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3-Space Sensor Wireless 2.4GHz User`s Manual

1. 3 Space Sensor Y 3 Space Sensor Wireless 2 4GHz Miniature Wireless Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www Y ei Technology com www 3SpaceSensor com Patents Pending 2007 2011 Yost Engineering Inc Printed in USA This page intentionally left blank This page intentionally left blank Y 3 Space Sensor Wireless 2 4GHz Miniature Wireless Attitude amp Heading Reference System User s Manual YEI Technology 630 Second Street Portsmouth Ohio 45662 www YeiTechnology com Www 3SpaceSensor com Toll Free 888 395 9029 Phone 740 355 9029 Patents Pending 2007 2011 Yost Engineering Inc Printed in US Table of Contents 1 Usage Safety Consideras criba 1 TP Usage Conditions E 1 1 2 Technical Support and Repas A A e A a E EE 1 1 3 Regulatory Approval cccccesccsscessessesseceseesecsseescesseesecesecsecesecscesseseseeseseseeseesesseseaecseeeaeeeessecnseeaeseseseeeseneeensateeaes 1 1 3 1 United States FCC Approval 2 2u2EEEdEEEEEEEE EIERE caved a ER ER A AEE Ti aaRS 1 1 3 2 Canada IC TEE 2 1 3 3 EUropean Approved 2 1 4 Battery Safety Consaderatons non ron n narran ran RR RR RR RR RAR RR RR RR En RR nn testes esses tes esre nr r nan rnnnrnnnnnss 2 2 Overview of the YEI Wireless 3 Space Sensor 3 ZA TEO UC A A A ias 3 RUE e EE 3 213 Hardware RE 4 2 3 1 Wireless Sensor Hardware Overview ron ron
2. 247 0xF7 a First Byte Start of Packet Second Byte Command Value Selected from the command chart Command l Command Data Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Data Last Byte Packet Checksum al Checksum Sum of all other bytes except the first Figure 1 Binary Command Packet Format Binary Return Values When a 3 Space Sensor command is called in binary mode any data it returns will also be in binary format For example if a floating point number is returned it will be returned as its 4 byte binary representation For information on the floating point format go here http en wikipedia org wiki Single precision floating point format Also keep in mind that integer and floating point values coming from the sensor are stored in big endian format The Checksum Value The checksum is computed as an arithmetic summation of all of the characters in the packet except the checksum value itself modulus 256 This gives a resulting checksum in the range 0 to 255 The checksum for binary packets is transmitted as a single 8 bit byte value 18 User s Manual 4 2 2 ASCII Text Packet Format ASCII text command packets are similar to binary command packets but are received as a single formatted line of text Each text line consists of
3. cell stores 3 4 5 Dongle General Settings Setting Name Purpose Default Value LED Color Determines the RGB color of the LED 0 0 1 Blue Desired Update Rate Determines how long each cycle should take ideally 0 microseconds LED Mode Determines whether the LED mode is static or not 0 Non static 3 4 6 Sensor Wireless Settings 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 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 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 joysti
4. Wireless communication range up to 200 Wireless PAN Ids selectable 65536 Wireless channels selectable 16 2 4GHz channel 11 through 26 Filter update rate up to 200Hz with full functionality Orientation output absolute amp relative quaternion Euler angles axis angle rotation matrix two vector Other output raw sensor data corrected sensor data normalized sensor data temperature Shock survivability 5000g Temperature range 40C 85C 40F 185F Processor 32 bit RISC running 60MHz Sensor Orientation range 360 about all axes Orientation accuracy 2 for dynamic conditions amp all orientations Orientation resolution lt 0 08 Orientation repeatability 0 085 for all orientations Accelerometer scale 2g 4g 8g selectable Accelerometer resolution 14 bit Accelerometer noise density 99 ugy Hz Accelerometer sensitivity 0 00024g digit for 2g range 0 00048g digit for 4g range 0 00096g digit for 8g range Accelerometer temperature sensitivity 0 008 C Gyro scale 250 500 2000 sec selectable Gyro resolution 16 bit Gyro noise density 0 03 sec V Hz Gyro bias stability 25 C 11 hr average for all axes Gyro sensitivity 0 00875 sec digit for 250 sec 0 01750 sec digit for 500 sec 0 070 sec digit for 2000 sec Gyro non li
5. 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 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 assoc
6. 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 laccurate 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 laccurate for smaller magnetic field strengths This setting can be saved to non volatile flash memory using the Commit Settings command Compass range setting Byte 31 User s Manual 4 3 7 Configuration Read Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Read tare orientation as 128 0x80 quaternion Returns the current tare orientation as a quaternion 16 Quaternion float x4 0 Read tare orientation as Returns the current tare orientation as a rotation 129 0x81 rotation matrix matrix
7. the handler index specifies which handler you want to take care of this control These can be the following Turn off this control 255 Axes Global Axis 0 Screen Point 1 Buttons Hardware Button 0 Orientation Button 1 Shake Button 2 Control class byte control index byte handler index byte 245 0xf5 Set control data Sets parameters for the specified control s operation mode The control classes and indices are the same 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 Read 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 0x17 Read control data Reads the value of a certain parameter of the specified control s operation mode The control classes and indices are the same as described in command 244 Data point float Control class byte control index byte data point index byte 248 0xf8 Set button gyro disable length Determines how long in frames the gyros should be disabled after one of the physical buttons on the sensor is pressed A setting of 0 means they won t be
8. 0 254 n 23 User s Manual 4 4 Wireless Asynchronous Protocol 4 4 1 Asynchronous Communication Format In addition to the standard request response communication paradigm the 3 Space sensor also supports an asynchronous protocol All asynchronous requests are initiated through the dongle and sent to the corresponding sensor but only once This effectively halves communication overhead allowing a wireless sensor to automatically respond with given data at the specified interval for a specified amount of time Providing that the command format is correct the sensor given by the specified address will begin automatically transmitting the requested data upon receipt of the dongle s request Asynchronous requests follow the same format as regular commands in that the dongle will return status bytes indicating whether or not the asynchronous request was received by the sensor in question Following is the general format for asynchronous requests 249 0xF9 al First Byte Start of Packet Interval DT ie Ee Interval lt q Third ie SE Duration TT Four qe Duration a Fifth pe Es Soe Sensor Address al Sixth Byte Sensor Address Command lt q Seventh Byte Command Value Selected from the command chart Command Data Command Data Zero or more bytes representing parameters to the c
9. 19 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 Any commands sent to address 254 will be sent to the dongle itself 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 3 bytes in length and is formatted as shown in figure 3 248 0xF8 D First Byte Start of Packet Sensor Address D Second Byte Address Command Third Byte Command Value Selected from the command chart Command Data Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Data Last Byte Packet Checksum al en Checksum Sum of all other bytes ex
10. 36 Rotation Matrix float x9 0 Returns the current accelerometer rho mode as well las the value If this mode is set to 0 static this will return the rho mode the static rho value and then a dummy value of 0 If this mode is set to 1 this will Accelerometer rho mode Read accelerometer rho retum the rho mode and the minimum and byte Accelerometer rho 130 0x82 value maximum rho values 9 values float x2 0 Returns the current compass rho mode as well as the value If this mode is set to 0 static this will return the rho mode the static rho value and then a dummy value of 0 If this mode is set to 1 this will Compass rho mode byte return the rho mode and the minimum and Compass rho values float 131 0x83 Read compass rho value maximum rho values 9 x2 0 Reads the amount of time taken by the last filter Last update time in 132 0x84 Read current update rate update step 4 microseconds int 0 Reads the current compass reference vector Note Read compass reference 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 Read accelerometer that this is not valid if the sensor is in Multi Accelerometer reference 134 0x86 reference vector Reference Vector mode 12 vector float x4 0 Reads the current reference vector mode Retum Read reference vector value can be 0 for single static 1 for single auto 2 13
11. 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 Read wireless channel 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 Read 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 213 0xd5 Read wireless slots open The dongle can simultaneously service up to sixteen individual data requests to wireless sensors As sensors respond requests are removed from the table In the case that too many requests are sent to the dongle in too short a period the dongle will begin tossing them out This value will return the number of slots currently open If this value is 0 no more wireless requests will be handled until some are internally processed Slots open byte 214 0xd6 Read signal strength Returns a value indicating the r
12. Len Return Data Details Data Len Data Details 117 0x75 Get running average percent Sets what percentage of running average to use on the sensor s orientation This is computed as follows total_orient total_orient percent current_orient total_orient total_orient percent total_orient current_orient 1 If the percentage is 0 the running average will be shut off completely Maximum value is 97 This setting can be saved to non volatile flash memory using the Commit Settings command Running Average Percent float 118 0x76 Set compass reference vector Sets the static compass reference vector for Single Reference Mode 12 Compass Reference Vector float x3 119 0x77 Set accelerometer reference vector Sets the static accelerometer reference vector for Single Reference Mode 12 Accelerometer Reference Vector float x3 120 0x7c Reset Kalman filter Resets Kalman filter s state and covariance matrices 121 0x79 Set accelerometer range Only parameter is the new accelerometer range which can be 0 for 2g Default range which can be 1 for 4g or 2 for 89 Higher ranges can detect and report larger accelerations but are not as accurate for smaller accelerations This setting can be saved to non volatile flash memory using the Commit Settings command Accelerometer range setting byte 122 0x7a Set multi reference weight power
