HMR3300-D00-232 datasheet, PDF

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HMR3300-D00-232: Descriptionmodule digital compass 3-axis; CategoryThe sensor; File Size179KB，11 Pages; ManufacturerHoneywell; Websitehttp://www.ssec.honeywell.com/

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module digital compass 3-axis

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Parameter Name	Attribute value
Datasheets
HMR3200,3300
HMR3200,3300 User's Guide
Product Photos
HMR3300-D00-232
Product Training Modules
Magnetic Sensors
Hard-Iron and Soft-Iron Calibrati
Digital Compassing Solutions
Featured Produc
Digital Compassing Solutions
Standard Package	1
Category	Sensors, Transducers
Family	Magnetic Sensors - Compass, Magnetic Field (Modules)
Axis	X, Y, Z
Measuring Range	±2 Gauss, ±60°
For Measuring	Heading, Pitch and Roll
Resoluti	100 µGauss, 0.1°
Type	Digital Compass
Package / Case	Module (No Case)
Interface	RS-232
Dynamic Catalog	HMR3300
Other Names	342-1039HMR3300D00232

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Digital Compass Solutions

HMR3200/HMR3300

The Honeywell HMR3200/HMR3300 are digital compass

solutions for use in precision heading applications.

Honeywell’s magnetoresistive sensors are utilized to

provide the reliability and accuracy of these small, solid

state compass designs. These compass solutions are

designed for generic precision compass integration into

customer systems using a 5-voltage logic level serial data

interface with commands in ASCII format.

The HMR3200 is a two-axis precision compass with three

orthogonal magnetoresistive sensors, and can be used in

either vertical or horizontal orientations.

The HMR3300 includes a MEMS accelerometer for a horizontal three-axis, tilt compensated precision compass for

performance up to a

±60°

tilt range.

Honeywell continues to maintain product excellence and performance by introducing innovative solid-state magnetic

sensor solutions. These are highly reliable, top performance products that are delivered when promised. Honeywell’s

magnetic sensor solutions provide real solutions you can count on.

FEATURES

Compact Solution on a 1.0” by 1.5” PCB

Precision Compass Accuracy

Tilt-Compensated (HMR3300 only)

0.5° Repeatability

8 Hz Continuous Update Rate

Hard-Iron Compensation Routine

-40° to +85°C Operating Temp Range

Demonstration Kit Available

UART and SPI Communication

BENEFITS

Small Size and Pin Interface for Daughter/Motherboard Integration

±1° at Level Heading Accuracy, ±0.1° Resolution

Up to ±60° of Pitch and Roll Angles Using a MEMS Accelerometer

Magnetoresistive Sensor Technology for Consistency

Rapid Heading Computations for Control System Applications

User Driven Calibration to Null Stray Fields

Consumer and Industrial Environment Uses

RS-232 Motherboard PCB, Cable,

Includes Software, and a Carrying Case 9-volt power supply, PC

Demo

Intuitive Command Language

HMR3200/3300

PHYSICAL CHARACTERISTICS

The circuit board for the HMR3200/HMR3300 Digital Compassing Solutions is approximately 1.45 by 1 inches. An 8-Pin

header protrudes down on the rear edge of the compass circuit board for the user electrical interface to the motherboard.

The header pins extend 5/16” below the board plane with the bottom-side mounted magnetic sensor integrated circuits

(HMC1021Z and HMC1022) extending 3/16” below the board plane. Components on the top-side have a maximum height

of 1/8”.

In addition two single pins, identical to the 8 header pins, are placed on the sides toward the forward edge of the circuit

board (HMC1021Z is at the magnetic front or north reference). These single pins are for mechanical mounting and do not

have electrical connections to the compass electronics.

POWER SUPPLY INTERFACE

Rotary switch (SW1) is located near pins 6 and 7, and is used to select the customer provided power supply voltage type.

The HMR3200/3300 is factory set with this switch fully clockwise, for selection of unregulated input (+6 to+15) voltage

from the V+ pin (pin 8). By rotating the switch fully counter-clockwise, users may provide a regulated +5 volt supply to the

+5 pin (pin 6) as an alternative. Incorrect switch settings may cause no response or faulty responses. Upon correct power

application, light emitting diode D2 turns on for about one second afterwards to indicate the execution of the initialization

firmware. Do not use both power inputs simultaneously.

Figure 1 shows a typical HMR3200/HMR3300 circuit board assembly with the basic dimensions.

1.45”

0.15”

.037”

SW1

1.00”

8-PIN

HEADER

(0.1” SPACING)

Pitch Axis

.037”

.094”

REF PINS

(2)

Forward Direction

~0.30” Tall

1.22”

Roll Axis

Figure 1

MOUNTING CONSIDERATIONS

The HMR3200/HMR3300 precision compasses use the ten integrated circuit style pins to plug into compatible

motherboards for electrical interface, and to be orientated mechanically. The pins are nominally 0.030” in diameter and

0.200 in length. Trimming the pin lengths or removing the pins voids the warranty, as Honeywell can not retest the

modified compasses (socketized test fixtures). Wires can be substituted for the pins, but caution should be used in

soldering to not damage the pin solder pads.

