mshep0001
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1. Int16 value follows or is requested Int24 value follows or is requested Int32 value follows or is requested FI SIHIZ n PIS h 5 W or w SPI Write This character indicates a Write command The data word is sent once a delimiter or another command character is received from the host The syntax is W NIML delimiter NIML delimiter lt CR gt The data is and the data s word length is defined by either N I M or L as set out in Table 5 2 If the optional carriage return is sent it first serves as a delimiter to complete a write value and next it serves to terminate this command such that the character W or w has to be reissued to send additional data Note that CR is not stored as the last used delimiter see Delimiter section for details Multiple words of varying word lengths can be sent in one sentence The operands N T M or L define the word length of the subsequent data being sent These can be upper or lower case This operand does not need to be repeated if the word length does not change Example dWN123 456 i1789 CR d sets the CommBoard to decimal mode W defines this action as a Write command N defines the word length as 8 bits 123 is the first set of data in decimal format The delimiter is The next set of data 456 gets reduced to 200 because 456 overflows the 8 bit word 2552. Y y Hold Always Y Q Quit Hold Q Capital Q only Flush UART F Receive F Capital F only Buffer Numestr Uint8 or 5 Handshake 2 dec2hex Uint8 More i Status i verbose in terminal mode i Pulse CLEAR pin SSN Control 1 Set SSN HIGH 0 Set SSN LOW Pause 2 ms V v CPHA Setting V sets CPHA 1 v sets CPHA 0 O o CPOL Setting O sets CPOL 1 o sets CPOL 0 Z z Clock Rate Z 1 MHz z 50 kHz default 100 kHz e m For T Sign on text mon e MIB o R terminal mode t turns off including Rudd and i version number DOC 1018122 r02 Page 9 PNI Sensor Corporation PNI CommBoard User Manual Table 5 2 defines the characters used in the syntax description Note that when NIML or NIML is used to define the word length only N I M or L should be present not all four If the word length is optional and no word length is defined in the sentence then the prior specified word length will be used Similarly if the delimiter is optional and no delimiter is provided then the prior specified delimiter will be used on return data This holds when switching from a Read to a Write command and vice versa Table 5 2 SPI Syntax Character Definitions Character Definition Required parameter inside parentheses b Optional parameter inside brackets Number data Can include minus Treat incoming word as a signed value Int8 value follows or is requested
3. 1 v sets CPHA 0 The default is v CPHA 0 O oro CPOL Setting The SPI clock polarity can be set by the user O sets CPOL 1 o sets CPOL 0 The default is o CPOL 0 PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 13 Zor z Clock Rate At power up the SPI clock rate is set to 100 kHz Sending Z changes the clock rate to 1 MHz while sending z changes it to 50 kHz Rebooting the system will reset the clock rate to 100 kHz Tort Terminal Mode T turns on verbose terminal mode t turns off terminal mode The default is t In terminal mode T all characters sent to the CommBoard will be echoed back to the host and sending the command will return explanatory text 5 2 SPI Code Examples Some additional SPI code examples are given below The examples are with the CommBoard operating in hexadecimal X and non terminal t modes which are the defaults at power up There are multiple ways to perform the same function and for illustration purposes two RM3100 Eval Board alternative read examples are given next 5 2 1 RM3100 Eval Board Cycle Count Register Read The following two examples demonstrate slightly different methods to read the cycle count register of the 3100 Evaluation Board The examples provide the same information the purpose is to show alternative ways to construct the sentence to format For both cases activity on
4. CommBoard Top View Figure 4 1 CommBoard Configuration Block Diagram Figure 4 2 CommBoard Signal and Power Connections Figure 4 3 CommBoard Jumper Configurations Figure 5 1 SPI Activity for RM3100 Cycle Count Register Read PNI Sensor Corporation PNI CommBoard User Manual OU C C20 C NJ 10 13 18 o0 Ff 14 DOC 1018122 r02 Pagei 1 Copyright amp Warranty Information Copyright PNI Sensor Corporation 2012 All Rights Reserved Reproduction adaptation or translation without prior written permission is prohibited except as allowed under copyright laws Revised May 2013 For most recent version visit our website at www pnicorp com PNI Sensor Corporation 2331 Circadian Way Santa Rosa CA 95407 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 shipment 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 i1 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 eff
