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PNI TCM3 User Manual

Tilt-compensated compass module
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User Guide
TCM3 & TCM5
Tilt-Compensated Compass Module

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Summary of Contents for PNI TCM3

  • Page 1 User Guide TCM3 & TCM5 Tilt-Compensated Compass Module...

  • Page 2: Table Of Contents

    Table of Contents COPYRIGHT & WARRANTY INFORMATION ..................3 PNI CORPORATION’S TCM3 & TCM5 ....................4 PERFORMANCE SPECIFICATIONS ..................5 2.1.1 Heading Specifications ....................5 2.1.2 Magnetometer Specifications ..................5 2.1.3 Tilt Specifications ......................5 2.1.4 Calibration........................5 2.1.5 Mechanical Specifications .................... 5 2.1.6...

  • Page 3: Copyright & Warranty Information

    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...

  • Page 4: Pni Corporation's Tcm3 & Tcm5

    Note: Several versions of the TCM exist, as the product line has evolved over the years. Throughout this manual the term “TCM” refers to the TCM 3 and TCM 5. Other versions available from PNI include the current TCM XB and TCM 5LT, and the legacy TCM 2.5 and TCM 2.6. (Availability subject to change.)

  • Page 5: Performance Specifications

    3.5 x 4.3 x 1.3 Weight <7 <7 grams Screw mounts/Standoffs Screw mounts/Standoffs Mounting Options Horizontal Horizontal or vertical Connector for RS-232 9-pin 9-pin PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 5...

  • Page 6: I/O Specifications

    0.6 typical 2.1.8 Environmental Specifications Parameter TCM3 TCM5 Units Operating Temperature -40º to 85º -40º to 85º Storage Temperature -40º to 85º -40º to 85º PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 6...

  • Page 7: Mechanicals

    The default orientation for the TCM is for the silk-screened arrow to point in the “forward” direction. That puts the edge opposite of the Molex connector as the front edge of the board. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 7...

  • Page 8: In. Cable Assembly

    Molex p/n 51146-0900  Molex p/n 50641-8141 TCM Pin Descriptions Wire Color Description Black Power Ground Gray Green R2-232 Ground Orange Violet Brown Yellow Blue 5 VDC PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 8...

  • Page 9: Installation Of The Tcm

    Included with the TCM Interface Kit is a cable to allow for the unit to be connected to your host system. On one end of the cable is the connector needed to mate with the TCM3/5. The cable’s wires are color coded as indicated below.

  • Page 10: Where To Install

    To determine the range of field distortion, place the compass in a fixed position, then move/energize suspect components while observing the output to determine when they are an influence. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 10...

  • Page 11: Mechanically Mounting The Tcm

    The TCM is factory calibrated with respect to the mounting holes, as shown below, thus it must be aligned within host system with respect these mounting holes, board edges. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 11...
  • Page 12 Note: The board depicted below is for illustration purposes only and does not show the actual TCM board. TCM3/5 Mounting Options PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 12...

  • Page 13: Using The Tcm

    TCM while using the TCM Studio program’s more friendly interface. Check the PNI website for the latest updates at www.pnicorp.com. 4.1.1 Install the TCM Studio program onto a Windows system: 1.

  • Page 14: Connection Tab

    Standard 270 Degrees: When selected the unit is to be mounted with the main board in a horizontal position but rotated so the arrow is pointed 270 degrees clockwise from the front of the host system. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 14...
  • Page 15 Z Sensor Down Plus 90 Degrees: When selected the unit is to be mounted with the main board in a vertical position (the Z axis magnetic sensor is vertical) and rotated 90 degrees clockwise from the front of the host system. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 15...
  • Page 16 Z Sensor Up Plus 270 Degrees: When selected the unit is to be mounted with the main board in a vertical position (the Z axis magnetic sensor is vertical) and rotated 270 degrees clockwise from the front of the host system. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 16...
  • Page 17 The “Acquire Time” setting box sets the time between samples taken by the unit. This is an internal setting that is NOT tied to the time with which the unit transmits the data out to the program or host. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 17...
  • Page 18 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. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 18...

  • Page 19: Calibration Tab

    2. If the calibration is sufficient then click on the <Save> button to save the calibration. If this button is not selected then the unit will need to be recalibrated after a power cycle. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 19...

