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PNI TCM XB User Manual

High-performance tilt-compensated compass module
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TCM
High-Performance Tilt-Compensated Compass Module

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Summary of Contents for PNI TCM XB

  • Page 1 User Manual High-Performance Tilt-Compensated Compass Module...

  • Page 2: Table Of Contents

    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 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page i...
  • Page 3 Sync Mode .................. 32 Log Data Tab ..................33 Graph Tab .................... 34 System Log Tab ................... 35 7 OPERATION WITH PNI BINARY PROTOCOL ..........36 Datagram Structure ................36 Parameter Formats ................37 Commands & Communication Frames ..........39 7.3.1...
  • Page 4 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 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page iii...
  • Page 5 Table 7-7 Multiple Coefficient Command List List of Figures Figure 3-1: TCM XB Mechanical Drawing Figure 3-2: TCM XB Pigtailed Cable Drawing Figure 3-3: TCM MB Mechanical Drawing Figure 4-1: Positive & Negative Roll and Pitch Definition Figure 4-2: Mounting Orientations...

  • Page 6: Copyright & Warranty Information

    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...

  • Page 7: Introduction

    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.

  • Page 8: Specifications

    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. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 9: Table 3-2: Absolute Maximum Ratings

    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 TCM XB 3.8 to 9 VDC Supply Voltage TCM MB 3.3 to 9 VDC High Level Input 2.4 V minimum...

  • Page 10: Table 3-4: I/O Characteristics

    Table 3-4: I/O Characteristics Parameter Value Communication TCM XB RS232 UART Interface TCM MB CMOS/TTL UART Communication Protocol PNI Binary Communication Rate 300 to 115200 baud Maximum Sample Rate ~30 samples/sec Initial power up <210 ms Time to Initial Good Data Sleep Mode recovery <80 ms...

  • Page 11: Mechanical Drawings

    Mechanical Drawings The default orientation is for the silk-screened arrow to point in the “forward” direction. Figure 3-1: TCM XB Mechanical Drawing Figure 3-2: TCM XB Pigtailed Cable Drawing PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 6...

  • Page 12: Figure 3-3: Tcm Mb Mechanical Drawing

    The default orientation is for the silk-screened arrow to point in the “forward” direction. Figure 3-3: TCM MB Mechanical Drawing PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 7...

  • Page 13: Set-Up

    Blue Footnote: 1. For the TCM XB, pin #1 is indicated on Figure 3-1, while for the TCM MB, pin #1 is the pin closest to the corner. After making the electrical connections, it is a good idea to perform some simple tests to ensure the TCM is working as expected.

  • Page 14: Installation Location

    Determine the distance range of field distortion. Place the compass in a fixed position, then move or energize suspect components while observing the output to determine when they are an influence. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 9...

  • Page 15: Mechanical Mounting

    As shown in Figure 4-1, 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 down. Figure 4-1: Positive & Negative Roll and Pitch Definition PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 16: Mounting Orientation

    The orientation should be programmed in the TCM using TCM Studio or the kSetConfig command. The default orientation is “STD 0°”. Note: TCM XB is shown. The Z axis sensor and the connector are on the module’s top surface, regardless of model.

  • Page 17: User Calibration

    As with the magnetic sensor, the accelerometer in the TCM is calibrated at PNI’s factory. But the accelerometer will gradually change over time, and the user either will need to periodically perform a user accelerometer calibration or return the unit to PNI for recalibration.

  • Page 18: Magnetic Calibration

    For more information on magnetic distortion and calibration, see PNI’s white paper “Local Magnetic Distortion Effects on 3-Axis Compassing” at PNI’s website (http://www.pnicorp.com/technology/papers).

  • Page 19: Table 5-1: Magnetic Calibration Mode Summary

    “Minimum Recommended” value, or greater. Calibration may be performed using Studio or using the PNI binary protocol, and up to 8 sets of magnetic calibration coefficients may be saved. The recommended calibration patterns described in the following sub-sections provide a good distribution of sample points.

  • Page 20: Full-Range Calibration

    Section 4. Also, the software should be properly configured with respect to the mounting orientation, Endianness, north reference, etc. Section 6.4 outlines how to perform a calibration using Studio, while Section 7.3.10 provides a step-by-step example of how to perform a calibration using the PNI protocol. Full-Range Calibration 5.1.1 A Full-Range Calibration is appropriate when the TCM can be tilted ±45°...

