Home

3-Space Sensor Embedded User`s Manual

1. Figure 3 Sample SPI Communication 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 e 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 for USB and serial packets Thus the total message size for USB and serial can be calculated by adding three bytes to the Data Len listed in the table The total message size for SPI is Data Len plus the one Command byte e Likewise the Return Data Len field indicates the number of data bytes the command delivers back to the 22 User s Manual 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 re
2. Description Sets the rho mode for the accelerometer to confidence using the given values as the min and the max The confidence factor will be used in real time to interpolate between these to determine what rho value is used Function Set static rho mode Compass Command Value 101 0x65 Data Bytes 4 Data Format Rho value float Description Sets the rho mode for the compass to static using the given value as rho 32 User s Manual Function Set confidence rho mode Compass Command Value 102 0x66 Data Bytes 8 Data Format Min rho value float Max rho value float Description Sets the rho mode for the compass to confidence using the given values as the min and the max The confidence factor will be used in real time to interpolate between these to determine what rho value is used Function Set desired update rate Command Value 103 0x67 Data Bytes 4 Data Format Update rate in microseconds int Description Sets the target update rate to the given rate Ifthe filter takes less time to update during a given frame than this rate specifies the frame will be padded out to take the specified amount of time If the filter takes more time to update than this rate this rate will be ignored Function Set multi reference vectors with current orientation Command Value 104 0x68 Data Bytes 0 Description
3. 3 Space Sensor V 3 Space Sensor Embedded Ultra 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 V 3 Space Sensor Embedded Ultra Miniature Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www YeiTechnology com www 3SpaceSensor com Toll Free 888 395 9029 Phone 740 355 9029 Patents Pending 2007 2011 Yost Engineering Inc Printed in US Table of Contents 1 Usage Satety Considerations sive oc tet e lo e e b edet debe te te E eR e te 1 1 1 Usage Conditions sel 1e2 Technical Support and Repairs erm tre de aoi meteo E EC ROB a RH eee 1 2 Overview of the Y BI 3 Space Sensor oe RU d Lisl antowan ee Pe 2 2 1 Introduction T 2 2 AppliGati Oris ie e CNRC OE GREEN OU Oe NE ERE RORIS CRY edge Fee E RE 2 2 3 Hardware Overview eoe e vive retains PU em AEG eee e eerie o eed eee epa Ed 3 2 3 1 Pin Functions fue 2322 PCB Ay pe uui c ET 2 5 Block Diagram of Sensor Operation 2 6 Spec
4. Function Read accelerometer raw Command Value 66 0x42 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the raw accelerometer values in the specified measurement range Function Read compass raw Command Value 67 0x43 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the raw compass values in the specified measurement range Function Tare with current orientation Command Value 96 0x60 Description Sets current filtered orientation as the tare orientation Function Tare with quaternion Command Value 97 0x61 Data Bytes 16 Data Format Quaternion float x4 Description Sets the tare orientation to the orientation specified by the given quaternion Function Tare with rotation matrix Command Value 98 0x62 Data Bytes 36 Data Format Rotation Matrix float x9 Description Sets the tare orientation to the orientation specified by the given rotation matrix Function Set static rho mode Accelerometer Command Value 99 0x63 Data Bytes 4 Data Format Rho value float Description Sets the rho mode for the accelerometer to static using the given value as rho Function Set confidence rho mode Accelerometer Command Value 100 0x64 Data Bytes 8 Data Format Min rho value float Max rho value float
5. 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 20 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 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
6. 0 3v 6 5v Voltage on I O Pins with respect to 0 3v 5 5v Current Sink Source from I O pins sss 4mA 4mA NOTICE Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only and functional operation of the device at these or other conditions beyond those indicated in the operational sections of this specification is not implied Exposure to absolute maximum rating conditions for extended periods may adversely affect device reliability 2 7 2 DC Characteristics The following characteristics are applicable to the operating temperature range TA 40 C to 85 C Symbol Parameter Min Typ Max Units VIN Operating Supply Voltage on VIN pin 3 2 3 3 6 0 V VusB Operating Supply Voltage on VUSB pin 3 8 5 0 6 0 V VIL Input Low level Voltage 0 3 0 8 V Input High level Voltage 2 0 5 5 V VoL Output Low level Voltage 0 4 V Output High level Voltage 2 6 V 101 Output Low level Current 4 mA Output High level Current 4 mA CiN Input Capacitance 7 pF IAcT Active Current Consumption 45 60 mA 2 7 3 USB Characteristics The on chip USB interface complies with the Universal Serial Bus USB v2 0 standard All AC parameters related to these buffers can be found within the USB 2 0 electrical specifications 2 7 4 Asynchrono
7. 13 3 STAKES atid 13 3 3 2 JOySUCK i ec pnta sorteo cao Ee c E a c e E Da ei ede ceci t Me lae 13 3 3 33MoUSe E EE 13 3 4 Sensor se ture v reb Cos etse be taba Wiles 14 3 4 Committing Settings 4 e b e pei elei at eio e poer en 14 3 42 Natural AKES Ara mte e a ae er tem mte ee edi chi ec teer ecd eat CONE NEO ess 14 3 4 3 Sethnegs and dere e eese ea ERR SUE GSE 4 3 Space Sensor Usage Protocol SORA EE 4 1 1 Protocol Overview 4 1 2 Computer Interfacing Overview esee 4 1 3 Electronic Interfacing Overview 4 1 3 1 USB 41 32 Asynchronous Serial Rr rp He der Ter i bd eg ee 17 A33 SPI Interfacing 4 1 3 4 Interrupt Generation 4 2 Protocol Packet Format USB and Serial 4 eese ttt tenete ta theta tr tane 20 4 2 T Binary Packet Formats rece pe UC a t eee a aor ee ES 4 2 2 ASCII Text Packet Format 4 3 Protocol Packet Eortnat SPT irae tb do
8. RE at ee sins Senet 4 4 Command OVetrvieW 323 b xe tae rm cod e d HE a re te Cro Ped e dee edd cages eo beider p ip tee iR 4 3 1 Commands for Reading Filtered Sensor Data 4 3 2 Commands for Interfacing with Electronic Systems esee nennen et eterne tenente 23 4 3 3 Commands for Reading Normalized Sensor Data sse reete enne 23 4 3 4 Commands for Reading Raw Sensor Data 4 3 5 Commands for Setting Filter Parameters sessed te eene eben treten debeo bee einn 4 3 6 Commands for Reading Filter Parameters 4 3 7 Commands for Calibration 4 3 8 General Commands riora p a ee RR RE On BE iis 4 4 Command D tails is cose eee ede erret EAR REPAS ROLAND DUI PER Ie HR EE User s Manual 1 Usage Safety Considerations 1 1 Usage Conditions Do not use the 3 Space Sensor in any system on which people s lives depend life support weapons etc Because of its reliance on 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 in a car or other moving vehicle as the disturbances caused by the vehicle s acceleration may cause the sensor to give inaccurate readings
9. Because of its reliance on a compass care should be taken when using the 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 The YEI 3 Space Embedded module contains components that are sensitive to electro static discharge Care should be taken when handling the module PCB layout can affect the performance of the 3 Space Embedded module Placing magnetic components ferrous metal containing components high current conductors and high frequency digital signal lines should be avoided during PCB layout 1 2 Technical Support and Repairs YEI provides technical and user support via our toll free number 888 395 9029 and via email support YostEngineering 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 YEI 3 Space Sensor 2 1 Introduction The YEI 3 Space Sensor Embedded is an ultra miniature high precision high reliability low cost SMT Attitude and Heading Reference System AHRS which uses triaxial gyroscope accelerometer and compass sensors in conjunction with advanced on board filtering and processing algorithms to determine orientation relative
10. Data Bytes 1 Data Format Mode byte 0 for disabled 1 for enabled Description Enables or disables the gyros will be replaced with a still gyro reading if disabled 33 User s Manual Function Enable disable accelerometer Command Value 108 0x6c Data Bytes 1 Data Format Mode byte 0 for disabled 1 for enabled Description Enables or disables the accelerometer This filter will not use this data if disabled Function Enable disable compass Command Value 109 0869 Data Bytes 1 Data Format Mode byte 0 for disabled 1 for enabled Description Enables or disables the compass This filter will not use this data if disabled Function Reset multi reference vectors to zero Command Value 110 0x6e Data Bytes 0 Description Resets all reference vectors in the multi reference scheme to zero Function Set multi reference resolution Command Value 111 0x6f Data Bytes 2 Data Format Mode byte x2 number of cell divisions number of nearby vectors Description Sets number of cell division s and number of nearby vectors per cell for the multi reference lookup table By default the multiple reference vector mode only deals with orientations obtainable by successive rotations of 90 degrees about any of the three axes This command can adjust it to accept orientation
