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3-Space Sensor Embedded User`s Manual

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1. 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 Asynchronous 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 an
2. dte ie Oei tes E ene E edet E 14 3 3 Input Device Emulation eee ite e ees e de Re ed e iae a e ed ested Tere 14 3 32 Axes and Buttons CREER Ae RR M e dete NN uetus 14 3 3 2 JOyStl Ck ers RM eee etre aet e e tug 14 IMOUSO 14 3 4 Sensor Setumgs man ee e ER T ANE VOR 15 3 4 Committing Setthgs s vocet RU WE i ERI Ie ade 15 3 42 Natural RESINA RR uU dm EU un 15 34 3 Settings and Default rt ue HUP REC 16 4 3 Space Sensor sage Protocol ee eee tiere ro s 17 4 Usage Overview redet ee Rs RD TN ER HL ERR EE EP EG ER EUER enn 17 4 A Protocol OVeryIe w o e a atm te bein ORI e e e e e de eres 17 4 1 2 Computer Interfacing Overview e pee P erg Re eee ledio deed 17 4 1 3 Electronic 168 17 4 1 3 1 USB Interfacing eie Re SER ata Ee e ERR RE Edo ede 18 4 1 3 2 Asynchronous Serial Interfacing tem RR ert e S REM RR red 18 4 1 3 3 S PI Interfacing eee ot re Ee PE SER AR 20 4 1 3 4 Interrupt Generation eee nete te ei eit aie c 20 4 2 Protocol Packet Format USB and Serial
3. 31 User s Manual 4 3 10 General Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 196 0xc4 Set LED Mode Allows finer grained control over the sensor LED Accepts a single parameter that can be 0 for standard which displays all standard LED status indicators or 1 for static which displays only the LED color as specified by command 238 LED mode byte 200 0xc8 Read LED Mode Returns the current sensor LED mode which can be 0 for standard or 1 for static LED mode byte 223 0xdf Read firmware version string Returns a string indicating the current firmware version 12 Firmware version string 224 0xe0 Restore factory settings Return all non volatile flash settings to their original default settings 225 0xe1 Commit settings Commits all current sensor settings to non volatile flash memory which will persist after the sensor is powered off For more information on which parameters can be stored in this manner refer to Section 3 4 Sensor Settings 226 0xe2 Software reset Resets the sensor 227 0xe3 Enable watchdog timer Enables the onboard watchdog timer with the specified timeout rate If a frame takes more than this amount of time the sensor will automatically reset Timeout rate in microseconds int 228 0 4 Disable wat
4. sse eene nnne enne 21 4 2 1 Binary Packet Formats ee Ee E ee E EE eee ed 21 4 2 2 ASCIT Text Packet Format n eere tente Oe e ERR cedit te teinte ie oM 22 4 3 gto e e e ENS Ee EUROPEE 23 4 4 Command BO cai REM 24 43 1 Orientation Commands vene NS EE REI Ge 24 432 Embedded Commands arrere n n a Uu 25 4 3 3 Normalized Data Commands iere ten e oer teri 25 4 3 4 Other Data Commands eee rq eee 25 4 3 5 Corrected Data Commands nete eee dee ae n e Re 25 4 3 6 Raw Data Commands e Rete RA eR RUN RI det EE Ea 26 4 3 7 Configuration Write Commands asi re e RR RE e E e etate e 26 4 3 8 Configuration 681 001018 0 29 User s Manual 4 3 9 Calibration Commands cccccccccccsscccesssccessecceesceceseeccesscecesseecessseceesseeceseecesseecenseeccesseecessseecssenstssesececeeens 31 4 3 10 General Commarids ien GERINGE CY 32 4 3 1T Wired HID erret eene here R E ee eee e ee prete ee eve e e Ene eee etre epe 32 4 3 12 General HID Commands nnise eter rre EU Ee e re hr eere eee eter eges 33 Appendix d etu ee D RI aet Oe PS 34 Hex Decimal Conversion Chart aei eet eth bete nec eet est eti e tete ec
5. 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 I Usage Safety Considerations ennan a ERREUR 1 LT Usage Conditions espera a PONI ERES RP E EE tete se 1 1 2 Technical Support and eee tree reete genet sbi tere ere DAR Oe eti 1 2 Overview of the Y EI 3 Space Sensor udine een mie i i e frei ee ree 2 2 1 Introduction ui a eee te eR I ON auge 2 2 2 Applications osi e ee RISE EE CERE ERROR NE HIE 2 2 3 Hardware Overview Sue ota ed etel e OE BU oda ede ce 3 2 3 1 Pin Functions nete E R O TE 3 p RnB SE OU 4 5 2 5 Block Diagram
6. Return Data Command Description Long Description Data Len Return Data Details Len Data Details Returns a value indicating the current axis direction setup For more information on the meaning of this value please refer to the Set Axis Direction 143 0x8f Read axis direction byte command 116 1 Axis direction value byte 0 Returns a value indicating how many times each component sensor is sampled before being stored as raw data A value of 1 indicates that no oversampling is taking place while a value that is higher indicates the number of samples per 144 0x90 Read oversample rate component sensor per filter update step 1 Oversample rate byte 0 Returns a value indicating how heavily the orientation estimate is based upon the estimate from the previous frame For more information on the meaning Read running average lof this value please refer to the Set Running Average Running average percent 145 0x91 percent Percent command 117 4 float 0 Returns the current desired update rate Note that this value does not indicate the actual update rate but instead indicates the value that should be spent idling the main loop Thus without having set a specified desired update rate this value should read Desired update rate in 146 0x92 Read desired update rate 0 4 microseconds int 0 Read Kalman filter 147 0x93 covariance matrix Return the current Kalman filter covariance matrix 36 Covariance matrix float x9 0
7. Mouse enabled state byte 32 User s Manual 4 3 12 General HID Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 244 0xf4 561 control mode Sets the operation mode for one of the controls The first parameter is the control class which can be 0 for Joystick Axis 1 for Joystick Button 2 for Mouse Axis or 3 for Mouse Button There are two axes and eight buttons on the joystick and mouse The parameter the control index selects which one of these axes or buttons you would like to modify The third parameter the handler index specifies which handler you want to take care of this control These can be the following off this control 255 Axes Global Axis 0 Screen Point 1 Buttons Hardware Button 0 Orientation Button 1 Shake Button 2 Control class byte control index byte handler index byte 245 0 5 Set control data Sets parameters for the specified control s operation mode The control classes and indices are the same las described in command 244 Each mode can have up to 10 data points associated with it How many should be set and what they should be set to is entirely based on which mode is being used Control class byte control index byte data point index byte data point float 246 0xf6 Read control mode Reads the handler index of t
