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3-Space Sensor User`s Manual Wireless

1. 55 User s Manual 4 3 Wireless Protocol Packet Format 4 3 1 Wireless Communication Format The protocol for communicating with sensors wirelessly is very similar to the wired protocol but includes accommodations for wireless unit addressing and wireless communication failures Thus all wireless communication messages now also include an address specifying which sensor they are to be sent to Additionally each wireless protocol command returns status information pertaining to the success or failure of the wireless command 4 3 2 Binary Packet Format The wireless binary packet format is very similar to the wired format Each packet consists of an initial address 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 wireless binary packet is at least 4 bytes in length and is formatted as shown here 248 0xF3 First Byte Start of Packet Logcal ID second Byte Logical ID Third Byte Command Value Command Selected from the command chart Command D ata Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command D ata Checksum Last Byte Packet Checksum Sum of all other bytes ex cept the first d
2. 3 Space Sensor Y 3 Space Sensor Miniature Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www Y eiTechnology com www 3SpaceSensor com Patents Pending 2007 2014 Yost Engineering Inc Printed in USA This page intentionally left blank This page intentionally left blank 3 Space Sensor 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 Patented and Patents Pending 2007 2014 Yost Engineering Inc Printed in USA Table of Contents 1 Usage Safety Considerations A a aia 1 1 Usage Conditions ficus eege DEE NK ER Tee ER 1 3 Regulatory Approval eee 1 3 1 United States FCC Approval E EE Lee EE L3A3 European Approval 32 dEEAEEENE SEENEN EE EEAENEAEEEE EEN ve 1 4 B ttery Safety Considerations oaea A ed Ee Dear 2 Overview of the YEI 3 Space Sensors ege Aa edad 2 1 Introduction 2 2 Applications Ded SENSOr KEE E Wireless Sensors EE 2 3 1 1 Wireless Sensor Hardware Overview 2 3 1 2 Wireless Dongle Hardware Overview csccsscssessesseeseeserseeseeseesecseeseeseesecsesaeeseesessesaeeseesesaeesessesseesessaeeeaeenaeessaee 2 3 13 Wireless Sensor EE 2 3 1 4 Wireless Sensor Block Diagram d
3. 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 0v Power consumption 45mA 5v Communication interfaces USB 2 0 SPI Asynchronous Serial Filter update rate up to 250Hz with Kalman AHRS higher with oversampling up to 850Hz with QCOMP AHRS higher with oversampling up to 1350Hz in IMU mode 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 Sensor Orientation range 360 about all axes Orientation accuracy 1 average for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 8g selectable for standard models 68 12g 24g selectable for HH models 100g 200g 400g selectable for H3 models Accelerometer resolution 14 bit 12 bit HH 12 bit H3 Accelerometer noise density 99ug VHz 650ug VHz HH 15mg VHz H3 Accelerometer sensitivity 0 00024g digit 0 00096g digit 0 003g digit 0 012 digit HH 0 0
4. 66 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 120 0x78 Reset filter Resets the state of the currently selected filter 0 121 0x79 Set accelerometer range Only parameter is the new accelerometer range which can be 0 for 2g Default range which can be 1 for 4g or 2 for 8g 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 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 Q COMP Filter Mode a 3 places the sensor into Q GRAD Filter Mode More information can be found in the Orientation Filtering section This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 124 0x70 Set running average mode Used to further smooth out the orientation at the cost of higher latency Passing in a parameter of 0 places the sensor into a static running average mode a 1
5. State Undefined The diagram and parameter table below illustrates additional timing requirements and limits of the SPI interface SPlucik SCK SPlsckamosi MOSI SPlsckzmiso 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 SPIsck2mosi SPI MOSI Hold time after SPI SCK rises 1 5 ns 27 User s Manual 2 3 5 Bluetooth Sensor 2 3 5 1 Bluetooth Sensor Hardware Overview 4 Indicator LED 5 Input Button 2 3 Input Button 1 2 Recessed Power Switch 4 USB Connector 1 USB Connector The 3 Space Sensor uses a 5 pin mini USB connector to connect to a computer via USB and to charge the internal battery The USB connector provides for both power and communication signals 2 Recessed Power Switch The 3 Space Sensor can be switch on and off when powered from the internal battery by using the recessed power switch When connected via USB the unit is powered and the batteries will begin recharging regardless of the position of the recessed power switch 3 Input Button 1 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the
6. User s Manual 4 3 3 Binary Command Response Weg When a binary command is invoked wirelessly before the data it would normally return in wired mode it will return status bytes First is the success byte which is a 0 if the command was successful and non 0 if it was not Some things which can cause a failure are The lack of corresponding wireless sensor at the specified address Wireless communication errors or dropped packets Improper command formatting or data length First Byte Success or Failure Indicates whether the command was received and processed Second Byte Logical ID Wireless Logical ID of sensor which responded Third Byte Data Length Length of response data which follows Not present on failure Response Data Zero or more bytes representing aresponse from a command See the command chart for details Second is the address byte This indicates which sensor sent the response If the success byte is zero the data length byte will be present after this byte If the success byte is non zero the data length byte will not be present at all Assuming the command succeeded the response data will be present directly after the data length byte 4 3 4 Sample Binary Commands Command Description Potential Response F8 01 00 01 Read orientation as a quaternion from sensor 1 00 01 10 00 00 00 00 00 00 00 00 00 00 00 00 3F 80 00 00 F8 05 6A 02 71 Set oversample rate to 2 o
7. Pause streaming Prevents the dongle from outputting wirelessly streamed data This can be useful in the case that certain data responses are desired but an influx of streaming data prevents these from being read in a timely manner 86 0x56 Resume streaming Resumes the dongle s outputting of wirelessly streamed data This command has no effect if the sensor was not paused 182 0xb6 Broadcast synchronization pulse Sends out a timestamp synchronization broadcast message to all wireless sensors that are listening on the same channel and PanID as the dongle The message will essentially set each receiving sensor s timestamp to the same timestamp as stored in the dongle 183 0xb7 Get reception bitfield Returns a bitfield where bits corresponding to logical IDs will be set to 1 if the corresponding sensor has sent a wireless packet to the dongle since the last time this command was called Calling this command will clear all bits to 0 Wireless reception bitfield short 208 0xd0 Get serial number at logical ID Return the mapped serial number for the given logical ID Serial number int Logical ID Byte 209 0xd1 Set serial number at logical ID Set the mapped serial number given by the logical ID This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command Logical ID Byte Serial number int 210 0xd2 Get wireless ch
8. Set wireless HID asynchronous mode Sets the current wireless HID communication mode Supplying a O makes wireless HID communication synchronous while a 1 makes wireless HID asynchronous For more information refer to the Input Device Emulation section This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command HID communication mode byte 218 0xda Get wireless HID asynchronous mode Returns the current wireless HID communication mode which can be a 0 for synchronous wireless HID or a 1 for asynchronous wireless HID HID communication mode 240 0xf0 Set joystick logical ID Causes the sensor at the specified logical ID to return joystick HID data Passing a 1 will disable wireless joystick data For more information refer to the Input Device Emulation section Joystick logical ID signed byte 241 0xf1 Set mouse logical ID Causes the sensor at the specified logical ID to return mouse HID data Passing a 1 will disable wireless mouse data For more information refer to the Input Device Emulation section Mouse logical ID signed byte 242 0xf2 Get joystick logical ID Returns the current logical ID of the joystick enabled sensor or 1 if none exists Joystick enabled logical ID byte 243 0x13 Get mouse logical ID Returns the current logical ID of the mouse enabled sensor or 1 if none exists Mouse e
9. 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 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 VIH Input High level Voltage 2 0 5 5 Vv VoL Output Low level Voltage 0 4 V VoH Output High level Voltage 2 6 Vv ToL Output Low level Current 4 mA Jon Output High level Current 4 mA Cin Input Capacitance 7 pF Tact Active Current Consumption 45 60 mA 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 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
10. Periodic Capture Time Determine how long to capture data in a period in ms 5000 Periodic Rest Time Determine how long to rest in a period in ms 5000 Stop Event Determine how a session is stopped right button Stop Event Motion Threshold Determine how much motion stops a session in g 0 3 Stop Event Capture Count Determine how many captures to perform before stop 100 Stop Event Capture Duration Determine how long to capture before stop in ms 5000 Stop Event Period Count Determine how many periods before stopping 1 Post Stop Gather Time Determine how long to capture after stop 0 File Stub Determine name of data log data File Mode Determines how to put data in files append Data Mode Determines how data is written ascii File Info Header Enabled Determines whether or not to have a file header 1 46 User s Manual 3 5 5 LED Capture Behavior The RGB LED can be used as an indicator of the current state of the sensor Below is a summary of the LED meanings Solid Blue or solid currently set custom color setting Power on and no data logging session in progress Yellow A data logging session is in progress but a sample is not currently being taken Green The LED will emit a green flash and return to yellow when a data logging sample is taken Red double pulse MicroSD media not present or file system error Red Single Pulse when not plugged into USB Battery low battery
11. initialized to 0 Retries Determines number of retries dongle will attempt on failed 3 transaction Joystick Logical ID Determines the logical ID of the device that will act as the 1 joystick or 1 if there is no joystick desired Mouse Logical ID Determines the logical ID of the device that will act as the 1 mouse or 1 if there is no mouse desired HID Update Rate Update rate for requesting joystick mouse information in 15 67 hz milliseconds HID Asynchronous Mode Determines whether joystick mouse data transmission is 0 asynchronous Wireless Response Header Determines what kind of data is prepended to wireless 0 Bitfield response data Wireless Response Header Bitfield 42 User s Manual 3 5 Data Logging 3 5 1 Mass Storage Device The Data Logging 3 Space Sensor exposes the contents of its SD card to a computer by enumerating as a Mass Storage device in addition to a virtual COM port Upon being connected to a computer through USB the sensor will cease any current data logging session and will cede control of the SD card to the computer as both the computer and the sensor cannot write to the SD card without coming into conflict No further data logging can be done at this point until the computer no longer controls the SD card Unplugging the sensor will return control of the SD card to it Also the sensor has a Mass Storage Off mode which will return control of the SD
12. 195 0xc3 Set wireless channel Set the current channel for this wireless sensor or dongle For more information refer to the Wireless Sensor Terminology section This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command Channel byte 197 0xc5 Commit wireless settings Commits all current wireless 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 the Sensor Settings section 198 0xc6 Get wireless address Read the wireless hardware address for this sensor or dongle Address short 4 6 1 3 Wireless HID Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 215 0xd7 Set wireless HID update rate Specify the interval at which HID information is requested by the dongle The default and minimum value is 15ms in synchronous HID mode In asynchronous HID mode the minimum is 5ms This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command Last packet signal strength byte HID update rate in milliseconds byte 216 0xd8 Get wireless HID update rate Return the interval at which HID information is requested by the dongle HID update rate in milliseconds 217 0xd9
13. 2 3 1 5 Wireless Sensor Specifications eeh dE ENEE eeeEdedEded conddsateecensnccbsesoaUecceaesdedcedeces cosdssaacusessavence didas 2 3 1 6 Wireless Sensor Physical Dimensions cnn onnonn canon ona R Neea nana ee atere 2 3 1 7 Wireless Sensor Terminology 2 3 1 8 WirelessiSensor LED EE EA SL TR EE 2 3 2 USB Sensor Hardware CIu ti ww uerger Reeg EENS deed eet 23 2 2 USB Sensor EE A A Ree 12 23 23 U SB Sensor E Ee E 13 2 3 2 4 USB Sensor EE 14 23 29 USB Sensor Physical DiMensSiONS ici iodo 15 2 333 Data LO O A AA AL eee 16 2 3 3 Data Logging Hardware OY Weiss e de 16 23 3 2 Data Loe pings Features tot o EE EE 17 2 3 3 3 Data Logging Block Diagram 18 2 3 3 4 Data Logging Sensor Specifications 19 2 3 3 5 Data Logging Sensor Physical Dmenstons noc on conc nana conc rn conc an cana rn ran an canon rn nrn rin 20 2 3 4 Embedded SENSO A As 21 2 3 4 1 Embedded Sensor Hardware Ohvervieuw ieniee onire a E E A E N D aei eede 21 239 1 Pin EEN 21 PA E E 22 2 3 4 3 Embedded Sensor Features 23 2 3 4 4 Embedded Sensor Block Diagram cecescecessesesscesceeeeeceseescecesesseeacsseeseaeeseesessceaeesesseesessesseeaeesesaeeneens 24 2 3 4 5 Embedded Sensor Specifications ives ei dee est i a deter e aE dE See ae ESE i 25 2 3 4 6 Embedded Sensor Electrical Charactertsttcs nica rar 26 ERT 28 2 3 5 1 Bluetooth Sensor Hardware Overview sssecsecssoaterwessscgassestestssuecg teas ESEE AKO EENE E KOE
14. C HH H3 Gyro scale 250 4500 1000 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 009 sec VHz Gyro bias stability 25 C 2 5 hr average for all axes Gyro sensitivity 0 00833 sec digit for 250 sec 0 0666 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 03 C Compass scale 0 99 Ga to 8 1 Ga selectable 1 3 Ga default Compass resolution 12 bit Compass sensitivity 0 73 mGa digit Compass non linearity 0 1 full scale 1 Depends upon communication mode and filter mode 2 Average value when calibrated Specifications are subject to change 19 User s Manual 2 3 3 5 Data Logging Sensor Physical Dimensions TSS DL Handheld Case TSS DL S Strapdown Case All dimensions in mm All dimensions in mm 20 User s Manual 2 3 4 Embedded Sensor 2 3 4 1 Embedded Sensor 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 5 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
15. 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 4 1 4 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 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 49 User s Manual The following schematic diagram illustrates typical logic level asynchronous serial interface connections Typical Connecti
16. 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 SPI Characteristics The Serial Peripheral Interface or SPI is a full duplex synchronous serial communication standard that is commonly 26 User s Manual 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 1 1 1 H H H H i i H H 1 1 1 1 MOSI Ey SE EE GR Er Ear EE E from host MISO from module ISS from host
17. 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 31 0x1f 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 pin interrupt mode and which pin it uses see command 29 0x1d 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 51 User s Manual 4 1 3 5 Button Settings The Embedded 3 Space Sensor may be set up to have some of its pins act as digital inputs or buttons These buttons are used in the same way as the physical buttons on other versions of the 3 Space Sensor in that the HID communication can report their state and their state can also be requested through the button state command command 250 Oxfa This mode can be enabled using command 29 0x1d Buttons are enabled in pairs and using button mode will disable either the serial communication or the SPI communicati
18. angle form 12 Euler Angles float x3 0 Get tared orientation as Returns the filtered tared orientation estimate in 2 0x02 rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Get tared orientation as Returns the filtered tared orientation estimate in Axis float x3 Angle in 3 0x03 axis angle axis angle form 16 Radians float 0 Returns the filtered tared orientation estimate in two Get tared orientation as vector form where the first vector refers to forward Forward Vector float x3 4 0x04 two vector and the second refers to down 24 Down Vector float x3 0 Returns the difference between the measured 5 0x05 Get difference quaternion _jorientation from last frame and this frame 16 Quaternion float x4 0 Get untared orientation as Returns the filtered untared orientation estimate in 6 0x06 quaternion quaternion form 16 Quaternion float x4 0 Get untared orientation as Returns the filtered untared orientation estimate in 7 0x07 euler angles euler angle form 12 Euler Angles float x3 0 Get untared orientation as Returns the filtered untared orientation estimate in 8 0x08 rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Get untared orientation as Returns the filtered untared orientation estimate in Axis float x3 Angle in 9 0x09 axis angle axis angle form 16 Radians float 0 Returns the filtered untared orientation estimate in Get untared orientation as two vector form where the first ve
