PNI Legacy Comm Board User Manual

R07 Revised: August 2008

PNI CommBoard (RS-232, RS-485)

General Description

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. The first version of the PNI
CommBoard features a user selectable RS-232
or RS-485 interface to the host system. The
CommBoard developer kit comes with software
for the PC that has a graphical user interface
(GUI) to control every aspect of the
CommBoard and any PNI module that is
attached to it.

In the future, different interfaces may be made
available as customer needs are identified.
Please contact PNI for support with your custom
interface high-volume opportunity

.

Features

 Small size: 53 x 25 x 11 mm
 RS-232 and RS-485 interfaces for

connection with PCs or other serial interface
systems

 GUI control software available from PNI,

either as part of the developer kit or via the
web

 Built-in support for PNI MicroMag and

V2Xe sensor modules, as well as several
future products

 Voltage regulator converts 6 - 12 VDC to 3

VDC for power to the sensor modules

 Minimal code changes required when

upgrading from PNI’s TCM-2 line of tilt
compensated magnetometer compass
modules

Applications

 Fast compass and magnetometer prototyping
 New product evaluation
 Education, school projects
 Any legacy compass application that has an

RS-232 interface but needs the performance
of new PNI products

 Production applications where standards

based protocols are preferred over SPI.

Ordering Information

Name Part # Package

CommBoard Kit
(with cable & software)

Table 1

PNI Sensor Corporation 133 Aviation Blvd., suite 101, Santa Rosa, CA 95403-1084 USA

Phone: [phone], Fax: [phone], Web: www.pnicorp.com Page 1 of 42

90009 Each

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Page 2 of 42

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.

Table 2: Absolute Maximum Ratings

Symbol Parameter Minimum Maximum

VDD DC supply voltage -0.3 VDC 16 VDC

VIN

T

Storage Temperature -40°C 85°C

STRG

Input pin voltage
(CTS, RxD) to ground

Input pin voltage
(TxD, RTS) to ground

Input pin voltage
(D+, D-) to ground

CommBoard

Specifications

-25 VDC 25 VDC

-13.2 VDC 13.2 VDC

-13.2 VDC 13.2 VDC

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Page 3 of 42

Table 3: Characteristics

Parameter Minimum Maximum Typical
Operating Characteristics

Current – standby
(Low power mode, no module loaded)

LPM0a 14.4 mA RMS

b

LPM1

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)

Output resistance

= V+ = V- =0, output = 2 V)

(V

CC

Output short circuit current
(Output = GND)

RS-485 Transceiver Signals (D-, D+)

Input differential threshold -200 mVDC -50 mVDC

Differential output voltage
(R = 27 Ω)

Change in magnitude of differential output voltage for
complementary output states

(R = 27Ω or 50Ω)

Common mode output voltage
(R = 27Ω or 50 Ω)

Change in magnitude of common mode output
voltage for complementary output states

(R = 27Ω or 50 Ω)

Output sort-circuit current
(V

or VZ = +12 V to – 7 V)

Y

a. The unit is in normal operating mode with the LEDs enabled.
b. The unit is in normal operating mode with the LEDs disabled.

c. The unit is in a Sleep mode and will need to be awakened via the CTS (Wake Up) line.

CommBoard

Specifications

±5 VDC ±5.4 VDC

300Ω 10MΩ

±60 mA ±30 mA

1.5 VDC

-0.2 VDC 0.2 VDC

3.0 VDC

0.2 VDC

±250 mA

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Page 4 of 42

Serial Pin Descriptions

Figure 1: Jumpers and Connectors

CommBoard

Specifications

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 12 VDC)

10 GND Ground

RS-232 and RS-485 Jumper Settings

Table 5: Jumper Configuration

Configuration Mode

JMP1 installeda RS-232

JMP1 removeda RS-485

JMP2 installedb RS-485; 120 Ω line termination

JMP2 removedb RS-485; no line termination

a. The processor only checks the status of JMP1 at power up. IF the position of the jumper

needs to be changed, either cycle the power or press the RESET switch after the change
has been made.

b. JMP2 must only be installed on the last unit of the network. All other units need to have

JMP2 removed for proper RS-485 operation.