The HMC1021Z part is an 8-pin SIP device that is shipped carefully in a nearly perfectly vertical orientation with respect to

the horizontal referenced circuit board. Do not bend or reposition this part, or the factory magnetic calibration will be no

longer valid. Should the part be accidentally bent, return for recalibration is possible or align the part vertical to recapture

most of the accuracy. Correct flat orientation of the compass modules is with the pins pointing downward.

CIRCUIT DESCRIPTION

The HMR3200/HMR3300 Digital Compass Solutions include all the basic sensors and electronics to provide a digital

indication of heading. The HMR3200 has all three axis of magnetic sensors on board, but allows the user to select which

www.honeywell.com

HMR3200/3300

pair of sensors for compassing (flat or upright). The HMR3300 uses all three magnetic sensors plus includes an

accelerometer to provide tilt (pitch and roll) sensing relative to the board’s horizontal (flat) position.

The HMR3200/HMR3300 circuit starts with Honeywell HMC1021Z and HMC1022 single and two-axis magnetic sensors

providing X, Y, and Z axis magnetic sensing of the earth’s field. The HMC1022 provides the horizontal components (X and

Y), and HMC1021Z provides the vertical (Z) axis component of the incident magnetic field into cartesian magnitudes at

orthognal angles. These sensors are supplied power by a constant current source to maintain best accuracy over

temperature. The sensor output voltages and constant current sensor supply voltage are provided to a multiplexed 16-bit

Analog to Digital Converter (ADC) integrated circuit. A microcontroller integrated circuit periodically queries the

multiplexed ADC and performs the offset corrections and computes the heading. This microcontroller also performs the

external serial data interface and other housekeeping functions such as the calibration routine. An onboard EEPROM

integrated circuit is employed to retain necessary data variables for best performance.

For the HMR3200, the three magnetic sensors (XYZ) are included and no accelerometer is present. The *L (level) and *U

(upright) are available for horizontal and vertical circuit board orientations respectively. At level, the XY sensors are used

to compute heading; and upright, the YZ sensors are used to compute heading.

For the HMR3300, an additional pair of data inputs from the

±2g

accelerometer (Analog Devices ADXL213) is received by

the microcontroller. These tilt inputs (pitch and roll) are added to sensor data inputs to form a complete data set for a three

dimensional computation of heading. If the board is held horizontal, the pitch and roll angles are zero and the X and Y

sensor inputs dominate the heading equation. When tilted, the Z magnetic sensor plus the accelerometer’s pitch and roll

angles enter into heading computation.

The power supply for the HMR3200/HMR3300 circuit is regulated +5 volt design allowing the user to directly provide the

regulated supply voltage or a +6 to +15 volt unregulated supply voltage. If the unregulated supply voltage is provided,

then the linear voltage regulator integrated circuit drops the excess supply voltage to a stable +5 volts. The power supply

is a dual ground (analog and digital) system to control internal noise and maximize measurment accuracy.

ELECTRICAL INTERFACE PINOUT

Pin Number

Pin Name

SCK

Cal

V+

Description

Synchronous Data Clock (Pulled high in UART mode and left open)

Receive Data, 5V CMOS Input

Transmit Data, 5V CMOS Output

Chip Select (Pulled high in UART mode and left open)

Calibration Input (No connection normally, consult for details)

+5 Volt Regulated Power Input (SW1 must be fully CCW)

Logic and Power Return (Ground)

Unregulated Power Input (+6 to +15 volts, factory default, SW1 must be CW)

APPLICATION NOTES

When To Calibrate

The HMR3200/HMR3300 comes with an optional user hard-iron calibration routine to null modest intensity hard-iron

distortion. For many users in cleaner magnetic environments, the factory calibration will be better and yield more accurate

readings than after a user calibration.

The calibration routine is not cure-all for nasty magnetic environments. If a needle compass is thrown off from true

readings, then it is very likely the HMR3200 and HMR3300 will have poor accuracy too. Most compass error sources

come from ferrous metals (steel, iron, nickel, cobalt, etc.) located too close to the compass location and are known as

soft-irons creating soft-iron distortion. Soft-iron distortion will change the intensity and direction of the magnetic fields on

any nearby compass, and the calibration routine can not remove these flux concentration and bending errors. A good rule

of thumb is to keep soft-irons at least two largest dimensions away from the compass. For example, a half-inch stainless

steel panhead bolt should be at least an inch away from the HMC1021Z and HMC1022 sensor locations.

www.honeywell.com

HMR3200/3300

Other nasty magnetic environments are man-made AC and DC magnetic fields created from nearby motors and high

current conductors. These fields should also require compass or source relocation when possible. In some cases, ferrous

metal shielding may help if the shield material is thin and far enough away from the compass.