19. key features e Small self contained high performance wireless AHRS at 35mm x 60mm x 15mm and 28 grams e Integrated 2 4GHz DSSS wireless communication interface allows high performance at ranges up to 200 e Integrated Rechargeable Lithium Polymer battery and charge control allows battery life of 5 hours at full performance e Fast sensor update and filter rate allow use in real time applications including stabilization virtual reality real time immersive simulation and robotics e Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction e Advanced integrated orientation filtering allows sensor to automatically reduce the effects of sensor noise and sensor error e Robust open protocol allows commands to be sent in human readable form or more quickly in machine readable form e Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix axis angle two vector e Absolute or custom reference axes e Access to raw sensor data e Flexible communication options USB 2 0 or wireless 2 4GHz DSSS FCC Certified e 2 4Ghz DSSS wireless communication allows orientation sensing without any wires making activities requiring a high level of mobility like motion capture possible e Wireless sensors have configurable wireless channel selection and network PAN Ids to allow multiple sensors to communicate simultaneously with
20. 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 35 User s Manual 3 1 6 Orientation Filtering The 3 Space Sensor provides several different modes for providing orientation estimation Note also that IMU data collection rate is bound to the update rate of the filter For more information on setting these additional modes please refer to command 123 e Kalman Filter The default filter mode Normalized sensor data and reference vectors are fed into the Kalman filter which uses statistical techniques to optimally combine the data into a final orientation reading Provides the highest accuracy orientation fusion but at the cost of sample rate e Q COMP Quaternion Complementary Filter A faster method of fusing compass acc
21. of this mode is to allow the gyroscope to take over when the accelerometer is giving readings that include more than gravity or when the compass is being affected by unusual magnetic forces Note that the each filter mode Kalman Q COMP Q Grad has its own set of trust values that can only be read or set while the sensor is in that filter mode 37 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 any of the available communication interfaces on your 3 Space Sensor Make sure to consult the right section for the communication method you are using wired wireless or SPI Note that Bluetooth wireless communication is actually performed through the wired protocol not the wireless protocol A complete description of how to use this protocol is given in the 3 Space Sensor Usage Protocol section You may also use the 3 Space Suite which provides a graphical method to change sensor parameters and gather data To learn how to use this refer to the 3 Space Suite manual 3 2 1 Wired Streaming Mode The default mode of communication for the 3 Space Sensor is a call and response paradigm wherein you send a command and then receive a response The sensor also features a streaming mode where it can be instructed to periodically send back the response from up to 8 commands without a
22. or relative mode This change will not take effect immediately and the sensor must be reset before the mouse will enter this mode The only parameter can be 0 for absolute default or 1 for relative Absolute or relative mode byte 252 0xfc Get 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 O for removed or 1 for present The second parameter is for the mouse 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 Joystick present removed byte Mouse present removed byte 254 0xfe Get joystick and mouse present removed Returns whether the joystick and mouse are present or removed Joystick present removed byte Mouse present removed byte 72 User s Manual 4 6 Product Specific Commands 4 6 1 Wireless Specific Commands 4 6 1 1 Dongle Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 85 0x55
23. pan ID serves the purpose of separating units into clusters or networks such that a unit with one pan ID cannot communicate with a unit on another pan ID Channel Refers to the frequency on which a given unit transmits or receives upon There are 16 available channels ranging from 11 26 inclusive Certain channels may be more well suited for wireless communication than others at any given time Refer to the command listing to find out how to scan channels Like the pan ID units with different channels cannot communicate with each other Address Each unit has a unique built in and unchangeable address also referred to as hardware ID which can be found etched into the back of wireless units When communicating with a unit addresses are not used directly Instead a mapping is provided in the form of logical IDs Logical ID Since direct addresses are cumbersome these are provided as a means to easily communicate with a given unit There are 15 such logical IDs Each logical ID can be mapped to a hardware address to ease communication A table of logical IDs and their corresponding hardware addresses can be found inside the suite under the Dongle sub menu under Dongle Info amp Wireless Settings For more information on reading or setting logical IDs please refer to the command chart User s Manual 2 3 1 8 Wireless Sensor LED Both the dongle and wireless unit have built in LEDs that are meant to convey informatio
24. 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 flash memory using the Commit Settings command Mode Byte 125 0x7d Set gyroscope range Only parameter is the new gyroscope range which can be 0 for 250 DPS 1 for 500 DPS 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 Commit Settings command Gyroscope range setting Byte 126 0x7e Set compass range Only parameter is the new compass range which can be 0 for 0 88G 1 for 1 3G Default range 2 for 1 9G 3 for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6G or 7 for 8 1G Higher ranges can detect and report larger magnetic field strengths but are not as accurate for smaller magnetic field strengths This setting can be saved to non volatile flash memory using the Commit Settings command Compass range setting Byte 67 User s Manual 4 5 8 Configuration Read Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Get ta
25. range up to 200 Wireless PAN Ids selectable 65536 Wireless channels selectable 16 2 4GHz channel 11 through 26 Filter update rate up to 250Hz USB 200Hz wireless with Kalman AHRS up to 850Hz USB 230Hz wireless with QCOMP AHRS up to 1350Hz USB 260Hz wireless in IMU mode Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data corrected sensor data normalized sensor data temperature Shock survivability 5000g Temperature range 40C 85C 40F 185F Processor 32 bit RISC running 60MHz Sensor Orientation range 360 about all axes Orientation accuracy 1 average for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 8g selectable for standard models 68 12g 24g selectable for HH models 100g 200g 400g selectable for H3 models Accelerometer resolution 14 bit 12 bit HH 12 bit H3 Accelerometer noise density 99ug VHz 6501g VHz HH 15mg VHz H3 Accelerometer sensitivity 0 00024g digit 0 00096g digit 0 003g digit 0 012 digit HH 0 049g digit 0 195g digit H3 Accelerometer temperature sensitivity 0 008 C 0 01 C HH H3 Gyro scale 250 500 1000 2000 sec selectable Gyro
26. resolution 16 bit Gyro noise density 0 009 sec VHz Gyro bias stability 25 C 2 5 hr average for all axes Gyro sensitivity 0 00833 sec digit for 250 sec 0 0666 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 03 C Compass scale 0 99 Ga to 8 1 Ga selectable 1 3 Ga default Compass resolution 12 bit Compass sensitivity 0 73 mGa digit Compass non linearity 0 1 full scale User s Manual Dongle Part number TSS DNG Wireless Communication Dongle Dimensions 22 5mm x 65 6mm x 15mm 0 86 x 2 58 x 0 59 in Weight 12 grams 0 42 oz Supply voltage 5v USB Communication interfaces USB 2 0 2 4GHz DSSS Wireless FCC certified Wireless communication range up to 200 Wireless sensors supported 15 simultaneous Wireless PAN Ids selectable 65536 Wireless channels selectable 16 2 4GHz channel 11 through 26 Processor 32 bit RISC running 60MHz Specifications subject to change 2 3 1 6 Wireless Sensor Physical Dimensions TSS WL Handheld Case TSS WL S Strapdown Case All dimensions in mm All dimensions in mm 2 3 1 7 Wireless Sensor Terminology The following provides a list of commonly used wireless concepts and their definitions Pan ID Refers to a 16 bit number that can be assigned to each individual wireless unit or dongle The
27. situations that orientations can be treated as though the sensor were mounted normally For example if the sensor were mounted on a sloped surface of a vehicle like a car hood it would be helpful if the orientations could read as though the sensor was mounted in a way that more closely matched the overall orientation of the vehicle which does not include that slope The feature the sensor has to deal with mounting differences is the offset quaternion This offset allows the sensor to pretend it is mounted in any given orientation while being actually mounted in any other actual orientation To help understand the relationship between filtered orientation tare orientation and offset orientation this is how the orientations are used by the sensor tare Orientation ni OFlentation y OTIENLATION end Orientation offset There are several ways to use this feature The simplest way is if you know ahead of time the quaternion that represents the offset to be applied to the orientation In this case you can send this to the sensor by way of command 21 0x15 There are also commands to allow for automated offset setting To use these commands do the following 1 Place the sensor as close as possible to the mounting point but in an orientation aligned with the overall vehicle or device the sensor is being mounted on or in the orientation that you would like the sensor to act like it is in 2 Call command 22 which sets a hidden variable called
28. that computer already Otherwise find out what COM port appears once driver installation has finished Additionally each sensor can be identified programatically by reading the serial number of each attached sensor 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 Computer Interfacing Overview Wireless To interface to a sensor through a computer wirelessly the 3 Space Dongle must be connected to the computer through USB The Dongle will present itself as a COM port just as the 3 Space Sensor does Each dongle can be associated with up to 15 wireless sensor units To associate a sensor unit with a dongle the user must place the desired sensor s serial number in one of the dongle s 15 logical wireless table slots Any wireless 3 Space Sensors in range that have been given an address slot on the Dongle can then communicate with the Dongle For information on how to set up the Dongle s address slots see the Quick Start Manual the Suite Manual or the Dongle section of the command chart near the end of this document For information on what data to send to the Dongle to communicate with a particular sensor see the Wireless Protocol Packet Format section The wireless communication protocol and wired communication protocol support the same commands but are not identical This allows the wireless protocol to include features that are specific to the nature of wireless comm
29. the base offset which affects the operation of the Offset with current orientation command This will record your desired orientation later If you ever want to reset this base offset use command 20 0x14 3 Mount the sensor onto the vehicle or device as you intend to for the end application 4 Call command 19 0x13 which will set the offset based on the difference between the current orientation and the base offset After this command is called the sensor should now be acting as though it were in the desired orientation 5 Make sure to commit the sensor settings to keep this change Note that the base offset is not committable but the offset itself is committable 36 User s Manual It should be noted that while it may seem like the set axis directions command could be used for the same purpose the offset orientation feature is the preferred way to deal with alternate mountings as the axis directions mode has no way to account for a mounting that isn t a 90 degree based orientation away from the standard orientation In addition the axis direction mode does not handle switching the Euler angles to account for a different mounting while this feature does 3 1 9 Other Estimation Parameters The 3 Space Sensor offers a few other parameters to filter the orientation estimate Please note that oversampling and running average parameters used on component sensors will affect both orientation fusion and data readin
30. the sensor the side opposite the plug The natural axes are illustrated in the diagram below Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for 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 33 User s Manual 3 Description of the 3 Space Sensor 3 1 Orientation Estimation The primary purpose of the 3 Space Sensor is to estimate orientation In order to understand how to handle this estimation and use it in a meaningful way there are a few concepts about the sensor that should be understood The following sections describe these concepts 3 1 1 Component Sensors The 3 Space Sensor estimates orientation by combining the data it gets from three types of sensors a gyroscope an accelerometer and a compass A few things you should know about each of these sensors e Gyroscope This sensor measures angular motion This sensor is very accurate in the short term and is excellent for measuring quick angular motions However it has no absolute orientation reference like the accelerometer and compass so orientation measured by the gyroscope must be corrected by those other sensors or it will drift e Accelerometer This sensor measures the acceleration due to gravity as well as any other accelerations that occur Beca
31. the tare orientation to be the same as the supplied orientation which should be passed as a quaternion 16 Quaternion float x4 98 0x62 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 trust value Determines how trusted the accelerometer contribution is to the overall orientation estimation Trust is O to 1 with 1 being fully trusted and 0 being not trusted at all Accelerometer trust value float 100 0x64 Set confidence accelerometer trust values Determines how trusted the accelerometer contribution is to the overall orientation estimation Instead of using a single value uses a minimum and maximum value Trust values will be selected from this range depending on the confidence factor This can have the effect of smoothing out the accelerometer when the sensor is in motion Minimum accelerometer trust value float Maximum accelerometer trust value float 101 0x65 Set static compass trust value Determines how trusted the accelerometer contribution is to the overall orientation estimation tribution is to the overall orientation estimation Trust is O to 1 with 1 being fully trusted and O being not trusted at all Compass trust value float 102 0x66 Set confidence compass trust values Determines
32. 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 58 User s Manual 4 3 6 ASCII Command Response Command Data Zero or mor values representing a response fiom a command See the cormand chart for details Data Length Length of res ponse data Not present during failure Logical ID Logical ID of the sersorwhich sponded with this message Success Faiture Indicates whether the command was received and processed End of Packet The ASCI revrline character When an ASCII command is called wirelessly before the data it would normally return in wired mode it will return status values each seperated by a comma First is the success failure value which is a 0 if the command was successful and 1 if it was not Some things which can cause a failure are The lack of a sensor present wirelessly Communication interference causing the wireless sensor to not respond Improper command formatting or data length Second is the address byte This indicates which sensor sent the response If the success byte is zero the data length byte will be present after this byte If the succ
33. to the time the capture started For information on setting up the current time see the 3 Space Quick Start Manual This Config directory holds configuration files which can be modified to change the current settings of the sensor It contains two files sensor cfg and capture cfg sensor cfg allows access to many sensor settings that can also be modified through protocol commands such as orientation averaging modes capture cfg aallows access to settings which specify how and how often data is gathered See the Data Capture Options section for information on the contents of capture cfg and other general data logging options In order to change a setting in one of these files simply find the name of the property you want to modify on the left of an equals sign and then change the value on the right of the equals sign If the value is textual properties where this is the case will have a list of the possible values listed to the right of the assignment be sure to enclose the text in quotes Quotes are not necessary for numeric values 3 5 3 Data Capture Options As described in the SD Card Format and Directory Structure section upon the start of a data logging session a new directory will be created to hold the data named after the time the session was started The following sections describe the configuration properties that determine data logging capture behavior CaptureStartEvent The CaptureStartEvent property in the cap