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Page 5 of 42

Serial Pin Descriptions (cont).

CommBoard

Specifications

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

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Page 6 of 42

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.

• RS-232 mode uses software handshaking to communicate.

o Xon = ^Q = 0 x 11 (okay to send data)
o Xoff = ^S = 0 x 13 (stop sending data)

• RS-485 mode is only Half-Duplex.

o The Continuous Output (go) command is not allowed since Half-Duplex implies queried

responses only.

o The CommBoard acts as a Slave when the JMP1 is removed.

Example

!FF00$C194.74X-106.00Y-403.00Z98.00:E200*1E
!DdSs${data}*<dcs><es>

Table 7: Hardware Modes

! RS-485 data delimiter

Dd Destination address

Ss Source address

$ Start data delimiter

{data} Selected data output

* End data delimiter

<dcs> Checksum

<es> End of message based on eol variable <cr> or <lf> or <cr><lf>

NOTE:

The query and response format must match. All examples in this manual show the query and response
of the RS-232 mode. When using RS-485 just add the RS-485 data delimiter, destination address,
source address and checksum, to the examples shown.

Checksum

The CommBoard uses a XOR checksum method from the beginning of the string up to, but not
including, the end data delimiter (“*”). Examples:

RS-232 RS-485

Sent Command

Reply

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id? (no checksum required) !00ff$id?*37 $id=3*27

!00ff$id?*06

Page 7 of 42

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-403.00Z98.00:E200*1E
${data}*<dcs><es>

Table 8: Standard Output Modes

$ Start data delimiter

{data} Selected data output

* End data delimiter

<dcs> Checksum up to but not including “*”

<es> End of message based on eol variable <cr> or <lf> or <cr><lf>

NMEA Output Mode (National Marine Electronics Association ) (sdo=n)

The NMEA Output mode conforms to the 0183 specification. In this mode, only compass
heading information is available.

EXAMPLE:

$HCHDM,71.33,M*2F
$HC<sid>,{data},<dt>*<dcs><es>

CommBoard

Specifications

Table 9: NMEA Output Modes

$ Start data delimiter

HC Heading compass (magnetic), Talker ID

<sid> Heading magnetic = HDM, heading true = HDT, Sentence ID

71.33 Heading degrees

<dt> Data type M = magnetic, T = true

* End data delimiter

<dcs> Checksum

<es> End of message based on eol variable <cr> or <lf> or <cr><lf>

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Page 8 of 42

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.

EXAMPLE:

$raw,X53Y-420Z0*6E
$raw,{data}*<dcs><es>

Table 10: Raw Output Modes

$ Start data delimiter

{data} Selected data output

* End data delimiter

<dcs> Checksum

<es> End of message based on eol variable <cr> or <lf> or <cr><lf>

NOTE: For modules with a Z-axis when used in other modes than raw, Z-axis is turned off and module
is run as a Z-axis system since no tilt compensation is being done.

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Page 9 of 42

Command Line Interface

CommBoard

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:

2. The module processes the command.

3. A reply is sent back to you.
a. If no error
b. If error

$cmdreply*<dcs><es>
$cmdreply:Exxx*<dcs><es>

cmd?<es>

Table 11: Command Notation Table

Command Symbol

? Indicated query only command or variable

= Indicates assign only command or variable

<aq>

<es>

$ Start of checksum data

! RS-485 address follows

:

* End of checksum data

<dcs> Checksum

<er> Start of data

n n Usually a lower case ‘n’ will represent a digit (0-9)

n.n n.n Represents a decimal value (positive or negative)

x x Usually a lower case ‘x’ will represent a hex digit (0-F)

xx xx Represents a Uint8

xxxx xxxx Represents a Uint16

xxxxxxxx xxxxxxxx Represents a Uint32

a. XOR checksum method.

Response Symbol

Description

Use ? for query or =<val> for assign
Ending sequence <cr> or <lf> or <cr><lf>

If error occurs; :Ennn

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Example Command Notation

m<aq><es>

This will be interpreted as a query: em?<es>
This will be interpreted as assignment: em=<val><es>

Example Response Notation

$em=<val>*<dcs><er>

Ending Sequence

Command Line Interface

CommBoard

The CommBoard will accept either

EOL (end of line) Response

The CommBoard will send a response to you in the chosen EOL format.

