HM55B

Web Site: www.parallax.com Forums: forums.parallax.com Sales: sales@parallax.com Technical: support@parallax.com Office: (916) 624-8333 Fax: (916) 624-8003 Sales: (888) 512-1024 Tech Support: (888) 997-8267 Hitachi® HM55B Compass Module (#29123) General Description The Hitachi HM55B Compass Module is a dual-axis magnetic field sensor that can add a sense of direction to your next electronic or robotic project. The sensing device on the Compass Module is a Hitachi HM55B chip. An onboard regulator and resistor protection make the 3 volt HM55B chip compatible with 5 volt BASIC Stamp® microcontroller supply and signal levels. The Compass Module also makes all the power and signal connections on the tiny surface mount HM55B chip accessible in a breadboard-friendly 0.3 inch wide 6-pin DIP package. Acquiring measurements from the module is made easy with the BASIC Stamp 2 microcontroller's SHIFTIN and SHIFTOUT commands, which are designed for synchronous serial communication with chips like the HM55B. Features • • • • • • • • Sensitive to microtesla (µT) variations in magnetic field strength Simplifies direction by resolving magnetic field measurements into two component axes Good for 6-bit (64-direction) resolution measurements after software calibration Only 30 to 40 ms between start measurement and data-ready Built-in resistor protection for data pins eliminates bus conflict risks Compact and breadboard-friendly 0.3 inch, 6-pin DIP package Compatible with all BASIC Stamp, Javelin Stamp and SX microcontrollers Makes communication and direction calculations especially easy with the PBASIC commands SHIFTOUT, SHIFTIN, and ATN for the BASIC Stamp 2 series of microcontrollers Application Ideas • • • • • Mobile robot direction sensor Handheld electronic compass Weathervane indicator for remote weather stations Audible compass for the vision impaired Automotive electronic compass Quick Start Circuit 29123 © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 1 of 25 Quick Start Downloading the Example Programs The example programs featured in the Source Code section (pages 12 - 24) are also available for download from the Hitachi HM55B Compass Module product page at www.parallax.com. √ √ √ Go to www.parallax.com/detail.asp?product_id=29123. Click the "Hitachi HM55B Compass Module Source Code (.zip)" link and download the file. Unzip to a convenient folder. Connecting and Testing the Compass Module This section contains connection and test instructions for the Parallax BASIC Stamp 2® series and Ubicom SX microcontrollers. BASIC Stamp 2 Series Use the instructions in this section to test your Hitachi HM55B Compass Module if you have a BASIC Stamp 2, 2sx, 2e, 2p, 2pe, or 2px. The goal of this first test is to verify that the module is connected, functional, and communicating properly with the BASIC Stamp. Since this first test is run before calibration, there may sizeable differences between magnetic compass directions and what the module reports. √ √ √ √ Build the circuit shown on page 1. Place your board on a level surface away from magnetic field disturbances. Common culprits include magnetic compasses, motors, bar/horseshoe/ring magnets, and large metal objects. Also, make sure your programming cable and power cords do not wrap around or pass near the sensor. Open TestHm55bCompass.bs2 with the BASIC Stamp Editor (v2.0 or later). Update the $STAMP directive if needed, then run the program. Test your Compass Module for direction detection as shown below, comparing your degree measurements to the compass legend in the figure. © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 2 of 25 Quick Start Calibration The calibration and test-calibration programs will compensate for the effects of magnetic fields that may be resident to the module PCB and the carrier board it's mounted on, as well as nearby jumper wires and batteries. It also corrects for the HM55B chip's axis sensitivity, offset and skew errors, if any. You will need a magnetic compass to verify magnetic north as a reference. After calibration, the Hitachi HM55B Compass Module should be able to accurately discern 64 or more angles, referenced to magnetic north. √ √ √ Make a printout of the 16-segment compass shown below. Align the printout to magnetic north with the aid of the magnetic compass. Affix the aligned printout to your work surface. √ √ Make sure to set the magnetic compass well away from the printout before continuing. Align the Compass Module to magnetic north by lining up the edge of your carrier board with the dashed line that passes through the 0° mark. © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 3 of 