3-Space Sensor USB User`s Manual
Contents
1. _ 23 55 5 9595 9 8 23 C 23 4 4 5 Data Command 24 4 4 6 Streaming Commands 24 4 4 7 Configuration Write 5 25 4 4 8 Configuration Read Commmands cccceccescessesseeeseeseeeseeseceseesecesecseceseceeeseceeesecsaeeseeeseeseeeeeeaeenseeeeeneenteeenes 29 4 4 9 Calibration Commands 222 Danese isu ieecksadetiesvereesasteanee 31 44 10 General GommandS 32 4 411 Wired HID Command V M V oaks 33 44 12 Gene ral HID iene 34 35 USB Connectors2. 5 17 6 5 17 A lV Protocol QV gt 17 4 1 2 Computer Interfacing 17 4 2 Protocol Packet HOrmat 5 cs 18 4 21 Packet amp 18 19 4 3 Response Header Format 56 6 5 58 8 9 20 20 4 3 2 Wired Streaming with Response 21 4 4 1 22 22 442 Normalized
3. 35 RS232 COnnecton 35 1 I IVV 35 Decimal Conversion es Sis oS Be bs Be BS BV a 36 User s Manual 1 Usage Safety Considerations 1 1 Usage Conditions Do not use the 3 Space Sensor any system on which people s lives depend life support weapons etc Because of its reliance a compass the 3 Space Sensor will not work properly near the earth s north or south pole Because of its reliance on a compass and accelerometer the 3 Space Sensor will not work properly in outer space or on planets with no magnetic field Care should be taken when using the 3 Space Sensor or other moving vehicle as the disturbances caused by the vehicle s acceleration may cause the sensor to give inaccurate readings Because of its reliance a compass care should be taken when using 3 Space Sensor near ferrous metal structures magnetic fields current carrying conductors and should be kept about 6 inches away from any computer screens or towers 1 2 Technical Support and Repairs Standard Limited Product Warranty YEI warrants the media and hardware on which products are furnished to be free from defects in materials and wor
4. V _ _ 11 11 eee oe 12 3 2 1 Wired Streaming C E E 12 14 ANG BUN 14 BBD JOVSUCK 14 De Dee WI OUSC 2s 14 3 4 Sensor 15 3 4 1 Committing M M 15 V _ a 15 9 96 6 86 es 15
5. EA 4 5 2 Gi Specifications 6 2 7 Physical T RAS SVANS TE AET E T E E E E 7 3 1 Orientation Estimation 2 5 8 Component SENS OLS 8 3 12 Seale and Cross A X18 BlTe Cte _ 8 3 1 3 Component Sensor Data 9 I Additional Calibrations MM 5 M 9 V 10 3 1 0 Onientation 10 10
6. 3 Space Sensor 3 Space Sensor USB Miniature Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www YeiTechnology com www 3SpaceSensor com Patents Pending 2007 2011 Yost Engineering Inc Printed in USA 3 Space Sensor USB Miniature Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www Yeilechnology com www 3SpaceSensor com Toll Free 888 395 9029 Phone 740 355 9029 Patents Pending 2007 2011 Yost Engineering Inc Printed in USA Table of Contents 1 Usage Safety Considerations 1 1 1 2 Technical Support Rep its E Aa aae EOE EErEE 1 2 Overview of 2 2 2 2 Applications lt 212cc reo sacs Sete stave Mek a 2 2 13 Hardware Ge he eas 3
7. Streaming Slots Determines which commands are executed during a streaming session 255255 255 255 2250 2553 255 255 Streaming Timing Dertemines the streaming interval duration and delay 10000 4294967295 0 16 User s Manual 4 3 Space Sensor Usage Protocol 4 1 Usage Overview 4 1 1 Protocol Overview The 3 Space Sensor receives messages from the controlling system in the form of sequences of serial communication bytes called packets For ease of use and flexibility of operation two methods of encoding commands are provided binary and text Binary encoding is more compact more efficient and easier to access programmatically ASCII text encoding is more verbose and less efficient yet is easier to read and easier to access via a traditional terminal interface Both binary and ASCII text encoding methods share an identical command structure and support the entire 3 Space command set The 3 Space Sensor buffers the incoming command stream and will only take an action once the entire packet has been received and the checksum has been verified as correct ASCII mode commands do not use checksums for convenience Incomplete packets and packets with incorrect checksums will be ignored This allows the controlling system to send command data at leisure without loss of functionality The command buffer will however be cleared whenever the 3 Space Sensor is either reset or powered off on Spec
8. Likewise the Return Data Len field indicates the number of data bytes the command delivers back to the sender once the command has finished executing Under Return Data Details each command lists the sort of data which is being returned and next to this in parenthesis the form this data takes For example a quaternion is represented by 4 floating point numbers so a command which returns a quaternion would list Quaternion float x4 for its return data details Command length information only applies to binary commands as ascii commands can vary in length For quaternions data is always returned in x y z w order Euler angles are always returned in pitch yaw roll order When calling commands in ASCII mode there is no fixed byte length for the parameter data or return data as the length depends on the ASCII encoding 4 4 1 Orientation Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Get tared orientation as the filtered tared orientation estimate in 0 0x00 quaternion quaternion form 16 Quaternion float x4 0 Get tared orientation as Returns the filtered tared orientation estimate in 1 0x01 leuler angles leuler angle form 12 Euler Angles float x3 0 Get tared orientation as the filtered tared orientation estimate in 2 0 02 rotation matrix rotation matrix form 36 Rota
9. Running Average Percent float 27 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 118 0x76 Set compass reference vector Sets the static compass reference vector for Single Reference Mode 12 Compass Reference Vector float x3 119 0x77 Set accelerometer reference vector Sets the static accelerometer reference vector for Single Reference Mode Accelerometer Reference Vector float x3 120 0x78 Reset filter Resets the state of the currently selected filter 121 0 79 Set accelerometer range Only parameter is the new accelerometer range which can be 0 for 20 Default range which can be 1 for 40 or 2 for 89 Higher ranges can detect and report larger accelerations but are not as accurate for smaller accelerations This setting can be saved to non volatile flash memory using the Commit Settings command Accelerometer range setting byte 122 0x7a Set multi reference weight power Set weighting power for multi reference vector weights Multi reference vector weights are all raised to the weight power before they are summed and used in the calculation for the final reference vector Setting this value nearer to 0 will cause the reference vectors to overlap more and setting it nearer to infinity will cause the reference vectors to influence a smaller
10. 33 User s Manual 4 4 12 General HID Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 244 0 4 Set control mode Sets the operation mode for one of the controls The first parameter is the control class which can be 0 Joystick Axis 1 for Joystick Button 2 for Mouse Axis or for Mouse Button There are two axes and leight buttons on the joystick and mouse The second parameter the control index selects which lone of these axes or buttons you would like to modify The third parameter the handler index which handler you want to take care of this control These can be the following off this control 255 Axes Global Axis 0 Screen Point 1 Buttons Hardware Button 0 Orientation Button 1 Shake Button 2 Control class byte control index byte handler index byte 245 0xf5 Set control data Sets parameters for the specified control s operation mode The control classes and indices are the same las described in command 244 Each mode can have up to 10 data points associated with it How many should be set and what they should be set to is entirely based on which mode is being used Control class byte control index byte data point index byte data point float 246 0 6 Get control mode Reads the handler index of this control s mode The control classes
11. For the ascii version we would send the following 66V We would receive the following response 389617043 37 1072 00000 3392 00000 16176 00000 r n 4 3 2 Wired Streaming with Response Header Streaming data can also have Response Header data prepended to each streamed packet This can be accomplished by calling the Start Streaming command 0x55 with the Response Header Packet Byte Assuming that streaming has been configured properly and a non zero Wired Response Header bitfield has been set the following examples will start streaming with Response Headers disabled and enabled respectively Oxf7 0x55 0x55 Start streaming WITHOUT response header prepended Oxf9 0x55 0x55 Start streaming WITH response header prepended Keep in mind that the actual start command will also have a Response Header attached that must be successfully parsed 21 User s Manual 4 4 Command Overview There are over 90 different command messages that are grouped numerically by function Unused command message bytes are reserved for future expansion When looking at the following command message tables note the following The Data Len field indicates the number of additional data bytes the command expects to follow the command byte itself This number doesn t include the Start of Packet Command or Checksum bytes Thus the total message size can be calculated by adding three bytes to the Data Len listed in the table
12. in gauss float Number of magnetometer trust frames unsigned int magnetometer lockout decay value float Get magnetoresistive Reads the current magnetoresistive threshold magnetometer perturbation 157 0x9d threshold parameters 16 detection value float 0 Accelerometer threshold in g s float Number of Get accelerometer Reads the current accelerometer threshold accelerometer lockout 158 0x9e resistance threshold parameters 8 frames unsigned int 0 Get offset orientation as Retums the current offset orientation as a 159 0x9f quaternion quaternion 16 Quaterion float x4 0 30 User s Manual 4 4 9 Calibration Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 160 0xa0 Set compass calibration coefficients Sets the current compass calibration parameters to specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be lsaved to non volatile flash memory using the Commit Settings command 48 Matrix float x9 Bias float x3 161 0 1 Set accelerometer calibration coefficients Sets the current accelerometer calibration parameters to the specified values These consist of bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non v
13. 0X28 Get temperature Returns the temperature of the sensor in Celsius 4 Temperature float 0 44 0X2C Get temperature F Returns the temperature of the sensor in Fahrenheit 4 Temperature float 0 Returns a value indicating how much the sensor is being moved at the moment This value will return 1 if the sensor is completely stationary and will return 0 if it is in motion This command can also return values in between indicating how much motion the 45 0x 2D Get confidence factor sensor is experiencing 4 Confidence Factor float 0 23 User s Manual 4 4 5 Raw Data Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 64 0 40 Get all raw component sensor data Returns the raw gyro rate vector accelerometer vector and compass vector as read directly from the component sensors without any additional post processing The range of values is dependent on the currently selected range for each respective sensor 36 Gyro Rate in counts per degrees sec Vector x3 Acceleration Vector in counts per g Vector x3 Compass Vector in counts per gauss Vector x3 65 0 41 Get raw gyroscope rate Returns the raw gyro rate vector as read directly from the gyroscope without any additional post processing 12 Gyro Rate in counts per degrees sec Vector x3 66 0 42 data raw