13. Return the current compass calibration parameters 48 Bias float x3 Matrix float x9 163 0xa3 Read accelerometer calibration coefficients Return the current accelerometer calibration parameters 48 Bias float x3 Matrix float x9 164 0xa4 Read gyroscope calibration coefficients Return the current gyroscope calibration parameters 48 Bias float x3 Matrix float x9 165 0xa5 Begin gyroscope auto calibration Performs auto gyroscope calibration Sensor should remain still while samples are taken The gyroscope bias will be automatically placed into the bias part of the gyroscope calibration coefficient list 166 0xa6 Set gyroscope calibration coefficients Sets the current gyroscope calibration parameters to the specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non volatile flash memory using the Commit Settings command 48 Bias float x3 Matrix float x9 169 0xa9 Set calibration mode Sets the current calibration mode which can be 0 for Bias 1 for Scale Bias and 2 for Ortho Calibration For more information refer to section 3 1 3 Additional Calibration This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 170 0xaa Read calibration mode Reads the current calibration mode which can be O
14. Single Manual Uses 2 reference vectors it is given as the reference vectors for the accelerometer and compass Single Auto When the sensor powers on or is put into this mode it calculates gravity and north and uses those calculated vectors as the reference vectors Single Auto Continual The same as Single Auto but the calculation happens constantly This can account for some shifts in magnetic force due to nearby objects or change of location and also can help to cope with the instability of the accelerometer Multiple Uses a set of reference vectors from which the best are picked each cycle to form a single final reference vector This mode has the ability to compensate for certain errors in the orientation In this mode the sensor will have a slightly slower update rate but will provide greater accuracy For information on how to set up this mode see the Quick Start guide or the 3 Space Suite manual 3 1 5 Orientation Filtering The 3 Space Sensor provides several different modes for providing orientation estimation Note also that IMU data collection rate is bound to the update rate of the filter For more information on setting these additional modes please refer to command 123 Kalman Filter The default filter mode Normalized sensor data and reference vectors are fed into the Kalman filter which uses statistical techniques to optimally combine the data into a final orientation reading Provides the highest accuracy orientation a
15. Up 17 4 1 3 Computer Interfacing OhverviewiWireless crono nro nro n ron rr n ron rra nrnn nr nnrnnns 17 4 2 Wired Protocol Pack dt tao 18 4 2 1 Binary Packet Format aa bacan 18 4 22 ASCU Text Packet Me 19 4 3 Wireless Protocol Packet Fotmat voio EE EEN ANEN dE SEENEN 20 4 3 1 Wireless Communication Format 20 4 3 2 Binary Packet Eo at 20 4 3 3 Binary Command Resapnonge con nconrnnn ron r nn non ron nan tents teS Ron ran Ron ran teses nests n ron rrnn nn nnnnnnnnnrinns 21 4 3 4 Sample Binary Commands tic idad 21 4 3 5 ASCI Text Packet O ds 22 43 6 ASCIE Command EE 23 4 3 7 Sample E EE 23 4 4 Wireless Asynchronous Prot id ale 24 4 4 1 Asynchronous Communication Format 24 4 4 2 Interval and Durations eege EE de REENEN SEENEN 24 4 4 3 Starting Stopping Asynchronous Transamtssiong non ncnn nn n ran rn nrnn rro n rr nn nrr nan rrrannnnnnnes 25 4 4 4 Asynchronous Auto PLUSH mi dt 25 4 4 5 Asynchronous Manual Elusb nro nnnn ron n cnn n non r nr non r an nrnn ran rra n ran rra nnnnnrnnnns 25 4 4 6 Asynchronous Timestamps and Flush Bus 26 4 4 7 Sample Asynchronous Reouests ocn nnnn ron n ron rn nn nn non n non rra n rro r ran n nn rr A a ea 26 4 5 Command Overviews A O dei vee 27 4 3 1 Orientation Commande 2T 4 3 2 Normalized Data Commande 28 4 3 3 Other Data Commands seinerseits eire n Ei E E E dE 28 AA Cortected Data Commands eners e EEE ERE E R OE E E E E A 28 4 3 5 Raw Data Command EE 28 4 3 6 Configuration Write Comm
16. 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 Figure 4 Wireless ASCII Command Packet Format 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 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 22 User s Manual 4 3 6 ASCII Command Response Success Address Datal Data2 y DataN An A A A End of Packet The ASCII newline character Command Data Zero or more values representing a response from a command See the command chart for details Address Wireless Logical ID of the sensor whi
17. accelerometer multi reference check vector Set the accelerometer reading to be used as a check vector to determine which cell index to draw the reference vector from First parameter is an index second parameter is the accelerometer vector Intended for advanced users 13 Index Byte Accelerometer Check Vector float x3 116 0x74 Set axis directions Sets alternate directions for each of the natural axes of the sensor The only parameter is a bitfield representing the possible combinations of axis swapping The lower 3 bits specify which axis each of the natural axes will be read as 000 XYZ standard operation 001 XZY 002 YXZ 003 YZX 004 ZXY 005 ZYX For example using XZY means that whatever value appears as Y on the natural axes will now be the Z component of any new data and vice versa The 3 bits above those are used to indicate which axes H 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 the axes after the previous conversion takes place Bit 4 Positive Negative Z Third resulting component Bit 5 Positive Negative Y Second resulting component Bit 6 Positive Negative X First resulting component Axis Direction Byte byte 30 User s Manual Command Description Long Description Return Data
18. communication mode byte 235 0xeb Set clock speed Sets the current processor clock speed Possible values are 15Mhz 30 Mhz or 60 Mhz default This setting does not need to be committed but does not take effect until the sensor is reset Clock speed in Hz int 236 0xec Get clock speed Returns the current processor clock speed Clock speed in Hz int 237 0xed Get serial number Returns the serial number which will match the value etched onto the physical sensor Serial number int 238 0xee Set LED color Sets the color of the LED on the sensor to the specified RGB color This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command 12 RGB Color float x3 239 0xef Get LED color Returns the color of the LED on the sensor 12 RGB Color float x3 37 User s Manual 4 3 14 Wireless HID Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 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 Set wireless HID update memory by calling the Commit Wireless Settings Last packet signal strengt
19. desired sensors N Enable asynchronous manual flush mode Issue command 183 Read two bytes store as clusterSize Total size of all data idx 0 while idx lt clusterSize Read 1 byte store as logicallID idx Read 1 byte store as dataSize idx If dataSize gt 0 If timestamps are enabled Read 4 bytes store as timeStamp Read dataSize 4 bytes store as requestedData else Read dataSize bytes store as requestedData idx dataSize 4 4 6 Asynchronous Timestamps and Flush Bits When requesting asynchronously transmitted data in manual flush mode it is possible to add timestamps to the output data by using command 178 passing a parameter of 1 will enable timestamps while 0 will disable them Command 179 will return a value indicating whether or not timestamps are enabled Timestamps are 32 bit unsigned integers representing an absolute time in microseconds This provides for nearly 71 minutes of continuous timestamping until the value wraps around Additionally you can prevent the dongle from outputting data belonging to certain sensors This is useful if you are bulk reading and know with certainty that you will only be communicating with a certain number of sensors or a particular set of sensors that are already mapped in the address table in a specific manner This can be set with command 180 For example calling command 180 with a parameter of 0 and then another 0 will prevent th
20. disabled at all This setting helps to alleviate gyro disturbances cause by the buttons causing small shockwaves in the sensor Number of frames byte 249 0xf9 Get button gyro disable lentgh Returns the current button gyro disable length Number of frames byte 250 0xfa Read button state Reads the current state of the sensor s physical buttons This value retums a byte where each bit represents the state of the sensor s physical buttons Button state byte 251 0xfb Set mouse absolute relative mode Puts the mode in absolute or relative mode This change will not take effect immediately and the sensor must be reset before the mouse will enter this mode The only parameter can be 0 for absolute default or 1 for relative Absolute or relative mode byte 252 0xfc Read mouse absolute relative mode Return the current mouse absolute relative mode Note that if the sensor has not been reset since it has been put in this mode the mouse will not reflect this change yet even though the command will Absolute or relative mode byte 253 0xfd Set joystick and mouse present removed Sets whether the joystick and mouse are present or removed The first parameter is for the joystick and can be 0 for removed or 1 for present The second parameter is for the mouse If removed they will not show up as devices on the target system at all For these changes to take effect the sensor dr
21. dongle Address short 35 User s Manual 4 3 11 Battery Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 201 0xc9 Read battery voltage Read the current battery level in volts Note that this value will read as slightly higher than it actually is if it is read via a USB connection Battery level in voltage float 202 0xca Read battery percent remaining Read the current battery lifetime as a percentage of the total Note that this value will read as slightly higher than it actually is if it is read va a USB connection Battery level as percent short 203 0xcb Read battery status 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 ora 1 to indicate that the sensor is fully charged Battery charge status byte 4 3 12 Dongle Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 208 0xd0 Read serial number at logical ID Return the mapped serial number for the given logical ID 4 Serial number int Logical ID Byte 209 0xd1 Set serial number at logical ID Set the mapped serial number given by the logical
