User Manual

PNI Sensor Corporation DOC# 1014177 r08
Prime User Manual – July 2011 Page ii
6 FIELD CALIBRATION ........................................................................................................ 23
6.1 Magnetic Calibration Overview ................................................................................................. 24
6.1.1 Hard-Iron and Soft-Iron Effects ......................................................................................... 24
6.1.2 Magnetic Calibration Limitations ...................................................................................... 24
6.2 Field Calibration Procedures ..................................................................................................... 24
6.2.1 Magnetic Calibration Procedure ....................................................................................... 25
6.2.2 Accelerometer Calibration Procedure ............................................................................... 27
6.2.3 Simultaneous Mag and Accel Calibration .......................................................................... 29
6.2.4 Calibration Scores.............................................................................................................. 29
6.3 Declination ................................................................................................................................ 29
7 OPERATION WITH PNI BINARY PROTOCOL ..................................................................... 30
7.1 Datagram Structure................................................................................................................... 30
7.2 Parameter Formats ................................................................................................................... 31
7.3 Commands & Communication Frames ...................................................................................... 33
7.3.1 kGetModInfo (frame ID 1
d
) ................................................................................................ 34
7.3.2 kModInfoResp (frame ID 2
d
) .............................................................................................. 34
7.3.3 kSetDataComponents (frame ID 3
d
) .................................................................................. 35
7.3.4 kGetData (frame ID 4
d
) ...................................................................................................... 36
7.3.5 kDataResp (frame ID 5
d
) .................................................................................................... 36
7.3.6 kSetConfig (frame ID 6
d
) .................................................................................................... 37
7.3.7 kGetConfig (frame ID 7
d
) ................................................................................................... 40
7.3.8 kConfigResp (frame ID 8
d
) ................................................................................................. 41
7.3.9 kSave (frame ID 9
d
) ............................................................................................................ 41
7.3.10 kStartCal (frame ID 10
d
) ..................................................................................................... 41
7.3.11 kStopCal (frame ID 11
d
) ..................................................................................................... 42
7.3.12 kSetParam (frame ID 12
d
) .................................................................................................. 42
7.3.13 kGetParam (frame ID 13
d
) ................................................................................................. 43
7.3.14 kParamResp (frame ID 14
d
) ............................................................................................... 44
7.3.15 kPowerDown (frame ID 15
d
) .............................................................................................. 44
7.3.16 kSaveDone (frame ID 16
d
) ................................................................................................. 44
7.3.17 kUserCalSampCount (frame ID 17
d
) .................................................................................. 44
7.3.18 kUserCalScore (frame ID 18d) ........................................................................................... 45
7.3.19 kSetConfigDone (frame ID 19
d
) ......................................................................................... 45
7.3.20 kSetParamDone (frame ID 20
d
) ......................................................................................... 46
7.3.21 kStartIntervalMode (frame ID 21
d
) .................................................................................... 46
7.3.22 kStopIntervalMode (frame ID 22
d
) .................................................................................... 46
7.3.23 kPowerUp (frame ID 23
d
) .................................................................................................. 46
7.3.24 kSetAcqParams (frame ID 24
d
) .......................................................................................... 46
7.3.25 kGetAcqParams (frame ID 25
d
) .......................................................................................... 47
7.3.26 kAcqParamsDone (frame ID 26
d
) ....................................................................................... 47
7.3.27 kAcqParamsResp (frame ID 27
d
) ........................................................................................ 47
7.3.28 kPowerDownDone (frame ID 28
d
) ..................................................................................... 48
7.3.29 kFactoryUserCal (frame ID 29
d
) ......................................................................................... 48
7.3.30 kFactoryUserCalDone (frame ID 30
d
)................................................................................. 48
7.3.31 kTakeUserCalSample (frame ID 31
d
) .................................................................................. 48
7.3.32 kFactoryInclCal (frame ID 36
d
) ........................................................................................... 48
7.3.33 kFactoryInclCalDone (frame ID 37
d
) .................................................................................. 48