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User Manual FieldForce TCM XB

1. FIR Taps set to 0 The maximum sample rate is dependent on the strength of the magnetic field and typically will be from 25 to 32 samples sec Page 3 uggaggggggggaaga D UU D D 400 883 3391 http www sensorexpert com cn Power Requirements meter Value Supply Voltage 3 6 to 5 VDC unregulated max sample rate 20 mA typical Averete Cuien DE 8 Hz sample rate 16 mA typical Peak Current Draw During application of external power 120 mA pk 60 mA avg over 2 ms During logical power 100 mA pk 60 mA avg over 4 ms up down or Sync Trigger Sleep Mode Current Draw 0 3 mA typical Table 3 4 Environmental Requirements Parameter MET Operating Temperature 40C to 85C Storage Temperature 40C to 85C To meet performance specifications recalibration may be necessary as temperature varies Table 3 5 Mechanical Characteristics Parameter Value Dimensions x wx h 3 5 x 43x 1 3 cm Weight 7 gm Mounting Options Screw mounts Standoffs horizontal or vertical Connector 9 pin Molex mates with pn 51146 0900 DOC 1014688 r01 Page4 ugagoggaanggagnn u 0000 D 0 400 883 3391 http www sensorexpert com cn t F cs E 38 EE 135 000 BE 1378 S as 28702281 0 000 ee I 9 135002 113 000 CLEARANCE FOR 4 40 UNC FASTENER S leat 1 x 319 Q
2. 5 3 2 North Reference Magnetic north True When the lt Magnetic gt button is selected heading will be relative to magnetic When the lt True gt button 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 DOC 1014688 r01 Page 14 oo00o0000000000 00000 Eg 400 883 3391 http www sensorexpert com cn 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 taps represen
3. Be gdt e Module TCM Connected PIN Frere Version 0605 Serial Number 1020659 POA Version SW TESTI Conrecton Configuration Calioraiicn Test Dete Logger System Leg Graph Samples Calibration Results Meg CalScora y NIMM 00 0 Diet Ever 00 0 TitEror 00 0 TitRange 00 0 Accel CalScore 00 0 Take Sample SUE Current Configuretior Options Lmitec Tit cal E Auditie Feedback Automatic Sampling Hardlran Only Cal Number of samples is 12 Accal Only Cal 200nly Cal Heading Pitch Fal 9 Accel Cal wih Mag Full Range Cal Los uy 2205 GlesrAccelCalte Feciory _ClearMeqCalto Factory Seve 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 Configuration tab Clicking the Start button begins the calibration process If Automatic Sampling is not checked on the Configuration tab it is necessary to click the Take Sample 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 ta
4. Cal Option 4 UlInt32 i Calibration option values Calibration option values 10 Full Range Calibration magnetometer only 20 2D Calibration magnetometer only 30 Hard Iron Only Calibration magnetometer only 40 Limited Tilt Range Calibration magnetometer only 100 Accelerometer Only Calibration 110 Accel and Mag Calibration Example for a complete sample frame for a 2D Calibration 00 09 0A 00 00 00 14 5C F9 Heading pitch and roll information will be 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 components 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 3 11 kStopCal frame ID 11 4 This frame commands the module to abort the calibration process The prior calibration results are retained 7 3 12kSetParam frame ID 12 4 This frame sets the FIR filter settings for the magnetometer and accelerometer sensors The second byte of the payload indicates the x vector component of either the magnetometer or accelerometer This is to differentiate whether to apply the filter settings to the magnetometer or accelerometer The third byte in the payload indicates the number of FIR taps to use then followed by the fi
5. case 3 Ticks is a timer function 1 tick 10msec if Ticks gt mResponseTime Message No response from the module Check connection and try again r n mStep g break default break FieldForce TCM User Manual November 2009 Page 67
6. mExpectedLen 2 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 8 mInData mExpectedLen 1 if crc crcReceived t the crc is correct so pass the frame up for processing if mHandler mHandler HandleComm mInData 2 amp mInData 3 mExpectedLen kPacketMinSize else t crc s don t match so clear everything that is currently in the input buffer since the data is not reliable mSerialPort InClear Page 61 uggaugggagggggdgaga D UU D 0 0 400 883 3391 http www sensorexpert com cn go back to looking for the length bytes mStep di 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 mStep 1 Look for the next length bytes break default break DOC 1014688 r01 Page 62 ugauggngagggggadaaga D UU BD UE 400 883 3391 http www sensorexpert com cn 7 4 4 TCM h File Note This applies to the TCM3 TCM5 TCMBLT and TCM pragma once include Processes h include CommProtocol h TCM It will set up the module and parse packets received Process is a b
7. increase the pointer to point to the next data element type pntr sizeof pitch break case CommProtocol kRAngle t Move source destination size bytes Move copies the 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 case CommProtocol kTemperature Move source destination size bytes Move copies the 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 Page 65 uggaugggagggggdgaga D UU BD E 400 883 3391 http www sensorexpert com cn 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 f Pitch f Roll f Temperature f r n heading pitch roll temperature mStep send next data request break default Message is a function
8. kXAligned MY kYAligned and MZ kZAligned were selected e Click the Go button to start logging The Go button changes to a Stop button after data logging begins Click the Stop button to stop logging data Click the Export button to save the data to a file Click the Clear button to clear the data from the window Note The data logger use ticks for time reference A tick is 1 60 second Page 23 oo00o0000000000 0000 0 0 400 883 3391 http www sensorexpert com cn 5 7 System Log Tab SETTE He t e Modulo TOM Connected 6 PIN I Frere Version ains Serial Number 1020659 PCA Version SW TESTI Connection Configuration Caliraton Test Dete Logger SyetemLeg Graph Time Samp 2009 10 06 13 44 39 2009 1 06 13 44 39 2009 106 13 4428 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 10 06 13 44 39 2009 106 13 44 48 2009 10 06 13 44 46 2009 1 06 13 44 50 2009 10 06 13 44 50 2009 10 06 13 44 51 2009 106 13 44 51 2009 10 06 13 44 51 2008 1 0 06 13 44 51 2009 10 06 13 44 61 20031 6 06 13 44 51 2009 1 0 06 13 44 51 2008 1 6 06 13 44 51 2008 1 06 13 44 51 2009 10 06 13 44 51 2008 1 0 06 13 44 51 2009 10 06 13 44 51 2005 1 6 06 13 44 51 2009 10 06 13 52 08 2009 1 06 1355211 2009 1 06 13 52 17 Event Checking preference fle Preferences fle nct found using defaults Enabled audible feedtaack Disabled high contrast Disebled auto scroll En
9. Boolean True or False False kBigEndian 6 Boolean True or False True kMountingRef 10 Ulnt8 1 STDO 2 XUP 0 3 Y UP 0 4 STD 90 5 STD 180 6 STD 270 7 ZUP0O 8 X UP 90 9 X UP 180 10 X UP 270 11 Y UP 90 12 Y UP 180 13 Y UP 270 14 Z DOWN 90 15 Z DOWN 180 16 Z DOWN 270 kUserCalNumPoints 12 Ulnt32 4 32 12 kUserCalAutoSampling 13 Boolean True or False True kBaudRate 14 Ulnt8 0 300 1 600 2 1200 3 1800 4 2400 5 3600 6 4800 7 7200 8 9600 9 14400 10 19200 11 28800 12 38400 13 57600 14 115200 12 kMilOutput 15 Boolean True or False False kCoeffCopySet 18 UInt32 0 7 kAccelCoeffCopySet 19 Ulnt32 0 2 Refer to Figure 4 2 for additional information on mounting orientations Page 43 oo00o0000000000 0000 0 0 400 883 3391 http www sensorexpert com cn Configuration parameters and settings for kSetConfig kDeclination 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 Flag to set compass heading output to true north heading by adding the declination angle to the magnetic north heading kBigEndian Flag to set the End
10. UInt16 len kPacketMinSize exit without sending if there is too much data to fit inside our packet 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 Page 59 uggaggggggggaga D UU D D 0D 400 883 3391 http www sensorexpert com cn 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 datat t compute and add the crc crc CRC mOutData index mOutData index crc gt gt 8 mOutData index crc amp OxFF Write block will copy and send the data out the serial port mSerialPort WriteBlock mOutData index Call the functions in serial port necessary to change the baud rate void CommProtocol SetBaud UInt32 baud mSerialPort SetBaudRate baud mSerialPort 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 UIntl6 crc De while len crc unsigned char crc gt gt 8 crc lt lt 8 crc crc crc crc dataPtr index u