22. for Bias 1 for Scale Bias or 2 for Ortho Calibration For more information refer to section 3 1 3 Additional Calibration Mode byte 171 0xab Set ortho calibration data point from current orientation Set the ortho calibration compass and accelerometer vectors corresponding to this orthogonal orientation Intended for advanced users 172 0xac Set ortho calibration data point from vector Directly set a vector corresponding to this orthogonal orientation First parameter is type where 0 is for compass and 1 is for accelerometer Second parameter is index which indicates the orthogonal orientation Intended for advanced users 14 Type Byte Index Byte Accelerometer or Compass Vector float x3 173 0xad Read ortho calibration data point Return the vector corresponding to the orthogonal orientation given by index First parameter is type where 0 is for compass and 1 is for accelerometer Second parameter is index which indicates the orthogonal orientation Intended for advanced users 12 Accelerometer or compass vector float x3 Type Byte Index Byte 174 0xae Perform ortho calibration Stores accelerometer and compass data in the ortho lookup table for use in the orientation fusion algorithm For best results each of the 24 orientations should be filled in with component sensor data Note also that ortho calibration data will not be used unless the calibration mode is
23. it and it should read zero For instructions on doing this refer to the Quick Start guide or 3 Space Suite manual 3 1 7 Other Estimation Parameters The 3 Space Sensor offers a few other parameters to filter the orientation estimate Please note that these only affect the final orientation and not the readings of individual component sensors e Oversampling Oversampling causes the sensor to take extra readings from each of the component sensors and average them before using them to estimate orientation This can reduce noise but also causes each cycle to take longer proportional to how many extra samples are being taken e Running Average The final orientation estimate can be put through a running average which will make the estimate smoother at the cost of introducing a small delay between physical motion and the sensor s estimation of that motion Rho Values As mentioned earlier by default the accelerometer and compass are trusted less than the gyros when the sensor is in motion Rho values are the mechanism that handles the concept of trust They involve parameters one for the accelerometer and one for the compass that indicate how much these component sensors are to be trusted relative to the gyroscope A lower value for the parameter means more trust The default mode for this is confidence mode where the rho value chooses between a minimum and maximum value based on how much the sensor is moving The other option is to have a
24. provides multiple calibration modes that can improve performance at the cost of additional setup and calibration routines For more information on setting these additional modes please refer to command 169 Bias Mode Applies default range scaling to raw data readings Also applies a bias offset to raw data the values of which are taken from the provided calibration parameters command See section 4 3 7 for more information Bias Scale Mode The default calibration mode Applies default range scaling to raw data readings Also applies a bias offset to the raw data as well as an additional scale matrix Uses the matrix and vector portions from the provided calibration parameters command Ortho Calibration Mode A more advanced calibration mode that requires initial setup steps Please refer to the 3 Space Suite Quick Start Guide for information on how to supply ortho calibration data Uses 24 orthogonal data points to provide accelerometer and compass correction factors for enhanced orientation accuracy 3 1 4 Reference Vectors In order to get an absolute estimation of orientation from the accelerometer and compass the sensor needs a reference vector for each to compare to the data read from it The most obvious choice for these are the standard direction of gravity down and the standard direction of magnetic force north respectively However the sensor does provide several different modes for determining which reference vector to use
25. resolution of 8 would provide rotations of forty five degrees about any of the three axes 360 8 45 The second parameter indicates the number of adjacent vectors that will be checked for each In addition the number of checked vectors can be adjusted as well The second parameters refers to the number of adjacent reference vectors that are averaged to produce the final reference vector for the particular orientation up to a maximum of 32 Intended for advanced users Resolution Byte Number of Check Vectors Byte 112 0x70 Set compass mulfi reference vector Directly set the multi reference compass vector at the specified index First parameter is index second parameter is compass vector Intended for advanced users 13 Index Byte Compass Reference Vector float x3 113 0x71 Set compass multi reference check vector Set the compass reading to be used as a check vector to determine which cell index to draw the reference vector from First parameter is an index second parameter is the compass vector Intended for advanced users 13 Index Byte Compass Check Vector float x3 114 0x72 Set accelerometer multi reference vector Directly set the multi reference accelerometer vector at the specified index First parameter is index second parameter is compass vector Intended for advanced users 13 Index Byte Accelerometer Reference Vector float x3 115 0x73 Set
26. ron rn nn rro n non non n nan rra nr nor rn ran r naar rra nrrnannnns 4 2 3 2 Wireless Dongle Hardware Overvieuw nono non ron ron n rro nr nn rn nr nn rro r ran rnn rar rar rra nr naar nnnannnos 4 24 WEE 5 2 5 Block Diagram of Sensor Operation non nonnnn rn a e E nn nn rro n ran rro n ran Ea EREE EER ESETRE 6 IMESTA Ee TEE H 2 7 Physical DIMENSIONS ue SEENEN eege EES ENER 8 E ER UA GE 9 SAAR Te 9 210 Wireless WED Metier gest edel 10 3 Description of the I Space es ansiedad 11 3 Orientations Estimation A A e ad 11 OR at Enge EE 11 3 1 2 Scale Bias and RE E EE 11 ES AR A T E E E 12 3 14 Referenc Vectra a E E 12 3 1 5 Orentation Fleege Geteste Ee Ge ege Bas e E a e a A 12 3 1 6 Reference Orientation Tarn gt eigene SEENEN hk RR 13 3 1 7 Other Estimation Parameter 13 3 2 COMMUN CAORA ii ai 14 3 3 InputDevice EE 14 BSA Es ad Button si us EE 14 E ee 14 33 3 MOS a A ee ed Nees A RH ye ae es vee Benue Re eee eee e 14 3 3 4 Wireless Ee TEE 14 NR A EE R 15 3 4 Seet RTE e 15 3 4 2 Committing Wireless Settngs cecescceseeseeeseeseceseescesseeseenseeseceseeseenseceseseceeeesecaeeseseeesseeeeeeeensesrenseeaeenss 15 34 3 EC 15 EE Sensor General Settings EE 15 3 4 5 Dongle General Settin EE 16 3 4 6 Sensor Wireless Settngs non nonn non n corro n non rro E rn nan rn rra rrnnrnnnnss 16 3 4 7 Dongle Wireless Settin 98 cian aiii 16 4 3 Space sensor Usa Prod idad 17 ISA O AA 17 4 1 IProtocol EE 17 4 1 2 Computer Interfacing Overview
27. single static rho value 13 User s Manual 3 2 Communication Obtaining data about orientation from the sensor or giving values for any of its settings is done through the sensor s communication protocol The protocol can be used through either the USB port or wireless interface using the 3 Space Wireless Dongle A complete description of how to use this protocol is given in section 4 of this document Also you may instead use the 3 Space Suite which provides a graphical method to do the same To learn how to use this read the 3 Space Suite manual 3 3 Input Device Emulation 3 3 1 Axes and Buttons The 3 Space Sensor has the ability to act as a joystick and or mouse 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 mo
28. the following an ASCII colon character followed by an integral command id in decimal followed by a list of ASCII encoded floating point command values followed by a terminating newline character The command id and command values are given in decimal The ASCII encoded command values must be separated by an ASCII comma character or an ASCII space character Thus legal command characters are the colon the comma the period the digits 0 through 9 the minus sign the new line the space and the backspace When a command calls for an integer or byte sized parameter the floating point number given for that parameter will be interpreted as being the appropriate data type For simplicity the ASCII encoded commands follow the same format as the binary encoded commands but ASCII text encodings of values are used rather than raw binary encodings Each ASCII packet is formatted as shown in figure 2 Datal Data2 DataN An r commana A End of Packet The ASCII newline character Command Data Zero or more bytes representing parameters to the command being called See the command chart for details Command Value Selected from the command chart in decimal Start of ASCII Packet Indicated by the colon character Figure 2 ASCII Command Packet Format Thus the ASCII packet consists of the the following characters the ASCII col
29. which can be 0 for normal or 1 for confidence 1 byte 0 Reads the current gyroscope measurement range which can be 0 for 250 DPS 1 for 500 DPS or 2 Gyroscope range setting 154 0x9a Read gyroscope range for 2000 DPS 1 byte 0 Reads the current compass measurement range which can be 0 for 0 88G 1 for 1 3G 2 for 1 9G 3 for 2 5G 4 for 4 0G 5 for 4 7G 6 for 5 6G or Compass range setting 155 0x9b Read compass range 7 for 8 1G 1 byte 0 33 User s Manual 4 3 8 Calibration Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 160 0xa0 Set compass calibration coefficients Sets the current compass calibration parameters to the specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non volatile flash memory using the Commit Settings command 48 Bias float x3 Matrix float x9 161 0xa1 Set accelerometer calibration coefficients Sets the current accelerometer calibration parameters to the specified values These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied This setting can be saved to non volatile flash memory using the Commit Settings command 48 Bias float x3 Matrix float x9 162 0xa2 Read compass calibration coefficients
30. with each wireless dongle and multiple dongles can be used simultaneously to achieve high sensor counts or increase individual sensor throughput Sensor and dongle units have individual wireless network PAN Id assignment and wireless channel assignment to allow multiple sensors to communicate simultaneously without interference or performance degradation 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 e 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 Hardware Overview 2 3 1 Wireless Sensor Hardware Overview 4 Indicator LED 5 Input Button 2 3 Input Button 1 2 Recessed Power Switch 7 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 th
