Pni CompassPoint Prime Uživatelský manuál

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User Manual
CompassPoint Prime
3-Axis Electronic Compass Module
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Strany 1 - CompassPoint Prime

User Manual CompassPoint Prime 3-Axis Electronic Compass Module

Strany 2

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 4 Table 3-3: Power Requirements Parameter Value DC Supply Voltage 3.6 -

Strany 3 - Table of Contents

Prime User Manual r08 Page 5 3.3 Mechanical Drawing Note: The default orientation for the Prime is for the silk-screened arrow to point in the “

Strany 4

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 6 4 Set-Up This section describes how to configure the Prime in your ho

Strany 5 - List of Figures

Prime User Manual r08 Page 7 The Prime Interface Kit includes the PNI 45 cm (18”) custom pigtailed cable (see Figure 3-2). One end of t

Strany 6

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 8 4.2.3 Mount in a physically stable location Choose a location that is

Strany 7

Prime User Manual r08 Page 9 Figure 4-1: Positive & Negative Roll and Pitch Definition

Strany 8 - 2 Introduction

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 10 5 Operation with StudioPrime The StudioPrime evaluation software

Strany 9 - 3 Specifications

Prime User Manual r08 Page 11 5.2.1 Initial connection When initially launching StudioPrime: If using the PNI dual-connecterized cable, ensure th

Strany 10 - 1. Tested at 3.6 V

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 12 5.3 Configuration Tab Note: No settings will be changed in the uni

Strany 11 - 3.3 Mechanical Drawing

Prime User Manual r08 Page 13 5.3.2 North Reference Magnetic When the <Magnetic> button is selected, heading will be relative to magnetic nor

Strany 13 - 4.2 Mechanical Installation

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 14 new data as soon as the previous request has been fulfilled. Note th

Strany 14 - 4.3 Mounting

Prime User Manual r08 Page 15 takes more time. If this checkbox is deselected, then the module will NOT wait for a stable reading and will imme

Strany 15

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 16 5.4 Calibration Tab 5.4.1 Samples Before proceeding, refer to

Strany 16 - 5.2 Connection Tab

Prime User Manual r08 Page 17 5.4.2 Calibration Results Once calibration is complete the “Calibration Results” window will indicate the quality of

Strany 17 - 5.2.3 Changing modules

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 18 5.4.4 Options Audible Feedback: If selected, StudioPrime gives an

Strany 18 - 5.3 Configuration Tab

Prime User Manual r08 Page 19 5.5 Test Tab 5.5.1 Current Reading Once the <GO> button is selected the unit will begin outputting heading, p

Strany 19 - 5.3.5 Acquisition Settings

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 20 5.6 Data Logger Tab StudioPrime can capture measurement data and th

Strany 20 - 5.3.6 Calibration Settings

Prime User Manual r08 Page 21 5.7 System Log Tab The System Log tab shows all communication between StudioPrime and the Prime module since Studio

Strany 21 - 5.3.9 Enable 3D Model

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 22 5.8 Graph Tab The graph provides a 2-axis (X,Y) plot of the measure

Strany 22 - 5.4 Calibration Tab

Prime User Manual r08 Page 23 6 Field Calibration Sources of magnetic distortion that are positioned near the Prime in the user’s system will disto

Strany 23 - 5.4.3 Current Configuration

Prime User Manual r08 Page i Table of Contents 1 COPYRIGHT & WARRANTY INFORMATION ...

Strany 24 - 5.4.5 Clear

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 24 6.1 Magnetic Calibration Overview The main objective of a magnet

Strany 25 - 5.5 Test Tab

Prime User Manual r08 Page 25 The calibration procedures can be executed using StudioPrime or the Prime’s binary protocol. Sections 5

Strany 26 - 5.6 Data Logger Tab

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 26 Figure 6-1: Magnetic Calibration Pattern

Strany 27 - 5.7 System Log Tab

Prime User Manual r08 Page 27 Table 6-1: Magnetic Calibration Pattern Sample # Yaw Pitch Roll First Circle 1 0° ±5° 30° to 40° 2 90° ±5° -30°

Strany 28 - 5.8 Graph Tab

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 28 Figure 6-2: Accelerometer Calibration Starting Positions Table 6-2:

Strany 29 - 6 Field Calibration

Prime User Manual r08 Page 29 6.2.3 Simultaneous Mag and Accel Calibration The Prime allows for a simultaneous magnetic sensor and accelerometer f

Strany 30

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 30 7 Operation with PNI Binary Protocol The Prime utilizes a binary

Strany 31

Prime User Manual r08 Page 31 7.2 Parameter Formats Note: Floating-point based parameters conform to ANSI/IEEE Std 754-1985. Please refer to the

Strany 32

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 32 Signed 16-bit Integer (SInt16) SInt16 based parameters are signed

Strany 33

Prime User Manual r08 Page 33 Unsigned 8-bit Integer (UInt8) UInt8 based parameters are unsigned 8-bit numbers. byte7 0 Boolean Boolean is a 1-byte

Strany 34 - Sample #

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page ii 6 FIELD CALIBRATION ...

