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3 - axis compass with algorithms HMC6343 the honeywell HMC6343 is a fully integrated co mpass module that includes firmware for heading computation and calibration for magnetic distortions. the module combines 3 - axis magneto - resistive sensors and 3 - axi s mems accelerometers , analog and digital support circuits, microprocessor and algorithms required for heading computation. by combining the sensor elements, processing electronics, and firmwa re in to a 9.0mm by 9.0mm by 1. 9 mm lcc package, honeywell offers a complete, ready to use tilt - compensated electronic compass. this provides design engineers with the simplest solution to integrate high volume, cost effective compasses into binoculars, cameras, night vision optics, laser ranger finders, antenna position ing, and other industrial compassing applications . the HMC6343 utilizes honeywells anisotropic magnetoresistive (amr) technology th at provides advantages over other magnetic sensor technologies. the s ensors feature precision sensitivity and linearity , so lid - state construction with very low cross - axis sensitivity designed to measure both direction and magnitude of earths magnetic fields. honeywells magnetic sensors are among the most sensitive and reliable low - field sensors in the industry. honeywell co ntinues to maintain product excellence and performance by introducing innovative solid - state magnetic sensor solutions. honeywells magnetic sensor solutions provide real solutions you can count on. features benefits ? compass with heading /tilt output s ? a complete c ompass solution including compass firmware ? 3 - a xis mr sensors, a ccelerometers and a m icroprocessor in a single package ? a digital compass s olution with h ead ing and tilt angle o utputs in a chip - scale package ? compass algorithms ? for computation of heading, and magnetic calibration for hard - iron ? 9 x 9 x 1. 9 mm lcc surface mount package ? small size, easy to a ssemble and compatible with high speed surface mount technology a ssembly ? low voltage operations ? compatible with battery powered a pplications ? ? ? digital serial data interface ? i 2 c interface , easy to use 2 - w ire c ommunication for heading o utput ? ? ? ? ? ?
HMC6343 2 www.honeywell.com specifications characteristics conditions* min typ max units power supply supply voltage vdd r eferenced to gnd 2.7 3 .3 3.6 volts current all vdd pins connected together run mode (10hz output) standby mode sleep mode power - up peak ( vdd = 3.3v) 3.5 4. 5 10 8 5.5 1.0 ma ma a ma power - on rate minimum rise time for por 0.05 - - v/msec compass function field range total applied magnetic field (de - gauss if exposed to >5gauss) 1 2 gauss heading accuracy a t level , +3.3v 15 tilt 60 tilt 1.0 2 .0 3.0 4.0 3.0 deg rms heading resolution output data 0.1 degrees heading repeatability output data (1 ) 0.3 degrees heading hysteresis output data (1 ) 0.3 degrees update rate run mode (1, 5, 10hz) 1 5 10 hz tilt range from horizontal 80 degrees tilt accuracy 0 to 15 , +3.3v 15 to 60 1 2 degrees tilt resolution output data 0.1 degrees tilt repeatability output data (1 ) 0.2 degrees offset straps resistance measured from off+ to off - 5 8 11 ohms offset constant dc current field applied in sensitive direction 10 ma/gauss resistance tempco t a = - 40 to 125c 1800 2700 4500 ppm/c general operat ing temperature ambient - 4 0 85 c storage temperature ambient, unbiased - 55 125 c weight 0.32 grams esd voltage 4 00 v msl moisture sensitivity level 3 - solder temp peak reflow temp (< 30 seconds) 250 c * tested at 25 c and 3.3v except stated otherwise.