5. SPI Lines SCLK MISO MOSI SSN CPOL Selectable default 0 CPHA Selectable default 0 Clock Speed 50 kHz 100 kHz default 1 MHz 2 Selectable 32 kHz 1 MHz UO paa 100 kHz default Device SPI Interface Interface Table 3 2 Environmental Requirements Parameter Value Operating Temperature 40C to 85C Storage Temperature 40C to 85C Table 3 3 Mechanical Characteristics Parameter 50 8 x 63 5 x 15 5 mm 2 0 x 2 5 x 0 6 Weight 17 gm Connector Mini USB Dimensions x wx h PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 3 3 1 Mechanical Drawing mm Dimensions in inches S 8 3 e wosi soa y S 4 ssn ao C17 Mosi SDA 11 E JPU 2 a EE cie apu S E Midi cup g cug U5I 1 cif FILE PAN L1 HW J Lt E aus RT e SCOR oss ovo in cap I e LEDI cy ME Bo Diameter 4 places Figure 3 1 CommBoard Top View PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 4 4 Set Up 4 1 Communication Setup The CommBoard s physical interface is USB but it runs a virtual UART over the USB line As such it is necessary to implement a virtual communication port VCP on the user s computer The CommBoard uses FTDI s FT232R USB to RS232 IC and the driver for this IC should be installed on your computer This driver can be found on FTDI s website at http www ftdichip com Driver
6. external interface amp Set I C Clock Speed amp followed by a single digit sets the C clock speed A value of 0 sets the clock speed to 32 kHz A value of 1 to 9 sets the speed to 100x the value in kHz ex a value of 3 sets the clock speed 300 kHz A value of A sets the clock speed to 1 MHz Tort Terminal Mode T turns on verbose terminal mode t turns off terminal mode PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 21
7. max and 200 is what remains in the LSB i changes the word length to 16 bits 789 gets converted into 3 PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 10 for the MSB and 21 for the LSB In summary the following is sent after the complete Write command is executed in decimal notation 123 200 3 21 Example Wil nl CR The command will send the number 1 twice once as a 16 bit word and next as an 8 bit word The send bytes will look like 00 01 01 R or r SPI Read This character initiates a Read operation The syntax is R n S NIML 4n S NIML lt CR gt Example Rni lt CR gt This command will read an 8 bit word and then a 16 bit word Note the word length character NIML must be sent for a Read operation although it is optional for a Write operation A delimiter can be inserted at any point to change the delimiter used for the data returned to the host Note the Read command supports a Write Simultaneous With Read operation In this case only 8 bit words are supported Hence n in the syntax See Section 5 2 1 for an example SP TAB or CR Delimiters Anytime a delimiter character is sent it will set the delimiter character used for separating data in the output after a Read command sequence Once the delimiter is set it will be retained until a subsequent command cha
8. the SPI lines is shown below in Figure 5 1 SSN uso oo y ma y a Y MOSI 0x84 CommBoard sets MOSI to 0 during Read Notes 1 The value 0x00 is automatically produced on the MISO line on the first 8 clock cycles after SSN is taken low This acknowledges the RM3100 Eval Board is operational 2 Because CPHA 0 is assumed default the first bit of the next register in the series is present at this time and is shown here for completeness Figure 5 1 SPI Activity for RM3100 Cycle Count Register Read PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 14 Example 1 0r84nii 1 The breakdown of this command is as follows 0 f 84n T 1 Set SSN line LOW Set the CommBoard to Read Mode Begin Read Mode by first sending 0x84 to the RM3100 module 0x84 is the register read address of the MSB of the X axis cycle counter register If the Read command r is immediately followed by a value then the value must be followed with an n character This is because a value immediately following the r character is interpreted as the register address in a Read Simultaneous Write operation The CommBoard will write the address to the MOSI line while simultaneously reading the MISO line The n will read the return byte 00 on the MISO line For the remainder of the Read operation the CommBoard will set the MOSI line to zero Read two 16 bit words from the SPI bus To do this the Comm