34. 2 Wired Protocol Packet Fora A iia 4 2 1 Binary Packet Format 4 2 2 ASCIF Text Packet F rrate 54 4 23 SPI Packet Format Embedddisii A A asd 55 4 3 Wireless Protocol Packet Format 4 3 1 Wireless Communication Format asessori carieni atn iioa EAR EE deg 56 4 312 Binary Packet EMail A A de bas 56 4 3 3 Binary Command Response 4 3 4 Sample Binary Commands 4 3 5 ASCH Text Packet Format cid A GE ae been DE ects tan cde took sans 58 4 3 6 ASCI Command Response iii Sieh ats EENS renee 59 4 3 7 Sample ASCH Commands ee e oi cedida Seele E 59 4 4 Response Header Format 60 d t Wired Response Head et cotilla Aida R T datada ios a Cadet 60 4 4 2 Wired Streaming with Response Header EE 61 AA Wireless RESPONSE A e dai etarra deco ei e dd AM A nde 61 4 4 4 Wireless Streaming with Response Header 61 A 5 Command Overviews tee cose sia se gebak eben dE lit dt id ted dla 62 ALS Orientation Commands areni n e re deeg ee ees LW SBE EE ESV 62 4 5 2 Normalized Data COM ia ta aaa ie 63 4 5 3 Corr ected Data Coma areire aseetan dd da ces gave ed bee aaa se Sunk A EAEE Pe tut AAA EE 63 45 4 Other Data Command Srne eevee A NEE ee eege ee ered Rees 63 4 35 Raw Data Commands se e eege a NEE ANE SE bd Adin 64 45 0 S treatin s COMME IL E aaa 64 45 7 Contiguration Write Commands dese Eed di aii 65 4 5 8 Configuration Read Commands nigee ses Tee SEENEN ae a haa eens 68 45 9 Calibration eu 6
35. 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 009 sec VHz Gyro bias stability 25 C 2 5 hr average for all axes Gyro sensitivity 0 00833 sec digit for 250 sec 0 0666 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 03 C Compass scale 0 99 Ga to 8 1 Ga selectable 1 3 Ga default Compass resolution 12 bit Compass sensitivity 0 73 mGa digit Compass non linearity 0 1 full scale 1 Depends upon communication mode and filter mode 2 Average value when calibrated Specifications are subject to change 31 User s Manual 2 3 5 5 Bluetooth Sensor Physical Dimensions TSS BT Handheld Case TSS BT S Strapdown Case All dimensions in mm All dimensions in mm 32 User s Manual 2 4 Axis Assignment All YEI 3 Space Sensor product family members have re mappable axis assignments and axis directions This flexibility allows axis assignment and axis direction to match the desired end use requirements The natural axes of the 3 Space Sensor are as follows e The positive X axis points out of the right hand side of the sensor which is the side that is facing right when the buttons face upward and plug faces towards you e The positive Y axis points out of the top of the sensor the side with the buttons e The positive Z axis points out of the front of
36. 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode 4 Indicator LED The 3 Space Sensor includes an RGB LED that can be used for visual status feedback 5 Input Button 2 See Input Button 1 28 User s Manual 2 3 5 2 Bluetooth Sensor Features The YEI 3 Space Sensor Bluetooth 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 e Small self contained high performance wireless AHRS at 35mm x 60mm x 15mm and 28 grams e Integrated 2 4GHz Bluetooth v2 0 EDR Class 1 wireless interface allows high performance at ranges up to 300 e Integrated Lithium Polymer battery and charge control allows battery life of 5 hours at full performance e Fast sensor update and filter rate allow use in real time applications including stabilization virtual reality real time immersive simulation and robotics e Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction e Advanced integrated orientation filtering allows sensor to automatically reduce the effects of sensor noise and sensor error e Robust open protocol allows commands to be sent in human readable form or more quickly in machine readable form e Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix axis angle two vect
37. 49g digit 0 195g digit H3 Accelerometer temperature sensitivity 0 008 C 0 01 C HH H3 Gyro scale 250 500 1000 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 009 sec VHz Gyro bias stability 25 C 2 5 hr average for all axes Gyro sensitivity 0 00833 sec digit for 250 sec 0 0666 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 03 C Compass scale 0 99 Ga to 8 1 Ga selectable 1 3 Ga default Compass resolution 12 bit Compass sensitivity 0 73 mGa digit Compass non linearity 0 1 full scale 1 Depends upon communication mode and filter mode 2 Average value when calibrated Specifications are subject to change 25 User s Manual 2 3 4 6 Embedded Sensor Electrical Characteristics Absolute Maximum Ratings Operating Temperature cooooioonocnnonononcnoncnnnonnnonnnnnnonnnonnronnnnnnnos 40C 85C 40F 185F Storage Temperature vise iccicacccccecssscesess cciol ssecdeiveesaceassascddecaeteee 60C 150C 76F 302F gt Supply Voltage on VIN Pin with respect to Ground 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 Ground n se 0 3v 5 5v Current Sink Source from I O pins sssssesssssssessersesesesesessesee 4mA 4mA
38. 59 in Weight 28 grams 0 98 oz Supply voltage 5v USB Battery technology rechargeable Lithium Polymer Battery lifetime 5 hours continuous use at full performance Communication interfaces USB 2 0 Storage media MicroSD card Filter update rate up to 250Hz USB 200Hz logging with Kalman AHRS up to 850Hz USB 400Hz logging with QCOMP AHRS up to 1350Hz USB 475Hz logging in IMU mode Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data corrected sensor data calibrated sensor data temperature date time Shock survivability 50008 Temperature range 40C 85C 40F 185F Sensor Orientation range 360 about all axes Orientation accuracy 1 average for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 8g selectable for standard models 6g 12g 24g selectable for HH models 100g 200g 400g selectable for H3 models Accelerometer resolution 14 bit 12 bit HH 12 bit H3 Accelerometer noise density 99ug VHz 650ug VHz HH 15mg VHz H3 Accelerometer sensitivity 0 00024g digit 0 00096g digit 0 003g digit 0 012 digit HH 0 049g digit 0 195g digit H3 Accelerometer temperature sensitivity 0 008 C 0 01
39. 66 0x42 Read raw accelerometer vector 67 0x43 Read raw compass vector 201 0xc9 Read battery voltage 202 0xca Read battery percentage 203 0xcb Read battery status 250 0xfa Read button state 255 0xff No command There are 8 streaming slots available for use and each one can hold one of these commands These slots can be set using command 80 0x50 with the parameters being the 8 command bytes corresponding to each slot Unused slots should be filled with Oxff so that they will output nothing 38 User s Manual Please note The total amount of data the 8 slots can return at once is 256 bytes If the resulting data exceeds this the set streaming slots command will fail 2 Set up the streaming interval duration and start delay These parameters control the timing of the streaming session They can be set using command 82 0x52 All times are to be given in microseconds They control the streaming as follows Interval determines how often the streaming session will output data from the requested commands For example an interval of 1000000 will output data once a second An interval of 0 will output data as quickly as possible The interval will be clamped to 1000 if the user attempts to set it in the range 1 1000 Duration determines how long the streaming session will run for For example a duration of 5000000 indicates the session should stop after 5 seconds A duration of 4294967295 OxFFFFFFFF means th
40. 9 ASILO System COMO Sid 70 AN III 71 45 12 General ID Commands EE 72 4 6 Product Sp cific Opl isung ee tanda laa ef ERN 73 4 6 1 Wireless Specific Commands dee 73 4 6 1 1 Dongle Commands 3 cccecscctececen dE a Ad Eden 13 4 6 1 2 Wireless Sensor amp Dongle Commandes 74 4 61 3 Wireless HTC opregen deue mee Ae Mod nated EE E A EST 74 46 2 Battery COMME EE dEr 4 6 3 Embedded Commands ssi Steen Ste SEENEN es RE EES OEE RNA ct RR 4 6 4 Data Logging Commands Append EEN USB Connector bas Gi Hex Decimal Conversion CO feiss Leis oad sess sang POS e OEE EE EES CSG EAR User s Manual 1 Usage Safety Considerations 1 1 Usage Conditions e Do not use the 3 Space Sensor in any system on which people s lives depend life support weapons etc e Because of its reliance on a compass the 3 Space Sensor will not work properly near the earth s north or south pole e 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 e 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 e 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
41. AEE EESE EN naa ts 28 2 3 5 2 Bluetooth Sensor Features eA 2 3 5 3 Bluetooth Sensor Block Diagram 30 2 3 5 4 Bluetooth Sensor Specifications A A EE 31 2 3 5 5 Bluetooth Sensor Physical Dimensions EE 32 2 4 AXIS ASSIEME EE 33 3 Description of the 3 Space Semsor cin cosas a EEKE ES Va is 34 S21 Orientation ESTIMA SA E A tapers apie Ptah seat eege 34 3 1 1 Component Sensors Greter e tea pte 34 3 1 2 Scale Bias and Cross Axis Effect 34 3 1 3 Component Sensor Data Type Snie ee ee ee Ae 35 3 1 4 Calibr tion Modes eier tees cytes sexed sores SE iio E A EEE ciar 35 3 125 Reference Vectors gt ARSS AAA AAA ARA atten rd aa aie ated ea 35 321 6 Orientatio Filterite reeL 36 Sil J KEE EE 36 3 18 RE dE 36 3 1 9 Other Estimation Parameters gece AE Ee e EE tus caves Eed a EE Eeer 37 St2 Communications Eens EE N 38 3 2 1 Wired Streaming Modem dean ii 38 3 2 2 Wireless Streaming Mode cin iS Bake tenet ee EE ee deer 39 3 3 Input Device Emulation E 39 S31 Axes and Buttons A EES 39 A A tate sate ceh eerste ashe Ee 39 KEE 40 3 3 4 Wireless Joystick MOuSe scssssvssszcaicescacesvess cease seats in oee ineen nEn a EKE N NEA EEA SERAN TAE E EN EE EK caiste 40 EE TEE 41 3 4 1 Committing EE 41 34 2 Committing Wireless Settings ci A orita 41 34 3 NET EE 3 4 4 Sensor Settings and Defaults 3 4 5 Dongle Settings and Def ults ee ceceescssesseeseesessecseesessecseesesaecsecsessecsessecsessessassecuessassesatssessesseceec
42. F9 instead of OxF7 This will cause the resulting command to prepend the requested Response Header to the response data Typical wired ascii commands use to indicate the start of a typical command packet and the character to indicate to the sensor that the data should have the Response Header prepended Also note that all Response Header data will be output in ascending order starting with the lowest enabled bit and continuing on to the highest enabled bit 4 Parse the Response Header data Assume we wanted to ask for the raw accelerometer data along with the timestamp and data length and that we have already called command 221 with a parameter of 66 We then send the following to the sensor Oxf9 0x42 0x42 We receive the following response from the sensor 0x17 0x39 0x15 0x93 0x0c Oxc4 0x86 0x0 0x0 Oxc5 0x54 0x0 0x0 0x46 0x7c Oxc0 0x0 Going in order we used bits and 6 so we can parse out the timestamp first which is 4 bytes and then the data length which is byte Timestamp 0x17 0x39 0x15 0x93 389617043 Data Length 0x0c 12 Data 0xc4 0x86 0x0 0x0 Oxc5 0x54 0x0 0x0 0x46 0x7c xc 0x0 1072 0 3392 0 16176 0 60 User s Manual For the ascii version we would send the following oe 66 n We would receive the following response 389617043 37 1072 00000 3392 00000 16176 00000 r n 4 4 2 Wired Streaming with Response Header Streaming data can also have Response Header data prepended to ea
43. RGB LED that can be used for visual status feedback 5 Input Button 2 See Input Button 1 6 Recessed MicroSD Card Slot The 3 Space Sensor MicroSD media can be inserted or removed through the recessed slot This slot is recessed to help prevent accidental card removal 16 User s Manual 2 3 3 2 Data Logging Features The YEI 3 Space Sensor Data Logging 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 e Small self contained high performance data logging AHRS at 35mm x 60mm x 15mm and 28 grams e Integrated Lithium Polymer battery and charge control allows battery life of 5 hours at full performance e Fast sensor update and filter rate allow use in highly dynamic applications including motion capture performance amp motion analysis and navigation e Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction e Advanced integrated orientation filtering allows sensor to automatically reduce the effects of sensor noise and sensor error e Robust open protocol allows commands to be sent in human readable form or more quickly in machine readable form e Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix axis angle two vector e Absolute or custom reference axes e Access to raw sensor data e M
44. Z axis points out of the front of the sensor the side opposite the plug Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for example data axis Y could contain data from natural axis X This allows users to work with data in a reference frame they are familiar with See the Axis Assignment section for a diagram of the natural axes 3 4 4 Sensor Settings and Defaults Setting Name Purpose Default Value Accelerometer Trust Values Determine how trusted the accelerometer is Minimum of 1 101 maximum of 1 6 Compass Trust Values Determine how trusted the compass is Minimum of 1 101 maximum of 1 6 Accelerometer Coefficients Determines the scale bias and cross axis parameters for the accelerometer Factory calibrated Compass Coefficients Determines the scale bias and cross axis parameters for the compass Factory calibrated the sensor s untared orientation to be the identity orientation Gyroscope Coefficients Determines the scale bias and cross axis parameters for the gyroscope Factory calibrated Accelerometer Enabled Determines whether the compass is enabled or not TRUE Compass Enabled Determines whether the accelerometer is enabled or not TRUE Gyroscope Enabled Determines whether the gyroscope is enabled or not TRUE Filter Mode Determines how orientation is
45. aming session 0 95 0x5F Update current timestamp Set the current internal timestamp to the specified value Timestamp Unsigned int 64 User s Manual 4 5 7 Configuration Write Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 16 0x10 Set euler angle decomposition order Sets the current euler angle decomposition order which determines how the angles returned from command 0x1 are decomposed from the full quaternion orientation Possible values are 0x0 for XYZ 0x1 for YZX 0x2 for ZXY 0x3 for ZYX 0x4 for XZY or 0x5 for YXZ default Euler angle decomposition order byte 19 0x13 Offset with current orientation Sets the offset orientation to be the same as the current filtered orientation o 20 0x14 Reset base offset Sets the base offset to an identity quaternion 21 0x15 Offset with quaternion Sets the offset orientation to be the same as the supplied orientation which should be passed as a quaternion 16 Quaternion float x4 22 0x16 Set base offset with current orientation Sets the base offset orientation to be the same as the current filtered orientation 96 0x60 Tare with current orientation Sets the tare orientation to be the same as the current filtered orientation 97 0x61 Tare with quaternion Sets
46. and 0 12 RGB Color float x3 239 0xef Get LED color Returns the color of the LED on the sensor 12 RGB Color float x3 0 4 5 11 Wired HID Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Enable or disable streaming of joystick HID data for 240 0xf0 Set joystick enabled this sensor 0 1 Joystick enabled state byte Enable or disable streaming of mouse HID data for 241 0xf1 Set mouse enabled this sensor 0 1 Mouse enabled state byte Read whether the sensor is currently streaming Joystick enabled state 242 0xf2 Get joystick enabled joystick HID data 1 byte 0 Read whether the sensor is currently streaming 243 0xf3 Get mouse enabled mouse HID data dl Mouse enabled state byte O 71 User s Manual 4 5 12 General HID Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 244 0xf4 Set 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 second 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 The
47. annel noise levels Return the noise levels for each of the 16 wireless channels A higher value corresponds to a noisier channel which can significantly impact wireless reception and throughput 16 Channel strengths byte x16 211 0xd3 Set wireless retries Set the number of times a dongle will attempt to re transmit a data request after timing out Default value is 3 This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command Retries byte 212 0xd4 Get wireless retries Read the number of times a dongle will attempt to re transmit a data request after timing out Default value is 3 Retries byte 214 0xd6 Get signal strength Returns a value indicating the reception strength of the most recently received packet Higher values indicate a stronger link Last packet signal strength byte 219 0xdb Set wireless response header bitfield Configures the response header for data returned over a wireless connection The only parameter is a four byte bitfield that determines which data is prepended to all data responses The following bits are used 0x1 1 byte Success Failure with non zero values representing failure 0x2 4 bytes Timestamp in microseconds 0x4 1 byte Command echo outputs the called command Returns OxFF for streamed data 0x8 1 byte Additive checksum over returned data but not including response hea
