PNI TCM XB Bedienungsanleitung

User Manual

TCM

High-Performance Tilt-Compensated Compass Module

PNI Sensor Corporation DOC#1014688 r09.2

TCM User Manual Page i

Table of Contents

1COPYRIGHT & WARRANTY INFORMATION ................................................. 1

2INTRODUCTION ......................................................................................... 2

3SPECIFICATIONS......................................................................................... 3

3.1 Characteristics & Requirements ........................................................... 3

3.2 Mechanical Drawings............................................................................ 6

4SET-UP....................................................................................................... 8

4.1 Electrical Connections........................................................................... 8

4.2 Installation Location.............................................................................. 9

4.2.1 Operate within the TCM’s dynamic range................................... 9

4.2.2 Locate away from changing magnetic fields ............................... 9

4.2.3 Mount in a physically stable location .......................................... 9

4.2.4 Location-verification testing ........................................................ 9

4.3 Mechanical Mounting ......................................................................... 10

4.3.1 Pitch and Roll Conventions ........................................................ 10

4.3.2 Mounting Orientation................................................................ 11

5USER CALIBRATION.................................................................................. 12

5.1 Magnetic Calibration........................................................................... 13

5.1.1 Full-Range Calibration................................................................ 15

5.1.2 2D Calibration ............................................................................ 16

5.1.3 Limited Tilt Range Calibration.................................................... 17

5.1.4 Hard-Iron-Only Calibration ........................................................ 18

5.2 Accelerometer Calibration.................................................................. 18

5.2.1 Accelerometer-Only Calibration ................................................ 19

5.2.2 Mag-and-Accel Calibration ........................................................ 20

6OPERATION WITH TCM STUDIO ............................................................... 21

6.1 Installation .......................................................................................... 21

6.2 Connection Tab ................................................................................... 22

6.2.1 Initial Connection....................................................................... 22

6.2.2 Changing Baud Rate ................................................................... 22

6.2.3 Changing Modules ..................................................................... 23

6.3 Configuration Tab ............................................................................... 23

6.3.1 Mounting Options...................................................................... 23

6.3.2 North Reference......................................................................... 24

6.3.3 Endianess ................................................................................... 24

6.3.4 Output........................................................................................ 25

6.3.5 Enable 3D Model........................................................................ 25

6.3.6 Filter Setting (Taps).................................................................... 25

6.3.7 Acquisition Settings.................................................................... 25

6.3.8 HPR During Calibration .............................................................. 26

6.3.9 Calibration Settings.................................................................... 26

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6.3.10 Default........................................................................................ 27

6.3.11 Retrieve...................................................................................... 27

6.4 Calibration Tab.................................................................................... 28

6.4.1 Samples ...................................................................................... 28

6.4.2 Calibration Results ..................................................................... 29

6.4.3 Current Configuration................................................................ 30

6.4.4 Options....................................................................................... 30

6.4.5 Clear ........................................................................................... 30

6.5 Test Tab............................................................................................... 31

6.5.1 Current Reading ......................................................................... 31

6.5.2 3D Model.................................................................................... 31

6.5.3 Acquisition Settings.................................................................... 31

6.5.4 Sync Mode.................................................................................. 32

6.6 Log Data Tab ....................................................................................... 33

6.7 Graph Tab............................................................................................ 34

6.8 System Log Tab ................................................................................... 35

7OPERATION WITH PNI BINARY PROTOCOL ............................................... 36

7.1 Datagram Structure ............................................................................ 36

7.2 Parameter Formats ............................................................................. 37

7.3 Commands & Communication Frames ............................................... 39

7.3.1 kGetModInfo (frame ID 1d) ........................................................ 40

7.3.2 kGetModInfoResp (frame ID 2d) ................................................ 40

7.3.3 kSetDataComponents (frame ID 3d) .......................................... 41

7.3.4 kGetData (frame ID 4d) .............................................................. 42

7.3.5 kGetDataResp (frame ID 5d)....................................................... 42