14. Byte Start of Packet Second Byte Command Value Selected from the command chart Command _ Command Data Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Data Last Byte Packet Checksum A Checksum Sum ofall other bytes except the first Figure 1 Typical Binary Command Packet Format Binary Return Values When a 3 Space Sensor command is called in binary mode any data it returns will also be in binary format For example if a floating point number is returned it will be returned as its 4 byte binary representation For information on the floating point format go here http en wikipedia org wiki Single_precision _floating point_format Also keep in mind that integer and floating point values coming from the sensor are stored in big endian format The Checksum Value The checksum is computed as an arithmetic summation of all of the characters in the packet except the checksum value itself modulus 256 This gives a resulting checksum in the range 0 to 255 The checksum for binary packets is transmitted as a single 8 bit byte value 18 User s Manual 4 2 2 ASCII Text Packet Format ASCII text command packets are similar to binary command packets but are received as a single formatted line of text Each text line consists
15. Description Long Description Data Len Return Data Details Len Data Details Sets the communication mode for USB Accepts value that can be 0 for CDC default or 1 for USB communication mode 233 0xe9 50 USB Mode FTDI 0 1 byte USB communication mode 234 0xea Get USB Mode Returns the current USB communication mode 1 byte 0 Returns the serial number which will match the 237 0 Get serial number value etched onto the physical sensor 4 Serial number int 0 Sets the color of the LED on the sensor to the specified RGB color This setting can be committed to non volatile flash memory by calling the Commit 238 0 Set LED color Wireless Settings command 0 12 RGB Color float x3 239 0X61 Get LED color Returns the color of the LED on the sensor 12 RGB Color float x3 0 4 4 11 Wired HID Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Enable or disable streaming of joystick HID data for 240 0XL0 Enable disable joystick this sensor 0 1 Joystick enabled state byte Enable or disable streaming of mouse HID data for 241 0 11 Enable disable mouse this sensor 0 1__ Mouse enabled state byte Read whether the sensor is currently streaming Joystick enabled state 242 0XL2 Get joystick enabled joystick HID data 1 byte 0 Read whether the sensor is currently streaming 243 0XL3 Get mouse enabled mouse HID data 1 Mouse enabled state byte 0
16. Mode Byte 170 0xaa Get calibration mode Reads the current calibration mode which can be 0 for Bias 1 for Scale Bias or 2 for Ortho Calibration For more information refer to section 3 1 3 Additional Calibration Mode byte 171 0xab Set ortho calibration data point from current orientation Set the ortho calibration compass and accelerometer vectors corresponding to this orthogonal orientation Intended for advanced users 172 0xac Set ortho calibration data point from vector Directly set a vector corresponding to this orthogonal orientation First parameter is type where 0 is for compass and 1 is for accelerometer Second parameter is index which indicates the orthogonal orientation Intended for advanced users 14 Type Byte Index Byte Accelerometer or Compass Vector float x3 173 0xad Get ortho calibration data point Return the vector corresponding to the orthogonal orientation given by index First parameter is type where 0 is for compass and 1 is for accelerometer Second parameter is index which indicates the orthogonal orientation Intended for advanced users 12 Accelerometer or compass vector float x3 Type Byte Index Byte 174 0xae Perform ortho calibration Stores accelerometer and compass data in the ortho lookup table for use in the orientation fusion algorithm For best results each of the 24 orientations should be filled in with comp
17. Second Hexadecimal digit 0 1 2 3 4 5 6 7 8 9 0 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 1 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 2 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 3 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 4 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 Sp 5 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 6 096 097 098 099 100 101 102 103 104 105 06 107 108 09 10 111 7 12 113 114 15 116 117 118 119 120 121 22 123 124 25 26 127 8 28 129 130 31 132 133 134 135 136 137 38 139 140 41 42 143 gt 9 44 145 146 4 148 149 150 151 152 153 54 155 156 57 58 159 gt 4 60 161 162 63 164 165 166 167 168 169 70 171 172 73 74 175 76 177 178 79 180 181 182 183 184 185 86 187 188 89 90 191 92 193 194 95 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 36 User s Manual Notes Serial Number 37 Technology YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 www YeiTechnolo
18. accelerometer Returns the raw acceleration vector as read directly from the accelerometer without any additional post processing 12 Acceleration Vector in counts per g Vector x3 67 0x43 Get raw compass data Returns the raw compass vector as read directly from the compass without any additional post processing 12 Compass Vector in counts per gauss Vector x3 4 4 6 Streaming Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 80 0x50 Set streaming slots Configures data output slots for streaming mode Command accepts a list of eight bytes where each byte corresponds to a different data command Every streaming iteration each command will be executed in order and the resulting data will be output in the specified slot Valid commands are commands the ranges 0x0 0x10 0x20 0x30 0x40 0x50 9 OxCA for battery powered sensors and OxFA A slot value of OxFF clears the slot and prevents any data from being written in that position This command can fail if there is an invalid command passed in as any of the parameters or if the total allotted size is exceeded Upon failure all slots will be reset to OxFF This setting can be saved to non volatile flash memory using the Commit Settings command Commands Byte x8 1 0 51 Get streaming slots Returns the c
19. and indices are the same as described in command 244 Handler index byte Control class byte control index byte 247 0 Get control data Reads the value of a certain parameter of the specified control s operation mode The control classes and indices are the same as described in command 244 Data point float Control class byte control index byte data point index byte 248 0 8 Set button gyro disable length Determines how long in frames the gyros should be disabled after one of the physical buttons on the sensor is pressed A setting of 0 means they won t be disabled at all This setting helps to alleviate gyro disturbances cause by the buttons causing small shockwaves the sensor Number of frames byte 249 0 9 Get button gyro disable lentgh Returns the current button gyro disable length Number of frames byte 250 0xfa Get button state Reads the current state of the sensor s physical buttons This value returns a byte where each bit represents the state of the sensor s physical buttons Button state byte 251 0xfb Set mouse absolute relative mode Puts the mode in absolute or relative mode This change will not take effect immediately and the sensor must be reset before the mouse will enter this mode The only parameter can be 0 for absolute default or 1 for relative Absolute or relative mode byte 252 0XIC Get mouse la
20. commands are listed in Section 4 4 5 Raw Data Commands and span commands 0x40 through 0x43 Example In the 2C range a raw accelerometer vector might look like 144 25904 744 This would indicate a force that is mostly in a downward direction e Corrected Sensor Data This refers to data that has been biased and scaled to represent real world units using the steps as described in Section 3 1 2 Scale Bias and Cross Axis Effect There is an additional scaling that occurs which further alters the data reading based on each component sensor s device specific values This scaling provides the real world equivalents for read data For the accelerometer these values are in units of g forces for the magnetometer these values are in units of gauss and for the gyroscope these values are in units of radians sec This kind of data is well suited for users who wish to accurately track the motion of objects in 3D space or measure the strength and direction of magnetic fields Corrected data commands are listed in Section 4 4 3 Corrected Data Commands and span commands 0x25 through 0x28 Example In the 2G range the same raw accelerometer vector from before when corrected might look like 004 791 023 Note that these values are in units of g and would indicate that at the moment of the sample the sensor is accelerating mostly downwards at a rate of 7 75 meters per second squared e Normalized Sensor Data This r
21. example multi reference mode by default only handles orientations reachable by successive rotations of ninety degrees about of the three axes and hence has a resolution of 4 360 4 90 Thus a resolution of 8 would provide rotations of forty five degrees about any of the three axes 360 8 45 The second parameter indicates the number of adjacent vectors that will be checked for each In addition the number of checked vectors can be adjusted as well The parameters refers to the number of adjacent reference vectors that are to produce the final reference vector for the particular orientation up to a maximum of 32 Intended for advanced users Resolution Byte Number of Check Vectors Byte 26 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 112 0x70 Set compass mulfi reference vector Directly set the multi reference compass vector at specified index First parameter is index second parameter is compass vector Intended for advanced users 13 Index Byte Compass Reference Vector float x3 113 0 71 Set compass multi reference check vector Set the compass reading to be used as a check vector to determine which cell index to draw the reference vector from First parameter is an index second parameter is the compass vector Inte
22. follows Signal Number Signal Location Signal Description 1 Sleeve 5 Serial Power Input 2 Tip TxD Transmit output from unit 3 Ring 1 RxD Receive data to unit 4 Ring 2 Gnd Shared power and signal ground Mating plugs are available from Yost Engineering Inc or from other electronics vendors One such option for a mating 2 5mm 4 conductor phone plug is Kobiconn part 171 7425 E Note that the RS232 power input is provided as a convenient way to provide power along with communications via a single connector Thus 5vdc input is only required when the unit is not being powered via USB or the External Power Connector option External Power Connector The external power connector is a standard EIAJ 1 0 70 ID 2 35mm OD with the center pin positive The power requirements are nominally 5 at at least 100mA While the system is designed for 5vdc it can be powered from any input voltage in the range 3 6vdc 10vdc 5 AC adapters with EIAJ 1 connectors are commonly used for cell phone charging and are readily available A suitable AC adapter is the Audiovox or UTStarcom model CNR4 or equivalent and is available from Yost Engineering Inc or from other retailers Note that the external power connector is only required when the unit is not being powered via USB or the RS232 input jack power option 35 User s Manual Hex Decimal Conversion Chart