9. Board will create 32 total clock pulses to read the data from the SPI bus Set SSN line HIGH The received signal is 00 00C8 00C8 This indicates both X and Y axis cycle count registers are set to Ox00C8 or 200 default value Example 2 0wn84rii 1 The breakdown of this command is as follows 0 W 84 ii 2l PNI Sensor Corporation Set SSN line LOW Set the CommBoard to Write Mode This sets the word length to 8 bits The CommbBoard will interpret all subsequent write data as such until it is changed In this case sending a NIML character is optional If a NIML character was not sent then the Write command would use the last NIML character sent to the CommBoard even if the last NIML was sent in a prior Read operation This sends a 0x84 to the RM3100 module 0x84 is the read register address of the MSB of the X axis cycle counter register Read two 16 bit words from the SPI bus To do this the CommBoard will create 32 total clock pulses to get the data from the SPI bus Set SSN line HIGH DOC 1018122 r02 PNI CommBoard User Manual Page 15 The received signal is OOC8 00C8 In this case the return byte is not read Note the default delimiter lt SP gt is used in the received signal 5 2 2 More RM3100 Eval Board Code Examples Example 1 Own04 00 64 00 64 00 64 1 This sentence sets all three cycle count registers to 100p 0x64 Example 2 0wn00 70 1 This sentence requests a si
10. User Manual PNI CommBoard INT SENSOR CORPORATION Table of Contents 1 COPYRIGHT amp WARRANTY INFORMATION cccccsessseeeeessseees 2 INTRODUCTION cccccesceccssceccsececceccceceecceseecceneesenseeceneeeeees 3 SPECIFICATIONS wis dsicisssissnscnsnncuscsseccnsedanscuncsacveniissssanscsnstevscunsndvaced 3 1 Mechanical Drawing ccccssccceceeeeessesseaeeeeeeeeessessnaees 4 1 Communication Setup eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteeeeeeeees 4 2 Hardware Setup ccccccccssscccecssseececssseeeeceesseaeeeesetaeeeeseseeees 5 SPI OPERATION opepx i raa Ere boPi tr brkREX ER PPP INE TRER EE DPI FEEEMEN FIF PME 5 1 SPI Commands naisiin 5 2 SPI Code Examples ecesua nc deauadsternadondicnudsdinneniaddanndease 5 2 1 RM3100 Eval Board Cycle Count Register Read 5 2 2 More RM3100 Eval Board Code Examples 5 2 3 RM3000 f Eval Board Code Examples 5 2 4 V2Xe Code Examples seen ME 17 C COOPERATION NR 6 1 l C Commands eene tene List of Tables Table 2 1 Applicable PNI Products amp Interfaces Table 3 1 I O Characteristics Table 3 2 Environmental Requirements Table 3 3 Mechanical Characteristics Table 4 1 UART Configuration Table 5 1 SPI Command Summary Table Table 5 2 SPI Syntax Character Definitions Table 5 3 Handshake Signal Status Table 6 1 1 C Command Summary Table List of Figures Figure 3 1
11. a Hold command presently set and the buffer contains characters this command purges the characters in the buffer PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 12 This command will not remove the Hold state Note that only capital F is recognized Handshake Signal Status The status of SSN and DRDY lines are returned to the user in a single byte The value of the byte indicates the status of these lines as given in Table 5 3 Table 5 3 Handshake Signal Status Value SSN DRDY 0 LOW LOW 1 LOW HIGH 2 HIGH LOW 3 HIGH HIGH Pulse CLEAR Signal On receiving this command a 10 us pulse is generated on the CLEAR pin This pin is normally LOW SSN Control Issuing this command sets or resets the CommBoard s SSN line The syntax is SH where must be 0 or 1 The SSN pin will be set LOW if the number following the character is 0 and will be set HIGH if the number is 1 Example x 0 wnl113r 1rsi CR This sentence asserts SSN LOW and writes 113 decimal then waits for DRDY to go high after which it reads a 16 bit signed integer SSN is still LOW at the end of the sentence Pause 2 ms ee 99 Sending a command causes a 2 ms delay before processing the next character in the receive buffer This is useful when working with the V2Xe V or v CPHA Setting The SPI clock phase can be set by the user V sets CPHA
12. e 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 1018122 r02 PNI CommBoard User Manual Page 1 2 Introduction Thank you for purchasing PNI Sensor Corporation s CommBoard pn 13466 The CommBoard is a printed circuit assembly PCA that acts as an easy to use interface between a PC and certain PNI products The CommBoard is a UART to SPI or IC bridge which receives UART commands from the user s computer via a virtual communication port running over a USB line The applicable PNI products and their interface types are listed below Table 2 1 Applicable PNI Products amp Interfaces PNI Product RM3100 Evaluation Board Interface I C or SPI RM3000 f Evaluation Board SPI V2Xe SPI SpacePoint Scout PNI Sensor Corporation PNI CommBoard User Manual IC or UART DOC 1018122 r02 Page 2 3 Specifications Table 3 1 I O Characteristics Parameter Value Host Communication Interface Virtual UART on USB interace Protocol uu ASCII Communication Rate 115200 baud Communication Interface C or
13. ect 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 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 t