7.3.6 kSetConfig (frame ID 6d) ............................................................ 43

7.3.7 kGetConfig (frame ID 7d)............................................................ 47

7.3.8 kGetConfigResp (frame ID 8d).................................................... 47

7.3.9 kSave (frame ID 9d) .................................................................... 48

7.3.10 kStartCal (frame ID 10d) ............................................................. 48

7.3.11 kStopCal (frame ID 11d).............................................................. 50

7.3.12 kSetFIRFilters (frame ID 12d)...................................................... 50

7.3.13 kGetFIRFilters (frame ID 13d) ..................................................... 52

7.3.14 kGetFIRFiltersResp (frame ID 14d) ............................................. 52

7.3.15 kPowerDown (frame ID 15d)...................................................... 52

7.3.16 kSaveDone (frame ID 16d).......................................................... 53

7.3.17 kUserCalSampleCount (frame ID 17d)........................................ 53

7.3.18 kCalScore (frame ID 18d)............................................................ 53

7.3.19 kSetConfigDone (frame ID 19d).................................................. 54

7.3.20 kSetFIRFiltersDone (frame ID 20d) ............................................. 54

7.3.21 kStartContinuousMode (frame ID 21d)...................................... 54

7.3.22 kStopContinuousMode (frame ID 22d) ...................................... 54

7.3.23 kPowerUpDone (frame ID 23d) .................................................. 55

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7.3.24 kSetAcqParams (frame ID 24d)................................................... 55

7.3.25 kGetAcqParams (frame ID 25d).................................................. 56

7.3.26 kSetAcqParamsDone (frame ID 26d).......................................... 56

7.3.27 kGetAcqParamsResp (frame ID 27d) .......................................... 56

7.3.28 kPowerDownDone (frame ID 28d) ............................................. 56

7.3.29 kFactoryMagCoeff (frame ID 29 d) ............................................. 56

7.3.30 kFactoryMagCoeffDone (frame ID 30 d)..................................... 56

7.3.31 kTakeUserCalSample (frame ID 31d).......................................... 57

7.3.32 kFactoryAccelCoeff (frame ID 36 d)............................................ 57

7.3.33 kFactoryAccelCoeffDone (frame ID 37 d) ................................... 57

7.3.34 kSetSyncMode (frame ID 46 d) ................................................... 57

7.3.35 kSetSyncModeResp (frame ID 47 d) ........................................... 58

7.3.36 kSyncRead (frame ID 49 d).......................................................... 58