11. User s Manual 2 4 Features The YEI 3 Space Sensor Embedded 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 Smallest and lightest high performance AHRS available at 23mm x 23mm x 2mm and only 1 3 grams Fast sensor update and filter rate allow use in real time applications including stabilization virtual reality real time immersive simulation and robotics Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction Advanced integrated Kalman filtering allows sensor to automatically reduce the effects of sensor noise and sensor error Robust open protocol allows commands to be sent in human readable form or 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 SPI USB 2 0 or asynchronous serial USB communication through a virtual COM port When used as a USB device USB joystick mouse emulation modes ease integration with existing applications Castellated SMT edge pads provide secure SMT mounting and allow optional through hole mounting Upgradeable firmware RGB status LED Programmable interrupt capability Development ki
12. 155 0x9b Return Data Bytes 1 Return Data Format Compass range byte 0 for 0 88Ga 1 for 1 3Ga 2 for 1 9Ga 3 for 2 5Ga 4 for 4 0Ga 5 for 4 7Ga 6 for 5 6Ga 7 for 8 1Ga Description Reads the current measurement range setting used by the compass sensor Function Set compass calibration parameters Command Value 160 0xA0 Data Bytes 48 Data Format Matrix float x9 Bias float x3 Description Sets the compass calibration parameters to the given values These consist of a bias which is applied to the raw data as a translation and a matrix by which the value is multiplied by 40 User s Manual Function Set accelerometer calibration parameters Command Value 161 0xA1 Data Bytes 48 Data Format Bias float x3 Matrix float x9 Description Sets the accelerometer calibration parameters to the given values These consist of a bias which is applied to the raw data as a translation and a matrix by which the value is multiplied by Function Read compass calibration parameters Command Value 162 0xA2 Return Data Bytes 48 Return Data Format Bias float x3 Matrix float x9 Description Reads the compass calibration parameters Function Read accelerometer calibration parameters Command Value 163 0xA3 Return Data Bytes 48 Return Data Format Matrix flo
13. Function Set clock speed Command Value 235 OxEB Data Bytes 4 Data Format Clock speed int Hz Description Sets the clock speed to the given value Available settings are 15Mhz 30Mhz 60Mhz This setting does not need to be committed but does not take effect until the sensor is reset Function Get clock speed Command Value 236 0xEC Return Data Bytes 4 Return Data Format Clock speed int Hz Description Reads the clock speed of the sensor s MCU Possible settings are 15Mhz 30Mhz 60Mhz Function Get serial number Command Value 237 OxED Return Data Bytes 4 Return Data Format Serial number int Description Reads the sensor s serial number Function Set LED color Command Value 238 OxEE Data Bytes 12 Data Format Red float Green float Blue float Description Sets the color of the LED on the sensor to the given RGB color Function Get LED color Command Value 239 OxEF Return Data Bytes 12 Return Data Format Red float Green float Blue float Description Reads the current color of the sensor s LED in RGB format 43 User s Manual Function Enable Disable joystick Command Value 240 038 Data Bytes 1 Data Format Mode byte 0 for disabled 1 for enabled Description Turns the data feed to the joystick on and
14. 12 VIN Voltage Input 3 3v 6 0v Only required when USB power is not being used Additionally the following optional interrupt pin may be configured for use during asynchronous serial mode Pin Signal Description 2 MISO INT Configurable as filter update interrupt when SPI interface is unused 17 User s Manual The following schematic diagram illustrates typical logic level asynchronous serial interface connections Typical Connection to Logic Level Asynchronous Serial SCK VIN MISO VUSB MOSI USBD SS USBD TXD GND2 RXD GND1 YEI TSS EMv1 0 Optional interrupt connection to INTO shown The following schematic diagram illustrates typical RS232 level asynchronous serial interface connections Typical Connection to RS232 Asynchronous Serial C11 0 1uf GND VIN T1OUT TAIN VUSB T2OUT 4 T2IN USBD zR1OUT USBD R2IN OR2OUT GND2 GND1 YEI TSS EMv1 0 MAX3232 Optional interrupt connection to RI shown 18 User s Manual 4 1 3 3 SPI Interfacing The Serial Peripheral Interface SPI of the 3 Space Sensor Embedded requires the connection of signals as follows Pin Signal Description 1 SCK SPI Serial Clock Input to Module 2 SPI Master In Slave Out Output from Module 3 MOSI SPI Master Out Slave In Input to Module 4 SS SPI Slave Select Active Low Input to Module Additionally the following opt
15. Command Value 144 0x90 Return Data Bytes 1 Return Data Format Rate 1 for off 2 for number of samples per frame Description Reads the current oversample rate Function Read running average percent Command Value 145 0x91 Return Data Bytes 4 Return Data Format Percent float Description Reads the current running average percent For its meaning see command 117 Function Read desired update rate Command Value 146 0x92 Return Data Bytes 4 Return Data Format Update rate in microseconds int Description Reads the current desired update rate For more information on this see command 103 Function Read Kalman filter s covariance matrix Command Value 147 0x93 Return Data Bytes 4 Return Data Format Covariance Matrix float x9 Description Read Kalman filter s covariance matrix Function Read accelerometer range Command Value 148 0x94 Return Data Bytes 1 Return Data Format Accel range byte 0 for 2g 1 for 548 2 for 8g Description Read accelerometer sensitivity range Function Read multi reference weight power Command Value 149 0x95 Return Data Bytes 4 Return Data Format Weight power float Description Read weighting power for multi reference vector weights 39 User s Manual Function
16. Directly set accel multi reference check vector at the specified index to the specified vector Function Set axis directions Command Value 116 0x74 Data Bytes 1 Data Format Axis direction byte Description Set which directions each of the natural axes of the sensor point The lower 3 bits are used to specify which axis each of the natural axes will read as 000 XYZ standard operation 001 XZY 002 YXZ 003 YZX 004 ZXY 005 ZYX For example using ZXY means that whatever value appears as X on the natural axes will now be the Z component of any new data The 3 bits above those are used to indicate which axes should be reversed If it is cleared the axis is pointing in the positive direction and if it is set the axis is flipped Note these are applied to the axes after the above 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 Function Set running average percent Command Value 117 0x75 Data Bytes 4 Data Format Percent float Description Sets what percentage of running average to use on the 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 perce
17. Function Read filtered untared orientation Quaternion Command Value 6 0x06 Return Data Bytes 16 Return Data Format Quaternion float x4 Description Returns the final orientation as determined by the Kalman filter relative to the reference vectors This version returns the data as a quaternion Function Read filtered untared orientation Euler Angles Command Value 7 0x07 Return Data Bytes 12 Return Data Format Euler Angles float x3 Description Returns the final orientation as determined by the Kalman filter relative to the reference vectors This version returns the data as Euler angles Function Read filtered untared orientation Rotation Matrix Command Value 8 0x08 Return Data Bytes 36 Return Data Format Rotation Matrix float x9 Description Returns the final orientation as determined by the Kalman filter relative to the reference vectors This version returns the data as a quaternion Function Read filtered untared orientation Euler Angles Command Value 9 0x09 Return Data Bytes 16 Return Data Format Axis float x3 Angle float Description Returns the final orientation as determined by the Kalman filter relative to the reference vectors This version returns the data as an axis and an angle Function Read filtered untared orientation Two Vector Forward Down Command Value 10 0x0A Return Data B
18. 4 Return Data Format Data point float Description Read 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 Function Set mouse absolute relative Command Value 251 036 Data Bytes 1 Data Format Mode 0 for absolute 1 for relative Description Puts the mouse in absolute or relative mode Please note that this change does not take effect immediately and the sensor must be reset before the mouse will enter this mode Function Read mouse absolute relative Command Value 252 Oxfc Return Data Bytes 1 Return Data Format Mode 0 for absolute 1 for relative Description Reads the current mouse absolute relative state Note that if the sensor has not been reset since it has been put in this state the mouse will not reflect this change yet even though this command will Function Set joystick and mouse present removed Command Value 253 Oxfd Data Bytes 2 Data Format Mode byte for each 0 for removed 1 for present Description Sets whether the joystick and mouse are present or removed If removed they will not show up as devices on the target system at all For these changes to take effect the sensor driver may need to be reinstalled 45 User s Manual Function Read joystick and mouse present removed Comma