8. 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 0x00 0x04 ds 0x01 T S 5 Figure 3 Sample SPI Communication 23 User s Manual 4 4 Command Overview There are over 90 different command messages that are grouped numerically by function Unused command message bytes are reserved for future expansion When looking at the following command message tables note the following The Data Len field indicates the number of additional data bytes the command expects to follow the command byte itself This number doesn t include
9. 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 1s at least 3 bytes in length and is formatted as shown in figure 1 247 0xF7 First Byte Start of Packet Second Byte Command Value Selected from the command chart Command m 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 Checksum Sum of all other bytes except the first Figure 1 Typical Binary Command Packet Format Binary Return Values When a 3 Space Sensor command is called in binary mode any data it returns will also be in binary format For example if a floating point number is returned it will be returned as its 4 byte binary representation For information on the floating point format go here http en wikipedia org wiki Single precision floating point format Also keep in mind that integer and floating point values coming f
10. Return the current accelerometer measurement range which can be a 0 for 2g 1 for 4g or a 2 for Accelerometer range 148 0x94 Read accelerometer range 8g 1 setting byte 0 Read multi reference mode Read weighting power for multi reference vector 149 0x95 power weight weights Intended for advanced users 4 Weight float 0 Reads number of cell divisions and number of nearby vectors per cell for the multi reference vector lookup table For more information on these values please Number of cell divisions Read multi reference refer to the Set Multi Reference Resolution byte number of nearby 150 0x96 resolution command 111 Intended for advanced users 2 vectors byte 0 Read number of multi Reads the total number of multi reference cells 151 0x97 reference cells Intended for advanced users 4 Number of cells int 0 Returns the current filter mode which can be 0 for IMU mode 1 for Kalman 2 for Alternating Kalman or 3 for Complementary For more information please 152 0x98 Read filter mode refer to the Set Filter Mode command 123 1 Filter mode byte 0 Read running average Reads the selected mode for the running average Running average mode 153 0x99 mode which can be 0 for normal or 1 for confidence 1 byte 0 Reads the current gyroscope measurement range which can be 0 for 250 DPS 1 for 500 DPS or 2 Gyroscope range setting 154 0x9a Read gyroscope range for 2000 DPS 1 byte 0 Reads the current compass measurement
11. 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 corrected 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 conditions 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
12. and accelerometer vectors corresponding to this orthogonal orientation Intended for advanced users 172 0xac Set ortho calibration data point from vector Directly set a vector corresponding to this orthogonal orientation First parameter is type where 0 is for compass and 1 is for accelerometer Second parameter is index which indicates the orthogonal orientation Intended for advanced users 14 Type Byte Index Byte Accelerometer or Compass Vector float x3 173 0xad Read ortho calibration data point Return the vector corresponding to the orthogonal orientation given by index First parameter is type where 0 is for compass and 1 is for accelerometer Second parameter is index which indicates the orthogonal orientation Intended for advanced users 12 Accelerometer or compass vector float x3 Type Byte Index Byte 174 0xae Perform ortho calibration Stores accelerometer and compass data in the ortho lookup table for use in the orientation fusion algorithm For best results each of the 24 orientations should be filled in with component sensor data Note also that ortho calibration data will not be used unless the calibration mode is set to Ortho Calibration For more information refer to Section 3 1 3 Additional Calibration Intended for advanced users 175 0xaf Clear ortho calibration data Clear out all ortho lookup table data Intended for advanced users
13. cell stores Interrupt Generation Mode Determines how interrupts are generated Off pin TXD 16 User s Manual 4 3 Space Sensor Usage Protocol 4 1 Usage Overview 4 1 1 Protocol Overview The 3 Space Sensor receives messages from the controlling system in the form of sequences of serial communication bytes called packets For ease of use and flexibility of operation two methods of encoding commands are provided binary and text Binary encoding is more compact more efficient and easier to access programmatically ASCII text encoding is more verbose and less efficient yet 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 foll
14. filter For more information on setting these additional modes please refer to command 123 Kalman Filter The default filter mode Normalized sensor data and reference vectors are fed into the Kalman filter which uses statistical techniques to optimally combine the data into a final orientation reading Provides the highest accuracy orientation at the lowest performance Alternating Kalman Filter Uses the same Kalman filter as before but skips every other update step Slightly less accurate than the Kalman filter but faster Complementary Filter Fuses low pass filtered accelerometer compass data with high pass filtered gyroscope data to provide an orientation estimate Less accurate than any Kalman filtering techniques but provides significantly higher performance IMU Mode Performs no orientation filtering but allows IMU data to be read at the maximum update rate of 800 Hz 12 User s Manual 3 1 6 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 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 m