14. eptions are the Q and F commands as they are processed as soon as they are received Once the hold condition on the DRDY line is met the system will begin processing characters in the receive buffer in the order received Example Wn1 1Rsi CR Writes 01 then waits for DRDY to go HIGH When DRDY goes HIGH the CommBoard then fetches reads a signed 16 bit value from the SPI port Y or y Hold Always This command causes the indefinite delay of processing subsequent characters received from the host until a Q character is received Characters received from the UART other than Q or F will be stored in a 100 character buffer Once a Q is received the system will begin processing characters in the receive buffer in the order received Example YwN1 2RMQ As soon as the Y character is received the CommBoard will stop processing Once the Q character is received the CommBoard will write two bytes 01 and 02 and then receive an unsigned 3 byte word Q Quit Hold Note that only capital Q is recognized Receipt of this character immediately releases any hold command presently set This includes the DRDY Hold or the Hold Always commands Characters in the receive buffer will begin processing If the desire is to not process the buffer then the Flush Buffer command should be sent immediately prior to sending as FQ F Flush Buffer This command flushes the receive buffer If there is
15. er 1 or 0 where 1 indicates DRDY must be HIGH to release the hold and 0 indicates DRDY must be LOW Characters received from the host will continue to be stored in a 100 character receive buffer The exceptions are the Q and F commands as they are processed as soon as they are received Once the hold condition on the DRDY line is met the system will begin processing characters in the receive buffer in the order received PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 20 Y or y Hold Always This command causes the indefinite delay of processing subsequent characters received from the host until a Q character is received Characters received from the host other than Q or F will be stored in a 100 character receive buffer Once a Q is received the system will begin processing characters in the receive buffer in the order received Q Quit Hold Receipt of this character immediately releases any hold command presently set This includes the DRDY Hold or the Hold Always commands Characters in the receive buffer will begin processing Note that only capital Q is recognized F Flush I C Receive Buffer This command flushes the receive buffer If there is a Hold command presently set and the buffer contains characters this command purges the characters in the buffer Reset This command resets the CommBoard s internal PC state machine and
16. he deficiency ii such Product is returned to PNI s service facility at OEM s risk and expense and iii 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 out 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 th
17. he syntax of the packet is SLA REG data data data data Where e All numbers must be in 2 digit hexadecimal format For example the value zero must be represented as 00 and the value one as 01 As a result no delimiter is necessary e SLA is the 7 bit slave address in the 7 MSBits plus the r w bit in the LSB However the value of the r w bit does not matter as the CommBoard ensures the r w bit is properly set For example the SpacePoint Scout s 7 bit slave address is OxOC and shifting it into the 7 MSBits makes SLA 0x18 Even if the LSB or r w bit is set to 1 indicating a read operating the CommBoard will transmit SLA 0x18 effectively changing the LSB to reflect a write operation e REG either can be the first register number to write to or a command number depending on the client hardware protocol e Data are the data bytes to write Up to 62 bytes can be written in one packet Example For the SpacePoint Scout 18b4 sends the command OxB4 which establishes the cursor s reference frame ResetRef Recall the SpacePoint Scout has a left shifted SLA address of 0x18 and the CommBoard recognizes that the closing J bracket indicates this is a write command DRDY Hold This command causes an indefinite delay of processing subsequent characters received from the host until a Q character is received or the conditions of DRDY port pin are met The syntax is such that is eith
18. necessary e SLA is the 7 bit slave address in the 7 MSBits plus the r w bit in the LSB However the value of the r w bit does not matter as the CommBoard ensures the r w bit is properly set For example the SpacePoint Scout s 7 bit slave address is OxOC and shifting it into the 7 MSBits makes SLA 0x18 Even if the LSB or r w bit is set to 0 indicating a write operating the CommBoard will transmit SLA 0x19 effectively changing the LSB to reflect a read operation e REG either can be the first register number to start reading from or a command number depending on client hardware protocol e NUM is the number of data bytes to read Example 1 183108 requests and returns 8 bytes of data starting at register 0x31 For the SpacePoint Scout the data will be quaternion data in 4x 2 bytes Example 2 193314 requests and returns 20 bytes 0x14 bytes of data starting at register 0x33 While the r w bit is populated with a 1 such that the SLA byte 0x19 the CommBoard uses the closing curly bracket to recognize this as a read operation and ignores the r w bit For the SpacePoint Scout the cursor position Hpos and Vpos will be returned in the final 2x 4 bytes PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 19 or W or w Finish Write Packet An end square bracket a W or a w character finishes the construction of an rc packet to write data to the slave device T
