values XX 00 to 7F default is 00 Query Syntax rs485 lt es gt sdo Data Output Format Sets the data output format to PNI standard NMEA or RAW Refer to Standard Output Modes on page 8 for more information Syntax sdo lt aq gt lt es gt Response Format sdo value lt dcs gt lt er gt Valid Values t PNI standard format default n NMEA 0183 compatible format T raw output format uncorrected from sensors Query Syntax sdo lt es gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 22 of
27. sensor data availability or only the data you require EXAMPLE C194 74X 106 00Y 403 00298 00 E200 1E S data lt dcs gt lt es gt Table 8 Standard Output Modes Start data delimiter data Selected data output i End data delimiter lt dcs gt Checksum up to but not including lt es gt End of message based on eol variable lt cr gt or lt If gt or lt cr gt lt lf gt NMEA Output Mode National Marine Electronics Association sdo n The NMEA Output mode conforms to the 0183 specification In this mode only compass heading information is available EXAMPLE SHCHDM 71 33 M 2F SHC lt sid gt data lt dt gt lt dcs gt lt es gt Table 9 NMEA Output Modes Start data delimiter HC Heading compass magnetic Talker ID lt sid gt Heading magnetic HDM heading true HDT Sentence ID 71 33 Heading degrees lt dt gt Data type M magnetic T true id End data delimiter lt dcs gt Checksum lt es gt End of message based on eol variable lt cr gt or lt If gt or lt cr gt lt lf gt PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 8 of 42 PNI Raw Output Mode sdo r The Raw Output mode allows for the output of the raw uncorrected data for any or all of the required sensors The Raw Output Mode is the only mode where Z Axis is active
28. sensor only xx 02 MicroMag Y sensor only xx 03 MicroMag X and Y sensors xx 07 MicroMag X Y and Z sensors xx 10 V2Xe info Module Information Displays the CommBoard software version module type and module software version if applicable Syntax info lt es gt Response Format info PNI commboard Vnnn lt dcs gt CommBoard info module info lt dcs gt Module PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 14 of 42 CommBoard e Query Commands P N I QUERY COMMANDS c Compass Update Retrieves the compass heading Based upon the setting for the Data Output Forma sdo command and the Compass Units uc command Refer to pollfreq on page 21 Note For modules that do not have an onboard processor for example the MicroMag the CommBoard will calculate and output this data Syntax c lt es gt Response Format Sc hdg lt dcs gt lt er gt Valid Values hdg 0 to 359 99 if uc d hdg 0 to 6399 ifuc m error x Error Code List Retrieves a description of the error code entered from the CommBoard Refer to Error Codes on page 11 Syntax error x lt es gt error ffff lt ex gt Response Format Serror x description lt dcs gt lt er gt Valid Values x the error number following the E in the response string ffff lists all error codes
29. ted to the module on the MOSI pin on the falling edge of SCLK MISO Master In Slave Out The data sent from the module to the CommBoard Data is transferred most significant bit first The MISO line is placed in a high impedance state if the slave is not selected SSNOT 1 PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 29 of 42 CommBoard SPI Interface to Sensor Module N l SPI Hardware Handshaking Line Descriptions SYNC SYNC is usually low SYNC must be toggled from low high low This is the SPI reset This line is used to reset the SPI slave when communications get out of synchronization SYNC is normally used during the module startup DRDY Data Ready The module returns DRDY DRDY is low after a SYNC Once a command has been received and the data is read DRDY goes high This is only used with modules that do not have processor NOTE See the applicable PNI module data sheet for specific information on communication and control using the SPI interface PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 30 of 42 CommBoard SPI Interface to Sensor Module es N l PNI CommBoard RS 232 and RS 485 LED Status Indicators 1 A live indica
30. tor toggling every 1 2 second 2 Not used 3 Not used A On during transition off when not in transition 00M lel il 00000 Figure 2 CommBoard Status Indicators PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 31 of 42 CommBoard SPI Interface to Sensor Module es N Communication Block Diagram CommBoard Regulator sae Vv S12 VbC _____ mon ee Serial VO Header SPI Sensor Module j i SPI RS 232 1 RBS Figure 3 Block Diagram PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 32 of 42 CommBoard SPI Interface to Sensor Module es N l Assembly Views foe rH Pint Pin 10 Pin 2 2 54 Typical Pin Spacin Figure 4 Side Views 25 40 E o LED Array 20 32 Sym 4X 2 36 Max V Thru Reset Button Jumper 1 Jo Connector J2A Connector J2 g mi x Oo 2 sal wo amp g Pin 14 5 Pin 1 N wo Jumper 2 Connector J1 22 86 Sym Figure 5 Top View PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For
31. upgrading from PNI s TCM 2 line of tilt compensated magnetometer compass modules Applications Fast compass and magnetometer prototyping New product evaluation Education school projects Any legacy compass application that has an RS 232 interface but needs the performance of new PNI products Production applications where standards based protocols are preferred over SPI Ordering Information Name Part Package CommBoard Kit with cable amp software 90909 a PNI Sensor Corporation 133 Aviation Blvd suite 101 Santa Rosa CA 95403 1084 USA Phone 707 566 2260 Fax 707 566 2261 Web www pnicorp com Page 1 of 42 CPN This page left intentionally blank PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 2 of 42 CommBoard Specifications g gt N SPECIFICATIONS CAUTION Stresses beyond those listed under Table 2 Absolute Maximum Ratings may cause permanent damage to the device These are stress ratings only Functional operation of the device at these or any other conditions beyond those indicated in the operational sections of the specifications is not implied Exposure to absolute maximum rating conditions for extended periods may affect device reliability Table 2 Absolute Maximum Ratings Symbol Parameter Minimum Maximum Vpp DC supply voltage 0 3 VDC 16
32. viation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 35 of 42 CommBoard SPI Interface to Sensor Module g gt N I Figure 8 Assembled CommBoard Dual In Line and DB9 Connectors Unless otherwise specified All units are in standard U S inches Cable assembly specifications provided in Table 15 The pin descriptions for the DB9 female connector are provided in Table 16 The pin descriptions for the Dual In Line connector are provided in Table 17 a aoe T Table 15 Cable Assembly refer to Callouts on Figure 9 Tee Pant Description Approved Vendor Nile als 1 10357 10 conductor 24 AWG stranded 7 x 32 Belden 9540 2 11772 Crimp housing FCI 65846 010 3 11710 Strap battery 9 VDC l style 4 lead Keystone 2238 4 11712 D SUB 9 connector female JIC DB 09S UL 5 11711 Overmold U shaped JIC HD 09MTL V 6 11773 Connector crimps FCI 482510 000 Pin 5 Pin 1 Pin 9 6 0 ft 0 5 inches Figure 9 Cable Assembly PNI Corporation 133 Aviation Blvd Suite 101 Santa Rosa CA 95403 1084 USA Fax 707 566 2261 For the most current specifications please visit our website at www pnicorp com Page 36 of 42 CommBoard SPI Interface to Sensor Module fa N Table 16 DB9 Connector Pin Descriptions Refer to Figure 10 Pin Wire Description 1 not connected 2 Yellow TxD RS 232 3 Blue RxD RS 232 4 not
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