15. or 2 for 2000 DPS Default range Higher ranges can detect and report larger angular rates but are not as accurate for smaller angular rates This setting can be saved to non volatile flash memory using the Gyroscope range setting 125 0x7d Set gyroscope range Commit Settings command 0 1 Byte Only parameter is the new compass range which can be 0 for 0 88G 1 for 1 3G Default range 2 for 1 9G for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6 3 or 7 for 8 1G Higher ranges can detect and report larger magnetic field strengths but are not as accurate for smaller magnetic field strengths This setting can be saved to non volatile flash memory 126 0x7e 5 compass range using the Commit Settings command 0 1 Compass range setting Byte 4 3 8 Configuration Read Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Read tare orientation as 128 0x80 quaternion Returns the current tare orientation as a quaternion 16 Quatemion float x4 0 Read tare orientation as Returns the current tare orientation as a rotation 129 0x81 8 matrix matrix 36 Rotation Matrix float x9 0 Returns the current accelerometer rho mode as well as the value If this mode is set to O static this will return the rho mode the static rho value and then a dummy value of 0 If this mode is set to 1 this will Accelerometer rho mode Read accelerometer rho the rho mode an
16. orientation is filtered Kalman Calibration Mode Determines how raw sensor data is transformed into normalized data 1 Scale Bias Axis Directions Determines what natural axis direction each data axis faces X Sample Rate Determines how many samples the sensor takes per cycle 1 from each component sensor Running Average Percentage Determines how heavy of a running average to run on the final orientation running average Desired Update Rate Determines how long each cycle should take ideally 0 microseconds 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
17. 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 character is used to signify the end of an ASCII command packet b the ASCII backspace character can be used to backup through the partially completed line to correct errors If a command is given in ASCII mode but does not have the right number of parameters the entire command will be ignored Sample ASCII commands 0 n Read orientation as a quaternion 106 2 n Set oversample rate to 2 ASCII Return Values All values are returned in ASCII text format when an ASCII format com
18. 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 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
19. 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 Likewise the Return Data Len field indicates the number of data bytes the command delivers back to the sender once the command has finished executing Under Return Data Details each command lists the sort of data which is being returned and next to this in parenthesis the form this data takes For example a quaternion is represented by 4 floating point numbers so a command which returns a quaternion would list Quaternion float x4 for its return data details Command length information only applies to binary commands as ASCII commands can vary in length For quaternions data is always returned in x y z w order Euler angles are always returned in pitch yaw roll order When calling commands in ASCII mode there is no fixed byte length for the parameter data or return data as the length depends on the ASCII encoding 4 3 1 Orientation Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Read tared orientation as Returns the filtered tared orientation estimate in 0 0 00 quaternion quatemion form 16 Quaternion float x4 0 Read tared orient
20. updated accelerometer readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 109 0x6D Enable disable compass Enable or disable compass readings as inputs to the orientation estimation Note that compass readings are still accessible va commands This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 110 0x6E Reset multi reference vectors to zero Resets all reference vectors in the multi reference table to zero Intended for advanced users 111 0x6F Set multi reference table resolution Sets the number of cell dimensions and number of nearby vectors per cell for the multi reference lookup table First parameter indicates the number of cell divisions as an example multi reference mode by default only handles orientations reachable by successive rotations of ninety degrees about any of the three axes and hence has a resolution of 4 360 4 90 Thus a resolution of 8 would provide rotations of forty five degrees about any of the three axes 360 8 45 The second parameter indicates the number of adjacent vectors that will be checked for each In addition the number of checked vectors can be adjusted as well The second parameters refers to the number of adjacent reference vectors that are averaged to produce the final reference vector for the partic
21. 1 052 053 054 055 056 057 058 059 060 061 062 063 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 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 34 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
22. 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 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 accelerome
23. Command Description Long Description Return Data Len Return Data Details Data Len Data Details 116 0x74 Set axis directions Sets alternate directions for each of the natural axes iof the sensor The only parameter is a bitfield representing the possible combinations of axis swapping The lower bits specify which axis each lof the natural axes will be read as 000 XYZ standard operation 001 XZY 002 YXZ 003 YZX 004 ZXY 005 ZYX For example using XZY means that whatever value lappears as Y on the natural axes will now be the Z component of any new data and vice versa The bits above those are used to indicate which axes if any should be reversed If it is cleared the laxis will be pointing in the positive direction Otherwise the axis will be pointed in the negative direction Note These are applied to the axes after the previous conversion takes place Bit 4 Positive Negative Z Third resulting component Bit 5 Positive Negative Y Second resulting component Bit 6 Positive Negative X First resulting component Axis Direction Byte byte 117 0x75 Set running average percent 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 percentage is 0 the running average