7.4 Using Multiple Coefficient Sets........................................................... 59

7.5 Code Examples.................................................................................... 61

7.5.1 Header File & CRC-16 Function.................................................. 61

7.5.2 CommProtocol.h File ................................................................. 64

7.5.3 CommProtocol.cpp File.............................................................. 66

7.5.4 TCM.h File .................................................................................. 70

7.5.5 TCM.cpp File............................................................................... 71

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List of Tables

Table 3-1: Performance Characteristics13

Table 3-2: Absolute Maximum Ratings 4

Table 3-3: Electrical Operating Requirements 4

Table 3-4: I/O Characteristics 5

Table 3-5: Environmental Requirements 5

Table 3-6: Mechanical Characteristics 5

Table 4-1: TCM Pin Descriptions 8

Table 5-1: Magnetic Calibration Mode Summary 14

Table 5-2: 12 Point Full-Range Calibration Pattern 16

Table 5-3: 12 Point 2D Calibration Pattern 17

Table 5-4: 12 Point Limited-Tilt Calibration Pattern 17

Table 5-5: 6 Point Hard-Iron-Only Calibration Pattern 18

Table 6-1: Mounting Orientations 24

Table 7-1: UART Configuration 36

Table 7-2: TCM Command Set 39

Table 7-3: Component Identifiers 41

Table 7-4: Configuration Identifiers 44

Table 7-5: Sample Points 45

Table 7-6: Recommended FIR Filter Tap Values 51

Table 7-7 Multiple Coefficient Command List 59

List of Figures

Figure 3-1: TCM XB Mechanical Drawing 6

Figure 3-2: TCM XB Pigtailed Cable Drawing 6

Figure 3-3: TCM MB Mechanical Drawing 7

Figure 4-1: Positive & Negative Roll and Pitch Definition 10

Figure 4-2: Mounting Orientations 11

Figure 5-1: 12 Point Full-Range Calibration 15

Figure 5-2: Accelerometer Calibration Starting Orientations 20

Figure 7-1: Datagram Structure 36

PNI Sensor Corporation DOC#1014688 r09.2

TCM User Manual Page 1

1 Copyright & Warranty Information

as allowed under copyright laws.

Revised March 2014. For most recent version visit our website at www.pnicorp.com

PNI Sensor Corporation

2331 Circadian Way

Santa Rosa, CA 95407, USA

Tel: +1 (707) 566-2260

Fax: +1 (707) 566-2261

Warranty and Limitation of Liability. PNI Sensor Corporation ("PNI") manufactures its TCM products

(“Products”) from parts and components that are new or equivalent to new in performance. PNI warrants that each

Product to be delivered hereunder, if properly used, will, for one year following the date of shipment unless a different

warranty time period for such Product is specified: (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 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 toreplace the Product

or to credit OEM’s account. PNI warrants any such repaired or replacement Product to be free from defects in material

and workmanship on the same terms as the Product originally purchased.

Except for the breach of warranty remedies set forth herein, or for personal injury, PNI shall have no liability for any

indirect or speculative damages (including, but not limited to, consequential, incidental, punitive and special damages)

relating to the use of or inability to use this Product, whether arising out of contract, negligence, tort, or under any

warranty theory, or for infringement of any other party’s intellectual property rights, irrespective of whether PNI had

advance notice of the possibility of any such damages, including, but not limited to, loss of use, revenue or profit. In

no event shall PNI’s total liability for all claims regarding a Product exceed the price paid for the Product. PNI neither

assumes nor authorizes any person to assume for it any other liabilities.

Some states and provinces do not allow limitations on how long an implied warranty lasts or the exclusion or limitation

of incidental or consequential damages, so the above limitations or exclusions may not apply to you. This warranty

gives you specific legal rights and you may have other rights that vary by state or province.

PNI Sensor Corporation DOC#1014688 r09.2

TCM User Manual Page 2

2 Introduction

Thank you for purchasing PNI Sensor Corporation’s TCM XB (pn 12810) or TCM MB (pn 13095)

tilt-compensated 3-axis digital compass. The TCM is a high-performance, low-power

consumption, tilt-compensated electronic compass module that incorporates PNI’s advanced

magnetic distortion compensation and calibration scoring algorithms to provide industry-leading

heading accuracy. The TCM combines PNI’s patented magneto-inductive sensors and

measurement circuit technology with a 3-axis MEMS accelerometer for unparalleled cost

effectiveness and performance.

PNI recognizes not all applications allow for significant tilt during calibration, so multiple

calibration methods are available to ensure optimized performance can be obtained in the real

world. These include Full-Range Calibration, when ≥45° 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 >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.

Plus, the accelerometer can be periodically recalibrated in the field to maintain maximum

accuracy.

These advantages make PNI’s TCM the choice for applications that require the highest accuracy

and performance anywhere in the world under a wide range of conditions. Applications for the

TCM include:

Unmanned vehicles –underwater (UUV), ground (UGV), & aerial (UAV)

Far target locaters and laser range finders

Dead reckoning systems

Systems in which the tilt angles used for calibration are physically constrained

With its many applications, the TCM incorporates a flexible and adaptable command set. Many

parameters are user-programmable, including reporting units, a wide range of sampling

configurations, output damping, and more.

We’re sure the TCM will help you to achieve the greatest performance from your system. Thank

you for selecting the TCM.

