Reports.PNIFieldForceTCMPNIsFieldForceTCMIMU History

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'''Additional Parts Needed to Use It'''

If you are using the FieldForce TCM-XB module, you'll most likely want a MAX232 serial converter chip, capacitors, and an FTDI cable.

If you are using the FieldForce TCM-MB module, you will need an FTDI cable.
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UAVs and Drones

Surveillance and security drones
Robotic spy-planes/gliders
UGVs
HazMat
First responders
Autonomous search and rescue
Border sentry
Tilt sensing for rollover avoidance (stabilization)
Explosive Ordnance Disposal (EOD)
UUVs
Offshore rig service
Mine detection and disarmament
Climate mapping
Oceanic research
Stabilization/attitude control
Navigation
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UAVs and Drones\\
Surveillance and security drones\\
Robotic spy-planes/gliders\\
UGVs\\
HazMat\\
First responders\\
Autonomous search and rescue\\
Border sentry\\
Tilt sensing for rollover avoidance (stabilization)\\
Explosive Ordnance Disposal (EOD)\\
UUVs\\
Offshore rig service\\
Mine detection and disarmament\\
Climate mapping\\
Oceanic research\\
Stabilization/attitude control\\
Navigation\\
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Far Target Location and Designation
Laser Range Finding
Night Vision Systems
to:
Far Target Location and Designation\\
Laser Range Finding\\
Night Vision Systems\\
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Building Inspection
Pipeline Inspection
Oil Drilling and Downhole applications
Speed Detection Systems
Surveying
Remote Vehicle Detection
Intelligent Traffic Control Systems
Vehicle Tracking
to:
Building Inspection\\
Pipeline Inspection\\
Oil Drilling and Downhole applications\\
Speed Detection Systems\\
Surveying\\
Remote Vehicle Detection\\
Intelligent Traffic Control Systems\\
Vehicle Tracking\\
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Robotics:
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''Robotics''
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Targeting:
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''Targeting''
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Scientific and Ocean Systems:
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''Scientific and Ocean Systems''
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For hobbyist and artistic purposes, we can think of other applications, such as gesture recognition, head tracking, etc.

'''Sample Code'''

I will be working on an Arduino library to use most of the PNI Binary Protocol commands. Check back soon!
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|| border=1
||! Parameter ||! Value ||
|| Number of Data Bits || 8 ||
|| Start Bits || 1 ||
|| Stop Bits || 1 ||
|| Parity || None ||


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'''Connecting to a Microcontroller'''

So far, we have discussed how to connect this sensor (which has an on-board microcontroller already) to your computer. If we want to connect our sensor to a microcontorller, we can follow the simple guidelines below:

FieldForce TCM XB Module


FieldForce TCM MB Module
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If you have obtained the TCM XB module (like I did), you will need to use a serial-level converter chip. I used the Max232 chip, available from SparkFun, DigiKey, or your other favorite electronics distributor (AKA Eric Rosenthal).
to:
If you have obtained the TCM XB module (like I did), you will need to use a serial-level converter chip so that your computer or Arduino can both talk and listen to the logic levels of the sensor. I used the Max232 chip, available from SparkFun, DigiKey, or your other favorite electronics distributor (AKA Eric Rosenthal).
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'''
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'''Pin Descriptions/Connecting to the Sensor'''
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'''Pin Descriptions'''
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To connect to a FieldForce TCM sensor (either the XB or the MB module), I would very strongly recommend using PNI's Evaluation Cable (link). This cable will make it much easier to make the connection to the delicate Molex connector on the TCM's board. In addition, if you select the XB module, the cable will allow you to communicate with the board via RS232 Serial without additional hardware.

If you do not obtain an evaluation cable, there is still hope).
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'''Physically Connecting to the Sensor'''

Because the FieldForce TCM has an on-board microcontroller, we don't necessarily have to connect our sensor to an Arduino.
We can connect our sensor directly to our computer or to any microcontroller. In fact, for testing purposes, I recommend connecting the sensor to a computer before involving any additional microcontrollers. To connect your computer to a FieldForce TCM sensor (either the XB or the MB module), I would very strongly recommend using PNI's Evaluation Cable (can be found on FieldForce webpage). This cable will make it much easier to make the connection to the delicate Molex connector on the TCM's board. The cable seems to connect your sensor directly to USB.