HMC6343 www.honeywell.com 3 functional diagram pin configurations pin number description pin number description 1 nc 19 y off - 2 nc 20 y off+ 3 vdd 1 21 vdd 2 4 nc 22 cs 5 nc 23 x off - 6 nc 24 x off+ 7 nc 25 gnd2 8 nc 26 nc 9 nc 27 nc 10 nc 28 nc 11 vdd 3 29 gnd 1 12 nc 30 nc 13 nc 31 nc 14 nc 32 sck /scl 15 z off - 33 nc 16 z off+ 34 nc 17 nc 35 cs_ctrl 18 nc 36 sda mag sensors magnetic asic micro - controller temp sensor x y z accel asic x y z i 2 c mag sensors magnetic asic micro - controller temp sensor x y z accel asic x y z i 2 c
HMC6343 4 www.honeywell.com nc 1 nc 2 vdd1 3 nc 4 nc 5 nc 6 nc 7 nc 8 nc 9 nc 10 vdd3 11 nc 12 nc 13 nc 14 z off - 15 z off+ 16 nc 17 nc 18 19 y off - 20 y off+ 21 vdd2 22 cs 23 nc 24 nc 25 gnd2 26 nc 27 nc 28 nc 29 gnd1 30 nc 31 nc 32 sck/scl 33 nc 34 nc 35 cs_ctrl 36 sda bottom view x y z nc 1 nc 2 vdd1 3 nc 4 nc 5 nc 6 nc 7 nc 8 nc 9 nc 10 vdd3 11 nc 12 nc 13 nc 14 z off - 15 z off+ 16 nc 17 nc 18 19 y off - 20 y off+ 21 vdd2 22 cs 23 nc 24 nc 25 gnd2 26 nc 27 nc 28 nc 29 gnd1 30 nc 31 nc 32 sck/scl 33 nc 34 nc 35 cs_ctrl 36 sda bottom view x y z
HMC6343 www.honeywell.com 5 package outlines package drawing HMC6343 (32 - pin lpcc, dimensions in millimeters) dimensions (mm) minimum nominal maximum a (height) 1.73 1.87 2.02 d - 9.00 bsc - d1 - 6.40 bsc - e - 9.00 bsc - e1 - 6.40 bsc - e - 0.8 basic - mounting c onsiderations the following is the recommend printed circuit board (pcb) footprint for the HMC6343 . all dimensions are nominal and in millimeters. stencil design and solder paste a 4 - 6 mil stencil and 100% paste cover age is recommended for the electrica l contact pads. the HMC6343 has been assembl ed successfully with no - clean solder paste. . 0.34 0.03 d 0.57 0.03 0.10 0.08 e e e1 d1 pin 1 bottom view 0.34 0.03 d 0.57 0.03 0.10 0.08 e e e1 d1 pin 1 bottom view
HMC6343 6 www.honeywell.com basic device operation the honeywell HMC6343 magnetoresistive sensor circuit is a trio of magnetic sensor s, accelerometers, and analog support circuits to measu re magnetic fields. additionally a microcontroller is integrated for computation of direction and calibration. with power supply applied , the sensor converts any incident magnetic field in the sensitive axis direction to a differential voltage output. in a ddition to the bridge circuit, the sensor s have on - chip magnetically coupled offset strap s for incident field adjustment. the circuit is sensitive to powe r supply noise, and adding a 1.0 microfarad ceramic capacitor is recommended on the positive supply t o help reduce noise. also careful layout practices should be enforced to keep high current traces (>10ma) a few millimeters away from the sensors. also, since the sensors are typically sensing the earths magnetic field direction, avoid employing rf/emi sh ields using ferrous metals or coatings. basic schematic interface offset strap s the three offset strap s have a spiral of metallization that couples in the sensor elements sensitive axis. the straps will handle currents to buc k or boost fields through the 4 gauss linear measurement range, but designers should note the thermal heating on the die when doing so. with most applications, the offset strap is not utilized and can be ignored. designers can leave one or both strap con nections (off - and off+) open circuited, or ground one connection node . operational modes the hmc634 3 has three operational modes; sleep, standby, and r un. sleep mode is defined as having the analog circuitry powered off, and has the lowest power consum ption while power is applied to the vdd pins. standby mode has the HMC6343 fully powered, but with no measurements performed and the processor is waiting for commands to perform. run mode is fully engaged in continuous measurements at the set rate, and rea dy to receive further commands. the operational mode settings are stored in eeprom register 0x04, and shown further the HMC6343 protocol definition. HMC6343 vdd2 gnd1 vdd1 vdd3 host p scl sda 21 29 32 36 3 11 +3.3v 10k 10k i2c_clk i2c_data vdd gnd cs cs_ctrl 22 35 1uf 25 gnd2 HMC6343 vdd2 gnd1 vdd1 vdd3 host p scl sda 21 29 32 36 3 11 +3.3v 10k 10k i2c_clk i2c_data vdd gnd cs cs_ctrl 22 35 1uf 25 gnd2
