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Summary of Contents for Yost Labs 3-Space Sensor
- Page 1 3-Space Sensor Miniature Attitude & Heading Reference System User's Manual 630 Second Street Portsmouth, Ohio 45662 www.yostlabs.com Patented and Patents ©2007-2017 Yost Labs, Inc. Printed in USA...
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- Page 3 3-Space Sensor Miniature Attitude & Heading Reference System User's Manual 630 Second Street Portsmouth, Ohio 45662 www.YostLabs.com Phone: 740-876-4936 Patented and Patents Pending ©2007-2017 Yost Labs, Inc. Printed in USA...
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Page 4: Table Of Contents
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 1.4 Battery Safety Considerations..............................2 2. Overview of the YEI 3-Space Sensor..........................4 2.1 Introduction....................................4 2.2 Applications..................................... 4 2.3 Sensor Types.................................... 5 2.3.1 Wireless Sensor................................5 2.3.1.1 Wireless Sensor Hardware Overview.....................5... - Page 5 CaptureDataMode............................47 CaptureFileInfoHeader.............................47 3.5.4 Capture Settings and Defaults............................47 3.5.5 LED Capture Behavior..............................48 3.5.6 Real Time Clock................................48 4. 3-Space Sensor Usage/Protocol............................49 4.1 Usage Overview..................................49 4.1.1 Protocol Overview................................. 49 4.1.2 Computer Interfacing Overview(USB)..........................49 4.1.3 Computer Interfacing Overview (Wireless)........................49 4.1.4 Computer Interfacing Overview (Embedded)........................49 4.1.4.1 USB Interfacing...........................50...
- Page 6 4.6 Product Specific Commands..............................75 4.6.1 Wireless Specific Commands............................75 4.6.1.1 Dongle Commands..........................75 4.6.1.2 Wireless Sensor & Dongle Commands....................76 4.6.1.3 Wireless HID Commands........................76 4.6.2 Battery Commands................................ 77 4.6.3 Embedded Commands..............................77 4.6.4 Data-Logging Commands..............................77 Appendix...................................78 USB Connector.................................... 78 Hex / Decimal Conversion Chart..............................78...
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Page 7: Usage/Safety Considerations
Do not use the 3-Space Sensor in any system on which people's lives depend(life support, weapons, etc.) • Because of its reliance on a compass, the 3-Space Sensor will not work properly near the earth's north or south • pole. -
Page 8: Canada Ic Approval
As with any lithium-polymer battery-powered device, the following should be observed: Don’t disassemble, crush, puncture, shred, or otherwise attempt to change the form of your battery. • Don't attempt to change or modify the battery yourself. Contact Yost Labs technical support for battery • replacement or battery repair. - Page 9 Don't drop the sensor unit. Dropping, especially on a hard surface, can potentially cause damage to the sensor • unit or the battery. Discontinue use immediately and contact Yost Labs technical support if the battery or sensor unit produce • odors, emit smoke, exhibit swelling, produce excess heat, exhibit leaking.
