3 Space Sensor Users Manual Nano

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3-Space Sensor

3-Space Sensor
Nano
Super-Miniature Attitude & Heading
Reference System 24-Pin DFN IC

User's Manual
Yost Labs
630 Second Street
Portsmouth, Ohio 45662

www.yostlabs.com

Patents Pending
©2007-2017 Yost Labs, Inc.
Printed in USA

3-Space Sensor
Nano
Super-Miniature Attitude & Heading
Reference System 24-Pin DFN IC

User's Manual
Yost Labs
630 Second Street
Portsmouth, Ohio 45662
www.yostlabs.com
Phone: 740-876-4936
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
2. Overview of the Yost Labs 3-Space Sensor....................................................................................................................2
2.1 Introduction.............................................................................................................................................................2
2.2 Applications.............................................................................................................................................................2
2.3 Hardware Overview.................................................................................................................................................3
2.3.1 PCB Layout.....................................................................................................................................................................3
2.3.2 Pin Functions..................................................................................................................................................................3

2.4 Features....................................................................................................................................................................4
2.5 Block Diagram of Sensor Operation.......................................................................................................................5
2.6 Specifications..........................................................................................................................................................6
2.7 Electrical Characteristics.........................................................................................................................................7
2.7.1 Absolute Maximum Ratings*..........................................................................................................................................7
2.7.2 DC Characteristics...........................................................................................................................................................7
2.7.4 Asynchronous Serial Characteristics...............................................................................................................................7
2.7.5 SPI Characteristics..........................................................................................................................................................7
2.7.6 I2C Characteristics.......................................................................................................................................................... 8

2.8 Axis Assignment....................................................................................................................................................10
3. Description of the 3-Space Sensor................................................................................................................................11
3.1 Orientation Estimation...........................................................................................................................................11
3.1.1 Component Sensors....................................................................................................................................................... 11
3.1.2 Scale, Bias, and Cross-Axis Effect................................................................................................................................11
3.1.3 Reference Vectors......................................................................................................................................................... 12
3.1.4 Sensor Filter.................................................................................................................................................................. 12
3.1.5 Reference Orientation/Taring........................................................................................................................................12
3.1.6 Other Estimation Parameters.........................................................................................................................................12

3.3 Communication......................................................................................................................................................13
3.4 Sensor Settings......................................................................................................................................................13
3.4.1 Committing Settings...................................................................................................................................................... 13
3.4.2 Natural Axes.................................................................................................................................................................. 13
3.4.3 Settings and Defaults.....................................................................................................................................................13

4. 3-Space Sensor Usage/Protocol....................................................................................................................................14
4.1 Usage Overview....................................................................................................................................................14
4.1.1 Protocol Overview......................................................................................................................................................... 14
4.1.2 Computer Interfacing Overview....................................................................................................................................14
4.1.2.2 Evaluation Kit USB / UART Selection......................................................................................................................14
4.1.3 Electronic Interfacing Overview....................................................................................................................................15
4.1.3.2 Asynchronous Serial Interfacing..........................................................................................................................15
4.1.3.2.1 Chain Configuration..........................................................................................................................................16
4.1.3.3 SPI Interfacing..................................................................................................................................................... 17
4.1.3.4 I2C Interfacing..................................................................................................................................................... 17
4.1.3.5 Interrupt Generation.............................................................................................................................................18

4.3 Protocol Packet Format (Chain Configuration).....................................................................................................19
4.3.1 Binary Packet Format....................................................................................................................................................19
4.3.2 ASCII Text Packet Format............................................................................................................................................20

4.2 Protocol Packet Format (Serial)............................................................................................................................21
4.2.1 Binary Packet Format....................................................................................................................................................21
4.2.2 ASCII Text Packet Format............................................................................................................................................21

4.4 Protocol Packet Format (SPI and I2C)..................................................................................................................23
4.4.1 SPI Command Packet Format........................................................................................................................................23
4.4.2 I2C Command Packet Format.......................................................................................................................................23