23. helpful if the orientations could read as though the sensor was mounted in a way that more closely matched the overall orientation of the vehicle which does not include that slope The feature the sensor has to deal with mounting differences is the offset quaternion This offset allows the sensor to pretend it is mounted in any given orientation while being actually mounted in any other actual orientation To help understand the relationship between filtered orientation tare orientation and offset orientation this is how the orientations are used by the sensor finaj OTLENLATION Stered OTLENLALION tare There are several ways to use this feature The simplest way is if you happen to know the quaternion that represents the offset you want applied to the orientation you can send this to the sensor by way of command 21 0x15 There are also commands to allow for more automated offset setting To use these commands do the following 1 Place the sensor as close as possible to the mounting point but in an orientation aligned with the overall vehicle or device the sensor is being mounted on or in the orientation that you would like the sensor to act like it 15 in 2 Call command 22 which sets a hidden variable called the base offset which affects the operation of the Offset with current orientation command This will record your desired orientation later If you ever want to reset t
24. indicates that no loversampling is taking place while a value that is higher indicates the number of samples per 144 0x90 Get oversample rate component sensor per filter update step 1 Oversample rate byte 0 Returns a value indicating how heavily the orientation lestimate is based upon the estimate from the previous frame For more information on the meaning Get running average lof this value please refer to the Set Running Average Running average percent 145 0x91 _ percent Percent command 117 4 float 0 Returns the current desired update rate Note that this value does not indicate the actual update rate but instead indicates the value that should be spent idling in the main loop Thus without having set specified desired update rate this value should read Desired update rate in 146 0x92 Get desired update rate 0 4 microseconds int 0 Return the current accelerometer measurement range which can be a 0 for 20 1 for 4g or a 2 for Accelerometer range 148 0x94 Get accelerometer range 8g 1 setting byte 0 Get multi reference mode weighting power for multi reference vector 149 0x95 weight weights Intended for advanced users 4 Weight float 0 29 User s Manual Return Data Command Description Long Description Data Len Return Data Details Len Data Details Reads number of cell divisions and number of nearby vect
25. of orientation are required Typical applications include Robotics Motion capture Positioning and stabilization Personnel pedestrian navigation and tracking Unmanned air land water vehicle navigation Vibration analysis Inertial augmented localization Education and performing arts Healthcare monitoring Gaming and motion control e Accessibility interfaces Virtual reality and immersive simulation User s Manual 2 3 Hardware Overview 5 Indicator LED 6 Input Button 2 4 Input Button 1 3 External Power Connector 2 RS232 Connector 1 USB Connector 1 USB Connector The 3 Space Sensor uses 5 pin mini USB connector to connect to a computer via USB The USB connector provides for both power and communication signals 2 RS232 Connector The 3 Space Sensor can respond to protocol messages via RS232 by using this port The port is 2 5mm 4 conductor jack that carries TxD RxD Gnd 5 Input signals The 5 Input signal is provided as a means to provide power and communications in a single connector If an external power adapter is used the 5 Input signal may be left unconnected 3 External Power Connector The 3 Space Sensor can be powered via an external power supply via this port The port is an EIAJ 1 standard barrel jack with a positive center pin N
26. that will be output prior to the expected response data To use the Response Header Bitfield use the following steps 1 2 3 Determine which additional data you would like to have output as the response header The list of options are 0x1 Bit 0 Success Failure comprised of one byte with non zero values indicating failure 0 2 Bit 1 Timestamp comprised of four bytes representing the most recent sample time in microseconds Note that this is not a difference but a total accumulated time 0x4 Bit 2 Command echo comprised of one byte Echoes back the previous command 0 8 Bit 3 Additive checksum comprised of one byte summed over the response data modulus 256 Note that this does not include the Response Header itself 0x10 Bit 4 Logical ID comprised of one byte indicating the logical ID of the received packet For wired communication this always returns OxFE 0x20 Bit 5 Serial number comprised of four bytes 0x40 Bit 6 Data length comprised of one byte Represents the amount of response data Note that this does not include the Response Header itself For example if you wanted all future data to be preceded with a timestamp and a data length you would want to use bits and 6 which corresponds to the value 66 0x00000042 This is the value that would be passed into the Set Wired Response Header Bitfield command Command 221 Call command 221 passing in the specified valu
27. the 3 Space Suite manual 14 User s Manual 3 4 Sensor Settings 3 4 1 Committing Settings Certain changes made to the 3 Space Sensor will not be saved unless they are committed This allows you to make changes to the sensor and easily revert it to its previous state by resetting the chip For instructions on how to commit your changes see the Quick Start guide or 3 Space Suite manual Any changes relating to the multiple reference vector and ortho calibration mode are an exception to this rule as all these changes are saved immediately 3 4 2 Natural Axes The natural axes of the 3 Space Sensor are as follows e The positive X axis points out of the right hand side of the sensor which is the side that is facing right when the buttons face upward and plug faces towards you e The positive Y axis points out of the top of the sensor the side with the buttons e The positive Z axis points out of the front of the sensor the side opposite the plug Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for example data axis Y could contain data from natural axis X This allows users to work with data in a reference frame they are familiar with See section 2 8 for a diagram of the natural axes 3 4 3 Settings and Defaults Setting Name Purpose Default Value Accelerometer Trust Values Determine how tru
28. 8 Set multi reference vectors with current orientation Uses the current tared orientation to set up the reference vector for the nearest orthogonal orientation This is an advanced command that is best used through 3 Space Sensor Suite calibration utilities For more information please refer to the 3 Space Sensor Suite Quick Start Guide 105 0x69 Set reference vector mode Set the current reference vector mode Parameter can be 0 for single static mode which uses a certain reference vector for the compass and another certain vector for the accelerometer at all times 1 for single lauto mode which uses 0 1 0 as the reference vector for the accelerometer at all times and uses average angle between the accelerometer and compass to calculate the compass reference vector lonce upon initiation of this mode 2 for single auto continuous mode which works similarly to single lauto mode but calculates this continuously or 3 for multi reference mode which uses a collection of reference vectors for the compass and laccelerometer both and selects which ones to use before each step of the filter Mode Byte 106 0x6A Set oversample rate Sets the number of times to sample each component sensor for each iteration of the filter This smooth out readings at the cost of performance If this value is set to 0 or 1 no oversampling occurs the number of samples per iteration depends t
29. Calibration Mode Determines how raw sensor data is transformed into normalized data 1 Scale Bias Axis Directions Determines what natural axis direction each data axis faces X Y Z Sample Rate Determines how many samples the sensor takes per cycle 1 from each component sensor Running Average Percentage Determines how heavy of a running average to run on the final orientation running average Desired Update Rate Determines how long each cycle should take ideally 0 microseconds RS232 Baud Rate Determines the speed of RS232 communication 115200 CPU Speed Determines how fast the CPU will run 60 MHz LED Color Determines the RGB color of the LED 0 0 1 Blue 15 User s Manual Joystick Enabled Determines whether the joystick is enabled or not TRUE Mouse Enabled Determines whether the mouse is enabled or not FALSE Button Gyro Disable Length Determines how many cycles the gyro is ignored after a button is 5 pressed Multi Reference Weight Power Determines what power each multi reference vector weight is raised to 10 Multi Reference Cell Divisions Determines how many cells the multi reference lookup table is divided 4 into per axis Multi Reference Nearby Vectors Determines how many nearby vectors each multi reference lookup table 8 cell stores Wired Response Header Bitfield Determines what kind of data is prepended to response data 0
30. SB 2 0 and RS232 communication interfaces in a single low cost end use ready unit The Attitude and Heading Reference System AHRS uses triaxial gyroscope accelerometer and compass sensors in conjunction with advanced on board filtering and processing algorithms to determine orientation relative to an absolute reference orientation in real time Orientation can be returned in absolute terms or relative to a designated reference orientation The proprietary multi reference vector mode increases accuracy and greatly reduces and compensates for sensor error The YEI 3 Space Sensor USB system also utilizes a dynamic sensor confidence algorithm that ensures optimal accuracy and precision across a wide range of operating conditions The YEI 3 Space Sensor USB unit features are accessible via a well documented open communication protocol that allows access to all available sensor data and configuration parameters using either USB 2 0 or RS232 Versatile commands allow access to raw sensor data normalized sensor data and filtered absolute and relative orientation outputs in multiple formats including quaternion Euler angles pitch roll yaw rotation matrix axis angle two vector forward up When used as a USB device the 3 Space Sensor provides mouse emulation and joystick emulation modes that ease integration with existing applications 2 2 Applications The YEI 3 Space Sensor can be used in any situation where accurate near real time estimates
31. ample data axis Y could contain data from natural axis X This allows users to work with data in a reference frame they are familiar with User s Manual 3 Description of the 3 Space Sensor 3 1 Orientation Estimation The primary purpose of the 3 Space Sensor is to estimate orientation In order to understand how to handle this estimation and use it in a meaningful way there are a few concepts about the sensor that should be understood The following sections describe these concepts 3 1 1 Component Sensors The 3 Space Sensor estimates orientation by combining the data it gets from three types of sensors a gyroscope an accelerometer and a compass A few things you should know about each of these sensors e Accelerometer This sensor measures the acceleration due to gravity as well as any other accelerations that occur Because of this this sensor is at its best when the 3 Space Sensor is sitting still Most jitter seen as the orientation of the sensor changes is due to shaking causing perturbations in the accelerometer readings To account for this by default when the 3 Space Sensor is being moved the gyroscope becomes more trusted becomes a greater part of the orientation estimate and the accelerometer becomes less trusted e Gyroscope This sensor measures angular motion It has no ability to give any absolute orientation information like the accelerometer or compass and so is most useful for correcting the orientatio