11. class CommHandler public Call back to be implemented in derived class virtual void HandleComm UInt8 frameType void dataPtr NULL UIntl6 dataLen 0 u 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 1 kModInfoResp 2 kSetDataComponents 3 kGetData 4 kDataResp 5 Data Component IDs kHeading 5 5 type Float32 kTemperature 7 1 type Float32 kPAligned 21 21 type Float32 kRAligned 22 type Float32 kIZAligned 23 type Float32 kPAngle 24 type Float32 kRAngle 25 type Float32 u enum t kBufferSize 512 Page 57 oo00o0000000000 0000 0 0 400 883 3391 http www sensorexpert com cn maximum size of our input buffer kPacketMinSize 5 minimum size of a serial packet hi 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 void SetBaud UInt32 baud protected CommHandler mHandler SerPort mSerialPort UInt8 mOutData kBufferSize mIn
12. 213 1026 2208 S 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 Page 25 uggaggggggggaaga D D D D D 400 883 3391 http www sensorexpert com cn 6 User Calibration Sources of magnetic distortion positioned near the TCM will distort Earth s local 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 In the user s system it is expected the sources of magnetic distortion will remain fixed relative to the module s position By performing a user 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 acceler
13. TESTI Connection Configuration Calioteion Test Deta Logger System Leg Graph Osment Reading 3D Model Heading 2 3 0 Pitch Roll 000 0 007 1 lr zx contest Acquisition Setings Module is in POLL mode Palltima is 0 seconde Acquisition time is 0 000 seconde hievaltime jei seconde Fiters are NOT flushed Module Output is in Degrees Seier SweEesd Syne 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 Page 21 uggaggggggggaga D D D D D 400 883 3391 http www sensorexpert com cn 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 c
14. 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 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 245 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 CalScore Represents the over riding indicator of the quality of the accelerometer calibration Acceptable scores will be 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 Page 19 ggggggggggggugua D UU DUE 400 883 3391 http www sensorexpert com cn Note If a calibration is aborted all the score s will read 179 80 and the calibration coefficients will not be changed Clicking the Save button will not change the calibration coefficients either 5 4 3 Current Configurat
15. cn 7 4 Code Examples The following example files CommProtocol h CommProtocol cp TCM h and TCM cp would be used together for proper communication with a TCM module NOTE The following files are not included in the samples code and would need to be created by the user SystemSenPort h Processes h TickGenerator h 7 4 1 Header File amp CRC 16 Function type declarations typedef struct UInt8 pollingMode Float32 sensorAcqTime flushFilter __attribute__ packed AcqParams typedef struct Float32 MagCalScore Float32 reservel Float32 AccelCalScore Float32 DistErr Float32 TiltErr Float32 TiltRange __attribute__ packed CalScore enum Frame IDs Commands kGetModInfo 1 kModInfoResp kSetDataComponents kGetData kDataResp kSetConfig kGetConfig kConfigResp kSave kStartCal kStopCal kSetParam kGetParam kParamResp kPowerDown kSaveDone kUserCalSampCount kUserCalScore kSetConfigDone kSetParamDone kStartIntervalMode kStopIntervalMode kPowerUp kSetAcqParams kGetAcqParams v0 oosupNPC eos NRO NNyPRBRERB ROwmrtoaus ITN SINS SSNS NNN e AUN m REM ROR AD ACA AS RAD RA A RUN SONUS Se RUE N a intervalRespTime DOC 1014688 r01 Page 54 oo00o0000000000 0000 0 0 400 883 3391 http www sensorexpert com cn kAcqParamsDone kAcqParamsResp kPowerDoneDown kFactoryUserCal kFactoryUserCalDone kTakeUserCal
16. connector on the other end to mate with a PC s serial port This cable primarily is intended for basic evaluation of the TCM with a PC The pigtailed cable has 9 wires accessible at the end opposite from the Molex connector and is intended to mate with the user s host system The Evaluation Kit includes one of each cable while the Interface Kit includes just the pigtailed cable Users also may supply their own cable The pin out of the pigtailed cable and Molex connector is given in Table 4 1 Pin 1 is indicated in Figure 3 1 DOC 1014688 r01 Page 6 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn Table 4 1 TCM Pin Descriptions Molex Connector Pigtailed Cable in Description Pin Number Wire Color GND 1 Black GND 2 Gray GND 3 Green NC 4 Orange NC 5 Violet NC 6 Brown RS232 TxD 7 Yellow RS232 RxD 8 Blue 5 VDC 9 Red 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 gi
17. 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 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 Page 27 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 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
18. no payload The response to this frame is kDataResp with heading pitch and roll set as the sequence of data component IDs DOC 1014688 r01 Page 52 gagggggggggggugua D UU DU Eg 400 883 3391 http www sensorexpert com cn 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 following formula Minimum Delay after sending FF in seconds 7E 4 10 baud rate For example with a baud rate of 38400 the minimum delay after sending FF 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 the user should be aware 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 Page 53 ggaggggggggggagu D UU D D 0G 400 883 3391 http www sensorexpert com
19. yaw with maximum negative tilt pitch and roll 300 yaw with no tilt 330 yaw with maximum positive tilt pitch and roll 6 2 3 Hard Iron Only Calibration with 6 Calibration Points Over time the magnetic distortions around the TCM may change for a variety of reasons The Hard Iron Only Calibration method allows the user to quickly recalibrate Page 31 gaggagggggggggugua D UU DUE 400 883 3391 http www sensorexpert com cn the module for hard iron effects in three dimensions and generally is effective for operation and calibration in the tilt range of 3 or more 45 or more is suggested The recommended calibration pattern is a circle of alternate tilted evenly spaced points with as much tilt variation as expected during use PNI recommends at least 6 calibration points for a Hard Iron Only Calibration although 4 calibration points is acceptable but less likely to yield good results 0 yaw with 45 tilt pitch and roll 60 yaw with 45 tilt pitch and roll 120 yaw with 45 tilt pitch and roll 180 yaw with 45 tilt pitch and roll 240 yaw with 45 tilt pitch and roll 300 yaw with 45 tilt pitch and roll 6 2 4 Limited Tilt Range Calibration with 12 Calibration Points 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 circ
20. 143 0001 E 37 00030 025 4597 14572 001 777 MOUNTING BLOCK STAKING 899999 00000 3 00040 025 3 2X 118001 o eal Ore 29 00020 025 MATES WITH MOLEX gee 1 1424 001 PAN 83780 0910 ILLIMETERS DIMENSIONS are MIGHMETERS The default orientation for the TCM is for the silk screened arrow to point in the forward direction Figure 3 1 TCM Mechanical Drawing x 457 6 18 00 0 25 1 d N PNI PN 12415 L 76 5 Molex PN 51146 0900 3 00 0 20 dimensions in mm inches Figure 3 2 PNI Pigtailed Cable Drawing Page 5 ggaggggggggagguga D UU D 0 0 400 883 3391 http www sensorexpert com cn 4 Set Up This section describes how to configure program and control the TCM in your host system To install the TCM into your system follow these steps Make electrical connections to the TCM Evaluate the TCM using the included TCM Studio Program Choose a mounting location Mechanically mount the TCM Perform user calibration Before you install the module it can be evaluated with the TCM Studio outside of your system Please see Section 5 4 1 Electrical Connections Two optional electrical cables are available to mate the TCM to a user s host system or a PC a45 cm 18 custom pigtailed cable and a 1 8 m 6 custom dual connectorized cable Both include a Molex 51146 0900 connector on one end that mates to the TCM The dual connectorized cable includes a 9 pin sub D