19. Uses the current tared orientation to set up the reference vector for the nearest orthogonal orientation Function Set reference vector mode Command Value 105 0x69 Data Bytes 1 Data Format Mode byte 0 for single static 1 for single auto 2 for single auto continuous 3 for multi Description Sets reference vector mode Single static mode uses a certain reference vector for the compass and another certain reference vector for the accelerometer at all times Single auto mode uses 0 1 0 as the reference vector for the accelerometer at all times and uses the current average angle between the accelerometer and compass to calculate the compass reference vector After that this mode acts like single static mode Single auto continuous mode uses 0 1 0 as the reference vector for the accelerometer at all times and uses the average angle between the accelerometer and compass to constantly redetermine the compass reference vector Multi mode uses a collection of reference vectors for the compass and accelerometer and selects which ones to use before each step of the filter Function Set oversample rate Command Value 106 0x6a Data Bytes 1 Data Format Rate 1 for off 2 for number of samples per frame Description Sets the number of times to sample data for each run of the filter Function Enable disable gyros Command Value 107 Ox6b
20. 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 10 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 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 Gyroscope This sensor measures angular motion It has no ability to give any absolute orientation information like
21. data point index byte data point float 246 0xf6 Read control mode 1 Handler index byte 2 Control class byte control index byte Control class byte control index byte 247 0xf7 Read control data 4 Data point float 3 data point index byte 251 0xfb Set mouse absolute relative 0 1 Mode 0 for absolute 1 for relative 252 0xfc Read mouse absolute relative 1 0 for absolute 0 relative 253 0xfd Set joystick and mouse 0 2 Mode byte for each 0 for removed 1 for present removed present 254 Oxfe Read joystick and mouse 2 Mode byte for each 0 for 0 present removed removed 1 for present 27 User s Manual 4 4 Command Details In the tables below you ll find a description of each of the 3 Space Sensor commands and a brief explanation of how and where each command would be used Function Read filtered tared orientation Quaternion Command Value 0 0x00 Return Data Bytes 16 Return Data Format Quaternion float x4 Description Returns the final orientation as determined by the Kalman filter relative to the tare orientation This version returns the data as a quaternion Function Read filtered tared orientation Euler Angles Command Value 1 0x01 Return Data Bytes 12 Return Data Format Euler Angles float x3 Description Returns the final orientation as determined by the Kalman filter relative to the tare orientation This ve
22. 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 3 1 6 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 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 extra 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 Rho Va
23. the accelerometer or compass and so is most useful for correcting the orientation during sensor motion Its role during these times becomes vital though as the accelerometer readings can become unreliable during motion 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 1s from 0 If another compass read from 200 to 900 on th
24. 11 0x0B a Tete in sengor refereres 24 Vector float x3 Vector float x3 12 0x0C AA in sengor reterenog 24 Vector float x3 Vector float x3 4 3 2 Commands for Interfacing with Electronic Systems Command Description Return Data Len Return Data Details Data Len Data Details 29 0x1D Set interrupt type 0 2 Mode byte 0 for off 1 for filter pulse 2 for filter level 3 for SPI command pulse pin byte 0 for TXD 1 for MISO 30 0x1E Mode byte 0 for off 1 Read interrupt type pulse pin byte 0 for TXD 1 for MISO for filter pulse 2 for filter level 3 for SPI command 31 0x1F Interrupt status byte 1 Read interrupt status 1 for new data since last data orient read 0 for no new 4 3 3 Commands for Reading Normalized Sensor Data These commands return sensor data which has been converted from a raw form In the case of the normalized accelerometer and compass the data returned are unit vectors and as such have no magnitude data associated with them For data that represents real world quantities both the unnormalized accelerometer command and unnormalized compass command return data in units of g and gauss respectively Normalized gyro data is returned in radians sec Command Description Return Len Return Data Details 32 0x20 Read all gyro accelerometer compass 36 Vector float x3 Vector float x3 V
25. 12 bytes 12 bytes of OxFF must be sent after the 1 has been received Additionally there are several internal states that the sensor maintains while processing SPI commands 0x0 IDLE The sensor is waiting on a command Any bytes sent to the sensor besides OxF6 will have no effect 0x1 READY The sensor has processed a command and data is available to read Any byte sent to the sensor other than OxFF will reset the internal data buffer 0x2 BUSY The sensor is currently processing a command 0x4 ACCUMULATING The sensor is accumulating command bytes but has not received enough to run the command Anything sent to the sensor in this state will be interpreted as command data The following diagram illustrates the process for sending command data and reading response data Command 230 0xE6 is the id command and returns 32 total bytes where the first three bytes are TSS First OxF6 is sent to the sensor over SPI which responds with a 0x0 The OxE6 byte is sent to the sensor over SPI which will receive a response of 0x4 The byte OxFF is sent to the sensor until it responds with a 1 Once it does 32 bytes of OxFF are sent to the sensor until all data is retrieved Only 3 of the data byte communications are illustrated here for brevity OxF6 OxE6 OxFF OxFF OxFF OxFF OxFF PN w 0x00 0x04 E 0x01 S S
26. 34 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 47 Notes Serial Number Technology YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 www YeiTechnology com www 3SpaceSensor com Patents Pending 2007 2011 Yost Engineering Inc Printed in USA
27. Ga 7 for 8 1Ga Description Sets the measurement range used by the compass sensor 36 User s Manual Function Read tare orientation Quaternion Command Value 128 0x80 Return Data Bytes 16 Return Data Format Quaternion float x4 Description Reads the tare orientation as a quaternion Function Read tare orientation Rotation Matrix Command Value 129 0x81 Return Data Bytes 36 Return Data Format Rotation Matrix float x9 Description Reads the tare orientation as a rotation matrix Function Read rho data Accelerometer Command Value 130 0x82 Return Data Bytes 9 Return Data Format Rho mode byte 1 for confidence 0 for static min static rho float max rho float Description Reads the rho mode and rho data for the accelerometer Function Read rho data Compass Command Value 131 0x83 Return Data Bytes 9 Return Data Format Rho mode byte 1 for confidence 0 for static min static rho float max rho float Description Reads the rho mode and rho data for the compass Function Read current update rate Command Value 132 0x84 Return Data Bytes 4 Return Data Format Update rate in microseconds int Description Reads the amount of time the last frame took Function Read compass reference vector Command Value 133 0
28. MISO Description Sets up interrupt generation If mode is 0 no generation will occur If mode is 1 the interrupt generator will set the specified pin low for 5 microseconds when new data is available If mode is 2 the interrupt generator will set the pin low until the interrupt status is read with command 18 If mode is 3 the interrupt generator will pulse the pin each time a command is ran while communicating over SPI Note that regardless of which pin is specified for this mode TXD will be used The pin byte specifies which pin the interrupt will be generated on The method of communication each pin belongs to cannot be used while that pin is being used for interrupt generation Note that the pin cannot be changed to TXD over the UART and cannot be changed to MISO over SPI Function Read interrupt type Command Value 30 Ox 1E Return Data Bytes 2 Return Data Format Mode byte 0 for off 1 for pulse 2 for level 3 for SPI pulse mode pin byte 0 for TXD 1 for MISO Description Read the current interrupt mode and pin Function Read interrupt status Command Value 31 Ox1E Return Data Bytes 1 Return Data Format Interrupt status byte 1 for new data since last orient read 0 for no new data Description Read the current interrupt state If there is new data since the last orientation read commands 0 4 and 6 10 the value will be a 1 oth