  • Page 21: Calibration

    -5° to +5°. The recommended 12 point calibration pattern is a circle of evenly spaced points, as given in Table 5-3. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 22: Limited Tilt Range Calibration

    > +5° > +5° 315° > +5° > +5° Third Circle 45° < -5° < -5° 135° < -5° < -5° 225° < -5° < -5° 315° < -5° < -5° PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 17...

  • Page 23: Hard-Iron-Only Calibration

    Additionally, the accelerometer data is critical for establishing an accurate heading reading when the TCM is tilted, as discussed in the PNI white paper “Tilt- Induced Heading Error in a 2-Axis Compass”, which can be found on PNI’s web site (http://www.pnicorp.com/technology/papers).

  • Page 24: Accelerometer-Only Calibration

    For this reason PNI recommends the accelerometer be recalibrated every 6 to 12 months. The user may return the TCM to PNI for accelerometer calibration, or the user may perform a user accelerometer calibration. The remainder of this section covers the user accelerometer calibration.

  • Page 25: Mag-And-Accel Calibration

    The TCM allows for a simultaneous magnetometer and accelerometer calibration. This requires a full-coverage calibration pattern, physically stable measurements, and installation in the user’s system so the host system’s magnetic signature is present. PNI recommends 18 to 32 calibration points for a Mag-and-Accel Calibration.

  • Page 26: Operation With Tcm Studio

    Note: TCM Studio v3.X and higher is compatible with the TCM XB, TCM MB and legacy TCM 6, but not other legacy TCM models. The TCM XB also will work with TCM Studio v3 and higher, while the TCM MB will work with TCM Studio v4 and higher.

  • Page 27: Connection Tab

    Connection Tab Initial Connection 6.2.1 If using the PNI dual-connectorized cable, ensure the batteries are well-charged.  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.

  • Page 28: Changing Modules

    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. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 29: North Reference

    “Declination” window. Endianess 6.3.3 Select either the <Big> or <Little> Endian button. The default setting is <Big>. See Sections 7.2 and 7.3 for additional information. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 24...

  • Page 30: Output

    Note that the inverse of the Poll Delay is greater than the sample rate, since the Poll Delay does not include the actual measurement acquisition time. The default is 0. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 31: Hpr During Calibration

    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 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 32: Default

    Clicking this button restores the TCM Studio program to the factory default settings. Retrieve 6.3.11 Clicking on this button causes TCM Studio to read the settings from the module and display them on the screen. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 27...

  • Page 33: Calibration Tab

    Once the pre-set number of samples has been taken (as set on the Configuration tab) the calibration is complete. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 34: Calibration Results

    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. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 29...

  • Page 35: Current Configuration

    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. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 36: Test Tab

    “Enable 3D Model Display” box is selected on the Configuration tab. Acquisition Settings 6.5.3 These indicators mimic the pertinent selections made on the Configuration tab. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 31...

  • Page 37: Sync Mode

    Sync Mode. Note that <Sync Trigger> sends a 0xFF signal as an external interrupt to wake up the module. This is not done for the first reading as the module is already awake. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 38: Log Data Tab

     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. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 39: Graph Tab

    The graph can be used to visually see hard and soft iron effects within the environment measured by the TCM, as well as corrected output after a user calibration has been performed. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 40: System Log Tab

    TCM Studio. Closing TCM Studio will erase the system log. Select the <Export> button, at the bottom right of the screen, to save the system log to a text file. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 41: Operation With Pni Binary Protocol

    Operation with PNI Binary Protocol The TCM utilizes a binary communication protocol, where the communication parameters should be configured as follows: Table 7-1: UART Configuration Parameter Value Number of Data Bits Start Bits Stop Bits Parity none Datagram Structure The data structure is shown below:...

  • Page 42: Parameter Formats

    Parameter Formats Note: Floating-point based parameters conform to ANSIring/IEEE Std 754-1985. Please refer to the Standard for more information. PNI also recommends refer to the user’s compiler instructions to understand how the compiler implements floating-point format. 64-Bit Floating Point (Float64) The 64-bit float format is given below in big Endian.
  • Page 43 UInt32-based parameters are unsigned 32-bit numbers. 24 23 16 15 Big Endian 0 15 8 23 Little Endian Unsigned 16-Bit Integer (UInt16) UInt16-based parameters are unsigned 16-bit numbers. Little Endian Big Endian PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 38...

  • Page 44: Commands & Communication Frames

    Queries for the FIR filter settings for the kGetFIRFilters magnetometer & accelerometer sensors. Contains the FIR filter settings for the kGetFIRFiltersResp magnetometer & accelerometer sensors. kPowerDown Powers down the module kSaveDone Response to kSave PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 39...