19. nes are connected For most users the power and signal lines will be supplied via the mini USB jack Next configure the jumpers on the CommBoard to match your device as illustrated in Figure 4 3 CommBoard signals and power are connected on this half of J9 amp J10 Circuit Common These pins are GND internally connected P on the PCB as shown te unt QNG oau ex R id yee uiii 517 cil jis ca J ymm JVUSB R7 e s 3 gt co Short to use USB power Open to use External Power Input External Power Input Figure 4 2 CommBoard Signal and Power Connections PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 6 Shorting Jumper Key Open no jumper Shorted jumper applied RM3100 Eval Board SPI RM3100 Eval Board I2C Co SSN EE f ORY m RUM a WSZ AVSS A Comi N onswistoo RM3000 f Eval Board SPI V2Xe SPI UM MI AR B SpacePoint Scout I2C Figure 4 3 CommBoard Jumper Configurations PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 7 Plug your PNI device into the CommBoard Pin 1 of the device should plug into pin 1 on the CommbBoard For the SpacePoint Scout and V2Xe this means the arrow printed on the device will point towards the CommBoard s mini USB connector while for the RM3100 and RM3000 f Evaluation Boards the arrow will point away from the mini USB connector Finally connect the CommBoard t
20. nges the delimiter Unlike other delimiters a CR will terminate a command such that you need to send the command character again to use the command again CR will not store as the delimiter for subsequent data rather the prior delimiter will be retained Terminating a Read command with a CR as opposed to a character of the next command will cause a CR character to be sent out the UART If you intend to use Matlab to read the incoming values you will want to terminate with a CR so that it is compatible with the fscanf function X or x Hex Decimal Mode Sets the protocol to hexadecimal or decimal X sets the protocol to hexadecimal while x sets it to decimal Once the protocol is set it will be retained until a subsequent command changes the protocol On power up the default is X Also when hexadecimal mode is selected hexadecimal digits a through f must be lower case PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 11 DRDY Hold This command causes an indefinite delay of processing subsequent characters received from the host until a Q character is received or the conditions of DRDY port pin are met The syntax is such that is either 1 or 0 where 1 indicates DRDY must be HIGH to release the hold and 0 indicates DRDY must be LOW Characters received from the host will continue to be stored in a 100 character buffer The exc
21. ngle measurement be taken on all 3 axes Example Z3 0wn01 71 1 This sentence places the RM3100 Eval Board in Continuous Measurement Mode Example 4 0wnA4rmmm 1 This sentence first writes the address of the MSB of the MX Read register then reads from this byte and the subsequent 8 bytes to provide the most recent measurement results on all 3 axes 5 2 3 RM3000 f Eval Board Code Examples Example 1 0wn83 00 64 00 64 00 64 1 This sentence sets all three cycle count registers to 100p 0x64 Example 2 0wn82 01 1 This sentence requests a single measurement be taken on all 3 axes Example 3 0rc9nmmm 1 This sentence first writes the address of the MSB of the MX Read register then reads from this byte and the subsequent 8 bytes to provide the most recent measurement results on all 3 axes 5 2 4 V2Xe Code Examples Example 1 0 wnaa 01 00 1 0rnnnnnnnnnnn 1 This sentence can be used to obtain the ID packet from a V2Xe Note the commands causes a 2 ms pause in transmission These pauses are often necessary when working with the V2Xe PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 16 Example 2 0 wnaa 03 03 05 06 08 00 1 This sentence establishes which data components are to be reported by a V2Xe In this case 3 components are to be reported heading magnitude and distortion After writing this the SSN line is set HIGH Example 3 0 wnaa 04 00 1 SOrLLNS1 This sentence can be