PNI Sensor Corporation DOC#1014688 r09.2

TCM User Manual Page 3

3 Specifications

3.1 Characteristics & Requirements

Table 3-1: Performance Characteristics1

Parameter

Value

Heading

Accuracy

≤65° of pitch after Full-Range

Calibration

<0.3° rms

≤80° of pitchafter Full-Range

Calibration

<0.5° rms

≤5° of pitch after 2D calibration

<2.0° rms

≤2 times the calibration tilt angle when

using limited-tilt calibration2

<2.0° rms

Resolution

0.1°

Repeatability

0.05° rms

Attitude

Range

Pitch

± 90°

Roll

± 180°

Accuracy

Pitch

0.2° rms

Roll

≤65° of pitch

0.2° rms

≤80° of pitch

0.4° rms

≤86° of pitch

1.0° rms

Resolution

0.01°

Repeatability

0.05° rms

Maximum Operational Dip Angle3

85°

Magnetometers

Calibrated Field Range

± 125 µT

Resolution

0.05 µT

Repeatability

± 0.1 µT

Footnotes:

1. Specifications are subject to change. Assumes the TCM is motionless and the local magnetic field

is clean relative to the user calibration.

2. For example, if the calibration was performed over ±10° of tilt, then the TCM would provide <2° rms

accuracy over ±20° of tilt.

3. Performance at maximum operational dip angle will be somewhat degraded.

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TCM User Manual Page 4

Table 3-2: Absolute Maximum Ratings

Parameter

Minimum

Maximum

Units

Supply Voltage

-0.3

+10

VDC

Storage Temperature

-40

+85

°C

CAUTION:

Stresses beyond those listed above may cause permanent damage to the device. These are

stress ratings only. Operation of the device at these or other conditions beyond those indicated

in the operational sections of the specifications is not implied.

Table 3-3: Electrical Operating Requirements

Parameter

Value

Supply Voltage

TCM XB

3.8 to 9 VDC

TCM MB

3.3 to 9 VDC

Communication

Lines

TCM XB

High Level Input

2.4 V minimum

Low Level Input

0.6 V maximum

Output Voltage Swing

±5.2 V typ., ±5.0 V min.

Tx Output Resistance

300 Ω

TCM MB

High Level Input

2.0 V minimum

Low Level Input

0.8 V maximum

Output Voltage Swing

0 –3.3 V typical

Tx Output Resistance

330 Ω

Average

Current Draw

TCM XB

@ max. sample rate

20 mA typical

@ 8 Hz sample rate

16 mA typical

TCM MB

@ max. sample rate

17 mA typical

@ 8 Hz sample rate

13 mA typical

Peak Current

Draw

During application of external

power

120 mA pk, 60 mA avg

over 2 ms

During logical power up/down or

Sync Trigger

135 mA pk, 60 mA avg

over 4 ms

Sleep Mode

Current Draw

TCM XB

0.3 mA typical

TCM MB

0.1 mA typical

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TCM User Manual Page 5

Table 3-4: I/O Characteristics

Parameter

Value

Communication

Interface

TCM XB

RS232 UART

TCM MB

CMOS/TTL UART

Communication Protocol

PNI Binary

Communication Rate

300 to 115200 baud

Maximum Sample Rate1

~30 samples/sec

Time to Initial

Good Data2

Initial power up

<210 ms

Sleep Mode recovery

<80 ms

Footnotes:

1. The maximum sample rate is dependent on the strength of the magnetic field,

and typically will be from 25 to 32 samples/sec.

2. FIR taps set to “0”.

Table 3-5: Environmental Requirements

Parameter

Value

Operating Temperature1

-40C to +85C

Storage Temperature

-40C to +85C

Footnote:

1. To meet performance specifications across this range,

recalibration will be necessary as the temperature varies.

Table 3-6: Mechanical Characteristics

Parameter

Value

Dimensions

(l x wx h)

TCM XB

35 x 43 x 13 mm

TCM MB

33 x 31 x 13 mm

Weight

TCM XB

6.8 gm

TCM MB

5.3 gm

Connector

TCM XB

9-pin Molex, pn 53780-0970

TCM MB

4-pin MIL-MAX, pn 850-10-004-10-001000

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