21. 2 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 Calparam2 Reserved values for PNI use Calparam3 Accel CalScore Represents the over riding indicator of the quality of the accelerometer calibration An acceptable scores is lt 1 DistErr Indicates the contribution to the CalScore caused by the quality of the sample point distribution The score should be lt 1 and close to 0 TiltErr Indicates the contribution to the CalScore caused by tilt or lack thereof The score takes into account the calibration method The score should be lt 1 and close to 0 TiltRange Measured tilt range of sample points For Full Range Calibration and Hard Iron Only Calibration this should be close to 180 For 2D Calibration this should be 2 For Limited Tilt Range Calibration the value should be as large a possible given the user s constraints 7 3 19kSetConfigDone frame ID 19 4 This frame is the response to kSetConfig frame The frame has no payload 7 3 20kSetParamDone frame ID 20 4 This frame is the response to kSetParam frame The frame has no payload Page 49 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 7 3 21 kStartIntervalMode frame ID 21 4 The frame commands the module to output data push mode at a fixed time in
22. 2 Component Identifiers Table 7 3 RS232 Configuration Identifiers Table 7 4 Recommended FIR Filter Tap Values Page i ggggggggggggaga 00000 0 400 883 3391 http www sensorexpert com cn List of Figures Figure 3 1 TCM Mechanical Drawing Figure 3 2 PNI Pigtailed Cable Drawing TCM Mounting Holes bottom view TCM Mounting Orientations Positive amp Negative Roll and Pitch Definitio Magnetometer 12 Point Calibration Accelerometer Calibration Starting Orientations Figure 7 1 Datagram Structure DOC 1014688 r01 Page ii gagggggggggggggua D UU DU 0 400 883 3391 http www sensorexpert com cn 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 November 2009 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 shipment unless a different warranty time peri
23. 3 type boolean 14 UInt8 15 type Boolean 18 type UInt32 19 type UInt32 SS DUBWNE Page 55 uapnagananganan D D D D D D 400 883 3391 http www sensorexpert com cn function to calculate CRC 16 UInt16 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 lt lt 8 crc dataPtr indext crc unsigned char crc amp Oxff 4 ere tero se 8B lt lt ay erc e tre amp Oxff lt lt 4 1 return crc DOC 1014688 r01 Page 56 ugauggngagggggadaaga D UU BD UE 400 883 3391 http www sensorexpert com cn 7 4 2 CommProtocol h File Note This file contains objects used to handle the serial communication with the module Unfortunately these files are not available as the program was written on a non PC computer The comments in the code should explain what is expected to be sent or received from these functions so that you can write this section for your specific platform For example with the TickGenerator h you would need to write a routing that generates 10msec ticks pragma once include SystemSerPort h include Processes h CommHandler is a base class that provides a callback for incoming messages
24. 704e 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 9231186101853e 2 18 06 7373451424187e 2 19 06 3781858267530e 2 20 05 86931650183016 2 21 05 2436112653103e 2 22 04 5402682509802e 2 23 03 8014333463472e 2 24 03 0686505921968e 2 25 02 3794805168613e 2 26 01 76460514305366 2 27 01 2456836057785e 2 28 08 3414139286254e 3 29 05 3097803863757e 3 30 03 2757326624196e 3 31 02 0737124095482e 3 32 01 4823725958818e 3 7 3 13kGetParam frame ID 134 This frame queries the FIR filter settings for the magnetometer and accelerometer sensors The first byte is the KFIRConfig ID followed by the vector axis ID byte Axis IDs e Payload Parameter ID Axis ID Ulnt8 gt l ints gt KIZAxis 6 Page 47 ggggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 7 3 14 kParamResp frame ID 14 4 This frame contains the current FIR filter settings for either magnetometer or accelerometer sensors The second byte of the payload is the vector axis ID the third byte is the number of filter taps then followed by the filter taps Each tap is a Float64 k Payload gt Parameter ID Axis ID Count Value Value Value Value court Filter Top ID ID ID kk inte le uns gt utnva gt e GP de Specific a Spec
25. D and Limited Tilt Calibration allow for reasonably good calibration when the range of allowable motion is limited Hard Iron Only Calibration relatively easily updates the hard iron compensation coefficients DOC 1014688 r01 Page 26 gggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn 5 The number of calibration sample points and calibration pattern is dependent on the calibration method and these are discussed in Section 6 2 6 Pay attention to the calibration scores See Section 5 4 2 for the score meanings 6 1 Magnetic Field Calibration Theory The main objective of a magnetometer 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 360 of yaw and 45 of tilt 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
26. Data kBufferSize UIntl6 mExpectedLen UInt32 mOutLen mOldInLen mTime mStep UInt16 CRC void data UInt32 len void Control DOC 1014688 r01 Page 58 ugauggngagggggadaaga D UU BD UE 400 883 3391 http www sensorexpert com cn 7 4 3 CommProtocol cp File include 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 crc the CRC to add to the end of the packet UIntl6 count the total length the packet will be count
27. IDs le Payload gt Count ID ID ID IDs j Ulnt8 gt k Ulnt8 4 Ulnt8 uints l Ulnt8 gt Example To query the heading and pitch the payload should contain k Payload y 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 DOC 1014688 r01 Page 40 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn Table 7 2 RS232 Component Identifiers kHeading Float32 degrees default 0 0 to 359 9 kTemperature 7 Float32 Celsius 40 to 85 2 False Default kDistortion 8 Boolean True or False no distortion False Default kCalStatus 9 Boolean True or False ecelesie 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 0 180 0 to kRAngle 25 Float32 degrees 180 0 KXAligned 27 Float32 uT KYAligned 28 Float32 uT KZAligned 29 Float32 uT Component types are listed below All are read only values kHeading Provides compass heading i e yaw or azimuth output The units default to degrees but can be set to mils using kMilOutput kTemperature This value is provided by the module s internal temperatu
28. Sample kFactoryInclCal 36 kFactoryInclCalDone kSetMode 46 kSetModeDone kSyncRead 49 Cal Option IDs kFullRangeCal 10 k2DCal 20 kHIOnlyCal 30 kLimitedTiltCal 40 kAccelCalOnly 100 kAccelCalwithMag 110 Param IDs kFIRConfig 3 26 21 28 29 30 31 36 31 46 47 49 10 type Float32 20 type Float32 30 type Float32 40 type Float32 100 type Float32 110 type Float32 3 AxisID UInt8 Count UInt8 Value Float64 4 Data Component IDs kHeading 5 kTemperature kDistortion 8 kPAligned 21 kRAligned kIZAligned kPAngle kRAngle kXAligned 27 kYAligned kZAligned 5 type Float32 7 type Float32 8 type boolean 21 type Float32 22 type Float32 23 type Float32 24 type Float32 25 type Float32 27 type Float32 28 type Float32 29 type Float32 Configuration Parameter IDs kDeclination 1 kTrueNorth kMountingRef 10 kUserCalStableCheck kUserCalNumPoints kUserCalAutoSampling kBaudRate kMilOutPut 15 kCoeffCopySet 18 kAccelCoeffCopySet Mounting Reference IDs kMountedStandard 1 kMountedXUp kMountedYUp kMountedStdPlus90 kMountedStdPlus180 kMountedStdPlus270 Result IDs kErrNone 0 kErrSave 1 type Float32 2 type boolean 10 type UInt8 11 type boolean 12 type UInt32 1
