PNI Prime Pro User Manual Download Page 5

 

PNI Sensor 

 

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Prime Pro User Manual Preliminary September 2022 

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Copyright & Warranty Information 

© Copyright   PNI Sensor, Protonex LLC 2022.  Revised December 2018.   

All Rights Reserved.  Reproduction, adaptation, or translation without prior written permission is prohibited, except 
as allowed under copyright laws.  For the most recent version of this manual, visit our website a

www.pnicorp.com

. 

PNI Sensor 
2331 Circadian Way 
Santa Rosa, CA 95407, USA 
Tel: (707) 566-2260 
Fax: (707) 566-2261 

Warranty and Limitation of Liability.

  PNI Sensor ("PNI") manufactures its Prime Pro products (“Products”) from 

parts  and  components  that  are  new  or  equivalent  to  new  in  performance.    PNI  warrants  that  each  Product  to  be 
delivered hereunder, if properly used, will, for one year following the date of shipment unless a different warranty 
time period for such Product is specified: (i) in PNI’s Price List in effect at time of order acceptance; or (ii) on PNI’s 
web site (www.pnicorp.com) at time of order acceptance, be free from defects in material and workmanship and will 
operate in accordance with PNI’s published specifications and documentation for the Product in effect at time of order.  
PNI will make no changes to the specifications or manufacturing processes that affect form, fit, or  function of the 
Product without written notice to the OEM, however, PNI may at any time, without such notice, make minor changes 
to specifications or manufacturing processes that do not affect the form, fit, or function of the Product.  This warranty 
will be void if the Products’ serial number, or other identification marks have been defaced, damaged, or removed.  
This warranty does not cover wear and tear due to normal use, or damage to the Product as the result of improper 
usage, neglect of care, alteration, accident, or unauthorized repair. 

THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY, WHETHER EXPRESS, IMPLIED, 
OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF MERCHANTABILITY, 
FITNESS FOR ANY PARTICULAR PURPOSE, OR ANY WARRANTY OTHERWISE ARISING OUT OF 
ANY PROPOSAL, SPECIFICATION, OR SAMPLE.  PNI NEITHER ASSUMES NOR AUTHORIZES ANY 
PERSON TO ASSUME FOR IT ANY OTHER LIABILITY. 

If any Product furnished hereunder fails to conform to the above warranty, OEM’s sole and exclusive remedy and 
PNI’s sole and exclusive liability will be, at PNI’s option, to repair, replace, or credit OEM’s account with an amount 
equal to the price paid for any such Product which fails during the applicable warranty period provided that (i) OEM 
promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the deficiency; (ii) such 
Product  is  returned  to  PNI’s  service  facility  at  OEM’s  risk  and  expense;  and  (iii)  PNI  is  satisfied  that  claimed 
deficiencies  exist  and  were  not  caused  by  accident,  misuse,  neglect,  alteration,  repair,  improper  installation,  or 
improper testing.  If a Product is defective, transportation charges for the return of the Product to OEM within the 
United States and Canada will be paid by PNI.  For all other locations, the warranty excludes all costs of shipping, 
customs clearance, and other related charges.  PNI will have a reasonable time to make repairs or to replace the Product 
or to credit OEM’s account.  PNI warrants any such repaired or replacement Product to be free from defects in material 
and workmanship on the same terms as the Product originally purchased. 

Except for the breach of warranty remedies set forth herein, or for personal injury, PNI shall have no liability for any 
indirect or speculative damages (including, but not limited to, consequential, incidental, punitive and special damages) 
relating to the use of or inability to use this Product, whether arising out of contract, negligence, tort, or under any 
warranty theory, or for infringement of any other party’s intellectual property rights, irrespective of whether PNI had 
advance notice of the possibility of any such damages, including, but not limited to, loss of use, revenue or profit.  In 
no event shall PNI’s total liability for all claims regarding a Product exceed the price paid for the Product.  PNI neither 
assumes nor authorizes any person to assume for it any other liabilities. 

Some states and provinces do not allow limitations on how long an implied warranty lasts or the exclusion or limitation 
of incidental or consequential damages, so the above limitations or exclusions may not apply to you.  This warranty 
gives you specific legal rights and you may have other rights that vary by state or province. 

Summary of Contents for Prime Pro

Page 1: ...User Manual Prime Pro Digital Magnetic Compass...

Page 2: ...l Mounting 10 4 3 1 Pitch and Roll Convention 10 4 3 2 Coordinate System 11 4 3 3 Mounting Orientation 11 5 USER CALIBRATION 12 5 1 Magnetic Calibration 12 5 1 1 Full Range Calibration 14 5 1 2 2D Cal...