24. Mhz 30 Mhz or 60 Mhz default This setting does not need to be committed but does not take effect until the sensor is reset Clock speed in Hz int 236 0xec Get clock speed Returns the current processor clock speed Clock speed in Hz int 237 0xed Get serial number Returns the serial number which will match the value etched onto the physical sensor Serial number int 238 0xee Set LED color Sets the color of the LED on the sensor to the specified RGB color This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command 12 RGB Color float x3 239 0 96 Get LED color Returns the color of the LED on the sensor 12 RGB Color float x3 4 3 11 Command Wired HID Commands Description Long Description Return Data Len Return Data Details Data Len Data Details 240 0xf0 Enable disable joystick Enable or disable streaming of joystick HID data for this sensor 0 Joystick enabled state byte 241 0xf1 Enable disable mouse Enable or disable streaming of mouse HID data for this sensor 0 Mouse enabled state byte 242 0xf2 Read joystick enabled Read whether the sensor is currently streaming joystick HID data Joystick enabled state byte 243 0xf3 Read mouse enabled Read whether the sensor is currently streaming mouse HID data
25. all orientation estimation Instead of using a single value uses a minimum and maximum value Rho values will be changed within this range depending on the confidence factor This can have he effect of reducing the compass s effect on the overall orientation estimation and thus reducing magnetically induced interference Minimum compass rho value float Maximum compass rho value float 103 0x67 Set desired update rate Causes the processor to wait for the specified number of microseconds at the end of each update loop Can be useful for bounding the overall update rate of the sensor if necessary Microsecond update rate unsigned integer 104 0x68 Set multi reference vectors with current orientation Uses the current tared orientation to set up the reference vector for the nearest orthogonal orientation This is an advanced command that is best used through 3 Space Sensor Suite calibration utilities For more information please refer to the 3 Space Sensor Suite Quick Start Guide 26 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 105 0x69 Set reference vector mode Set the current reference vector mode Parameter can be 0 for single static mode which uses a certain reference vector for the compass and another certain vector for the accelerometer at all times 1 for sing
26. ation as Returns the filtered tared orientation estimate in 1 0x01 leuler angles leuler angle form 12 Euler Angles float x3 0 Read tared orientation as Returns the filtered tared orientation estimate in 2 0x02 rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Read tared orientation as Returns the filtered tared orientation estimate in 3 0x03 axis angle laxis angle form 16 Axis float x3 Angle float 0 Returns the filtered tared orientation estimate in two Read tared orientation as vector form where the first vector refers to forward Forward Vector float x3 4 0x04 two vector land the second refers to down 24 Down Vector float x3 0 Returns the difference between the measured 5 0x05 Read difference quaternion jorientation from last frame and this frame 16 Quaternion float x4 0 Read untared orientation Returns the filtered untared orientation estimate in 6 0 06 quatemion quatemion form 16 Quaternion float x4 0 Read untared orientation Returns the filtered untared orientation estimate in 7 0x07 as euler angles euler angle form 16 Euler Angles float x3 0 Read untared orientation Returns the filtered untared orientation estimate in 8 0 08 as rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Read untared orientation Returns the filtered untared orientation estimate in 9 0x09 as axis angle axis angle form 16 Axis float x3 Angle float 0 Returns the filtered untared orientatio
27. byte 252 0 Read mouse absolute relative mode Return the current mouse absolute relative mode Note that if the sensor has not been reset since it has been put in this mode the mouse will not reflect this change yet even though the command will Absolute or relative mode byte 253 0xfd Set joystick and mouse present removed Sets whether the joystick and mouse are present or removed The first parameter is for the joystick and can be 0 for removed or 1 for present The second parameter is for the mouse If removed they will not ishow up as devices on the target system at all For these changes to take effect the sensor driver may need to be reinstalled Joystick present removed byte Mouse present removed byte 254 Oxfe Get joystick and mouse present removed Returns whether the joystick and mouse are present lor removed Joystick present removed byte Mouse present removed byte 33 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 05
28. chdog timer Disables the watchdog timer 229 0xe5 Enter bootloader mode Places the sensor into a special mode that allows firmware upgrades This will case normal operation until the firmware update mode is instructed to return the sensor to normal operation For more information upgrading firmware refer to the 3 Space Sensor Suite Quick Start Guide 230 0 Read hardware version string Returns a string indicating the current hardware version 32 Hardware version string 231 0xe7 Set UART baud rate Sets the baud rate of the physical UART This setting does not need to be committed but will not ake effect until the sensor is reset Valid baud rates are 1200 2400 4800 9600 19200 28800 38400 57600 115200 default 230400 460800 and 921600 Note that this is only applicable for sensor ypes that have UART interfaces Baud rate int 232 0xe8 Read UART baud rate Returns the baud rate of the physical UART Note hat this is only applicable for sensor types that have UART interfaces Baud rate int 233 0xe9 Set USB Mode Sets the communication mode for USB Accepts one value that can be 0 for CDC default or 1 for FTDI USB communication mode byte 234 0xea Get USB Mode Returns the current USB communication mode USB communication mode byte 235 0xeb Set clock speed Sets the current processor clock speed Possible values are 15
29. d 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 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