If you do not obtain an evaluation cable, you will have to manually connect to the sensor's Molex connector to access the important pins.
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Unfortunately because the crimp connectors, 30-gauge wire, and the female Molex housing itself are all so delicate, they can be infuriating to use successfully. I had difficulty with the thin wire snapping frequently. As a last result, you could solder directly to the pins, as I did. These solder connections can be easily removed using solder wick.

'''RS232 Serial vs. TTY Serial'''

A lot of times when we say that sensors communicate through "serial", we mean that they use 0v-5v TTY logic levels. We can communicate with these sensors using an FTDI board, available from either SparkFun or AdaFruit. However, RS-232 Serial (which actually communicates through the serial port of a computer) uses completely different logic levels to communicate.
to:
Unfortunately because the crimp connectors, 30-gauge wire, and the female Molex housing itself are all so delicate, they can be infuriating to use successfully. I had difficulty with the thin wire snapping frequently. As a last result, you could solder directly to the pins, as I did. Thesesolder connections can be easily removed using solder wick.

'''Connecting to a Computer or a Microcontroller'''

The FieldForce TCM-XB module uses RS232 Serial to communicate, while the FieldForce TCM-MB module uses TTY Serial to communicate. When we think about "serial", we are usually referring to the TTY Serial. Depending on the type of communication, we will want to connect to the FieldForce module in a different way.

''RS232 Serial vs. TTY Serial''

A lot of times when we say that sensors communicate through "serial", we mean that they use 0v-5v TTY logic levels. We can communicate with these sensors with our computer using an FTDI cable (available at Sparkfun or AdaFruit) or via our Arduino using Serial and the Arduino's RX and TX pins. However, RS-232 Serial (which actually communicates through the serial port of a computer) uses completely different logic levels to communicate. To communicate using RS232 Serial using a computer, we must either have a serial port on our computer, or use a USB-to-Serial converter cable. To communicate using RS232 Serial using a microcontroller, we must use a serial converter chip (like the MAX232)
.
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If you have obtained the TCM MB module, you can use an FTDI cable to talk to your chip. If you have obtained the TCM XB module (like I did), you will need to use a serial-level converter chip. I used the Max232 chip, available from SparkFun, DigiKey, or your other favorite electronics distributor (AKA Eric Rosenthal).
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''Connecting to the FieldForce-TCM MB Module''

If you have obtained the TCM MB module, you can use an FTDI cable to talk to your chip. The wiring diagram for this setup is straightforward (as seen in the diagram below).

Attach:mbconnect.png

''Connecting to the FieldForce-TCM XB Module''

If you have obtained the TCM XB module (like I did), you will need to use a serial-level converter chip. I used the Max232 chip, available from SparkFun, DigiKey, or your other favorite electronics distributor (AKA Eric Rosenthal).
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'''Connecting to a Microcontroller'''

So far, we have discussed how to connect this sensor (which has an on-board microcontroller already) to your computer. If we want to connect our sensor to a microcontorller, we can follow the simple guidelines below:

FieldForce TCM XB Module


FieldForce TCM MB Module
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'''Description'''
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'''Introduction'''
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'''Sources'''

At a steep price of $996.00 (even more if you get the cable or the complete evaluation board), the FieldForce TCM is clearly not designed for the hobbyist's budget. However, that doesn't mean you can't obtain a FieldForce TCM for a student or hobbyist project. After contacting PNI Corp by emailing customerservice@pnicorp.com, I learned that they have a formal educational outreach program. If you agree to write a sensor report (much like this one) and give them some details about your completed project, they will happily send you one of their sensors!

One recommendation, be sure to fully investigate your options before requesting a sensor. You may find (as I did) that you will need to request helpful accessories, development boards, and cables besides your main sensor. PNI also offers two types of FieldForce TCM module - the XB and the MB. The XB module uses RS232 Serial logic, while the MB module uses TTY Serial logic. I recommend the MB, as you will be able to communicate with it using an FTDI chip. With the XB module, you will most likely have to use a Serial converter chip (more on this later).
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'''Obtaining Parts'''

At a steep price of $996.00 (even more if you get the cable or the complete evaluation board), the FieldForce TCM is clearly not designed for the hobbyist's budget. However, that doesn't mean you can't obtain a FieldForce TCM for a student or hobbyist project. After contacting PNI Corp by emailing customerservice@pnicorp.com, I learned that they have a formal educational outreach program. If you agree to write a sensor report (much like this one) and give them some details about your completed project, they will happily send you one of their sensors!