  • Page 20: Test Tab

    This window indicates the pertinent setting information. 3D Model: The helicopter will follow the movement of the attached module and give a clear representation of the module’s orientation. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 20...

  • Page 21: Data Logger Tab

    TCM module as well as cor- rected output after a user calibration has been performed PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 21...

  • Page 22: User Calibration

    You are trying to get an even sampling of the magnetic field over as many headings and tilts as possible, including upside down if possible.  Pay attention to the coverage percentage. The lower the percentage the less accurate the com- pass. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 22...

  • Page 23: Calibration Theory

    The TCM 3-axis digital compass features soft-iron and hard-iron correction. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 23...

  • Page 24: Pitch And Roll

    For the TCM a positive pitch is when the front edge of the board is rotated upward and a positive roll is when the right edge of the board is rotated downward. TCM Standard Mounting PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 24...

  • Page 25: Recommended Calibration Procedure For Taking The Minimum Number Of Sample Points

     30° with 10°-20° positive roll  120° with 10°-20° negative roll  210° with 10°-20° positive roll  300° with 10°-20° negative roll PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 25...
  • Page 26 A magnetically noisy environment will also result in a poor calibration. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 26...

  • Page 27: Declination Value

    For the greatest possible accuracy, go to the National Geophysical Data Center web page below to declination angle based your latitude longitude: http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 27...

  • Page 28: Other Limitations

    The TCM can calibrate for any environment that creates a magnetic field that does not exceed the dynamic range of its magnetometers. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 28...

  • Page 29: Binary Protocol - Rs232 Interface

    52 51 Exponent Mantissa (Exponent-1023) The value (v) is determined as (if and only if 0 < Exponent < 2047): v = (-1) * 1.Mantissa PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 29...
  • Page 30 Signed 16-bit Integer (SInt16) SInt16 based parameters are signed 16 bit numbers (2’s compliment). Bit 15 represents the sign of the value (0=positive, 1=negative) Big Endian Little Endian PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 30...
  • Page 31 UInt16 based parameters are unsigned 16 bit numbers. Big Endian Little Endian Unsigned 8-bit Integer (UInt8) UInt8 based parameters are unsigned 8-bit numbers. byte PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 31...

  • Page 32: Commands & Communication Frames

    Response to kGetAcqParams kPowerDownDone Response to kPowerDown kFactoryUserCal Clears user calibration coefficients kFactorUserCalDone Response to kFactoryUserCal kTakeUserCalSample Commands the unit to take a sample during user calibration PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 32...
  • Page 33 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. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 33...
  • Page 34 Pitch and Roll angle outputs. Pitch is equal to -90.0˚ to 90.0˚ and Roll is equal to kPAngle, kRAngle -180.0˚ to 180.0˚. kXAligned, kYAligned, kZAligned User calibration Earth’s magnetic field (M) vector component output. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 34...
  • Page 35 These configurations can only be set one at time. Payload Config ID Value UInt8 Specific Example: To configure the declination, the payload would look like: PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 35...
  • Page 36 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 Endianness of packets kMountingRef This sets the reference orientation for the module. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 36...
  • Page 37 This frame is the response to kGetConfig frame. The payload contains the configuration ID and value. Payload Config ID Value UInt8 Specific Example: If a request to get the set declination angle, the payload would look like: PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 37...
  • Page 38 FIR filter settings. kStopCal (frame ID 11) This frame commands the module to stop calibration points sampling and calculate the calibration score and coefficients. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 38...
  • Page 39 04.6451949792704e-2 05.8693165018301e-2 02.5971390034516e-2 06.3781858267530e-2 01.2710056429342e-2 06.7373451424187e-2 07.9724971069144e-3 06.9231186101853e-2 06.9231186101853e-2 06.7373451424187e-2 06.3781858267530e-2 05.8693165018301e-2 05.2436112653103e-2 04.5402682509802e-2 03.8014333463472e-2 03.0686505921968e-2 02.3794805168613e-2 01.7646051430536e-2 01.2456836057785e-2 08.3414139286254e-3 05.3097803863757e-3 03.2757326624196e-3 02.0737124095482e-3 01.4823725958818e-3 PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 39...
  • Page 40 This frame is the response to kSave frame. The payload contains a UInt16 error code, 0000h indicates no error, 0001h indicates error when attempting to save data into non-volatile memory. Payload Error code UInt16 PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 40...
  • Page 41 The frame has no payload. kStopIntervalMode (frame ID 22) This frame commands the module to stop data output at a fixed time interval. The frame has no payload. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 41...
  • Page 42 This frame is the response to kSetAcqParams frame. The frame has no payload. kAcqParamsResp (frame ID 27) This frame is the response to kGetAcqParams frame. The payload should contain the same payload as the kSetAcqParams frame. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 42...
  • Page 43 This frame is the response to kFactoryUserCal frame. The frame has no payload. kTakeUserCalSample (frame ID 31) This frame commands the unit to take a sample during user calibration. The frame has no payload. PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 43...

