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Summary of Contents for Yost Labs 3-Space Bluetooth
- Page 1 3-Space Sensor Bluetooth Miniature Wireless Attitude & Heading Reference System User's Manual 630 Second Street Portsmouth, Ohio 45662 www.YostLabs.com Patents Pending ©2007-2011 Yost Engineering, Inc. Printed in USA...
- Page 3 3-Space Sensor Bluetooth Miniature Wireless Attitude & Heading Reference System User's Manual 630 Second Street Portsmouth, Ohio 45662 www.YostLabs.com Phone: 740-876-4936 Patents Pending ©2007-2011 Yost Engineering, Inc. Printed in USA...
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Page 4: Table Of Contents
Table of Contents 1. Usage/Safety Considerations............................1 1.1 Usage Conditions..............................1 1.2 Technical Support and Repairs..........................1 1.3 Regulatory Approval ..............................1 1.3.1 United States FCC Approval..........................1 1.3.2 Canada IC Approval............................2 1.3.3 European Approval............................2 1.3.4 Bluetooth Listing............................2 1.4 Battery Safety Considerations..........................2 2. Overview of the YEI 3-Space Sensor..........................4 2.1 Introduction................................4 2.2 Applications................................4 2.3 Hardware Overview..............................5... - Page 5 User's Manual 4.4.13 General HID Commands..........................37 Appendix...................................38 USB Connector................................38 Hex / Decimal Conversion Chart..........................38...
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Page 6: Usage/Safety Considerations
1.2 Technical Support and Repairs Standard Limited Product Warranty: Yost Labs warrants the media and hardware on which products are furnished to be free from defects in materials and workmanship under normal use for sixty (60) days from the date of delivery except for OEM warranty items(see below). -
Page 7: Canada Ic Approval
User's Manual Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. • 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. - Page 8 User's Manual Don’t dry a wet or damp sensor unit with an appliance or heat source, such as a hair dryer or microwave oven. • Don't drop the sensor unit. Dropping, especially on a hard surface, can potentially cause damage to the sensor •...
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Page 9: Overview Of The Yei 3-Space Sensor
Bluetooth communicates with a host PC via any standard internal or external Bluetooth adapter. Each sensor is assigned a unique Bluetooth MAC Address thus allowing any number of sensor to be used with a single Bluetooth host simultaneously. Additionally, each YEI 3-Space Bluetooth sensor unit can communicate with multiple associated hosts. -
Page 10: Hardware Overview
User's Manual 2.3 Hardware Overview 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. -
Page 11: Features
User's Manual 2.4 Features The YEI 3-Space Sensor Bluetooth has many features that allow it to be a flexible all-in-one solution for your orientation sensing needs. Below are some of the key features: Small self-contained high-performance wireless AHRS at 35mm x 60mm x 15mm and 28 grams •... -
Page 12: Block Diagram Of Sensor Operation
User's Manual 2.5 Block Diagram of Sensor Operation USB 2.0 Host System TSS Bluetooth LiPo Battery & Bluetooth Module Charge Management & Antenna Processor 2.4Ghz Bluetooth USB 2.0 SPP Interface Interface USB Mouse & Final Joystick Orientation Emulation Non-volatile Calibration & Performance Kalman Settings... -
Page 13: Specifications
User's Manual 2.6 Specifications General Part number TSS-BT (Handheld Sensor Unit) TSS-BT-S (Screw-down Sensor Unit) Dimensions 35mm x 60mm x 15mm (1.38 x 2.36 x 0.59 in.) Weight 28 grams ( 0.98 oz ) Supply voltage +5v USB Battery technology rechargeable Lithium-Polymer Battery lifetime 5+ hours continuous use at full performance... -