25 Quick Start The program CalibrateHm55bCompass.bs2 will increments to gather compass offsets. Then, increments to gather information for a linear saved in the BASIC Stamp EEPROM so that them. √ √ √ prompt you to take a first series of measurements at 90° you will take a second series of measurements at 22.5° interpolation table. Both sets of measurements will be the TestCalibratedHM55BCompass.bs2 program can use Run CalibrateHm55bCompass.bs2. Make sure to click the Transmit windowpane shown in this figure before following and responding to the Debug Terminal prompts. When you have completed the calibration process, run TestCalibratedHM55BCompass.bs2. Transmit Windowpane CalibrateHM55BCompass.bs2 writes the calibration values to EEPROM, so they will be available for TestCalibratedHM55BCompass.bs2 even after the power is reset. TestCalibratedHM55BCompass.bs2 will display the angle from north in both binary radians (brads) and degrees. When you run this program after calibration, the accuracy of the degree measurements should be significantly improved. While degrees parse a full circle into 360 equal segments, brads parse the circle into 256 segments. North is still 0, but the brad measurements for east, south and west are 64, 128, and 192 respectively. In applications where accuracy is the top priority, use the brad measurements because they introduce one less rounding error into the measurement. Further accuracy improvements can be realized if both the calibration and calibration-test programs are modified to average multiple measurements. Testing Sensitivity The Compass Module operates by comparing the magnetic field intensities sensed by its two perpendicular axes. The magnetic field strength corresponding to a measurement of 1 should resolve to somewhere between 1 and 1.6 µT. To find out how many microteslas per unit each axis reports with your particular Compass Module, use TestCalibratedHM55BCompass.bs2. Start by finding the maximum possible axis measurement. Do this by orienting the x-axis to magnetic north, then tilt up and down until you find the highest value. Compare this to the total magnetic field intensity in your area. In the continental US, you can find a Total Intensity Map on this page: http://nationalatlas.gov/articles/geology/a_geomag.html. Make sure to divide their nanotesla (nT) values by 1000 to convert to microteslas (µT). © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 4 of 25 Quick Start SX Microcontroller While this connection and testing procedure is set up for the SX-28, it should work on any of the SX series of microcontrollers with a simple update of the device directive. Make sure you are using the SXKey v3.1 IDE v3.10 or newer, along with the SX-Key and an SX-28 chip. √ √ √ √ √ √ Build the circuit shown below. Open TestHm55bCompass.SXB with the SX-Key IDE. Save, Compile, and Debug (CTRL-S, A, D) Click the Debug window's Poll button. If the Watch window is not visible, also click the Watch button to bring it to the foreground. Monitor the Watch window as you point the module in various directions. Use arctan(-y/x) to calculate the heading angle, counterclockwise from north. Resources and Downloads Check out the Hitachi HM55B Compass Module product page for example programs, the HM55B datasheet, and more: http://www.parallax.com/detail.asp?product_id=29123 © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 5 of 25 Device Information Theory of Operation The Hitachi HM55B Compass Module has two axes, x and y. Each axis reports the strength of the magnetic field's component parallel to it. The x-axis reports (field strength) × cos(θ), and the y-axis reports the (field strength) × sin(θ). To resolve θ into a clockwise angle from north, use arctan(-y/x), which in PBASIC 2.5 is x ATN -y. The ATN command returns the angle in binary radians. To convert to degrees with PBASIC, just apply */ 360 to the variable storing the binary radian measurement. angle θ = arctan(-y/x) The Hitachi HM55B chip on the Compass Module reports its x and y axis measurements in terms of microteslas (µT) in 11-bit signed values. The HM55B is designed to return a value of 1 for a north magnetic field of 1 µT parallel to one of its axes. If the magnetic field is south, the value will be -1. Keep in mind that these are nominal values. According to the HM55B datasheet, the actual µT value for a measurement of 1 could range anywhere from 1 to 1.6 µT. Also keep in mind that a negative 11-bit value will not appear negative in a word variable unless a mask is applied. For example, when bit-10 is 1, bits 11 to 15 are also changed to 1 with a mask in the test and calibration