29. User Manual FieldForce TCM xB Tilt Compensated Electronic Compass Module INT SENSOR CORPORATION oooogggggggggggT D 00 0 0 0 400 883 3391 http www sensorexpert com cn Table of Contents 1 COPYRIGHT amp WARRANTY INFORMATION eren entente nn ennt tnttntnsnnnnnn 1 2 INTRODUCTION 2 3 SPECIFICATIONS 3 4 SET UP 6 4 1 Electrical Connections 4 2 Installation Location 7 4 3 Mechanical Mounting 5 OPERATION WITH TCM STUDIO eene eere tnnt etn tnn nn tnn tn nnn tn then stata enitn tnu 5 1 Installation onto a Windows or Mac system 5 2 Connection Tab 5 3 Configuration Tab 5 4 Calibration Tab 5 5 Test Tab 5 6 Data Logger Tab 5 7 System Log Tab 5 8 Graph Tab 6 USER CALIBRATION 6 1 Magnetic Field Calibration Theory 6 2 Calibration Procedures 6 3 Declination Value 6 4 Other Limitation 7 OPERATION WITH RS232 INTERFACE pit Datagram Structure 7 2 Parameter Formats 73 Commands amp Communication Frames 74 Code Examples List of Tables Table 3 1 Performance Specifications Table 3 2 O Characteristics Table 3 3 Power Requirements Table 3 4 Environmental Requirements Table 3 5 Mechanical Characteristics Table 4 1 TCM Pin Descriptions Table 5 1 Mounting Orientations Table 7 1 RS232 Command Set Table 7 2 RS23
30. abled 3D Modal Changed computer serial porto COMI Gpened serial oor COM Changed computer baud rete to 38400 Opened serial oor COMI Erected module configuretion Changed endieness to big encien Extreced module information Changed taps to 32 Changed acquistion modeto poll mode Disabled ler tushina Changed mourting to Standerd Changed norh reference to megneticnorh Disabled stability checking Disabled automatic sampling Changed calibration pomis to 12 Changed output to ba in Degroas Changed HPR dunng Calibration Dete logging stated Dete logging states Cleared da a log 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 DOC 1014688 r01 Page 24 oo00o0000000000 UD 0 0 0 0 400 883 3391 http www sensorexpert com cn 5 8 Graph Tab SETTE B Ede e Module TOM Comocod PNI Free venientos Serial Number 1020659 PCA Version SW TESTI Conrecton Configuration Caliore on Test Dete Logger System Leg Graph BechDsa fFileed User Cal 3 aun MER MYER MACH wea 3m an 252 1632 1012 a457 287 2706 3228 EI Cope czar Matto Scroll ao A4
31. ase class that provides TCM with cooperative parallel processing The Control method will be called by a process manager on a continuous basis This file contains the object providing communication to the class TCM public Process public CommHandler public TCM SerPort serPort TCM 7 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 Page 63 00000000000000 000000 400 883 3391 http www sensorexpert com cn 7 4 5 TCM cp File Note This applies to the TCM3 TCM5 TCM5LT and TCM include TCM 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 Co
32. calibration should be performed with this in mind If the Tilt Error value is gt 1 this indicates the calibration sample s tilt range was not sufficient confirm this by looking at the Tilt Range value 6 2 2 2D Calibration with 12 Calibration Points This calibration procedure is used for very low tilt operation 5 where calibrating the module with higher tilts is not practical The 2D Calibration method calibrates out hard and soft iron effects in two dimensions only 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 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 this means the best results will be obtained if the 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 calibration points is acceptable but less likely to yield good results 0 yaw with no tilt 30 yaw with maximum negative tilt pitch and roll 60 yaw with no tilt 90 yaw with maximum positive tilt pitch and roll 120 yaw with no tilt 150 yaw with maximum negative tilt pitch and roll 180 yaw with no tilt 210 yaw with maximum positive tilt pitch and roll 240 yaw with no tilt 270
33. edge of the board is rotated upward and a positive roll is when the right edge of the board is rotated downward NORTH HEADING OR DIRECTION OF TRAVEL NEGATIVE Y ROLL AXIS postive NEGATIVE POSITIVE PITCH AXIS Figure 6 1 Positive amp Negative Roll and Pitch Definition 6 2 Calibration Procedures These procedures provide instructions for performing a user calibration of the TCM module using TCM Studio and the TCM connectorized cable All TCM Studio application functions are available in the TCM s RS232 interface allowing this procedure to be translated into a user s embedded solution This calibration sequence demonstrates a good distribution of the recommended minimum sample points additional points may be added With the TCM module connected and communicating with TCM Studio go to the Configuration tab and configure as follows DOC 1014688 r01 Page 28 gagggggggggggaga 00000 400 883 3391 http www sensorexpert com cn In the Filter Settings window set Taps to 32 Calibration Settings Uncheck the Automatic Sampling box Choose the appropriate Calibration Method Set Calibration Points to at least 12 for Full Range Calibration Limited Tilt Range Calibration and 2D Calibration at least 6 for Hard Iron Only Calibration and at least 18 for Accel Only Calibration and Accel and Mag Calibration Click the Save button e Goto the Calibration tab 6 2 1 Full Range Calibration with 12 Samp
34. eory 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 Page 1 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 2 Introduction Thank you for purchasing PNI Sensor Corporation s TCM 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 algorithms to provide industry leading heading accuracy The TCM combines PNI Sensor Corporation s patented magneto inductive MI 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 dur
35. 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 i OEM promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the 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 th
36. has no payload DOC 1014688 r01 Page 50 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 7 3 26kAcqParamsDone frame ID 26 4 This frame is the response to kSetAcqParams frame The frame has no payload 7 3 27 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 3 28kPowerDownDone frame ID 28 4 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 3 29 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 3 30kFactoryUserCalDone frame ID 30 4 This frame is the response to kFactoryUserCal frame The frame has no payload 7 3 31 kTakeUserCalSample frame ID 31 4 This frame commands the module to take a sample during user calibration The frame has no payload 7 3 32 kFactorylnclCal frame ID 36 4 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 3 33kFactoryInclCalDone frame ID 37 4 This frame is the response to kFactoryInclCal frame The frame has
37. ianness of packets kMountingRef This sets the reference orientation for the module Standard When selected the module is to be mounted with the main board in a horizontal position the Z axis magnetic sensor is vertical X Sensor Up When selected the module is to be mounted with the main board in a vertical position the X axis magnetic sensor is vertical Y Sensor Up When selected the module is to be mounted with the main board in a vertical position the Y axis magnetic sensor is vertical Standard 90 Degrees When selected the module is to be mounted with the main board in a horizontal position but rotated so the arrow is pointed 90 degrees counterclockwise to the front of the host system Standard 180 Degrees When selected the module is to be mounted with the main board in a horizontal position but rotated so the arrow is pointed 180 degrees counterclockwise to the front of the host system Standard 270 Degrees When selected the module is to be mounted with the main board in a horizontal position but rotated so the arrow is pointed 270 degrees counterclockwise to the front of the host system kUserCalNumPoints The maximum number samples taken during user calibration kUserCalAutoSampling This flag is used during user calibration If set to TRUE the module continuously takes calibration sample points until the set number of calibration samples If set to FALSE the module waits for KTakeUserCalSample frame to take a sample w
38. ific a Speciic 7 3 15 kPowerDown frame ID 15 4 This frame is used to completely power down the module 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 3 16kSaveDone frame ID 16 4 This frame is the response to kSave frame The payload contains a Ulnt16 error code 0000h indicates no error 0001h indicates error when attempting to save data into non volatile memory lt Payload J Error code I Ulnt16 7 3 17 kUserCalSampCount frame ID 17 4 This frame is sent from the module after taking a calibration sample point The payload contains the sample count with the range of 1 to 50 Payload Sample count I Ulnt32 DOC 1014688 r01 Page 48 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 7 3 18kUserCalScore 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 le Payload gt CalScore Calparam2 Accel CalScore DistErr TiltErr TiltRange i Float32 Pit Float32 le Float32 Pit Float32 Pit Float32 gt k Float3