HMC6343 www.honeywell.com 7 mounting orientations the HMC6343 provides for three standard mounting orientations, with a flat horizon tal orientation (level) as the factory default . for vertical mounting, there are two upright orientations with either the x - axis or the z - axis designated as the forward reference directions. to change the forward reference direction temporarily , send the a ppropriate command byte (0x72, 0x73, or 0x74) for level or upright orientations . for other orientations, you can add or subtract 90 degree increments of deviation angle as required from the three choices. the figure below shows pictorially the orientations . to permanently change orientation , poke eeprom operational mode register 1 (0x04) with the appropriate binary bits set for level, upright edge ( ue), or upright front ( uf). the HMC6343 will operate in the selected orientation after a power - up or reset c ommand . more on the eeprom registers in the following sections. i 2 c communication protocol the HMC6343 communicates via a two - wire i 2 c bus syste m as a slave device. the HMC6343 uses a layered protocol with the interface prot ocol defined by the i 2 c bus specification, and the lower command protocol defined by honeywell. the data rate is the standard - mode 100kbps rate as defined in the i 2 c bus specification 2.1. the bus bit format is an 8 - bit data/address send and a 1 - bit acknow ledge bit. the format of the data bytes (payload) shall be case sensitive ascii characte rs or binary data to the HMC6343 slave, and binary data returned. negative binary values will be in twos complement form. the default (factory) HMC6343 7 - bit slave add ress is 0x 3 2 for write operations, or 0x 3 3 for read operations. the HMC6343 serial clock (scl) and serial data (sda) lines do not have internal pull - up resistors, and require resistive pull - ups (rp) between the master device (usually a host microprocessor ) and the HMC6343 . pull - up resistance values of about 10k ohms ar e recommended with a nominal 3.3 - volt supply voltage. other values may be used as defined in the i 2 c bus specification 2.1. the scl and sda lines in this bus specification can be connected t o a host of devices. the bus can be a single master to multiple slaves, or it can be a multiple master configuration. all data transfers are initiated by the master device which is responsible for generating the clock signal, and the data transfers are 8 b it long. all devices are addressed by i 2 cs unique 7 bit address. after each 8 - bit transfer, the master device generates a 9 th clock pulse, and releases the sda line. honeywell HMC6343 0626 x y z level y x z upright edge y upright front x z 0x72 0x73 0x74 HMC6343 orientations red arrow is the forward direction honeywell HMC6343 0626 x y z level y x z upright edge y upright front x z 0x72 0x73 0x74 HMC6343 orientations red arrow is the forward direction
HMC6343 8 www.honeywell.com the receiving device (addressed slave) will pull the sda line low to acknowledge (ack) t he successful transfer or leave the sda high to negative acknowledge (nack). per the i 2 c spec, all transitions in the sda line must occur when scl is low. this requirement leads to two unique conditions on the bus associated with the sda transitions when scl is high. master device pulling the sda line low while the scl line is high indicates the start (s) condition, and the stop (p) condition is when the sda line is pulled high while the scl line is high. the i 2 c protocol also allows for the restart condi tion in which the master device issues a second start condition without issuing a stop. all bus transactions begin with the master device issuing the start sequence followed by the slave address byte. the address byte contains the slave address; the uppe r 7 bits (bits7 - 1), and the least significant bit (lsb). the lsb of the address byte designates if the operation is a read (lsb=1) or a write (lsb=0). at the 9 th clock pulse, the receiving slave device will issue the ack (or nack). following these bus events, the master will send data bytes for a write operation, or the slave will clock out data with a read operation. all bus transactions are terminated with the master issuing a stop sequence. i 2 c bus control can be implemented with either hardware log ic or in software. typical hardware designs will release the sda and scl lines as appropriate to allow the slave device to manipulate these lines. in a software implementation, care must be taken to perform these tasks in code. i 2 c slave address the i 2 c slave address byte consists of the 7 most significant bits with the least significant bit zero filled. as described earlier, the default (factory) value is 0x32 and