programs. The microcontroller connected to the HM55B must control its enable and clock inputs and use synchronous serial communication to get the axis measurements from its data input and data output pins. For example, a BASIC Stamp 2 can be programmed to control the Compass Module's enable lines with HIGH/LOW and send values that reset the device and start a measurement with SHIFTOUT commands. The SHIFTOUT command controls the Compass Module’s clock input as it sends data bit values to its data input. The converse of SHIFTOUT is SHIFTIN, which also controls the device's clock input as it collects data bits sent by the device's data output pin. It takes the HM55B 30 to 40 ms to complete a given measurement. The microcontroller can either perform other tasks during this time or poll until the measurement is complete. The polling is a combination of SHIFTOUT commands that request the status, and SHIFTIN commands that acquire the status. When the SHIFTIN receives status flags indicating that the measurement is complete, a second and third SHIFTIN command can then store the 11-bit x and y axis measurements in variables. Precautions • • • • Do not apply voltages to the device that are outside the values stated in the Pin Definitions and Ratings section. Do not operate or store the Compass Module near sources of strong magnetic fields. Strong magnetic fields can be created by bar and ring magnets, electric motors, and other coil elements such as solenoids, relays, and large inductors. Do not apply magnetic fields in excess of 300 µT to the Compass Module. Magnetic fields stronger than 300 µT can permanently damage the sensor. Mount the Compass Module as far away as possible from magnetic field disturbances. These include magnets (including compass needles), motors, power cords, coils, metal boxes, and sometimes the ground. © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 6 of 25 Device Information Specifications Symbol BSE H dθ TCONV TOPE Quantity Sensitivity† Linear measurement range Individual axis offset Conversion time † † Minimum -180 Typical 1.0 Maximum 1.6 180 36 Units µT/lsb µT ° ms °C 30 0 40 70 Operating temperature † From Hitachi HM55B Datasheet Pin Definitions and Ratings (1) (2) (3) (4) (5) (6) Din Dout GND CLK /EN Vcc Serial data input Serial data output Ground -> 0 V Synchronous clock input Active-low device enable +5 V power input 29123 Symbol Vcc Icc(Ave) Icc(Pk) Icc(Sb) GND VOH VOL VIH VIL Quantity Supply Voltage Average active supply current* Peak instantaneous current** Standby supply current Ground reference connection Signal high transmit (Dout) Signal low transmit (Dout) Signal high receive (/En, CLK, Din) Signal low receive (/En, CLK, Din) Minimum 4.8 Typical 5.0 5 30 2 0 Maximum 5.2 7 45 3 Vcc + 0.5 Vcc × 0.15 Vcc + 0.3 Vcc × 0.12 Units V mA mA mA V V V V V Vcc × 0.9 GND - 0.3 Vcc × 0.8 - 0.3 Vcc GND Vcc GND * Measurement cycle = 80 ms ** Typical duration is 5 µs © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 7 of 25 Device Information Connection Diagrams The 3-wire interface is recommended for most applications. While all the connections shown here are to individual I/O pins, the /EN pin is the only one that needs a dedicated I/O pin. The Din/Dout pins can share a line with other synchronous serial devices, and likewise with CLK. 3-wire interface The Din and Dout pins do not have to be tied together; they can also be controlled individually. This makes it possible to share communication lines with other synchronous serial devices that have dedicated input and output lines. 4-wire interface Command Set These commands are shifted-out to the Compass Module. Binary Value 0000 0001 0011 Quantity Reset device Start measurement Report measurement status (and transmit the measurement if it's ready) © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 8 of 25 Device Information Status Flags The Compass Module will reply to the report measurement status command with one of these values. Binary Value Bits - 3210 1100 00XX XX11 Quantity 3 and 2 indicate measurement completion, 1 and 0 indicate measurement errors 11 -> Measurement completed; 00 -> no errors Measurement still in progress, or the device has been reset. /EN did not receive low-high-low signal between start and report commands Communication Protocol All values transmitted to and received from the Compass Module are most significant bit first, with the bit value valid after the clock signal's rising edge. For the BASIC Stamp 2, this means set the SHIFTOUT command’s Mode argument to MSBFIRST, and the SHIFTIN command’s Mode argument to MSBPOST. To reset the HM55B, take /EN from high to low, and shift-out %0000, then set /EN high again. After reset, start a measurement by taking /EN low again, then shift-out %1000. Leave /EN low until checking the measurement status. © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 9 of 25 Device Information To check the measurement status, start by sending a positive pulse to /EN. Then, shift-out %1100, and shift-in the status flags. While the measurement is in progress, the end flag and error flag will both be 00. The compass Module may be polled for status repeatedly until the measurement is complete, at which point the end flag will change to 11. Upon receipt of %1100, discontinue polling. Leave /EN low, and move on to shifting-in the x and y-axis values. Shifting-in the x and y-axis values is a simple matter of shifting-in 11 bits for the x-axis measurement followed by 11 more bits for the y-axis measurement. After completing the y-axis shift-in, set the /EN pin high again. Module Dimensions © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 10 of 25 Device Information Module Schematic © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 11 of 25 Source Code BASIC Stamp® 2 Series Test Program If you are using a BS2e, BS2sx, BS2p, BS2pe, or BS2px, make sure to update the $STAMP directive before running the program. No other part of the program will need to be changed. ' ' ' ' ' ' ' ' ' ' ' ============================================================================ TestHm55bCompass.bs2 - This Hitachi HM55B Compass Module test program displays x (N/S) and y (W/E) axis measurements along with the direction the Compass Module is pointing, measured in degrees clockwise from north. Author.... (C) 2005 Parallax, Inc -- All Rights Reserved Email..... support@parallax.com {$STAMP BS2} {$PBASIC 2.5} ============================================================================ ' -----[ Pins/Constants/Variables ]------------------------------------------DinDout PIN 6 ' P6 transceives to/from Din/Dout Clk PIN 5 ' P5 sends pulses to HM55B's Clk En PIN 4 ' P4 controls HM55B's /EN(ABLE) Reset Measure Report Ready NegMask x y status angle CON CON CON CON CON VAR VAR VAR VAR %0000 %1000 %1100 %1100 %1111100000000000 Word Word Nib Word ' ' ' ' ' ' ' ' ' Reset command for HM55B Start measurement command Get status/axis values command 11 -> Done, 00 -> no errors For 11-bit negative to 16-bits x-axis data y-axis data Status flags Store angle measurement ' -----[ Main Routine ]------------------------------------------------------DO GOSUB Compass_Get_Axes angle = x ATN -y angle = angle */ 360 DEBUG HOME, "x-axis N(-S) = ",SDEC x, CLREOL, CR, "y-axis W(-E) = ", SDEC y, CLREOL, CR, CR, "angle = ", DEC angle, " degrees", CLREOL PAUSE 150 LOOP ' Main loop ' Get x, and y values ' Convert x and y to brads ' Convert brads to degrees ' Display axes and degrees ' Debug delay for slower PCs ' Repeat main loop ' -----[ Subroutines ]-------------------------------------------------------- © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 12 of 25 Source Code Compass_Get_Axes: HIGH En: LOW En SHIFTOUT DinDout,clk,MSBFIRST,[Reset\4] HIGH En: LOW En SHIFTOUT DinDout,clk,MSBFIRST,[Measure\4] status = 0 DO HIGH En: SHIFTOUT SHIFTIN LOOP UNTIL SHIFTIN HIGH En ' Compass module subroutine ' Send reset command to HM55B ' HM55B start measurement command ' Clear previous status flags ' Status flag checking loop LOW En ' Measurement status command DinDout,clk,MSBFIRST,[Report\4] DinDout,clk,MSBPOST,[Status\4] ' Get Status status = Ready ' Exit loop when status is ready ' Get x & y axis values ' Disable module ' Store 11-bits as signed word ' Repeat for other axis DinDout,clk,MSBPOST,[x\11,y\11] IF (y.BIT10 = 1) THEN y = y | NegMask IF (x.BIT10 = 1) THEN x = x | NegMask RETURN BASIC Stamp 2 Series Calibration Program ' ============================================================================ ' ' File...... CalibrateHm55bCompass.bs2 ' Purpose... Software calibration of Hitachi HM55B Compass Sensor ' Author.... (C) 2005 Parallax, Inc -- All Rights Reserved ' E-mail.... support@parallax.com ' Started... 