Page 3: ...rmation 40 7 4 2 Module Configuration 41 7 4 3 Saving Settings 45 7 5 Measurement Commands 45 7 5 1 Data Acquisition Parameters 45 7 5 2 Data Components 46 7 5 3 Making a Measurement 48 7 5 4 Continuo...

Page 4: ...ectrical Requirements 4 Table 3 4 I O Characteristics 5 Table 3 5 Environmental Requirements 5 Table 3 6 Mechanical Characteristics 5 Table 3 7 ESD Ratings 6 Table 4 1 Prime Pro Pin Descriptions 8 Tab...

Page 5: ...LITY If any Product furnished hereunder fails to conform to the above warranty OEM s sole and exclusive remedy and PNI s sole and exclusive liability will be at PNI s option to repair replace or credi...

Page 6: ...delivers field accurate heading pitch and roll data even where GPS is compromised or unavailable with 1 of accuracy New Prime Pro is extremely robust uses exceptionally low power and is pinpoint accur...

Page 7: ...field is clean relative to user calibration that the magnetic dip angle is 65 that the pitch angle is 50 and that a Full Range calibration has been performed 3 To meet performance specifications the...

Page 8: ...vel input voltage Rx VIN 3 V to 3 6 V 0 65 V Max VIN 4 5 V to 5 5 V 0 8 V Max VOH High level output voltage Tx VIN 2 9 V to 5 5V IOH 20uA VIN 0 1V min VIN 3 V IOH 3mA IOH 5 5mA 2 7 V min 2 49 V min 2...

Page 9: ...n Rate1 2400 to 921 600 baud Maximum Data Output Rate 50 samples sec Footnote 1 The Prime Pro can operate up to 921 600 baud but native TTL is limited to 115 200 baud Table 3 5 Environmental Requireme...

Page 10: ...BM per ANSI ESDA JEDEC JS 001 1 2000 V Charged device model CDM per JEDEC specification JESD22 C101 2 1000 Machine Model A115 A 200 Footnote 1 JEDEC document JEP155 states that 500 V HBM allows safe m...

Page 11: ...awings Figure 3 2 Prime Pro Mechanical Drawing Figure 3 3 Molex to Pigtail Cable Drawing pn 14479 Note Alternatively an unjacketed cable is available from Molex Part Numbers 218112040X where X 0 thoru...

Page 12: ...021 0410 or equivalent The pin out for both is given below in Table 4 1 Table 4 1 Prime Pro Pin Descriptions Pin 1 Prime Pro 4 Pin Molex Connector USB Demo Cable Wire Color Pigtailed Cable 1 Ground Bl...

Page 13: ...of local magnetic distortion that will knowingly change with time such as electrical equipment that will be turned on and off or ferrous bodies that will move 4 2 3 Mount in a physically stable locati...

Page 14: ...e available The Euler angles are the common method used for aircraft orientation where the outputs are heading pitch and roll When using Euler angles in aviation roll is defined as the angle rotated a...

Page 15: ...Prime Pro can be mounted in 16 different orientations as shown in Figure 4 2 All reference points are based on the default orientation shown in Figure 4 1 The orientation should be programmed in the P...

Page 16: ...d for o Allows for 4 different methods of calibration Full Range Calibration provides the highest heading accuracy but requires 30 of pitch 2D and Limited Tilt Calibration allow for good calibration w...

Page 17: ...mperature change Exactly how this affects heading depends on several factors most notably the hard iron component of the system and the inclination or dip angle Consider the example of a host system w...

Page 18: ...erns described in the following sub sections provide a good distribution of sample points Table 5 1 Magnetic Calibration Mode Summary Calibration Mode Static Accuracy in Compass Mode Pitch Range durin...

Page 19: ...ch2 Roll3 First Circle 1 0 30 Any 2 60 30 Any 3 120 30 Any 4 180 30 Any 5 240 30 Any 6 300 30 Any Second Circle 7 0 30 Any 8 60 30 Any 9 120 30 Any 10 180 30 Any 11 240 30 Any 12 300 30 Any Table 5 3...

Page 20: ...e points is not required The 12 points can be sampled in any order Figure 5 1 12 Point Full Range Calibration Realistic View Notes The location of the device changing in realist view is for illustrati...

Page 21: ...ading and Tilt listings are not absolute heading directions but rather relative heading referenced to the first sample 2 For best results the pitch experienced during calibration should match that of...

Page 22: ...olute heading directions but rather relative heading referenced to the first sample Alternatively a similar and acceptable pattern would be to follow the recommended 12 point Full Range Calibration pa...