31. 2 Euler Angles float x3 0 Read tared orientation as Returns the filtered tared orientation estimate in 2 0x02 rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Read tared orientation as Returns the filtered tared orientation estimate in 3 0x03 axis angle axis angle form 16 Axis float x3 Angle float 0 Returns the filtered tared orientation estimate in two Read tared orientation as vector form where the first vector refers to forward Forward Vector float x3 4 0x04 two vector and the second refers to down 24 Down Vector float x3 0 Returns the difference between the measured 5 0x05 Read difference quaternion orientation from last frame and this frame 16 Quaternion float x4 0 Read untared orientation Returns the filtered untared orientation estimate in 6 0x06 as quatemion quaternion form 16 Quaternion float x4 0 Read untared orientation Returns the filtered untared orientation estimate in 7 0x07 as euler angles euler angle form 16 Euler Angles float x3 0 Read untared orientation Returns the filtered untared orientation estimate in 8 0x08 as rotation matrix rotation matrix form 36 Rotation Matrix float x9 0 Read untared orientation Returns the filtered untared orientation estimate in 9 0x09 as axis angle axis angle form 16 Axis float x3 Angle float 0 Returns the filtered untared orientation estimate in Read untared orientation two vector form where the first vector refers to north North Vecto
32. 5 0x87 mode for single auto continuous or 3 for multi 1 Mode byte Reads the multi reference mode compass reference Read compass multi vector at the specified index Intended for advanced Compass multi reference 136 0x88 reference vector Users 12 reference vector float x3 1 Index byte Reads the multi reference mode compass reference Compass multi reference Read compass multi check vector at the specified index Intended for reference check vector 137 0x89 reference check vector advanced users 12 float x3 1 Index byte Reads the multi reference mode accelerometer Accelerometer multi Read accelerometer multi reference vector at the specified index Intended for reference reference vector 138 0x8a reference vector advanced users 12 float x3 1 Index byte Reads the multi reference mode accelerometer Accelerometer multi Read accelerometer multi reference check vector at the specified index reference reference check 139 0x8b reference check vector Intended for advanced users 12 vector float x3 1 Index byte Returns a value indicating whether the gyroscope Read gyroscope enabled contribution is currently part of the orientation Gyroscope enabled value 140 0x8c state estimate O for off 1 for on 1 byte 0 Returns a value indicating whether the accelerometer Read accelerometer contribution is currently part of the orientation Accelerometer enabled 141 0x8d enabled state estimate O for off 1 for on 1 value byte 0
33. 85 86 187 188 89 90 191 E 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 40 User s Manual Notes Serial Number 41 User s Manual 42 User s Manual 43 User s Manual 44 Technology YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 www YeiTechnology com www 3SpaceSensor com Patents Pending 2007 2011 Yost Engineering Inc Printed in USA
34. Returns a value indicating whether the compass Read compass enabled contribution is currently part of the orientation Compass enabled value 142 0x8e state estimate O 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 Read axis direction byte command 116 1 Axis direction value byte 0 Returns a value indicating how many times each component sensor is sampled before being stored as raw data A value of 1 indicates that no oversampling is taking place while a value that is higher indicates the number of samples per 144 0x90 Read oversample rate component sensor per filter update step 1 Oversample rate byte 0 Returns a value indicating how heavily the orientation lestimate is based upon the estimate from the previous frame For more information on the meaning Read running average lof this value please refer to the Set Running Average Running average percent 145 0x91 percent Percent command 117 4 float 0 Returns the current desired update rate Note that this value does not indicate the actual update rate but instead indicates the value that should be spent idling in the main loop Thus without having set a specified desired update rate this value should read Desired update rate in 146 0x92 Read desired update rate 0 4 microseconds int 0 Read Kalman filter 147 0x93 covariance matri
35. Set weighting power for multi reference vector weights Multi reference vector weights are all raised to the weight power before they are summed and used in the calculation for the final reference vector Setting this value nearer to O will cause the reference vectors to overlap more and setting it nearer to infinity will cause the reference vectors to influence a smaller set of orientations Weight power float 123 0x7b Set filter mode Used to disable the orientation filter or set the orientation filter mode Changing this parameter can be useful for tuning filter performance versus orientation update rates Passing in a parameter of 0 places the sensor into IMU mode a 1 places the sensor into Kalman Filtered Mode Default mode a 2 places the sensor into Alternating Kalman Filter Mode and a 3 places the sensor into Complementary Filter Mode More information can be found in Section 3 1 5 This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 124 0x7c Set running average mode Used to further smooth out the orientation at the cost of higher latency Passing in a parameter of 0 places the sensor into a static running average mode a 1 places the sensor into a confidence based running average mode which changes the running average factor based upon the confidence factor which is a measure of how in motion the Sensor is This setting can be saved to non volatile
36. a Len Return Data Details Data Len Data Details 192 0xc0 Read wireless panID Return the current paniD for this wireless sensor or dongle For more information refer to Section 2 9 Wireless Terminology PanlD 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 via the USB connection For more information refer to Section 2 9 Wireless Terminology This setting can be committed to non volatile flash memory by calling the Commit Wireless Settings command PanID short 194 0xc2 Read wireless channel Read the current channel for this wireless sensor or dongle For more information refer to Section 2 9 Wireless Terminology Channel Byte 195 0xc3 Set wireless channel Set the current channel for this wireless sensor or dongle For more information refer to Section 2 9 Wireless Terminology 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 Section 3 4 Sensor Settings 198 0xc6 Read wireless address Read the wireless hardware address for this sensor or
37. a read from the component sensor is than the range of data should be when it is converted For example if the compass were to give readings in the range of 500 to 500 on the x axis but we would like it to be in the range of 1 to 1 the scale would be 500 Bias is how far the center of the data readings is from 0 If another compass read from 200 to 900 on the x axis the bias would be 350 and the scale would be 550 The last parameter used in turning this component sensor data into usable data is cross axis effect This is the tendency for a little bit of data on one axis of a sensor to get mixed up with the other two This is an effect experienced by the accelerometer and compass There are 6 numbers for each of these one to indicate how much each axis is affected by each other axis Values for these are generally in the range of 1 to 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 probably never need to change these values To determine these parameters for the gyroscope you must calibrate it Read the Quick Start guide or the 3 Space Suite manual for more information on how to do this 11 User s Manual 3 1 3 Additional Calibration The 3 Space Sensor
38. andes 29 4 3 7 Configuration Read Commande 32 4 3 8 Calibration tu EE 34 4 3 9 Dongle Wireless Asynchronous Flush Commande 35 4 3 10 Wireless Sensor amp Dongle Commandes 35 43 11 Battery Commande 36 43 12 DonglesC EE 36 AI General esu EE 37 4 3 14 Wireless HID Commands it E Rassen degen 38 43 13 Wired HID Gomes eege deen eege EE Ee eege eege dech 38 43 16 General HID Commands seision iG tacos eesti dita dd idas 39 AP es seth ene eee es cat a Res A Ss a a ee ect E eee 40 USB COMO E a dias 40 Hex Decimal Conversion Chart 40 This page intentionally left blank User s Manual 1 Usage Safety Considerations 1 1 Usage Conditions Do not use the 3 Space Sensor in any system on which people s lives depend life support weapons etc 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 computer s
39. can be saved to non volatile flash memory using the Commit Settings command Mode Byte 108 0x6C Enable disable accelerometer Enable or disable accelerometer readings as inputs o the orientation estimation Note that updated accelerometer readings are still accessible v a Commande This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 29 User s Manual Command Description Long Description Return Data Len Return Data Details Data Len Data Details 109 0x6D Enable disable compass Enable or disable compass readings as inputs to the orientation estimation Note that compass readings are still accessible via commands This setting can be saved to non volatile flash memory using the Commit Settings command Mode Byte 110 0x6E Reset multi reference vectors to zero Resets all reference vectors in the multi reference table to zero Intended for advanced users 111 0x6F Set multi reference table resolution Sets the number of cell dimensions and number of nearby vectors per cell for the multi reference lookup table First parameter indicates the number of cell divisions as an example multi reference mode by default only handles orientations reachable by successive rotations of ninety degrees about any of the three axes and hence has a resolution of 4 360 4 90 Thus a
40. cept the first Figure 3 Wireless Binary Command Packet Format 20 User s Manual 4 3 3 Binary Command Response Success Failure A First Byte Success or Failure Indicates whether the command was received and processed Second Byte Address Wireless Logical ID of sensor which responded Address al Third Byte Data Length Length of response data which follows Not present on failure Data Length a Response Data Response Data Zero or more bytes representing a response from a command See the command chart for details Response Data 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 Second is the address byte This indicates which sensor sent the response If the success byte indicates a success the third byte the data length byte will be present as well indicating how much data follows it All of the remaining data can be retrieved by reading the number of bytes indicated by data length Keep in mind also that when the dongle