39. ing calibration so multiple calibration methods are available to ensure optimized performance can be obtained in the real world These include Full Range Calibration when 245 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 where field calibration is limited to smaller tilt angles Applications for the TCM include e Autonomous unmanned vehicles AUVs underwater UUVs terrestrial UGVs and airborne UAVs Remotely operated vehicles ROVs Far target locaters and laser range finders Dead reckoning systems Systems in which the tilt angles used for calibration are physically contstrained With its many potential applications the TCM incorporates a flexible and adaptable command set Many parameters are user programmable including reporting units a wide range of sampling configurations out
40. ion 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 On 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 Start button is clicked but no data will be 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 Save 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 Save button It is not necessary to clear the current calibration in order to perform a new calibration DOC 1014688 r01 Page 20 gaggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn 5 5 Test Tab SECTETUER EI Modulo TOM Connected B e P N Frrwer Version 808 2 Seriol Number 1020659 meron PCA Version SW
41. ion 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 calibration 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 DOC 1014688 r01 Page 34 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 6 3 Declination Value Declination also called magnetic variation 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 heading reference from magnetic north to true north Declination angles vary throughout the world and change ver
42. ith the condition that a magnetic field vector component delta is greater than 5 uT from the last sample point kBaudRate Baud rate index value A power down power up cycle is required when changing the baud rate kMilOutput 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 kCoeffCopySet 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 Doc 1014688 r01 Page 44 ggagaggggggggagugua OO0000 400 883 3391 http www sensorexpert com cn 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 kAccelCoeffCopySet 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
43. ken Once the window indicates the next number the module s orientation should be changed and held steady for the next DOC 1014688 r01 Page 18 gggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn sample Once the pre set number of samples has been taken as set on the Configuration tab the calibration is complete 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 in 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 1 for Full Range Calibration 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 1 and close to 0
44. le Points This calibration procedure 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 The recommended calibration pattern is a series of 3 circles of evenly spaced points with as much tilt variation as expected during use PNI recommends using 12 to 32 calibration points for a Full Range Calibration although 10 calibration points is acceptable but less likely to yield good results Move the module to the following positions noting that these are not absolute heading directs but rather approximate heading changes referenced to your first heading sample You do not need to know actual true or magnetic north Note Once you begin taking calibration points pausing between desired calibration points will cause unintentional points to be taken with auto sampling enabled PNI recommends enabling the audible feedback feature to reduce the chance of unknowingly taking unintentional samples Module with slight pitch 5 to 5 0 yaw with 10 20 positive roll initial starting position 90 yaw with 10 20 negative roll 180 yaw with 10 20 positive roll 270 yaw with 10 20 negative roll Module with large positive pitch gt 45 30 with 10 20 positive roll 120 with 10 20 negative roll 210 with 10 20 positive roll 300 with 10 20 negative roll Module with la
45. les of evenly spaced points with as much tilt variation as expected 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 Module approximately level 0 yaw 90 yaw 180 yaw 270 yaw Module with at least 5 of tilt pitch or roll more tilt is better 45 yaw 135 yaw 225 yaw 315 yaw Module with at least 5 of tilt pitch or roll more tilt is better 45 yaw 135 yaw 225 yaw 315 yaw Note that a similar and acceptable alternative pattern would be to follow the recommended 12 point Full Range Calibration pattern but substituting the gt 45 of pitch DOC 1014688 r01 Page 32 gggggggggggguga D UU DUE 400 883 3391 http www sensorexpert com cn 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 5 Accelerometer Only Calibration with 18 Calibration Points 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 32 calibration points for accelerometer calibration although 12 calibration points is acceptable but less likely to yield good results Figure 6 3 shows the two basic star
46. lter taps Each tap is a Float64 The maximum number of taps that can be set is 32 and the minimum is 0 no filtering Parameter ID should be set to 3 DOC 1014688 r01 Page 46 gggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn k Payload gt Parameter ID Axis ID Count Value Value Value Value count ke uintg gt fe uints gt ints gt le Simi 2 sponte gt k spei 2 Spes Table 7 4 Recommended FIR Filter Tap Values Count 4 Tap Filte 8 Tap Filter 16 Tap Filter 32 Tap Filter 1 04 6708657655334e 2 01 9875512449729e 2 07 9724971069144e 3 01 4823725958818e 3 2 04 5329134234467e 1 06 4500864832660e 2 01 2710056429342e 2 02 0737124095482e 3 3 04 5329134234467e 1 01 6637325898141e 1 02 5971390034516e 2 03 2757326624196e 3 4 04 6708657655334e 2 02 4925036373620e 1 04 6451949792704e 2 05 3097803863757e 3 5 02 4925036373620e 1 07 1024151197772e 2 08 3414139286254e 3 6 01 6637325898141e 1 09 5354386848804e 2 01 2456836057785e 2 7 06 4500864832660e 2 01 1484431942626e 1 01 7646051430536e 2 8 01 9875512449729e 2 01 2567124916369e 1 02 3794805168613e 2 9 01 2567124916369e 1 03 0686505921968e 2 10 01 1484431942626e 1 03 8014333463472e 2 11 09 5354386848804e 2 04 5402682509802e 2 12 07 1024151197772e 2 05 2436112653103e 2 13 04 6451949792
47. m TOM Studio is provided as an executable program which can be downloaded from PNI s website It will work with Windows 98 Windows ME Windows 2000 Windows XP Windows Vista and Mac OS X operating systems Please 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 will automatically put 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 there Page 11 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 5 2 Connection Tab SETTE Ee Ede Module TCM Ge N Firwere Version 0605 Serial Number 1020659 PCA Version SW TESTI Connected Connection Configuration Caliaration Test Date Logger System Leg Graph Computer Seriel Pon COMI Baud Rete 38400 Module BsudRete 30400 5 2 1 Initial connection e If using the PNI dual connectorized cable ensure well charged batteries are installed Select the serial port the module is plugged into which is generally COM 1 Select 38400 as the baud rate Click the Connect button if the connection is not automatic Once a connection is made the Connected light will turn gree
48. mmProtocol 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 Message is a function that displays a C formatted string similar to printf Message Received u data elements instead of the u requested r n UInt16 count UInt16 kDataCount DOC 1014688 r01 Page 64 ggggggggggggugua D UU DU 0G 400 883 3391 http www sensorexpert com cn return loop through and collect the elements while count The elements are received as type ie kHeading data switch data pntrt read the type and go to the first byte of the data Only handling the 4 elements we are looking for case CommProtocol kHeading t Move source destination size bytes Move copies the 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 H case CommProtoco kPAngle t Move source destination size bytes Move copies the specified number of bytes from the source pointer to the destination pointer Store the pitch Move amp data pntr amp pitch sizeof pitch