If (eol=cr) Send (“\r”)
If (eol=lf) Send (“\n”)
If (eol=crlf) Send (“\r\n”)

<cr> or <lf> or <cr><lf> as an end of line (eol) indicator.

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Page 11 of 42

Command Line Interface

CommBoard

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*<dcs><er>

Exxx: “xxx” are hex values between 0 - F.

The built-in error command to parse error messages, error ffff<cr><lf>, will list the error codes.

Table 12: Error Codes

Code Description

E800 EEPROM1 error a

E400 EEPROM2 error a

E200 Module not calibratedb

E100 Module not capable

E080 Internal error

E040 Command parameter invalid

E020 Command/data mode conflict

E010 Command invalid or unavailable

E008 Module not found

E004 Magnetometer out of range

E002 Inclinometer out of range

E001 Magnetic distortion alarm

a. Indicates a possible problem with the unit. Please contact PNI

Corporation
A compass heading of –1.00 will be output when the module is not

b.

calibrated. $c-1.00:E200
Indicates that the magnetic field has changed significantly since

c.

the last calibration. See the specific module data sheet for the
parameter range

.

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Page 12 of 42

ACTION COMMANDS

factory (Factory Settings Restore)

Restores the CommBoard and modules to the factory default configuration.

Syntax:
Response Format: $factory*<dcs><er>

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.

Syntax:

Response Format: $(select data)*<dcs><er>

Notes: Stopped using the h command

h (Halt Continuous Output)

Instructs the CommBoard to exit the continuous output mode.

Syntax:

h if halt = e

Response Format: $h*<dcs><er>

help or ? (Help Menu)

Instructs the CommBoard to display the Help menu.

Syntax:
Response Format: Menu Data

factory<es>

go<es>

h<es> if halt = d see halt command

help<es> or ?<es>

CommBoard

Action Commands

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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.

Syntax:
Response Format: $id=xx*<dcs><er>
Valid Values: xx = 00 None

info? (Module Information)

Displays the CommBoard software version, module type, and module software version, if
applicable.

Syntax:
Response Format: $info,PNI-commboard Vnnn*<dcs> CommBoard

info, {module info}*<dcs> Module

id?<es>

xx = 01 MicroMag (X sensor only)
xx = 02 MicroMag (Y sensor only)
xx = 03 MicroMag (X and Y sensors)
xx = 07 MicroMag (X, Y and Z sensors)
xx = 10 V2Xe

info?<es>

CommBoard

Action Commands

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Page 14 of 42

QUERY COMMANDS

Q

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:
Response Format: $c{hdg}*<dcs><er>

Valid Values: hdg = 0 to 359.99 if uc = d

hdg = 0 to 6399 if uc = m

error x (Error Code List)

Retrieves a description of the error code entered from the CommBoard. Refer to “Error Codes”
on page 11.

Syntax:
error ffff<ex>

Response Format: $error x: (description) *<dcs><er>

Valid Values: x the error number following the “E” in the response string

m? (Magnetometer Update)

Retrieves the corrected X, Y, and Z axis magnetometer data. Corrected data is that which isused
to calculate heading. The Z sensor output is not available on all modules. 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:
Response Format: $Xn.nYn.NZn.n*<dcs><er>

Valid Values:

c?<es>

error x<es>

ffff lists all error codes

m?<es>

xn.n

CommBoard

uery Commands

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s? (Single Sample Update)

Q

Retrieves the user selected calibration information. Based upon the settings of the various
Configuration commands

Note: For modules that do not have an onboard processor (for example, the MicroMag), the
CommBoard will calculate and output this data

Syntax:

s?<es>

Response Format: ${selectedData}*<dcs><er>

Valid Values: selectedData varies according to user settings

sr? (Single Raw Sample Update)

Retrieves the raw data (uncorrected ASIC output) for the sensors selected. For example, X, Y,
and Z axis magnetometers. The Z sensor output is not available on all modules. Refer to the spe­cific module data sheet for more information

Syntax:

sr?<es>

Response Format: ${selectedRawData}*<dcs><er>

Valid Values: selectedRawData varies according to user settings

t? (Temperature Update)

Retrieves the temperature value. Outputs are based on the setting of the Temperature Units (ut)
command. The temperature output is not available in all modules. Refer to the specific data sheet
for more information.

