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3-Axis Compass with Algorithms

HMC6343

The Honeywell HMC6343 is a fully integrated compass module that includes

firmware for heading computation and calibration for magnetic distortions.

The module combines 3-axis magneto-resistive sensors and 3-axis MEMS

accelerometers, analog and digital support circuits, microprocessor and

algorithms required for heading computation. By combining the sensor

elements, processing electronics, and firmware into a 9.0mm by 9.0mm by

1.9mm LCC package, Honeywell offers a complete, ready to use tilt-

compensated electronic compass. This provides design engineers with the

simplest solution to integrate high volume, cost effective compasses into

binoculars, cameras, night vision optics, laser ranger finders, antenna

positioning, and other industrial compassing applications.

The HMC6343 utilizes Honeywell’s Anisotropic Magnetoresistive (AMR) technology that provides advantages over other

magnetic sensor technologies. The sensors feature precision sensitivity and linearity, solid-state construction with very

low cross-axis sensitivity designed to measure both direction and magnitude of Earth’s magnetic fields. Honeywell’s

Magnetic Sensors are among the most sensitive and reliable low-field sensors in the industry.

Honeywell continues to maintain product excellence and performance by introducing innovative solid-state magnetic

sensor solutions. Honeywell’s magnetic sensor solutions provide real solutions you can count on.

FEATURES BENEFITS

Compass with Heading

/Tilt

Output

A complete c

ompass

solution including compass firmware

xis MR Sensors,

ccelerometers and

a Microprocessor in a Single Package

digital

compass

olution with h

ead

ing and tilt angle o

utputs

in a

chip-scale package

Compass Algorithms

For computation of heading, and magnetic calibration for hard

iron

9 x 9 x 1.

mm LCC Surface Mount

Package

Small size, easy to a

ssemble and

compatible with high speed

surface mount technology assembly

Low

Voltage Operations

Compatible with battery powered a

pplications

EEPROM Memory

To store compass data for processor routines

Digital

Serial

Data

Interface

, easy to use 2

ire

ommunication

for heading o

utput

oderate Precision Outputs

Typical

° Heading Accuracy with

1° Pitch and Roll Accuracy

Lead Free Package Construction

Complies with RoHS

environmental s

tandards

Flexible Mounting

Can be mounted on horizontal or vertical circuit boards

Summary of content (13 pages)

