Pni CompassPoint Prime Manual do Utilizador

User Manual CompassPoint Prime 3-Axis Electronic Compass Module

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 -

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 “

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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°

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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).

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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