Syntax:
Response Format: $Tn.n*<dcs><er>

Valid Values:

t?<es>

$Tn.n the calibrated temperature sensor output

CommBoard

uery Commands

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Page 16 of 42

x? (X Axis Sensor Update)

Q

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*<dcs><er>

Valid Values: n.n

y? (Y Axis Sensor Update)

Retrieves only the corrected Y 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: y
Response Format: $Yn.n*<dcs><er>

Valid Values: n.n

?<es>

?<es>

CommBoard

uery Commands

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CONFIGURATION COMMANDS

g

b (Baud Rate)

Sets the baud rate of the CommBoard

Syntax: b
Response Format: $b={value}*<dcs><er>

Valid Values:

Query Syntax:

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: ec
Response Format: $ec={value}*<dcs><er>

Valid Values: e = enabled (default)
d = disabled

Query Syntax:

<aq><es>

Table 13

0 = 300 5 = 9600(default)

1 = 600 6 = 19200

2 = 1200 7 = 38400

3 = 2400 8 = 57600

4 = 4800

b?<es>

<aq><es>

ec?<es>

Confi

uration Commands

CommBoard

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Page 18 of 42

echo (Echo Characters Enable)

g

Enables character echo, which directs the CommBoard to echo locally typed characters onto the
display

Syntax: echo
Response Format: $echo={value}*<dcs><er>

Valid Values: e = enabled
d = disabled (default)

Query Syntax:

echo?<es>

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
in raw mode.

Syntax: em

<aq><es>

Response Format: $em={value}*<dcs><er>

Valid Values: e = enabled
d = disabled (default)

Query Syntax:

em?<es>

eol (End of Line Enable)

Sets the type of end of line output

Syntax: eol
Response Format: $eol={value}*<dcs><er>

Valid Values: cr = output cr after line
lr = output lr after line
crlf = output crlf after line (default)

Query Syntax: eol

<aq><es>

?<es>

Confi

<aq><es>

em=e, em? will still respond with em=e. Z-axis is only active

CommBoard

uration Commands

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Page 19 of 42

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}*<dcs><er>

Valid Values: e = enabled
d = disabled (default)

Query Syntax:

et?<es>

ex (X Axis Data Enable)

Enables the X-axis data output.

Syntax:

ex<aq><es>

Response Format: $ex={value}*<dcs><er>

Valid Values: e = enabled
d = disabled (default)

Query Syntax:

ex?<es>

ey (Y Axis Data Enable)

Enables the Y-axis data output.

Syntax:
Response Format: $ey={value}*<dcs><er>

Valid Values: e = enabled
d = disabled (default)

Query Syntax:

ey<aq><es>

ey?<es>

<aq><es>

Configuration Commands

CommBoard

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Page 20 of 42

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<aq><es>

Response Format: $ez={value}*<dcs><er>

Valid Values: e = enabled
d = disabled (default)

Query Syntax:

ez?<es>

halt (Single Character Halt Enable)

Enables sending a single Halt (h) command to cancel the Continous Output (go) mode.

Syntax: halt

<aq><es>

Response Format: $halt={value}*<dcs><er>

Valid Values: e enabled; h (default)
d disabled; h<es>

Query Syntax:

halt?<es>

lpm (Low Power Mode)

Selects the low power mode for the CommBoard. Once set to lpm=2, the CommBoard will
“wake” from ultra low power and go into
interface.

Syntax:
Response Format: $lpm={value}*<dcs><er>

Valid Values: 0 no conversion (default)

Query Syntax:

Table 3 on page 4 lists the current draw at the different lpm levels.

lpm<aq><es>

1 LEDs off
2 ultra low power

lpm?<es>

Configuration Commands

CommBoard

lpm=0 when it receives a character over the RS-232

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Page 21 of 42

pollfreq (Polling Frequency)

Sets the sample polling frequency of the Continuous Output (go) command.