4.5 Command Overview..............................................................................................................................................24
4.5.1 Commands for Reading Filtered Sensor Data................................................................................................................24
4.5.2 Commands for Interfacing with Electronic Systems......................................................................................................24
4.5.3 Commands for Reading Normalized Sensor Data.........................................................................................................25
4.5.4 Commands for Reading Corrected Sensor Data............................................................................................................25
4.5.5 Commands for Reading Raw Sensor Data.....................................................................................................................25
4.5.6 Commands for Streaming Data......................................................................................................................................25
4.5.7 Commands for Setting Filter Parameters.......................................................................................................................26
4.5.8 Commands for Reading Filter Parameters.....................................................................................................................26
4.5.9 Commands for Calibration............................................................................................................................................27
4.5.10 General Commands..................................................................................................................................................... 27
4.5.11 Commands for Chain Communication........................................................................................................................28

User's Manual
4.6 Command Details..................................................................................................................................................28
Appendix...........................................................................................................................................................................44
Hex / Decimal Conversion Chart.................................................................................................................................44

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.

•

The Yost Labs 3-Space Nano module contains components that are sensitive to electro-static-discharge. Care should be taken when
handling the module.

•

PCB layout can affect the performance of the 3-Space Nano module. Placing magnetic components, ferrous metal containing
components, high-current conductors, motors, solenoids, actuators, and high-frequency digital signal lines should be avoided in proximity
during PCB layout.

1.2 Technical Support and Repairs
Yost Labs provides technical and user support via phone at 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.

User's Manual

2. Overview of the Yost Labs 3-Space Sensor
2.1 Introduction
The Yost Labs 3-Space SensorTM Nano is an super-miniature, 24-Pin DFN IC and AHRS with high-precision, highreliability, low-cost, and extremely low power consumption
The Nano is an SMT Attitude and Heading Reference System (AHRS) / Inertial Measurement Unit (IMU) which uses
triaxial gyroscope, accelerometer, and compass sensors in conjunction with advanced processing and on-board
quaternion-based orientation filtering algorithms to determine orientation relative to an absolute reference 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
Yost Labs 3-Space SensorTM system utilizes QGRAD2TM sensor fusion along with an advanced dynamic confidence
algorithm and advanced on-board magnetometer auto-calibration that work together to ensure optimal accuracy and
precision across a wide range of operating conditions.

The Yost Labs 3-Space SensorTM Nano module 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).
The 3-Space SensorTM Nano module also offers a range of communication interface options which include SPI, I2C,
and asynchronous serial. We also offer an embedded development board and evaluation kit for use with the Nano.

2.2 Applications
• Robotics
• Motion capture
• Positioning and stabilization
• Vibration analysis
• Inertial augmented localization
• Unmanned air/land/water vehicle navigation
• Education and performing arts
• Healthcare monitoring
• Gaming and motion control
• Accessibility interfaces
• Virtual reality and immersive simulation

User's Manual

2.3 Hardware Overview
The Yost Labs 3-Space Nano carrier board is packaged as a 16mm x 15mm x 1.7mm castellated edge SMT module
weighing in at 0.7 grams. Alternatively, the module can be through-hole mounted by adding standard 0.1” header strips
to the castellated edge pads.
The Yost Labs 3-Space Nano IC is packaged as a 3,8mm x 5.2mm x 1.1mm all-in-one AHRS / IC that weighs less than
0.02 grams.

2.3.1 PCB Layout
PCB layout should follow follow the suggested SMT footprint below.

Additionally, since PCB layout can affect the performance of the 3-Space NanoTM module observe the following layout
guidelines:
•

Do not place un-tented pads, vias, or holes beneath the restricted area in the diagram.

•

Do not place magnetic components such as speakers and motors in close proximity to the module since the
magnetic fields generated can adversely affect the performance of the compass module.

•

Do not place components containing ferrous metals in close proximity to the module since they may disturb
earth's magnetic fields and thus adversely affect the performance of the compass module.

•

Do not route high-current conductors or high-frequency digital signal lines in close proximity to the module
since they may generate magnetic fields that may adversely affect the performance of the compass module.

•

Do not re-flow with the device on the bottom of a board. Since the module's components aren't glue-bonded to
the module they may become dis-lodged if re-flowed in non-up-facing orientations.