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Page 10: Overview Of The Yei 3-Space Sensor
Euler angles (pitch/roll/yaw), rotation matrix, axis angle, two vector(forward/up). When used as a USB device, the 3-Space Sensor provides mouse emulation and joystick emulation modes that ease integration with existing applications. -
Page 11: Sensor Types
2.3.1.1 Wireless Sensor 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. -
Page 12: Wireless Sensor Features
2.3.1.3 Wireless Sensor Features The 3-Space Sensor Wireless has many features that allow it to be a flexible all-in-one solution for your orientation sensing needs. Below are some of the key features: Small self-contained high-performance wireless AHRS at 35mm x 60mm x 15mm and 28 grams •... -
Page 13: Wireless Sensor Block Diagram
User's Manual 2.3.1.4 Wireless Sensor Block Diagram... -
Page 14: Wireless Sensor Specifications
User's Manual 2.3.1.5 Wireless Sensor Specifications General Part number TSS-WL (Handheld Sensor Unit) TSS-WL-S (Screw-down Sensor Unit) Dimensions 35mm x 60mm x 15mm (1.38 x 2.36 x 0.59 in.) Weight 28 grams ( 0.98 oz ) Supply voltage +5v USB Battery technology rechargeable Lithium-Polymer Battery lifetime... -
Page 15: Wireless Sensor Physical Dimensions
User's Manual 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... -
Page 16: Wireless Sensor Led
User's Manual 2.3.1.8 Wireless Sensor LED Both the dongle and wireless unit have built-in LEDs that are meant to convey information about the state of the respective device. These LEDs may also be set to a custom color. The wireless unit will display the following LED colors under the following circumstances: Upon receipt of a packet, the wireless unit will flash green temporarily. -
Page 17: Usb Sensor
2.3.2 USB Sensor 2.3.2.1 USB Sensor Hardware Overview 1. USB Connector – The 3-Space Sensor uses a 5-pin mini USB connector to connect to a computer via USB. The USB connector provides for both power and communication signals. 2. RS232 Connector – The 3-Space Sensor can respond to protocol messages via RS232 by using this port. The port is a 2.5mm 4 conductor jack that carries TxD, RxD, Gnd, +5vdc Input signals. -
Page 18: Usb Sensor Features
User's Manual 2.3.2.2 USB Sensor Features The 3-Space Sensor USB has many features that allow it to be a flexible all-in-one solution for your orientation sensing needs. Below are some of the key features: Small self-contained high-performance wireless AHRS at 35mm x 50mm x 15mm and 17 grams •... -
Page 19: Usb Sensor Block Diagram
User's Manual 2.3.2.3 USB Sensor Block Diagram... -
Page 20: Usb Sensor Specifications
User's Manual 2.3.2.4 USB Sensor Specifications General Part number TSS-USB (Handheld Sensor Unit) TSS-USB-S (Screw-down Sensor Unit) TSS-USBWT-S (Watertight Screw-down Sensor Unit) TSS-MUSB (Micro-USB Sensor Unit) Dimensions 35mm x 50mm x 15mm (1.38 x 1.97 x 0.59 in.) (USB) 35mm x 67.6mm x 20mm (1.38 x 2.66 x 0.79 in.) (USBWT-S) 23mm x 23mm x 2.2mm (0.9 x 0.9 x 0.086 in.) (MUSB) Weight 17 grams (0.60 oz) (USB), 21 grams (0.74 oz) (USBWT-S), 1.3 grams (0.0458 oz) (MUSB) -
Page 21: Usb Sensor Physical Dimensions
User's Manual 2.3.2.5 USB Sensor Physical Dimensions... -
Page 22: Data Logging Sensor
2.3.3.1 Data Logging 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. -
Page 23: Data Logging Features
User's Manual 2.3.3.2 Data Logging Features The 3-Space Sensor Data-Logging has many features that allow it to be a flexible all-in-one solution for your orientation sensing needs. Below are some of the key features: Small self-contained high-performance data-logging AHRS at 35mm x 60mm x 15mm and 28 grams •... -
Page 24: Data Logging Block Diagram
User's Manual 2.3.3.3 Data Logging Block Diagram... -
Page 25: Data Logging Sensor Specifications
User's Manual 2.3.3.4 Data Logging Sensor Specifications General Part number TSS-DL (Handheld Sensor Unit) TSS-DL-S (Screw-down Sensor Unit) Dimensions 35mm x 60mm x 15mm (1.38 x 2.36 x 0.59 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 26: Data Logging Sensor Physical Dimensions
User's Manual 2.3.3.5 Data Logging Sensor Physical Dimensions... -
Page 27: Embedded Sensor