Syntax: pollfreq
Response Format: $pollfreq=nn*<dcs><er>

Valid Values: nn 0 = 1 sample/2 seconds
1 – 16 = value in Hz (default is 8)

Query Syntax:

pollfreq?<es>

rs485 (RS-485 Slave Address)

Sets the slave address for the CommBoard in RS-485 mode.

Syntax: rs485
Response Format: $rs485=xx*<dcs><er>

Valid Values: xx 00 to 7F (default is 00)

Query Syntax:

rs485?<es>

sdo (Data Output Format)

Sets the data output format to PNI standard, NMEA, or RAW. Refer to “Standard Output
Modes” on page 8 for more information.

Syntax: sdo
Response Format: $sdo={value}*<dcs><er>

Valid Values: t PNI standard format (default)
n NMEA 0183 compatible format

r raw output format (uncorrected from sensors)

Query Syntax:

sdo?<es>

<aq><es>

<aq><es>

<aq><es>

Configuration Commands

CommBoard

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Page 22 of 42

uc (Compass Units)

g

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}*<dcs><er>

Valid Values: d degrees (default)
m mils

Query Syntax:

ut (Temperature Units)

Sets the temperature units to either Fahrenheit or Celsius. Temperature output is not available on
all modules. Refer to the specific module data sheet for more information.

Syntax: ut
Response Format: $ut={value}*<dcs><er>

Valid Values: f Fahrenheit (default)
c Celsius

Query Syntax:

<aq><es>

uc?<es>

<aq><es>

ut?<es>

Confi

uration Commands

CommBoard

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Page 23 of 42

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:
Response Format: $cc*<dcs><er>

damping (Digital Damping Enable)

Enables digital damping on the compass heading output. Refer to 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:
Response Format: $damping ={value}*<dcs><er>

Valid Values: d disabled (default)
e enabled

Query Syntax:

cc<es>

damping<aq><es>

damping?<es>

CommBoard

Module Commands

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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.

Note: For modules that do not have an onboard processor (for example, the MicroMag), the
CommBoard will calculate and output this data

Syntax:

dampsize<aq><es>

Response Format: $dampsize=nn*<dcs><er>

Valid Values: nn 1 – 8 for the MicorMag (1 is the default)
1 – 8 for the V2Xe (1 is the default)

Query Syntax:

dampsize?<es>

mag_dec (Declination Value)

Sets the declination offset for a reading of True North. Based on the setting of the Compass Units
(uc) command. Positive declination is easterly declination and negative is westerly declination.
This is not applied until True North is set to true.

Declination, also called magnetic variation, is the difference between true and magnetic north,
relative to a point on the earth. It is measured in degrees east or west of true north. Correcting for
declination is accomplished by storing the correct declination angle, and then changing the head­ing reference from magnetic north to true north. Declination angles vary throughout the world,
and change very slowly over time. For the greatest possible accuracy, go to the National Geo­physical Data Center web page below to get the declination angle based on your latitude and lon­gitude: http://www.ngdc.noaa.gov/cgi-bin/seg/gmag/fldsnth1.pl

Note: For modules that do not have an onboard processor (for example, the MicroMag), the
CommBoard will calculate and output this data

Syntax:
Response Format: $mag_dec=nnn*<dcs><er>

Valid Values: nnn = ±180 If
nnn = ±3200 If

Query Syntax:

mag_dec<aq><es>

mag_dec?<es>

CommBoard

Module Commands

uc = d, then mag_dec is in degrees (default is 0)
uc = m, then mag_dec is in mils (default is 0)

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Page 25 of 42

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. By implementing a simple calibration routine with the sensors in
a fixed position within the host system, the maximum and minimum strength fields can be deter­mined and then used to correct the sensor output for the distortions present. A calibration should
be performed under the following conditions:

• when the unit is first installed into a host system.

• when the unit is moved.

• when the unit indicates that it is in need of a calibration.

Follow the steps below to perform a calibration.

1. Place the unit to be calibrated into the host system.

2. Set the unit at its intended operating position in as level of a position as possible.

3. Sent the Multi-Polled Calibration Enable (mpcal=e) command. This enables the calibration

routine.

4. Send the Go Command

5. Rotate the unit through two 360 degree circles while maintaining a level position. The

rotations should be no faster than 30 seconds each to achieve the highest possible accuracy.