48. at the session will run indefinitely until a stop streaming command is explicitly issued Start Delay determines how long the sensor should wait after a start command is issued to actually begin streaming For example a start delay of 200000 means the session will start after 200 milliseconds 3 Begin the streaming session This can be done using command 85 0x55 Once started the session will run until the duration has elapsed or until the stop command 86 0x56 has been called Note that if the sensor is sending large amounts of data the host doesn t have time to collect this can cause buffer overflows in some communication drivers leading to slowdowns and loss of data integrity If the firmware detects that the buffer has overflowed the asynchronous session will be stopped If this occurs this is a sign that the streaming interval is set too low the program is not collecting data quickly enough or both For more information on all these commands see the Streaming Commands section 3 2 2 Wireless Streaming Mode Wireless streaming communication is initiated in a similar manner as wired streaming with the primary difference being that commands are sent to the 3 Space Dongle via a USB connection where they are then forwarded to the 3 Space Wireless Sensor The Start Streaming command will use the same output communication interface as the received command s input interface In other words a command received over a USB connection wil
49. bose and less efficient yet is easier to read and easier to access via a traditional terminal interface Both binary and ASCII text encoding methods share an identical command structure and support the entire 3 Space command set The 3 Space Sensor buffers the incoming command stream and will only take an action once the entire packet has been received and the checksum has been verified as correct ASCII mode commands do not use checksums for convenience Incomplete packets and packets with incorrect checksums will be ignored This allows the controlling system to send command data at leisure without loss of functionality The command buffer will however be cleared whenever the 3 Space Sensor is either reset or powered off on Specific details of the 3 Space Sensor protocol and its control commands are discussed in the following pages 4 1 2 Computer Interfacing Overview USB When interfacing with a computer through USB the 3 Space Sensor presents itself as a COM port which provides a serial interface through which host may communication with the sensor unit by using protocol messages 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
50. 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 39 User s Manual 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 is 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 informatio
51. card to it even while attached to a computer For more information on this see commands 57 and 58 in the 3 Space Sensor Usage Protocol section 3 5 2 SD Card Format and Directory Structure The Data Logging 3 Space Sensor will attempt upon power on or upon SD card insertion to place the directory structure it requires onto the card If this is unsuccessful for any reason for example if the SD card is in read only mode or hasn t been formatted yet the sensor s LED will pulse red It will also do this if no SD card is inserted at all This indicates that it is not ready to start data logging The SD card may be formatted in one of two ways either let any SD card formatting utility such as the one built in to Windows format the card as a single FAT32 partition or insert the unformatted card into the Data Logging 3 Space Sensor and call command 59 look in the 3 Space Sensor Usage Protocol section for details on this command Also the 3 Space Suite has an easy way to call this command in the Sensor Info window when connected to a Data Logging sensor Refer to the 3 Space Quick Start guide for more information When the card has been properly initialized by the sensor the LED will turn solid blue The directory structure the sensor sets up is as follows Root Directory Data Config The Data directory contains the results of any data capture sessions A new directory inside this will be created for each session named according
52. ce Sensor USB has many features that allow it to be a flexible all in one solution for your orientation sensing needs Below are some of the key features e Small self contained high performance wireless AHRS at 35mm x 50mm x 15mm and 17 grams e Fast sensor update and filter rate allow use in real time applications including stabilization virtual reality real time immersive simulation and robotics e Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction e Advanced integrated orientation filtering allows sensor to automatically reduce the effects of sensor noise and sensor error e Robust open protocol allows commands to be sent in human readable form or more quickly in machine readable form e Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix axis angle two vector e Absolute or custom reference axes e Access to raw sensor data e Flexible communication options USB 2 0 or RS232 asynchronous serial e USB communication via virtual COM port e USB joystick mouse emulation modes ease integration with existing applications e Upgradeable firmware e RGB status LED two programmable input buttons e Miniature barrel jack for optional external power input e Miniature TRS connector for RS232 and power input e Available in either hand held or strap down packaging e RoHS compliant 12 U
53. ch streamed packet This can be accomplished by calling the Start Streaming command 0x55 with the Response Header Packet Byte Assuming that streaming has been configured properly and a non zero Wired Response Header bitfield has been set the following examples will start streaming with Response Headers disabled and enabled respectively Oxf7 0x55 0x55 Start streaming WITHOUT response header prepended to each packet Oxf9 0x55 0x55 Start streaming WITH response header prepended to each packet Keep in mind that the actual start command will also have a Response Header attached that must be successfully parsed 4 4 3 Wireless Response Header Wireless response headers work similarly to their wired counterparts The major difference is that instead of using OxF9 the user should use OxFA to request wireless data with response headers prepended The other difference is that the response header is based on a different command than wired sensors For dongles command 219 should be used to set the Wireless Response Header Bitfield Keep in mind that dongles also maintain a Wired Response Header Bitfield for commands sent directly to the dongle All other commands sent wirelessly will use the Wireless Response Header Bitfield Also note that typical wireless commands Binary OxF8 or Ascii gt will ALWAYS have the success failure byte logical ID byte and data length byte unless the command fails prepended as described in the Wireless Protoco
54. computer screens or towers Since the Wireless 3 Space Sensor uses RF communication technology communication failure modes should be carefully considered when designing a system that uses the wireless 3 Space Sensor e The Wireless 3 Space Sensor is powered by a rechargeable lithium polymer battery Lithtum polymer batteries have high energy densities and can be dangerous if not used properly See the Battery Considerations section for further information pertaining to battery safety 1 2 Technical Support and Repairs Standard Limited Product Warranty YEI warrants the media and hardware on which products are furnished to be free from defects in materials and workmanship under normal use for sixty 60 days from the date of delivery except for OEM warranty items see below YEI will repair or replace any defective product which is returned within this time period Returned items will be tested in order to confirm a manufacturing defect is present No warranties exist for any misuse OEM Limited Product Warranty The following OEM products are subject to additional return limitations beyond the Standard Limited Product Warranty surface mount modules integrated circuits bare PCB modules and other electronic components Because of the risk of damage or malfunction due to user testing and handling problems returns will be granted only upon evidence and or inspection conclusively demonstrating manufacturing defect All OEM products are indi
55. 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 21 User s Manual 2 3 4 2 PCB Layout PCB layout should follow the suggested SMT footprint below TSS EM Suggested SMT Footprint 23 00 1 50 1 00 y a No vias holes or pads on oe M E E E E O Top View All dimensions in mm 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 n
56. ctor refers to north North Vector float x3 10 0x0A two vector and 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 Get 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 untared orientation estimate in two vector form where the first vector refers to north and the second refers to gravity These vectors are Get 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 62 User s Manual 4 5 2 Normalized Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Returns the normalized gyro rate vector accelerometer vector and compass vector Note that the gyro vector is in units of radians sec while the Gyro Rate in units of accelerometer and compass are unit length vectors radians sec Vector x3 indicating the direction of gravity and north Gravity Direction Vector Get all normalized respectively These two vectors do not have an
57. d In continuous mode data logging will be enabled at all times during a data logging session In periodic mode data logging will start and stop during the course of a session The properties that control this behavior are CaptureStylePeriodicCaptureTime which determines how long it captures for before it stops and CaptureStylePeriodicRestTime which determines how long it is stopped before it starts capturing again CapturePostStopGatherTime The CapturePostStopGatherTime property in the capture cfg file specifies an amount of time after a session has stopped to continue gathering data This value is specified in milliseconds CaptureFileStub The CaptureFileStub property in the capture cfg file specifies the base name of the data logging file which resides in each session s directory with a txt appended to it if data is captured in ASCII mode and dat if in binary mode With a CaptureFileMode of new this stub will also have a number added on to it before the txt or dat CaptureFileMode The CaptureFileMode property in the capture cfg file specifies how files are used to capture data This property is one of the following e append New samples are added to the end of the single data log in the session directory e replace In continuous mode the same as append In periodic mode only data from the most recent period will appear e new A new file will be made for each data capture
58. de is MI mode enabled value 136 0x88 Get MI mode enabled currently on or not O for off 1 for on 1 byte 0 Returns the MI mode parameter list A description of MI mode parameter float 137 0x89 Get MI mode parameters these will be added at a later date 28 x7 0 Returns a value indicating whether the gyroscope Get gyroscope enabled contribution is currently part of the orientation Gyroscope enabled value 140 0x8c state estimate O for off 1 for on 1 byte 0 Returns a value indicating whether the accelerometer Get accelerometer enabled contribution is currently part of the orientation Accelerometer enabled 141 0x8d state estimate O for off 1 for on 1 value byte 0 Returns a value indicating whether the compass Get compass enabled contribution is currently part of the orientation Compass enabled value 142 0x8e state estimate 0 for off 1 for on 1 byte 0 Returns a value indicating the current axis direction setup For more information on the meaning of this value please refer to the Set Axis Direction 143 0x8f Get axis direction command 116 T Axis direction value byte 0 Returns values indicating how many times each component sensor is sampled before being stored as raw data A value of 1 indicates that no oversampling Gyro Samples unsigned is taking place while a value that is higher indicates short Accel Samples the number of samples per component sensor per unsigned short Compass 144 0x90 Get oversample rate filter
59. der 0x10 1 byte Logical ID 0x20 4 bytes Serial number 0x40 1 byte Data length returns the length of the requested data not including response header This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command Response header bitfield Unsigned int 220 0xdc Get wireless response header bitfield Return the current wireless response header bitfield Response header bitfield Unsigned int 73 User s Manual 4 6 1 2 Wireless Sensor amp Dongle Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 192 0xc0 Get wireless panID Return the current panID for this wireless sensor or dongle For more information refer to the Wireless Sensor Terminology section PanID short 193 0xc1 Set wireless paniD Set the current panID for this wireless sensor or dongle Note that the panID for a wireless sensor can only be set v a the USB connection For more information refer to the Wireless Sensor Terminology section This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command PanlID short 194 0xc2 Get wireless channel Read the current channel for this wireless sensor or dongle For more information refer to the Wireless Sensor Terminology section Channel Byte
60. displays all standard LED status indicators or 1 for static which displays only the LED color as specified by command 238 LED mode byte 200 0xc8 Get LED Mode Retums the current sensor LED mode which can be O for standard or 1 for static LED mode byte 221 0xdd Set wired response header bitfield Configures the response header for data returned over a wired connection The only parameter is a four byte bitfield that determines which data is prepended to all data responses The following bits are used 0x1 1 byte Success Failure with non zero values representing failure 0x2 4 bytes Timestamp in microseconds 0x4 1 byte Command echo outputs the called command Returns OxFF for streamed data 0x8 1 byte Additive checksum over returned data but not including response header 0x10 1 byte Logical ID returns OxFE for wired sensors Meant to be used with 3 Space Dongle response header For more info see command OxDB 0x20 4 bytes Serial number 0x40 1 byte Data length returns the length of the requested data not including response header This setting can be committed to non volatile flash memory by calling the Commit Settings command For more information on Response Headers please refer to the Response Header Format section Response header configuration Unsigned int 222 0xde Get wired response header bitfield Return the current wired response header bi
61. doesn t include the Start of Packet Command or Checksum bytes Thus the total message size can be calculated by adding three bytes to the Data Len listed in the table e 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 e 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 e For quaternions data is always returned in x y z w order Euler angles are always returned in pitch yaw roll order e 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 5 1 Orientation Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Get tared orientation as Returns the filtered tared orientation estimate in 0 0x00 quaternion quaternion form 16 Quaternion float x4 0 Get tared orientation as Returns the filtered tared orientation estimate in 1 0x01 euler angles euler
62. e corrected in units of rad sec gyroscope reading ca The corrected in units of g accelerometer reading cc The corrected in units of gauss compass reading rg The raw as it comes from the sensor gyroscope reading ra The raw as it comes from the sensor accelerometer reading rc The raw as it comes from the sensor compass reading L The corrected linear acceleration An actual Note that any non data characters will only be included in the file in ASCII data logging mode For more information see the property CaptureDataMode Capturelnterval The Capturelnterval property in the capture cfg file determines the desired sampling period while logging is active This property is specified in milliseconds Do note that it is possible to set this value to an interval that is faster than the SD card interface can easily handle which will cause the sensor to drop some samples in order to keep up If the desired effect is to sample as fast as possible while having the timing vary as little as possible this value should be set to auto This indicates to the sensor that it should set the interval automatically based on the amount of data being captured to reduce the chance of dropped samples To get the fastest possible rate without concern for variations in sample rate set this value to 0 CaptureStyle The CaptureStyle property in the capture cfg file determines if continuous or periodic data capture style is use
63. ed Response Header Bitfield Determines what kind of data is prepended to response data 0 Streaming Slots Determines which commands are executed during a streaming session 255 255 255 255 255 255 255 255 Streaming Timing Dertemines the streaming interval duration and delay 10000 4294967295 0 3 4 5 Dongle Settings and Defaults Setting Name Purpose Default Value Desired Update Rate Determines how long each cycle should take ideally 0 microseconds LED Color Determines the RGB color of the LED 0 0 1 Blue LED Mode Determines whether the LED mode is static or not 0 Non static Wired Response Header Bitfield Determines what kind of data is prepended to response data 0 3 4 6 Sensor Wireless Settings and Defaults Setting Name Purpose Default Value PanID Determines the panID of this sensor 1 Address Determines the address of this sensor Factory determined cannot be set only read Channel Determines the channel of this sensor 26 3 4 7 Dongle Wireless Settings and Defaults Setting Name Purpose Default Value PanID Determines the panID of this dongle 1 Address Determines the address of this dongle Factory determined cannot be set only read Channel Determines the channel of this dongle 26 Logical ID Table Determines the mapping between logical ID and addresses Array of 15 unsigned 16 bit integers values