5/31/05 ' Updated... ' ' {$STAMP BS2} ' {$PBASIC 2.5} ' ' ============================================================================ ' -----[ Program Description ]-----------------------------------------------' ' ' ' ' ' ' ' This program collects and stores Hitachi HM55B Compass Module measurements in EEPROM for axis offset and linear interpolation corrections that will be performed by TestCalibratedHm55bCompass.bs2. IMPORTANT: Follow the instructions in the Quick Start section of "Hitachi HM55B Compass Module Documentation (.pdf)", available for download from the Hitachi HM55B Compass Module product page at www.parallax.com. ' -----[ EEPROM Data ]-------------------------------------------------------- © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 13 of 25 Source Code CompassOffsets DATA @ 0, (4) CompassLowVal DATA (1) CompassCal DATA (16) ' Stores x and y axis offsets ' Stores index of lowest angle ' 16 reference compass angles ' -----[ Pin Definitions ]--------------------------------------------------DinDout PIN 6 ' P6 transceives to/from Din/Dout Clk PIN 5 ' P5 sends pulses to HM55B's Clk En PIN 4 ' P4 controls HM55B's /EN(ABLE) ' -----[ Constants ]---------------------------------------------------------Reset CON %0000 ' Reset command for HM55B Measure CON %1000 ' Start measurement command Report CON %1100 ' Get status/axis values command Ready CON %1100 ' 11 -> Done, 00 -> no errors NegMask CON %1111100000000000 ' For 11-bit negative to 16-bits Current Previous CON CON 0 1 ' Index for table array ' Index for table array ' -----[ Variables ]---------------------------------------------------------x VAR Word ' x-axis data y VAR Word ' y-axis data status VAR Nib ' Status flags angle VAR Word ' Angle measurement counter VAR Byte ' Loop counter index VAR Nib ' EEPROM index character VAR Byte ' Stores a DEBUGIN character integer VAR Word ' Integer values for display fraction VAR Nib ' Fractional values for display brads VAR Byte ' Binary radian measurements offset VAR Word ' Axis offset table VAR Byte(2) ' Stores table values temp VAR Word(2) ' Stores axis measurements axisOffset VAR Word ' Stores axis offset value ' -----[ Main Routine ]------------------------------------------------------DEBUG "Click the Transmit Windowpane, ", CR, ' Wait for user. "then press Enter... ", CR, CR DEBUGIN character DO ' Main loop DEBUG "Type a character: ", CR, ' Menu "C - calibrate ", CR, "R - review calibration settings", CR, "> " DEBUGIN Character ' Get user selection DEBUG CR IF character = "c" OR character = "C" THEN ' "c" -> calibrate GOSUB Compass_Calibrate ' "r" -> review settings © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 14 of 25 Source Code ELSEIF character = "r" OR character = "R" THEN GOSUB Calibration_Review ENDIF DEBUG CR, "Press any key to", CR, "continue" DEBUGIN character DEBUG CR, CR LOOP ' wait for user ' Repeat main loop ' -----[ Subroutine - Compass_Calibrate ]------------------------------------Compass_Calibrate: GOSUB GOSUB GOSUB DEBUG Get_And_Store_Axis_Offsets Get_And_Store_Interpolation Get_And_Store_Low_Value_Address CR, "CALIBRATION COMPLETED...", CR, "You are now ready to run ", CR, "TestCalibratedHm55bCompass.bs2.", CR RETURN ' -----[ Subroutine - Get_And_Store_Axis_Offsets ]---------------------------' ' ' ' This subroutine prompts the user to point the compass north, then east, then south, then west. It then averages the maximum and minimum values for each axis and stores that average in the EEPROM area reserved by the CompassOffsets DATA directive. Get_And_Store_Axis_Offsets: ' FOR...NEXT loop repeats for four axis measurements. FOR counter = 0 TO 3 ' Instruct user to point compass to a particular direction, then wait ' for ENTER character. DEBUG CR, "Point compass to " LOOKUP counter, [ 0, 90, 180, 270 ], integer DEBUG DEC integer DEBUG " degrees", CR, "then press Enter..." DEBUGIN character GOSUB Compass_Get_Axes ' Get axis measurements ' Calculate offsets based on max and min values for each axis, then store ' in EEPROM. SELECT counter CASE 0 ' North temp(0) = x CASE 1 ' East temp(1) = y CASE 2 ' South © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 15 of 25 Source Code x = x + temp(0) IF x.BIT15 = 1 THEN x = ABS(x)/2 x = -x ELSE x=x/2 ENDIF WRITE CompassOffsets, Word x CASE 3 y = y + temp(1) IF Y.BIT15 = 1 THEN y = ABS(y)/2 y=-y ELSE y=x/2 ENDIF WRITE CompassOffsets + 2, Word y ENDSELECT NEXT RETURN ' -----[ Subroutine - Get_And_Store_Interpolation ]--------------------' This subroutine prompts the user to point the compass to directions ' separated by 22.5 degrees and stores the angle for each of the measurements ' in the EEPROM area reserved by the CompassCal DATA directive. Get_And_Store_Interpolation: FOR counter = 0 TO 15 DEBUG CR, "Point compass to " LOOKUP counter, [0, 22, 45, 67, 90, 112, 135, 157, 180, 202, 225, 247, 270, 292, 315, 337], integer LOOKUP counter, [ 0, 5, 0, 5, 0, 5, 0, 5, 0, 5, 0, 5, 0, 5, 0, 5 ], fraction DEBUG DEC integer IF fraction = 5 THEN DEBUG ".", DEC fraction DEBUG " degrees", CR, "then press Enter..." DEBUGIN character ' Wait for user GOSUB Compass_Get_Axes ' Get x, and y values GOSUB Compass_Correct_Offsets ' Correct axis offsets angle = x ATN - y ' Convert x and y