41. ch responded with this message Success Failure Indicates whether the command was received and processed 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 This indicates which sensor sent the response So for the command 7 0 n the response might be 0 7 0 0 0 0 0 0 1 0 n Failures will only contain the status values and no data so a failure of the above command would look like 1 7 n 4 3 7 Sample ASCII Commands Command Description Potential Response gt 0 1 n Read orientation as a quaternion from sensor 1 0 1 0 0 0 0 0 707 0 707 n gt 5 106 2 n Set oversample rate to 2 on sensor 5 0 5 n gt 3 230 n Read version string from sensor 3 0 3 TSSWIRO60111 n gt 13 236 n Read clock speed from sensor 13 0 13 60000000 n gt 9 119 0 0 1 0 0 0 n Set accelerometer reference vector to 0 0 1 0 0 0 on sensor 9 0 9 n gt 254 210 n Read wireless channel strengths from dongle 0 254 0 4 0 0 0 4 0 1 0 2 0 1 4 0 1 0 n gt 254 196 1 n Set LED mode to static on the dongle
42. ck mouse information in 15 67 hz milliseconds HID Asynchronous Mode Determines whether joystick mouse data transmission is 0 asynchronous Asynchronous Flush Mode Determines whether or not asynchronously requested data is 1 automatically flushed or whether it must be requested via a dongle command 16 User s Manual 4 3 Space Sensor Usage Protocol 4 1 Usage Overview 4 1 1 Protocol Overview The 3 Space Sensor receives messages from the controlling system in the form of sequences of serial communication bytes called packets For ease of use and flexibility of operation two methods of encoding commands are provided binary and text Binary encoding is more compact more efficient and easier to access programmatically ASCII text encoding is more verbose and less efficient yet is easier to read and easier to access via a traditional terminal interface Both binary and ASCII text encoding methods share an identical command structure and support the entire 3 Space command set The 3 Space Sensor buffers the incoming command stream and will only take an action once the entire packet has been received and the checksum has been verified as correct ASCII mode commands do not use checksums for convenience Incomplete packets and packets with incorrect checksums will be ignored This allows the controlling system to send command data at leisure without loss of functionality The command buffer will however
43. creens or towers e 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 Lithium polymer batteries have high energy densities and can be dangerous if not used properly See section 1 4 Battery Considerations for further information pertaining to battery safety 1 2 Technical Support and Repairs 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 No warranties exist for any misuse YEI will repair or replace any defective product which is returned within this time period Product Support YEI provides technical and user support via our toll free number 888 395 9029 and via email support YostEngineering com Support is provided for the lifetime of the equipment Requests for repairs should be made through the Support department For damage occurring outside of the warranty period or provisions customers will be provided with cost estimates prior to repairs being performed 1 3 Regulatory Approval 1 3 1 United States FCC Approval This device contains FCC ID OA3MRF24J40MA This equipment has been tested and found to comply with the limits for a Class B digital device p
44. dern operating system is concerned a joystick is any random collection of axes and buttons that isn t a mouse or keyboard Joysticks are mostly used for games but can also be used for simulation robot controls or other applications The 3 Space Sensor as a joystick should appear just like any other joystick to an operating system that supports USB HID which most do 3 3 3 Mouse When acting as a mouse the 3 Space Sensor will take control of the system s mouse cursor meaning if the mouse portion is not properly calibrated using it could easily leave you in a situation in which you are unable to control the mouse cursor at all In cases like this unplugging the 3 Space Sensor will restore the mouse to normal operation and unless the mouse enabled setting was saved to the sensor s memory plugging it back in should restore normal operation Using the default mouse settings caution should be exercised in making sure the orientation estimate 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 directio
45. e dongle from flushing any of the data unit 0 possibly sent In this case not even the logical ID or data length fields will be present in the bulk read Calling the same command with a parameter of will re enable flushing for sensor 0 Command 181 followed by a parameter will return the flush bit for the sensor specified by the parameter 4 4 7 Sample Asynchronous Requests Request Description Potential Response F9 00 OF 00 64 03 00 03 Place sensor unit 3 into asynchronous transmission mode where it 00 03 00 will run command 0 every 15 milliseconds then transmit the resultant quaternion for 100 milliseconds F9 00 00 00 00 09 00 09 Disable asynchronous transmission mode for unit 9 00 09 00 F9 00 00 FF FF 23 00 23 Attempt to send asynchronous request to non existent unit 23 01 23 F9 56 78 FF FF 05 20 25 Place sensor unit 5 into asynchronous transmission mode where it 00 05 00 will send all raw sensor data every 22136 milliseconds for an indefinite period of time 26 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 The Data Len field indicates the number of additional data bytes the command expects to follow the command byte itself This number doesn t include
46. e Determines how raw sensor data is transformed into normalized data 1 Scale Bias Axis Directions Determines what natural axis direction each data axis faces X Y Z Sample Rate Determines how many samples the sensor takes per cycle 1 from each component sensor Running Average Percentage Determines how heavy of a running average to run on the final orientation O no running average Desired Update Rate Determines how long each cycle should take ideally 0 microseconds Reference Mode Determines how the accelerometer and compass reference vectors are Single Auto determined RS232 Baud Rate Determines the speed of RS232 communication 115200 CPU Speed Determines how fast the CPU will run 60 MHz LED Color Determines the RGB color of the LED 0 0 1 Blue 15 User s Manual Joystick Enabled Determines whether the joystick is enabled or not TRUE Mouse Enabled Determines whether the mouse is enabled or not FALSE Button Gyro Disable Length Determines how many cycles the gyro is ignored after a button is 5 pressed Multi Reference Weight Power Determines what power each multi reference vector weight is raised to 10 Multi Reference Cell Divisions Determines how many cells the multi reference lookup table is divided 4 into per axis Multi Reference Nearby Vectors Determines how many nearby vectors each multi reference lookup table 8
47. e asynchronous manual flush mode Issue command 182 with single byte parameter N Read 1 byte store as logicalID This should be the same as N Read 1 byte store as dataSize If dataSize gt 0 If timestamps are enabled Read 4 bytes store as timeStamp Read dataSize 4 bytes store as requestedData else Read dataSize bytes store as requestedData In the case that the dongle has sent multiple asynchronous requests to multiple units it is much more efficient to perform a bulk read instead of calling the single read for each logical ID The bulk read command can be invoked by issuing command 183 The format of this returned data varies slightly from single reads The first two bytes that are read 25 User s Manual will be the size of all of the returned data the size is a 16 bit unsigned integer From there the next byte will be the logical ID of a sensor that has been enabled for flushing out data The following byte will be the size of the data from that particular sensor followed by the data itself If timestamps are enabled this data size will include the size of the timestamp which is a 32 bit unsigned integer in units of milliseconds Note that it is possible that the data size can be zero Continue to loop through the remaining bytes until all data has been collected Following is a snippet of pseudocode showing how to retrieve data with a bulk read Enable asynchronous communication for all
48. e 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 RGB LED that can be used for visual status feedback 5 Input Button 2 The 3 Space Sensor includes two input buttons that can be used in conjunction with the orientation sensing capabilities of the device The inputs are especially useful when using the 3 Space Sensor as an input device such as in joystick emulation mode or mouse emulation mode 2 3 2 Wireless Dongle Hardware Overview 2 Indicator LED 1 USB Connector 1 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 2 Indicator LED The 3 Space Wireless Dongle includes an RGB LED that can be used for visual status feedback User s Manual 2 4 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
49. eased number of wireless transmissions and potential collisions It is recommended to use this mode only if you will be using the 3 Space Sensor only as an HID joystick or mouse at the given time 14 User s Manual 3 4 Sensor Settings 3 4 1 Committing Settings Changes made to the 3 Space Sensor will not be saved unless they are committed This allows you to make changes to the sensor and easily revert it to its previous state by resetting the chip For instructions on how to commit your changes see the Quick Start guide or 3 Space Suite manual Any changes relating to the multiple reference vector mode are an exception to this rule as all these changes are saved immediately 3 4 2 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 p
50. eception strength of the most recently received packet Higher values indicate a stronger link Last packet signal strength byte 36 User s Manual 4 3 13 General Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 196 0xc4 Set LED Mode Allows finer grained control over the sensor LED Accepts a single parameter that can be 0 for standard which displays all standard LED status indicators or 1 for static which displays only the LED color as specified by command 238 LED mode byte 200 0xc8 Read LED Mode Returns the current sensor LED mode which can be O for standard or 1 for static LED mode byte 223 0xdf Read firmware version string Returns a string indicating the current firmware version 12 Firmware version string 224 0xe0 Restore factory settings Return all non volatile flash settings to their original default settings 225 0xe1 Commit settings Commits all current sensor settings to non volatile flash memory which will persist after the sensor is powered off For more information on which parameters can be stored in this manner refer to Section 3 4 Sensor Settings 226 0xe2 Software reset Resets the sensor 227 0xe3 Enable watchdog timer Enables the onboard watchdog timer with the specified timeout rate If a frame takes more t