29. Read multi reference resolution Command Value 150 0x96 Return Data Bytes 2 Return Data Format Resolution byte x2 number of cell divisions number of nearby vectors Description Reads number of cell division s and number of nearby vectors per cell for the multi reference lookup table See command 111 for more information Function Read number of multi reference cells Command Value 151 0x97 Return Data Bytes 4 Return Data Format Number of cells int Description Reads total number of multi reference cells Function Read filter enabled state Command Value 152 0x98 Return Data Bytes 1 Return Data Format Mode byte 0 for disabled 1 for full kalman 2 for gyroless filtered orientation 3 for fast filtered Description Reads the value of the filter mode enabled Function Read running average mode Command Value 153 0x99 Return Data Bytes 1 Return Data Format Mode byte 0 for normal 1 for confidence Description Reads the selected mode for the running average Function Read gyroscope range Command Value 154 0x9a Return Data Bytes 1 Return Data Format Gyro range byte 0 for 250dps 1 for 500dps 2 for 2000dps Description Reads the current measurement range setting used by the gyroscope sensor Function Set compass range Command Value
30. at x3 Description Reads the multi mode accelerometer reference vector at index lt Index gt Function Read accelerometer multi reference check vector Command Value 139 Ox8b Data Bytes 1 Data Format Index Return Data Bytes 12 Return Data Format Vector float x3 Description Reads the multi mode accelerometer reference check vector at index lt Index gt Function Read gyro enabled state Command Value 140 0886 Return Data Bytes 1 Return Data Format Mode byte 0 for disabled 1 for enabled Description Reads the enabled state of the gyros Function Read accelerometer enabled state Command Value 141 0886 Return Data Bytes 1 Return Data Format Mode byte 0 for disabled 1 for enabled Description Reads the enabled state of the accelerometer 38 User s Manual Function Read compass enabled state Command Value 142 0x8e Return Data Bytes 1 Return Data Format Mode byte 0 for disabled 1 for enabled Description Reads the enabled state of the compass Function Read axis directions Command Value 143 0x8f Return Data Bytes 1 Return Data Format Axis direction byte Description Reads the axis direction byte For its meaning see command 116 Function Read oversample rate
31. at x9 Bias float x3 Description Reads the accelerometer calibration parameters Function Read gyro calibration parameters Command Value 164 0xA4 Return Data Bytes 24 Return Data Format Bias float x3 High range bias float x3 Description Reads the gyroscope calibration parameters Function Begin gyro auto calibration Command Value 165 0xA5 Description Puts the sensor in gyro calibration mode It will collect a few frames of data from the gyro to determine its bias It will return to normal operation after this or if the sensor is reset Function Set accelerometer calibration parameters Command Value 166 0xA6 Data Bytes 24 Data Format Bias float x3 High range bias float x3 Description Sets the gyroscope calibration parameters to the given values These consist of a bias for each gyro mode which will be applied to the data from the appropriate mode as a translation Function Read software version string Command Value 223 OxDF Return Data Bytes 12 Return Data Format Version string Description Reads the software version string Function Restore factory settings Command Value 224 0xE0 Description Restores all settings to factory settings The settings are not committed to non volatile memory by this command so the commit settings command will have to be used if this is
32. bled or not TRUE Gyroscope Enabled Determines whether the gyroscope is enabled or not TRUE 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 O no running average Desired Update Rate Determines how long each cycle should take ideally 0 microseconds Reference Mode Determines how the accelerometer and compass reference vectors are Single Auto determined UART Baud Rate Determines the speed of the Serial UART 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 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 pressed 5 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 Interrupt Generation Mode Determines how inte
33. 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 1s 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 buttons 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 m
34. care monitoring Gaming and motion control Accessibility interfaces Virtual reality and immersive simulation User s Manual 2 3 Hardware Overview The YEI 3 Space Embedded is packaged as a 23mmx23mmx2 2mm castellated edge SMT module Alternatively the module can be through hole mounted by adding standard 0 1 header strips to the castellated edge pads 2 3 1 Pin Functions Top View All dimensions in mm Pad Number Signal Name Description 1 SCK SPI Serial Clock Input to Module 2 MISO INT SPI Master In Slave Out Output from Module Can be configured to act as filter update Interrupt 3 MOSI SPI Master Out Slave In Input to Module 4 SS SPI Slave Select Active Low Input to Module 5 TxD INT UART Asynchronous Transmit Data Output from Module Can be configured to act as filter update Interrupt 6 RxD UART Asynchronous Receive Data Input to Module 7 GND Ground Only one ground pad must be connected 8 GND Ground Only one ground pad must be connected Commonly connected to USB supply ground 9 USBD USB Data Minus Only requires connection during USB mode use 10 USBD USB Data Plus Only requires connection during USB mode use 11 VUSB 5v USB Power Supply Input Only requires connection during USB mode use 12 VIN Voltage Input 3 3v 6 0v Only required when USB power is not being used User s Manual 2 3 2 PCB Layout PCB layout should fo
35. ctor 12 Vector float x3 119 0x77 Set accelerometer reference vector 12 Vector float x3 120 0x78 Reset Kalman filter 0 121 0x79 Set accelerometer range 1 Accel range byte 0 for 2g 1 0 4g 2 for 8g 122 0x7a Set multi reference weight power 4 Weight power float 123 0x7b Enable disable filter 1 Mode byte 0 for disabled 1 for enabled 124 0x7c Set running average mode 1 Mode byte 0 for normal for confidence 125 0x7d Set gyroscope range 1 Gyro range mode byte 0 for 250 dps 1 for 500 dps 2 for 2000 dps 126 0x7e Set compass range 1 Compass range mode byte see command details for options 25 User s Manual 4 3 6 Commands for Reading Filter Parameters These commands allow the reading of parameters associated with the Kalman filter All these commands return data and accept no parameters for options Command Description Return Len Return Data Details Data Len Data Details 128 0x80 Read tare orientation Quaternion 16 Quaternion float x4 129 0x81 Read tare orientation Rotation Matrix 36 Rotation Matrix float x9 130 0x82 Read rho data Accelerometer 9 ee static 131 0x83 Read rho data Compass 9 MR Ce static 0 132 0x84 Read current update rate 4 Update rate in microseconds int 0 133 0x85 Read compass reference vector 12 Ve
36. ctor float x3 0 134 0x86 Read accelerometer reference vector 12 Vector float x3 0 135 0x87 Read reference vector mode 1 pnts piedad s oa mms 0 136 0x88 Read compass multi reference vector 12 Vector float x3 1 Index 137 0x89 Read compass multi reference check vector 12 Vector float x3 1 Index 138 0x8a Read accel multi reference vector 12 Vector float x3 1 Index 139 0x8b Read accel multi reference check vector 12 Vector float x3 1 Index 140 0x8c Read gyro enabled state 1 Mode byte 0 for disabled 1 for enabled 0 141 0x8d Read accelerometer enabled state 1 Mode byte 0 for disabled 1 for enabled 0 142 0x8e Read compass enabled state 1 Mode byte 0 for disabled 1 for enabled 0 143 0x8f Read axis directions 1 Axis direction byte 0 144 0x90 Read oversample rate 1 i samples 0 145 0x91 Read running average percent Percent float 0 146 0x92 Read desired update rate Update rate in microseconds int 0 147 0x93 Read Kalman filter s covariance matrix 36 Covariance Matrix float x9 0 148 0x94 Read accelerometer range 1 Accel range byte 0 for 2g 1 for 4 2 for 8 0 149 0x95 Read multi reference weight power 4 Weight power float 0 150 0x96 Read multi reference resolution 2 a E of cell divisions 0 151 0x97 Read number of multi reference cells 4 Number of cells int 0 152 0x98 Read filter enable state 1 Mode byte 0 for disabled 1 for enabled 0 153 0x99 Read running averag
37. d rate int Description Sets the baud rate of the physical UART This setting does not need to be committed but does not take effect until the sensor is reset The baud rate will be set to the valid value nearest the requested value Valid baud rates are 1200 2400 4800 9600 19200 28800 38400 57600 115200 230400 460800 921600 The factory default baud rate is 115200 Function Get UART baud rate Command Value 232 OxE8 Return Data Bytes 4 Return Data Format Baud rate int Description Reads the baud rate of the physical UART Possible baud rates are 1200 2400 4800 9600 19200 28800 38400 57600 115200 230400 460800 921600 The factory default baud rate is 115200 42 User s Manual Function Set USB mode Command Value 233 08 9 Data Bytes 1 Data Format Mode byte 1 for FTDI 0 for CDC Description Sets the communication mode for USB All modes present a COM port with which to communicate with the USB device FTDI and CDC each present a regular numbered port whereas Unique presents a port named YEI serial number The sensor will change modes immediately Function Get USB mode Command Value 234 OxEA Return Data Bytes 1 Return Data Format Mode byte 2 for Unique 1 for FTDI 0 for CDC Description Reads the communication mode for USB as described in the previous command