One recommendation, be sure to fully investigate your options before requesting a sensor. You may find (as I did) that you will need to request helpful accessories, development boards, and cables besides your main sensor. PNI also offers two types of FieldForce TCM module - the XB and the MB. The XB module uses RS232 Serial logic, while the MB module uses TTY Serial logic. I recommend the MB, as you will be able to communicate with it using an FTDI chip. With the XB module, you will most likely have to use a Serial converter chip (more on this later).

'''
Connecting to the Sensor'''
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'''Pin Descriptions/Connecting to the Sensor'''
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'''Current applications'''
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'''Applications'''
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For our purposes
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'''Keywords'''

Keywords for this sensor include: inertial navigation, heading, compass, magnetometer, accelerometer, AHRS, IMU
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The structure of a PNI Binary packet is as follows:
Attach:packet.png

An example packet for performing a 2D calibration using the kStartCal command:
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An example packet for the kGetModInfo command (which has no payload):
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On top of either an RS232 or TTY Serial protocol, the FieldForce TCM sensors also use an additional "PNI Binary Protocol". You can use the PNI Binary Protocol to send various commands to the sensor, including requesting sensor data, starting a calibration session, or setting various configurations.
to:
On top of either an RS232 or TTY Serial protocol, the FieldForce TCM sensors also use an additional "PNI Binary Protocol". You can use the PNI Binary Protocol to send various commands to the sensor, including requesting sensor data, starting a calibration session, or setting various configurations. When communicating with your sensor via a terminal application, the settings should be as follows:
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Vehicle Tracking
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Vehicle Tracking

For our purposes
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PNI provides a very detailed manual for the TCM module, which can be found on the sensor's webpage (after signing up with PNI). The sensor report summarizes much of the manual in addition to providing my perspective on using the sensor.
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PNI provides a very detailed manual for using the TCM module, which can be found on the sensor's [[http://www.pnicorp.com/products/fieldforce-tcm| webpage]] (after signing up with PNI). The sensor report summarizes much of the manual in addition to providing my perspective on using the sensor.
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This sensor features an on-board processor as well as accelerometers and compass modules. All parts are produced by PNI.
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<insert graphic here>
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'''TCM Studio: A GUI for your Chip'''

From the PNI website, you can download "TCM Studio" free of charge. TCM Studio is a GUI for testing and using your sensor. It creates messages using the PNI binary protocol so you don't have to! Once you install the GUI, you can ensure that your sensor is working properly. Select the serial port your sensor is connected to, then select 38400 for the baud rate. If all is well, your sensor should connect automatically after you configure these settings. If not, something's not right. If you are using the MB module and connecting via FTDI, ensure your Rx/Tx connections are correct. If you are using the XB module and connecting via FTDI through a MAX232 chip, double check the circuit's connections.

When the sensor connects properly, a digital LED on the GUI will turn green. At this point, you can try out the GUI's features, including the handy "test" mode. The test mode lets you manipulate a digital helicopter's heading by moving your sensor in space. It's an intuitive way to see the sensor's outputted roll, pitch, and yaw data.

Attach: gui.png

With the GUI, you can also calibrate your sensor, log data and graph data in real time, and configure your sensor's settings (including telling the on-board processor how your sensor is mounted). See the sensor handbook for more detailed information.
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To connect to a FieldForce TCM sensor (either XB or MB), I would very strongly recommend using PNI's Evaluation Cable (link). This cable will allows you to communicate with your sensor via RS-232 Serial without adding any additional hardware. When requesting a part from PNI, request the "TCM XB Interface Kit", which includes both the sensor and the evaluation cable.

If you do not obtain an evaluation cable, there is still hope (if only a little
).

On the FieldForce TCM-XB model, there is a very small 9-pin Molex male connector (Part no. 53780-0970) that mates with a female Molex connector (Part no. 5116-0900). You can attach 30-32 gauge wire to ultra-small crimp connectors (Part no. 0507538041 or 0506418041), then insert the wire with crimp connectors attached into the female Molex connector. For a tutorial on using crimp connectors, see here:
to:
To connect to a FieldForce TCM sensor (either the XB or the MB module), I would very strongly recommend using PNI's Evaluation Cable (link). This cable will make it much easier to make the connection to the delicate Molex connector on the TCM's board. In addition, if you select the XB module, the cable will allow you to communicate with the board via RS232 Serial without additional hardware.