30. d the minimum and byte Accelerometer rho 130 0x82 value maximum rho values 9 values float x2 0 Returns the current compass rho mode as well as the value If this mode is set to 0 static this will return the rho mode the static rho value and then a dummy value of 0 If this mode is set to 1 this will Compass rho mode byte return the rho mode and the minimum and Compass rho values float 131 0x83 Read compass rho value maximum rho values 9 x2 0 Reads the amount of time taken by the last filter Last update time in 132 0x84 Read current update rate update step 4 microseconds int 0 Reads the current compass reference vector Note Read compass reference hat this is not valid if the sensor is in Multi Compass reference vector 133 0x85 vector Reference Vector mode 12 float x3 0 Reads the current compass reference vector Note Read accelerometer that this is not valid if the sensor is in Multi Accelerometer reference 134 0x86 reference vector Reference Vector mode 12 vector float x4 0 Reads the current reference vector mode Retum Read reference vector value can be 0 for single static 1 for single auto 2 135 0x87 for single auto continuous or 3 for multi 1 Mode byte Reads the multi reference mode compass reference Read compass multi vector at the specified index Intended for advanced Compass multi reference 136 0x88 reference vector users 12 reference vector float x3 1 ndex byte Reads the multi reference
31. eT 34 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 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
32. ed orientation 0 97 0x61 Tare with quaternion Sets the tare orientation to be the same as the supplied orientation which should be passed as a quaternion 16 Quatemion float x4 98 0 62 Tare with rotation matrix Sets the tare orientation to be the same as the supplied orientation which should be passed as a rotation matrix 36 Rotation Matrix float x9 99 0x63 Set static accelerometer rho mode Determines how trusted the accelerometer contribution is to the overall orientation estimation Higher values mean that the accelerometer is less rusted Accelerometer rho value float 100 0x64 Set confidence laccelerometer rho mode Determines how trusted the accelerometer contribution is to the overall orientation estimation Instead of using a single value uses a minimum and maximum value Rho values will be changed within his range depending on the confidence factor This can have the effect of smoothing out the accelerometer when the sensor is in motion Minimum accelerometer rho value float Maximum accelerometer rho value float 101 0x65 Set static compass rho mode Determines how trusted the accelerometer contribution is to the overall orientation estimation Higher values mean that the compass is less rusted Compass rho value float 102 0x66 Set confidence compass rho mode Determines how trusted the compass contribution is o the over
33. erometer and compass the sensor needs a reference vector for each to compare to the data read from it The most obvious choice for these are the standard direction of gravity down and the standard direction of magnetic force north respectively However the sensor does provide several different modes for determining which reference vector to use 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 5 Orientation Filtering The 3 Space Sensor provides several different modes for providing orientation estimation Note also that IMU data collection rate is bound to the update rate of the
34. formation 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 the 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 added to each axis 2 The three axes are treated as a vector and multiplied by a matrix representing scale and cross axis parameters Factory calibration provides default values fo
35. gles 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 Healthcare 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 Da
36. his control s mode The control classes and indices are the same as described in command 244 Handler index byte Control class byte control index byte 247 0xf7 Read control data Reads the value of a certain parameter of the specified control s operation mode The control classes and indices are the same as described in command 244 Data point float Control class byte control index byte data point index byte 248 0xf8 Set button gyro disable length Determines how long in frames the gyros should be disabled after one of the physical buttons on the sensor is pressed A setting of 0 means they won t be disabled at all This setting helps to alleviate gyro disturbances cause by the buttons causing small shockwaves in the sensor Number of frames byte 249 0xf9 Get button gyro disable lentgh Returns the current button gyro disable length Number of frames byte 250 0 03 Read button state Reads the current state of the sensor s physical buttons This value returns a byte where each bit represents the state of the sensor s physical buttons Button state byte 251 0xfb 561 mouse absolute relative mode Puts the mode in absolute or relative mode This change will not take effect immediately and the sensor must be reset before the mouse will enter this mode The only parameter can be 0 for absolute default or 1 for relative Absolute or relative mode
37. ion Return Data Len Return Data Details Data Len Data Details 64 0 40 Read all raw component sensor data Returns the raw gyro rate vector accelerometer vector and compass vector as read directly from the component sensors without any additional post processing The range of values is dependent on the currently selected range for each respective sensor 36 Gyro Rate in counts per degrees sec Vector x3 Acceleration Vector in counts per g Vector x3 Compass Vector in counts per gauss Vector x3 65 0 41 Read raw gyroscope rate Returns the raw gyro rate vector as read directly from the gyroscope without any additional post processing 12 Gyro Rate in counts per degrees sec Vector x3 66 0 42 Read raw accelerometer data Returns the raw acceleration vector as read directly from the accelerometer without any additional post processing 12 Acceleration Vector in counts per g Vector x3 67 0x43 Read raw compass data Returns the raw compass vector as read directly from the compass without any additional post processing 12 Compass Vector in counts per gauss Vector x3 4 3 7 Configuration Write Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 96 0x 60 Tare with current orientation Sets the tare orientation to be the same as the current filter