Page 23: ...ing and Tilt listings are not absolute heading directions but rather relative heading referenced to the first sample 2 For best results the tilt experienced during calibration should match that experi...

Page 24: ...tion can occur within the user s system or with the module alone It is not necessary to place the Prime Pro on a flat surface as shown but it must be held very still during calibration and holding it...

Page 25: ...0 180 First Corner 7 0 5 10 to 20 8 90 5 10 to 20 9 180 5 10 to 20 Second Corner 10 270 5 10 to 20 11 30 45 10 to 20 12 120 45 10 to 20 Third Corner 13 210 45 10 to 20 14 300 45 10 to 20 15 60 45 10 t...

Page 26: ...pni electron Setup 1 0 4 exe file onto your computer Double click on the icon and step through the Setup Wizard The program will be installed into the following directory unless you direct it otherwi...

Page 27: ...nnect This will start up the PNI Studio program Be sure to open the pni serialport connection first before connecting pni studio Below is a picture of the PNI Studio header The header includes Module...

Page 28: ...ab is selected Note that if a field is changed on any of the PNI Studio tabs then either Apply or Save must be selected for the change to take effect Save Clicking the Save button will save any change...

Page 29: ...f the device 6 4 1 General Settings Baud Rate The baud rate can be altered by selecting the desired baud rate from the pull down menu clicking on Save and then powering the device off and back on The...

Page 30: ...me for the initial sample reading and if Flush Filters is selected the rate at which data is output The default setting is 32 The FIR filtering operates on a first in first out FIFO basis For example...

Page 31: ...elay is set to 0 then Prime Pro will begin sending new data as soon as the previous data set has been sent Note that the inverse of the Sample Delay is greater than the sample rate since the Sample De...

Page 32: ...commended calibration method when 5 of tilt calibration is available but tilt is restricted to 30 i e full range calibration is not possible Accelerometer The user should select this when acceleromete...

Page 33: ...cal magnetic field properties The default is index number 0 and initially this is populated at PNI with factory generated coefficients for the device itself The other sets initially are unpopulated To...

Page 34: ...figuration tab the calibration is complete Regardless of whether Automatic Sampling is selected two criteria must be met for a calibration sample to be taken First the Prime Pro must be held steady en...

Page 35: ...the Prime Pro is pitched 25 to 15 the Tilt Range value would be 20 as derived from 25 15 2 For Full Range Calibration and Hard Iron Only Calibration this should be 30 For 2D Calibration this ideally w...

Page 36: ...e is set to Continuous then the data will be continuously updated The button will change to read Stop such that clicking it again will stop the screen from updating If the Acquisition Mode is set to S...

Page 37: ...Tab make the change then Apply or Save the change Functional Mode The Prime Pro is designed to operate in Compass Mode AHRS Mode is ignored 6 7 Log Data Tab PNI Studio can capture measurement data an...

Page 38: ...the FIR filter taps are applied but prior to applying the user calibration coefficients The MX or My User data and w User Cal plot red provide data after applying the user calibration coefficients The...

Page 39: ...8 CRC 16 UInt16 Payload 1 4091 UInt8 Frame ID UInt8 Figure 7 1 Datagram Structure The ByteCount is the total number of bytes in the packet including the CRC 16 checksum The CRC 16 is calculated starti...

Page 40: ...nd at http babbage cs qc cuny edu IEEE 754 old 32bit html Note that for this converter little Endian values must be manually converted to big Endian Please refer to the Standard for more information P...

Page 41: ...mpliment Bit 31 represents the sign of the value where 0 positive and 1 negative msb 31 24 23 16 15 8 lsb 7 0 Big Endian lsb 7 0 15 8 23 16 msb 31 24 Little Endian Signed 16 Bit Integer SInt16 SInt16...

Page 42: ...16 15 8 lsb 7 0 Big Endian lsb 7 0 15 8 23 16 msb 31 24 Little Endian Unsigned 16 Bit Integer UInt16 UInt16 based parameters are unsigned 16 bit numbers Big Endian msb 15 8 lsb 7 0 Little Endian lsb 7...

Page 43: ...r calibration coefficients to non volatile memory 10 0x0A kStartCal Commands the Prime Pro to start user calibration 11 0x0B kStopCal Commands the Prime Pro to stop user calibration 12 0x0C kSetFIRFil...

Page 44: ...the Prime Pro to take a sample during user calibration 36 0x24 kFactoryIAccelCoeff Resets accelerometer calibration coefficients to original factory established values 37 0x25 kFactoryAccelCoeffDone R...

