R07 Revised: August 2008 PNI CommBoard (RS-232, RS-485) General Description Features The CommBoard is a communication interface designed to connect the MicroMag and V2Xe modules to a host system that uses a standard serial interface, such as a PC. It is typically used as a prototyping and evaluation tool for PNI’s line of compass and magnetometer modules. The PNI CommBoard is also used for production when the host system requires a higher level serial protocol to interface to the PNI sensor modules.
This page left intentionally blank PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard Specifications SPECIFICATIONS CAUTION : Stresses beyond those listed under Table 2: Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings only. Functional operation of the device at these or any other conditions beyond those indicated in the operational sections of the specifications is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability.
CommBoard Specifications Table 3: Characteristics Parameter Minimum Maximum Typical Operating Characteristics Current – standby (Low power mode, no module loaded) LPM0a 14.4 mA RMS LPM1b 7.0 mA RMS LPM2c 5.4 mA RMS RS-232 Receiver Inputs (CTS, RxD) Input threshold low 0.6 VDC Input threshold high 2.0 VDC RS-232 Transmitter Output (TxD) Output Voltage Swing (both transmitter outputs loaded with 3KΩ to GND) ±5 VDC ±5.
CommBoard Specifications Serial Pin Descriptions Figure 1: Jumpers and Connectors Table 4: Serial Pin Descriptions (J1) Pin Name Function 1 TxD RS-232 transmitter output (transmitted data) 2 Reserved RS-232 transmitter output (reserved) 3 n/c not connected 4 RxD RS-232 receiver input (received data) 5 D– RS-485 transceiver signal (inverting RS-485 signal) 6 D+ RS-485 transceiver signal (non-inverting RS-485 signal) 7 n/c not connected 8 GND Ground 9 VCC Supply voltage (5 to 1
CommBoard Specifications Serial Pin Descriptions (cont). Table 6: Connector J2 Pin Function I/O Direction 1 SCLK Output 2 MISO Input 3 MOSI Output 4 SSNOT Output 5 DRDY Input 6 SYNC Output 7 GND 8 GIO0 Output low 9 GIO1 Output low 10 GIO2 Output low 11 GIO3 Output low 12 VDD 13 VCC 14 GGND PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard Specifications Hardware Modes The CommBoard provides a serial interface to PNI’s sensor modules. Its purpose is to translate a serial command from a host system into the appropriate SPI command. If the sensor module does not support the command, it will return the appropriate error code. Otherwise, it will return the associated data. See the applicable PNI module data sheet for specific information on communication and control using the SPI interface.
CommBoard Specifications Standard Data Output Modes PNI Standard Output Mode (sdo=t) The PNI Standard Output Mode may be configured to provide all sensor data availability, or only the data you require. EXAMPLE: $C194.74X-106.00Y-403.00Z98.
Raw Output Mode (sdo=r) The Raw Output mode allows for the output of the raw, uncorrected data for any or all of the required sensors. The Raw Output Mode is the only mode where Z-Axis is active.
CommBoard Command Line Interface Command Line Interface The Command Line interface allows you to use a simple terminal program to communicate with the CommBoard. The Command Line interface also allows applications written in any language, including Assembly, Basic, or C to communicate with the CommBoard via the RS-232 or RS-485. Command Sequence The sequence of command line events is: 1. Type in the command on the terminal program: cmd? 2. The module processes the command. 3.
CommBoard Command Line Interface Example Command Notation m This will be interpreted as a query: em? This will be interpreted as assignment: em= Example Response Notation $em=* Ending Sequence The CommBoard will accept either or or as an end of line (eol) indicator. EOL (end of line) Response The CommBoard will send a response to you in the chosen EOL format.
CommBoard Command Line Interface Error Codes Error codes are a bitmap to the error that has occurred and are sent when an error condition has occurred. Example $C194.74X-106.00Y-403.00Z98.00:E200*1E $Cnnn.nnXnnn.nnYnnn.nnZnnn.nn:Exxx* Exxx: “xxx” are hex values between 0 - F. The built-in error command to parse error messages, error ffff, will list the error codes.
CommBoard Action Commands ACTION COMMANDS factory (Factory Settings Restore) Restores the CommBoard and modules to the factory default configuration. Syntax: factory Response Format: $factory* go (Continuous Output) Instructs the CommBoard to enter continuous mode. The CommBoard will begin sampling sensors at the rate specified by the Polling Frequency (pollfreq) command.
CommBoard Action Commands id? (Module Identification) Displays the module type. IF the MicroMag responds with either 01 or 02, contact PNI Corporation as there could possibly be a damaged or unconnected sensor.
CommBoard Query Commands QUERY COMMANDS c? (Compass Update) Retrieves the compass heading. Based upon the setting for the Data Output Forma (sdo) command and the Compass Units (uc) command. Refer to “pollfreq” on page 21. Note: For modules that do not have an onboard processor (for example, the MicroMag), the CommBoard will calculate and output this data Syntax: c? Response Format: $c{hdg}* Valid Values: hdg = 0 to 359.
