Yost Labs 3-Space Bluetooth User manual

3-Space Sensor
Miniature Attitude & Heading
Reference System
User's Manual
Yost Labs
630 Second Street
Portsmouth, Ohio 45662
www yostlabs com
Patented and Patents
©2007-2017 Yost Labs, Inc
Printed in USA
3-Space Sensor
3-Space Sensor

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This page intentionally left blank

3-Space Sensor
Miniature Attitude & Heading
Reference System
User's Manual
Yost Labs
630 Second Street
Portsmouth, Ohio 45662
www YostLabs com
Phone: [phone]
Patented and Patents Pending
©2007-2017 Yost Labs, Inc
Printed in USA

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 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
2 3 1 2 Wireless Dongle Hardware Overview 5
2 3 1 3 Wireless Sensor Features 6
2 3 1 4 Wireless Sensor Block Diagram 7
2 3 1 5 Wireless Sensor Specifications 8
2 3 1 6 Wireless Sensor Physical Dimensions 9
2 3 1 7 Wireless Sensor Terminology 9
2 3 1 8 Wireless Sensor LED 10
2 3 2 USB Sensor 11
2 3 2 1 USB Sensor Hardware Overview 11
2 3 2 2 USB Sensor Features 12
2 3 2 3 USB Sensor Block Diagram 13
2 3 2 4 USB Sensor Specifications 14
2 3 2 5 USB Sensor Physical Dimensions 15
2 3 3 Data Logging Sensor 16
2 3 3 1 Data Logging Hardware Overview 16
2 3 3 2 Data Logging Features 17
2 3 3 3 Data Logging Block Diagram 18
2 3 3 4 Data Logging Sensor Specifications 19
2 3 3 5 Data Logging Sensor Physical Dimensions 20
2 3 4 Embedded Sensor 21
2 3 4 1 Embedded Sensor Hardware Overview 21
2 3 5 1 Pin Functions 22
2 3 4 2 PCB Layout 22
2 3 4 3 Embedded Sensor Features 23
2 3 4 4 Embedded Sensor Block Diagram 25
2 3 4 5 Embedded Sensor Specifications 26
2 3 4 6 Embedded Sensor Electrical Characteristics 27
2 3 5 Bluetooth Sensor 29
2 3 5 1 Bluetooth Sensor Hardware Overview 29
2 3 5 2 Bluetooth Sensor Features 30
2 3 5 3 Bluetooth Sensor Block Diagram 31
2 3 5 4 Bluetooth Sensor Specifications 32
2 3 5 5 Bluetooth Sensor Physical Dimensions 33
2 4 Axis Assignment 34
3 Description of the 3-Space Sensor 35
3 1 Orientation Estimation 35
3 1 1 Component Sensors 35
3 1 2 Scale, Bias, and Cross-Axis Effect 35
3 1 3 Component Sensor Data Types 36
3 1 4 Calibration Modes 36
3 1 5 Reference Vectors 36
3 1 6 Orientation Filtering 37
3 1 7 Tare Orientation 37
3 1 8 Offset Orientation 37
3 1 9 Other Estimation Parameters 38
3 2 Communication 39
3 2 1 Wired Streaming Mode 39
3 2 2 Wireless Streaming Mode 40
3 3 Input Device Emulation 40
3 3 1 Axes and Buttons 40
3 3 2 Joystick 40