6. Send the h command

7. Send the Multi-Polled Calibration Disable (mpcal=d) command. This disables the calibration

routine.

8. Send the Save Settings (save) command to save the calibration information to the

CommBoard and the attached module, where applicable.

Syntax:
Response Format: $mpcal{value}*<dcs><er>

Valid Values: d disabled (default)
e enabled

Query Syntax:

mpcal<es>

mpcal?<es>

CommBoard

Module Commands

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Page 26 of 42

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.

Syntax:
Response Format: $ps=n*<dcs><er>

Syntax: n = =0 =/32

=1 =/64

=2 =/128
=3 =/256
=4 =/512 (default)
=5 =/1024
=6 =/2048
=7 =/4096

Query Syntax:

save (Save Settings)

Saves the configuration parameters to the CommBoard and attached module (where applicable).
Also used to save calibration coefficients to the CommBoard and attached module (where
applicable)

Syntax:
Response Format: $save*<dcs><er>

ps<aq><es>

ps?<es>

save<aq><es>

CommBoard

Module Commands

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Page 27 of 42

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.

Note: For modules that do not have an onboard processor (for example, the MicroMag), the
CommBoard will calculate and output this data

Syntax:
Response Format: $sn={value}*<dcs><er>

Valid Values: m magnetic (default)
t true

Query Syntax:

be (Big Endian)

Used to set the endianism of multi-byte parameters (Float32, Uint32, SInt32). If enabled, all
parameters communicated between the module and the CommBoard are assumed to be big
endian, if disabled they are assumed to be little endian

Note: For modules that do not have an onboard processor (for example, the MicroMag), the
CommBoard will calculate and output this data

Syntax:
Response Format: $be={value}*<dcs><er>

Valid Values: e enabled (default)
d disabled

Query Syntax:

sn<aq><es>

sn?<es>

be<aq><es>

be?<es>

CommBoard

Module Commands

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Page 28 of 42

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. Master Out Slave In

4 SSNOT Active low chip select for SPI port

5 DRDY Data ready input (not supported by V2Xe module)

6 SYNC Sync output

7 GND Ground

8 GIO0 Reserved I/O

9 GIO1 Reserved I/O

10 GIO2 Reserved I/O

11 GIO3 Reserved I/O

12 VDD Supply voltage, 3 VDC regulated

13 VCC Unregulated CommBoard input supply voltage

14 GND Ground

SPI Port Pin Descriptions

MOSI – Master Out Slave In

The data sent from the CommBoard. Data is transferred most significant bit first. The MOSI line will
accept data once the SPI is enabled by taking SSNOT low. Valid data must be presented at least 100 nS
before the rising edge of the clock, and remain valid for 100 nS after the edge. New data may be presented
to the MOSI pin on the falling edge of SCLK.

CommBoard

SSNOT - Slave Select Line

Selects the module as the operating slave device. The SSNOT line must be low prior to data transfer and
must stay low during the entire transfer. Once the command byte is received by the module, and the module
begins to execute the command, the SSNOT line can be deselected until the nex t SPI transfer.

SCLK – Serial Clock

Used to synchronize both the data in and out through the MISO and MOSI lines. SCLK is generated by the
CommBoard. SCLK should be 1 MHz or less. The CommBoard is configured to run as a master device,
making it an output. One byte of data is exchanged over eight clock cycles. Data is captured by the
CommBoard on the rising edge of SCLK. Data is shifted out and presented to the module on the MOSI pin
on the falling edge of SCLK.

MISO – Master In Slave Out

The data sent from the module to the CommBoard. Data is transferred most significant bit first. The MISO
line is placed in a high impedance state if the slave is not selected (SSNOT = 1).

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SPI Interface to Sensor Module

CommBoard

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.

NOTE:

See the applicable PNI module data sheet for specific information on communication and control using
the SPI interface

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Page 30 of 42

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.

SPI Interface to Sensor Module

CommBoard

Figure 2: CommBoard Status Indicators

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Communication Block Diagram

SPI Interface to Sensor Module

CommBoard

Figure 3: Block Diagram

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Page 32 of 42

Assembly Views

Figure 4: Side Views

SPI Interface to Sensor Module

CommBoard

Figure 5: Top View

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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.