Strany 35 - 6.3 Declination

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 34 22 kStopIntervalMode Commands the module to stop data output at a fix

Strany 36 - 7.1 Datagram Structure

Prime User Manual r08 Page 35 7.3.3 kSetDataComponents (frame ID 3d) This frame sets the data components in the module's data output. This is

Strany 37 - 7.2 Parameter Formats

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 36 kDistortion (Component ID 8d) Read only flag that indicates that at l

Strany 38 - Little Endian

Prime User Manual r08 Page 37 7.3.6 kSetConfig (frame ID 6d) This frame configures the Prime. Configuration values must be set one at time. Config

Strany 39

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 38 kUserCalStableCheck 11 Boolean True or False True kUserCalNumPoints 1

Strany 40 - 0005 01 EFD4

Prime User Manual r08 Page 39 Figure 7-2: PNI Protocol Mounting Orientations

Strany 41 - (Component ID 5

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 40 kUserCalStableCheck (Config. ID 11d) This flag is used during field c

Strany 42 - 00 05 04 BF71

Prime User Manual r08 Page 41 7.3.8 kConfigResp (frame ID 8d) This frame is the response to kGetConfig frame. The payload contains the configurati

Strany 43 - 7.3.6 kSetConfig (frame ID 6

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 42 Below is a complete sample frame for an Accelerometer Only Calibratio

Strany 44

Prime User Manual r08 Page 43 Table 7-6: Recommended FIR Filter Tap Values Count 4 Tap Filter 8 Tap Filter 16 Tap Filter 32 Tap Filter 1 04.6708657

Strany 45

Prime User Manual r08 Page iii 8 CODE EXAMPLES ...

Strany 46 - Config ID

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 44 7.3.14 kParamResp (frame ID 14d) This frame is the response to kGetP

Strany 47 - Specific

Prime User Manual r08 Page 45 7.3.18 kUserCalScore (frame ID 18d) This frame contains the calibration score, which is presented after completing or

Strany 48 - 7.3.11 kStopCal (frame ID 11

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 46 7.3.20 kSetParamDone (frame ID 20d) This frame is the response to kS

Strany 49 - UInt8 UInt8

Prime User Manual r08 Page 47 Note: If “Flush Filters” is selected the rate at which the output is updated will be inversely proportional to t

Strany 50 - Sample count

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 48 7.3.28 kPowerDownDone (frame ID 28d) This frame is the response

Strany 51

Prime User Manual r08 Page 49 8 Code Examples The following example files (CommProtocol.h, CommProtocol.cp, Prime.h and Prime.cp) would be

Strany 52 - UInt8 UInt8 Float32 Float32

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 50 kStopIntervalMode, // 22 kPowerUp, // 23 kSetAcqParams,

Strany 53

Prime User Manual r08 Page 51 // Update the CRC for transmitted and received data using // the CCITT 16bit algorithm (X^16 + X^12 + X^5 + 1).

Strany 54

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 52 8.2 CommProtocol.h File Note: This file contains objects used to ha

Strany 55 - 8 Code Examples

Prime User Manual r08 Page 53 kRAngle, // 25 - type Float32 }; enum { //maximum size of our input buffer kBufferSize

Strany 57

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 54 8.3 CommProtocol.cp File #include "CommProtocol.h" // imp

Strany 58 - 8.2 CommProtocol.h File

Prime User Manual r08 Page 55 if(len > kBufferSize - kPacketMinSize) return; // Store the total len of the packet including the len // bytes

Strany 59

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 56 } return crc; } // // This is called each time this process get

Strany 60 - 8.3 CommProtocol.cp File

Prime User Manual r08 Page 57 mSerialPort->ReadBlock(&mInData[2], mExpectedLen - 2); // in CRC verification

Strany 61

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 58 8.4 Prime.h File #pragma once #include "Processes.h" #in

Strany 62

Prime User Manual r08 Page 59 8.5 Prime.cp File #include "Prime.h" #include "TickGenerator.h" const UInt8 kDataCount = 4;// W

Strany 63

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 60 // Message is a function that displays a C // formatt

Strany 64 - 8.4 Prime.h File

Prime User Manual r08 Page 61 { // Move(source, destination, size // (bytes)). Move copies the // s

Strany 65 - 8.5 Prime.cp File

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 62 break; } default: { // Message is a function

Strany 66

Prime User Manual r08 Page 63 // Ticks is a timer function. 1 tick = 10msec. if(Ticks() > mTime) { // tell the unit to

Strany 67

Prime User Manual r08 Page 1 1 Copyright & Warranty Information © Copyright PNI Sensor Corporation 2009 All Rights Reserved. Reproduction, a

Strany 68

PNI Sensor Corporation DOC# 1014177 r08 Prime User Manual – July 2011 Page 2 2 Introduction Thank you for purchasing PNI’s CompassPoint™ Prime 3-

Strany 69

Prime User Manual r08 Page 3 3 Specifications 3.1 Performance Specifications Table 3-1: Specifications1 Parameter Value Heading Range 360° Accura

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