Page 45: ...to kSerialNumber is given below The payload contains the device serial number For example the hex string 00 09 35 00 0F BE 43 0E CF can be decoded with payload 00 0F BE 43 to read 1031747 as the seri...

Page 46: ...5 Z DOWN 180 16 Z DOWN 270 1 kUserCalNumPoints 12 UInt32 4 18 12 kUserCalAutoSampling 13 Boolean True or False True kBaudRate 14 UInt8 4 2400 5 3600 6 4800 7 7200 8 9600 9 14400 10 19200 11 28800 12 3...

Page 47: ...ess than this may make it difficult to meet specification See Section 5 for additional information Table 7 4 Sample Points Calibration Mode Number of Samples Allowable Range Minimum Recommended Full R...

Page 48: ...in the defined set number This feature is useful if the compass will be placed in multiple locations that have different local magnetic field properties kAccelCoeffSet Config ID 19d This command prov...

Page 49: ...kSave frame The payload contains a UInt16 error code 0 indicates no error 1 indicates an error when attempting to save data to memory 7 5 Measurement Commands 7 5 1 Data Acquisition Parameters kSetAc...

Page 50: ...ontinuous Acquisition Mode is selected It is the time delay in seconds between completion of Prime Pro sending one set of data and the start of sending the next data set The default is 0 seconds which...

Page 51: ...tus 9 0x09 Boolean True or False Default kAccelX 21 0x15 Float32 G kAccelY 22 0x16 Float32 G kAccelZ 23 0x17 Float32 G kMagX 27 0x1B Float32 T kMagY 28 0x1C Float32 T kMagZ 29 0x1D Float32 T kMagAccur...

Page 52: ...alibration cal score change in the magnetic field since the last user cal and any observed short term transients observed in the background This measurement is more accurate if the system is held some...

Page 53: ...he payload would look like 7 5 4 Continuous Data Output After Power Cycle Prime Pro is configurable to continuously send out data at next power on The following procedure shows the steps on how to ena...

Page 54: ...he power off To Disable the Continuous Data Output Send the following two commands Prime Pro will stop outputting data after next power cycle kStopContinuousMode frame ID 22 d This frame commands the...

Page 55: ...on Recommended calibration method when 5 of tilt calibration is available but tilt is restricted to 30 i e full range calibration is not possible Accel Only Calibration Select this when an acceleromet...

Page 56: ...provide an example of the steps to perform a user calibration Using the kSetFIRFilters command set the number of tap filters to 0 Using the kSetConfig command set kUserCalAutoSampling False is general...

Page 57: ...thods Note that it is possible to get acceptable scores for DistributionError and TiltError and still have a rather high MagCalScore value The most likely reason for this is the Prime Pro is close to...

Page 58: ...This frame is the response to kFactoryMagCoeff frame The frame has no payload kFactoryAccelCoeff frame ID 36 d This frame clears the accelerometer calibration coefficients and loads the original facto...

Page 59: ...rs The Prime Pro incorporates a finite impulse response FIR filter to provide a more stable heading reading The number of taps or samples represents the amount of filtering to be performed The number...

Page 60: ...971390034516e 2 03 2757326624196e 3 4 04 6708657655334e 2 02 4925036373620e 1 04 6451949792704e 2 05 3097803863757e 3 5 02 4925036373620e 1 07 1024151197772e 2 08 3414139286254e 3 6 01 6637325898141e...

Page 61: ...ld be set to 1 kGetFIRFiltersResp frame ID 14d This is the response to kGetFIRFilters and it has the same payload definition as kSetFIRFilters 7 7 2 Power Down Up Prime Pro may be powered down to save...

Page 62: ...p The Prime Pro will power up when it receives any signal on the native UART Rx line The frame has no payload 7 8 Using Multiple Coefficient Sets The ability to store and access multiple calibration c...

Page 63: ...x12 get kMagCoeffSet value which is currently used in Prime Pro 0x00 0x06 0x07 0x12 0x19 0x44 0x00 0x0A 0x08 0x12 0x00 0x00 0x00 0x CRC1 CRC2 Accelerometer Calibration kSetConfig frame ID kAccelCoeffC...

Page 64: ...The kSave command is as following 0x00 0x05 0x09 0x6E 0xDC Start a user calibration when completes save calibration coeffs to TCM The coeffs have been saved into coeff set copy 4 Example 2 Use Magneti...

Page 65: ...p frame ID 0x2 In ASCII it will contain TRAXP733 version number 00 0d 02 54 52 41 58 50 37 33 33 5b 76 3 Write kSetDataComponents frame ID 0x03 There are 3 components kHeading kPitch kRoll component I...

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