38. desired 41 User s Manual Function Commit settings Command Value 225 081 Description Commits settings to non volatile memory This will cause them to persist even if the sensor is reset Function Software Reset Command Value 226 08 2 Description Resets the sensor Function Enable watchdog timer Command Value 227 OxE3 Data Bytes 4 Data Format Timeout rate in microseconds int Description Enables the watchdog timer with the given timeout rate If a frame takes more than this amount of time the sensor will automatically reset This is useful for dealing with sensor hangs or crashes as the sensor would reset and continue normal operation Function Disable watchdog timer Command Value 228 0xE4 Description Disables the watchdog timer Function Enter firmware update mode Command Value 229 0xES Description Puts the sensor into firmware update mode This will cease normal operation until the firmware update mode is instructed to return the sensor to normal operation Function Read hardware version string Command Value 230 OxE6 Return Data Bytes 32 Return Data Format Version string Description Reads the version identifier of the sensor firmware Function Set UART baud rate Command Value 231 OxE7 Data Bytes 4 Data Format Bau
39. e the reference vectors to overlap more and setting it nearer to infinity will cause the reference vectors to influence a smaller set of orientations Function Enable disable filter Command Value 123 0x7b Data Bytes 1 Data Format Mode byte 0 for disabled 1 for full kalman Description Used to disable the orientation filter or set the orientation filter mode Changing this parameter can be useful for tuning filter performance versus orientation update rates When using the sensor as an IMU it will improve performance to disable the orientation filter Function Set running average mode Command Value 124 0x7c Data Bytes 1 Data Format Mode byte 0 for normal 1 for confidence Description Selects the mode that the running average method uses Normal uses a static running average Confidence uses a running average that changes dynamically based upon the confidence factor Function Set gyroscope range Command Value 125 0x7d Data Bytes 1 Data Format Gyro range byte 0 for 250dps 1 for 500dps 2 for 2000dps Description Sets the measurement range used by the gyroscope sensor Function Set compass range Command Value 126 0x7e Data Bytes 1 Data Format Compass range byte 0 for 0 88Ga 1 for 1 3Ga 2 for 1 9Ga 3 for 2 5Ga 4 for 4 0Ga 5 for 4 7Ga 6 for 5 6
40. e mode 1 Mode byte 0 for normal for confidence 0 154 0x9a Read gyroscope range 1 d EA 0 for 250 dps 1 for 500 0 155 0x9b Read compass range 1 Compass range mode byte see command details 0 4 3 7 Commands for Calibration These commands allow the configuration and reading of calibration parameters and enabling of calibration modes Command Description Return Data Len Return Data Details Data Len Data Details 60 0xa0 Set compass calibration parameters 0 48 Bias float x3 Matrix float x9 Set accelerometer calibration 61 Oxal parameters 0 48 Bias float x3 Matrix float x9 62 0xa2 Read compass calibration parameters 48 Bias float x3 Matrix float x9 0 Read accelerometer calibration 63 0xa3 parameters 48 Bias float x3 Matrix float x9 0 Bias float x3 High range 64 0xa4 Read gyro calibration parameters 24 bias float x3 65 0xa5 Begin gyro auto calibration 0 Bias float x3 High range 66 0xa6 Set gyro calibration parameters 0 24 bias float x3 26 User s Manual 4 3 8 General Commands These commands are for the configuration of the sensor as a whole as opposed to configuration of the filter or sensors Command Description Return Len Return Data Details Data Len Data Details 223 Oxdf Read software version 12 Software
41. e x axis the bias would be 350 and the scale would be 550 The last parameter used 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 1096 These parameters are applied in the following order 1 Bias is subtracted from each axis 2 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 11 User s Manual 3 1 3 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 determ
42. ector float x3 33 0x21 Read gyros 12 Vector float x3 34 0x22 Read accelerometer 12 Vector float x3 35 0x23 Read compass 12 Vector float x3 36 0x24 Read temperature C float 37 0x25 Read temperature F float 38 0x26 Read confidence factor float 39 0x27 Read accelerometer unnormalized 12 Vector float x3 40 0x28 Read compass unnormalized 12 Vector float x3 24 User s Manual 4 3 4 Commands for Reading Raw Sensor Data These commands return sensor data just as it was when it was read from each sensor None of these commands take any parameters they only return data Command Description Return Len Return Data Details Data Len Data Details Vector float x3 Vector float x3 64 0x40 68 all raw 36 Vector float x3 0 65 0x41 Read gyro raw 12 Vector float x3 0 66 0x42 Read accelerometer raw 12 Vector float x3 0 67 0x43 Read compass raw 12 Vector float x3 0 4 3 5 Commands for Setting Filter Parameters These commands allow the configuration of parameters associated with the Kalman filter Most of these commands take parameters none return any data Command Description Data Len Details 96 0x60 Tare with current orientation 0 97 0x61 Tare with quaternion 16 Quaternion float x4 98 0x62
43. er index selects which handler you want to take care of this control The indices are Turn off this control 255 Axes Global Axis 0 Screen Point 1 Buttons Hardware Button 0 Orientation Button 1 Shake Button 2 For more information on these see the section on Control Customization 44 User s Manual Function Set control data Command Value 245 Oxf5 Data Bytes 7 Data Format Control class byte control index byte data point index byte data point float Description Sets parameters for the specified control s operation mode The control classes and indices are the same as 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 so you should reference the section for that mode in the Control Customization section Function Read control mode Command Value 246 Oxf6 Data Bytes 2 Data Format Control class byte control index byte Return Data Bytes 1 Return Data Format Handler index byte Description Read the index of this control s mode The control classes and indices are the same as described in command 244 Function Read control data Command Value 247 Oxf7 Data Bytes 3 Data Format Control class byte control index byte data point index byte Return Data Bytes
44. erwise it will be 0 Calling this command while interrupts are in level mode will cause the interrupt pin to return to high Function Read all gyro accelerometer compass Command Value 32 0x20 Return Data Bytes 36 Return Data Format Vector float x3 Vector float x3 Vector float x3 Description Returns the normalized gyro accelerometer and compass values Function Read gyros Command Value 33 0x21 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the normalized gyro rates Function Read accelerometers Command Value 34 0x22 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the normalized gravity vector Function Read compass Command Value 35 0x23 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the normalized north vector 30 User s Manual Function Read temperature C Command Value 36 0x24 Return Data Bytes 4 Return Data Format float Description Returns the temperature of the sensor in Celsius Function Read temperature F Command Value 37 0x25 Return Data Bytes 4 Return Data Format float Description Returns the temperature of the sensor in Fahrenheit Function Read confidence factor Command Value 38 0x26 Return Data Bytes 4 Ret
45. f a command regardless of which pin is specified with command 16 For more information on setting the interrupt pin and mode see command 16 Pin Signal Description 2 MISO INT Configurable as filter update interrupt when SPI interface is unused 19 User s Manual TxD INT Configurable as filter update interrupt when asynchronous serial interface is unused Additionally can be configured as 5 command complete interrupt when SPI interface is used 4 2 Protocol Packet Format USB and Serial 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 03 7 First Byte Start of Packet Command amp Second Byte Command Value Selected from the command chart 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 i Cn Sum of all other bytes except the first
46. ifications see tpe tre doen S n 2 7 Electrical Characteristics na estt iecit 2 7 1 Absolute Maximum Ratings 2 72 DC Chliaracteristics xvn ntt ed ed ect eie EHE eb a 2713 USB CharacteristiCS PL E Rte yere re Ee E trea ere Ere 2 7 4 Asynchronous Serial 8 8 6 1886 esee nnne nenne netten ene e nennen ss 2 19 SPE Characteristics zo erede t eret eter ieri b ie e EET T Een 9 2 8 Axis ASSIgriT leht nice tom dee e ied reed d e re t dtr tta A tpe mda 10 3 Description of the 3 Space Sensor teret cen etre eate et da bete eub ce at soe qa Pre ae buo coo egeo ecu 8 11 3 F Orientati Ori e peser TP 11 3 1 Component Sensors ce eee eoo oO P 11 3 1 2 Scale Bias and CrossSsAXIS ETIGGL cere ed e ete Ee Od DIN EVE Urs BRAG 11 Si TS Reference aio or ERREUR EGET cus ue DH oTi aR AS 12 3 1 4 Kalman Biltet EE 12 3 1 5 Reference Orientations Tanin x ric aie ve dete n he pii om enr REID Bde e detect 12 3 1 6 Other Estimation Parametets eren bee e P een ehe ire ENS SERERE 12 3 2 Communication 12 3 3 Input Device ete od