51. eference vector mode Set the current reference vector mode Parameter can be 0 for single static mode which uses a certain reference vector for the compass and another certain vector for the accelerometer at all times 1 for single lauto mode which uses 0 1 0 as the reference vector for the accelerometer at all times and uses the average angle between the accelerometer and compass to calculate the compass reference vector lonce upon initiation of this mode 2 for single auto continuous mode which works similarly to single auto mode but calculates this continuously or 3 for multi reference mode which uses a collection of reference vectors for the compass and laccelerometer both and selects which ones to use before each step of the filter Mode Byte Pin Byte 106 0x6A Set oversample rate Sets the number of times to sample each component sensor for each iteration of the filter This can smooth out readings at the cost of performance If this value is set to 0 or 1 no oversampling occurs otherwise the number of samples per iteration depends on the specified parameter up to a maximum of 10 This setting can be saved to non volatile flash memory using the Commit Settings command Samples Per Iteration Byte 107 0x6B Enable disable gyroscope Enable or disable gyroscope readings as inputs to he orientation estimation Note that updated gyroscope readings are still accessible via Commande This setting
52. er to Section 4 4 6 Asynchronous Timestamps and Flush Bits Timestamping enabled byte 179 0xb3 Get async timestamping Returns a value indicating whether timestamping is currently enabled on manually flushed data Possible values are 0 for no timestamp or 1 for timestamping For more information refer to Section 4 4 6 Asynchronous Timestamps and Flush Bits Timestamping enabled byte 180 0xb4 Get async flush bitfield Allows the dongle to control which wirelessly received data is output va manual flush mode The parameter represents a bitfield that represents which wireless sensors logical IDs can currently output data For more information refer to Section 4 4 6 Asynchronous Timestamps and Flush Bits Manual flush bitfield short 181 0xb5 Get async flush bitfield Returns the current manual flush bitfield For more information refer to Section 4 4 6 Asynchronous Timestamps and Flush Bits Manual flush bitfield short 182 0xb6 Manual flush single Flush data output for a single logical ID For more information refer to Section 4 4 5 Asynchronous Manual Flush Varies Logical ID Byte 183 0xb7 Manual flush bulk Flush data output information refer Manual Flush for all logical IDs For more o Section 4 4 5 Asynchronous Varies 4 3 10 Wireless Sensor amp Dongle Commands Command Description Long Description Return Dat
53. h HID update rate in 215 0xd7 rate command 0 byte 1 milliseconds byte Read wireless HID update Return the interval at which HID information is HID update rate in 216 0xd8 rate requested by the dongle 1 milliseconds 0 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 Section 3 3 4 Wireless Joystick Mouse This setting can be Set wireless HID committed to non volatile flash memory by calling HID communication mode 217 0xd9 asynchronous mode the Commit Wireless Settings command 0 1 byte Returns the current wireless HID communication Read wireless HID mode which can be a 0 for synchronous wireless 218 0xda asynchronous mode HID or a 1 for asynchronous wireless HID 1 HID communication mode 0 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 Joystick logical ID signed 240 0xf0 Set joystick logical ID Section 3 3 4 Wireless Joystick Mouse 0 1 byte 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 Mouse logical ID signed 241 0xf1 Set mouse logical ID Section 3 3 4 Wireless Joystick Mouse 0 1 byte Returns the current logical ID of the joystick enabled Joystick enabled logical ID 242 0xf2 Read joystic
54. han this amount of time the sensor will automatically reset Timeout rate in microseconds int 228 0xe4 Disable watchdog timer Disables the watchdog timer 229 0xe5 Enter bootloader mode Places the sensor into a special mode that allows firmware upgrades This will case normal operation until the firmware update mode is instructed to return the sensor to normal operation For more information ion upgrading firmware refer to the 3 Space Sensor Suite Quick Start Guide 230 0xe6 Read hardware version string Returns a string indicating the current hardware version 32 Hardware version string 231 0xe7 Set UART baud rate Sets the baud rate of the physical UART This setting does not need to be committed but will not 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 Read 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 233 0xe9 Set USB Mode Sets the communication mode for USB Accepts one value that can be 0 for CDC default or 1 for FTDI USB communication mode byte 234 0xea Get USB Mode Returns the current USB communication mode USB
55. he command chart 4 4 5 Asynchronous Manual Flush The dongle can also be configured to flush out asynchronous data only once requested Additionally it is possible to enable timestamps for the requested data as well as prevent all data from certain sensors from being output by the dongle Please refer to section 4 4 6 or dongle commands 178 179 180 and 181 in the command chart for more information Once the asynchronous manual flush mode has been configured there are two possible ways to retrieve the data In the case that only one sensor is configured to transmit data asynchronously a single read will most likely suffice The single asynchronous read can be invoked by sending dongle command 182 followed by the logical ID of the sensor that has been configured to transmit asynchronously The format for this returned data is slightly different than the auto flushed data in that there is no success byte Instead the dongle will output the logical ID of the sensor and the size of the requested data followed by the data itself If timestamps are enabled this data size will include the size of the timestamp which is a 32 bit unsigned integer Note that it is possible that the data size can be zero This indicates that the dongle has not received any data since the last time it was polled Following is a snippet of pseudocode showing how to retrieve data with a single read Enable asynchronous communication for sensor with logical ID N Enabl
56. iate 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 may then be communicated to using the Dongle For information on how to set up the Dongle s address slots see the Quick Start guide or lt Dongle slot command gt For information on what data to send to the Dongle to communicate with a particular sensor see section 4 3 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 communication such as wireless addressing wireless reliability and packet loss handling etc For more information pertaining to the wired and wireless communication protocols see sections 4 2 and 4 3 respectively 17 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 in figure 1
57. icate simultaneously without 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 strap down packaging e RoHS compliant User s Manual 2 5 Block Diagram of Sensor Operation 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 Bike Wireless Interface USB Mouse amp R Final Emulation Non volatile Calibration amp Kalman Performance Filter Settings Scale Bias Normalization amp Error Compensation 3 Axis 3 Axis 3 Axis Temperature Accelerometer Rate Gyro Compass Sensor User s Manual 2 6 Specifications General Part number TSS WL Handheld Sensor Unit TSS WL S Strapdown 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
58. is communicated to as if it were a wireless sensor it will return data in the same format as a wireless response Since all dongle commands that are formatted properly return success and the dongle address is a constant 254 all dongle responses begin with 00 FE 4 3 4 Sample Binary Commands Command Description Potential Response F8 01 00 00 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 6C Set oversample rate to 2 on sensor 5 00 05 00 F8 03 E6 E6 Read version string from sensor 3 00 03 0C 54 53 53 57 49 52 30 36 3031 31 21 F8 OD EC EC Read clock speed from sensor 13 00 OD 04 03 93 87 00 F8 09 77 00 00 00 00 Set accelerometer reference vector to 0 0 1 0 0 0 on sensor 9 00 09 00 Br 80 00 00 00 00 00 00 F8 FE CO BE Read the panID from the dongle 00 FE 02 00 01 F8 FE D7 14 E9 Set HID update rate to 20ms 00 FE 00 21 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 in figure 4 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
59. itive Y axis points out of the top of the sensor the side with the buttons e The positive Z axis points out of the front of the sensor the side opposite the plug The natural axes are illustrated in the diagram below Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for 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 2 9 Wireless 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 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 but not do
60. iver 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 39 User s Manual Appendix USB Connector The 3 Space Sensor has a 5 pin USB Type B jack and can be connected via a standard 5 pin mini USB cable 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 1
61. k logical ID sensor or 1 if none exists 1 byte 0 Returns the current logical ID of the mouse enabled Mouse enabled logical ID 243 0xf3 Read mouse logical ID sensor or 1 if none exists 1 byte 0 4 3 15 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 Enable disable joystick this sensor 0 1 Voystick enabled state byte Enable or disable streaming of mouse HID data for 241 0xf1 Enable disable mouse this sensor 0 1 Mouse enabled state byte Read whether the sensor is currently streaming Joystick enabled state 242 0xf2 Read joystick enabled joystick HID data 1 byte 0 Read whether the sensor is currently streaming 243 0xf3 Read mouse enabled mouse HID data 1 Mouse enabled state byte 0 38 User s Manual 4 3 16 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
62. meter rho value float Maximum accelerometer rho value float 101 0x65 Set static compass rho mode Determines how trusted the accelerometer contribution is to the overall orientation estimation Higher values mean that the compass is less trusted Compass rho value float 102 0x66 Set confidence compass rho mode Determines how trusted the compass contribution is to the overall orientation estimation Instead of using a single value uses a minimum and maximum value Rho values will be changed within this range depending on the confidence factor This can have the effect of reducing the compass s effect on the overall orientation estimation and thus reducing magnetically induced interference Minimum compass rho value float Maximum compass rho value float 103 0x67 Set desired update rate Causes the processor to wait for the specified number of microseconds at the end of each update loop Can be useful for bounding the overall update rate of the sensor if necessary Microsecond update rate unsigned integer 104 0x68 Set multi reference vectors with current orientation Uses the current tared orientation to set up the reference vector for the nearest orthogonal orientation This is an advanced command that is best used through 3 Space Sensor Suite calibration utilities For more information please refer to the 3 Space Sensor Suite Quick Start Guide 105 0x69 Set r