the legal i 2 c bounded values are between 0x10 and 0xf6. this slave address is in eeprom ad dress 0x00. users can change the slave address by writing to this location. any address updates will become effective after the next power up or after a reset command. software version this eeprom software version number byte contains the binary value of the programmed software. values of 0x05 and beyond are considered production software. deviation angle correction typically the HMC6343 x - axis (or z - axis) is designated the forward direction of the compass, and is placed mechanically towards the forward direction of the end user product. the deviation angle is used to correct for mechanical angle errors in package orientation by adding the deviation angle to the internal compass heading before the result is placed as the computed heading. two eeprom byte s are used to store the deviation angle, and the binary value is in tenths of a degree and in twos complement form for a 1800 representation. the deviation angle msb is located in eeprom register 0x0b and the lsb in 0x0a. variation angle correction the variation angle or declination angle of the HMC6343 is the number of degree that must be added to the internal compass heading to convert the magnetic north reference direction to the geographic (true) north reference direction. this angle information is provided to the HMC6343 from external latitude and longitude data processed through a world magnetic model equation to compute variation angle, or by lookup table. two eeprom bytes are used to store the var iation angle, and the binary value is in tenths of a degree and in twos complement form for a 1800 representation. the deviation angle msb is located in eeprom register 0x0d and the lsb in 0x0c. magnetometer offsets the magnetometer offset bytes are the values stored after the completion of the last f actory or user hard - iron calibration routine. additional value changes are possible, but will be overwritten when the next calibration routine is completed. note that these offset values are added to the sensor offset values computed by the set/reset routi ne to convert the raw magnetometer data to the compensated magnetometer data. these values are written into eeprom addresses 0x0e to 0x13 and loaded to ram on the power up.
HMC6343 www.honeywell.com 9 heading filter this allows for an infinite impulse response (iir) filter to be employed on current and previous heading data outputs. typical values are 0 to 15 with a factory default of zero. the filter is only applied in run mode where a continuous stream of data is present. at the 5 hz default update rate, a filter value of 4 would weight the latest heading with the previous four headings of regressive weightings for a seconds worth of filtering. eeprom registers the HMC6343 contains eeprom non - volatile memory locations (registers) to store useful compass data for processor routi nes. the following table shows the register locations, content, description, and factory shipped defaults. table 1 C eeprom registers eeprom location content description factory default 0x00 slave address i2c slave address 0x32 0x01 reserved 0x02 s/ w_version software version number 0x03 reserved 0x04 op_mode1 operational mode register 1 0x1 1 0x05 op_mode2 operational mode register 2 0x01 0x06 s/n lsb device serial number 0x07 s/n msb device serial number 0x08 date code: yy package date cod e: last two digits of the year year 0x09 date code: ww package date code: fiscal week week 0x0a deviation lsb deviation angle ( 1800) in tenths of a degree 0x00 0x0b deviation msb deviation angle ( 1800) in tenths of a degree 0x00 0x0c variation lsb va riation angle ( 1800) in tenths of a degree 0x00 0x0d variation msb variation angle ( 1800) in tenths of a degree 0x00 0x0e x_offset lsb hard - iron calibration offset for the x - axis 0x00 0x0f x_offset msb hard - iron calibration offset for the x - axis 0x00 0x10 y_offset lsb hard - iron calibration offset for the y - axis 0x00 0x11 y_offset msb hard - iron calibration offset for the y - axis 0x00 0x12 z_offset lsb hard - iron calibration offset for the z - axis 0x00 0x13 z offset msb hard - iron calibration offset for the z - axis 0x00 0x14 filter lsb heading iir filter (0x00 to 0x0f typical) 0x00 0x15 filter msb heading iir filter (set at zero) 0x00