49. n and the 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 In the Module window select the new baud rate for the module Click the Power Down button The button will change to read Power Up In the Computer window select same baud rate for the computer Click the Power Up button The button will revert back to Power Down Note While it is possible to select a baud rate of 230400 the serial port will not operate this fast DOC 1014688 r01 Page 12 oo00o0000000000 0000 00 400 883 3391 http www sensorexpert com cn 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 Connect button once the new module is attached This will reestablish a connection assuming the module baud rate is unchanged 5 3 Configuration Tab SECTEUR EET Module TOM Comeded f NI Fimwere Version 0505 M Seriol Number 1020659 wut PCA Version SWTESTI Connection Configurator Calioreion Test Dete Logger System Leg Graph Mouriing Options Fiter Stings Calibration Setings B Taps g Standard g e B Automatic Samping North Reterence Acquisition Settings Calibration Points 12 u Full Fange Calibration OMagneic OTe Mode Pol OPush OHI Orly Calibration ai A d O Limited Tili Renge Calio
50. no payload Page 51 uggaggggggggaaga D D D D D 400 883 3391 http www sensorexpert com cn 7 3 34 kSetMode frame ID 46 4 This frame sets the mode of operation of the system The payload contains the Mode ID requested If the module is currently 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 FF is Minimum Delay at 38400 baud 7E 4 10 38400 4 4E 4 seconds 440 us 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 lt Payload gt Mode ID lt Ulnt8 Mode ID 0 Normal Mode 100 Sync Mode 7 3 35 kSetModeResps frame ID 47 a This frame is the response to kSetMode frame The payload contains the Mode ID requested Payload gt Mode ID I4 Ulnt8 7 3 36 kSyncRead frame ID 49 4 This frame requests a reading from the module when the unit is in Sync Mode This frame has
51. nsigned char crc amp Oxff gt gt 4 fere sl gy xe di crc amp Oxff 4 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 InLen DOC 1014688 r01 Page 60 uggagggagggggdgaga D UU BD E 400 883 3391 http www sensorexpert com cn switch mStep t case 1 wait for length bytes to be received by the serial object if inLen 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 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 mSteptt goto the next step in the process break H case 2 wait for msg complete or timeout if inLen mExpectedLen 2 UIntl6 crc crcReceived calculated and received crcs Read block will return the number of requested or available bytes that are in the serial objects input buffer mSerialPort ReadBlock amp mInData 2
52. number 7 3 7 kGetConfig frame ID 7 4 This frame queries the module for the current internal configuration value The payload contains the configuration ID requested Payload 3 Config ID I Ulnt8 7 3 8 kConfigResp frame ID 8 4 This frame is the response to kGetConfig frame The payload contains the configuration ID and value e Payload Config ID Value Uns 3 1 ip 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 3 9 kSave frame ID 9 4 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 no payload This is the ONLY command that causes the module to save information into non volatile memory Page 45 gggagggggggggugua D UU DUE 400 883 3391 http www sensorexpert com cn 7 3 10kStartCal frame ID 10 4 This frame commands the module to start user calibration with the current sensor acquisition parameters internal configurations and FIR filter settings 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 l Payload gt
53. od for such Product is specified i 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 s sole and exclusive remedy and PNI s sole and
54. ometers 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 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 1 Accelerometer calibration requires the TCM essentially be rotated through a full sphere of coverage However it does not require the module be incorporated into the user s system during the calibration 2 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 3 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 4 Full Range magnetometer Calibration provides the highest heading accuracy but often performing a Full Range Calibration is not practical 2
55. onsumption 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 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 Sync Read 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 Sync Trigger button to wake up the module and then click on the Sync Read gt button to get the readings after which the module will return to sleep Exit Sync Mode Click on the Sync Trigger button and then uncheck the Sync Mode check box to exit Sync Mode Note that Sync Trigger 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 DOC 1014688 r01 Page 22 gaggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn 5 6 Data Logger Tab SETTE ERA Be Ede fou Mod
56. owerDown 29 kFactoryUserCal Clears user magnetometer calibration coefficients 30 kFactorUserCalDone Response to kFactoryUserCal Commands the module to take a sample during user 31 kTakeUserCalSample calibration 36 kFactoryInclCal Clears user accelerometer calibration coefficients 37 kFactoryInclCalDone Respond to kFactoryInclCal 46 kSetMode Sets the mode of operation of the system 47 kSetModeResp Response to kSetMode 48 kSyncRead Queries the module for data in Sync Mode Page 39 gggagggggggggagug D UU DUE 400 883 3391 http www sensorexpert com cn 7 3 4 kGetModlnfo frame ID 1 4 This frame queries the module s type and firmware revision number The frame has no payload The complete packet for the kGetModInfo command would be 0005 01 EFD4 With 0005 being the byte count 01 kGetModInfo command EFD4 CRC 16 checksum 7 3 2 kModlnfoResp frame ID 24 This frame is the response to kGetModlnfo frame The payload contains the module type identifier followed by the firmware revision number Frame ID gt lt Payload 2 Type Revision kuns l Uinta2 X uns2 7 3 3 kSetDataComponents frame ID 3 4 This frame sets the data components in the module s data output This is not a query for the module s data see kGetModlnfo The first byte of the payload indicates the number of data components followed by the data component
57. p frame ID 5 4 This frame is the response to 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 the components IDs follows the sequence set in the kSetDataComponents frame le Payload gt Count ID Values ID Values Doan Value ocon ID ID ID uints uints gt le Spei 4 Vints l Specie 4 Ynis gt k Seii Example If the response contains the heading and pitch output 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 3 6 kSetConfig frame ID 6 4 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 I4 Payload Config ID Value ID Uime Specific DOC 1014688 r01 Page 42 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn Example To configure the declination the payload would look like 1 10 0 Declination ID Declination Angle Float32 Table 7 3 RS232 Configuration Identifiers Settings Config ID Format kDeclination 1 Float32 Values Range 180 to 180 Default o kTrueNorth 2
58. put 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 DOC 1014688 r01 Page2 ggggggggggggugu D UU DU 0 400 883 3391 http www sensorexpert com cn 3 Specifications Table 3 1 Performance Specifications Parameter Value Range 360 65 of tilt after full range calibration lt 0 3 rms Static 80 of tilt after full range calibration lt 0 5 rms Heading Accuracy x5 of tilt after 2D calibration 2 0 rms lt 2 times the calibration tilt angle 2 0 rms when using limited tilt calibration Resolution one Repeatability 0 05 rms Range Pitch x 90 Roll t 180 Pitch 0 2 rms Tilt Static lt 65 of pitch 0 2 rms Pitch amp Roll Accuracy Roll lt 80 of pitch 0 4 rms x86 of pitch 1 0 rms Resolution 0 01 Repeatability 0 05 rms Maximum Dip Angle 85 Calibrated Field Range 125 pT Magnetometers Resolution 0 05 uT Repeatability 0 1 pT For example if the calibration was performed over 10 of tilt then the TCM would provide lt 2 rms accuracy over 20 of tilt Table 3 2 I O Characteristics Paramet Value Communication Interface RS232 binary protocol 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