  • Page 44: Code Examples

    // 7 kConfigResp, // 8 kSave, // 9 kStartCal, // 10 kStopCal, // 11 kSetParam, // 12 kGetParam, // 13 kParamResp, // 14 kPowerDown, // 15 PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 44...
  • Page 45 = 10, // 10 - type UInt8 kUserCalStableCheck, // 11 - type boolean kUserCalNumPoints, // 12 - type UInt32 kUserCalAutoSampling, // 13 – type boolean PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 45...
  • Page 46 ^= (unsigned char)(crc & 0xff) >> 4; crc ^= (crc << 8) << 4; crc ^= ((crc & 0xff) << 4) << 1; return crc; PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 46...

  • Page 47: Binary Tcm Protocol C++ Communication Examples

    4.4.2 Binary TCM Protocol C++ Communication Examples The following 4 example files, CommProtocol.h, CommProtocol.cp, TCM5.h and TCM5.cp would be used together for proper communication with a TCM3, TCM5 or TCM5L module. NOTE: The follwing files are not included in the samples code: SystemSenPort.h;...
  • Page 48 CommHandler * mHandler; SerPort * mSerialPort; UInt8 mOutData[kBufferSize], mInData[kBufferSize]; UInt16 mExpectedLen; UInt32 mOutLen, mOldInLen, mTime, mStep; UInt16 CRC(void * data, UInt32 len); void Control(); PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 48...
  • Page 49 PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 49...
  • Page 50 = (UInt16)len + kPacketMinSize; // exit without sending if there is too much data to fit inside our packet if(len > kBufferSize - kPacketMinSize) return; PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 50...
  • Page 51 UInt16 crc = 0; while(len--) crc = (unsigned char)(crc >> 8) | (crc << 8); crc ^= dataPtr[index++]; crc ^= (unsigned char)(crc & 0xff) >> 4; PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 51...
  • Page 52 = Ticks() + mStep++ ; // goto the next step in the process break case // wait for msg complete or timeout if(inLen >= mExpectedLen - 2) PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 52...
  • Page 53 // the length bytes. Clear everything in the input buffer since the data is unreliable mSerialPort->InClear(); mStep = // Look for the next length bytes break default: break PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 53...
  • Page 54 PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 54...
  • Page 55 4.4.2.3 TCM5.h File (For TCM3, TCM5 and TCM5L Modules): #pragma once #include "Processes.h" #include "CommProtocol.h" This file contains the object providing communication to the TCM. It will set up the unit and parse packets received Process is a base class that provides TCM with cooperative parallel processing.
  • Page 56 4.4.2.4 TCM5.cp File (For TCM3, TCM5 & TCM5L Modules): #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 unit once a second for heading, pitch, roll and temperature.
  • Page 57 (bytes)). Move copies specified number of // bytes from the source pointer to the destination pointer. // Store the roll. Move(&(data[pntr]), &roll, sizeof(roll)); PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 57...
  • Page 58 // send next data request break; default: // Message is a function that displays a formatted string (similar to printf) Message("Unknown frame %02X received\r\n", (UInt16)frameType); break; PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 58...
  • Page 59 > mTime) // tell the unit to take a sample SendComm(CommProtocol::kGetData); mTime = Ticks() + 100; // take a sample every second mStep++; PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual – Sept 2012 Page 59...
  • Page 60 // Ticks is a timer function. 1 tick = 10msec. if(Ticks() > mResponseTime) Message("No response from the unit. Check connection and try again\r\n"); mStep = 0; break; default: break; PNI Sensor Corporation Doc #1007537 r12 TCM3 & TCM5 User Manual- Sept 2011 Page 60...

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