User's Manual 2.3.4 Embedded Sensor 2.3.4.1 Embedded Sensor Hardware Overview The 3-Space Embedded is packaged as a 23mmx23mmx2.2mm castellated edge SMT module. Alternatively, the module can be through-hole mounted by adding standard 0.1” header strips to the castellated edge pads. 2.3.5.1 Pin Functions Pad Number Signal Name... -
Page 28: Pcb Layout
User's Manual 2.3.4.2 PCB Layout PCB layout should follow the suggested SMT footprint below. Additionally, since PCB layout can affect the performance of the 3-Space Embedded module observe the following layout guidelines: Do not place untented pads, vias, or holes beneath the restricted area in the diagram. •... -
Page 29: Embedded Sensor Features
User's Manual 2.3.4.3 Embedded Sensor Features The 3-Space Sensor Embedded has many features that allow it to be a flexible all-in-one solution for your orientation sensing needs. Below are some of the key features: Smallest and lightest high-performance AHRS available at 23mm x 23mm x 2mm and only 1.3 grams •... -
Page 30: Embedded Sensor Block Diagram
User's Manual 2.3.4.4 Embedded Sensor Block Diagram... -
Page 31: Embedded Sensor Specifications
User's Manual 2.3.4.5 Embedded Sensor Specifications General Part number TSS-EM Dimensions 23mm x 23mm x 2.2mm (0.9 x 0.9 x 0.086 in.) Weight 1.3 grams (0.0458 oz) Supply voltage +3.3v ~ +6.0v Power consumption 45mA @ 5v Communication interfaces USB 2.0, SPI, Asynchronous Serial Filter update rate up to 250Hz with Kalman AHRS(higher with oversampling) up to 850Hz with QCOMP AHRS(higher with oversampling) -
Page 32: Embedded Sensor Electrical Characteristics
User's Manual 2.3.4.6 Embedded Sensor Electrical Characteristics Absolute Maximum Ratings* Operating Temperature …............-40C ~ 85C ( -40F ~ 185F ) Storage Temperature …............-60C ~ 150C ( -76F ~ 302F ) Supply Voltage on VIN Pin with respect to Ground ....-0.3v ~ 6.5v Supply Voltage on VUSB Pin with respect to Ground ..... - Page 33 User's Manual supported on many micro-controllers and embedded systems. The SPI interface is implemented as an SPI mode 0 slave device. This means that the SPI clock polarity is 0 (CPOL=0) and the SPI clock phase is 0 (CPHA=0). Bytes are transferred one bit at a time with the MSB being transferred first. The on-board SPI interface has been tested at speeds up to 6MHz.
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Page 34: Bluetooth Sensor
2.3.5.1 Bluetooth Sensor 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. -
Page 35: Bluetooth Sensor Features
User's Manual 2.3.5.2 Bluetooth Sensor Features The 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 36: Bluetooth Sensor Block Diagram
User's Manual 2.3.5.3 Bluetooth Sensor Block Diagram... -
Page 37: Bluetooth Sensor Specifications
User's Manual 2.3.5.4 Bluetooth Sensor Specifications General Part number TSS-BT (Handheld Sensor Unit) TSS-BT-S (Screw-down Sensor Unit) Dimensions 35mm x 60mm x 15mm (1.38 x 2.36 x 0.59 in.) Weight 28 grams (0.98 oz) Supply voltage +5v USB Battery technology rechargeable Lithium-Polymer Battery lifetime 5+ hours continuous use at full performance... -
Page 38: Bluetooth Sensor Physical Dimensions
User's Manual 2.3.5.5 Bluetooth Sensor Physical Dimensions... -
Page 39: Axis Assignment
User's Manual 2.4 Axis Assignment All 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 40: Description Of The 3-Space Sensor
Accelerometer: This sensor measures the acceleration due to gravity, as well as any other accelerations that • occur. Because of this, this sensor is at its best when the 3-Space Sensor is sitting still. Most jitter seen as the orientation of the sensor changes is due to shaking causing perturbations in the accelerometer readings. To account for this, by default, when the 3-Space Sensor is being moved, the gyroscope becomes more trusted(becomes a greater part of the orientation estimate), and the accelerometer becomes less trusted. -
Page 41: 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 from each of the component sensors, scaled to be in real •... -
Page 42: Orientation Filtering