3 3 3 Mouse 41
3 3 4 Wireless Joystick/Mouse 41
3 4 Sensor Settings 42
3 4 1 Committing Settings 42
3 4 2 Committing Wireless Settings 42
3 4 3 Natural Axes 42
3 4 4 Sensor Settings and Defaults 42
3 4 5 Dongle Settings and Defaults 43
3 4 6 Sensor Wireless Settings and Defaults 43
3 4 7 Dongle Wireless Settings and Defaults 43
3 5 Data-Logging 44
3 5 1 Mass Storage Device 44
3 5 2 SD Card Format and Directory Structure 44
3 5 3 Data-Logging 44
CaptureStartEvent 44
CaptureStopEvent 45
CaptureFormat 45
CaptureInterval 46
CaptureStyle 46
CapturePostStopGatherTime 46
CaptureFileStub 46
CaptureFileMode 46
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
4 1 4 2 Asynchronous Serial Interfacing 50
4 1 4 3 SPI Interfacing 52
4 1 4 4 Interrupt Generation 52
4 1 3 5 Button Settings 53
4 2 Wired Protocol Packet Format 54
4 2 1 Binary Packet Format 54
4 2 2 ASCII Text Packet Format 55
4 2 3 SPI Packet Format(Embedded) 56
4 3 Wireless Protocol Packet Format 57
4 3 1 Wireless Communication Format 57
4 3 2 Binary Packet Format 57
4 3 3 Binary Command Response 58
4 3 4 Sample Binary Commands 58
4 3 5 ASCII Text Packet Format 59
4 3 6 ASCII Command Response 60
4 3 7 Sample ASCII Commands 60
4 4 Response Header Format 61
4 4 1 Wired Response Header 61
4 4 2 Wired Streaming with Response Header 62
4 4 3 Wireless Response Header 62
4 4 4 Wireless Streaming with Response Header 62
4 5 Command Overview 64
4 5 1 Orientation Commands 64
4 5 2 Normalized Data Commands 65
4 5 3 Corrected Data Commands 65
4 5 4 Other Data Commands 65
4 5 5 Raw Data Commands 66
4 5 6 Streaming Commands 66
4 5 7 Configuration Write Commands 67
4 5 8 Configuration Read Commands 70
4 5 9 Calibration Commands 71
4 5 10 System Commands 72
4 5 11 Wired HID Commands 73
4 5 12 General HID Commands 74