38. ions Weight power float 123 0x7b Set filter mode Used to disable the orientation filter or set the orientation filter mode Changing this parameter can be useful for tuning filter performance versus orientation update rates Passing in a parameter of 0 places the sensor into IMU mode a 1 places the sensor into Kalman Filtered Mode Default mode a 2 places the sensor into Alternating Kalman Filter Mode and a 3 places the sensor into Complementary Filter Mode More information can be found in Section 3 1 5 This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 28 User s Manual Return Data Command Description Long Description Data Len Return Data Details Len Data Details Used to further smooth out the orientation at the cost of higher latency Passing in a parameter of 0 places the sensor into a static running average mode a 1 places the sensor into a confidence based running average mode which changes the running average factor based upon the confidence factor which is a measure of how in motion the sensor is This setting can be saved to non volatile 124 0x7c Set running average mode flash memory using the Commit Settings command 0 1 Mode Byte Only parameter is the new gyroscope range which can be 0 for 250 DPS 1 for 500 DPS
39. le lauto mode which 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 calculate the compass reference vector once upon initiation of this mode 2 for single auto continuous mode which works similarly to single auto mode but calculates this continuously or 3 for multi reference mode which uses a collection of reference vectors for the compass and accelerometer both and selects which ones to use before each step of the filter Mode Byte Pin Byte 106 0x6A Set oversample rate Sets the number of times to sample each component sensor for each iteration of the filter This can smooth out readings at the cost of performance If this value is set to 0 or 1 no oversampling occurs otherwise the number of samples per iteration depends on the specified parameter up to a maximum of 10 This setting can be saved to non volatile flash memory using the Commit Settings command Samples Per Iteration Byte 107 0x6B Enable disable gyroscope Enable or disable gyroscope readings as inputs to he orientation estimation Note that updated gyroscope readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 108 0x6C Enable disable laccelerometer Enable or disable accelerometer readings as inputs o the orientation estimation Note that
40. mand 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 22 User s Manual 4 3 Protocol Packet Format SPl 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 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
41. mode compass reference Compass multi reference Read compass multi check vector at the specified index Intended for reference check vector 137 0x89 check vector advanced users 12 float x3 1 6 byte Reads the multi reference mode accelerometer Accelerometer multi Read accelerometer multi reference vector at the specified index Intended for reference reference vector 138 0x8a reference vector advanced users 12 float x3 1 Index byte Reads the multi reference mode accelerometer Accelerometer multi Read accelerometer multi reference check vector at the specified index reference reference check 139 0x8b check vector Intended for advanced users 12 vector float x3 1 ndex byte Returns a value indicating whether the gyroscope Read gyroscope enabled contribution is currently part of the orientation Gyroscope enabled value 140 0x8c state estimate 0 for off 1 for on 1 byte 0 Returns a value indicating whether the accelerometer Read accelerometer contribution is currently part of the orientation Accelerometer enabled 141 0x8d enabled state estimate O for off 1 for on 1 value byte 0 Returns a value indicating whether the compass Read compass enabled contribution is currently part of the orientation Compass enabled value 142 0x8e state estimate 0 for off 1 for on 1 byte 0 29 User s Manual
42. n estimate in Read untared orientation two vector form where the first vector refers to north North Vector float x3 10 0x0A as two vector land the second refers to gravity 24 Gravity Vector float x3 0 Returns the filtered tared orientation estimate in two vector form where the first vector refers to forward and the second refers to down These vectors are Read tared two vector in given in the sensor reference frame and not the Forward Vector float x3 11 0x0B sensor frame global reference frame 24 Down Vector float x3 0 Returns the filtered tared orientation estimate in two vector form where the first vector refers to forward land the second refers to down These vectors are Read untared two vector in given in the sensor reference frame and not the North Vector float x3 12 0x0C sensor frame global reference frame 24 Gravity Vector float x3 0 24 User s Manu al 4 3 2 Embedded Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Sets the interrupt mode of the sensor First parameter is mode which can be 0 for off 1 for pulse mode 2 for level 3 for SPI pulse Second parameter is pin which can be 0 for TXD or 1 for 29 0x1D Set interrupt type MISO 0 2 Mode Byte Pin Byte Read the interrupt mode of the sensor Fi
43. nts 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 15 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 Gyroscope Coefficients Determines the scale bias and cross axis parameters for the gyroscope Factory calibrated Accelerometer Enabled Determines whether the compass is enabled or not TRUE Compass Enabled Determines whether the accelerometer is enabled or not TRUE Gyroscope Enabled Determines whether the gyroscope is enabled or not TRUE Filter Mode Determines how
44. of Sensor Operation nennen nennen nns 6 2 6 SDeCIfICatlOlS OS eee qe un ne Qe eS 7 2 7 Electrical Characteristics oen e dead enr er DRE I as E RE VET RETE RON 8 2 71 Absolute Maximum Ratings sie HW ecd i A See 8 2 12 DC Ch racteristlGS ite eei E ee ee i e ope pere ht 8 2 7 3 U SB Characteristies betel sah tide aute d P HD RP NH der 8 2 7 4 Asynchronous Serial Characteristics nennen nennen 8 27 5 SPEGharacteristies CORRER EI Is Gr YR ee 9 D8 AXIS ASSIOMMEN tes a ossa mn Eier EEUU eee RC HER ERE USATE PE ved 10 3 Description of the 3 Space 56 50 eren ennt 11 3 1 Orientation Estimation incini iei dte eet ei Fe re HH RAE IER qe nee HR UR 11 3 I 1 Compotient SensOfs c eie ern eh ce donee cul owes se pee iud 11 3 1 2 Scale Bias andi Cross Axis Effect e EE EHE 11 3313 Additional Calibration tete ct a ee e RR EU E RO ER EE 3 12 Sel A Reference Vectors 4 uie atttem Snnt det ated Eua 12 3 1 5 Orientation Filtering ch te e e aye e i e iie eee 12 3 1 6 Reference Orientation Taring tn eee pe ere ORE UR ert eter I 13 3 17 Other Estimation Parameters nette e Soe RE ERE ERO EU d epa 13 3 2 9 61641 01111119 1 1 9 99