59. rameters are in the IEEE standard format ANSI IEEE Std 754 1985 64 Bit double precision floating point Shown below is the 64 bit float format in big Endian in little Endian bytes are in reverse order in 4 byte groups i e big Endian ABCDEFGH little Endian DCBA HGFE 63 62 5251 0 s Exponent Mantissa The value v is determined as if and only if 0 Exponent 2047 v 1 S 2 Exponent 1023 1 Mantissa 32 Bit single precision floating point Shown below is the 32 bit float format in big Endian in little Endian all 4 bytes are in reverse order LSB first DOC 1014688 r01 Page 36 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 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 Note Please refer to ANSI IEEE Std 754 1985 for more information It is also recommended that you refer to the compiler you are using on how it implements floating point formats Signed 32 bit Integer SInt32 SInt32 based parameters are signed 32 bit numbers 2 s compliment Bit 31 represents the sign of the value O positive 1 negative 31 2423 1615 87 o msb Isb Big Endian 7 015 8 23 1631 24 Isb msb Little Endian Signed 16 bit Integer SInt16 SInt16 based parameters are signed 16 bit numbers 2 s compliment Bit 15 represents
60. rd 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 DOC 1014688 r01 Page 16 gggggggggggguga D UU DUE 400 883 3391 http www sensorexpert com cn Limited Tilt Range Calibration recommended calibration method when gt 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 e Accel Calibration Only The user should select this when accelerometer calibration will be performed The minimum recommended number of calibration points is 18 e 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 Default 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 Page 17 gagggggggggggggua D UU DU 0 400 883 3391 http www sensorexpert com cn 5 4 Calibration Tab Siven
61. re sensor Its value is in Celsius and has an accuracy of 3 C kDistortion This flag indicates at least one magnetometer axis reading is beyond 125 uT kCalStatus This flag indicates the user calibration status False default not calibrated kPAligned kRAligned amp kIZAligned 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 can be stored using kAccelCoeffCopySet see Section 7 3 6 and this command references whichever set currently is being used kPAngle kRAngle 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 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 3 6 and this command references whichever set currently is being used Page 41 gggggggggggguga D UU BD Eg 400 883 3391 http www sensorexpert com cn 7 3 4 kGetData frame ID 4 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 with 0005 the byte count 04 kGetData command BF71 CRC 16 checksum 7 3 5 kDataRes
62. rerion m Acquire Delay 0 000 O 2D Calibration pigi O Accel on Calitration Intervel Delay 100 8g O Litle O Accel Celibration with Mag Fush Fiters Output HPR During Calibretion GDegees OMis Gn Oot C Retrieve Enable 3D Model Display Note No settings will be changed in the module 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 2 The descriptions in TCM Studio are slightly different from those shown in Figure 4 2 and the relationship between the two sets of descriptions is given below Page 13 00000000000000 D D D D D 400 883 3391 http www sensorexpert com cn Table 5 1 Mounting Orientations TCM Studio Figure 4 2 TCM Studio Figure 4 2 Description Description Description Description Standard STD 0 Y Sensor Up Y Up 0 Standard 90 E Y Sensor Up Plus avem S Degrees SUD SD 90 Degrees RUSO Standard 180 Y Sensor Up Plus ayn Degrees STD 190 180 Degrees Y Up 180 Standard 270 a Y Sensor Up Plus ayn Degrees Sup eno 270 Degrees WUD ee X Sensor Up X Up 0 Z Sensor Down Z Down 0 X Sensor Up Plus ces E Z Sensor Down mx E 90 Degrees Ue Plus 90 Degrees Z Dome X Sensor Up Plus m m Z Sensor Down im 5 180 Degrees X Up 180 Plus 180 Degrees Z Dowin 180 X Sensor Up Plus yn S Z Sensor Up Plus uz e 270 Degrees 5 ione 270 Degrees E DSTI ext
63. rge negative pitch lt 45 60 with 10 20 positive roll 150 with 10 20 negative roll 240 with 10 20 positive roll 330 with 10 20 negative roll Page 29 gggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn Minimum 12 good user calibration points Additional points can be added including upside down if possible Alternate Roll between points odd number points positive roll even negative roll Top Views Side Views ii 1 nl Little x CF 14 Pih y k T 3 N T ra Large Positive Pitch nw L 12 Large Negative Pitch 22e2on 0 Figure 6 2 Magnetometer 12 Point Calibration Click the Start button Hold the module stable and with a slight pitch Click the Take Sample button Rotate the module to the next orientation and click the Take Sample button when the module is stable in the new orientation Repeat step d until all 12 samples are taken Click the Save button DOC 1014688 r01 Page 30 oo00o0000000000 00000 0 400 883 3391 http www sensorexpert com cn The Calibration Results window in TCM Studio displays the CalScore which should be lt 1 If itis not check the Dist Error and Tilt Error values to see if either is gt 1 If the Dist Error is gt 1 this indicates the calibration sample set wasn t evenly distributed and another
64. terval See kSetAcqParams The frame has no payload 7 3 22kStopIntervalMode frame ID 22 4 This frame commands the module to stop data output at a fixed time interval The frame has no payload 7 3 23kPowerUp frame ID 23 4 This frame is sent from the module after wake up from power down 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 3 24 kSetAcqParams frame ID 24 4 This frame sets the sensor acquisition parameters in the module The payload should contain the following le Payload gt PollingMode FlushFilter SensorAcqTime IntervalRespTime ke ints gt ints h Floats2 9 Floats2 PollingMode Flag to set push poll data output mode Default is TRUE poll mode FlushFilter Flag to set FIR filter flushing every sample Default is FALSE no flushing SensorAcqTime The internal time interval between sensor acquisitions Default is 0 0 seconds this means that the module will reacquire immediately right after the last acquisition IntervalRespTime The time interval the module output data in push mode Default is 0 0 seconds this means that the module will push data out immediately after an acquisition cycle 7 3 25 kGetAcqParams frame ID 25 4 This frame queries the unit for acquisition parameters The frame
65. that displays a formatted string similar to printf Message Unknown frame 02X received r n UInt16 frameType break j Have the CommProtocol build and send the frame to the module void TCM SendComm UInt8 frameType void dataPtr UInt16 dataLen if mComm mComm gt SendData frameType dataPtr dataLen Ticks is a timer function 1 tick 10msec mResponseTime Ticks 300 Expect a response within 3 seconds This is called each time this process gets a turn to execute void TCM Control switch mStep case 1 t UInt8 pkt kDataCount 1 the compents we are requesting preceded by the number of components being requested DOC 1014688 r01 Page 66 uggagggagggggdaaga D UU D E 400 883 3391 http www sensorexpert com cn pkt 0 kDataCount pkt 1 CommProtocol kHeading pkt 2 CommP rotocol 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 mSteptt go to next step of process break H case 2 Ticks is a timer function 1 tick 10msec if Ticks mTime tell the module to take a sample SendComm CommProtocol kGetData mTime Ticks 100 take a sample every second mSteptt break
66. 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 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 Page 15 gagggggggggggugua D UU DUE 400 883 3391 http www sensorexpert com cn 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 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 calcula
