TCM2 Module
9
Figure 3-1. TCM2’s compass reading automatically gets displayed in the Saphira 6.2 main window
Table 3-3. TCM2 Server Information Packet
Label
Data
Value/Description
Header
integer
0xFAFB
Packet type
byte
0xC0
N
byte
23; Number data bytes
Compass
integer
0-3649; compass heading relative to magnetic
north in degrees times ten
Pitch
integer
Degrees times ten; maximum pitch depends
on TCM2 Module type
Roll
integer
Degrees times ten; maximum roll depends on
TCM2 Module type
X
integer
Magnetic field x-component; ±µT times 100
Y
integer
Magnetic field y-component; ±µT times 100
Z
integer
Magnetic field z-component; ±µT times 100
Temperature
integer
Temperature degrees C times 10
Error
integer
Bit-mapped error code (
see TCM2 User’s
Manual
for meanings)
Calibration
byte
H score (0-9)
Scores
byte
V score (0-9)
integer
M score times 100
Checksum
integer
SIP checksum
The Module transmits its data in ASCII format, which the P2OS servers convert into integers for
transmission in the TCM2 SIP. It is up to the client software to parse an incoming TCM2 SIP and extract
the salient information. We provide a Saphira plugin that extracts the TCM2 SIP and stores the values in
a Saphira/Colbert-accessible data structure. See the next section for details.
In “on-demand” mode 2, only one TCM2 SIP gets sent to the client. It takes about 200 milliseconds
after P2OS receives the command before it responds.
When in continuous mode 3, the P2OS TCM2 servers automatically query the module and report the
readings in TCM2 SIPs that get sent to the connected client approximately once every 200 milliseconds.
Summary of Contents for Pioneer 2 TCM2
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