CommBoard Query Commands s? (Single Sample Update) Retrieves the user selected calibration information.
CommBoard Query Commands x? (X Axis Sensor Update) Retrieves only the corrected X axis magnetometer values used for heading calculation. Note: For modules that do not have an onboard processor (for example, the MicroMag), the CommBoard will calculate and output this data Syntax: x? Response Format: $Xn.n* Valid Values: n.n y? (Y Axis Sensor Update) Retrieves only the corrected Y axis magnetometer values used for heading calculation.
CommBoard Configuration Commands CONFIGURATION COMMANDS b (Baud Rate) Sets the baud rate of the CommBoard Syntax: b Response Format: $b={value}* Valid Values: Table 13 0 = 300 5 = 9600(default) 1 = 600 6 = 19200 2 = 1200 7 = 38400 3 = 2400 8 = 57600 4 = 4800 Query Syntax: b? ec (Compass Data Enable) Enables the compass data output Note: For modules that do not have an onboard processor (for example, the MicroMag), the CommBoard will calculate and output this data Syntax
CommBoard Configuration Commands echo (Echo Characters Enable) Enables character echo, which directs the CommBoard to echo locally typed characters onto the display Syntax: echo Response Format: $echo={value}* Valid Values: e= d= Query Syntax: echo? enabled disabled (default) em (Magnetometer Data Enable) Enables all of the magnetometer data output. For example, em=e will set ex=e, ey=e and ez=e. Note: If any axis is disabled after em=e, em? will still respond with em=e.
CommBoard Configuration Commands et (Temperature Data Enable) Enables the temperature data output. Temperature output is not available on all modules. Refer to the specific module data sheet for more information. Syntax: et Response Format: $et={value}* Valid Values: e= d= Query Syntax: et? enabled disabled (default) ex (X Axis Data Enable) Enables the X-axis data output.
CommBoard Configuration Commands ez (Z Axis Data Enable) Enables the Z-axis data output. The Z sensor output is not available on all modules. Refer to the specific module data sheet for more information. Z-axis is only active in raw mode. Syntax: ez Response Format: $ez={value}* Valid Values: e= d= Query Syntax: ez? enabled disabled (default) halt (Single Character Halt Enable) Enables sending a single Halt (h) command to cancel the Continous Output (go) mode.
CommBoard Configuration Commands pollfreq (Polling Frequency) Sets the sample polling frequency of the Continuous Output (go) command. Syntax: pollfreq Response Format: $pollfreq=nn* Valid Values: nn Query Syntax: pollfreq? 0 = 1 sample/2 seconds 1 – 16 = value in Hz (default is 8) rs485 (RS-485 Slave Address) Sets the slave address for the CommBoard in RS-485 mode.
CommBoard Configuration Commands uc (Compass Units) Sets the compass output to either degrees or mils. Note: For modules that do not have an onboard processor (for example, the MicroMag), the CommBoard will calculate and output this data Syntax: uc Response Format: $uc={value}* Valid Values: d m Query Syntax: uc? degrees (default) mils ut (Temperature Units) Sets the temperature units to either Fahrenheit or Celsius. Temperature output is not available on all modules.
CommBoard Module Commands MODULE COMMANDS cc (Clear Calibration Data) Clears the previous calibration information. Refer to the specific module data sheet for more information. Note: For modules that do not have an onboard processor (for example, the MicroMag), the CommBoard will calculate and output this data Syntax: cc Response Format: $cc* damping (Digital Damping Enable) Enables digital damping on the compass heading output. Refer to specific module data sheet for more information.
CommBoard Module Commands dampsize (Digital Damping Sample Size) Sets the value for the digital damping of the compass heading output. Refer to specific module data sheet for more information.
CommBoard Module Commands mpcal (Multi-Polled Calibration Enable) Enables the multi-polled calibration. Note: For modules that do not have an onboard processor (for example, the MicroMag), the CommBoard will calculate and output this data 2-Axis Compass Calibration using the CommBoard Calibration is the process used with PNI sensor technology to separate the earth’s magnetic field from magnetic field distortions. Magnetic field distortions are created by the environment into which the sensors are mounted.
CommBoard Module Commands ps (ASIC Period Select) Sets the value for the ASIC period select. The lowest setting (/32) will provide the fastest response, but the lowest resolution. The highest setting will provide the slowest response, but the highest resolution. Refer to specific module data sheet for more response times and maximum setting allowed.
CommBoard Module Commands sn (North Mode) Used to set either True or Magnetic North. If the value is set to true, then declination is applied to get the True North heading.
CommBoard SPI Interface to Sensor Module SPI INTERFACE TO SENSOR MODULE Table 14: SPI Pin Descriptions Pin Name Description 1 SCLK Serial clock output for the SPI port 2 MISO Serial data input. Master In Slave Out 3 MOSI Serial data output.