45. owing pages 4 1 2 Computer Interfacing Overview When interfacing with a computer the 3 Space Sensor presents itself as a COM port which provides an interface by which the serial communication the protocol requires may happen The name of this COM port is specific to the operating system being used It is possible to use multiple 3 Space Sensors on a single computer Each will be assigned its own COM port The easiest way to find out which COM port belongs to a certain sensor is to take note of what COM port appears when that sensor is plugged in provided the drivers have been installed on that computer already Otherwise find out what COM port appears once driver installation has finished For more information on how to install the sensor software on a computer and begin using it see the Quick Start guide 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
46. r 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 mouse 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 mean
47. r 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 Additional Calibration The 3 Space Sensor provides multiple calibration modes that can improve performance at the cost of additional setup and calibration routines For more information on setting these additional modes please refer to command 169 Bias Mode Applies default range scaling to raw data readings Also applies a bias offset to raw data the values of which are taken from the provided calibration parameters command See section 4 3 7 for more information Bias Scale Mode The default calibration mode Applies default range scaling to raw data readings Also applies a bias offset to the raw data as well as an additional scale matrix Uses matrix and vector from the provided calibration parameters command Ortho Calibration Mode A more advanced calibration mode that requires initial setup steps Please refer to the 3 Space Suite Quick Start Guide for information on how to supply ortho calibration data Uses 24 orthogonal data points to provide accelerometer and compass correction factors for enhanced orientation accuracy 3 1 4 Reference Vectors In order to get an absolute estimation of orientation from the accel
48. range which can be 0 for 0 88G 1 for 1 3G 2 for 1 9G for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6G or Compass range setting 155 0x9b Read compass range 7 for 8 1G 1 byte 0 30 User s Manual 4 3 9 Calibration Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 160 0xa0 Set compass calibration coefficients Sets the current compass calibration parameters to the specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non volatile flash memory using the Commit Settings command 48 Bias float x3 Matrix float x9 161 0xa1 Set accelerometer calibration coefficients Sets the current accelerometer calibration parameters to the specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non volatile flash memory using the Commit Settings command 48 Bias float x3 Matrix float x9 162 0xa2 Read compass calibration coefficients Return the current compass calibration parameters 48 Bias float x3 Matrix float x9 163 0xa3 Read accelerometer calibration coefficients Return the current accelerometer calibration parameters 48 Bias float x3 Matrix floa
49. rb 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 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
50. rom 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 21 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 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
51. rst parameter is mode which will be O for off 1 for pulse mode 2 for level 3 for SPI pulse Second parameter 30 0x 1E Read interrupt type is pin which will be 0 for TXD or 1 for MISO 2 Mode Byte Pin Byte 0 Read the current interrupt status This value will be 1 if the filter has updated since the last time the value 31 0x1F Read interrupt status was read or 0 otherwise 1 Status Byte 0 4 3 3 Normalized Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Returns the normalized gyro rate vector laccelerometer vector and compass vector Note that the gyro vector is in units of radians sec while the laccelerometer and compass are unit length vectors Gyro Rate Vector x3 indicating the direction of gravity and north Gravity Direction Vector Read all normalized respectively These two vectors do not have any x3 North Direction Vector 32 0x20 component sensor data magnitude data associated with them 36 x3 0 Returns the normalized gyro rate vector which is in 33 0x21 Read normalized gyro rate units of radians sec 12 Gyro Rate Vector x3 0 Returns the normalized accelerometer vector Note that this is a unit vector indicating the direction of Read normalized gravity This vector does not have any magnitude Gravity Direction Vector 34 0x22 laccelerometer vector data associated with it 12 x3 0 Returns the normalized compass vector Note that this is a unit vector indica
52. s 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 14 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 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 e The positive Z axis poi
53. sections below describe the necessary pin connections and typical circuits used for using each of the respective interface options 17 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 Inpu
54. t Active Low Input to Module Additionally the following optional 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 The following schematic diagram illustrates typical SPI interface connections Typical Connection to SPI Master YEI TSS EMv1 0 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 pulse mode where the pin is set low for 5 microseconds and then pulled back to high or it can be set to level mode where the pin is set low until the interrupt status is read see command 18 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 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 5 TxD INT Configurable as filter update interrupt when asynchronous serial interface is unused 20 User s Manual
55. t x9 164 0xa4 Read gyroscope calibration coefficients Return the current gyroscope calibration parameters 48 Bias float x3 Matrix float x9 165 0xa5 Begin gyroscope auto calibration Performs auto gyroscope calibration Sensor should remain still while samples are taken The gyroscope bias will be automatically placed into the bias part of the gyroscope calibration coefficient list 166 0xa6 Set gyroscope calibration coefficients Sets the current gyroscope calibration parameters to the specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non volatile flash memory using the Commit Settings command 48 Bias float x3 Matrix float x9 169 0xa9 Set calibration mode Sets the current calibration mode which can be 0 for Bias 1 for Scale Bias and 2 for Ortho Calibration For more information refer to section 3 1 3 Additional Calibration This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 170 0xaa Read calibration mode Reads the current calibration mode which can be 0 for Bias 1 for Scale Bias or 2 for Ortho Calibration For more information refer to section 3 1 3 Additional Calibration Mode byte 171 0xab Set ortho calibration data point from current orientation Set the ortho calibration compass