If you do not obtain an evaluation cable, there is still hope
).

On the FieldForce TCM-XB model, there is a very small 9-pin Molex male connector (Part no. 53780-0970) that mates with a female Molex connector (Part no. 5116-0900). You can attach 30-32 gauge wire to ultra-small crimp connectors (Part no. 0507538041 or 0506418041), then insert the wire with crimp connectors attached into the female Molex connector. For a tutorial on using crimp connectors, see this [[http://www.societyofrobots.com/electronics_wire_connector.shtml | tutorial.]]
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Attach:maxwiring.jpg

Notice that several additional capacitors are needed - these capacitors allow the MAX232 chip to act as a voltage doubler, outputting more than 5v even though the chip's power source is only 5v.
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You will need to add several capacitors to the chip, as follows:

<insert pic>
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Vehicle Tracking
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Vehicle Tracking
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PNI provides a very detailed manual for the TCM module, which can be found on the sensor's webpage (after signing up with PNI). The sensor report summarizes much of the manual in addition to providing my perspective on using the sensor.

'''Electrical Characteristics'''

|| border=1
||! Parameter ||! Value ||
||! Supply Voltage || 3.6 to 5v DC ||
||! Average Current Draw (8 Hz sample rate) || 16 mA typical ||
||! Average Current Draw (max sample rate) || 20 mA typical ||
||! Peak Current Draw || 120 mA peak, 60 mA average over 2ms ||
||! Sleep Mode Current Draw || 0.3 mA typical ||
'''
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'''Electrical Characteristics'''

'''
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'''Current applications'''

The PNI website lists several application areas for the FieldForce TCM sensor, including:

Robotics:

UAVs and Drones

Surveillance and security drones
Robotic spy-planes/gliders
UGVs

HazMat
First responders
Autonomous search and rescue
Border sentry
Tilt sensing for rollover avoidance (stabilization)
Explosive Ordnance Disposal (EOD)
UUVs

Offshore rig service
Mine detection and disarmament
Climate mapping
Oceanic research
Stabilization/attitude control
Navigation


Targeting:

Far Target Location and Designation
Laser Range Finding
Night Vision Systems


Scientific and Ocean Systems:

Building Inspection
Pipeline Inspection
Oil Drilling and Downhole applications
Speed Detection Systems
Surveying
Remote Vehicle Detection
Intelligent Traffic Control Systems
Vehicle Tracking
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PNI Corp's FieldForce TCM IMU is a high-end compass module designed to provide "reliable, pinpoint accurate pitch, roll, and compass heading". This module allows accurate and robust navigation in areas where GPS is unavailable (such as inside buildings, underwater, or underground).
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PNI Corp's FieldForce TCM IMU is a high-end compass module designed to provide "reliable, pinpoint accurate pitch, roll, and compass heading". This module allows accurate and robust navigation in areas where GPS is unavailable (such as inside buildings, underwater, or underground). The PNI website advertises below 1 degree accuracy in field conditions.
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One recommendation, be sure to fully investigate your options before requesting a sensor. You may find (as I did) that you will need to request helpful accessories, development boards, and cables besides your main sensor.
to:
One recommendation, be sure to fully investigate your options before requesting a sensor. You may find (as I did) that you will need to request helpful accessories, development boards, and cables besides your main sensor. PNI also offers two types of FieldForce TCM module - the XB and the MB. The XB module uses RS232 Serial logic, while the MB module uses TTY Serial logic. I recommend the MB, as you will be able to communicate with it using an FTDI chip. With the XB module, you will most likely have to use a Serial converter chip (more on this later).
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With the TCM-XB, there are only four important connections to make: 5v, GND, RX, and TX.
to:
With the FieldForce TCM, there are only four important connections to make: 5v, GND, RX, and TX. On the XB module you will need to connect three pins to GND instead of just one.
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||! Pin Number ||! 9-Pin Connector ||! TCM Evaluation Cable Pigtail Color ||
|| 1 || GND || Black ||
|| 2 || GND || Gray ||
|| 3 || GND || Green ||
|| 4 || NC || Orange ||
to:
||! Pin Number ||! TCM XB 9-Pin Connector ||! TCM XB Evaluation Cable Pigtail Color || TCM MB 4-Pin Connector
|| 1 || GND || Black || GND
|| 2 || GND || Gray || +5 VDC
|| 3 || GND || Green || UART Tx
|| 4 || NC || Orange || UART Rx
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To connect to a FieldForce TCM-XB sensor, I would very strongly recommend using PNI's Evaluation Cable (link). This cable will allows you to communicate with your sensor via RS-232 Serial without adding any additional hardware. When requesting a part from PNI, request the "TCM XB Interface Kit", which includes both the sensor and the evaluation cable.
to:
To connect to a FieldForce TCM sensor (either XB or MB), I would very strongly recommend using PNI's Evaluation Cable (link). This cable will allows you to communicate with your sensor via RS-232 Serial without adding any additional hardware. When requesting a part from PNI, request the "TCM XB Interface Kit", which includes both the sensor and the evaluation cable.
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Unfortunately because the crimp connectors, 30-gauge wire, and the female Molex housing itself are all so delicate, they can be infuriating to use successfully. I had difficulty with the thin wire snapping frequently. As a last result, you