User's Manual 3.1.6 Orientation Filtering The 3-Space Sensor provides several different modes for providing orientation estimation. Note also that IMU data collection rate is bound to the update rate of the filter. For more information on setting these additional modes, please refer to command 123. -
Page 43: Other Estimation Parameters
Euler angles to account for a different mounting, while this feature does. 3.1.9 Other Estimation Parameters The 3-Space Sensor offers a few other parameters to filter the orientation estimate. Please note that oversampling and running average parameters used on component sensors will affect both orientation fusion and data readings from those component sensors. -
Page 44: Communication
3.2.1 Wired Streaming Mode The default mode of communication for the 3-Space Sensor is a call and response paradigm wherein you send a command and then receive a response. The sensor also features a streaming mode where it can be instructed to periodically send back the response from up to 8 commands without any further communication from the host. -
Page 45: Wireless Streaming Mode
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 46: Mouse
While using this mode, you should only be using the 3-Space Sensor as an HID joystick or mouse and should not be attempting... -
Page 47: 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 48: Dongle Settings And Defaults
User's Manual Running Average Percentage Determines how heavy of a running average to run on the final 0(no running average) orientation or component sensors RS232 Baud Rate Determines the speed of RS232 communication 115200 LED Color Determines the RGB color of the LED 0,0,1(Blue) LED Mode Determines whether the LED mode is static or not. -
Page 49: Data-Logging
3.5.1 Mass Storage Device The Data-Logging 3-Space Sensor exposes the contents of its SD card to a computer by enumerating as a Mass Storage device in addition to a virtual COM port. Upon being connected to a computer through USB, the sensor will cease any current data-logging session and will cede control of the SD card to the computer, as both the computer and the sensor cannot write to the SD card without coming into conflict. -
Page 50: Capturestopevent
User's Manual Because calling a command requires a USB connection which can communicate with the sensor, the sensor will have to be taken out of Mass Storage mode before this command is called. The command to turn off Mass Storage mode is command 58. Also note that regardless of start event, this command can be used to start a data-logging session. -
Page 51: Captureinterval
User's Manual ng: The latest normalized(scaled and biased) gyroscope reading. na: The latest normalized(scaled and biased) accelerometer reading. nc: The latest normalized(scaled and biased) compass reading. nt: The latest temperature reading, in degrees C. nb: The battery level percentage. cg: The corrected (in units of rad/sec) gyroscope reading. ca: The corrected (in units of g) accelerometer reading. -
Page 52: Capturedatamode
User's Manual CaptureDataMode The CaptureDataMode property in the capture.cfg file specifies whether captured data is stored in the file as human readable ASCII or compact binary. This property is one of the following: “ascii”: Data is logged in a human readable form. Superfluous characters in the formatting string are •... -
Page 53: Led Capture Behavior
3.5.6 Real Time Clock The Data-Logging 3-Space Sensor contains a real time clock chip which allows it to keep track of time. The clock chip uses a separate clock battery which maintains the time and clock settings. The clock chip must be given an initial time for it to report time properly in a desired time zone. -
Page 54: Space Sensor Usage/Protocol
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. -
Page 55: Usb Interfacing
User's Manual 4.1.4.1 USB Interfacing The USB 2.0 interface of the 3-Space Sensor Embedded requires the connection of signals as follows: Signal Description USB Ground. Required connection during USB mode use. USBD- USB Data Minus. Required connection during USB mode use. - Page 56 User's Manual The following schematic diagram illustrates typical logic-level asynchronous serial interface connections: The following schematic diagram illustrates typical RS232-level asynchronous serial interface connections:...