32. aracters the ASCII colon character signifies the start of an ASCII text packet the ASCII comma character acts as a value delimiter when multiple values are specified the ASCII period character is used in floating point numbers 0 9 the ASCII digits are used to in integer and floating point values the ASCII minus sign is used to indicate a negative number n the ASCII newline character is used to signify the end of an ASCII command packet b the ASCII backspace character can be used to backup through the partially completed line to correct errors If a command is given in ASCII mode but does not have the right number of parameters the entire command will be ignored Sample ASCII commands 0 n Read orientation as a quaternion 106 2 n Set oversample rate to 2 ASCII Return Values All values are returned in ASCII text format when an ASCII format command is issued To read the return data simply read data from the sensor until a Windows newline a carriage return and a line feed is encountered 19 User s Manual 4 3 Response Header Format 4 3 1 Wired Response Header The 3 Space Sensor is capable of returning additional data that can be prepended to all command responses This capability is managed via the Response Header Bitfield which can be configured using command 221 OxDD Each bit in the field if enabled corresponds to a different piece of information
33. bsolute relative mode Return the current mouse absolute relative mode Note that if the sensor has not been reset since it has been put in this mode the mouse will not reflect this change yet even though the command will Absolute or relative mode byte 253 0xfd Set joystick and mouse present removed Sets whether the joystick and mouse are present or removed The first parameter is for the joystick and can be 0 for removed or 1 for present The second parameter is for the mouse If removed they will not show up as devices the target system at all For these changes to take effect the sensor driver may need to be reinstalled Joystick present removed byte Mouse present removed byte 254 Oxfe Get joystick and mouse present removed Returns whether the joystick and mouse are present lor removed Joystick present removed byte Mouse present removed byte 34 User s Manual Appendix USB Connector The 3 Space Sensor has a 5 pin USB Type B jack and can be connected via a standard 5 pin mini USB cable RS232 Connector The RS232 connector provides a means to communicate with the 3 Space Sensor via standard RS232 signals The RS232 connector is a standard 2 5mm 4 conductor phone jack with the following pinout 1 Sleeve 0 12 802 3 1 0 BEE Where the signals are assigned as
34. byte Additive checksum over returned data but not including response header 0x10 1 byte Logical ID returns OxFE for wired sensors Meant to be used with 3 Space Dongle response header For more info see command OxDB 0x20 4 bytes Serial number 0x40 1 byte Data length returns the length of the requested data not including response header This setting can be committed to non volatile flash memory by calling the Commit Settings command For more information on Response Headers please refer to Section 4 4 Response header configuration Unsigned int 222 0xde Get wired response header bitfield Return the current wired response header bitfield For more information please refer to Section 4 4 Response header configuration Unsigned int 223 0xdf Get firmware version string Returns a string indicating the current firmware version 12 Firmware version string 224 0xe0 Restore factory settings Return all non volatile flash settings to their original default settings 225 0xe1 Commit settings Commits all current sensor settings to non volatile flash memory which will persist after the sensor is powered off For more information on which parameters can be stored in this manner refer to Section 3 4 Sensor Settings 226 0xe2 Software reset Resets the sensor 227 0 3 Set sleep mode Sets the current sleep mode of the sensor Supported sleep mo
35. d e Ortho Calibration Mode A more advanced calibration mode that requires initial setup steps Please refer to the 3 Space Suite Quick Start Guide for information on how to supply ortho calibration data Uses 24 orthogonal data points to provide accelerometer and compass correction factors for enhanced orientation accuracy User s Manual 3 1 5 Reference Vectors In order to get an absolute estimation of orientation from the accelerometer and compass the sensor needs a reference vector for each to compare to the data read from it The most obvious choice for these are the standard direction of gravity down and the standard direction of magnetic force north respectively However the sensor does provide several different modes for determining which reference vector to use e Single Manual Uses 2 reference vectors it is given as the reference vectors for the accelerometer and compass e Single Auto When the sensor powers on or is put into this mode it calculates gravity and north and uses those calculated vectors as the reference vectors e Single Auto Continual The same as Single Auto but the calculation happens constantly This can account for some shifts in magnetic force due to nearby objects or change of location and also can help to cope with the instability of the accelerometer e Multiple Uses a set of reference vectors from which the best are picked each cycle to form a single final reference vector This mod
36. des are 0 for NONE and 1 for IDLE IDLE mode merely skips all filtering steps is the default state Sleep mode byte 228 0xe4 Get sleep mode Reads the current sleep mode of the sensor which be 0 for NONE or 1 for IDLE Sleep mode byte 229 0xe 5 Enter bootloader mode Places the sensor into a special mode that allows firmware upgrades This will case normal operation until the firmware update mode is instructed to return sensor to normal operation For more information upgrading firmware refer to the 3 Space Sensor Suite Quick Start Guide 230 0xe6 Get hardware version string Returns a string indicating the current hardware version 32 Hardware version string 231 0xe7 Set UART baud rate Sets the baud rate of the physical UART This setting does not need to be committed but will not take effect until the sensor is reset Valid baud rates lare 1200 2400 4800 9600 19200 28800 38400 57600 115200 default 230400 460800 and 921600 Note that this is only applicable for sensor types that have UART interfaces Baud rate int 232 0 8 Get baud rate Returns the baud rate of the physical UART Note that this is only applicable for sensor types that have UART interfaces Baud rate int 32 User s Manual Return Data Command
37. e Keep in mind that this is a 4 byte value Ask for data using the Response Header Start Byte Typical wired binary commands use OxF7 to indicate the start of a command packet If OxF7 is used response data will never contain a Response Header Instead the user should use OxF9 instead of OxF7 This will cause the resulting command to prepend the requested Response Header to the response data Typical wired ascii commands use to indicate the start of a typical command packet the character to indicate to the sensor that the data should have the Response Header prepended Also note that all Response Header will be output in ascending order starting with the lowest enabled bit and continuing on to the highest enabled bit 4 Parse the Response Header data Assume we wanted to ask for the raw accelerometer data along with the timestamp and data length and that we have already called command 221 with a parameter of 66 We then send the following to the sensor Oxf9 0x42 0x42 We receive the following response from the sensor 0x17 0x39 0x15 0x93 0X0C Oxc4 0x86 0x0 0x0 Oxc5 0x54 0x0 0x0 0x46 0x7c 0XC0 0x0 Going in order we used bits and 6 so we can parse out the timestamp first which is 4 bytes and then the data length which is 1 byte Timestamp 0x17 0x39 0x15 0x93 389617043 Data Length 0x0c 12 Data Oxc4 0x86 0 0 0x0 Oxc5 0x54 0x0 0x0 0x46 0x7c 0XC0 0 0 1072 0 3392 0 16176 0 20 User s Manual
38. e acceleration vector in units of Note Get corrected that this acceleration will include the static Acceleration Vector in units 39 0 27 laccelerometer vector component of acceleration due to gravity 12 of G float x3 0 Get corrected compass Compass Vector in units of 40 0X28 vector Returns the compass vector in units of gauss 12 gauss float x3 0 Returns the linear acceleration of the device which is the overall acceleration which has been orientation Get corrected linear compensated and had the component of acceleration in global lacceleration due to gravity removed Uses the tared Acceleration Vector in units 41 0x29 orientation 12 of G float x3 0 Converts the supplied raw data gyroscope vector to Gyro Rate in units of Gyro Rate in counts per 48 0x30 Correct raw gyro data its corrected data representation 12 radians sec float x3 12 Vector x3 Converts the supplied raw data accelerometer vector Acceleration Vector in units Acceleration Vector in counts 49 0X31 Correct raw accel data to its corrected data representation 12 of G float x3 12 per g Vector x3 Converts the supplied raw data compass vector to its Compass Vector in units of Compass Vector in counts 50 0 32 Correct raw compass data corrected data representation 12 gauss float x3 12 per gauss Vector x3 4 4 4 Other Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 43
39. e has the ability to compensate for certain errors in the orientation In this mode the sensor will have a slightly slower update rate but will provide greater accuracy For information on how to set up this mode see the Quick Start guide or the 3 Space Suite manual 3 1 6 Orientation Filtering The 3 Space Sensor provides several different modes for providing orientation estimation Note also that IMU data collection rate is bound to the update rate of the filter For more information on setting these additional modes please refer to command 123 e Kalman Filter The default filter mode Normalized sensor data and reference vectors are fed into the Kalman filter which uses statistical techniques to optimally combine the data into a final orientation reading Provides the highest accuracy orientation at the lowest performance Alternating Kalman Filter Uses the same Kalman filter as before but skips every other update step Slightly less accurate than the Kalman filter but faster e Complementary Filter Fuses low pass filtered accelerometer compass data with high pass filtered gyroscope data to provide an orientation estimate Less accurate than any Kalman filtering techniques but provides significantly higher performance e Quaternion Gradient Descent Filter Utilizes gradient descent techniques to avoid the high computational overhead of Kalman based filters Provides high performance and high accuracy e IMU Mode Performs no orien
40. efers to corrected data that has been geometrically normalized For the accelerometer and magnetometer all normalized sensor readings are unit vectors and as such have lengths of 1 For the gyroscope these is no difference between corrected and normalized data This kind of data is well suited for users who are only interested in the direction of acceleration or magnetic fields Normalized data commands are listed in Section 4 4 2 Normalized Data Commands and span commands 0x20 through 0x23 Example The corrected accelerometer vector from before when normalized would look like 0 05 0 998 0 011 Note that the magnitude information is lost and only the direction of the acceleration remains 3 1 4 Additional Calibration The 3 Space Sensor provides multiple calibration modes that can improve performance at the cost of additional setup and calibration routines For more information on setting these additional modes please refer to command 169 e Bias Mode Applies default range scaling to raw data readings Also applies a bias offset to raw data the values of which are taken from the provided calibration parameters command See section 4 3 7 for more information e Bias Scale Mode The default calibration mode Applies default range scaling to raw data readings Also applies a bias offset to the raw data as well as an additional scale matrix Uses the matrix and vector portions from the provided calibration parameters comman