'''TCM Binary Protocol'''

The TCM uses a binary protocol over RS232 Serial.
to:
Unfortunately because the crimp connectors, 30-gauge wire, and the female Molex housing itself are all so delicate, they can be infuriating to use successfully. I had difficulty with the thin wire snapping frequently. As a last result, you could solder directly to the pins, as I did. These solder connections can be easily removed using solder wick.

'''RS232 Serial vs. TTY Serial'''

A lot of times when we say that sensors communicate through "serial", we mean that they use 0v-5v TTY logic levels. We can communicate with these sensors using an FTDI board, available from either SparkFun or AdaFruit. However, RS-232 Serial (which actually communicates through the serial port of a computer) uses completely different logic levels to communicate.

|| border=1
|| ||! RS232 Serial ||! TTY Serial ||
||! Logical LOW || -3 to -15v || 0v ||
||! Logical HIGH || 3 to 15v || 5v ||

If you have obtained the TCM MB module, you can use an FTDI cable to talk to your chip. If you have obtained the TCM XB module (like I did), you will need to use a serial-level converter chip. I used the Max232 chip, available from SparkFun, DigiKey, or your other favorite electronics distributor (AKA Eric Rosenthal).

<insert graphic here>
The Max232 chip can convert between RS232 Serial and TTY logic levels in both direction. You will want to wire your module up as follows:

Module Tx ---> RS232-to-TTY converter ---> TTY output connects to FTDI Rx
FTDI Tx ---> TTY-to-RS232 converter ---> RS232 output connects to TCM XB Rx

You will need to add several capacitors to the chip, as follows:

<insert pic>


'''TCM Binary Protocol'''

On top of either an RS232 or TTY Serial protocol, the FieldForce TCM sensors also use an additional "PNI Binary Protocol". You can use the PNI Binary Protocol to send various commands to the sensor, including requesting sensor data, starting a calibration session, or setting various configurations.
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last updated by Alex Olivier (original author) on 4/24/2012

'''Description'''

PNI Corp's FieldForce TCM IMU is a high-end compass module designed to provide "reliable, pinpoint accurate pitch, roll, and compass heading". This module allows accurate and robust navigation in areas where GPS is unavailable (such as inside buildings, underwater, or underground).


'''Obtaining Parts'''
At a steep price of $996.00 (even more if you get the cable or the complete evaluation board), the FieldForce TCM is clearly not designed for the hobbyist's budget. However, that doesn't mean you can't obtain a FieldForce TCM for a student or hobbyist project. After contacting PNI Corp by emailing customerservice@pnicorp.com, I learned that they have a formal educational outreach program. If you agree to write a sensor report (much like this one) and give them some details about your completed project, they will happily send you one of their sensors!

One recommendation, be sure to fully investigate your options before requesting a sensor. You may find (as I did) that you will need to request helpful accessories, development boards, and cables besides your main sensor.

'''Connecting to the Sensor'''

Wiring Diagram

With the TCM-XB, there are only four important connections to make: 5v, GND, RX, and TX.

|| border=1
||! Pin Number ||! 9-Pin Connector ||! TCM Evaluation Cable Pigtail Color ||
|| 1 || GND || Black ||
|| 2 || GND || Gray ||
|| 3 || GND || Green ||
|| 4 || NC || Orange ||
|| 5 || NC || Violet ||
|| 6 || NC || Brown ||
|| 7 || UART Tx || Yellow ||
|| 8 || UART Rx || Blue ||
|| 9 || +5 VDC || Red ||


Pin 1 is shown in the following technical drawing.