64. ed via a standard 5 pin mini USB cable Hex Decimal Conversion Chart Second Hexadecimal digit 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 1 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 2 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 3 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 4 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 E 5 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 z 6 096 097 098 099 100 101 102 103 104 105 06 107 108 09 10 111 3 7 12 113 114 15 116 117 118 119 120 121 22 123 124 25 26 127 3 8 28 129 130 31 132 133 134 135 136 137 38 139 140 41 42 143 9 44 145 146 47 148 149 150 151 152 153 54 155 156 57 58 159 E A 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 C 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 E 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 F 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 76 User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 ww
65. elerometer and gyroscope data together to provide an orientation estimate Has comparable accuracy to the Kalman filter and provides significantly higher performance e Q GRAD Quaternion Gradient Descent Filter Utilizes gradient descent techniques to avoid the high computational overhead of Kalman based filters Has comparable accuracy to the Kalman filter and provides significantly higher performance Try Q COMP before trying this filter as Q COMP is slightly faster e IMU Mode Performs no orientation filtering but allows IMU data to be read at a rate of 1350 Hz 3 1 7 Tare Orientation The sensor s orientation reading may differ 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 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 8 Offset Orientation There are many applications for which it will be necessary or convenient to mount the sensor at odd angles but it may also be desired in these
66. ends upon communication mode and filter mode Specifications are subject to change 2 Average value when calibrated 14 User s Manual 2 3 2 5 USB Sensor Physical Dimensions TSS USB Handheld Case TSS USB S Strapdown Case All dimensions in mm All dimensions in mm 15 User s Manual 2 3 3 Data Logging Sensor 2 3 3 1 Data Logging Hardware Overview 4 Indicator LED 5 Input Button 2 3 Input Button 1 ein 6 Recessed MicroSD Slot 2 Recessed Power Switch 1 USB Connector 1 USB Connector The 3 Space Sensor uses a 5 pin mini USB connector to connect to a computer via USB and to charge the internal battery The USB connector provides for both power and communication signals 2 Recessed Power Switch The 3 Space Sensor can be switch on and off when powered from the internal battery by using the recessed power switch When connected via USB the unit is powered and the batteries will begin recharging regardless of the position of the recessed power switch 3 Input Button 1 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode 4 Indicator LED The 3 Space Sensor includes an
67. er a certain number of capture periods given by the property CaptureStopEventPeriodCount Using this when in continuous mode will cause the session to never end CaptureFormat The CaptureFormat property specifies a format string similar to that required by the C function printf It consists of a string of whatever characters are desired to show up in the data logging file in addition to a number of delimited tokens which indicate data of a certain type Options for characters which may follow the are listed below d The current date t The current time s Timestamp in microseconds q The tared orientation in quaternion form x The tared orientation in axis angle form e The tared orientation in Euler angle form given in pitch yaw roll order m The tared orientation in rotation matrix form g The current calculated angular difference between readings in quaternion form uq The untared orientation in quaternion form ua The untared orientation in axis angle form ue The untared orientation in Euler angle form given in pitch yaw roll order um The untared orientation in rotation matrix form 44 User s Manual ng The latest normalized scaled and biased gyroscope reading na The latest normalized scaled and biased accelerometer reading nc The latest normalized scaled and biased compass reading nt The latest temperature reading in degrees C nb The battery level percentage cg Th
68. es unsigned short Accel Samples unsigned short Compass Samples unsigned short 107 0x6B Set gyroscope enabled Enable or disable gyroscope readings as inputs to the orientation estimation Note that updated gyroscope readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Enabled Byte 108 0x6C Set accelerometer enabled Enable or disable accelerometer readings as inputs to the orientation estimation Note that updated accelerometer readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Enabled Byte 65 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 109 0x6D Set compass enabled Enable or disable compass readings as inputs to the orientation estimation Note that updated compass readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Enabled Byte 112 0x70 Set MI mode enabled Enables MI mode which is meant to protect against some magnetic disturbances See the Quick Start guide for more information Enabled Byte 113 0x71 Set MI mode parameters Sets up parameters for MI mode A description of these parameters
69. ess byte is non zero the data length byte will not be present at all Assuming the command succeeded the response data will be present directly after the data length byte 4 3 7 Sample ASCII Commands Command Description Potential Response gt 0 0 n Read orientation as a quaternion from sensor 0 0 0 36 0 07354 0 97287 0 03232 0 21696 r n gt 5 106 2 n Set oversample rate to 2 on sensor 5 5 0 0 r n 23 230 0 Read version string from sensor 3 0 0 14 08Jan2013k251rAn gt 2 236 n Read clock speed from out of range sensor 2 1 2 r n Failure Note that wireless commands that either fail or do not return data at all will still be terminated with carriage return and line feed characters even though the data length string may be 0 or not present at all 59 User s Manual 4 4 Response Header Format 4 4 1 Wired Response Header The 3 Space Sensor is capable of returning additional data that can be prepended to all command responses This capability is managed via the Response Header Bitfield which can be configured using command 221 OxDD Each bit in the field if enabled corresponds to a different piece of information that will be output prior to the expected response data To use the Response Header Bitfield use the following steps 1 2 3 Determine which additional data you would like to have output as the response header The list of options are 0x1 Bit 0 Succe
70. essesseneseaeessneeeaees 3 4 6 Sensor Wireless Settings and Defaults ec ecescsccesesseeseeseesesseeseesesseeseesecseesessesseeaeesessecseesessecseesessesateseaeeeneesentersaes 3 4 7 Dongle Wireless Settings and Defaults kot SEA EE 3 9 Mass Storage DEVICE eege ASSEN eA EEOSE A AEEA 3 5 2 SD Card Format and Directory Structure 3 5 3 Data Capture RE Capture tad eier testes En OE EEA ENS NESE SEEE EN NI AEOS ESAE EES SNESE u ASENA CaptureStopEvent Capture E E Capttirelinter vivia AO ENER AE a tin CaptureStyle CapturePostStopGatherTime Capture lle tubes EE CaptureFileMode CaptureDataMode CaptureFileInfoHeader 3 5 4 Capture Settings and Defaults 3 5 5 LED Capture Behavior 3 5 6 Real Time Clock eee eeeeeeseeseeeeeeees 4 3 Space Sensor Usage Protocol Al SAGE OVERVICW onesheni a acta A Caos ee AES I ie ih ao a a aie Social oe Azle Me Protocol OVverviewi 2n ane meani ea E O ans dees cara Ee EE 4 1 2 Computer Interfacing Overview USB 4 1 3 Computer Interfacing Overview meless areeni an eaae aT E E Ea aE E EAEE EEEE Rah 48 4 1 4 Computer Interfacing Overview Embedded eceiecesessssseeseeseseeesseeseeseseeaeesessecseesesseceesessesaesesesseseseseeeeseaeees 48 4 1 4 1 USB Interfacing 4 1 4 2 Asynchronous Serial Interf ecng eee eecescseesesesessceeseecsccsecsessecsecsecseesecsecsscneseceseesecaseaeaceeeeseeseseatessneeeeees 49 AAS SPI Unter ELE 4 1 4 4 Interrupt Generation SS MS SA eet A NRO 4
71. filtered 1 Kalman Accelerometer Reference Vector Determines which vector the accelerometer should read in order for 0 1 0 Compass Reference Vector Dertemines which vector the compass should read in order for the sensor s untared orientation to be the identity orientation 0 0 1 Default mode is to re calculate this vector on startup Reference Vector Mode Determines how reference vectors are calculated for orientation estimation 1 Single automatic Euler Order Determines the default composition order of euler angles returned by YXZ the sensor Calibration Mode Determines how raw sensor data is transformed into normalized data 1 Bias and Matrix Axis Directions Determines what natural axis direction each data axis faces X Right Y Up Z Forward Sample Rate Determines how many samples the sensor takes per cycle 1 from each component sensor 41 User s Manual Running Average Percentage Determines how heavy of a running average to run on the final orientation or component sensors O no running average RS232 Baud Rate Determines the speed of RS232 communication 115200 LED Color Determines the RGB color of the LED 0 0 1 Blue LED Mode Determines whether the LED mode is static or not 0 Non static Joystick Enabled Determines whether the joystick is enabled or not TRUE Mouse Enabled Determines whether the mouse is enabled or not FALSE Wir
72. gs from those 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 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 This can also be applied to any of the component sensors to cause them to have a smoothed reading Trust Values Both the accelerometer and compass have a trust value which indicates how much they will be favored compared to each other and to the gyroscope This value ranges from 0 to 1 A low value of trust indicates that the sensor in question will be trusted less which will result in smoother motion but more drift and a high value means it will be trusted more which means jerkier motion but potentially less drift In static trust mode the given sensor will always have the given trust value In confidence trust mode a confidence factor from 0 to 1 is assigned to the sensor based on the acceleration occurring on the accelerometer and the relationship between the readings from the accelerometer and compass and this confidence factor interpolates between the minimum and maximum given trust values The purpose
73. he 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 Note that for each negation that is applied the handedness of the system flips So if Xand Z are negative and you are using a left handed system the system will still be left handed but if only Xis negated the system will become right handed Axis Direction Byte byte 117 0x75 Set running average percent Sets what percentage of running average to use on a component sensor or on the sensor s orientation This is computed as follows total_value total_value percent total_value total_value current_value 1 percent current_value total_value If the percentage is 0 the running average will be shut off completely Maximum value is 1 This setting can be saved to non volatile flash memory using the Commit Settings command 16 Gyro percent float accel percent float compass percent float orientation 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
74. how trusted the compass contribution is to the overall orientation estimation Instead of using a single value uses a minimum and maximum value Trust values will be selected from this range depending on the confidence factor This can have the effect of smoothing out the compass when the sensor is in motion Minimum compass trust value float Maximum compass trust value float 105 0x69 Set reference vector mode Set the current reference vector mode Parameter can be 0 for single static mode which uses a certain reference vector for the compass and another certain vector for the accelerometer at all times 1 for single auto 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 or 2 for single auto continuous mode which works similarly to single auto mode but calculates this continuously Mode 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 responsiveness 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 65535 This setting can be saved to non volatile flash memory using the Commit Settings command Gyro Sampl
75. icroSD card allows for data logging applications USB allows for real time applications e MicroSD card uses standard FAT32 file system e Flexible data logging configuration allows customization of logged data and allows event based and time based logging options e Built in clock calendar provides for fully time stamped event logging at high resolution e USB communication through a virtual COM port e Enumeration as USB mass storage device makes access to logged data easy e USB joystick mouse emulation modes ease integration with existing applications e Upgradeable firmware e RGB status LED two programmable input buttons e Available in either hand held or strap down packaging e RoHS compliant 17 User s Manual 2 3 3 3 Data Logging Block Diagram USB 2 0 Host System TSS Data logging MicroSD Card LiPo Battery amp Real time Clock Slot Charge Management amp Calendar Processor MA A USB 2 0 MircoSD Card q E ME Media Interface USB Mouse sOysick ae Emulation Non volatile Calibration amp Kalman decis Filter Suuga Scale Bias Normalization amp Error Compensation 3 Axis 3 Axis 3 Axis Temperature Accelerometer Rate Gyro Compass Sensor 18 User s Manual 2 3 3 4 Data Logging Sensor Specifications General Part number TSS DL Handheld Sensor Unit TSS DL S Screw down Sensor Unit Dimensions 35mm x 60mm x 15mm 1 38 x 2 36 x 0
76. 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 here End of Packet The ASCII newline character Command Data Zero or more bytes representing parameters to the command being called See the command chartfor details Command Value Selected from the command chart in decimal Start of ASCII Packet Indicated by the colon character Thus the ASCII packet consists of 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 Also note that when communica
77. l Packet Format section For the ASCII version the character should be used instead of gt if the response header is desired 4 4 4 Wireless Streaming with Response Header Wireless streaming data can also have Response Header data prepended to each streamed packet This can be accomplished by calling the Start Streaming command 0x55 with the Wireless Response Header Packet Byte Assuming that streaming has been configured properly and a non zero Wireless Response Header bitfield has been set the following examples will start streaming with Response Headers disabled and enabled respectively We will also assume that we are communicating with the sensor mapped to logical ID 0 Oxf8 0x0 0x55 0x55 Start streaming with only the success failure logical ID and data length bytes prepended to each packet Oxfa 0x0 0x55 0x55 Start streaming WITH wireless response header prepended to each packet Keep in mind that the actual start command will also have a Response Header attached that must be successfully parsed 61 User s Manual 4 5 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
78. l Power Connector 2 RS232 Connector wy IU 1 USB Connector 1 USB Connector The 3 Space Sensor uses a 5 pin mini USB connector to connect to a computer via USB The USB connector provides for both power and communication signals 2 RS232 Connector The 3 Space Sensor can respond to protocol messages via RS232 by using this port The port is a 2 5mm 4 conductor jack that carries TxD RxD Gnd 5vdc Input signals The 5vdc Input signal is provided as a means to provide power and communications in a single connector If an external power adapter is used the 5vdc Input signal may be left unconnected 3 External Power Connector The 3 Space Sensor can be powered via an external power supply via this port The port is an EIAJ 1 standard barrel jack with a positive center pin Nominal supply voltage is 5vdc however any voltage in the range of 3 5vdc to 10vdc will power the unit safely 4 Input Button 1 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode 5 Indicator LED The 3 Space Sensor includes an RGB LED that can be used for visual status feedback 6 Input Button 2 See Input Button 1 11 User s Manual 2 3 2 2 USB Sensor Features The YEI 3 Spa
79. l result in streaming data output over the USB connection and a command received wirelessly via the dongle will result in all streaming data output over the wireless connection to be received by the dongle Please note that while the maximum wired packet size is 256 wireless streaming enforces a limit of 96 bytes per sensor Attempting to set streaming slots to include more return data than this will result in a failure code Also note that the dongle itself is incapable of streaming data 3 3 Input Device Emulation 3 3 1 Axes and Buttons The 3 Space Sensor has the ability to act as a joystick and or mouse when plugged in through USB Both of these are defined in the same way as a collection of axes and buttons Axes are input elements that can take on a range of values whereas buttons can only either be on or off On a joystick the stick part would be represented as 2 axes and all the physical buttons on it as buttons The 3 Space Sensor has no physical joystick and only 2 physical buttons so there are a number of options to use properties of the orientation data as axes and buttons Each input device on the 3 Space Sensor has 2 axes and 8 buttons For more information on setting these up see the 3 Space Suite manual All communication for these input devices is done through the standard USB HID Human Interface Device protocol 3 3 2 Joystick As far as a modern operating system is concerned a joystick is any random collection of axes and