to brads WRITE CompassCal + counter, angle ' Store as brad value NEXT RETURN ' -----[ Subroutine - Get_And_Store_Low_Value_Address ]----------------------' This subroutine finds and stores the address of the lowest value in the ' EEPROM area reserved by the CompassCal DATA directive and stores it in ' West © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 16 of 25 Source Code ' a byte reserved by the CompassLowVal DATA directive. ' code overhead in TestCalibratedHm55bCompass.bs2. Get_And_Store_Low_Value_Address: index = 8 table(current) = 0: table(previous) = 0 DO index = index + 1 READ CompassCal + index, table(current) READ CompassCal + (index - 1 & $F), table(previous) LOOP UNTIL table(current) < table(previous) WRITE CompassLowVal, index RETURN ' -----[ Subroutine - Calibration_Review ]-----------------------------------' Display EEPROM values. Calibration_Review: DEBUG CR, "Axis Offsets:", CR READ CompassOffsets, Word x DEBUG CR, "x-Offset = ", SDEC x READ CompassOffsets + 2, Word y DEBUG CR, "y-Offset = ", SDEC y, CR DEBUG CR, "Index of low value in CompassCal:", CR READ CompassLowVal, index DEBUG CR, "Low value ", ? index DEBUG CR, "TestCalibratedHm55bCompass.bs2", CR, "uses the 'actual' values to ", CR, "correct measurement errors:", CR DEBUG CR, "Brad Angle CR, "Ideal Actual CR, "----------Degree Angle", Ideal Actual", -----------", CR This reduces the FOR counter = 0 TO 15 brads = counter * 16 DEBUG CRSRX, 1, DEC3 brads READ CompassCal + counter, angle DEBUG CRSRX, 10, DEC3 angle LOOKUP counter, [0, 22, 45, 67, 90, 112, 135, 157, 180, 202, 225, 247, 270, 292, 315, 337], integer LOOKUP counter, [ 0, 5, 0, 5, 0, 5, 0, 5, 0, 5, 0, 5, 0, 5, 0, 5 ], fraction DEBUG CRSRX, 19, DEC3 integer, ".", DEC fraction angle = angle */ 360 ' Convert brads to degrees DEBUG CRSRX, 28, DEC3 angle, CR PAUSE 50 ' Debug delay for slower PCs © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 17 of 25 Source Code NEXT DEBUG CR RETURN ' -----[ Subroutine - Compass_Get_Axes ]-------------------------------------Compass_Get_Axes: HIGH En: LOW En SHIFTOUT DinDout,clk,MSBFIRST,[Reset\4] HIGH En: LOW En SHIFTOUT DinDout,clk,MSBFIRST,[Measure\4] status = 0 DO HIGH En: SHIFTOUT SHIFTIN LOOP UNTIL SHIFTIN HIGH En ' Compass module subroutine ' Send reset command to HM55B ' HM55B start measurement command ' Clear previous status flags ' Status flag checking loop LOW En ' Measurement status command DinDout,clk,MSBFIRST,[Report\4] DinDout,clk,MSBPOST,[Status\4] ' Get Status status = Ready ' Exit loop when status is ready ' Get x & y axis values ' Disable module ' Store 11-bits as signed word ' Repeat for other axis DinDout,clk,MSBPOST,[x\11,y\11] IF (y.BIT10 = 1) THEN y = y | NegMask IF (x.BIT10 = 1) THEN x = x | NegMask RETURN ' -----[ Subroutine - Compass_Correct_Offsets ]------------------------------' ' ' ' ' This subroutine corrects cumulative magnetic field interference that can come from sources such as the PCB, jumper wires, a nearby batter, or a nearby current source. This subroutine relies on values stored in the EEPROM space that was reserved by the CompassOffsets DATA directive. These EEPROM values are written by this program during calibration. Compass_Correct_Offsets: READ CompassOffsets, Word axisOffset x = x - axisOffset READ CompassOffsets + 2, Word axisOffset y = y - axisOffset RETURN ' ' ' ' Get x-axis offset Correct x-axis Get y-axis offset Correct y-axis © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 18 of 25 Source Code BASIC Stamp® 2 Series Calibration-Test Program ' ============================================================================ ' ' File...... TestCalibratedHM55BCompass.bs2 ' Purpose... Demonstrates Hitachi HM55B Compass Module's accuracy after ' calibration with CalibrateHM55BCompass.bs2. ' Author.... (C) 2005 Parallax, Inc -- All Rights Reserved ' E-mail.... support@parallax.com ' Started... 5/31/05 ' Updated... ' ' {$STAMP BS2} ' {$PBASIC 2.5} ' ' ============================================================================ ' -----[ Program Description ]-----------------------------------------------' This program displays the following Hitachi HM55B Compass Sensor measurements: ' ' - Offset corrected x and y-axis magnetic field measurements ' - Binary radian angle clockwise from north corrected by linear ' interpolation table ' - Degree angle clockwise from north corrected by linear interpolation ' table ' IMPORTANT: ' ' ' ' ' ' ' ' This program relies on EEPROM values that are stored by CalibrateHM55BCompass.bs2 during the calibration process. This calibration process must be performed prior to running this test program. For instructions on how to perform