Attach:mechdrawing.png


To connect to a FieldForce TCM-XB sensor, I would very strongly recommend using PNI's Evaluation Cable (link). This cable will allows you to communicate with your sensor via RS-232 Serial without adding any additional hardware. When requesting a part from PNI, request the "TCM XB Interface Kit", which includes both the sensor and the evaluation cable.

If you do not obtain an evaluation cable, there is still hope (if only a little).

On the FieldForce TCM-XB model, there is a very small 9-pin Molex male connector (Part no. 53780-0970) that mates with a female Molex connector (Part no. 5116-0900). You can attach 30-32 gauge wire to ultra-small crimp connectors (Part no. 0507538041 or 0506418041), then insert the wire with crimp connectors attached into the female Molex connector. For a tutorial on using crimp connectors, see here:

Attach:crimpmolex.png

Unfortunately because the crimp connectors, 30-gauge wire, and the female Molex housing itself are all so delicate, they can be infuriating to use successfully. I had difficulty with the thin wire snapping frequently. As a last result, you

'''TCM Binary Protocol'''

The TCM uses a binary protocol over RS232 Serial.

|| border=1
||! Parameter ||! Value ||
|| Number of Data Bits || 8 ||
|| Start Bits || 1 ||
|| Stop Bits || 1 ||
|| Parity || None ||



|| border=1
||! ByteCount ||! Frame ID ||! CalOption ||! CalOption (2D Calibration) ||! Checksum ||
|| 00 09 || 0A || 00 00 || 00 14 || 5C F9 ||


|| border=1
||! ByteCount ||! Frame ID ||! Checksum ||
|| 00 05 || 01 || EF D4 ||

|| border=1
||! Frame ID ||! Command ||! Description ||
|| 1 || kGetModInfo || Queries the module's type and revision number ||
|| 2 || kModInfoResp || Response to kGetModInfo ||
|| 3 || kSetDataComponents || Sets the data components to be output ||
|| 4 || kGetData || Queries the module for data ||
|| 5 || kDataResp || Response to kGetData ||
|| 7 || kSetConfig || Sets internal configurations in the module ||
|| 8 || kGetConfig || Queries the module for the current internal configuration value ||
|| 9 || kConfigResp || Response to kGetConfig ||
|| 10 || kSave || Commands the module to start user calibration ||
|| 11 || kStartCal || Commands the module to start user calibration ||
|| 12 || kStopCal || Commands the module to stop user calibration ||
|| 13 || kSetParam || Sets the FIR filter settings for the magnetometer & accelerometer sensors ||
|| 14 || kGetParam || Queries for the FIR filter settings for the magnetometer & accelerometer sensors ||
|| 15 || kParamResp || Contains the FIR filter settings for the magnetometer & accelerometer sensors ||
|| 16 || kPowerDown || User to completely power-down the module ||
|| 17 || kSaveDone || Response to kSave ||
|| 18 || kUserCalSampCount || Sent from the module after taking a calibration sample point ||
|| 19 || kSetConfigDone || Response to kSetConfig ||
|| 20 || kSetParamDone || Response to kSetParam ||
|| 21 || kStartIntervalMode || Commands the module to output data at a fixed interval ||
|| 22 || kStopIntervalMode || Commands the module to stop data output at a fixed interval ||
|| 23 || kPowerUp || Sent after wake up from power down mode ||
|| 24 || kSetAcqParams || Sets the sensor acquisition paramters ||
|| 25 || kGetAcqParams || Queries for the sensor acquisition parameters ||
|| 26 || kAcqParamsDone || Response to kSetAcqParams ||
|| 27 || kAcqParamsResp || Response to kGetAcqParams ||
|| 28 || kPowerDownDone || Response to kPowerDown ||
|| 29 || kFactoryUserCal || Clears user magnetometer calibration coefficients ||
|| 30 || kFactoryUserCallDone || Response to kFactoryUserCall ||
|| 31 || kTakeUserCalSample || Commands the module to take a sample during user calibration ||
|| 36 || kFactoryInclCal || Clears user accelerometer calibration coefficients ||
|| 37 || kFactoryInclCallDone || Respond to kFactoryInclCall ||
|| 46 || kSetModeResp || Response to kSetMode ||
|| 49 || kSyncRead || Queries the module for data in Sync Mode ||

'''Electrical Characteristics'''

'''