•

Thoroughly test and characterize any PCB design that uses the module. Failure to test and characterize a
system using the TSS-Nano module may result in unforeseen performance consequences due to layout.

2.3.2 Pin Functions
Pad Number

Signal Name

Description

SCL

I2C Serial Clock. Input to Module.

SDA

I2C Data Line. Input to / Output from Module.

GND1

Ground.

DO NOT CONNECT

User's Manual
5

DO NOT CONNECT

VIN

Voltage Input +3.3v ~ +6.0v.

/SS

SPI Slave Select. Active Low Input to Module.

MOSI

SPI Master Out Slave In. Input to Module.

MISO

SPI Master In Slave Out. Output from Module.

SCK

SPI Serial Clock. Input to Module.

RXD

UART Asynchronous Receive Data. Input to Module.

TXD

UART Asynchronous Transmit Data. Output from Module.

2.4 Features
The Yost Labs 3-Space SensorTM Nano 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:
• All-in-one embedded AHRS at 16mm x 15mm x 1.7mm and 0.7 grams
• 24-Pin DFN IC and AHRS at 3.8mm x 5.2mm x 1.1mm and 0.01 grams
• Advanced on-board magnetometer auto-calibration allows the sensor to quickly adapt to changing magnetic

environments.
• Highly customizable orientation sensing with options such as tunable filtering, oversampling, and orientation

error correction
• Advanced integrated QGRAD2TM filtering allows sensor orientation outputs at up to 200Hz while automatically

reducing the effects of sensor noise and sensor error
• Robust open protocol allows commands to be sent in human readable form, or more quickly in machine readable

form
• Orientation output format available in absolute or relative terms in multiple formats (quaternion, rotation matrix,

axis angle, two-vector)
• Absolute or custom reference axes
• Access to raw sensor data
• Flexible communication options: SPI, I2C, UART
• USB communication through a virtual COM port using the Evaluation Kit and Nano Embedded
• Castellated SMT edge pads provide secure SMT mounting and allow optional through-hole mounting while using

the Nano Embedded
• Online Upgradeable firmware
• Programmable interrupt capability
• Development kit available
• Open Source API Available

User's Manual

2.5 Block Diagram of Sensor Operation

User's Manual

2.6 Specifications
General
Part number

TSS-Nano

Dimensions

16mm x 15mm x 1.7mm or 3.8mm x 5.2mm x 1.1mm

Weight

0.7 grams or 0.01 grams

Supply voltage

+3.3v ~ +3.3v

Power consumption

20mA @ 3.3v

Communication interfaces

SPI, I2C, Asynchronous Serial

Filter update

rate1

Up to 200Hz with QGRAD2 AHRS

Orientation output

absolute & relative quaternion, Euler angles, axis angle, rotation matrix, two vector

Other output

raw sensor data, corrected sensor data, normalized sensor data, temperature

SPI clock rate

2.5 MHz max

Serial baud rate

1,200~921,600 selectable, default: 115,200

Shock survivability

5000g

Temperature range

-40C ~ 85C (-40F ~ 185F)

Orientation range

360º about all axes

Orientation accuracy2

±1.5º for dynamic conditions & all orientations

Orientation resolution

<0.08º

Orientation repeatability

0.085º for all orientations

Accelerometer scale

±2g / ±4g / ±8g / ±16g selectable

Accelerometer resolution

16 bit

Accelerometer noise density

90µg/√Hz

Accelerometer sensitivity

0.000061g/digit-0.000488g/digit

Accelerometer temperature sensitivity

±0.01%/°C

Gyro scale

±125/±250/±500/±1000/±2000 º/sec selectable

Gyro resolution

16 bit

Gyro noise density

0.000006º/sec/√Hz

Gyro bias stability @ 25°C

11º/hr average for all axes

Gyro sensitivity

0.004375º/sec/digit for ±250º/sec
0.070º/sec/digit for ±2000º/sec

Gyro non-linearity

0.2% full-scale

Gyro temperature sensitivity

±0.03%/°C

Compass scale

±13 Ga

Compass resolution

16 bit

Compass sensitivity

1.5 mGa/digit

Compass non-linearity

±0.0003 mGa/°C

Part number

TSS-Nano

Dimensions

16mm x 15mm x 1.7mm or 3.8mm x 5.2mm x 1.1mm

User's Manual

2.7 Electrical Characteristics
2.7.1 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
Voltage on I/O Pins with respect to Ground …......................... -0.3v ~ 3.5v
Current Sink/Source from I/O pins …....................................... -4mA ~ +4mA
* NOTICE: Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent damage to the
device. This is a stress rating only and functional operation of the device at these or other conditions beyond those
indicated in the operational sections of this specification is not implied. Exposure to absolute maximum rating
conditions for extended periods may adversely affect device reliability.