Page 14: Physical Dimensions
User's Manual 2.7 Physical Dimensions 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: The positive X-axis points out of the right hand side of the sensor, which is the side that is facing right when •... -
Page 15: Description Of The 3-Space Sensor
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. -
Page 16: Component Sensor Data Types
User's Manual 3.1.3 Component Sensor Data Types Component sensor data is presented by the 3-Space Sensor in three different stages and is readily accessible via certain protocol commands. Raw Sensor Data: This refers to data that is read directly from each of the component sensors before any •... -
Page 17: Reference Vectors
User's Manual 3.1.5 Reference Vectors In order to get an absolute estimation of orientation from the accelerometer and compass, the sensor needs a reference vector for each to compare to the data read from it. The most obvious choice for these are the standard direction of gravity(down) and the standard direction of magnetic force(north), respectively. -
Page 18: Offset Orientation
User's Manual 3.1.8 Offset Orientation There are many applications for which it will be necessary or convenient to mount the sensor at odd angles, but it may also be desired in these situations that orientations can be treated as though the sensor were mounted normally. For example, if the sensor were mounted on a sloped surface of a vehicle like a car hood, it would be helpful if the orientations could read as though the sensor was mounted in a way that more closely matched the overall orientation of the vehicle, which does not include that slope. -
Page 19: Communication
User's Manual 3.2 Communication Obtaining data about orientation from the sensor or giving values for any of its settings is done through the sensor's communication protocol. The protocol can be used through either the USB port or the RS232 port. A complete description of how to use this protocol is given in section 4 of this document. - Page 20 User's Manual 2) Set up the streaming interval, duration, and start delay. These parameters control the timing of the streaming session. They can be set using command 82(0x52). All times are to be given in microseconds. They control the streaming as follows: Interval determines how often the streaming session will output data from the requested commands.
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Page 21: Input Device Emulation
User's Manual 3.3 Input Device Emulation 3.3.1 Axes and Buttons The 3-Space Sensor has the ability to act as a joystick and/or mouse when plugged in through USB. Both of these are defined in the same way, as a collection of axes and buttons. Axes are input elements that can take on a range of values, whereas buttons can only either be on or off. -
Page 22: Sensor Settings
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. - Page 23 User's Manual LED Color Determines the RGB color of the LED 0,0,1(Blue) Joystick Enabled Determines whether the joystick is enabled or not TRUE Mouse Enabled Determines whether the mouse is enabled or not FALSE Button Gyro Disable Length Determines how many cycles the gyro is ignored after a button is pressed Multi Reference Weight Power Determines what power each multi reference vector weight is raised to 10...
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Page 24: Space Sensor Usage/Protocol
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. -
Page 25: Protocol Packet Format
User's Manual 4.2. Protocol Packet Format 4.2.1 Binary Packet Format The binary packet size can be three or more bytes long, depending upon the nature of the command being sent to the controller. Each packet consists of an initial “start of packet” byte, followed by a “command value” specifier byte, followed by zero or more “command data”... - Page 26 User's Manual 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.