63. n of that edge of the screen For more information see command 251 in section 4 3 7 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 incr
64. nd Heading Reference System AHRS with a 2 4GHz DSSS communication interface and a rechargeable lithium polymer battery solution into a single low cost end use ready unit The Attitude and Heading Reference System AHRS uses triaxial gyroscope accelerometer and compass sensors in conjunction with advanced on board filtering and processing algorithms to determine orientation relative to an absolute reference orientation in real time Orientation can be returned in absolute terms or relative to a designated reference orientation The proprietary multi reference vector mode increases accuracy and greatly reduces and compensates for sensor error The YEI 3 Space Sensor Wireless system also utilizes a dynamic sensor confidence algorithm that ensures optimal accuracy and precision across a wide range of operating conditions The YEI 3 Space Sensor Wireless unit features are accessible via a well documented open communication protocol that allows access to all available sensor data and configuration parameters using either 2 4GHz DSSS wireless or USB 2 0 interfaces Versatile commands allow access to raw sensor data normalized sensor data and filtered absolute and relative orientation outputs in multiple formats including quaternion Euler angles pitch roll yaw rotation matrix axis angle two vector forward up The YEI Wireless 3 Space Sensor communicates with a host PC via a USB dongle installed in the PC Up to 15 sensor units can be associated
65. nding on the number of sensors communicating since there will be more wireless collisions more channel noise and worse the wireless sensor might even be in the middle of sending an asynchronous data transmission at the same time the dongle is requesting that it stop asynchronous communication The best approach is to attempt each start and stop a number of times until a success is confirmed If a failure is read simply re send the last asynchronous stop attempt This can be done in a loop talking to multiple sensors per iteration This has the added effect that the remaining asynchronous transmissions become easier to stop the less of them there are 4 4 4 Asynchronous Auto Flush By default once a dongle receives data that has been transmitted asynchronously the data will be flushed as soon as it is received For this reason it is optimal to always be reading out data from the dongle once asynchronous mode has been initiated The data format is nearly the same as a standard binary data response see section 4 3 3 The only difference in the two is that the success byte will always read 0 in the case of asynchronous data since there are no continuous requests and no concept of failure from the dongle s perspective Please note that asynchronous requests can only be invoked in a binary format and that all asynchronous responses are binary data as well For information on changing the asynchronous flush mode please refer to dongle command 176 in t
66. nearity 0 2 full scale Gyro temperature sensitivity 0 016 C Compass scale 1 3 Ga default Up to 8 1 Ga available Compass resolution 12 bit Compass sensitivity 5 mGa digit Compass non linearity 0 1 full scale 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 7 Physical Dimensions TSS WL Handheld Case TSS WL S Strapdown Case All dimensions in mm All dimensions in mm User s Manual 2 8 Axis Assignment All YEI 3 Space Sensor product family members have re mappable axis assignments and axis directions This flexibility allows axis assignment and axis direction to match the desired end use requirements The natural axes of the 3 Space Sensor 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 pos
67. 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 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 Kalman 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 commun
68. ngles 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 submenu under Wireless Communication Settings For more information on reading or setting logical IDs please refer to the command chart User s Manual 2 10 Wireless LED Modes Both the dongle and wireless unit have built in LEDs that are meant to convey information about the state of the respective device Each unit and dongle may also have a custom color that can be set The wireless unit will display the following LED colors under the following circumstances e 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 e When the wireless unit is plugged in and charging the sensor will flash orange every second e When the wireless unit is plugged in and fully charged the sensor will flash green every second e 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 sens
69. nt sensor data magnitude data associated with them 36 x3 0 Returns the normalized gyro rate vector which is in 33 0x21 Read normalized gyro rate units of radians sec 12 Gyro Rate Vector x3 0 Returns the normalized accelerometer vector Note that this is a unit vector indicating the direction of Read normalized gravity This vector does not have any magnitude Gravity Direction Vector 34 0x22 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 Read normalized compass This vector does not have any magnitude data 35 0x23 vector associated with it 12 North Direction Vector x3 0 4 3 3 Other Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details 36 0x24 Read temperature C Returns the temperature of the sensor in Celsius 4 Temperature float 0 37 0x25 Read temperature F Returns the temperature of the sensor in Fahrenheit 4 Temperature float 0 Returns a value indicating how much the sensor is being moved at the moment This value will return 1 ifl the sensor is completely stationary and will return O if it is in motion This command can also return values in between indicating how much motion the 38 0x26 Read confidence factor sensor is experiencing 4 Confidence Factor float 0 4 3 4 Corrected Data Commands Return Data Command Description Long Description Data Len Ret
70. oints out of the top of the sensor the side with the buttons e The positive Z axis points out of the front of the sensor the side opposite the plug Bear in mind the difference between natural axes and the axes that are used in protocol data While they are by default the same they can be remapped so that for example data axis Y could contain data from natural axis X This allows users to work with data in a reference frame they are familiar with See section 2 8 for a diagram of the natural axes 3 4 4 Sensor General Settings Setting Name Purpose Default Value Accelerometer Rho Value Determine how trusted the accelerometer is Confidence Mode 5 to 100 Compass Rho Value Determine how trusted the compass is Confidence Mode 5 to 100 Accelerometer Coefficients Determines the scale bias and cross axis parameters for the accelerometer Factory calibrated Compass Coefficients Determines the scale bias and cross axis parameters for the compass Factory calibrated Gyroscope Coefficients Determines the scale bias and cross axis parameters for the gyroscope Factory calibrated Accelerometer Enabled Determines whether the compass is enabled or not TRUE Compass Enabled Determines whether the accelerometer is enabled or not TRUE Gyroscope Enabled Determines whether the gyroscope is enabled or not TRUE Filter Mode Determines how orientation is filtered 1 Kalman Calibration Mod
71. ommand being called See the command chart for details Command Data Seventh Byte Packet Checksum Checksum za Sum of command byte as well as any command data only 4 4 2 Interval and Duration Both the interval and duration are 16 bit unsigned integers representing in milliseconds how often data will be sent and for how long data will be sent An interval of zero can be specified which will force the sensor to send the information as fast as possible Specifying a OxFFFF for the duration will result in an indefinite duration while a duration of zero will terminate the asynchronous transmissions altogether for the requested sensor 24 User s Manual 4 4 3 Starting Stopping Asynchronous Transmissions Since asynchronous requests return status bytes as a normal command would it is possible to tell whether or not the asynchronous request was acknowledged Just like any other command the request itself will return a status code the logical ID of the sensor and the number of data bytes Since these commands return no data the number of data bytes will always be zero and in the case of a failure there will be no data byte present Since there is presumably little wireless traffic occurring while the sensors are being placed into asynchronous mode most asynchronous start requests will be received without issue However stopping asynchronous transmissions can be more difficult depe
72. on 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 communicating 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 hardware ID address 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
73. or is plugged in e Upon receipt of a packet the dongle will flash green temporarily e Ifthe 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 3 Description of the 3 Space Sensor 3 1 Orientation Estimation The primary purpose of the 3 Space Sensor is to estimate orientation In order to understand how to handle this estimation and use it in a meaningful way there are a few concepts about the sensor that should be understood The following sections describe these concepts 3 1 1 Component Sensors The 3 Space Sensor estimates orientation by combining the data it gets from three types of sensors a gyroscope an accelerometer and a compass A few things you should know about each of these sensors e Accelerometer This sensor measures the acceleration due to gravity as well as any other accelerations that occur Because of this this sensor is at its best when the 3 Space Sensor is sitting still Most jitter seen as the orientation of the sensor changes is due to shaking causing pertu
74. pplication 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 This device contains 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 device contains 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 Radiated Emissions Test standards ETSI EN 301 489 1 2008 and ETSI EN 301 489 17 2008 Radiated Emissions e Electro Static Discharge e Radiated RF Susceptibility 1 4 Battery Safety Considerations The Wireless 3 Space Sensor contains a rechargeable lithium polymer battery Lithtum polymer batteries have high energy densities and can be dangerous if not used and cared for properly The Wireless 3 space Sensor has been designed to include multiple levels of battery safety assurance The Wireless 3 Space 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 issue