80. life remaining is at or below 5 Yellow Single Pulse when plugged into USB Battery is actively charging Green Single Pulse when plugged into USB Battery is fully charged 3 5 6 Real Time Clock The Data Logging 3 Space Sensor contains a real time clock chip which allows it to keep track of time The clock chip uses a separate clock battery which maintains the time and clock settings The clock chip must be given an initial time for it to report time properly in a desired time zone This time can be given to the chip using command 62 and read back using command 63 See the entries for these commands in the 3 Space Sensor Usage Protocol section for more details In addition the 3 Space Suite has an option for automatically setting the clock of the sensor to the clock of the host computer Go to the Sensor Info window when connected to the Data Logging sensor and there will be an option to do this For more information refer to the Data Logging Quick Start Guide 47 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 ver
81. mic sensor confidence algorithm that ensures optimal accuracy and precision across a wide range of operating conditions The 3 Space Sensor unit 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 When used as a USB device the 3 Space Sensor provides mouse emulation and joystick emulation modes that ease integration with existing applications 2 2 Applications Robotics e Motion capture e Positioning and stabilization e Vibration analysis e Inertial augmented localization e Personnel pedestrian navigation and tracking e Unmanned air land water vehicle navigation e Education and performing arts e Healthcare monitoring e Gaming and motion control e Accessibility interfaces e Virtual reality and immersive simulation User s Manual 2 3 Sensor Types 2 3 1 Wireless Sensor 2 3 1 1 Wireless Sensor Hardware Overview 4 Indicator LED 5 Input Button 2 3 Input Button 1 2 Recessed Power Switch el 1 USB Connector USB Connector The 3 Space Sensor uses a 5 pin mini USB connector to connect to a c
82. n see command 251 in the Configuration Write Commands section or the 3 Space Suite Manual 3 3 4 Wireless Joystick Mouse The 3 Space Dongle can be set up to receive joystick and mouse data from a 3 Space Sensor wirelessly and present this data to the computer via a USB interface This is accomplished by supplying the logical ID of the wireless device that will act as the mouse joystick Commands 240 and 241 are used to enable the wireless joystick and mouse respectively When either of these commands are invoked the chosen wireless sensor will immediately begin transmitting the requested HID data to the dongle The update rate at which this information is received is determined by command 215 Additionally HID information may be sent synchronously or asynchronously from the wireless sensor to the dongle Command 217 allows the user to set the desired mode Synchronous HID mode is the default mode in which the dongle automatically asks for the requested data first This mode enjoys a high rate of reliability and it is quite easy to interlace regular protocol commands with HID data transmission reception This mode is slower however than asynchronous mode since information must both be requested and received Asynchronous mode on the other hand forces the sensor to automatically send HID information without being asked to do so by the dongle This allows for much higher update rates at the expense of reliability due to the increased number of wi
83. n about the state of the respective device These LEDs may also be set to a custom color The wireless unit will display the following LED colors under the following circumstances Upon receipt of a packet the wireless unit will flash green temporarily This will occur regardless of whether the wireless unit is plugged in or not When the wireless unit is plugged in and charging the sensor will flash yellow every second When the wireless unit is plugged in and fully charged the sensor will flash green every second When the wireless unit falls below a certain battery life level it will flash red in increasingly quicker intervals Note that this does not happen if the sensor is plugged in Upon receipt of a packet the dongle will flash green temporarily If the dongle transmits a packet that does not reach its destination the dongle will flash red temporarily Under all other circumstances both devices will display the custom color that has been set In addition to this default behavior it is possible to set a static LED mode in which the above functionality will be overridden In this case the LED will display only the custom color and nothing else Please refer to the command chart for information on setting static LED mode 10 User s Manual 2 3 2 USB Sensor 2 3 2 1 USB Sensor Hardware Overview 5 Indicator LED 6 Input Button 2 4 Input Button 1 3 Externa
84. n sensor 5 00 05 00 F8 03 E6 E9 Read version string from sensor 3 00 03 DC 54 53 53 57 49 52 30 36 30 31 31 31 F8 00 EC EC Read clock speed from powered off sensor 0 01 00 Failure F8 09 77 00 00 00 00 Set accelerometer reference vector to 0 0 1 0 0 0 on sensor 9 00 09 00 BF 80 00 00 00 00 00 BF 57 User s Manual 4 3 5 ASCII Text Packet Format Wireless ASCII packets are very similar to wired ASCII packets Each wireless ASCII packet is formatted as shown here gt Address Command Datal Data2 DataNj n End of Packet The A A A 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 Address Wireless address of the sensor to communicate with Start of ASCII Packet Indicated by the greater than character Thus the ASCII packet consists of the the following characters gt the ASCII greater than 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
85. nabled logical ID byte 74 User s Manual 4 6 2 Battery Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Read the current battery level in volts Note that this value will read as slightly higher than it actually is if Battery level in voltage 201 0xc9 Get battery voltage it is read via a USB connection 4 float 0 Read the current battery lifetime as a percentage of the total Note that this value will read as slightly Get battery percent higher than it actually is if it is read va a USB Battery level as percent 202 0xca remaining connection 1 byte 0 Returns a value indicating the current status of the battery which can be a 3 to indicate that the battery is currently not charging a 2 to indicate that the battery is charging and thus plugged in or a 1 to Battery charge status 203 0xcb Get battery status indicate that the sensor is fully charged 1 byte 0 4 6 3 Embedded Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Sets the pin mode of the sensor First parameter is mode which will be 0 for off 1 for pulse mode 2 for level 3 for SPI pulse and 4 for button Second parameter is pin which will be 0 for TXD for button 29 0x 1D Set pin mode also RXD or 1 for MISO for button also MOSI 0 2 M
86. nd Description Long Description Data Len Return Data Details Len Data Details 43 0x2B Get temperature C Returns the temperature of the sensor in Celsius 4 Temperature float 0 44 0x2C Get temperature F Returns the temperature of the sensor in Fahrenheit 4 Temperature float 0 Returns a value indicating how much the sensor is being moved at the moment This value will return 1 if the sensor is completely stationary and will return 0 if it is in motion This command can also return values in between indicating how much motion the 45 0x2D Get confidence factor sensor is experiencing 4 Confidence Factor float 0 63 User s Manual 4 5 5 Raw Data Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 64 0x40 Get all raw component sensor data Returns the raw gyro rate vector accelerometer vector and compass vector as read directly from the component sensors without any additional post processing The range of values is dependent on the currently selected range for each respective sensor 36 Gyro Rate in counts per degrees sec Vector x3 Acceleration Vector in counts per g Vector x3 Compass Vector in counts Der gauss Vector x3 65 0x41 Get raw gyroscope rate Returns the raw gyro rate vector as read directly from the gyroscope without any additional post processing 12 Gyro Ra
87. nits For the accelerometer these values are in units of g force 9 8 m s 2 for the magnetometer these values are in units of Gauss and for the gyroscope these values are in units of radians sec This kind of data is well suited for users who wish to perform their own calibration routines Raw data commands are listed in the Raw Data Commands section and span commands 0x40 through 0x43 Example A raw accelerometer vector might look like 0 06079 0 91846 0 39038 This would indicate a force that is mostly in a downward direction Corrected Sensor Data This refers to raw data that has had bias and calibration matrix parameters applied to it using the steps as described in the Scale Bias and Cross Axis Effect section This kind of data is well suited for users who wish to accurately track the motion of objects in 3D space or measure the strength and direction of magnetic fields Corrected data commands are listed in the Corrected Data Commands section and span commands 0x25 through 0x28 Example The same raw accelerometer vector from before when corrected might look like 0 05367 0 93710 0 38059 Note that these values are in units of g Normalized Sensor Data This refers to corrected data that has been geometrically normalized For the accelerometer and magnetometer all normalized sensor readings are unit vectors and as such have lengths of 1 For the gyroscope these is no difference between corrected and n
88. ns Test standards ETSI EN 301 489 1 2008 and ETSI EN 301 489 17 2008 e Radiated Emissions e Electro Static Discharge e Radiated RF Susceptibility 1 4 Battery Safety Considerations The 3 Space Wireless Sensor Data Logging Sensor and Bluetooth Sensor contain a rechargeable lithium polymer battery Lithium polymer batteries have high energy densities and can be dangerous if not used and cared for properly These sensors have been designed to include multiple levels of battery safety assurance The sensor circuitry includes smart charging circuitry with thermal management to prevent over charging the battery The battery pack itself also includes protection circuitry to prevent over charge over voltage over current and over discharge conditions Most battery issues arise from improper handling of batteries and particularly from the continued use of damaged batteries As with any lithium polymer battery powered device the following should be observed e Don t disassemble crush puncture shred or otherwise attempt to change the form of your battery e Don t attempt to change or modify the battery yourself Contact YEI technical support for battery replacement or battery repair e Don t let the mobile device or battery come in contact with water e Don t allow the battery to touch metal objects e Don t place the sensor unit near a heat source Excessive heat can damage the sensor unit or the battery High temperatures can cause
89. ntil 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 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 J H wes ES 0x00 0x04 e 0x01 ON E S
90. ny further communication from the host To activate the streaming mode use the following steps 1 Set up the streaming to call the commands you want data from First figure out which commands you want data from The following commands are valid for streaming 0 0x00 Read tared orientation as quaternion 1 0x01 Read tared orientation as euler angles 2 0x02 Read tared orientation as rotation matrix 3 0x03 Read tared orientation as axis angle 4 0x04 Read tared orientation as two vector 5 0x05 Read difference quaternion 6 0x06 Read untared orientation as quaternion 7 0x07 Read untared orientation as euler angles 8 0x08 Read untared orientation as rotation matrix 9 0x09 Read untared orientation as axis angle 10 0x0a Read untared orientation as two vector 11 0x0b Read tared two vector in sensor frame 12 0x0c Read untared two vector in sensor frame 32 0x20 Read all normalized component sensor data 33 0x21 Read normalized gyroscope vector 34 0x22 Read normalized accelerometer vector 35 0x23 Read normalized compass vector 37 0x25 Read all corrected component sensor data 38 0x26 Read corrected gyroscope vector 39 0x27 Read corrected accelerometer vector 40 0x28 Read corrected compass vector 41 0x29 Read corrected linear acceleration 43 0x2B Read temperature C 44 0x2C Read temperature F 45 0x2D Read confidence factor 64 0x40 Read all raw component sensor data 65 0x41 Read raw gyroscope vector
91. o Rate in units of 38 0x26 Get corrected gyro rate command 12 radians sec float x3 0 Returns the acceleration vector in units of G Note Get corrected that this acceleration will include the static Acceleration Vector in units 39 0x27 accelerometer vector component of acceleration due to gravity 12 lof G float x3 0 Get corrected compass Compass Vector in units of 40 0x28 vector Returns the compass vector in units of gauss 12 gauss float x3 0 Returns the linear acceleration of the device which Get corrected linear is the overall acceleration which has been orientation acceleration in global compensated and had the component of acceleration Acceleration Vector in units 41 0x29 space due to gravity removed Uses the untared orientation 12 lof G float x3 0 Converts the supplied raw data gyroscope vector to Gyro Rate in units of Gyro Rate in counts per 48 0x30 Correct raw gyro data its corrected data representation 12 radians sec float x3 12 degrees sec Vector x3 Converts the supplied raw data accelerometer vector Acceleration Vector in units Acceleration Vector in counts 49 0x31 Correct raw accel data to its corrected data representation 12 lof G float x3 12 per g Vector x3 Converts the supplied raw data compass vector to its Compass Vector in units of Compass Vector in counts 50 0x32 Correct raw compass data corrected data representation 12 gauss float x3 12 per gauss Vector x3 4 5 4 Other Data Commands Return Data Comma
92. ode Byte Pin Byte Read the interrupt mode of the sensor First parameter is mode which will be 0 for off 1 for pulse mode 2 for level 3 for SPI pulse and 4 for button Second parameter is pin which will be 0 for TXD for button also RXD or 1 for MISO for button also 30 0x1E Get pin mode MOSI 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 Get interrupt status was read or 0 otherwise 1 Status Byte 0 4 6 4 Data Logging Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Format and Initialize SD 59 0x3B Card Erases the contents of the SD card 0 0 Initiates a data logging section with the specified attributes as indicated in the provided data logging 60 0x3C Begin data logging session configuration file 0 0 61 0x3D End data logging session Terminates the ongoing data logging session 0 0 Month Byte Day Byte Year Byte Hour Byte 62 0x3E Set clock values Sets the current time on the onboard real time clock 6 Minute Byte Second Byte Month Byte Day Byte Year Byte Hour Byte Returns the current time as read by the onboard Minute Byte Second 63 0x3F Get clock values real time clock 6 Byte 0 75 User s Manual Appendix USB Connector The 3 Space Sensor has a 5 pin USB Type B jack and can be connect
93. omputer via USB and to charge the internal battery The USB connector provides for both power and communication signals Recessed Power Switch The 3 Space Sensor can be switched on and off when powered from the internal battery by using the recessed power switch When connected via USB the unit is powered and the batteries will begin recharging regardless of the position of the recessed power switch Input Button 1 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode Indicator LED The 3 Space Sensor includes an RGB LED that can be used for visual status feedback Input Button 2 See Input Button 1 2 3 1 2 Wireless Dongle Hardware Overview 1 2 Indicator LED 1 USB Connector USB Connector The 3 Space Wireless Dongle uses a 5 pin mini USB connector to connect to a computer via USB The USB connector provides for both power and communication User s Manual 2 Indicator LED The 3 Space Wireless Dongle includes an RGB LED that can be used for visual status feedback 2 3 1 3 Wireless Sensor Features The YEI 3 Space Sensor Wireless has many features that allow it to be a flexible all in one solution for your orientation sensing needs Below are some of the
94. on depending on which set of pins is selected to be used as buttons The following pins can be used as buttons Pin Name Description 2and3 MISO MOSI Configurable as buttons when SPI interface is unused Sand6 TxD RxD Configurable as buttons when asynchronous serial interface is unused The buttons will report a state of 0 when a high signal is applied to the corresponding pin or 1 when a low signal is applied Pull up resistors on these pins cause it to default to high or a value of 0 52 User s Manual 4 2 Wired Protocol Packet Format 4 2 1 Binary Packet Format The binary packet size can be three or more bytes long depending upon the nature of the command being sent to the controller Each packet consists of an initial start of packet byte followed by a command value specifier byte followed by zero or more command data bytes and terminated by a packet checksum value byte Each binary packet is at least 3 bytes in length and is formatted as shown here 247 0xF7 First Byte Start of Packet Second Byte Command Value a 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 Check Last Byte Packet Checksum jsa Sum of all other bytes except the first Binary Return Values i When a 3 Space Sensor command i
95. on to Logic Level Asynchronous Serial SCK VIN MISO VUSB MOSI USBD SS USBD TXD GND2 RXD GND1 GND YELTSS ENVIO 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 TIOUT TAIN T20UT_ T2IN RIIN ZR1OUT R2IN OR2OUT MAX3232 YEI TSS EMv1 0 Optional interrupt connection to RI shown 50 User s Manual 4 1 4 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 MISO 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 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 VIN VUSB USBD USBD GND2 GND1 YEI TSS EMv1 0 nection to INTO shown 4 1 4 4 Interrupt Generation The Embedded 3 Space Sensor is capable of generating a signal on certain pins which can be used to trigger