  • Page 45: Kgetmodinfo (Frame Id 1 D )

    Note that the Type and Revision can be decoded from the binary format to character format using the ASCII standard. For example, the hex string “00 0D 02 54 43 4D 35 31 32 30 PNI Sensor Corporation DOC#1014688 r09.2...

  • Page 46: Ksetdatacomponents (Frame Id 3 D )

    38 C7 87” can be decoded to read “TCM5 1208”. Also, the TCM XB is referenced as Type “TCM6” since the number of Type characters is limited to 4. kSetDataComponents (frame ID 3 7.3.3 This frame defines what data is output when kGetData is sent. Table 7-3 summarizes the various data components and more detail follows this table.

  • Page 47: Kgetdata (Frame Id 4 D )

    Payload ID Count ID 1 Value ID 1 ID 2 Value ID 2 ID 3 Value ID 3 ID Specific ID Specific UInt8 UInt8 UInt8 ID Specific UInt8 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 42...

  • Page 48: Ksetconfig (Frame Id 6 D )

    To save these in non-volatile memory, the kSave command must be issued. Payload Config ID Value UInt8 ID Specific Example: To configure the declination, the payload would look like: Payload 10.0 Declination ID Declination Angle (Float32) PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 43...

  • Page 49: Table 7-4: Configuration Identifiers

    True or False False kHPRDuringCal Boolean True or False True kMagCoeffSet UInt32 0 - 7 kAccelCoeffSet UInt32 0 - 2 Note: 1. Refer to Figure 4-2 for additional information on mounting orientations. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 44...

  • Page 50: Table 7-5: Sample Points

    If set to FALSE, the module waits for kTakeUserCalSample to take a sample with the condition that a magnetic field vector component delta is greater than 5 µT from the last sample PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...
  • Page 51  the kSetConfig frame is sent with kMagCoeffSet = 2  a calibration is performed  the kSave frame is sent  the kSetConfig frame is sent again, but with kMagCoeffSet = 3, and  a calibration is performed. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 46...

  • Page 52: Kgetconfig (Frame Id 7 D )

    The response to kGetConfig is given below and contains the configuration ID and value. Payload Config ID Value UInt8 ID Specific Example: If a request to get the set declination angle, the payload would look like: Payload 10.0 Declination ID Declination Angle (Float32) PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 47...

  • Page 53: Ksave (Frame Id 9 D )

     On powering up, the last saved calibration coefficients will be loaded. This frame commands the module to start a user calibration. After sending this command, the module ensures a PNI-established stability condition is met, takes the first calibration point, and then responds with kUserCalSampCount. kUserCalSampCount will continue to be sent after each sample is taken.
  • Page 54  Using the kSetConfig command, establish the coefficient set number for the new calibration coefficient by setting the value for kMagCoeffSet (value 0-7) and/or kAccelCoeffSet (value 0-2).  Using the kSetConfig command again, set kUserCalNumPoints to the appropriate number of calibration points. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 49...

  • Page 55: Kstopcal (Frame Id 11 D )

    This can be useful if a significant change in heading has occurred since the last reading, as the old heading data would be in PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 56: Table 7-6: Recommended Fir Filter Tap Values

    07.1024151197772e-2 08.3414139286254e-3 01.6637325898141e-1 09.5354386848804e-2 01.2456836057785e-2 06.4500864832660e-2 01.1484431942626e-1 01.7646051430536e-2 01.9875512449729e-2 01.2567124916369e-1 02.3794805168613e-2 01.2567124916369e-1 03.0686505921968e-2 01.1484431942626e-1 03.8014333463472e-2 09.5354386848804e-2 04.5402682509802e-2 07.1024151197772e-2 05.2436112653103e-2 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 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 51...

  • Page 57: Kgetfirfilters (Frame Id 13 D )

    RS-232 driver. However, the driver chip has a feature to keep the Rx line enabled. The TCM will power up when it receives any signal on the native UART Rx line. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 58: Ksavedone (Frame Id 16 D )

    This score represents the over-riding quality of the accelerometer calibration. An acceptable score is ≤1. In the event of an aborted calibration the score will be 179.8 or in the event of a mag-only calibration the score will be 99.99 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 59: Ksetconfigdone (Frame Id 19 D )

    SampleDelay parameter. The frame has no payload. The response is kGetDataResp. kStopContinuousMode (frame ID 22 7.3.22 This frame commands the TCM to stop data output when in Continuous Acquisition Mode. The frame has no payload. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 54...