41. ending can have the effect of accelerometer when on the confidence factor This smoothing out the he sensor is in motion Minimum accelerometer trust value float Maximum laccelerometer trust value float 101 0 65 Set static compass trust value Determines how trus contribution is to the ed the accelerometer overall orientation estimation tribution is to the overall orientation estimation Trust is 0 to 1 with 1 being fully trusted and 0 being not trusted at all Compass trust value float 25 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 102 0x66 Set confidence compass trust values Determines how trusted the compass contribution is to the overall orientation estimation Instead of using single value uses a minimum and maximum value Trust values will be selected from this range depending on the confidence factor This can have the effect of smoothing out the compass when the sensor is in motion Minimum compass trust value float Maximum compass trust value float 103 0x67 Set desired update rate Causes the processor to wait for the specified number of microseconds at the end of each update loop Can be useful for bounding the overall update rate of the sensor if necessary Microsecond update rate unsigned integer 104 0x6
42. ertical Up axis of the sensor will be the third Z component of any vectors and will have a positive lsign and any that appear on the negative vertical axis will be the Z component and will have a negative sign The bits above those are used to indicate which laxes if any should be reversed If it is cleared the laxis will be pointing in the positive direction Otherwise the axis will be pointed in the negative direction Note These are applied to the axes after previous conversion takes place Bit 4 Positive Negative Z Third resulting component Bit 5 Positive Negative Y Second resulting component Bit 6 Positive Negative X First resulting component Note that for each negation that is applied the handedness of the system flips So if Xand Z are negative and you are using a left handed system the system will still be left handed but if only X is negated the system will become right handed Axis Direction Byte byte 117 0x75 Set running average percent Sets what percentage of running average to use on sensor s orientation This is computed as follows total_orient total_orient percent total_orient total_orient current_orient 1 percent current_orient total_orient If the percentage is 0 the running average will be shut off completely Maximum value is 97 This setting can be saved to non volatile flash memory using the Commit Settings command
43. eter represents a decay value between 0 and 1 that indicates how quickly the loutright magnetometer rejection state will fall off Values closer to 1 result the magnetometer rejection lasting longer The final parameter represents how quickly a magnetic perturbation is detected Values closer to 1 result in the magnetometer rejection occurring more slowly This setting can be saved using the Commit Se 0 non volatile flash memory tings command 16 Magnetoresistive threshold in igauss float Number of magnetometer trust frames unsigned int magnetometer lockout decay value float magnetometer perturbation detection value float 18 0X12 Set accelerometer resistance threshold Sets required parame trigger accelerometer ers that are necessary to rejection During the accelerometer rejection period the contribution of the accelerometer to he selected orientation estimation algorithm will be zero The arguments to this command specify the accelerometer threshold and the number of frames that the rejection is active respectively This set volatile flash memory command ing can be saved to non using the Commit Settings Accelerometer threshold in g s float Number of laccelerometer lockout frames unsigned int 19 0 13 Offset with current orientation Sets the offset orientation to be the same as the current filtered orientation 20 0 14 Reset base offset Sets
44. gy com www 3SpaceSensor com Patents Pending 2007 2012 Yost Engineering Inc Printed in USA
45. h provides a graphical method to do the same To learn how to use this read the 3 Space Suite manual 3 2 1 Wired Streaming Mode The default mode of communication for the 3 Space Sensor is a call and response paradigm wherein you send a command and then receive a response The sensor also features a streaming mode where it can be instructed to periodically send back the response from a command automatically without any further communication from the host To activate the streaming mode use the following steps 1 Set up the streaming to call the commands you want data from First figure out which commands you want data from The following commands are valid for streaming 0 0x00 Read tared orientation as quaternion 1 0x01 Read tared orientation as euler angles 2 0x02 Read tared orientation as rotation matrix 3 0x03 Read tared orientation as axis angle 4 0x04 Read tared orientation as two vector 5 0x05 Read difference quaternion 6 0x06 Read untared orientation as quaternion 7 0x07 Read untared orientation as euler angles 8 0x08 Read untared orientation as rotation matrix 9 0x09 Read untared orientation as axis angle 10 0x0a Read untared orientation as two vector 11 0 06 Read tared two vector in sensor frame 12 0x0c Read untared two vector in sensor frame 32 0x20 Read all normalized component sensor data 33 0x21 Read normalized gyroscope vector 34 0x22 Read normalized accelerometer vector 35 0x23 Read norma
46. he specified parameter up to a maximum of 10 This setting can be saved to non volatile flash memory using the Commit Settings command Samples Per Iteration Byte 107 0x6B Set gyroscope enabled Enable or disable gyroscope readings as inputs to the orientation estimation Note that updated gyroscope readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Enabled Byte 108 0x6C Set accelerometer enabled Enable or disable accelerometer readings as inputs to the orientation estimation Note that updated accelerometer readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Enabled Byte 109 0x6D Set compass enabled Enable or disable compass readings as inputs to the orientation estimation Note that updated compass readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Enabled Byte 110 0x6E Reset multi reference vectors to zero Resets all reference vectors in the multi reference table to zero Intended for advanced users 114 0x6F Set multi reference table resolution Sets the number of cell dimensions and number of nearby vectors per cell for the multi reference lookup table First parameter indicates the number of cell idivisions as an
47. his base offset use command 20 0 14 3 Mount the sensor onto the vehicle or device as you intend to for the end application 4 Call command 19 0x13 which will set the offset based on the difference between the current orientation and the base offset After this command is called the sensor should now be acting as though it were in the desired orientation 5 Make sure to commit the sensor settings to keep this change Note that the base offset is not committable but the offset itself is committable It should be noted that while it may seem like the set axis directions command could be used for the same purpose this feature is the preferred way to deal with alternate mountings as the axis directions mode has no way to account for a mounting that isn t a 90 degree based orientation away from the standard orientation In addition the axis direction mode does not handle switching the Euler angles to account for a different mounting while this feature does 3 1 9 Other Estimation Parameters The 3 Space Sensor offers a few other parameters to filter the orientation estimate Please note that these only affect the final orientation and not the readings of individual component sensors e Oversampling Oversampling causes the sensor to take extra readings from each of the component sensors and average them before using them to estimate orientation This can reduce noise but also causes each cycle to take longer proportional to how many ext
48. ific details of the 3 Space Sensor protocol and its control commands are discussed in the following pages 4 1 2 Computer Interfacing Overview When interfacing with a computer the 3 Space Sensor presents itself as a COM port which provides an interface by which the serial communication the protocol requires may happen The name of this COM port is specific to the operating system being used It is possible to use multiple 3 Space Sensors on a single computer Each will be assigned its own COM port The easiest way to find out which COM port belongs to a certain sensor is to take note of what COM port appears when that sensor is plugged in provided the drivers have been installed on that computer already Otherwise find out what COM port appears once driver installation has finished For more information on how to install the sensor software on a computer and begin using it see the Quick Start guide 17 User s Manual 4 2 Protocol Packet Format 4 2 1 Binary Packet Format The binary packet size can be three or more bytes long depending upon the nature of the command being sent to the controller Each packet consists of an initial start of packet byte followed by a command value specifier byte followed by zero or more command data bytes and terminated by a packet checksum value byte Each binary packet is at least 3 bytes in length and is formatted as shown in figure 1 247 0 7 4 First
49. king fast enough to handle the amount of data or both Data is output over the same communication interface the streaming session is started with For example if the user sends the Start Streaming command via the USB interface data will be streamed over the same USB connection This also applies for RS 232 communication For more information on all these commands see the Streaming Commands section in the command chart near the end of this document 13 User s Manual 3 3 Input Device Emulation 3 3 1 Axes and Buttons The 3 Space Sensor has the ability to act as a joystick and or mouse when plugged in through USB Both of these are defined in the same way as a collection of axes and buttons Axes are input elements that can take on a range of values whereas buttons can only either be on or off On a joystick the stick part would be represented as 2 axes and all the physical buttons on it as buttons The 3 Space Sensor has no physical joystick and only 2 physical buttons so there are a number of options to use properties of the orientation data as axes and buttons Each input device on the 3 Space Sensor has 2 axes and 8 buttons For more information on setting these up see the 3 Space Suite manual All communication for these input devices is done through the standard USB HID Human Interface Device protocol 3 3 2 Joystick As far as a modern operating system is concerned a joystick is any random collection of axes and butto
50. kmanship under normal use for sixty 60 days from the date of delivery except for OEM warranty items see below YEI will repair or replace any defective product which is returned within this time period Returned items will be tested in order to confirm a manufacturing defect is present No warranties exist for any misuse OEM Limited Product Warranty The following OEM products are subject to additional return limitations beyond the Standard Limited Product Warranty surface mount modules integrated circuits bare PCB modules and other electronic components Because of the risk of damage or malfunction due to user testing and handling problems returns will be granted only upon evidence and or inspection conclusively demonstrating manufacturing defect All OEM products are individually tested prior to shipment for quality control Product Support YEI provides technical and user support via our toll free number 888 395 9029 and via email support yeitech com Support is provided for the lifetime of the equipment Requests for repairs should be made through the Support department For damage occurring outside of the warranty period or provisions customers will be provided with cost estimates prior to repairs being performed User s Manual 2 Overview of the 3 Space Sensor 2 1 Introduction The YEI 3 Space Sensor USB is a miniature high precision high reliability Attitude and Heading Reference System AHRS offering U