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

User's Manual
1. Usage/Safety Considerations
1.1 Usage Conditions
•Do not use the 3-Space Sensor in any system on which people's lives depend(life support, weapons, etc )
•Because of its reliance on a compass, the 3-Space Sensor will not work properly near the earth's north or south
pole
•Because of its reliance on a compass and accelerometer, the 3-Space Sensor will not work properly in outer
space or on planets with no magnetic field
•Care should be taken when using the 3-Space Sensor in a car or other moving vehicle, as the disturbances
caused by the vehicle's acceleration may cause the sensor to give inaccurate readings
•Because of its reliance on a compass, care should be taken when using the 3-Space Sensor near ferrous metal
structures, magnetic fields, current carrying conductors, and should be kept about 6 inches away from any
computer screens or towers
•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
•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 the “Battery Considerations”
section for further information pertaining to battery safety
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) Yost Labs will repair or replace any defective product which is returned within
this time period Returned items will be tested in order to confirm a manufacturing defect is present No warranties
exist for any misuse
OEM Limited Product Warranty: The following OEM products are subject to additional return limitations beyond the
Standard Limited Product Warranty: surface-mount modules, integrated circuits, bare PCB modules, and other
electronic components Because of the risk of damage or malfunction due to user testing and handling problems, returns
will be granted only upon evidence and/or inspection conclusively demonstrating manufacturing defect All OEM
products are individually tested prior to shipment for quality control
Product Support: Yost Labs provides technical and user support via our toll-free number (740-876-4936) and via email
(support@yostlabs com) Support is provided for the lifetime of the equipment Requests for repairs should be made
through the Support department For damage occurring outside of the warranty period or provisions, customers will be
provided with cost estimates prior to repairs being performed
1.3 Regulatory Approval
1.3.1 United States FCC Approval
The 3-Space Wireless Sensor and Dongle devices contain FCC ID: OA3MRF24J40MA
This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of
the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential
installation This equipment generates, uses and can radiate radio frequency energy, and if not installed and used in
accordance with the instructions, may cause harmful interference to radio communications However, there is no
guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to
radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try
to correct the interference by one or more of the following measures:
•Reorient or relocate the receiving antenna
•Increase the separation between the equipment and receiver
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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 To ensure
compliance, operation at closer than this distance is not recommended The antenna(s) used for this transmitter must not
be co-located or operating in conjunction with any other antenna or transmitter
If the Wireless Unit is used in a portable application (antenna is less than 20 cm from persons during operation), the
integrator is responsible for performing Specific Absorption Rate (SAR) testing in accordance with FCC rules 2 1091
1.3.2 Canada IC Approval
The 3-Space Wireless Sensor and Dongle devices contain IC ID: 7693A-24J40MA
This device has been certified for use in Canada under Industry Canada (IC) Radio Standards Specification (RSS) RSS-
210 and RSS-Gen
1.3.3 European Approval
The 3-Space Wireless Sensor and Dongle devices contain a communication module that has been certified for use in
European countries
The following testing has been completed:
Test standard ETSI EN 300 328 V1 7 1 (2006-10):
•Maximum Transmit Power
•Maximum EIRP Spectral Density
•Frequency Range
•Radiated Emissions
Test standards ETSI EN 301 489-1:2008 and ETSI EN 301 489-17:2008:
•Radiated Emissions
•Electro-Static Discharge
•Radiated RF Susceptibility
1.4 Battery Safety Considerations
The 3-Space Wireless Sensor, Data Logging Sensor, and Bluetooth Sensor contain a rechargeable lithium-polymer
battery Lithium-polymer batteries have high energy densities and can be dangerous if not used and cared for properly
These sensors have been designed to include multiple levels of battery safety assurance The sensor circuitry includes
smart charging circuitry with thermal management to prevent over-charging the battery The battery pack itself also
includes protection circuitry to prevent over-charge, over-voltage, over-current, and over-discharge conditions
Most battery issues arise from improper handling of batteries, and particularly from the continued use of damaged
batteries
As with any lithium-polymer battery-powered device, the following should be observed:
•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
•Don’t let the mobile device or battery come in contact with water
•Don’t allow the battery to touch metal objects
•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
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User's Manual
•Don’t dry a wet or damp sensor unit with an appliance or heat source, such as a hair dryer or microwave oven
•Don't drop the sensor unit Dropping, especially on a hard surface, can potentially cause damage to the sensor
unit or the battery
•Discontinue use immediately and contact Yost Labs technical support if the battery or sensor unit produce
odors, emit smoke, exhibit swelling, produce excess heat, exhibit leaking
•Dispose of Lithium-polymer batteries properly in accordance with local, state, and federal guidelines
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User's Manual
2. verview of the 3-Space Sensor
2.1 ntroduction
The 3-Space SensorTM is a miniature, high-precision, high-reliability, Attitude and Heading Reference System (AHRS)
The 3-Space family includes sensors with a variety of communication methods, including USB, wireless, serial, and
SPI The Attitude and Heading Reference System (AHRS) uses triaxial gyroscope, accelerometer, and compass sensors
in conjunction with advanced on-board filtering and processing algorithms to determine orientation relative to an
absolute reference orientation in real-time
Orientation can be returned in absolute terms or relative to a designated reference orientation The gradient descent
calibration process and high update rates increase accuracy and greatly reduce and compensate for sensor error The 3-
Space Sensor system also utilizes a dynamic sensor confidence algorithm that ensures optimal accuracy and precision
across a wide range of operating conditions
The 3-Space Sensor unit features are accessible via a well-documented open communication protocol that allows access
to all available sensor data and configuration parameters Versatile commands allow access to raw sensor data,
normalized sensor data, and filtered absolute and relative orientation outputs in multiple formats including: quaternion,
Euler angles (pitch/roll/yaw), rotation matrix, axis angle, two vector(forward/up)
When used as a USB device, the 3-Space Sensor provides mouse emulation and joystick emulation modes that ease
integration with existing applications
2.2 Applications
•Robotics
•Motion capture
•Positioning and stabilization
•Vibration analysis
•Inertial augmented localization
•Personnel / pedestrian navigation and tracking
•Unmanned air/land/water vehicle navigation
•Education and performing arts
•Healthcare monitoring
•Gaming and motion control
•Accessibility interfaces
•Virtual reality and immersive simulation
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