  • Page 60: Kpowerupdone (Frame Id 23 D )

    NOT tied to the time with which the module transmits data to the host system. Generally speaking, the AcquireDelay is either set to 0, in which case the TCM is constantly sampling, or set to equal the SampleDelay value. The advantage of PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 61: Kgetacqparams (Frame Id 25 D )

    This frame must be followed by the kSave frame to save the change in non- volatile memory. kFactoryMagCoeffDone (frame ID 30 7.3.30 This frame is the response to kFactoryMagCoeff frame. The frame has no payload. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 56...

  • Page 62: Ktakeusercalsample

    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) PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 57...

  • Page 63: Ksetsyncmoderesp (Frame Id 47 D )

    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 same formula given for switching from Sync Mode to Normal Mode in kSetSyncMode. PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual...

  • Page 64: Using Multiple Coefficient Sets

    0x13 0 - 2 to be copy 0 0x27 0xA7 0x00 0x0A 0x06 0x13 0x00 0x00 kAccelCoeffCopySet 0x00 0x01 0x84 0x00 0x05 0x13 0xDD to be copy 1 0x06 0xA8 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 59...
  • Page 65 Send kSave command to save the kCoeffCopySet to flash so that it will be still available after power cycle. The kSave command is as following. 0x00 0x05 0x09 0x6E 0xDC PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 60...

  • Page 66: Code Examples

    // 9 kStartCal, // 10 kStopCal, // 11 kSetFilters, // 12 kGetFilters, // 13 kGetFiltersResp, // 14 kPowerDown, // 15 kSaveDone, // 16 kUserCalSampCount, // 17 kCalScore, // 18 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 61...
  • Page 67 // 2 - type boolean kMountingRef = 10, // 10 - type UInt8 kUserCalStableCheck, // 11 - type boolean kUserCalNumPoints, // 12 - type UInt32 kUserCalAutoSampling, // 13 - type boolean PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 62...
  • Page 68 = (unsigned char)(crc >> 8) | (crc << 8); crc ^= dataPtr[index++]; crc ^= (unsigned char)(crc & 0xff) >> 4; crc ^= (crc << 8) << 4; crc ^= ((crc & 0xff) << 4) << 1; return crc; PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 63...

  • Page 69: Commprotocol.h File

    = 21, // 21 - type Float32 kAccelY, // 22 - type Float32 kAccelZ, // 23 - type Float32 kPitch, // 24 - type Float32 kRoll, // 25 - type Float32 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 64...
  • Page 70 = 0); void SetBaud(UInt32 baud); protected: 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#1014688 r09.2 TCM User Manual Page 65...

  • Page 71: Commprotocol.cpp File

    // our location in the frame we are putting together UInt16 crc; // the CRC to add to the end of the packet UInt16 count; // the total length the packet will be count = (UInt16)len + kPacketMinSize; PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 66...
  • Page 72 // CCITT 16bit algorithm (X^16 + X^12 + X^5 + 1). UInt16 CommProtocol::CRC(void * data, UInt32 len) UInt8 * dataPtr = (UInt8 *)data; UInt32 index = 0; UInt16 crc = 0; while(len--) PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 67...
  • Page 73 = Ticks() + 50 ; mStep++ ; // goto the next step in the process break ; case 2: // wait for msg complete or timeout if(inLen >= mExpectedLen - 2) PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 68...
  • Page 74 // expecting within 1/2sec of receiving the length bytes. Clear // everything in the input buffer since the data is unreliable mSerialPort->InClear(); mStep = 1 ; // Look for the next length bytes break ; default: break ; PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 69...

  • Page 75: Tcm.h File

    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(); PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 70...

  • Page 76: Tcm.cpp File

    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; PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 71...
  • Page 77 CommProtocol::kRoll: // Move(source, destination, size (bytes)). Move copies the // 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#1014688 r09.2 TCM User Manual Page 72...
  • Page 78 // 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#1014688 r09.2 TCM User Manual Page 73...
  • Page 79 // go to next step of process break; case 2: // Ticks is a timer function. 1 tick = 10msec. if(Ticks() > mTime) // tell the module to take a sample SendComm(CommProtocol::kGetData); PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 74...
  • Page 80 3: // Ticks is a timer function. 1 tick = 10msec. if(Ticks() > mResponseTime) Message("No response from the module. Check connection and try again\r\n"); mStep = 0; break; default: break; PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 75...
  • Page 81 Pitch ID is 24, not 79. Added in section on using Multiple Calibration Coefficient January 21, D. McKenzie 2015 R09.1 AcquisitionMode in 7.3.24 default value 0 indicating Poll Mode May 14, 2018 B. Zhang R09.2 PNI Sensor Corporation DOC#1014688 r09.2 TCM User Manual Page 76...

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