47. ing 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 4 1 3 Electronic Interfacing Overview The 3 Space Sensor Embedded module offers three interfacing communications options USB 2 0 Asynchronous Serial and Serial Peripheral Interface SPI One or more of the interfaces may be connected and used together When using multiple interfaces care should be taken to avoid the sending overlapping concurrent commands from multiple interfaces Overlapping concurrent commands from multiple interfaces could result in a command being dropped Thus in situations where multiple overlapping concurrent commands cannot be avoided a simple command verification timeout and retry paradigm should be used The sections below describe the necessary pin connections and typical c
48. ining which reference vector to use Single Manual Uses 2 reference vectors it is given as the reference vectors for the accelerometer and compass 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 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 Multiple Uses a set of reference vectors from which the best are picked each cycle to form a single final reference vector This mode 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 4 Kalman Filter The component sensor data and reference vectors are fed into a Kalman filter which uses statistical techniques to optimally combine the data into a final orientation reading 3 1 5 Reference Orientation Taring 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
49. ional interrupt pin may be configured for use during SPI mode Pin Signal Description 5 TxD INT Configurable as filter update interrupt when asynchronous serial interface is unused Additionally can be configured as command complete interrupt when asynchronous serial nterface is unused The following schematic diagram illustrates typical SPI interface connections Typical Connection to SPI Master SCK VIN MISO VUSB MOSI USBD ISS USBD TXD GND2 RXD GND1 YEI TSS EMv1 0 nection to INTO shown 4 1 3 4 Interrupt Generation The Embedded 3 Space Sensor is capable of generating a signal on certain pins which can be used to trigger an interrupt when new orientation data becomes available This pin will be high by default The signal can be set to act in filter pulse mode where the pin is set low for 5 microseconds and then pulled back to high or it can be set to filter level mode where the pin is set low until the interrupt status is read see command 18 Additionally the signal may be set to act in SPI command pulse mode where the pin pulses once any given command has been completed By default no pin is set to act as the interrupt generation pin Either the SPI MISO pin or the UART TXD pin may be set to act as the interrupt pin meaning that while interrupt generation is active either the UART or SPI will be unusable In SPI command pulse mode the UART TXD pin will be used automatically to signal the completion o
50. ircuits used for using each of the respective interface options 16 User s Manual 4 1 3 1 USB Interfacing The USB 2 0 interface of the 3 Space Sensor Embedded requires the connection of signals as follows Pin Signal Description 8 GND USB Ground Required connection during USB mode use 9 USBD USB Data Minus Required connection during USB mode use 10 USBD USB Data Plus Required connection during USB mode use 11 VUSB 5v USB Power Supply Input Required connection during USB mode use Additionally one of the following optional interrupt pins may be configured for use during USB mode Pin Signal Description 2 MISO INT Configurable as filter update interrupt when SPI interface is unused 5 TxD INT Configurable as filter update interrupt when asynchronous serial interface is unused The following schematic diagram illustrates typical USB interface connections Typical Connection to USB Host Interface SCK VIN MISO VUSB MOSI USBD SS USBD TXD GND2 RXD GND1 YEI TSS EMv1 0 ons not shown 4 1 3 2 Asynchronous Serial Interfacing The asynchronous serial interface of the 3 Space Sensor Embedded requires the connection of signals as follows Pin Signal Description 5 TxD UART Asynchronous Transmit Data Output from Module 6 RxD UART Asynchronous Receive Data Input to Module 7 8 GND Ground Only one ground pad must be connected
51. llow follow the suggested SMT footprint below TSS EM Suggested SMT Footprint 23 00 1 50 1 00 3 00 No vias holes A or pads 50 11 11 11 50 Top View All dimensions in mm L L L L C Additionally since PCB layout can affect the performance of the 3 Space Embedded module observe the following layout guidelines e Do not place untented pads vias or holes beneath the restricted area in the diagram e Do not place magnetic components such as speakers and motors in close proximity to the module since the magnetic fields generated can adversely affect the performance of the compass module e Do not place components containing ferrous metals in close proximity to the module since they may disturb earth s magnetic fields and thus adversely affect the performance of the compass module e Do not route high current conductors or high frequency digital signal lines in close proximity to the module since they may generate magnetic fields that may adversely affect the performance of the compass module e Do not reflow with the device on the bottom of a board Since the module s components aren t glue bonded to the module they may become dis lodged if reflowed in non up facing orientations e Thoroughly test and characterize any PCB design that uses the module Failure to test and characterize a system using the TSS EM module may result in unforeseen performance consequences due to layout
52. lues As mentioned earlier by default the accelerometer and compass are trusted less than the gyros when the sensor is in motion Rho values are the mechanism that handles the concept of trust They 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 A lower value for the parameter means more trust The default mode for this is confidence mode where the rho value chooses between a minimum and maximum value based on how much the sensor is moving The other option is to have a single static rho value 12 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 a USB connection an asynchronous serial UART connection or an SPI connection 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 which provides a graphical method to communicate through USB or serial port To learn how to use this read the 3 Space Suite 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 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
53. nd Value 254 Oxfe Return Data Bytes 2 Return Data Format Mode byte for each 0 for removed 1 for present Description Reads the joystick and mouse present removed state See command 253 for more detail 46 User s Manual Appendix Hex Decimal Conversion Chart Second Hexadecimal digit 0 1 2 3 4 5 6 7 8 9 A B D E F 0 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 7 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 2 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 7 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 4 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 amp 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 E 7 12 113 114 15 116 117 118 119 120 121 22 123 124 23 26 127 8 28 129 130 31 132 133 134 135 136 137 38 139 140 41 42 143 z 9 44 145 146 47 148 149 150 151 152 153 54 155 156 57 58 159 4 60 161 162 63 164 165 166 167 168 169 70 171 172 73 74 175 B 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 D 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 2
54. ns amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 860 selectable Accelerometer resolution 14 bit Accelerometer noise density 99ug Y Hz Accelerometer sensitivity 0 00024g digit for 2g range 0 00048g digit for 4g range 0 00096g digit for 8g range Accelerometer temperature sensitivity 0 008 Gyro scale 250 500 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 03 sec V Hz Gyro bias stability 25 C 11 hr average for all 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 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 User s Manual 2 7 Electrical Characteristics 2 7 1 Absolute Maximum Ratings Operating Temperature ssesssseeeneeneen Storage Temperature ssssssseeeeeeren eene Supply Voltage on VIN Pin with respect to Ground 40C 85C 40F 185F 60C 150C 76F 302F 0 3v 6 5v Supply Voltage on VUSB Pin with respect to Ground
55. ntage is 0 the running average will be shut off completely Function Set compass reference vector Command Value 118 0x76 Data Bytes 12 Data Format Vector float x3 Description Sets the static compass reference vector Function Set accelerometer reference vector Command Value 119 0x77 Data Bytes 12 Data Format Vector float x3 Description Sets the static accelerometer reference vector 35 User s Manual Function Reset Kalman filter Command Value 120 0x78 Data Bytes 0 Data Format None Description Resets Kalman filter s covariance and state matrices Function Set accelerometer ramge Command Value 121 0x79 Data Bytes 1 Data Format Accel range byte 0 for 2g 1 for 40 2 for 8g Description Set which range of accelerometer data to use Higher ranges can detect and report larger accelerations but are not as accurate for smaller ones Function Set multi reference weight power Command Value 122 0 7 Data Bytes 4 Data Format Weight power float Description 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 caus