22. o your computer using a USB to mini USB cable The red and blue LEDs on the CommBoard should light up Press the Reset button SW1 on the CommBoard to ensure the computer is correctly interpreting your device s communication protocol PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 8 5 SPI Operation The RM3100 Evaluation Board RM3000 f Evaluation Board and V2Xe incorporate a SPI interface For the RM3100 an IC interface is also available as discussed in Section 6 This section reviews how to use the CommBoard to communicate with these SPI devices via a computer using a terminal emulation program Note the CommBoard not only converts UART to SPI but it also allows for control and monitoring of the SSN CLEAR and DRDY lines 5 1 SPI Commands A summary of the commands relevant for working with SPI devices is given below Command Table 5 1 SPI Command Summary Table Response W w SPI Write W NIML delimiter NIML delimiter lt CR gt R r SPI Read R S NIML S NIML lt CR gt delimiter lt CR gt r Delimiters Used to separate characters or data lt SP gt Delimiter in a string Sending a delimiter also changes the lt TAB gt default delimiter used in the return data string lt CR gt sent to host X x Hex Decimal X Hex mode default x Decimal mode Hold for 1 Hold until DRDY HIGH DRDY 0 Hold until DRDY LOW
23. s V CP htm After installing the VCP driver and plugging in your PNI device connect the CommBoard to your computer using a USB to mini USB cable The USB line provides power to the CommBoard and the device under test The UART should be configured as shown below Table 4 1 UART Configuration Parameter Value Baud Rate 115200 Number of Data Bits 8 Start Bits 1 Stop Bits 1 Parity none Figure 4 1 shows how a computer connects to a PNI device mounted on the CommBoard On the computer side the user will send commands using an ASCII terminal program such as HyperTerminal or Realterm Alternatively Matlab or a similar application that outputs ASCII can be used These all will use a Virtual Comm Port to place their UART commands on the USB line of the computer On the PNI CommBoard the UART commands either are translated into SPI commands or IC commands using the CommBoard s CPU or sent directly to the PNI device Whether the UART commands are translated into SPI or IC or fed directly into the PNI device is established by the jumpers discussed in Section 4 1 PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 5 PNI CommBoard Computer Terminal Virtual MatLab Comm UART on USB Port Application Driver UART Direct Figure 4 1 CommBoard Configuration Block Diagram 4 2 Hardware Setup Figure 4 2 indicates where power connections can be made to the CommBoard and also where the signal li
24. t8 data Start of C Write SLA REG data data data Command Packet SLA Slave 8 bit Address R W bit will be 2 overridden nd s REG Command or Register number Uint8 data 8 bit data in 2 byte ASIC HEX format Delimiters Used to separate characters or data in the return data string sent to the host SLA REG NUM SP Delimiters TAB Hold for DRDY Y y Hold Always Y Q Quit Hold Q Capital Q only Flush UART 9 i Receive Buffer acai E Only Reset I C amp Set C clock amp where 0 A single digit Lower case t turns off terminal mode Capital T turns on verbose terminal mode Toss Terminal Mode PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 18 6 1 I C Commands or Start Read or Write Packet The open brackets are used to start an PC Read or Write packet It does not matter which is used as the end of the packet defines the type of transaction or R or r Finish Read Packet An end curly bracket an R character or an r character finishes construction of an IC packet to read data from the slave device and sends the packet to the slave device The syntax of the packet is SLA REG NUM Where e All numbers must be in 2 digit hexadecimal format For example the value zero must be represented as 00 and the value one as 01 As a result no delimiter is
25. used to obtain measurement data from a V2Xe Again note the pause commands in this case 5x2 ms or 10 ms total prior to reading the data The word lengths in the read command are set to accommodate reporting of the heading magnitude and distortion as established in the prior command PNI Sensor Corporation DOC 1018122 r02 PNI CommBoard User Manual Page 17 6 C Operation The SpacePoint Scout and RM3100 Evaluation Board offer the option of using an TC interface Refer to Figure 4 3 to configure the CommBoard for the desired interface This section reviews how to use the CommBoard to communicate using the TC interface via a terminal emulation program If the user will employ the Scout s UART interface then the CommBoard simply passes the UART commands through the USB interface using the virtual communication port as discussed in Section 4 1 If the user will employ the RM3100 Evaluation Board s SPI interface refer to Section 5 Note the IC interface operates exclusively in hexadecimal and the hexadecimal digits a through f must be lower case In addition to converting UART to PC the CommBoard allows for monitoring the DRDY line A summary of commands for working with an IC interface is given below Table 6 1 IC Command Summary Table Command Syntax Response Start of 1 C Read Command packet S Start l C Read REG Command or Register number in hex uint8 Packet with STOP NUM Number of bytes to read HEX uin
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