CommBoard SPI Interface to Sensor Module SPI Hardware Handshaking Line Descriptions SYNC SYNC is usually low. SYNC must be toggled from low-high-low. This is the SPI reset. This line is used to reset the SPI slave when communications get out of synchronization. SYNC is normally used during the module startup. DRDY – Data Ready The module returns DRDY. DRDY is low after a SYNC. Once a command has been received and the data is read, DRDY goes high. This is only used with modules that do not have processor.
CommBoard SPI Interface to Sensor Module PNI CommBoard (RS-232 and RS-485) LED Status Indicators 1. A live indicator, toggling every ½ second. 2. Not used. 3. Not used. 4. On during transition, off when not in transition. Figure 2: CommBoard Status Indicators PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard SPI Interface to Sensor Module Communication Block Diagram Figure 3: Block Diagram PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard SPI Interface to Sensor Module Assembly Views Figure 4: Side Views Figure 5: Top View PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard SPI Interface to Sensor Module Interchangeable Sensor Module Unless otherwise stated: • This document pertains to PNI Corporation part number 11867. • All units are in metric, millimeters. • Tolerances are ± 0.1 mm. • Table 4 page 5 provides pinout definitions for connector J1. • Serial Pin Descriptions (cont). • • Table 6 on page 6 provides pinout definitions for connector J2. The alignment arrows in Figure 6 are defined as pointing in the forward direction.
CommBoard SPI Interface to Sensor Module Figure 6: CommBoard with Module Plugged-In Figure 7: CommBoard with Interchangeable Sensor Module Item 1, CommBoard Item 2, Interchangeable Sensor Module PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard SPI Interface to Sensor Module Figure 8: Assembled CommBoard Dual In-Line and DB9 Connectors Unless otherwise specified: 1. 2. 3. 4. All units are in standard U.S. inches. Cable assembly specifications provided in Table 15. The pin descriptions for the DB9 female connector are provided in Table 16. The pin descriptions for the Dual In-Line connector are provided in Table 17.
CommBoard SPI Interface to Sensor Module Table 16: DB9 Connector Pin Descriptions. Refer to Figure 10 Pin Wire 1 not connected Description 2 Yellow TxD (RS-232) 3 Blue RxD (RS-232) 4 not connected 5 Green 6 not connected 7 White 8 not connected 9 not connected GND CTS Figure 10: DB9 Close-up PNI Corporation 133 Aviation Blvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fax: (707) 566-2261 For the most current specifications, please visit our website at: www.pnicorp.
CommBoard SPI Interface to Sensor Module Table 17: Dual In-Line Pin Descriptions. Refer to Figure 11. Pin Wire Description 1 Yellow TxD (RS-232) 2 not connected 3 White or Orange CTS 4 Blue or Brown RxD (RS-232) 5 not connected 6 not connected 7 not connected 8 Green GND 9 Red Vsupply 5 to 12 VDC 10 Black GND Figure 11: Dual In-Line Connector PNI Corporation 133 Aviation Blvd.
CommBoard Unused Commands UNUSED COMMANDS The following commands are part of the CommBoard programming but are not being used by any of the PNI products currently available for use with the CommBoard. i? (Inclinometer Update) Command Type: Query Command Retrieves the inclinometer values. Syntax: i? Response Format: $Pn.nRn.n= Valid Values: P Pitch R Roll z? (Z Axis Sensor Update) Command Type: Query Command Retrieves only the corrected Z axis magnetometer values.
CommBoard Unused Commands ep (Pitch Data Enable) Command Type: Configuration Command Enables the pitch data output. Syntax: ep Response Format: $ep={value}* Valid Values: e d Query Syntax: ep? enabled disabled (default) er (Roll Data Enable) Command Type: Configuration Command Enables the roll data output. Syntax: er Response Format: $er={value}* Valid Values: e d Query Syntax: er? enabled disabled (default) PNI Corporation 133 Aviation Blvd.
CommBoard Unused Commands ui (Inclinometer Units) Command Type: Configuration Command Sets the inclinometer units to either degrees or mils. Syntax: ui Response Format: $ui={value}* Valid Values: d m Query Syntax: ui? degrees (default) mils cclip (Inclinometer Clip Value) Command Type: Module Command Sets the clipping value for the maximum positive and negative angle of the inclinometer.
CommBoard Unused Commands lc (Last Calibration Score) Command Type: Module Command Retrieves the last calibration score. This option is based on the calibration score of the PNI Corporation’s TCM2 module and is not available on all modules. Refer to the specific module data sheet for more information. Syntax: lc? Response Format: $HnVnMn.n* Valid Values: n is equal to the score value. Hn 0–9 Vn 0–9 Mn.n >0 PNI Corporation 133 Aviation Blvd.