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Page 27: Response Header Format
User's Manual 4.3 Response Header Format 4.3.1 Wired Response Header The 3-Space Sensor is capable of returning additional data that can be prepended to all command responses. This capability is managed via the Response Header Bitfield, which can be configured using command 221 (0xDD). Each bit in the field, if enabled, corresponds to a different piece of information that will be output prior to the expected response data. -
Page 28: Wired Streaming With Response Header
User's Manual For the ascii version, we would send the following: “;66\n” We would receive the following response: “389617043,37,-1072.00000,-3392.00000,16176.00000\r\n” 4.3.2 Wired Streaming with Response Header Streaming data can also have Response Header data prepended to each streamed packet. This can be accomplished by calling the Start Streaming command (0x55) with the Response Header Packet Byte. -
Page 29: Command Overview
User's Manual 4.4 Command Overview There are over 90 different command messages that are grouped numerically by function. Unused command message bytes are reserved for future expansion. When looking at the following command message tables, note the following: The “Data Len” field indicates the number of additional data-bytes the command expects to follow the •... -
Page 30: Normalized Data Commands
User's Manual 4.4.2 Normalized Data Commands Return Data Command Description Long Description Data Len Return Data Details Data Details Returns the normalized gyro rate vector, accelerometer vector, and compass vector. Note that Gyro Rate in units of the gyro vector is in units of radians/sec, while the radians/sec (Vector x3), accelerometer and compass are unit-length vectors indicating the direction of gravity and north,... -
Page 31: Raw Data Commands
User's Manual Return Data Command Description Long Description Data Len Return Data Details 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), Get all raw component... -
Page 32: Configuration Write Commands
User's Manual 4.4.7 Configuration Write Commands Sets the current euler angle decomposition order, which determines how the angles returned from command 0x1 are decomposed from the full quaternion orientation. Possible values are 0x0 for Euler angle decomposition Set euler angle XYZ, 0x1 for YZX, 0x2 for ZXY, 0x3 for ZYX, 0x4 for order 16(0x10) - Page 33 User's Manual Determines how trusted the compass contribution is to the overall orientation estimation. Instead of using a single value, uses a minimum and maximum value. Trust values will be selected from this range depending on the confidence factor. This can have Minimum compass trust value Set confidence compass the effect of smoothing out the compass when the...
- Page 34 User's Manual Directly set the multi-reference compass vector at the specified index. First parameter is index, second Set compass mulfi- parameter is compass vector. Intended for advanced Index (Byte), Compass 112(0x70) reference vector users. Reference Vector (float x3) Set the compass reading to be used as a check vector to determine which cell index to draw the reference vector from.
- Page 35 User's Manual Set compass reference Sets the static compass reference vector for Single Compass Reference Vector 118(0x76) vector Reference Mode. (float x3) Set accelerometer Sets the static accelerometer reference vector for Accelerometer Reference 119(0x77) reference vector Single Reference Mode. Vector (float x3) 120(0x78) Reset filter Resets the state of the currently selected filter...
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Page 36: Configuration Read Commands
User's Manual 4.4.8 Configuration Read Commands Return Data Command Description Long Description Data Len Return Data Details Data Details Get tare orientation as 128(0x80) Returns the current tare orientation as a quaternion. Quaternion (float x4) quaternion Get tare orientation as Returns the current tare orientation as a rotation 129(0x81) rotation matrix... - Page 37 User's Manual 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 Get multi-reference refer to the Set Multi-Reference Resolution (byte), number of nearby 150(0x96) resolution command (111).
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Page 38: Calibration Commands
User's Manual 4.4.9 Calibration Commands Return Data Command Description Long Description Data Len Return Data Details Data Details Sets the current compass calibration parameters to the specified values. These consist of a bias which is added to the raw data vector and a matrix by which the value is multiplied. -
Page 39: Battery Commands
User's Manual 4.4.10 Battery Commands Return Data Command Description Long Description Data Len Return Data Details Data Details Read the current battery level in volts. Note that this value will read as slightly higher than it actually is if Battery level in voltage 201(0xc9) Get battery voltage it is read via a USB connection. -
Page 40: General Commands
User's Manual 4.4.11 General Commands 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 196(0xc4) Set LED Mode LED color as specified by command 238. -
Page 41: Wired Hid Commands
User's Manual Sets the communication mode for USB. Accepts one value that can be 0 for CDC (default) or 1 for USB communication mode 233(0xe9) Set USB Mode FTDI. (byte) USB communication mode 234(0xea) Get USB Mode Returns the current USB communication mode. (byte) Returns the serial number, which will match the 237(0xed) -
Page 42: General Hid Commands
User's Manual 4.4.13 General HID Commands Return Data Command Description Long Description Data Len Return Data Details Data Details 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. -
Page 43: Appendix
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... - Page 44 Notes: Serial Number: _____________________________________...
- Page 45 630 Second Street Portsmouth, Ohio 45662 Phone: 740-355-9029 www.YostLabs.com Patented and Patents Pending ©2007-2017 Yost Labs, Inc. Printed in USA...
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