51. l axes Gyro sensitivity 0 00875 sec digit for 250 sec 0 01750 sec digit for 500 sec 0 070 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 016 C Compass scale 1 3 Ga default Up to 8 1 Ga available Compass resolution 12 bit Compass sensitivity 5 mGa digit Compass non linearity 0 1 full scale Specifications subject to change User s Manual 2 7 Physical Dimensions TSS USB Handheld Case TSS USB S Strapdown Case All dimensions in mm All dimensions in mm 2 8 Axis Assignment All YEI 3 Space Sensor product family members have re mappable axis assignments and axis directions This flexibility allows axis assignment and axis direction to match the desired end use requirements The natural axes of the 3 Space Sensor are as follows e The positive X axis points out of the right hand side of the sensor which is the side that is facing right when the buttons face upward and plug faces towards you e The positive Y axis points out of the top of the sensor the side with the buttons e The positive Z axis points out of the front of the sensor the side opposite the plug The natural axes are illustrated in the diagram below Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for ex
52. lized compass vector 37 0x25 Read all corrected component sensor data 38 0x26 Read corrected gyroscope vector 39 0x27 Read corrected accelerometer vector 40 0x28 Read corrected compass vector 41 0x29 Read corrected linear acceleration 43 0x2B Read temperature C 44 0x2C Read temperature F 45 0x2D Read confidence factor 64 0x40 Read all raw component sensor data 65 0x41 Read raw gyroscope vector 66 0x42 Read raw accelerometer vector 67 0x43 Read raw compass vector 201 0xc9 Read battery voltage 202 0 Read battery percentage 203 Oxcb Read battery status 250 0 Read button state 255 Oxff No command There are 8 streaming slots available for use and each one can hold one of these commands These slots can be set using command 80 0x50 with the parameters being the 8 command bytes corresponding to each slot Unused slots should be filled with Oxff so that they will output nothing Please note The total amount of data the 8 slots can return at once is 256 bytes If the resulting data exceeds this the set streaming slots command will fail 12 User s Manual 2 Set up the streaming interval duration and start delay These parameters control the timing of the streaming session They can be set using command 82 0x52 All times are to be given in microseconds They control the streaming as follows Interval determines how often the streaming session will output data from the reque
53. lti reference mode accelerometer Accelerometer multi Get accelerometer multi reference vector at the specified index Intended for reference reference vector 138 0 8 vector ladvanced users 12 float x3 1 Index byte Reads the multi reference mode accelerometer Accelerometer multi Get accelerometer multi reference check vector at the specified index reference reference check 139 0x8b reference check vector Intended for advanced users 12 vector float x3 1 Index byte Returns a value indicating whether the gyroscope Get gyroscope enabled contribution is currently part of the orientation Gyroscope enabled value 140 0x8c state estimate 0 for off 1 for on 1 byte 0 Returns a value indicating whether the accelerometer Get accelerometer enabledjcontribution is currently part of the orientation Accelerometer enabled 141 0x8d state estimate 0 for off 1 for on 1 value byte 0 Returns a value indicating whether the compass Get compass enabled contribution is currently part of the orientation Compass enabled value 142 0x8e _ state lestimate 0 for off 1 for on 1 byte 0 Returns a value indicating the current axis direction setup For more information on the meaning of this value please refer to the Set Axis Direction 143 0x8f Get axis direction command 116 1 Axis direction value byte 0 Returns a value indicating how many times each component sensor is sampled before being stored las raw data A value of 1
54. n during sensor motion Its role during these times becomes vital though as the accelerometer readings can become unreliable during motion e Compass This sensor measures magnetic direction The readings from the compass and accelerometer are used together to form the absolute component of orientation which is used to correct any short term changes the gyroscope makes Its readings are much more stable than those of the accelerometer but it can be adversely affected by any ferrous metal or magnetic objects When the accelerometer is less trusted the compass is treated in the same way so as to avoid updates to orientation based on partial absolute information 3 1 2 Scale Bias and Cross Axis Effect The readings taken from each component sensor are not in a readily usable form The compass and accelerometer readings are not unit vectors and the gyroscope readings aren t yet in radians per second To convert them to these forms scale and bias must be taken into account Scale is how much larger the range of data read from the component sensor is than the range of data should be when it is converted For example if the compass were to give readings in the range of 500 to 500 on the x axis but we would like it to be in the range of 1 to 1 the scale would be 500 Bias is how far the center of the data readings is from 0 If another compass read from 200 to 900 on the x axis the bias would be 350 and the scale would be 550 The last parameter u
55. nd max float x2 0 Returns the current compass min and max trust values If static trust values were set both of these Compass trust values min 131 0x83 Get compass trust values will be the same 8 and max float x2 0 Reads the amount of time taken by the last filter Last update time in 132 0x84 Get current update rate _ update step 4 microseconds int 0 Reads the current compass reference vector Note Get compass reference that this is not valid if the sensor is in Multi Compass reference vector 133 0x85 vector Reference Vector mode 12 float x3 0 Reads the current compass reference vector Note Get accelerometer that this is not valid if the sensor is in Multi Accelerometer reference 134 0x86 vector Reference Vector mode 12 vector float x4 0 Reads the current reference vector mode Return value can be 0 for single static 1 for single auto 2 135 0x87 Get reference vector mode for single auto continuous or for multi 1 Mode byte 0 Reads the multi reference mode compass reference Get compass multi vector at the specified index Intended for advanced Compass multi reference 136 0x88 _ reference vector users 12 reference vector float x3 1__ Index byte Reads the multi reference mode compass reference Compass multi reference Get compass multi check vector at the specified index Intended for reference check vector 137 0x89 reference check vector ladvanced users 12 float x3 1 Index byte Reads the mu
56. nded for advanced users 13 Index Byte Compass Check Vector float x3 114 0x72 Set accelerometer multi reference vector Directly set the multi reference accelerometer vector at the specified index First parameter is index parameter is compass vector Intended for ladvanced users 13 Index Byte Accelerometer Reference Vector float x3 115 0 73 Set accelerometer multi reference check vector Set the accelerometer reading to be used as a check vector to determine which cell index to draw the reference vector from First parameter is an index second parameter is the accelerometer vector Intended for advanced users 13 Index Byte Accelerometer Check Vector float x3 116 0x74 Set axis directions Sets alternate directions for each of the natural axes lof the sensor The only parameter is a bitfield representing the possible combinations of axis swapping The lower bits specify where each of the natural axes appears 000 X Right Y Up Z Forward left handed system standard operation 001 X Right Y Forward Z Up right handed system 002 X Up Y Right Z Forward right handed system 003 X Forward Y Right Z Up left handed system 004 X Up Y Forward Z Right left handed system 005 X Forward Y Up Z Right right handed system For example using X Right Y Forward Z Up means that any values that appear on the positive v
57. ns that isn t a mouse or keyboard Joysticks are mostly used for games but can also be used for simulation robot controls or other applications The 3 Space Sensor as a joystick should appear just like any other joystick to an operating system that supports USB HID which most do 3 3 3 Mouse When acting as a mouse the 3 Space Sensor will take control of the system s mouse cursor meaning if the mouse portion is not properly calibrated using it could easily leave you in a situation in which you are unable to control the mouse cursor at all In cases like this unplugging the 3 Space Sensor will restore the mouse to normal operation and unless the mouse enabled setting was saved to the sensor s memory plugging it back in should restore normal operation Using the default mouse settings caution should be exercised in making sure the orientation estimate 15 properly calibrated before turning on the mouse For help with this see the Quick Start guide The mouse defaults to being in Absolute mode which means that the data it gives is meant to represent a specific position on screen rather than an offset from the last position This can be changed to Relative mode where the data represents an offset In this mode the data which would have indicated the edges of the screen in Absolute mode will now represent the mouse moving as quickly as it can in the direction of that edge of the screen For more information see command 251 in section 4 3 7 or
58. of the following an ASCII colon character followed by an integral command id in decimal followed by a list of ASCII encoded floating point command values followed by a terminating newline character The command id and command values are given in decimal The ASCII encoded command values must be separated by an ASCII comma character or an ASCII space character Thus legal command characters are the colon the comma the period the digits 0 through 9 the minus sign the new line the space and the backspace When a command calls for an integer or byte sized parameter the floating point number given for that parameter will be interpreted as being the appropriate data type For simplicity the ASCII encoded commands follow the same format as the binary encoded commands but ASCII text encodings of values are used rather than raw binary encodings Each ASCII packet is formatted as shown in figure 2 pacali Dara 7 aca Wa Command a End of Packet The ASCII newline character Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Value Selected from the command chart in decimal Start of ASCII Packet Indicated by the colon character Figure 2 Typical ASCII Command Packet Format Thus the ASCII packet consists of the the following ch
59. olatile flash memory using the Commit Settings command 48 Matrix float x9 Bias float x3 162 0xa2 Get compass calibration coefficients Return the current compass calibration parameters 48 Matrix float x9 Bias float x3 163 0xa3 Get accelerometer calibration coefficients Return the current accelerometer calibration parameters 48 Matrix float x9 Bias float x3 164 0xa4 Get gyroscope calibration coefficients Return the current gyroscope calibration parameters 48 Matrix float x9 Bias float x3 165 0xa5 Begin gyroscope auto calibration Performs auto gyroscope calibration Sensor should remain still while samples are taken The gyroscope bias will be automatically placed into the bias part of the gyroscope calibration coefficient list 166 0xa6 Set gyroscope calibration coefficients Sets the current gyroscope calibration parameters to specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be lsaved to non volatile flash memory using the Commit Settings command 48 Matrix float x9 Bias float x3 169 0xa9 Set calibration mode Bias 1 for Scale Bias and 2 for Ortho Calibration For more information refer to section 3 1 3 Additional Calibration This setting can be saved to non volatile flash memory using the Commit Settings command