75. r float x3 10 0x0A as 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 land the second refers to down These vectors are Read tared two vector in given in the sensor reference frame and not the Forward Vector float x3 11 0x0B sensor frame global reference frame 24 Down Vector float x3 0 Returns the filtered tared orientation estimate in two vector form where the first vector refers to forward and the second refers to down These vectors are Read untared two vector in given in the sensor reference frame and not the North Vector float x3 12 0x0C sensor frame global reference frame 24 Gravity Vector float x3 0 27 User s Manual 4 3 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 accelerometer and compass are unit length vectors Gyro Rate Vector x3 indicating the direction of gravity and north Gravity Direction Vector Read all normalized respectively These two vectors do not have any x3 North Direction Vector 32 0x20 compone
76. rbations in the accelerometer readings To account for this by default when the 3 Space Sensor is being moved the gyroscope becomes more trusted becomes a greater part of the orientation estimate and the accelerometer becomes less trusted e Gyroscope This sensor measures angular motion It has no ability to give any absolute orientation information like the accelerometer or compass and so is most useful for correcting the orientation during sensor motion Its role during these times becomes vital though as the accelerometer readings can become unreliable during motion e Compass This sensor measures magnetic direction The readings from the compass and accelerometer are used together to form the absolute component of orientation which is used to correct any short term changes the gyroscope makes Its readings are much more stable than those of the accelerometer but it can be adversely affected by any ferrous metal or magnetic objects When the accelerometer is less trusted the compass is treated in the same way so as to avoid updates to orientation based on partial absolute information 3 1 2 Scale Bias and Cross Axis Effect The readings taken from each component sensor are not in a readily usable form The compass and accelerometer readings are not unit vectors and the gyroscope readings aren t yet in radians per second To convert them to these forms scale and bias must be taken into account Scale is how much larger the range of dat
77. s 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 the battery to swell leak or malfunction e Don t dry a wet or damp sensor unit with an appliance or heat source such as a hair dryer or microwave oven e Don t drop the sensor unit Dropping especially on a hard surface can potentially cause damage to the sensor unit or the battery e 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 e Dispose of Lithium polymer batteries properly in accordance with local state and federal guidelines User s Manual 2 Overview of the YEl Wireless 3 Space Sensor 2 1 Introduction The YEI 3 Space Sensor Wireless integrates a miniature high precision high reliability Attitude a
78. set to Ortho Calibration For more information refer to Section 3 1 3 Additional Calibration Intended for advanced users 175 0xaf Clear ortho calibration data Clear out all ortho lookup table data Intended for advanced users 34 User s Manual 4 3 9 Dongle Wireless Asynchronous Flush Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 176 0xb0 Set async auto flush mode Set the wireless communication s asynchronous flush mode If this value is set to O default data must be released using manual flush commands If this value is set to 1 data will be output immediately via the dongle s USB connection For more information refer to Section 4 4 Wireless Asynchronous Protocol This setting can be set to non volatile flash memory by using the Commit Settings command Auto flush mode byte 177 0xb1 Returns the current auto flush mode Returns the wireless communication s current lasynchronous flush mode which can be 0 for auto flush and 1 for manual flush For more information refer to Section 4 4 Wireless Asynchronous Protocol Auto flush mode byte 178 0xb2 Set async timestamping Allows the dongle to control timestamping information that can be prepended to manually flushed data Possible values are 0 for no timestamp or 1 for timestamping For more information ref
79. t the lowest performance Alternating Kalman Filter Uses the same Kalman filter as before but skips every other update step Slightly less accurate than the Kalman filter but faster Complementary Filter Fuses low pass filtered accelerometer compass data with high pass filtered gyroscope data to provide an orientation estimate Less accurate than any Kalman filtering techniques but provides significantly higher performance IMU Mode Performs no orientation filtering but allows IMU data to be read at the maximum update rate of 800 Hz 12 User s Manual 3 1 6 Reference Orientation Taring Given the results of the Kalman filter the sensor can make a good estimation of orientation but it will likely be offset from the actual orientation of the device by a constant angle until it has been given a reference orientation This reference orientation tells the sensor where you would like its zero orientation to be The sensor will always consider the zero orientation to be the orientation in which the plug is facing towards you and top the side with buttons on it facing up The sensor must be given a reference orientation that represents the orientation of the sensor when it is in the position in which you consider the plug to be towards you and the buttons up The act of giving it this reference orientation to the sensor is called taring just as some scales have a tare button which can be pressed to tell the scale that nothing is on
80. 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 Likewise the Return Data Len field indicates the number of data bytes the command delivers back to the sender once the command has finished executing Under Return Data Details each command lists the sort of data which is being returned and next to this in parenthesis the form this data takes For example a quaternion is represented by 4 floating point numbers so a command which returns a quaternion would list Quaternion float x4 for its return data details Command length information only applies to binary commands as ascii commands can vary in length For quaternions data is always returned in x y z w order Euler angles are always returned in pitch yaw roll order When calling commands in ASCII mode there is no fixed byte length for the parameter data or return data as the length depends on the ASCII encoding 4 3 1 Orientation Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Read tared orientation as Returns the filtered tared orientation estimate in 0 0x00 quaternion quaternion form 16 Quaternion float x4 0 Read tared orientation as Returns the filtered tared orientation estimate in 1 0x01 leuler angles leuler angle form 1
81. unts 67 0x43 Read raw compass data processing 12 per gauss Vector x3 0 28 User s Manual 4 3 6 Configuration Write Commands Command Description Long Description Return Data Len Return Data Details Data Len Data Details 96 0x60 Tare with current orientation Sets the tare orientation to be the same as the current filtered orientation 0 97 0x61 Tare with quaternion Sets the tare orientation to be the same as the supplied orientation which should be passed as a quaternion 16 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 rho mode Determines how trusted the accelerometer contribution is to the overall orientation estimation Higher values mean that the accelerometer is less trusted Accelerometer rho value float 100 0x64 Get confidence laccelerometer rho mode Determines how trusted the accelerometer contribution is to the overall orientation estimation Instead of using a single value uses a minimum and maximum value Rho values will be changed within this range depending on the confidence factor This can have the effect of smoothing out the laccelerometer when the sensor is in motion Minimum accelero
82. urn Data Details Len Data Details Returns the acceleration vector in units of G Note Read corrected that this acceleration will include the static Acceleration Vector in units 39 0x27 accelerometer component of acceleration due to gravity 12 of G float x3 0 Compass Vector in units of 40 0x28 Read corrected compass Returns the compass vector in units of gauss 12 gauss float x3 0 4 3 5 Raw Data Commands Return Data Command Description Long Description Data Len Return Data Details Len Data Details Gyro Rate in counts per Returns the raw gyro rate vector accelerometer degrees sec Vector x3 vector and compass vector as read directly from the Acceleration Vector in component sensors without any additional post counts per g Vector x3 Read all raw component processing The range of values is dependent on the Compass Vector in counts 64 0x40 sensor data currently selected range for each respective sensor 36 per gauss Vector x3 0 Returns the raw gyro rate vector as read directly from the gyroscope without any additional post Gyro Rate in counts per 65 0x41 Read raw gyroscope rate processing 12 degrees sec Vector x3 0 Returns the raw acceleration vector as read directly Read raw accelerometer om the accelerometer without any additional post Acceleration Vector in 66 0x42 data processing 12 counts per g Vector x3 0 Returns the raw compass vector as read directly from the compass without any additional post Compass Vector in co
83. ursuant 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 equipment and receiver 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 User s Manual If the Wireless Unit is used in a portable a
84. x Return the current Kalman filter covariance matrix 36 Covariance matrix float x9 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 Read accelerometer range 8g 1 setting byte 0 Read multi reference mode Read weighting power for multi reference vector 149 0x95 power weight weights Intended for advanced users 4 Weight float 0 32 User s Manual Return Data Command Description Long Description Data Len Return Data Details Len Data Details Reads number of cell divisions and number of nearby vectors per cell for the multi reference vector lookup table For more information on these values please Number of cell divisions Read multi reference refer to the Set Multi Reference Resolution byte number of nearby 150 0x96 resolution command 111 Intended for advanced users 2 vectors byte 0 Read number of multi Reads the total number of multi reference cells 151 0x97 reference cells Intended for advanced users 4 Number of cells int 0 Returns the current filter mode which can be 0 for IMU mode 1 for Kalman 2 for Alternating Kalman or 3 for Complementary For more information please 152 0x98 Read filter mode refer to the Set Filter Mode command 123 1 Filter mode byte 0 Read running average Reads the selected mode for the running average Running average mode 153 0x99 mode

3-Space Sensor Wireless 2.4GHz User`s Manual

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