CMPS03 Magnetic Compass

y l phn ti liu v module ny :

La bn s dng cm bin trng t Philips KMZ51, c kh nng pht hin trng t ca tri t. Ng ra t 2 trong cc chn pha bn tay phi c s dng tnh ton hng thnh phn phng ngang ca trng t tri t. Chng ta xem v d ca vic s dng la bn in t vi tm rng hn ca cc mch iu khin thng thng khc. Module s dng kt ni I2c truyn d liu cho vi x l khc.

Cu hnh chn module :

Pin 1, +5v. La bn in t yu cu ngun cung cp 5v v dng trn danh

ngha l 25mA. C 2 cch ly c phng hng t la bn in t. Tn hiu PWM Pin 4 hoc giao tip I2C c cung cp Pin 2,3.

Pin2,3 l giao tip I2C c th c s dng ly gi tr ch phng

hng ra ngai. Nu giao tip I2C khng c s dng th cc pin ny c a ln mc cao ( ti +5v ) vi 1 cp in tr. Khang 47k l c, gi tr th han tan khng c gii hn. Pin 4. Tn hiu PWM tn hiu c o bng b dy xung vi b dy xung ch ra gc. B dy xung c gi tr t 1ms( 0o ) n 36.99ms ( 359.9o ) vi cc bc gi tr l 100us/0 + 1ms offset. Tn hiu s xung mc thp trong 65ms gia cc xung, thi gian ca 1chu k l 65ms+chiu di xung ( trong khang t 66ms-102ms ). Xung c pht ra bng timer 16 bit trong vi iu khin vi phn gii l 1us, mc d vy khng th tm ra 1 thc o no nh hn 0.10 ( 10us). Chc chn rng bn kt ni cc chn I2C,

SDL v SCA, vi ngun cung cp 5v nu bn s dng PWM, khi khng c in tr ko ln cc chn ny. Pin 5 c s dng ch ra kch c ca la bn, ghi gi tr 255 ( 0xFF ) cho thanh ghi command. Cc ch dn y cho vic ghi kch thc th nhiu hn y. Ng vo xc nh c in tr ko ln ngay trn bo mch v c th b ra sau khi nh c. Pin 7 v 8 thc t khng s dng. N gn trn bo v c th khng cn phi kt ni. Pin 9 chn t , cp ngun 0 v.

Giao tip I2C:

Giao thc giao tip I2C vi la bn in t th ging nh l giao tip ca EEPROM nh l 24C04 u tin l gi start bit, a ch ca module ( 0xC0) vi bit read/write mc thp, sau s thanh ghi bn mong mun c. iu ny c k tip theo bng cch start lp i lp li v a ch ca khi vi bit read/write mc cao ( 0xC1). Gi bn c theo th t 1 hay 2 byte cho thanh ghi 8 bit hay 16 bit. Thanh ghi 16bit c byte cao trc. La bn c chui 16 byte thanh ghi 1 vi trong s chng c doble ln t thanh ghi 16bit nh sau:
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Thanh ghi 0 1 2,3 4,5 6,7 8,9 10,11 12 13

Chc nng S phin bn phn mm, phin bn 14 hoc cao hn cho phin bn sm hn Ly d liu la bn dng byte, 0-255 cho mt vng Ly d liu dng Word, 0-3599 cho mt vng tng trng cho 0-359.90 Kim tra bn trong- cm bin 1 x l cc tn hiu khc nhau-16 bit signed word Kim tra bn trong- cm bin 2 x l cc tn hiu khc nhau-16 bit signed word Kim tra bn trong-d liu th ca cm bin 1-16 bit signed word Kim tra bn trong-d liu th ca cm bin 2-16 bit signed word M m kha 1- m m kha c yu cu cho a ch I2C thay i hay lu tr s xc nh kch c. M m kha 2