PAGE 1
3-Axis Compass with Algorithms HMC6343 The Honeywell HMC6343 is a fully integrated compass module that includes firmware for heading computation and calibration for magnetic distortions. The module combines 3-axis magneto-resistive sensors and 3-axis MEMS accelerometers, analog and digital support circuits, microprocessor and algorithms required for heading computation. By combining the sensor elements, processing electronics, and firmware into a 9.0mm by 9.0mm by 1.
PAGE 2
HMC6343 SPECIFICATIONS Characteristics Conditions* Min Typ Max Units VDD Referenced to GND 2.7 3.3 3.6 Volts 3.5 4.5 5.5 mA 1.0 mA Power Supply Supply Voltage Current All VDD pins connected together Run Mode (10Hz Output) Standby Mode Power-on Rate Sleep mode 10 µA Power-up peak (VDD = 3.3V) 8 mA Minimum rise time for POR 0.05 - - V/msec ±1 ±2 gauss 2.0 3.
PAGE 3
HMC6343 FUNCTIONAL DIAGRAM Mag Sensors X X Magnetic ASIC Accel ASIC Y Y MicroController Z Z Temp Sensor I 2C PIN CONFIGURATIONS Pin Number Description Pin Number Description 1 NC 19 Y OFF- 2 NC 20 Y OFF+ 3 VDD1 21 VDD2 4 5 NC NC 22 23 CS X OFF- 6 NC 24 X OFF+ 7 NC 25 GND2 8 NC 26 NC 9 NC 27 NC 10 NC 28 NC 11 VDD3 29 GND1 12 13 NC NC 30 31 NC NC 14 NC 32 SCK/SCL 15 Z OFF- 33 NC 16 Z OFF+ 34 NC 17 NC 35 CS_CTRL 18 NC 36 SDA www.
PAGE 4
HMC6343 NC 18 NC 17 Z OFF+ 16 Z OFF- 15 NC 14 NC 13 NC 12 VDD3 11 NC 10 NC 9 19 Y OFF- NC 8 20 Y OFF+ NC 7 21 VDD2 NC 6 22 CS NC 5 23 NC 24 NC NC 4 Z X VDD1 3 25 GND2 26 NC NC 2 Y 27 NC NC 1 28 NC 29 GND1 30 NC 31 NC 32 SCK/SCL 33 NC 34 NC 35 CS_CTRL 4 36 SDA BOTTOM VIEW www.honeywell.
PAGE 5
HMC6343 PACKAGE OUTLINES PACKAGE DRAWING HMC6343 (32-PIN LPCC, dimensions in millimeters) E1 0.10±0.08 e 0.34±0.03 D1 D 0.57±0.03 Pin 1 E Bottom View Dimensions (mm) A (height) D D1 Minimum 1.73 - Nominal 1.87 9.00 BSC 6.40 BSC Maximum 2.02 - E E1 e - 9.00 BSC 6.40 BSC 0.8 Basic - MOUNTING CONSIDERATIONS The following is the recommend printed circuit board (PCB) footprint for the HMC6343. All dimensions are nominal and in millimeters.
PAGE 6
HMC6343 BASIC DEVICE OPERATION The Honeywell HMC6343 magnetoresistive sensor circuit is a trio of magnetic sensors, accelerometers, and analog support circuits to measure magnetic fields. Additionally a microcontroller is integrated for computation of direction and calibration. With power supply applied, the sensor converts any incident magnetic field in the sensitive axis direction to a differential voltage output.
PAGE 7
HMC6343 Mounting Orientations The HMC6343 provides for three standard mounting orientations, with a flat horizontal orientation (Level) as the factory default. For vertical mounting, there are two upright orientations with either the X-axis or the Z-axis designated as the forward reference directions. To change the forward reference direction temporarily, send the appropriate command byte (0x72, 0x73, or 0x74) for level or upright orientations.
PAGE 8
HMC6343 The receiving device (addressed slave) will pull the SDA line low to acknowledge (ACK) the successful transfer or leave the SDA high to negative acknowledge (NACK). 2 Per the I C spec, all transitions in the SDA line must occur when SCL is low. This requirement leads to two unique conditions on the bus associated with the SDA transitions when SCL is high.
PAGE 9
HMC6343 Heading Filter This allows for an Infinite Impulse Response (IIR) filter to be employed on current and previous heading data outputs. Typical values are 0 to 15 with a factory default of zero. The filter is only applied in run mode where a continuous stream of data is present. At the 5Hz default update rate, a filter value of 4 would weight the latest heading with the previous four headings of regressive weightings for a second’s worth of filtering.
PAGE 10
HMC6343 Command Protocol 2 The command protocol defines the content of the data (payload) bytes of I C protocol sent by the master, and the slave device (HMC6343). Note that angular outputs are in tenths of a degree (0-3600 heading, ±0-900 tilt). After the master device sends the 7-bit slave address, the 1-bit Read/Write, and gets the 1-bit slave device acknowledge bit returned; the next one to three sent data bytes are defined as the input command and argument bytes.
PAGE 11
HMC6343 Timing Upon power application to the HMC6343, wait nominally 500 milli-seconds before sending the first I2C command (typically a 0x32 byte followed by a 0x50 byte for the usual heading/pitch/roll). Depending on the command sent, a delay time should be inserted before clocking out the response bytes (send 0x33, clock back response bytes). The following table indicates the response delay times for various commands.
PAGE 12
HMC6343 Operational Mode Registers EEPROM registers 0x04 and 0x05 contain bits that are read for operational mode status and for setting the Run Mode measurement rate. The tables below describe the register contents and interpretation. It is recommended that Operational Mode Register 1 and 2 written only to change default orientation and update measurement rate.
PAGE 13
HMC6343 command is issued. The first rotation can also be done by rotating 360 degrees about X (Fore -Aft) axis. Then exit calibration. The calibration routine collects these readings to correct for hard-iron distortions of the magnetic field. These hard-iron effects are due to magnetized materials nearby the HMC6343 part that in a fixed position with respect to the end user platform. An example would be the magnetized chassis or engine block of a vehicle in which the compass is mounted onto.