56. off If disabled the sensor will still enumerate as a joystick but the joystick will not function This allows normal communication to occur at a faster rate Function Enable Disable mouse Command Value 241 Oxfl Data Bytes 1 Data Format Mode byte 0 for disabled 1 for enabled Description Turns the data feed to the mouse on and off If disabled the sensor will still enumerate as a mouse but the mouse will not function This allows normal communication to occur at a faster rate Function Read joystick enabled state Command Value 242 Oxf2 Return Data Bytes 1 Return Data Format Mode byte 0 for disabled 1 for enabled Description Read whether or not the joystick is enabled Function Read mouse enabled state Command Value 243 Oxf3 Return Data Bytes 1 Return Data Format Mode byte 0 for disabled 1 for enabled Description Read whether or not the mouse is enabled Function Set control mode Command Value 244 Oxf4 Data Bytes 3 Data Format Control class byte control index byte handler index byte Description Sets the operation mode for one of the controls The control classes are Joystick Axis 0 Joystick Button 1 Mouse Axis 2 Mouse Button 3 There are 2 axes and 8 buttons on the joystick and mouse The index 0 based selects which of these you would like to modify The handl
57. ouse settings caution should be exercised in making sure the orientation estimate 1s 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 the 3 Space Suite manual 13 User s Manual 3 4 Sensor Settings 3 4 1 Committing Settings 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 mode are an exception to this rule as all these changes are saved immediately 3 4 2 Natural Axes 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 S
58. pace Sensor Embedded are as follows The positive X axis points out of the side of the sensor with pins 1 through 6 The positive Y axis points out of the top of the sensor the component side of the board e The positive Z axis points out of the back of the sensor the side with the LED towards pins 6 and 7 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 Upon restoration of factory settings the axis are returned to the default configuration The natural axes are illustrated in section 2 8 14 User s Manual 3 4 3 Settings and Defaults Setting Name Purpose Default Value Accelerometer Rho Value Determine how trusted the accelerometer is Confidence Mode 5 to 100 Compass Rho Value Determine how trusted the compass is Confidence Mode 5 to 100 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 Accelerometer Enabled Determines whether the compass is enabled or not TRUE Compass Enabled Determines whether the accelerometer is ena
59. r 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 21 User s Manual 4 3 Protocol Packet Format SPI 4 3 1 Command Packet Format In order to initiate an SPI data transfer the byte OXF6 must be sent to signal the start of an incoming command packet Afterwards the command byte should be sent as well as any required command parameter bytes After the command has been processed the byte OxFF must be sent repeatedly to read any bytes returned from the sensor While the sensor is not currently processing a command any byte sent to it other than OxF6 and OxFF will cause the internal data buffer to reset thus clearing any response data prepared by the sensor Once the sensor has responded with a 1 indicating the command has finished the user must send repeated bytes of OxFF until all command data is read In other words if a command returns
60. rrupts are generated Off pin TXD 15 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 1s 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 Only binary commands are available when using SPI 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 Specific details of the 3 Space Sensor protocol and its control commands are discussed in the following pages 4 1 2 Computer Interfacing Overview When interfac
61. rsion returns the data as Euler angles Function Read filtered tared orientation Rotation Matrix Command Value 2 0x02 Return Data Bytes 36 Return Data Format Rotation Matrix float x9 Description Returns the final orientation as determined by the Kalman filter relative to the tare orientation This version returns the data as a quaternion Function Read filtered tared orientation Euler Angles Command Value 3 0x03 Return Data Bytes 16 Return Data Format Axis float x3 Angle float Description Returns the final orientation as determined by the Kalman filter relative to the tare orientation This version returns the data as an axis and an angle Function Read filtered tared orientation Two Vector Forward Down Command Value 4 0x04 Return Data Bytes 24 Return Data Format Vector float x3 Vector float x3 Description Returns the final orientation as determined by the Kalman filter relative to the tare orientation This version returns the data as the forward and down vectors of the coordinate system defined by the orientation Function Read filtered gyro rates Command Value 5 0x05 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the gyro rates as determined by taking the difference between the current orientation and the previous one 28 User s Manual
62. s obtainable by 45 degree rotations For 90 degrees give a number of cell divisions of 4 and for 45 give 8 In addition the number of vectors near to any given orientation which the scheme will check can be adjusted as well If this value is 0 only the nearest orientation will be checked The largest this value can be is 32 Also note that the larger this value is the longer the multiple reference vector mode will take to run each cycle Function Set compass multi reference vector Command Value 112 0x70 Data Bytes 13 Data Format Index byte Vector float x3 Description Directly set compass multi reference vector at the specified index to the specified vector Function Set compass multi reference check vector Command Value 113 0x71 Data Bytes 13 Data Format Index byte Vector float x3 Description Directly set compass multi reference check vector at the specified index to the specified vector Function Set accel multi reference vector Command Value 114 0x72 Data Bytes 13 Data Format Index byte Vector float x3 Description Directly set accel multi reference vector at the specified index to the specified vector 34 User s Manual Function Set accel multi reference check vector Command Value 115 0x73 Data Bytes 13 Data Format Index byte Vector float x3 Description
63. single complete SPI byte transfer Cycle Number SCK from host MOSI 2 spe ep s X s X od pus from host MISO from module ISS from host State Undefined The diagram and parameter table below illustrates additional timing requirements and limits of the SPI interface SPlucik SCK SPlsckamosi MOSI SPlscxemiso MISO Symbol Parameter Min Max Units SPIHCLK SPI Clock Cycle Period 2 80 ns SPIsck2miso SPI SCK falling to MISO Delay 26 5 ns SPImosizsck SPI MOSI Setup time before SPI SCK rises 0 ns SPIsck2vosi SPI MOSI Hold time after SPI SCK rises 1 5 ns User s Manual 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 Embedded are as follows The positive X axis points out of the side of the sensor with pins 1 through 6 The positive Y axis points out of the top of the sensor the component side of the board The positive Z axis points out of the back of the sensor the side with the LED towards pins 6 and 7 The natural axes are illustrated in the diagram below Y Axis Z Axis X Axis Bear in mind the difference between natural axes and the axes that are used in protocol data
64. t available RoHS Compliant 5v tolerant I O signals User s Manual 2 5 Block Diagram of Sensor Operation USB 2 0 Serial SPI Master Host System Host System Host System Processor USB 2 0 Asynchronous SPI Slave Interface Serial Interface Interface Final USB Mouse amp poy etek Orientation Emulation Non volatile Calibration amp Performance Settings Kalman Filter 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 EM Dimensions 23mm x 23mm x 2 2mm 0 9 x 0 9 x 0 086 in Weight 1 3 grams 0 0458 oz Supply voltage 3 3v 6 0 Power consumption 45mA 5v Communication interfaces USB 2 0 SPI Asynchronous Serial 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 normalized sensor data temperature SPI clock rate 6 MHz max Serial baud rate 1 200 921 600 selectable default 115 200 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 conditio
65. 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 aco Decal Wa Command 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 characters 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 characte
66. 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 Embedded 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 Embedded module features are accessible via a well documented open communication protocol that allows access to all available sensor data and configuration parameters 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 The 3 Space Sensor Embedded module also offers a range of communication interface options which include SPI USB 2 0 and asynchronous serial When used as a USB device the Embedded 3 Space Sensor provides mouse emulation and joystick emulation modes that ease integration with existing applications 2 2 Applications Robotics Motion capture Positioning and stabilization Vibration analysis nertial augmented localization Personnel pedestrian navigation and tracking Unmanned air land water vehicle navigation Education and performing arts Health