60. ominal supply voltage is 5 however any voltage in the range of 3 5vdc to 10vdc will power the unit safely 4 Input Button 1 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode Indicator LED The 3 Space Sensor includes an RGB LED that can be used for visual status feedback Input Button 2 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode User s Manual 2 4 Key Features The YEI 3 Space Sensor USB has many features that allow it to be a flexible all in one solution for your orientation sensing needs Below are some of the key features Small self contained high performance wireless AHRS at 35mm x 50mm x 15mm 17 grams e Fast sensor update and filter rate allow use in real time applications including stabilization virtual reality real time immersive simulation and robotics e Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction Advanced integrated Kalman filtering allows sens
61. onent sensor data Note also that ortho calibration data will not be used unless the calibration mode is set to Ortho Calibration For more information refer to Section 3 1 3 Additional Calibration Intended for advanced users 175 0xaf Clear ortho calibration data Clear out all ortho lookup table data Intended for ladvanced users 31 User s Manual 4 4 10 General Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 196 0xc4 Set LED Mode Allows finer grained control over the sensor LED Accepts a single parameter that can be 0 for standard which displays all standard LED status indicators or 1 for static which displays only the LED color as specified by command 238 LED mode byte 200 0XC8 Get LED Mode Returns the current sensor LED mode which can be 0 for standard or 1 for static LED mode byte 221 0xdd Set wired response header bitfield Configures the response header for data returned lover a wired connection The only parameter is four byte bitfield that determines which data is prepended to all data responses The following bits are used 0 1 1 byte Success Failure with non zero values representing failure 0X2 4 bytes Timestamp in microseconds 0 4 1 byte Command echo outputs the called command Returns OxFF for streamed data 0 8 1
62. or to automatically reduce the effects of sensor noise and sensor error Robust open protocol allows commands to be sent in human readable form more quickly in machine readable form Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix axis angle two vector Absolute or custom reference axes Access to raw sensor data Flexible communication options USB 2 0 RS232 asynchronous serial e USB communication via virtual COM port USB joystick mouse emulation modes ease integration with existing applications Upgradeable firmware RGB status LED two programmable input buttons e Miniature barrel jack for optional external power input Miniature TRS connector for RS232 and power input e Available in either hand held or strap down packaging e RoHS compliant User s Manual 2 5 Block Diagram of Sensor Operation USB 2 0 RS232 Serial Host System Host System TSS USB RS232 Driver Processor USB 2 0 Asynchronous Interface Serial Interface USB Mouse amp Final Emulation Non volatile Calibration amp Kalman Performance Filter Settings Scale Bias Normalization amp Error Compensation 3 Axis 3 Axis 3 Axis Temperature Accelerometer Rate Gyro Compass Sensor User s Manual 2 6 Specifications General Part number TSS USB Handheld Sensor Unit TSS USB S S
63. ors per cell for the multi reference vector lookup table For more information on these values please Number of cell divisions Get multi reference refer to the Set Multi Reference Resolution byte number of nearby 150 0x96 resolution command 111 Intended for advanced users 2 vectors byte 0 Get number of multi Reads the total number of multi reference cells 151 0x97 reference cells Intended for advanced users 4 Number of cells int 0 Returns the current filter mode which can be 0 for IMU mode 1 for Kalman 2 for Alternating Kalman 3 for Complementary or 4 for Quaternion Gradient Descent For more information please refer to the 152 0x98 Get filter mode Set Filter Mode command 123 1 Filter mode byte 0 Reads the selected mode for the running average Running average mode 153 0x99 Get running average mode which be 0 for normal or 1 for confidence 1 byte 0 Reads the current gyroscope measurement range which be 0 for 250 DPS 1 for 500 DPS or 2 Gyroscope range setting 154 0x9a Get gyroscope range for 2000 DPS 1 byte 0 Reads the current compass measurement range which can be 0 for 0 88G 1 for 1 3G 2 for 1 9G 3 for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6G or Compass range setting 155 0x9b Get compass range 7 for 8 1G 1 byte 0 Get euler angle Euler angle decomposition 156 0x9c decomposition order Reads the current euler angle decomposition order 1 order byte 0 Magnetoresistive threshold
64. ra samples are being taken e Running Average The final orientation estimate can be put through a running average which will make the estimate smoother at the cost of introducing a small delay between physical motion and the sensor s estimation of that motion e Trust Values As mentioned earlier by default the accelerometer and compass are trusted less than the gyros when the sensor is in motion These values involve parameters one for the accelerometer and one for the compass that indicate how much these component sensors are to be trusted relative to the gyroscope These values range from 0 to 1 with 1 being fully trusted and 0 will be not trusted at all There is a minimum and maximum truth value for each of the accelerometer and compass The minimum will be used while the sensor is in motion and the maximum will be used while it is still To disable this sort of behavior set both truth values to the same value Note that the QGrad filter has its own set of trust values that can only be read or set while the sensor is in QGrad filter mode 11 User s Manual 3 2 Communication Obtaining data about orientation from the sensor or giving values for any of its settings is done through the sensor s communication protocol The protocol can be used through either the USB port or the RS232 port A complete description of how to use this protocol is given in section 4 of this document Also you may instead use the 3 Space Suite whic
65. rent timestamp Set the current internal timestamp to the specified value Timestamp Unsigned int 24 User s Manual 4 4 7 Configuration Write Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 16 0 10 Set euler angle decomposition order Sets the current euler angle decomposition order which determines how the angles returned from command 0x1 are decomposed from the full lquaternion orientation Possible values are 0X0 for XYZ 0x1 for YZX 0 2 for ZXY 0x3 for ZYX 0x4 for XZY 0 5 for Y XZ default Euler angle decomposition lorder byte 17 0 11 Set magnetoresistive threshold Sets required parameters that are necessary to trigger magnetometer resistance mode First parameter to the command specifies the change in magnetometer field strength that is required to trigger the resistance Once this field has been detected the magnetometer will enter a period where it is completely locked out of the orientation calculation this period will increase while magnetic perturbations are still being detected but will dissipate as the sensor remains stationary Once this period is over the sensor orientation will slowly begin trusting the magnetometer again The second parameter represents the number of frames that must elapse before the magnetometer is fully trusted lagain The third param
66. sed in turning this component sensor data into usable data is cross axis effect This is the tendency for a little bit of data on one axis of a sensor to get mixed up with the other two This is an effect experienced by the accelerometer and compass There are 6 numbers for each of these one to indicate how much each axis is affected by each other axis Values for these are generally in the range of 1 to 10 These parameters are applied in the following order 1 Bias is added to each axis 2 The three axes are treated as a vector and multiplied by a matrix representing scale and cross axis parameters Factory calibration provides default values for these parameters for the accelerometer and compass and users should probably never need to change these values To determine these parameters for the gyroscope you must calibrate it Read the Quick Start guide or the 3 Space Suite manual for more information on how to do this User s Manual 3 1 3 Component Sensor Data Types Component sensor data is presented by the 3 Space Sensor in three different stages and is readily accessible via certain protocol commands e Raw Sensor Data This refers to data that is read directly from each of the component sensors before any additional processing has occurred This kind of data is well suited for users who wish to perform their own calibration routines as well as applications where precise analysis of motion is not extremely critical Raw data
67. set of orientations Weight power float 123 0x7b Set filter mode Used to disable the orientation filter or set the orientation filter mode Changing this parameter can be useful for tuning filter performance versus lorientation update rates Passing in a parameter of 0 places the sensor into IMU mode a 1 places the lsensor into Kalman Filtered Mode Default mode a 2 places the sensor into Alternating Kalman Filter Mode a 3 places the sensor into Complementary Filter Mode a 4 places the sensor into Quatemion Gradient Descent Filter Mode and a 5 places the sensor into Magnetoresistive Quaternion Gradient Descent Filter Mode More information can be found in Section 3 1 5 This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 124 0x7c Set running average mode Used to further smooth out the orientation at the cost of higher latency Passing in a parameter of 0 places the sensor into a static running average mode a 1 places the sensor into a confidence based running average mode which changes the running average factor based upon the confidence factor which is a measure of how motion the sensor is This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 125 0x7d Set gyroscope range Only parameter is the new gyroscope range which ican be 0 for 250 DPS 1 for 500 DPS or 2 for 2000 DPS Defa
68. sted commands For example an interval of 1000000 will output data once a second An interval of 0 will output data as quickly as possible The interval will be clamped to 1000 if the user attempts to set it in the range 1 1000 Duration determines how long the streaming session will run for For example a duration of 5000000 indicates the session should stop after 5 seconds A duration of 4294967295 OxFFFFFFFF means that the session will run indefinitely until a stop streaming command is explicitly issued Start Delay determines how long the sensor should wait after a start command is issued to actually begin streaming For example a start delay 200000 means the session will start after 200 milliseconds 3 Begin the streaming session This can be done using command 85 0x55 Once started the session will run until the duration has elapsed or until the stop command 86 0x56 has been called Please note that only binary data is supported While streaming sessions can be started with ascii commands only binary data will be returned Also note that if the sensor is sending large amounts of data the host doesn t have time to handle this can cause buffer overflows in some communication drivers leading to slowdowns and loss of data integrity If the firmware detects that the buffer has overflowed the asynchronous session will be stopped If this occurs this is a sure sign that either the streaming interval is set too low the program is not wor