Hard-iron distortion can be calibrated out, and is composed of soft-irons that are also magnetized and create remnant

(stray) magnetic flux. Classic hard-iron distortion typically comes from large vehicle chassis components and engine

blocks that have up to

±2

gauss on the parts. Locating the compass away from hard and soft-irons is the first line of

defense to preserve accuracy, and the calibration routine will null out the remaining hard-iron influences.

Calibration Procedure

For the HMR3200, one complete turn in a level plane is the best way to expose the sensors to all headings to compute

the calibration offsets. Since the compass collects data at a 15 samples per second rate, a sample per degree of rotation

or slower is a good guideline. If slow turns are not possible, multiple faster turns are a good substitute. The goodness of

the calibration or the amount of hard-iron present is found by checking the Xof, Yof, and Zof values after the calibration

routine is complete. In known clean magnetic environments, the horizontal values (XY = level, YZ = upright) should be

±200

ADC counts or less in these offset variables. Sending these Xof, Yof, and Zof values back to zero returns the

compass to the factory calibration state. The vertical axis values can be zero set or ignored for the HMR3200.

For the HMR3300, the above described level turns will calibrate the XY axis’, but the Z-axis must also be calibrated as

well One full rotation with as much pitch and roll variation included as application allows. If only mild pitch and roll

variations are possible, complete the level rotations, exit the calibration routine, and force the Zof value to zero. Some

accuracy maybe lost in this zeroing, but the mild tilt would likely never cause serious tilt-compensation heading error.

UART COMMUNICATION PROTOCOL

HMR3200/HMR3300 modules communicate through ASCII characters with the * or # characters as start bytes. The data

bit format is 1 Start, 8 Data, 1 Stop, and No parity bits. Factory baud rate is set to 19,200. Asynchronous communication

has the complete menu of commands. Synchronous communication is limited to direct heading queries and no other

commands.

POWER-ON/RESET

The compasses require a hard power-on transition on the power supply voltage to serve as an internal hardware reset

and clock-start. Some bench power supplies may create a soft-start condition and the HMR3200/HMR3300 my react with

a constant-on LED illumination if not reset suddenly. An in-line power supply switch (mechanical or electrical) may be

required when prototyping to avoid soft-starts.

Upon application of power or after a Reset Command, the HMR3200/HMR3300 will run about an 800 milli-second

initialization routine to set the onboard hardware and grab EEPROM variables and shadow them in controller RAM

locations for operation. The LED will illuminate during the routine and extinguish upon completion.

INITIAL STATUS OUTPUT

The HMR3200/HMR3300 will begin sending ASCII characters immediately after the initialization routine ends and the LED

extinguishes. The first line of text will be the model number of the compass and the internal firmware revision number. For

the HMR3300, a second response string will be sent, starting with a # character and either the N, W or A characters. The

#N response indicates normal operation and is the always expected response from the HMR3200. The #W and #A

responses are only for the HMR3300, and indicate the low temperature warning and alarm environments had been

encountered. These responses will be reset to normal when the user sends the pitch and roll re-zero commands to re-

calibrate the MEMS accelerometer for best tilt-compensation performance and accurate tilt indications.

After initialization, the compasses automatically begin streaming heading or magnetometer output data at 15Hz

(HMR3200) or 8Hz (HMR3300). Users must send a start/stop command (*S) to exit continuous streaming data, and to get

the controller’s full attention to the next commands.

www.honeywell.com

HMR3300-D00-232 Related Products

	HMR3300-D00-232	HMR3300	HMR3200	HMR3200-DEMO-232
Description	module digital compass 3-axis	module dig compass uart 3 axis	module dig compass uart 2 axis	kit devel dig compass mod rs232
Standard Package	1	1	1	-
Category	Sensors, Transducers	Sensors, Transducers	Sensors, Transducers	-
Family	Magnetic Sensors - Compass, Magnetic Field (Modules)	Magnetic Sensors - Compass, Magnetic Field (Modules)	Magnetic Sensors - Compass, Magnetic Field (Modules)	-
Axis	X, Y, Z	X, Y, Z	X, Y	-
Measuring Range	±2 Gauss, ±60°	±2 Gauss, ±60°	±2 Gauss	-
For Measuring	Heading, Pitch and Roll	Heading, Pitch and Roll	Heading	-
Resoluti	100 µGauss, 0.1°	100 µGauss, 0.1°	100 µGauss	-
Type	Digital Compass	Digital Compass	Digital Compass	-
Package / Case	Module (No Case)	Module (No Case)	Module (No Case)	-
Interface	RS-232	UART, SPI	UART, SPI	-
Other Names	342-1039HMR3300D00232	342-1032	342-1030	-

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