CAUTION

During installation, ensure that the white silk-screened arrows on both the stacked board and the
CommBoard are pointing towards CommBoard LEDs. Do not misalign or plug the stacked board

into the 7-pin headers backwards. Refer to

Figure 6 and to Figure 7.

CommBoard

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Figure 6: CommBoard with Module Plugged-In

SPI Interface to Sensor Module

CommBoard

Figure 7: CommBoard with Interchangeable Sensor Module

 Item 1, CommBoard
 Item 2, Interchangeable Sensor Module

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lvd., Suite 101, Santa Rosa, CA 95403-1084 USA;, Fa

Page 35 of 42

SPI Interface to Sensor Module

Figure 8: Assembled CommBoard

Dual In-Line and DB9 Connectors

Unless otherwise specified:

1. All units are in standard U.S. inches.

2. Cable assembly specifications provided in Table 15.

3. The pin descriptions for the DB9 female connector are provided in Table 16.

4. The pin descriptions for the Dual In-Line connector are provided in Table 17.

Table 15: Cable Assembly, refer to Callouts on Figure 9

CommBoard

Item Number

1 10357 10 conductor 24 AWG stranded (7 x 32) Belden 9540

2 11772 Crimp housing FCI 65846-010

3 11710 Strap battery 9 VDC I-style 4” lead Keystone 2238

4 11712 D-SUB 9 connector, female JIC DB-09S-UL

5 11711 Overmold, U-shaped JIC HD-09MTL-V

6 11773 Connector crimps FCI 482510-000

PNI Part Number

Description Approved Vendor

Vendor Part Number

Figure 9: Cable Assembly

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Table 16: DB9 Connector Pin Descriptions. Refer to Figure 10

Pin Wire Description

1 not connected

2 Yellow TxD (RS-232)

3 Blue RxD (RS-232)

4 not connected

5 Green GND

6 not connected

7 White CTS

8 not connected

9 not connected

SPI Interface to Sensor Module

CommBoard

Figure 10: DB9 Close-up

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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

SPI Interface to Sensor Module

CommBoard

Figure 11: Dual In-Line Connector

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Page 38 of 42

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:

Response Format: $Pn.nRn.n=<dcs><er>

Valid Values: P Pitch

R Roll

z? (Z Axis Sensor Update)

Command Type: Query Command

Retrieves only the corrected Z axis magnetometer values. The Z sensor output is not available on
all modules. Refer to the specific module data sheet for more information.

Syntax: z
Response Format: $Zn.n*<dcs><er>

Valid Values: n.n

i?<es>

?<es>

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ep (Pitch Data Enable)

Command Type: Configuration Command

Enables the pitch data output.

Syntax:

Response Format: $ep={value}*<dcs><er>

Valid Values: e enabled

d disabled (default)

Query Syntax:

er (Roll Data Enable)

Command Type: Configuration Command

Enables the roll data output.

Syntax:

ep<aq><es>

ep?<es>

er<aq><es>

CommBoard

Unused Commands

Response Format: $er={value}*<dcs><er>

Valid Values: e enabled

d disabled (default)

Query Syntax:

er?<es>

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ui (Inclinometer Units)

Command Type: Configuration Command

Sets the inclinometer units to either degrees or mils.

Syntax:

ui<aq><es>

Response Format: $ui={value}*<dcs><er>

Valid Values: d degrees (default)

m mils

Query Syntax:

ui?<es>

cclip (Inclinometer Clip Value)

Command Type: Module Command

Sets the clipping value for the maximum positive and negative angle of the inclinometer. When
the inclinometer angle exceeds this value, it is clipped to the set value along with an out of range
flag.

Syntax:

cclip<aq><es>

CommBoard

Unused Commands

Response Format: $cclip=nn.n*<dcs><er>

Valid Values: nn.n 0 to maximum tilt value allowed by the module (0 is default)

Query Syntax:

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cclip?<es>

Page 41 of 42

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:

Response Format: $HnVnMn.n*<dcs><er>

Valid Values: n is equal to the score value.
Hn 0 – 9

Vn 0 – 9
Mn.n >0

lc? <es>

CommBoard

Unused Commands

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Page 42 of 42