TDK HAL 3900 User manual

TDK-Micronas GmbH
Joystick
Evaluation Platform
User Manual
HAL 3900

TDK-Micronas GmbH Page 2 of 23
Contents
1Component List.................................................................................................................................3
2Introduction.......................................................................................................................................5
2.1 Aim............................................................................................................................................5
2.2 Specifications ............................................................................................................................5
2.3 Measurement Configuration.......................................................................................................5
2.4 Joystick Joint Types...................................................................................................................5
2.5 Software ....................................................................................................................................6
3Assembly Guide................................................................................................................................7
3.1 Communication Device Notes:...................................................................................................7
3.1.1 TDK SPI Programmer V1.x.................................................................................................7
3.1.2 TDK Magnetic Sensor Programmer V1.x............................................................................7
3.1.3 Arduino...............................................................................................................................7
3.2 Revolving Joint ..........................................................................................................................8
3.2.1 3D Position Detection .........................................................................................................8
3.2.2 Rotational Position Detection............................................................................................11
3.3 Gimbal Joint.............................................................................................................................14
4Software .........................................................................................................................................16
4.1 Sensor Configuration...............................................................................................................16
4.1.1 Configuration Note............................................................................................................16
4.1.2 Sensor Calibration using HAL 3900 Programming Environment.......................................16
4.2 Evaluation Software Instructions..............................................................................................17
4.3 Visualisation ............................................................................................................................19
4.3.1 Magnetic Field Tab (3D Position Detection)......................................................................19
4.3.2 Magnetic Field Tab (180oor 360oAngular Measurement).................................................19
4.3.3 Joystick Tab......................................................................................................................20
5Appendices.....................................................................................................................................21
5.1 Appendix 1: Soldering Bridges.................................................................................................21
5.1.1 Chip Select.......................................................................................................................21
5.1.2 Arduino Power Select .......................................................................................................21
5.1.3 Biphase Communication...................................................................................................22
5.2 Joystick Module Schematic......................................................................................................23

TDK-Micronas GmbH Page 3 of 23
1 Component List
1 X JOYSTICK PCB
2 X RAISED PCB 2 X SIDE PCB 3 X HAL 3900
4 X HOLDER 1 X TOP PLANE

TDK-Micronas GmbH Page 4 of 23
1 X LARGE REV. JOINT 1 X SMALL REV. JOINT 1 X REV. LEVER
1 X GIMBAL JOINT 1 X GIMBAL LEVER 2 X 4x10 mm MAGNET
2 X 1x4 HEADER 2 X 1x4 RAISED HEADER 2 X 2x4 HEADER
2X 2-POLE RINGMAGNET 8 X BRASS SCREWS

TDK-Micronas GmbH Page 5 of 23
2 Introduction
2.1 Aim
The purpose of this project is to demonstrate the use of a Direct Angle Magnetic Sensor in a Joystick
configuration. For this demonstration, the HAL 3900 is used. However, other sensors of TDK-Micronas
product line can be configured and used in this application.
2.2 Specifications
The HAL 3900 is a 3D position sensor based on Hall-effect technology. The sensor includes an array of
horizontal and vertical Hall plates based on TDK-Micronas’ 3D HAL technology. The Hall plate signals are
first measured by two/three separate A/D-converters (one for each channel), filtered and temperature
compensated. A linearization block can be used optionally to reduce the overall system non-linearity error,
due to mechanical misalignment, magnet imperfections, etc. Offset compensation by spinning current
minimizes the errors due to supply voltage and temperature variations as well as external package stress.
Stray-field compensation (according to ISO11452-8) is done automatically. Communication to the sensor
is established via SPI interface.
2.3 Measurement Configuration
Three of the measurement configurations supported by the sensor are demonstrated by the Joystick
Module as following:
3D Position Detection – Joystick The sensor is at the center of the joystick module and
detects the positioning of a magnet inside the joystick lever.
3Z rotational measurement – Joystick Two sensors are placed at the sides of the module
at X and Y coordinates detecting the rotation of the 2pole magnets, which are fixed at the
end of the revolving joints. The sensor is placed on the Side PCBs side marked "4 Pole 180
DEG" and is facing the magnet.
XY rotational measurement – Joystick Two sensors are placed at the sides of the module
at X and Y coordinates detecting the rotation of the 2pole magnets, which are fixed at the
end of the revolving joints. The sensor is placed on the Side PCBs side marked "2 Pole 360
DEG" and is facing the magnet.
2.4 Joystick Joint Types
The Joystick module is delivered with two different joint types. Revolving Joint and Gimbal Joint, the
functionality of a Universal Joint is covered by the Revolving Joint assembly. Any of the provided joints
can be assembled by the customer. The Demonstrating software provided (see section 4) supports all
three assemblies.
Table 1: List of Joystick Module setups
No Mechanical
Setup Sensor measuring configuration COM Device Magnets
MSP(i) MSP Arduino
1 Revolving Joint 3D Position Detection



4 x 10 mm 2 P
3Z rotational measurement



XY rotational measurement



2 P ring
2 Gimbal Joint 3D Position Detection



4 x 10 mm 2 P
3 Universal Joint 3D Position Detection



4 x 10 mm 2 P
Sensor Programmable?