the calibration process, consult the Quick Start section in "Hitachi HM55B Compass Module Documentation (.pdf)". It's available for download from the Hitachi HM55B Compass Module product page at www.parallax.com. ' -----[ EEPROM Data ]-------------------------------------------------------CompassOffsets DATA @ 0, (4) CompassLowVal DATA (1) CompassCal DATA (16) ' Stores x and y axis offsets ' Stores index of lowest angle ' 16 reference compass angles ' -----[ Pin Definitions ]--------------------------------------------------DinDout Clk En PIN PIN PIN 6 5 4 ' P6 transceives to/from Din/Dout ' P5 sends pulses to HM55B's Clk ' P4 controls HM55B's /EN(ABLE) ' -----[ Constants ]---------------------------------------------------------Reset CON %0000 ' Reset command for HM55B © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 19 of 25 Source Code Measure Report Ready NegMask current previous CON CON CON CON CON CON %1000 %1100 %1100 %1111100000000000 0 1 ' ' ' ' ' ' Start measurement command Get status/axis values command 11 -> Done, 00 -> no errors For 11-bit negative to 16-bits Table array index Table array index ' -----[ Variables ]---------------------------------------------------------x VAR Word ' x-axis data y VAR Word ' y-axis data status VAR Nib ' Status flags angle VAR Word ' Angle measurement axisOffset VAR angle ' Axis offset index table span angleOffset VAR VAR VAR VAR Status Byte(2) x y ' ' ' ' EEPROM index Stores EEPROM table values Span between table entries Offset btwn measured and table ' -----[ Initialization ]----------------------------------------------------DEBUG CLS ' -----[ Main Routine ]------------------------------------------------------DO GOSUB GOSUB angle DEBUG Compass_Get_Axes Compass_Correct_Offsets = x ATN -y HOME, "x-axis N(-S) = ",SDEC x, CLREOL, CR, "y-axis W(-E) = ", SDEC y, CLREOL Compass_Interpolate CR, CR, "angle = ", DEC angle, " brads", CLREOL = angle */ 360 CR,"angle = ", DEC angle, " degrees", CLREOL 150 ' Main loop ' ' ' ' Get x, and y values Correct axis offsetes Convert x and y to brads Display corrected axes GOSUB DEBUG angle DEBUG PAUSE LOOP ' ' ' ' ' ' ' Linear interpolation Display inrerpolated angle ... in brads Convert brads to degrees Display inrerpolated angle ... in degrees Debug delay for slower PCs ' Repeat main loop ' -----[ Subroutine - Compass_Get_Axes ]-------------------------------------' This subroutine handles BASIC Stamp - HM55B communication and stores the ' magnetic field strength measurements returned by the device in the x and ' y axis variables. Compass_Get_Axes: HIGH En: LOW En SHIFTOUT DinDout,clk,MSBFIRST,[Reset\4] ' Compass module subroutine ' Send reset command to HM55B © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 20 of 25 Source Code HIGH En: LOW En SHIFTOUT DinDout,clk,MSBFIRST,[Measure\4] status = 0 DO HIGH En: SHIFTOUT SHIFTIN LOOP UNTIL SHIFTIN HIGH En ' HM55B start measurement command ' Clear previous status flags ' Status flag checking loop LOW En ' Measurement status command DinDout,clk,MSBFIRST,[Report\4] DinDout,clk,MSBPOST,[Status\4] ' Get Status status = Ready ' Exit loop when status is ready ' Get x & y axis values ' Disable module ' Store 11-bits as signed word ' Repeat for other axis DinDout,clk,MSBPOST,[x\11,y\11] IF (y.BIT10 = 1) THEN y = y | NegMask IF (x.BIT10 = 1) THEN x = x | NegMask RETURN ' -----[ Subroutine - Compass_Correct_Offsets ]------------------------------' ' ' ' ' This subroutine corrects cumulative magnetic field interference that can come from sources such as the PCB, jumper wires, a nearby battery, or a nearby current source. This subroutine relies on values stored in the EEPROM space that was reserved by the CompassOffsets DATA directive. These EEPROM values were written by CalibrateHM55BCompass.bs2. Compass_Correct_Offsets: READ CompassOffsets, Word axisOffset x = x - axisOffset READ CompassOffsets + 2, Word axisOffset y = y - axisOffset RETURN ' -----[ Subroutine - Compass_Interpolate ]----------------------------------' ' ' ' ' ' ' ' ' ' ' ' This subroutine applies linear interpolation to the refine the compass measurement. This second level of refinement can be performed after the Compass_Correct_Offsets subroutine, and it can correct axis skew and other errors inherent to the HM55B chip. The subroutine relies on sixteen actual compass measurements that were stored in the sixteen EEPROM locations reserved by the CompassCal DATA directive. These measurements were stored by CalibrateHM55BCompass.bs2, and they represent the actual compass measurements for 0, 22.5, 45, 90,..., 337.5 degrees. The subroutine finds the two EEPROM measurements that the current