56. t to Module 7 8 GND Ground Only one ground pad must be connected 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 18 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 19 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 Selec
57. ta 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 follow follow the suggested SMT footprint below TSS EM Suggested SMT Footprint P 23 00 1 50 1 00 m E No vias holes A or pads EY 2 54 4 LE 2 16 iib 50 11 11 11 50 Top View All dimensions in mm liL Additionally since PCB layout can affect the performance of the 3 Space Embedded module observe the following layout guidelines 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 distu
58. ter 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 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 in
59. ter 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 13 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 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 numbe
60. 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 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 an
61. ting the direction of gravity Read normalized compass This vector does not have any magnitude data 35 0x23 vector associated with it 12 North Direction Vector x3 0 4 3 4 Other Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 36 0x24 Read temperature C Returns the temperature of the sensor in Celsius 4 Temperature float 0 37 0x25 Read temperature F Returns the temperature of the sensor in Fahrenheit 4 Temperature float 0 Returns a value indicating how much the sensor is being moved at the moment This value will return 1 ifl the sensor is completely stationary and will return 0 if it is in motion This command can also return values in between indicating how much motion the 38 0x26 Read confidence factor sensor is experiencing 4 Confidence Factor float 0 4 3 5 Corrected Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Returns the acceleration vector in units of G Note Read corrected that this acceleration will include the static Acceleration Vector in units 39 0x27 laccelerometer component of acceleration due to gravity 12 of G float x3 0 Compass Vector in units of 40 0x28 Read corrected compass Returns the compass vector in units of gauss 12 gauss float x3 0 25 User s Manual 4 3 6 Raw Data Commands Command Description Long Descript
62. 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 kit 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
63. ular orientation up to a maximum of 32 Intended for advanced users Resolution Byte Number of Check Vectors Byte 112 0x70 Set compass mulfi reference vector Directly set the multi reference compass vector at the specified index First parameter is index second parameter is compass vector Intended for advanced users 13 Index Byte Compass Reference Vector float x3 113 0 71 Set compass multi reference check vector Set the compass reading to be used as a check vector to determine which cell index to draw the reference vector from First parameter is an index second parameter is the compass vector Intended for advanced users 13 Index Byte Compass Check Vector float x3 114 0x72 Set accelerometer multi reference vector Directly set the multi reference accelerometer vector at the specified index First parameter is index parameter is compass vector Intended for ladvanced users 13 Index Byte Accelerometer Reference Vector float x3 115 0x73 Set accelerometer multi reference check vector Set the accelerometer reading to be used as a check vector to determine which cell index to draw the reference vector from First parameter is an index second parameter is the accelerometer vector Intended for advanced users 13 Index Byte Accelerometer Check Vector float x3 27 User s Manual
64. ust 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 7 Other Estimation Parameters The 3 Space Sensor offers a few other parameters to filter the orientation estimate Please note that these only affect the final orientation and not the readings of individual component sensors e Oversampling Oversampling causes the sensor to take extra readings from each of the component sensors and average them before using them to estimate orientation This can reduce noise but also causes each cycle to take longer proportional to how many extra samples are being taken Running Average The final orientation estimate can be put through a running average which will make the estimate smoother at the cost of introducing a small delay between physical motion and the sensor s estimation of that motion e Rho Values 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 accelerome
65. will be shut off completely Maximum value is 97 This setting can be saved to non volatile flash memory using the Commit Settings command Running Average Percent float 118 0x76 Set compass reference vector Sets the static compass reference vector for Single Reference Mode 12 Compass Reference Vector float x3 119 0x77 Set accelerometer reference vector Sets the static accelerometer reference vector for Single Reference Mode 12 Accelerometer Reference Vector float x3 120 0x7c Reset Kalman filter Resets Kalman filter s state and covariance matrices 121 0x79 Set accelerometer range Only parameter is the new accelerometer range which can be 0 for 2g Default range which can be 1 for 40 or 2 for 89 Higher ranges can detect and report larger accelerations but are not as accurate for smaller accelerations This setting can be saved to non volatile flash memory using the Commit Settings command Accelerometer range setting byte 122 0x7a Set multi reference weight power Set weighting power for multi reference vector weights Multi reference vector weights are all raised to the weight power before they are summed and used in the calculation for the final reference vector Setting this value nearer to 0 will cause the reference vectors to overlap more and setting it nearer to infinity will cause the reference vectors to influence a smaller set of orientat

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