69. sted the accelerometer is Minimum of 1 101 maximum of 1 6 Compass Trust Values Determine how trusted the compass is Minimum of 1 101 maximum of 1 6 Accelerometer Coefficients Determines the scale bias and cross axis parameters for the accelerometer Factory calibrated Compass Coefficients Determines the scale bias and cross axis parameters for the compass Factory calibrated the sensor s untared orientation to be the identity orientation Gyroscope Coefficients Determines the scale bias and cross axis parameters for the gyroscope Factory calibrated Accelerometer Enabled Determines whether the compass is enabled or not TRUE Compass Enabled Determines whether the accelerometer is enabled or not TRUE Gyroscope Enabled Determines whether the gyroscope is enabled or not TRUE Filter Mode Determines how orientation is filtered 1 Kalman Accelerometer Reference Vector Determines which vector the accelerometer should read in order for 0 1 0 Compass Reference Vector Dertemines which vector the compass should read in order for the sensor s untared orientation to be the identity orientation 0 0 1 Default mode is to re calculate this vector on startup Reference Vector Mode Determines how reference vectors are calculated for orientation estimation 1 Single automatic Euler Order Determines the default composition order of euler angles returned by YXZ the sensor
70. tation filtering but allows IMU data to be read at the maximum update rate of 800 Hz 3 1 7 Tare Orientation Given the results of the Kalman filter the sensor can make a good estimation of orientation but it will likely be offset from the actual orientation of the device by a constant angle until it has been given a reference orientation This reference orientation tells the sensor where you would like its zero orientation to be The sensor will always consider the zero orientation to be the orientation in which the plug is facing towards you and top the side with buttons on it facing up The sensor must be given a reference orientation that represents the orientation of the sensor when it is in the position in which you consider the plug to be towards you and the buttons up The act of giving it this reference orientation to the sensor is called taring just as some scales have a tare button which can be pressed to tell the scale that nothing is on it and it should read zero For instructions on doing this refer to the Quick Start guide or 3 Space Suite manual 10 User s Manual 3 1 8 Offset Orientation There are many applications for which it will be necessary or convenient to mount the sensor at odd angles but it may also be desired in these situations that orientations can be treated as though the sensor were mounted normally For example if the sensor were mounted on a sloped surface of a vehicle like a car hood it would be
71. the base offset to an identity quaternion 21 0 15 Offset with quaternion Sets the offset orientation to be the same as the supplied orientation which should be passed as a lquaternion Quaternion float x4 22 0 16 Set base offset with current orientation Sets the base offset orientation to be the same as ithe current filtered ori entation 96 0X60 Tare with current orientation Sets the tare orientat ion to be the same as the current filtered orientation 97 0X61 Tare with quatemion Sets the tare orientat ion to be the same as the supplied orientation which should be passed as a Iquaternion 16 Quaternion float x4 98 0X62 Tare with rotation matrix Sets the tare orientat ion to be the same as the supplied orientation which should be passed as a rotation matrix 36 Rotation Matrix float x9 99 0X63 Set static accelerometer trust value Determines how trus contribution is to the Trust is 0 to 1 with 1 not trusted at all ed the accelerometer overall orientation estimation being fully trusted and 0 being Accelerometer trust value float 100 0 64 Set confidence accelerometer trust values Determines how trus contribution is to the ed the accelerometer overall orientation estimation Instead of using a single value uses a minimum and maximum value Trust values will be selected from this range dep
72. tion Matrix float x9 0 Get tared orientation as the filtered tared orientation estimate in Axis float x3 Angle in 3 0 03 angle axis angle form 16 Radians float 0 Returns the filtered tared orientation estimate in two Get tared orientation as form where the first vector refers to forward Forward Vector float x3 4 0x04 two vector land the second refers to down 24 Down Vector float x3 0 Returns the difference between the measured 5 0 05 Get difference quaternion _ orientation from last frame this frame 16 Quaternion float x4 0 Get untared orientation as Returns the filtered untared orientation estimate in 6 0X06 quaternion quaternion form 16 Quaternion float x4 0 Get untared orientation as Returns the filtered untared orientation estimate in 7 0X07 leuler angles leuler angle form 12 Euler Angles float x3 0 Get untared orientation as Returns the filtered untared orientation estimate in 8 0 08 rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Get untared orientation as Returns the filtered untared orientation estimate in Axis float x3 Angle in 9 0 09 angle laxis angle form 16 Radians float 0 Returns the filtered untared orientation estimate in Get untared orientation as vector form where the first vector refers to north North Vector float x3 10 0x0A two vector land the second refers to gravity 24 Gravity Vector float x3 0 Re
73. trapdown Sensor Unit Dimensions 35mm x 50mm x 15mm 1 38 x 1 97 x 0 59 in Weight 17 grams 0 60 oz Supply voltage 5v USB 3 3v 6 0v external jack Communication interfaces USB 2 0 RS232 Asynchronous Serial Serial baud rates 1 200 921 600 selectable default 115 200 Filter update rate Up to 200Hz with full functionality Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data corrected sensor data normalized sensor data temperature Shock survivability 5000g Temperature range 40C 85C 40F 185F Processor 32 bit RISC running 60MHz Sensor Orientation range 360 about all axes Orientation accuracy 2 for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 29 4g 89 selectable Accelerometer resolution 14 bit Accelerometer noise density 99ug Hz Accelerometer sensitivity 0 00024 digit for 2g range 0 00048g digit for 4g range 0 00096 digit for 8g range Accelerometer temperature sensitivity 0 008 C Gyro scale 250 500 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 03 sec Hz Gyro bias stability 25 C 11 hr average for al
74. turns the filtered tared orientation estimate in two vector form where the first vector refers to forward land the second refers to down These vectors are Get tared two vector in given in the sensor reference frame not the Forward Vector float x3 11 0x0B frame global reference frame 24 Down Vector float x3 0 Returns the filtered untared orientation estimate in two vector form where the first vector refers to forward and the second refers to down These Get untared two vector I vectors are given the sensor reference frame and North Vector float x3 12 0x0C sensor frame not the global reference frame 24 Gravity Vector float x3 0 22 User s Manual 4 4 2 Normalized Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Returns the normalized gyro rate vector laccelerometer vector and compass vector Note that the gyro vector is in units of radians sec while the Gyro Rate in units of laccelerometer and compass are unit length vectors radians sec Vector x3 indicating the direction of gravity and north Gravity Direction Vector Get all normalized respectively These two vectors do not have any x3 North Direction Vector 32 0 20 component sensor data _ magnitude data associated with them 36 x3 0 Ret
75. ult range Higher ranges can detect and report larger angular rates but are not as accurate for smaller angular rates This setting can be saved to non volatile flash memory using the Commit Settings command Gyroscope range setting Byte 126 0x7e Set compass range Only parameter is the new compass range which can be 0 for 0 88G 1 for 1 3G Default range 2 for 1 9G for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6G or 7 for 8 1G Higher ranges can detect and report larger magnetic field strengths but are not as laccurate for smaller magnetic field strengths This setting can be saved to non volatile flash memory using the Commit Settings command Compass range setting Byte 28 User s Manual 4 4 8 Configuration Read Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Get tare orientation as 128 0x80 _quaternion Returns the current tare orientation as a quaternion 16 Quaternion float x4 0 Get tare orientation as Returns the current tare orientation as a rotation 129 0x81 rotation matrix matrix 36 Rotation Matrix float x9 0 Returns the current accelerometer min and max Get accelerometer trust trust values If static trust values were set both of Accelerometer trust values 130 0x82 _ values these will be the same 8 min a
76. urns the normalized gyro rate vector which is in Gyro Rate in units of 33 0 21 Get normalized rate _ units of radians sec 12 radians sec float x3 0 Returns the normalized accelerometer vector Note that this is a unit vector indicating the direction of Get normalized gravity This vector does not have any magnitude Gravity Direction Vector 34 0 22 laccelerometer vector data associated with it 12 x3 0 Returns the normalized compass vector Note that this is a unit vector indicating the direction of gravity Get normalized compass This vector does not have any magnitude data 35 0x23 vector associated with it 12 North Direction Vector x3 0 4 4 3 Corrected Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Gyro Rate in units of Returns the corrected gyro rate vector radians sec Vector x3 laccelerometer vector and compass vector Note that Acceleration Vector in units the gyro vector is in units of radians sec the of G Vector x3 Compass Get all corrected accelerometer vector is in units of G and the Vector in units of gauss 37 0x25 component sensor data__ compass vector is in units of gauss 36 Vector x3 0 Returns the corrected gyro rate vector which is in units of radians sec Note that this result is the data returned by the normalized gyro rate Gyro Rate in units of 38 0x26 Get corrected gyro rate command 12 radians sec float x3 0 Returns th
77. urrent streaming slots configuration Commands Byte x8 82 0X52 Set streaming timing Configures timing information for a streaming session All parameters are specified in microseconds The first parameter is the interval which specifies how often data will be output A value of 0 means that data will be output at the end lof every filter loop Aside from 0 values lower than 1000 will be clamped to 1000 The second parameter is the duration which specifies the length of the streaming session If this value is set to OxFFFFFFFF streaming will continue indefinitely until it is stopped via command 0x56 The third parameter is the delay which specifies a n amount lof time the sensor will wait before outputting the first packet of streaming data This setting can be saved to non volatile flash memory using the Commit Settings command 12 Interval Unsigned int Duration Unsigned int Delay Unsigned int 83 0 53 Get streaming timing Returns the current streaming timing information 12 Interval Unsigned int Duration Unsigned int Delay Unsigned int 84 0 54 Get streaming batch Return a single packet of streaming data using the current slot configuration Varies 85 0X55 Start streaming Start a streaming session using the current slot and timing configuration 0 86 0X56 Stop streaming Stop the current streaming session 0 95 0 5 Update cur
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