HMC6343 10 www.honeywell.com comma nd protocol the command protocol defines the content of the data (payload) bytes of i 2 c protocol sent by the mast e r, and the slave device (HMC6343 ). note that angular outputs are in tenths of a degree (0 - 3600 heading, 0 - 900 tilt). after the master device sends the 7 - bit slave address, the 1 - bit read/write, and gets the 1 - bit slave device acknowledge bit returned; t he next one to three sent data bytes are defined as the input command and argument bytes. to conserve data traffic, all response data (reads) will be context sensitive to the last command (write) sent. all write commands shall have the address byte least s ignifican t bit cleared (factory default 0x 3 2). these commands then follow with the command byte and command specific binary formatted argument bytes in the general form of: (command byte) (argument binary ms byte) (argument binary ls byte) the slave (hmc 6343 ) shall provide the acknowledge bits between each data byte per the i 2 c protocol. response byte reads are done by sending th e address byte (factory default 0x 3 3) with the least significant bit set, an d then clocking back response bytes, last comman d d ependant. table 2 shows the HMC6343 command and response data flow. table 2 C HMC6343 interface commands/responses command byte (hex) argument 1 byte (binary) argument 2 byte (binary) response bytes (binary) command d escription (0x40) msb/lsb data ( 6 bytes) post accel data. axmsb, axlsb, aymsb, aylsb, azmsb, azlsb (0x45) msb/lsb data (6 bytes) post mag data. mxmsb, mxlsb, mymsb, mylsb, mzmsb, mzlsb (0x50) msb/lsb data (6 bytes) post heading data. headmsb, headlsb, pitchmsb, pitchlsb, rollmsb, rolllsb (0x55) msb/lsb data (6 bytes) post tilt data. pitchmsb, pitchlsb, rollmsb, rolllsb, tempmsb, templsb (0x65) post op mode 1 read the current value of op mode 1 (0x71 ) enter user calibration mode (0x72) level orientation (x=forward, + z=up) (default) (0x73) upright sideways orientation (x=forward, y=up) (0x74) upright flat front orientation (z=forward, - x=up) (0x75) enter run mode (from standby mode) (0x76) enter standby mode (from run mode ) (0x7e ) exit user calibrat ion mode (0x82) reset the processor (0x83) enter sleep mode (from run mode) (0x84) exit sleep mode (to standby mode ) (0xe1) eeprom address data (1 byte) read from eeprom (0xf1) eeprom address data write to eeprom
HMC6343 www.honeywell.com 11 timing upon power applic ation to the HMC6343, wait nominally 5 00 milli - seconds before sending the first i2c command (typically a 0x32 byte followed by a 0x50 byte for the usual heading/pitch/roll ). depending on the command sent, a delay time should be inserted before clocking out the response byte s (send 0x33, clock back response bytes). the following table indicates the response delay times for various commands. table 3 C HMC6343 command to response delay times prior command (hex) commanded action response bytes & description r esponse/delay time (milli - seconds) power applied vdd1 - 3 low to high no response data 5 00 nominally 0x40 post accel data. 6 binary data bytes. axmsb, axlsb, aymsb, aylsb, azmsb, azlsb 1 0x45 post mag data. 6 binary data bytes. mxmsb, mxlsb, mymsb, m ylsb, mzmsb, mzlsb 1 0x50 post heading data. 6 binary data bytes. headmsb, headlsb, pitchmsb, pitchlsb, rollmsb, rolllsb 1 0x55 post tilt data. 6 binary data bytes. pitchmsb, pitchlsb, rollmsb, rolllsb, tempmsb, templsb 1 0x 65 post op mode 1 op mod e 1 1 0x71 enter user calibration mode no response data 0.3 0x72 level orientation (x=forward, +z=up) (default) no response data 0.3 0x73 upright sideways orientation (x=forward, y=up) no response data 0.3 0x74 upright flat front orientation (z=forwa rd, - x=up) no response data 0.3 0x75 enter run mode no response data 0.3 0x76 enter standby mode no response data 0.3 0x7e exit user calibration mode no response data 50 0x82 reset the processor no response data 500 0x83 enter sleep mode no response d ata 1 0x84 exit sleep mode no response data 20 0xe1 read from eeprom , ram 1 binary data byte 10 0xf1 write to eeprom , ram no response data. data settling time 10