96. or e Absolute or custom reference axes e Access to raw sensor data e Flexible communication options USB 2 0 or wireless 2 4GHz Bluetooth SPP FCC Certified e Bluetooth SPP requires no proprietary dongle hardware e USB 2 0 and Bluetooth SPP communication via virtual COM port e Unique Bluetooth MAC ID allows simultaneous access of multiple sensors to be associated with a single host e USB joystick mouse emulation modes ease integration with existing applications e Upgradeable firmware e RGB status LED two programmable input buttons e Available in either hand held or screw down packaging e RoHS compliant 29 User s Manual 2 3 5 3 Bluetooth Sensor Block Diagram USB 2 0 Host System TSS Bluetooth LiPo Battery amp Bluetooth Module Charge Management amp Antenna Processor USB 2 0 2 4Ghz Bluetooth Biker SPP Interface USB Mouse amp Joystick ae Emulation Non volatile Calibration amp Kalman Performance Filter Settings Scale Bias Normalization amp Error Compensation 3 Axis 3 Axis 3 Axis Temperature Accelerometer Rate Gyro Compass Sensor 30 User s Manual 2 3 5 4 Bluetooth Sensor Specifications General Part number TSS BT Handheld Sensor Unit TSS BT S Screw down Sensor Unit Dimensions 35mm x 60mm x 15mm 1 38 x 2 36 x 0 59 in Weight 28 grams 0 98 oz Supply voltage 5v USB Battery technology rechargeable Lithium Polymer Battery life
97. order 1 order byte 0 Get offset orientation as Retums the current offset orientation as a 159 0x9f quaternion quaternion 16 Quaternion float x4 0 68 User s Manual 4 5 9 Calibration Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 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 Set compass calibration non volatile flash memory using the Commit Settings Matrix float x9 Bias float 160 0xa0 coefficients command 0 48 x3 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 Set accelerometer can be saved to non volatile flash memory using the Matrix float x9 Bias float 161 0xa1 calibration coefficients Commit Settings command 0 48 1x3 Get compass calibration Matrix float x9 Bias float 162 0xa2 coefficients Return the current compass calibration parameters 48 x3 Get accelerometer Return the current accelerometer calibration Matrix float x9 Bias float 163 0xa3 calibration coefficients parameters 48 x3 Get gyroscope calibration Matrix float x9 Bias float 164 0xa4 coefficients Return the current gyro
98. ormalized data This kind of data is well suited for users who are only interested in the direction of acceleration or magnetic fields and is well suited for orientation fusion applications Normalized data commands are listed in the Normalized Data Commands section and span commands 0x20 through 0x23 Example The corrected accelerometer vector from before when normalized would look like 0 04198 0 92296 0 38259 Note that the magnitude information is lost and only the direction of the acceleration remains 3 1 4 Calibration Modes The 3 Space Sensor allows users to decide what calibration parameters are used For more information on setting these additional modes please refer to command 169 Bias Mode Scales raw data readings so they are in real world units Also applies a bias offset to corrected data the values of which are taken from the provided calibration parameters command See the Configuration Write Commands section for more information Bias Scale Mode The default calibration mode Scales raw data readings so they are in real world units Also applies a bias offset to the corrected data as well as an additional scale matrix Uses the matrix and vector portions from the provided calibration parameters command 3 1 5 Reference Vectors In order to get an absolute estimation of orientation from the accelerometer and compass the sensor needs a reference vector for each to compare to the data read from it The
99. ot 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 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 22 User s Manual 2 3 4 3 Embedded Sensor 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 e Smallest and lightest high performance AHRS available at 23mm x 23mm x 2mm and only 1 3 grams e Fast sensor update and filter rate allow use in real time applications including stabilization virtual reality real time immersive simulation and robotics e Highly customizable orientation sensing with options such as tunable filtering oversampling and orientation error correction e Advanced integrated orientation filte
100. out interference or performance degradation e Each communication dongle unit supports up to 15 independent sensor units e Asynchronous communication support for improved performance with multiple sensor units e Communication through a virtual COM port e USB joystick mouse emulation modes ease integration with existing applications e Upgradeable firmware e RGB status LED two programmable input buttons e Available in either hand held or screw down packaging e RoHS compliant User s Manual 2 3 1 4 Wireless Sensor Block Diagram USB 2 0 Host System TSS Wireless 2 4Ghz DSSS LiPo Battery amp Wireless Module Charge Management amp Antenna Processor USB 2 0 2 4Ghz DSSS ot Wireless Interface USB Mouse amp l Final Emulation Non volatile Calibration 8 Kalman Performance Filter Settings Scale Bias Normalization 8 Error Compensation 3 Axis 3 Axis 3 Axis Temperature Accelerometer Rate Gyro Compass Sensor User s Manual 2 3 1 5 Wireless Sensor Specifications General Part number TSS WL Handheld Sensor Unit TSS WL S Screw down Sensor Unit Dimensions 35mm x 60mm x 15mm 1 38 x 2 36 x 0 59 in Weight 28 grams 0 98 oz Supply voltage 5v USB Battery technology rechargeable Lithium Polymer Battery lifetime 5 hours continuous use at full performance Communication interfaces USB 2 0 2 4GHz DSSS Wireless FCC certified Wireless communication
101. period and each period s data will be placed in this new file Only one file will be made in continuous mode named lt CaptureFileStub gt 1 txt in ASCII mode or lt CaptureFileStub gt 1 dat in binary 45 User s Manual CaptureDataMode The CaptureDataMode property in the capture cfg file specifies whether captured data is stored in the file as human readable ASCII or compact binary This property is one of the following e ascii Data is logged in a human readable form Superfluous characters in the formatting string are placed in the data log e binary Data is logged in a compact non human readable form Superfluous characters are ignored CaptureFilelnfoHeader The CaptureFileInfoHeader property in the capture cfg file determines whether a line should be written at the top of each capture file indicating the format of the data contained within This property can be set to either 0 for off or 1 for on 3 5 4 Capture Settings and Defaults Setting Name Purpose Default Value Capture Rate Determine how often to capture data in ms auto Capture Format Determine what data to capture d Yt q Date time and orientation as quaternion Start Event Determine how a session is started left button Start Event Motion Threshold Determine how much motion starts a session in g 0 5 Capture Style Determine when to capture data continuous
102. pment and receiver User s Manual e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help To satisfy FCC RF Exposure requirements for mobile and base station transmission devices a separation distance of 20 cm or more should be maintained between the antenna of this device and persons during operation To ensure compliance operation at closer than this distance is not recommended The antenna s used for this transmitter must not be co located or operating in conjunction with any other antenna or transmitter If the Wireless Unit is used in a portable application antenna is less than 20 cm from persons during operation the integrator is responsible for performing Specific Absorption Rate SAR testing in accordance with FCC rules 2 1091 1 3 2 Canada IC Approval The 3 Space Wireless Sensor and Dongle devices contain IC ID 7693A 24J40MA This device has been certified for use in Canada under Industry Canada IC Radio Standards Specification RSS RSS 210 and RSS Gen 1 3 3 European Approval The 3 Space Wireless Sensor and Dongle devices contain a communication module that has been certified for use in European countries The following testing has been completed Test standard ETSI EN 300 328 V1 7 1 2006 10 e Maximum Transmit Power Maximum EIRP Spectral Density e Frequency Range e Radiated Emissio
103. r compass read from 0 2 to 0 9 on the x axis the bias would be 0 35 and the scale would be 0 55 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 representing cross axis effect one to indicate how much each axis is affected by each other axis Values for these are generally in the range of 1 to 10 These parameters are applied in the following order 1 Bias is subtracted from each axis 2 The three axes are treated as a vector and multiplied by a matrix representing scale and cross axis parameters Factory calibration provides default values for these parameters for the accelerometer and compass and users should only need to change these values if the sensor is inserted into a system with significant magnetic disturbances 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 34 User s Manual 3 1 3 Component Sensor Data Types Component sensor data is presented by the 3 Space Sensor in three different stages and is readily accessible via certain protocol commands Raw Sensor Data This refers to data that is read from each of the component sensors scaled to be in real world u
104. r data normalized sensor data temperature Shock survivability 5000g Temperature range 40C 85C 40F 185F Sensor Orientation range 360 about all axes Orientation accuracy 1 average for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 8g selectable for standard models 68 12g 24g selectable for HH models 100g 200g 400g selectable for H3 models Accelerometer resolution 14 bit 12 bit HH 12 bit H3 Accelerometer noise density 99u g VHz 650ug VHz HH 15mg VHz H3 Accelerometer sensitivity 0 00024g digit 0 00096g digit 0 003g digit 0 012 digit HH 0 049g digit 0 195g digit H3 Accelerometer temperature sensitivity 0 008 C 0 01 C HH H3 Gyro scale 250 500 1000 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 009 sec VHz Gyro bias stability 25 C 2 5 hr average for all axes Gyro sensitivity 0 00833 sec digit for 250 sec 0 0666 sec digit for 2000 sec Gyro non linearity 0 2 full scale Gyro temperature sensitivity 0 03 C Compass scale 0 99 Ga to 8 1 Ga selectable 1 3 Ga default Compass resolution 12 bit Compass sensitivity 0 73 mGa digit Compass non linearity 0 1 full scale 1 Dep
105. re orientation as 128 0x80 quaternion Returns the current tare orientation as a quaternion 16 Quaternion float x4 0 Get tare orientation as Returns the current tare orientation as a rotation 129 0x81 rotation matrix matrix 36 Rotation Matrix float x9 0 Retums the current accelerometer min and max trust Get accelerometer trust __ values If static trust values were set both of these Accelerometer trust values 130 0x82 values will be the same 8 min and max float x2 0 Returns the current compass min and max trust values If static trust values were set both of these Compass trust values min 131 0x83 Get compass trust values wll be the same 8 and max float x2 0 Reads the amount of time taken by the last filter Last update time in 132 0x84 Get current update rate update step 4 microseconds int 0 Reads the current compass reference vector Note Get compass reference that this is not valid if the sensor is in Multi Compass reference vector 133 0x85 vector Reference Vector mode 12 float x3 0 Reads the current compass reference vector Note Get accelerometer that this is not valid if the sensor is in Multi Accelerometer reference 134 0x86 reference vector Reference Vector mode 12 vector float x4 0 Reads the current reference vector mode Return value can be 0 for single static 1 for single auto or 2 135 0x87 Get reference vector mode for single auto continuous 1 Mode byte 0 Returns a value indicating whether MI mo
106. reless transmissions and potential collisions While using this mode you should only be using the 3 Space Sensor as an HID joystick or mouse and should not be attempting to gather other data from it as this mode takes over the wireless data stream 40 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 3 4 2 Committing Wireless Settings In addition to committing sensor settings there are also settings specific to wireless devices In order to commit these settings command 197 must be used Note that committing the default settings will have no effect on wireless settings while committing wireless settings will not change the default settings A list of wireless settings for the sensor can be found in table 3 4 6 and a list of wireless settings for the dongle can be found in table 3 4 7 3 4 3 Natural Axes The natural axes of the 3 Space Sensor are as follows e The positive X axis points out of the right hand side of the sensor which is the side that is facing right when the buttons face upward and plug faces towards you e The positive Y axis points out of the top of the sensor the side with the buttons e The positive
107. ring allows sensor to automatically reduce the effects of sensor noise and sensor error e Robust open protocol allows commands to be sent in human readable form or more quickly in machine readable form e Orientation output format available in absolute or relative terms in multiple formats quaternion rotation matrix axis angle two vector e Absolute or custom reference axes e Access to raw sensor data e Flexible communication options SPI USB 2 0 or asynchronous serial e USB communication through a virtual COM port e When used as a USB device USB joystick mouse emulation modes ease integration with existing applications e Castellated SMT edge pads provide secure SMT mounting and allow optional through hole mounting e Upgradeable firmware e RGB status LED e Programmable interrupt capability e Development kit available e RoHS Compliant e 5v tolerant I O signals 23 User s Manual 2 3 4 4 Embedded Sensor Block Diagram 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 Orientation Joystick 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 24 User s Manual 2 3 4 5 Embedded Sensor Specifications
108. ring indicating the current hardware version 32 Hardware version string 231 0xe7 Set UART baud rate Sets the baud rate of the physical UART This setting does not need to be committed but will not take effect until the sensor is reset Valid baud rates are 1200 2400 4800 9600 19200 28800 38400 57600 115200 default 230400 460800 and 921600 Note that this is only applicable for sensor types that have UART interfaces Baud rate int 232 0xe8 Get UART baud rate Returns the baud rate of the physical UART Note that this is only applicable for sensor types that have UART interfaces Baud rate int 70 User s Manual Return Data Command Description Long Description Data Len Return Data Details Len Data Details Sets the communication mode for USB Accepts one value that can be 0 for CDC default or 1 for USB communication mode 233 0xe9 Get USB Mode FTDI 0 1 byte USB communication mode 234 0xea Get USB Mode Returns the current USB communication mode 1 byte 0 Returns the serial number which will match the 237 0xed Get serial number value etched onto the physical sensor 4 Serial number int 0 Sets the color ofthe LED on the sensor to the specified RGB color This setting can be committed to non volatile flash memory by calling the Commit 238 0xee Set LED color Wireless Settings comm
109. s 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 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
110. scope calibration parameters 48 x3 Performs auto gyroscope calibration Sensor should remain still while samples are taken The gyroscope Begin gyroscope auto bias will be automatically placed into the bias part of 165 0xa5 calibration the gyroscope calibration coefficient list 0 0 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 Set gyroscope calibration non volatile flash memory using the Commit Settings Matrix float x9 Bias float 166 0xa6 coefficients command 0 48 x3 Sets the current calibration mode which can be 0 for Bias or 1 for Scale Bias For more information refer to the Calibration Modes section This setting can be saved to non volatile flash memory using the Commit 169 0xa9 Set calibration mode Settings command 0 1 Mode Byte Reads the current calibration mode which can be 0 for Bias or 1 for Scale Bias For more information 170 0xaa Get calibration mode refer to the Calibration Modes section 1 Mode byte 0 69 User s Manual 4 5 10 System 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 O for standard which
111. se can be the following Turn off this control 255 Axes Global Axis O Screen Point 1 Buttons Hardware Button 0 Orientation Button 1 Shake Button 2 Control class byte control index byte handler index byte 245 0xf5 Set control data Sets parameters for the specified control s operation mode The control classes and indices are the same 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 Control class byte control index byte data point index byte data point float 246 0xf6 Get control mode Reads the handler index of this 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 Oxf7 Get control data Reads the value of a certain parameter of the specified control s operation mode The control classes and indices are the same as described in command 244 Data point float Control class byte control index byte data point index byte 250 0xfa Get button state Reads the current state of the sensor s physical buttons This value returns a byte where each bit represents the state of the sensor s physical buttons Button state byte 251 0xfb Set mouse absolute relative mode Puts the mode in absolute