67. the sign of the value O positive 1 negative 15 87 0 msb isb Big Endian 7 015 8 isb msb Little Endian Signed 8 bit Integer SInt8 Ulnt8 based parameters are unsigned 8 bit numbers Bit 7 represents the sign of the value O positive 1 negative 7 0 byte Page 37 ggaggggggggggagu D UU D D 0G 400 883 3391 http www sensorexpert com cn Unsigned 32 bit Integer Ulnt32 Ulnt32 based parameters are unsigned 32 bit numbers 31 2423 1615 87 o msb Isb Big Endian 7 015 8 28 1631 24 Isb msb Little Endian Unsigned 16 bit Integer Ulnt16 Ulnt16 based parameters are unsigned 16 bit numbers 15 87 0 msb isb Big Endian 7 015 8 Isb msb Little Endian Unsigned 8 bit Integer Ulnt8 Ulnt8 based parameters are unsigned 8 bit numbers 0 byte Boolean Boolean is a 1 byte parameter that MUST have the value 0 FALSE or 1 TRUE 7 0 byte DOC 1014688 r01 Page 38 ggaggggggggggagu D UU D D 400 883 3391 http www sensorexpert com cn 7 3 Commands amp Communication Frames Table 7 1 RS232 Command Set dide Command Description 1 kGetModInfo Queries the modules type and firmware revision number 2 kModInfoResp Response to kGetModInfo 3 kSetDataComponents Sets the data componen
68. ting 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 sending new data as soon as
69. ting positions for the Accelerometer Only Calibration Calibration can occur within the user s system or with the module alone It is not necessary for the module to be placed on a hard surface as shown but the module must be held 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 3 rotate the module such that it sits on each of its 6 faces Take a calibration point on each face Starting with the module as shown on the left rotate it 45 such that it is standing on one of its corners as shown for the module on the right The picture shows the module also rotated about its Z axis but this is only for illustration purposes Take a calibration point 0 Now tilt the module back 45 and take another calibration point 459 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 Note that the calibration points can be obtained in any order Page 33 gagggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn Figure 6 3 Accelerometer Calibration Starting Orientations 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 installat
70. tion 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 On 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 point once the minimum change requirement and the stability check if selected has 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 Take Sample 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 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 ha
71. ts to be output 4 kGetData Queries the module for data 5 kDataResp Response to kGetData 6 kSetConfig Sets internal configurations in the module y kGetConfig 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 Sets the FIR filter settings for the magnetometer amp iB SESTO accelerometer sensors Queries for the FIR filter settings for the magnetometer amp 19 KGetParam accelerometer sensors Contains the FIR filter settings for the magnetometer amp ie WEBESIRSESSE 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 kStopIntervalMode 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 25 kGetAcqParams Queries for the sensor acquisition parameters 26 kAcqParamsDone Response to kSetAcqParams 27 kAcqParamsResp Response to kGetAcqParams 28 kPowerDownDone Response to kP
72. ule TCM Firmware Version 0805 Serial Number 1020659 PCA Version SW TESTI Connected Connecton Configuration Calioreron Test Data Logger System Leg Graph Tike ie BD af a second Daa Ticks Heading UX Aigner MY Aligned MZ GZAligned Heading 001261317 155 7 31 53 4 74 25 83 Pich amp PAngis 001201322153 uas E 2350 Roll kRAngle 001281326 150 3 29 36 5 74 3014 Temperature 01200130 14 2036 ES 3126 M DXAlignei nmm 1447 2806 74 3138 My kvAligned 001281339 143 5 27 81 7 88 3236 MZ kZAligned 001281343 143 6 2776 815 3251 GX kPAliqned 001281346 144 5 27 89 8 20 32 49 GY KPAligred 00261381 14850 28 06 an 3238 GZ kIZAligned 001261356 147 5 28 24 7 96 3227 Disterton 00120130 1404 2036 70 2216 amman a500 2848 E E ooize13es 1503 28 54 752 32 04 001281373 1508 2856 733 3202 001261376 1526 2856 705 ET 001280380 1534 2946 B67 EXE uoize13 5 1540 2833 E 3230 001200358 1542 20 00 503 3250 00280380 1536 2144 580 EE 001261387 151 8 26 60 E 3332 00028042 1483 2546 E ETE Hosding 1488 Pth 38 Rol 84 auto Scroll TCM Studio can capture measurement data and then export it to a text file To acquire data and export it follow the procedure below 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
73. ure 4 2 TCM Mounting Orientations PNI Sensor Corporation DOC 1014688 r01 FieldForce TCM User Manual November 2009 Page 10 5 Operation with TCM Studio The TCM Studio evaluation software communicates with the TCM through the COM port serial port of your PC It 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 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 TCM 6 but not other legacy TCM models and legacy TCM Studio programs will not function properly with the TCM XB or TCM 6 The TCM XB model is the current version TCM with a binary communication protocol When you launch TCM Studio it should say TCM Studio Ver 3 X in the upper left corner where X is integer 0 for greater 5 1 Installation onto a Windows or Mac syste
74. ve 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 Page7 ggggggggggggugua D UU DU 0 400 883 3391 http www sensorexpert com cn 4 2 3 Mount in a physically stable location Choose a location that is isolated from excessive shock oscillation and vibration 4 2 4 Preliminary testing Testing should be performed at an early stage of development to understand and accommodate the magnetic distortion contributors in a host system Use the data logger in TCM Studio as discussed in Section 5 6 to perform the following tests Determine the distance range of field distortion Place the compass in a fixed position then move or energize suspect components
75. while observing the output to determine when they are an influence Determine if the mounting location s magnetic field is within the 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 Figure 3 1 for TCM dimensions and the orientation of the reference frame The TCM is factory calibrated with respect to its mounting holes as shown below It must be aligned within the host system with respect to these mounting holes Ensure any stand offs or screws used to mount the module are non magnetic DOC 1014688 r01 Page 8 gagggggggggggggua D UU DU 0 400 883 3391 http www sensorexpert com cn 40 051 2 8700 500 002 ntu CLEARANCE FOR 4 40 UNC FASTENER M gx 1188001 37 000 0 025 14572001 MOUNTING BLOCK STAKING 300040 025 27 3X 1182008 MILUMETERS 1 1424 001 Figure 4 1 TCM Mounting Holes bottom view The TCM can be mounted in various orientations All reference points are based on the white silk screened arrow on the top side of the board Page 9 uggaggggggggadgga D D D D D 400 883 3391 http www sensorexpert com cn HEADING HEADING HEADING X UP 270 Note that the Z axis sensor and Molex connector are on the top surface of the module Fig
76. y 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 Limitations The TCM measures the total magnetic field within its vicinity and this is a combination of the earth s magnetic field and local magnetic sources The module can compensate for local static magnetic sources that do not exceed the dynamic range of its magnetometers A magnetic source which is not static can create errors 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 Page 35 gaggggggggggguga D UU DU 0 400 883 3391 http www sensorexpert com cn 7 Operation with RS232 Interface 7 1 Datagram Structure The data structure for RS232 communication is shown below ByteCount Packet Frame CRC 16 Ulnt16 1 4092 Ulnt8 Ulnt16 pane Payload Uints 1 4091 Ulnt8 Figure 7 1 Datagram Structure ByteCount is the total number of bytes in the packet including the CRC 16 CRC 16 is calculated starting from the ByteCount to the last byte of the Packet Frame see included C function at end of document The ByteCount and CRC 16 are always transmitted in BIG ENDIAN 7 2 Parameter Formats Floating Point The floating point based pa

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