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. Overvie of the YEI 3-Space Sensor..............................................................................................................................4
2.1 Introduction.............................................................................................................................................................4
2.2 Applications.............................................................................................................................................................4
2.3 Hard are Overvie .................................................................................................................................................5
2.4 Features....................................................................................................................................................................6
2.5 Block Diagram of Sensor Operation.......................................................................................................................7
2.6 Specifications..........................................................................................................................................................8
2.7 Physical Dimensions................................................................................................................................................9
2.8 Axis Assignment......................................................................................................................................................9
3. Description of the 3-Space Sensor................................................................................................................................10
3.1 Orientation Estimation...........................................................................................................................................10
3.1.1 Component Sensors......................................................................................................................................10
3.1.2 Scale, Bias, and Cross-Axis Effect...............................................................................................................10
3.1.3 Component Sensor Data Types.....................................................................................................................11
3.1.4 Additional Calibration..................................................................................................................................11
3.1.5 Reference Vectors.........................................................................................................................................12
3.1.6 Orientation Filtering ....................................................................................................................................12
3.1.7 Tare Orientation............................................................................................................................................12
3.1.8 Offset Orientation.........................................................................................................................................13
3.1.9 Other Estimation Parameters........................................................................................................................13
3.2 Communication......................................................................................................................................................14
3.2.1 Wired Streaming Mode.................................................................................................................................14
3.3 Input Device Emulation.........................................................................................................................................16
3.3.1 Axes and Buttons..........................................................................................................................................16
3.3.2 Joystick.........................................................................................................................................................16
3.3.3 Mouse...........................................................................................................................................................16
3.4 Sensor Settings......................................................................................................................................................17
3.4.1 Committing Settings.....................................................................................................................................17
3.4.2 Natural Axes.................................................................................................................................................17
3.4.3 Settings and Defaults....................................................................................................................................17
4. 3-Space Sensor Usage/Protocol....................................................................................................................................19
4.1. Usage Overvie ...................................................................................................................................................19
4.1.1 Protocol Overvie ........................................................................................................................................19
4.1.2 Computer Interfacing Overvie ...................................................................................................................19
4.2. Protocol Packet Format........................................................................................................................................20
4.2.1 Binary Packet Format...................................................................................................................................20
4.2.2 ASCII Text Packet Format...........................................................................................................................20
4.3 Response Header Format.......................................................................................................................................22
4.3.1 Wired Response Header...............................................................................................................................22
4.3.2 Wired Streaming ith Response Header......................................................................................................23
4.4 Command Overvie ..............................................................................................................................................24
4.4.1 Orientation Commands.................................................................................................................................24
4.4.2 Normalized Data Commands........................................................................................................................25
4.4.3 Corrected Data Commands...........................................................................................................................25
4.4.4 Other Data Commands..................................................................................................................................25
4.4.5 Ra Data Commands....................................................................................................................................26
4.4.6 Streaming Commands...................................................................................................................................26
4.4.7 Configuration Write Commands...................................................................................................................27
4.4.8 Configuration Read Commands....................................................................................................................31
4.4.9 Calibration Commands.................................................................................................................................33
4.4.10 Battery Commands......................................................................................................................................34
4.4.11 General Commands.....................................................................................................................................35
4.4.12 Wired HID Commands...............................................................................................................................36