112. ser s Manual 2 3 2 3 USB Sensor Block Diagram USB 2 0 RS232 Serial Host System Host System TSS USB RS232 Driver Processor USB 2 0 Asynchronous Interface Serial Interface USB Mouse amp Final Emulation Non volatile Calibration amp Kalman Performance Filter Settings Scale Bias Normalization amp Error Compensation 13 3 Axis 3 Axis 3 Axis Temperature Accelerometer Rate Gyro Compass Sensor User s Manual 2 3 2 4 USB Sensor Specifications General Part number TSS USB Handheld Sensor Unit TSS USB S Screw down Sensor Unit TSS USBWT S Watertight Screw down Sensor Unit TSS MUSB Micro USB Sensor Unit Dimensions 35mm x 50mm x 15mm 1 38 x 1 97 x 0 59 in USB 35mm x 67 6mm x 20mm 1 38 x 2 66 x 0 79 in USBWT S 23mm x 23mm x 2 2mm 0 9 x 0 9 x 0 086 in MUSB Weight 17 grams 0 60 oz USB 21 grams 0 74 oz USBWT S 1 3 grams 0 0458 oz MUSB Supply voltage 5v USB 3 3v 6 0v external jack Communication interfaces USB 2 0 RS232 Asynchronous Serial Serial baud rates 1 200 921 600 selectable default 115 200 Filter update rate up to 250Hz with Kalman AHRS higher with oversampling up to 850Hz with QCOMP AHRS higher with oversampling up to 1350Hz in IMU mode Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data corrected senso
113. ss Failure comprised of one byte with non zero values indicating failure 0x2 Bit 1 Timestamp comprised of four bytes representing the most recent sample time in microseconds Note that this is not a difference but a total accumulated time 0x4 Bit 2 Command echo comprised of one byte Echoes back the previous command 0x8 Bit 3 Additive checksum comprised of one byte summed over the response data modulus 256 Note that this does not include the Response Header itself 0x10 Bit 4 Logical ID comprised of one byte indicating the logical ID of the received packet For wired communication this always returns OxFE 0x20 Bit 5 Serial number comprised of four bytes 0x40 Bit 6 Data length comprised of one byte Represents the amount of response data Note that this does not include the Response Header itself For example if you wanted all future data to be preceded with a timestamp and a data length you would want to use bits 1 and 6 which corresponds to the value 66 0x00000042 This is the value that would be passed into the Set Wired Response Header Bitfield command Command 221 Call command 221 passing in the specified value Keep in mind that this is a 4 byte value Ask for data using the Response Header Start Byte Typical wired binary commands use OxF7 to indicate the start of a command packet If OxF7 is used response data will never contain a Response Header Instead the user should use Ox
114. te in counts per degrees sec Vector x3 66 0x42 Get 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 Get raw compass data Returns the raw compass vector as read directly from the compass without any additional post processing 12 Compass Vector in counts per gauss Vector x3 4 5 6 Streaming Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 80 0x50 Set streaming slots Configures data output slots for streaming mode Command accepts a list of eight bytes where each byte corresponds to a different data command Every streaming iteration each command will be executed in order and the resulting data will be output in the specified slot Valid commands are commands in the ranges 0x0 0x10 0x20 0x30 0x40 0x50 OxC9 OxCA for battery powered sensors and OxFA A slot value of OxFF clears the slot and prevents any data from being written in that position This command can fail if there is an invalid command passed in as any of the parameters or if the total allotted size is exceeded Upon failure all slots will be reset to OxFF This setting can be saved to non volatile flash memory using the Commit Settings command Commands By
115. te x8 81 0x51 Get streaming slots Returns the current streaming slots configuration Commands Byte x8 82 0x52 Set streaming timing Configures timing information for a streaming session All parameters are specified in microseconds The first parameter is the interval which specifies how often data will be output A value of O means that data will be output at the end of every filter loop Aside from O values lower than 1000 will be clamped to 1000 The second parameter is the duration which specifies the length of the streaming session If this value is set to OxFFFFFFFF streaming will continue indefinitely until it is stopped via command 0x56 The third parameter is the delay which specifies a n amount of time the sensor will wait before outputting the first packet of streaming data This setting can be saved to non volatile flash memory using the Commit Settings command 12 Interval Unsigned int Duration Unsigned int Delay Unsigned int 83 0x53 Get streaming timing Returns the current streaming timing information 12 Interval Unsigned int Duration Unsigned int Delay Unsigned int 84 0x54 Get streaming batch Return a single packet of streaming data using the current slot configuration Varies 85 0x55 Start streaming Start a streaming session using the current slot and timing configuration 0 86 0x56 Stop streaming Stop the current stre
116. tfield For more information please refer to the Response Header Format section Response header configuration Unsigned int 223 0xdf Get firmware version string Retums 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 the Sensor Settings section o 226 0xe2 Software reset Resets the sensor 227 0xe3 Set sleep mode Sets the current sleep mode of the sensor Supported sleep modes are O for NONE and 1 for IDLE IDLE mode merely skips all filtering steps NONE is the default state Sleep mode byte 228 0xe4 Get sleep mode Reads the current sleep mode of the sensor which can be O for NONE or 1 for IDLE Sleep mode byte 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 on upgrading firmware refer to the 3 Space Sensor Suite Quick Start Guide 230 0xe6 Get hardware version string Returns a st
117. the battery to swell leak or malfunction User s Manual Don t dry a wet or damp sensor unit with an appliance or heat source such as a hair dryer or microwave oven Don t drop the sensor unit Dropping especially on a hard surface can potentially cause damage to the sensor unit or the battery Discontinue use immediately and contact YEI technical support if the battery or sensor unit produce odors emit smoke exhibit swelling produce excess heat exhibit leaking Dispose of Lithtum polymer batteries properly in accordance with local state and federal guidelines User s Manual 2 Overview of the YEl 3 Space Sensor 2 1 Introduction The YEI 3 Space Sensor is a miniature high precision high reliability Attitude and Heading Reference System AHRS The 3 Space family includes sensors with a variety of communication methods including USB wireless serial and SPI The Attitude and Heading Reference System AHRS uses triaxial gyroscope accelerometer and compass sensors in conjunction with advanced on board filtering and processing algorithms to determine orientation relative to an absolute reference orientation in real time Orientation can be returned in absolute terms or relative to a designated reference orientation The gradient descent calibration process and high update rates increase accuracy and greatly reduce and compensate for sensor error The YEI 3 Space Sensor system also utilizes a dyna
118. time 5 hours continuous use at full performance Communication interfaces USB 2 0 2 4GHz Bluetooth SPP FCC Certified Wireless communication range up to 300 Bluetooth v2 0 EDR Class 1 Filter update rate up to 250Hz USB 185Hz Bluetooth with Kalman AHRS up to 850Hz USB 420Hz Bluetooth with QCOMP AHRS up to 1350Hz USB 600Hz Bluetooth in IMU mode Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data corrected sensor data normalized sensor data temperature Shock survivability 5000g Temperature range 40C 85C 40F 185F Sensor Orientation range 360 about all axes Orientation accuracy 1 average for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 8g selectable for standard models 68 12g 24g selectable for HH models 100g 200g 400g selectable for H3 models Accelerometer resolution 14 bit 12 bit HH 12 bit H3 Accelerometer noise density 99ug VHz 650ug VHz HH 15mg VHz H3 Accelerometer sensitivity 0 00024g digit 0 00096g digit 0 003g digit 0 012 digit HH 0 049g digit 0 195g digit H3 Accelerometer temperature sensitivity 0 008 C 0 01 C HH H3 Gyro scale 250 500 1000
119. ting with the dongle or sensor in the 3 Space Suite the newline is automatically appended to the input thus it is not necessary to add it Sample ASCII commands 0 n If connected to the sensor Read orientation as a quaternion 106 21n If connected to the sensor Set oversample rate to 2 214An If connected to the dongle Read signal strength of most recent dongle reception 208 5 n If connected to the dongle Read the serial number of the unit mapped to logical ID 5 ASCII Response 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 54 User s Manual 4 2 3 SPI Packet Format Embedded 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 u
120. ture cfg file selects options for starting a capture session Possible values for the CaptureStartEvent property are e on command The sensor will begin recording data only when the data logging session command command 60 is called See the 3 Space Sensor Usage Protocol section for more information on this command 43 User s Manual Because calling a command requires a USB connection which can communicate with the sensor the sensor will have to be taken out of Mass Storage mode before this command is called The command to turn off Mass Storage mode is command 58 Also note that regardless of start event this command can be used to start a data logging session e on startup Whenever the sensor starts up it will attempt to start logging data as soon as it can After this one session it will not attempt to start another session e left button right button and both buttons A session will begin when the appropriate button or buttons are pressed Note that if the stop condition is set to the same set or part of the same set of buttons the buttons will need to be released before they will register as a stop condition e motion A session will begin when the accelerometer detects that motion has risen to a certain level This level is given in units of g gravity units and can be set through the property CaptureStartEventMotionThreshold CaptureStopEvent The CaptureStopEvent propert
121. unication such as wireless addressing wireless reliability and packet loss handling For more information pertaining to the wired and wireless communication protocols see the Wired Protocol Packet Format and Wireless Protocol Packet Format sections 4 1 4 Computer Interfacing Overview Embedded 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 circuits used for using each of the respective interface options 48 User s Manual 4 1 4 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
122. update step 6 Samples unsigned short 0 Returns the running average percent value for each Gyro percent float accel component sensor and for the orientation The value percent float compass Get running average indicates what portion of the previous reading is kept percent float orientation 145 0x91 percent and incorporated into the new reading 16 percent float 0 Return the current accelerometer measurement range which can be a 0 for 2g 1 for 4g or a 2 for Accelerometer range 148 0x94 Get accelerometer range 8g 1 setting byte 0 Returns the current filter mode which can be 0 for IMU mode 1 for Kalman 2 for Q COMP or 3 for Q GRAD For more information please refer to the Set 152 0x98 Get filter mode Filter Mode command 123 1 Filter mode byte 0 Reads the selected mode for the running average Running average mode 153 0x99 Get running average mode which 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 Get gyroscope range for 2000 DPS 1 byte 0 Reads the current compass measurement range which can be 0 for 0 88G 1 for 1 3G 2 for 1 9G 3 for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6G or 7 Compass range setting 155 0x9b Get compass range for 8 1G ab byte 0 Get euler angle Euler angle decomposition 156 0x9c decomposition order Reads the current euler angle decomposition
123. use of this this sensor is at its best when the 3 Space Sensor is sitting still Most jitter seen as the orientation of the sensor changes is due to shaking causing perturbations in the accelerometer readings To account for this by default when the 3 Space Sensor is being moved the gyroscope becomes more trusted becomes a greater part of the orientation estimate and the accelerometer becomes less trusted e 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 3 1 2 Scale Bias and Cross Axis Effect The raw readings taken from each component sensor are not in a readily usable form While they are in real world units the readings will still often be different than the real world quantities they are measuring To account for this 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 1 1 to 1 1 on the x axis but we would like it to be in the range of 1 to 1 the scale would be 1 1 Bias is how far the center of the data readings is from 0 If anothe
124. vidually tested prior to shipment for quality control Product Support YEI provides technical and user support via our toll free number 888 395 9029 and via email support yeitech com Support is provided for the lifetime of the equipment Requests for repairs should be made through the Support department For damage occurring outside of the warranty period or provisions customers will be provided with cost estimates prior to repairs being performed 1 3 Regulatory Approval 1 3 1 United States FCC Approval The 3 Space Wireless Sensor and Dongle devices contain FCC ID OA3MRF24J40MA This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna e Increase the separation between the equi
125. w YeiTechnology com www 3SpaceSensor com Patented and Patents Pending 2007 2014 Yost Engineering Inc Printed in USA 77
126. will be added at a later date 28 MI mode parameters float x7 114 0x72 Begin MI mode field calibration Begins the calibration process for MI mode The sensor should be left in a magnetically unperturbed area for 3 4 seconds after this is called for calibration to succeed 116 0x74 Set axis directions Sets altemate directions for each of the natural axes of the sensor The only parameter is a bitfield representing the possible combinations of axis swapping The lower 3 bits specify where each of the natural axes appears 000 X Right Y Up Z Forward left handed system standard operation 001 X Right Y Forward Z Up right handed system 002 X Up Y Right Z Forward right handed system 003 X Forward Y Right Z Up left handed system 004 X Up Y Forward Z Right left handed system 005 X Forward Y Up Z Right right handed system For example using X Right Y Forward Z Up means that any values that appear on the positive vertical Up axis of the sensor will be the third Z component of any vectors and will have a positive sign and any that appear on the negative vertical axis will be the Z component and will have a negative sign The 3 bits above those are used to indicate which axes if any should be reversed If it is cleared the axis will be pointing in the positive direction Otherwise the axis will be pointed in the negative direction Note These are applied to t
127. y in the capture cfg file selects options for stopping a capture session Possible values for the CaptureStopEvent property are e on command Like the same property for the start events this means a session can only be stopped through a command Use command 61 for ending a data logging session Also note that regardless of stop event this command can be used to stop a data logging session e always This will always stop a data logging session as soon as it starts This is most useful in concert with the CapturePostStopGatherTime property which gives a length of time after the stop of a session data should continue to be logged e left button right button and both buttons Just as for start events these will stop a session when the buttons are pressed e motion stop This will stop a session when the motion falls below a certain threshold This threshold given in gs gravity units is indicated by the property CaptureStopEventMotionThreshold e capture count This will stop a session after a certain number of samples have been taken This number is given by the property CaptureStopEventCaptureCount e capture duration This will stop a session after it has lasted for a certain amount of time given in milliseconds by the property CaptureStopEventCaptureDuration e period count This only has any effect when the CaptureStyle property is set to periodic It will stop a capture aft
128. y 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 Gyro Rate in units of 33 0x21 Get normalized gyro rate units of radians sec 12 radians sec float x3 0 Returns the normalized accelerometer vector Note that this is a unit vector indicating the direction of Get normalized gravity This vector does not have any magnitude Gravity Direction Vector 34 0x22 accelerometer vector data associated with it 12 x3 0 Returns the normalized compass vector Note that this is a unit vector indicating the direction of gravity Get normalized compass This vector does not have any magnitude data 35 0x23 vector associated with it 12 North Direction Vector x3 0 4 5 3 Corrected Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Gyro Rate in units of Returns the corrected gyro rate vector radians sec Vector x3 accelerometer vector and compass vector Note that Acceleration Vector in units the gyro vector is in units of radians sec the of G Vector x3 Compass Get all corrected accelerometer vector is in units of G and the Vector in units of gauss 37 0x25 component sensor data Compass vector is in units of gauss 36 Vector x3 0 Returns the corrected gyro rate vector which is in units of radians sec Note that this result is the same data returned by the normalized gyro rate Gyr

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