14 15

M m kha 3 Thanh ghi command

Thanh ghi 0 l s phin bn phn mm ( 14 ti thi im ca bi vit ny ). Thanh ghi 1 xut ra vic chuyn i t 0-255 gi tr. N c th d dng hn cho 1 vi ng dng nh l 0-360 yu cu 2 byte. Cho cc ng dng khc yu cu nhiu gii php hn th thanh ghi 2,3 ( byte cao trc ) l 16 bit unsigned integer trong tm t 0-3599. Thanh ghi 4 n 11 l thanh ghi kim tra bn trong. Thanh ghi 8,9 v 10,11 bao gm cc d liu cm bin th. Cc tn hiu ny n trc tip t cc cm bin v im bt u cho cc tnh tan cc gi tr trc khi xut ra. Thanh ghi 12,13 v 14 cho vic ghi m m kha cho a ch I2C thay i hay lu tr vic xc nh kch thc. Thanh ghi 15 l thanh ghi lnh. Giao tip I2C khng c in tr ko ln no trn bo mch, n phi c cung cp t bn ngai hu ht l vi bus master. Chng c cung cp c 2 ng SDA v SCL nhng ch 1 cho c bus, khng phi cho tng module. Ti khuyn bn nn s dng gi tr 1k8 nu bn lm vic vi tn s 400khz v 1k2 nu lm vic tn s trn 1Mhz. La bn c thit k lm vic tc tiu chun ( SCL ) l 100khz mc d tc xung clock c th ln ti 1 Mhz. tc trn 160khz, CPU khng p ng nhanh c d liu t I2C. Do 1 delay c 50us c th c thm vo bng cch ghi vo thanh ghi a ch. Khng delay c yu cu bt c ni no khc trong chui. Bng cch ny, ti kim tra la bn in t t ti tc 1.3 Mhz SCL. C driver tham kho s dng HITECH PICC compiler cho PIC 16F877. La bn in t lun iu khin nh l 1 slave, n khng bao gi l 1 bus master.

Thanh ghi lnh:

Thanh ghi 15 l thanh ghi lnh. C 1 vi lnh 0xC0 CE cho vic thanh i a ch thanh ghi v 0xF2 cho vic lu tr calibration- c yu cu cc m m kha . 255 ( 0XFF ) cng l command v calibration. Khng c m m kha yu cu cho phn ny. Thay i a ch I2C t gi tr mc nh 0xC0: Vi phin bn 14, gi c th thay i a ch I2C trong bt k a ch no 0xC0, 0xC2, 0xC4, 0xC6, 0xC8, 0xCA, 0xCC, 0xCE. Bn lm iu ny bng cch ghi m m kha cho thanh ghi 12,13 v 14 v a ch mi thanh ghi 15.

Ch rng m m kha th khc vi cc m khc dnd lu tr calibration. Rea12 Rea13 Rea14 Rea15 0xA0 0xAA 0xA5 0xC2 V d trn thay i a ch 0xC2 v a ch mi s c nh hng ngay lp tc. ng qun nhn CMPS03 cho a ch mi. Bn c th lm iu ny trong 1 ng truyn I2C , thit lp a ch thanh ghi l 12 v ghi vo 4 byte. Con tr a ch thanh ghi c tng 1 cch t ng.

Lu tr gi tr Calibration
Vi phin bn 14, gi c th lu tr vic thit lp calibration. Bn lm iu ny bng cch ghi m m kha cho thanh ghi 12,13 v 14 v yu cu lu tr ( 0xF2) cho thanh ghi 15. Ch rng m m kha th khc so vi cc m khc cho vic thay i a ch I2C. Rea12 Rea13 Rea14 Rea15 0x55 0x5A 0xA5 0xF2 Bn c th lm c trn 1 ng truyn, thit lp a ch thanh ghi l 12 v ghi 4 byte. Con tr a ch thanh ghi ni bn trong c tng gi tr 1 cch t ng.