angle measurement falls between. It then updates the angle measurement based on where the angle measurement falls between the two known table values. ' ' ' ' Get x-axis offset Correct x-axis Get y-axis offset Correct y-axis Compass_Interpolate: © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 21 of 25 Source Code ' Start with the lowest value in the CompassCal table. READ CompassLowVal, index ' Load current and previous table values. READ CompassCal + index, table(current) READ (CompassCal + (index - 1 & $F)), table(previous) ' ' ' ' ' ' The IF...ELSEIF...ELSE...ENDIF code block finds the two EEPROM CompassCal table values that the current angle measurement falls between and calculates the difference between the current angle measurement and the lower of the two table values. The IF and ELSEIF blocks deal with values that are greater than the highest or less than the lowest table values. The ELSE block everything between the highest and lowest table values. IF (angle >= table(previous)) THEN span = (255 - table(previous)) + table(current) angleOffset = angle - table(previous) ELSEIF (angle Debug. Then , click Poll in the Debug window. As you rotate the compass, the values in the Watch window will update. ' ----------------------------------------------------------------------------' Device Settings ' ----------------------------------------------------------------------------DEVICE FREQ SX28, OSC4MHZ, TURBO, STACKX, OPTIONX 4_000_000 ' ----------------------------------------------------------------------------' IO Pins ' ----------------------------------------------------------------------------DinDout Clk En VAR VAR VAR RB.6 RB.5 RB.4 ' RB.6 transceives to/from Din/Dout ' RB.5 sends pulses to HM55B's Clk ' RB.4 controls HM55B's /EN(ABLE) ' ----------------------------------------------------------------------------' Constants ' ----------------------------------------------------------------------------YOffset XOffset ResetHM Measure Report Ready NegMask CON CON CON CON CON CON CON 0 0 %0000 %1000 %1100 %1100 %1111100000000000 ' Enter measured y at north here ' Enter measured x at west here ' ' ' ' ' Reset command for HM55B Start measurement command Get status/axis values command 11 -> Done, 00 -> no errors For 11-bit negative to 16-bits © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 23 of 25 Source Code ' ----------------------------------------------------------------------------' Variables ' ----------------------------------------------------------------------------x y statusFlags VAR VAR VAR Byte(2) Byte(2) Byte ' y-axis data ' x-axis data ' HM55B Status flags ' ----------------------------------------------------------------------------' Watch Directives ' ----------------------------------------------------------------------------watch x, 11, SDEC watch y, 11, SDEC ' Watch x-axis variable ' Watch y-axis variable ' ============================================================================= PROGRAM Start ' ============================================================================= Start: ' Program execution starts here ' ----------------------------------------------------------------------------' Initialization ' ----------------------------------------------------------------------------HIGH En LOW Clk ' Disable HM55B ' Start with clock line output-low ' ----------------------------------------------------------------------------' Main Routine ' ----------------------------------------------------------------------------DO GOSUB Get_Compass_Axes BREAK() PAUSE 100 LOOP ' ' ' ' ' Main loop Get x and y axis values Update x and y in watch window 1/10 second delay for display Repeat main loop ' ----------------------------------------------------------------------------' Subroutines ' ----------------------------------------------------------------------------Get_Compass_Axes: HIGH En Low En SHIFTOUT DinDout,Clk,MSBFIRST,ResetHM \ 4 HIGH En Low En SHIFTOUT DinDout,clk,MSBFIRST,Measure \ 4 statusFlags = 0 DO HIGH En ' Reset HM55B ' Start measurement ' Clear previous status flags ' Repeat until measurement ready ' Request measurement status © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 24 of 25 Source Code LOW En SHIFTOUT DinDout,clk,MSBFIRST,Report \ 4 SHIFTIN DinDout,clk,MSBPOST,StatusFlags\4 LOOP UNTIL statusFlags = Ready SHIFTIN DinDout,clk,MSBPOST, x(1) \3 ' SHIFTIN DinDout,clk,MSBPOST, x(0) SHIFTIN DinDout,clk,MSBPOST, y(1) \3 ' SHIFTIN DinDout,clk,MSBPOST, y(0) HIGH En ' RETURN ' Get measurement status Get 11 signed x-axis bits Get 11 signed y-axis bits Disable HM55B © Parallax, Inc. • Hitachi HM55B Compass Module (#29123) • 05/2005 Page 25 of 25