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Page 57: Spi Interfacing
4.1.4.4 Interrupt Generation The Embedded 3-Space Sensor is capable of generating a signal on certain pins which can be used to trigger an interrupt when new orientation data becomes available. This pin will be high by default. The signal can be set to act in pulse mode, where the pin is set low for 5 microseconds and then pulled back to high, or it can be set to level mode, where the pin is set low until the interrupt status is read(see command 31(0x1f)). -
Page 58: Button Settings
4.1.3.5 Button Settings The Embedded 3-Space Sensor may be set up to have some of its pins act as digital inputs, or buttons. These buttons are used in the same way as the physical buttons on other versions of the 3-Space Sensor, in that the HID communication can report their state, and their state can also be requested through the button state command(command 250(0xfa)). -
Page 59: Wired Protocol Packet Format
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”... -
Page 60: Ascii Text Packet Format
User's Manual 4.2.2 ASCII Text Packet Format ASCII text command packets are similar to binary command packets, but are received as a single formatted line of text. Each text line consists of the following: an ASCII colon character followed by an integral command id in decimal, followed by a list of ASCII encoded floating-point command values, followed by a terminating newline character. -
Page 61: Spi Packet Format(Embedded)
User's Manual 4.2.3 SPI Packet Format(Embedded) In order to initiate an SPI data transfer, the byte 0xF6 must be sent to signal the start of an incoming command packet. Afterwards, the command byte should be sent as well as any required command parameter bytes. After the command has been processed, the byte 0xFF must be sent repeatedly to read any bytes returned from the sensor. -
Page 62: Wireless Protocol Packet Format
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. -
Page 63: Binary Command Response
User's Manual 4.3.3 Binary Command Response 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. -
Page 64: Ascii Text Packet Format
User's Manual 4.3.5 ASCII Text Packet Format Wireless ASCII packets are very similar to wired ASCII packets. Each wireless ASCII packet is formatted as shown here: Thus the ASCII packet consists of the the following characters: > – the ASCII greater than character signifies the start of an ASCII text packet. , –... -
Page 65: Ascii Command Response
User's Manual 4.3.6 ASCII Command Response When an ASCII command is called wirelessly, before the data it would normally return in wired mode, it will return status values, each separated by a comma. First is the success/failure value, which is a 0 if the command was successful and 1 if it was not. -
Page 66: Response Header Format
4.4.1 Wired Response Header The 3-Space Sensor is capable of returning additional data that can be prepended to all command responses. This capability is managed via the Response Header Bitfield, which can be configured using command 221 (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 67: 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” 4.4.2 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 68: Command Overview
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 •... -
Page 69: Normalized Data Commands
User's Manual 4.5.2 Normalized Data Commands 4.5.3 Corrected Data Commands 4.5.4 Other Data Commands... -
Page 70: Raw Data Commands
User's Manual 4.5.5 Raw Data Commands 4.5.6 Streaming Commands... -
Page 71: Configuration Write Commands
User's Manual 4.5.7 Configuration Write Commands... - Page 72 User's Manual...
- Page 73 User's Manual...
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Page 74: Configuration Read Commands
User's Manual 4.5.8 Configuration Read Commands... -
Page 75: Calibration Commands
User's Manual 4.5.9 Calibration Commands... -
Page 76: System Commands
User's Manual 4.5.10 System Commands... -
Page 77: Wired Hid Commands
User's Manual 4.5.11 Wired HID Commands... -
Page 78: General Hid Commands
User's Manual 4.5.12 General HID Commands... -
Page 79: Product Specific Commands
User's Manual 4.6 Product Specific Commands 4.6.1 Wireless Specific Commands 4.6.1.1 Dongle Commands... -
Page 80: Wireless Sensor & Dongle Commands
User's Manual 4.6.1.2 Wireless Sensor & Dongle Commands... -
Page 81: Wireless Hid Commands
User's Manual 4.6.1.3 Wireless HID Commands... -
Page 82: Battery Commands
User's Manual 4.6.2 Battery Commands 4.6.3 Embedded Commands 4.6.4 Data-Logging Commands... -
Page 83: 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 84 User's Manual 630 Second Street Portsmouth, Ohio 45662 Phone: 740-876-4936 www.YostLabs.com Patented and Patents Pending ©2007-2017 Yost Labs, Inc. Printed in USA...
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