Calibration
Khng bao gi th cho n khi la bn ca bn ang hat ng. c bit nu bn s dng giao tip I2C th n phi han tan hat ng trc . Module sn sng calibration , c ngha l lc n 670. Nu v tr ca bn th khng ging nh vy, bn c th th la bn in t m khng c vic calibration li. Calibration ch cn lm 1 ln d liu calibration c lu trong EEPROM trong con chip PIC18F2321. Bn khng cn phi calibration li mi ln module hat ng. S nh hng ca la bn in t xut ra gi tr 00. Trc khi calib la bn, bn phi bit chnh xc hng ng , Ty , Nam, Bc. Nh l cc t trng ca cc hng ny ch khng phi l cc a l. ng an m. Ly 1 la bn t trng v kim tra th. Khi calib, chc chn rng la bn ang phng ngang, khng c nghing. Gi yn v gi vt liu st trnh xa la bn trong sut qu trnh calib- bao gm c ng h eo tay.

Phng php I2C: calib s dng bus I2C, bn ch cn ghi gi tr 255(0xff) cho thanh ghi 15, 1 ln cho mi hng chnh ca la bn: ng,Ty,Nam,Bc. Gi tr 255 c xa 1 cch t ng sau khi mi im c calib. Cc im la bn c th c thit lp cc thi im ring nhng c 4 im phi c calib. V d: 1. Thit lp mt la bn in t, ch hng Bc. Ghi gi tr 255 cho thanh ghi 15. Chn calibrating ( chn 5 ) mc thp.
1. Thit lp mt la bn in t, ch hng ng. Ghi gi tr 255

cho thanh ghi 15. 2. Thit lp mt la bn in t, ch hng Nam. Ghi gi tr 255 cho thanh ghi 15. 3. Thit lp mt la bn in t, ch hng Ty. Ghi gi tr 255 cho thanh ghi 15. Chn calibrating ( chn 5 ) mc cao. Pin method: Chn s 6 c s dng chnh la bn. Ng vo calibrate ( chn s 6 ) c in tr ko ln ngay trn bo mch v c th ngt ra sau khi chnh. chnh la bn bn ch phi ly chn calibrate mc thp v sau li mc cao ln na cho mi im chnh trong 4 im ng,Ty,Nam,Bc. 1 ci kha n gin a chn 6 xung 0v ( ni t )l c. Cc im la bn c th c thit lp cc thi im khc nhau nhng c 4 im phi c chnh. V d: 1. Thit lp mt la bn in t, ch hng Bc. Nhn 1 thi gian ri nh switch. Chn calibrating ( chn 5 ) mc thp.
5

2. Thit lp mt la bn in t, ch hng ng. Nhn 1 thi gian ri nh switch. 3. Thit lp mt la bn in t, ch hng Nam. Nhn 1 thi gian ri nh switch. 4. Thit lp mt la bn in t, ch hng Ty. Nhn 1 thi gian ri nh switch. Chn calibrating ( chn 5 ) mc cao. Vic chnh phi c thc hin ng 4 bc, mi bc cho 1 im chnh ca la bn ng,Ty,Nam,Bc. Cc phin bn trc y din t tng bc ca vic chnh v bn c th quay li v lm cc im li 1 ln na, c 5 bc hoc nhiu hn. Ch vic c hu ht t 1 im l c s dng. Phin bn 14 hat ng han tan khc. Bc1: ( ko chn 6 xung 0v hoc ghi gi tr 255 vo thanh ghi 15) thit lp cu trc thanh ghi ban u v thu thp d liu thit lp th 1. Cc bc sau ch l thu thp d liu. Sau n bc th 4, b x l cc tng pht ra v lu tr trong EEPROM gi tr chnh bn trong. Khi bn thc hin bc 1, chn 5 mc thp. Sau bc 4 chn 5 li mc cao. Bn c th kt ni LED t chn 5 ln 5v vi in tr 390 ohm xc nh vic chnh. N s mc cao ( LED tt ) trc khi bn bt u.

PCB Drilling Plan:

Gin di y ch ra v tr cc l trn CMPS03 PCB.