67. turned 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 23 User s Manual 4 3 1 Commands for Reading Filtered Sensor Data These commands return sensor data which has been filtered using a Kalman filter None of these commands take any parameters they only return data Command Description Return Len Return Data Details 0 0x00 Read filtered tared orientation Quaternion 16 Quaternion float x4 1 0x01 Read filtered tared orientation Euler Angles 12 Euler Angles float x3 2 0x02 Read filtered tared orientation Rotation Matrix 36 Rotation Matrix float x9 3 0x03 Read filtered tared orientation Axis Angle 16 Axis float x3 Angle float 4 0x04 Read filtered tared orientation Two Vector Forward Down 24 Vector float x3 Vector float x3 5 0x05 Read filtered gyro rates 16 Quaternion float x4 6 0x06 Read filtered untared orientation Quaternion 16 Quaternion float x4 7 0x07 Read filtered untared orientation Euler Angles 12 Euler Angles float x3 8 0x08 Read filtered untared orientation Rotation Matrix 36 Rotation Matrix float x9 9 0x09 Read filtered untared orientation Axis Angle 16 Axis float x3 Angle float 10 0x0A Read filtered untared orientation Two Vector Forward Down 24 Vector float x3 Vector float x3
68. urn Data Format float Description Returns a value indicating how much the compass and accelerometer are to be trusted to be unit vectors pointing in the proper directions at the moment This value ranges from 0 to 1 with 1 being fully trusted and 0 being not trusted at all This will change based on if the sensor is being moved and if it is near a strong magnetic field Function Read accelerometer unnormalized Command Value 39 0x27 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the unnormalized gravity vector This reading is given in terms of g Function Read compass unnormalized Command Value 40 0x28 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the unnormalized north vector This reading is given in terms of gauss Function Read all raw gyro accelerometer compass Command Value 64 0x40 Return Data Bytes 36 Return Data Format Vector float x3 Vector float x3 Vector float x3 Description Returns the raw gyro accelerometer and compass values Values are according to the currently selected range for each respective sensor Function Read gyro raw Command Value 65 0x41 Return Data Bytes 12 Return Data Format Vector float x3 Description Returns the raw gyro values in the specified measurement range 31 User s Manual
69. us Serial Characteristics The on chip Asynchronous Serial interface is compatible with UARTs available on most micro controllers The device utilizes a minimum wire configuration consisting of two communication wires a TxD serial output and an RxD serial input The Serial interface drives the TxD line at 3v logic levels and the RxD input is 2 0 5 5v tolerant Also note that since logic level serial is voltage based the two connected systems must share a common ground reference For connection to alternate communication interfaces such as RS232 RS422 RS485 MIL STD 188 EIA TIA 562 and SpaceWire additional external interface drivers may be added The Asynchronous Serial uses 8N1 8 data bits no parity 1 stop bit format and supports the following standard baud rates 1200 2400 4800 9600 19200 28800 38400 57600 115200 230400 460800 921600 The factory default baud rate is 115200 User s Manual 2 7 5 SPI Characteristics The Serial Peripheral Interface or SPI is a full duplex synchronous serial communication standard that is commonly supported on many micro controllers and embedded systems The SPI interface is implemented as an SPI mode 0 slave device This means that the SPI clock polarity is 0 CPOL 0 and the SPI clock phase is 0 CPHA 0 Bytes are transferred one bit at a time with the MSB being transferred first The on board SPI interface has been tested at speeds up to 6MHz The diagram below illustrates a
70. version string 0 224 0xe0 Restore factory settings 0 0 225 0xel Commit Settings 0 0 226 0xe2 Software reset 0 0 227 0xe3 Enable watchdog timer 0 4 Timeout rate in microseconds int 228 0xe4 Disable watchdog timer 0 0 229 0xe5 Enter firmware update mode 0 0 230 0xe6 Read hardware version 32 Hardware version string 0 Baud rate int one of 1200 2400 4800 231 0xe7 Set UART baud rate 0 4 9600 19200 28800 38400 57600 115200 230400 460800 921600 Baud rate int one of 1200 2400 4800 9600 19200 28 232 0xe8 Get UART baud rate 4 800 38400 57600 115200 0 230400 460800 921600 233 0xe9 Set USB mode 0 1 Mode byte for FTDI 0 for CDC 234 0xea Get USB mode 1 poc 0 CDC 235 0xeb 861 clock speed 0 4 Clock speed int Hz 236 0xec Get clock speed 4 Clock speed int Hz 0 237 0xed Get serial number 4 Serial number int 0 238 0xee Set LED color 0 12 Red float Green float Blue float Red float Green float 239 Oxef Get LED color 12 Blue float 0 240 0xf0 Enable Disable joystick 1 Mode byte 0 for disabled 1 for enabled 241 0 1 Enable Disable mouse 1 Mode byte 0 for disabled 1 for enabled 242 0x 2 Read joystick enabled state 1 Mode byte 0 fordi abled for 0 enabled 243 0xf3 Read mouse enabled state 1 Mod bys 0 fof disabled DATE 0 enabled Control class byte control index byte 244 0xf4 Set control mode 0 3 handler index byte Control class byte control index byte 7
71. with rotation matrix 36 Rotation Matrix float x9 99 0x63 Set static rho mode Accelerometer 4 Rho value float 100 0x64 RS D dim 8 Min rho value float Max rho value float 101 0x65 Set static rho mode Compass 4 Rho value float 102 0x66 Set confidence rho mode Compass 8 Min rho value float Max rho value float 103 0x67 Set desired update rate 4 Update rate in microseconds int dp ae p 105 0x69 Set reference vector mode 1 mum 0 for single static 1 for single auto 2 for single auto continuous 3 for 106 0x6a Set oversample rate Rate 1 for off 2 for number of samples per frame 107 0x6b Enable disable gyros 1 Mode byte 0 for disabled 1 for enabled 108 0x6c Enable disable accelerometer 1 Mode byte 0 for disabled 1 for enabled 109 0x6d Enable disable compass 1 Mode byte 0 for disabled 1 for enabled 110 0x6e Reset multi reference vectors to zero 0 111 0x6f Set multi reference resolution 2 Resolution byte x2 number of cell divisions number of nearby vectors 112 0x70 Set compass multi reference vector 13 Index byte Vector float x3 113 0x71 13 Index byte Vector float x3 114 0x72 Set accel multi reference vector 13 Index byte Vector float x3 115 0x73 Set accel multi reference check vector 13 Index byte Vector float x3 116 0x74 Set axis directions 1 Axis direction byte 117 0x75 Set running average percent 4 Percent float 118 0x76 Set compass reference ve
72. x85 Return Data Bytes 12 Return Data Format Vector float x3 Description Reads the single mode compass reference vector Function Read accelerometer reference vector Command Value 134 0x86 Return Data Bytes 12 Return Data Format Vector float x3 Description Reads the single mode accelerometer reference vector Function Read reference vector mode Command Value 135 0x87 Return Data Bytes 1 Return Data Format Mode byte 0 for single static 1 for single auto 2 for single auto continuous 3 for multi Description Reads the current reference vector mode See command 105 for details 37 User s Manual Function Read compass multi reference vector Command Value 136 0x88 Data Bytes 1 Data Format Index Return Data Bytes 12 Return Data Format Vector float x3 Description Reads the multi mode compass reference vector at index lt Index gt Function Read compass multi reference check vector Command Value 137 0x89 Data Bytes 1 Data Format Index Return Data Bytes 12 Return Data Format Vector float x3 Description Reads the multi mode compass reference check vector at index Index Function Read accelerometer multi reference vector Command Value 138 0x8a Data Bytes 1 Data Format Index Return Data Bytes 12 Return Data Format Vector flo
73. ytes 24 Return Data Format Vector float x3 Vector float x3 Description Returns the final orientation as determined by the Kalman filter relative to the reference vectors This version returns the data as the forward and down vectors of the coordinate system defined by the orientation Function Read filtered tared forward and down vectors in sensor reference frame Two Vector Forward Down Command Value 11 0x0B Return Data Bytes 24 Return Data Format Vector float x3 Vector float x3 Description Returns the forward and down vectors as determined by the Kalman filter relative to the tare orientation This version returns the data as the forward and down vectors of the coordinate system defined by the sensor reference frame Function Read filtered North Earth vectors in sensor reference frame Two Vector North Earth Command Value 12 0x0C Return Data Bytes 24 Return Data Format Vector float x3 Vector float x3 Description Returns the North and Earth vectors as determined by the Kalman filter relative to the global sensor references Returned vectors are in the coordinate system defined by the sensor reference frame 29 User s Manual Function Set interrupt type Command Value 29 0 1 Data Bytes 2 Data Format Mode byte 0 for off 1 for pulse 2 for level 3 for SPI pulse mode pin byte 0 for TXD 1 for

3-Space Sensor Embedded User`s Manual

Contents

Download Pdf Manuals

Related Search

Related Contents