HMC6343 12 www.honeywell.com operational mode registers eeprom registers 0x04 and 0x05 contain bits that are read for operational mode status and for setting the run mode measurement rate. the tables below describe the register contents and interpretation. it is recommended that operatio nal mode register 1 and 2 written only to change default orientation and update measur ement rate. table 4 C operational mode register 1 (eeprom 0x04) om1_7 om1_6 om1_5 om1_4 om1_3 om1_2 om1_1 om1_0 comp (0) cal (0) filter (0 ) run (1 ) stdby (0) uf (0) ue (0) level (1 ) table 5 C operational mode register 1 bit designations location name descrip tion om1_7 comp calculating compass data if set . (read only) om1_6 cal calculating calibration offsets if set. (read only) om1_5 filter iir heading filter used if set. om1_4 run run mode if set. om1_3 stdby standby mode if set. om1_2 uf upright front orientation if set. om1_1 ue upright edge orientation if set. om1_0 level level orientation if set table 6 C operational mode r egister 2 (eeprom 0x05) om2_7 om2_6 om2_5 om2_4 om2_3 om2_2 om2_1 om2_0 (0) (0) (0) (0) (0) (0) mr1(0) mr0(1) table 7 C operational m ode register 2 bit designations location name description om 2 _7 to om2_2 0 these bits must be cleared for correct operation. om2_1 to om2_0 mr1, mr0 measurement rate 0,0 = 1hz 0,1 = 5hz (default) 1,0 = 10hz 1,1 = not assigned user hard - ir on calibration the HMC6343 provides a user calibration routine with the 0x71 command permitting entry into the calibration mode and the 0x7e command to exit the calibration mode. after entering the cal ibration mode, rotate the device reasonably steady f or 360 degrees about the y (left - right) axis and then 360 degrees about z (up - down) axis. during the first rotation, maintain the y axis at level as much as possible . m aintain the z axis upright as much as possible d uring the sec ond rotation and until the exit calibration
HMC6343 www.honeywell.com 13 command is issued. the first rotation can also be done by rotating 360 degrees about x (fore - aft) axis. then exit calibration. the calibration routine collects these readings to correct for hard - iron distortions of the magnetic field . these hard - iron effects are due to magneti zed materials nearby the HMC6343 part that in a fixed position with respect to the end user platform. an example would be the magnetized chassis or engine block of a vehicle in which the compass is mounted onto. upon exiting the calibration mode, the resulting magnetometer offsets are updated . example communication for basic power up and compassing using the defaults, the flowing order of operations is recommended: 1. appl y power to the vdd pins (nominally +3.3 vo lts) 2. wait at least 5 00 milli - seconds for device initialization. the HMC6343 is in the default run mode. 3. send 0x32 and 0x50 to command the heading and tilt data to be clocked out next. 4. wait at least 1 milli - second to allow the HMC6343 to process the comm and. 5. send 0x33 and clock back six more response bytes from the HMC6343. these will be the heading, pitch and roll byte pairs ; binary format in tenths of a degree with 2s compliment on pitch and roll angles. (0 to 3600 heading, 900 pitch, and 9 00 roll) 6. repeat steps 3 - 5 every 2 00 milli - seconds or longer to ge t fresh data from the default 5 hz update rate. ordering information ordering number product packaging HMC6343 HMC6343 - demo HMC6343 - eval 3 axis compass with algorithms development kit ev aluation board tubes demo board, usb cable and demo software board find out more for more information on honeywells magnetic sensors visit us online at www.magneticsensors.com or contact us at 800 - 323 - 8295 (763 - 954 - 2474 internationally). the application circuits herein constitute typical usage and interface of honeywell product. honeywell does not warranty or assum e liability of customer - designed circuits derived from this description or depiction. honeywell reserves the right to make change s to improve reliability, function or design. honeywell does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights nor the rights of others. u.s. patents 4,441,072, 4,533,872, 4,569,742, 4,681,812, 4,847,584 and 6,529,114 apply to the technology described honeywell 12001 highway 55 plymouth, mn 55441 tel: 800 - 323 - 8295 www. m agneticsensors .com form #900357 m arch 2011 ?20 11 honeywell international inc. caution this part is sensitive to damage by electrostatic discharge. use esd precautionary procedures when touching, removing or inserting. caution: esds cat. 1a caution this part is sensitive to damage by electrostatic discharge. use esd precautionary procedures when touching, removing or inserting. caution this part is sensitive to damage by electrostatic discharge. use esd precautionary procedures when touching, removing or inserting. caution: esds cat. 1a

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