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HMR3300-DEMO-232

P1-P3P4-P6P7-P9P10-P11
HMR3200/3300
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Roll Axis Re-Zero (HMR3300 only)
*O<cr><lf>
Allows the user to zero the roll output. This command should only be issued when the roll axis is leveled (±0.3°).
Clears Alarm or Warning status after command receipt.
Pitch Axis Re-Zero (HMR3300 only)
*P<cr><lf>
Allows the user to zero the pitch output. This command should only be used when the pitch axis is leveled (±0.3°).
Clears Alarm or Warning status after command receipt.
Averaged Output
*A<cr><lf>
Same result as the query command except that the data are the result of an averaging of 20 readings. The *A
commands are allowed only in Stop data mode. The command response will not occur until the 20 readings
accrue (8 per second for the HMR3300, 15 per second for the HMR3200).
Split Filter Toggle (HMR3300 only)
*F<cr><lf>
This command toggles the split filter bit in the configuration status bytes. The parameter setting is saved in the
EEPROM immediately, but not in shadowed in RAM. Requires power cycling or a reset command (*R) to activate.
A set bit indicates the System Filter only smoothes the accelerometer data (Tilt Filter), and the Magnetic Filter is
now active to smooth magnetic sensor data. A cleared filter bit resumes the same smoothing for both the tilt and
magnetometer data.
Reset
*R<cr><lf>
Resets compass to power-up condition. A one second initialization routine starts and EEPROM data (non-volatile
memory) is uploaded (shadowed) into RAM. Continuous streaming data begins after initialization and status
output.
User Calibration
*C<cr><lf>
The command to be issued to enter and exit the calibration mode. Once in the calibration mode, the device will
send one or more magnetometer data strings appended by a “C” character to indicate the Calibration Mode
operation.
Eg. 123,834,1489,C<cr><lf>
See the calibration procedure notes earlier in this datasheet. At the completion of the calibration movements,
issue another *C<cr><lf> to exit the calibration mode.
HMR3200/3300
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Configuration Commands
Syntax: #Dev=±xxxx<cr><lf> Sets parameter value
#Dev?<cr><lf> Queries for the parameter value
Variation Input (Declination Angle Correction)
#Var=±nnnn<cr><lf> where the variation is ± nnn.n degrees
Sets the declination angle between magnetic north and geographic north. The declination angle is subtracted
from the magnetic north heading computed to create a geographic north heading. Values typically range in the
±25 degree area. For example New York has a -14 degree declination angle, and Los Angles has a +14 degree
declination angle.
Eg: #Var=-203<cr><lf> sets the declination angle to –20.3 degrees.
Eg: #Var=?<cr><lf>returns the declination angle; –20.3
Deviation Input (Platform Angle Correction)
#Dev=±nnnn<cr><lf> where the angle is ± nnn.n degrees
Sets or returns the angle between compass forward direction and that of the mounting platform. The Deviation
angle is subtracted from the predicted heading to compensate for mechanical misalignment.
Eg: #Dev=23<cr><lf> sets the deviation angle to +2.3 degrees.
Eg: #Dev=?<cr><lf>returns the deviation angle; +2.3
User Magnetic Offset Values (X, Y and Z)
#Xof, #Yof, #Zof
Sets or returns the user offset values for each magnetic axis. These values are recomputed after a calibration
routine. Also fixed offsets can be inserted to correct for known magnetic shifts. Values are in ADC counts.
Eg: #Xof=+47<cr><lf> sets the x offset value to +47.
Eg: #Xof=?<cr><lf> returns the x offset value; +47.
Baud Rate
#Bau
Sets the compass transmit and recieve baud rate. 19200, 9600, 4800 and 2400 are the only allowed values.
Baud rate can not be queried and is sent to the EEPROM to overwrite the present setting. Factory default is
19200.
Eg: #XBau=9600<cr><lf> sets the Baud Rate to 9600 after the next Reset command or power cycle.
System Filter
#SFL
Sets and reads the system IIR filter setting. When the Split Filter bit is cleared, this parameter value will become
the default value for both Magnetic and Tilt Filters. When the Split Filter bit is set, SFL parameter setting will
control the Tilt filter value only. The parameter input is saved in the EEPROM immediately. Requires power
cycling or a Reset command (*R) to become effective. The setting of the Split Filter bit can be queried via the
#CON? command. Values between 0 and 255 are valid, with a factory default of 3. A good reason to increase the
filter value would be in the presence of high mechanical vibration environments.
Eg: #SFL=6<cr><lf> Sets the system filter value of 6.
HMR3200/3300
www.honeywell.com 9
Magnetic Filter
#MFL
The MFL command sets and reads the Magnetic Filter setting. When the Split Filter bit is cleared, this parameter
value will default to the value of SFL, the system filter. When the Split Filter bit is set, MFL parameter setting will
control the Magnetic Filter value. The parameter input is saved in the EEPROM immediately. Requires power
cycling or a Reset command (*R) to become effective. Values between 0 and 255 are valid, with a factory default
of 3. A good reason to increase the magnetic filter value would be the presence of AC magnetic fields from
nearby conductors or motors.
Eg: #SFL=0<cr><lf> Sets the magnetic filter value of zero (no filtering).
Configuration
#CON?
This command queries for the configuration status of the compass module. The output of the configuration value
is in decimal representation (in ASCII format) of the two byte configuration status. The 16-bit binary pattern is
defined below.
bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8
N/A N/A N/A N/A N/A SplitFilter Alarm Warn
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
N/A N/A 1 N/A H Out N/A Mag Out N/A
Parameter
Name
Bit Value
Reported
Effect
Mag Out 1 Magnetic Sensor Output Sentence selected (X, Y, Z)
H Out 1 Heading Output Sentence selected (H, P, R)
Warn 1
Device temperature has fallen below -10 C during this session of
operation. Rezero pitch and roll to clear after low temp.
Alarm 1
Device temperature has fallen below -20 C during this session of
operation. Rezero pitch and roll to clear after low temp.
SplitFilter 1 Independent Filter values for Magnetic and Tilt are used
Eg: #CON? Returns a response of #D=2088<cr><lf> meaning same filters used for magnetic and tilt data (bit 10
clear) and the compass module is sending heading data (bit 3 set).
Command Responses
These are compass module generated responses to commands issued by the host processor. These responses follow in
format to the commands issued.
#Dxxx<cr><lf>
Returns numeric data requested in decimal format.
#I<cr><lf>
Invalid command response. Response to any invalid command.
SPI Interface
SPI operating Mode is as follows: SCK idles low (mode CKP=0, CKE=0)
Data Output after falling edge of SCK
Data sampled before rising edge of SCK
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HMR3300-DEMO-232

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