2.7.2 DC Characteristics
The following characteristics are applicable to the operating temperature range: TA = -40°C to 85°C
Min.

Typ.

Max.

Units

VIN

Symbol

Parameter
Operating Supply Voltage on VIN pin

3.2

3.3

6.0

VIL

Input Low-level Voltage

-0.3

+0.8

VIH

Input High-level Voltage

2.0

3.5

VOL

Output Low-level Voltage

0.4

VOH

Output High-level Voltage

IOL

Output Low-level Current

-4

IOH

Output High-level Current

CIN

Input Capacitance

IACTNano

Active Current Consumption for TSS-Nano

2.6

7
22

pF
mA

2.7.4 Asynchronous Serial Characteristics
The on-chip Asynchronous Serial interface is compatible with UARTs available on most micro-controllers. The device
utilizes a minimum-wire configuration consisting of two communication wires: a TxD serial output and an RxD serial
input. The Serial interface drives the TxD line at 3v logic-levels and the RxD input is 2.0~3.5v tolerant. Also note that
since logic-level serial is voltage-based, the two connected systems must share a common ground reference.
For connection to alternate communication interfaces such as RS232, RS422, RS485, MIL-STD-188, EIA/TIA-562,
and SpaceWire, additional external interface drivers may be added.
The Asynchronous Serial uses 8N1 (8 data bits, no parity, 1 stop bit) format and supports the following standard baud
rates: 1200, 2400, 4800, 9600, 19200, 28800, 38400, 57600, 115200, 230400, 460800, 921600.
The factory default baud rate is 115200.

2.7.5 SPI Characteristics
The Serial Peripheral Interface or SPI is a full-duplex synchronous serial communication standard that is commonly
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)
7

User's Manual
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 2.5MHz. The diagram below illustrates a single complete
SPI byte transfer.

The diagram and parameter table below illustrates additional timing requirements and limits of the SPI interface:

Symbol
SPIHCLK

Parameter

Min.

SPI Clock Cycle Period / 2

Max.

SPISCK2MISO SPI SCK falling to MISO Delay

ns
6

SPIMOSI2SCK SPI MOSI Setup time before SPI SCK rises
SPISCK2MOSI SPI MOSI Hold time after SPI SCK rises

Units

1.5

2.7.6 I2C Characteristics
The Inter-Integrated Circuit or I2C is a synchronous serial communication standard that is commonly supported on
many micro-controllers and embedded systems.
The I2C interface is implemented as a slave device. The clock and data line should be pulled high until communication
begins. Communication begins with a START condition (ST) of a HIGH to LOW transition on the data line while the
SCL line is held HIGH. The I2C interface requires an address (ADD) of 0x8C for the slave device. Bytes are transferred
8

User's Manual
one bit at a time with the MSB being transferred first. Both slave and master acknowledge signals (SAK and MAK) are
required depending on the type communication. Communication ends with a No Master Acknowledge (NMAK) and a
STOP condition (SP) of a LOW to HIGH transition on the SDA line while the SCL line is HIGH. The on-board I2C
interface has been tested at speeds up to 300 kHz. The diagrams below illustrates complete I2C transfers.
READ DATA:
MASTER

ADD

I2C_CMD

SLAVE

SAK

MAK
SAK

DATA

NMAK

DATA

WRITE DATA:
MASTER

ADD

I2C_CMD

SLAVE

SAK

DATA
SAK

The diagram and parameter table below illustrates additional timing requirements and limits of the I2C interface:

STOP

START

SDA

SDAH

SDASU

SCL

SCLL

SCLH

Symbol

Parameter

Min.

Max.

Units

SCLf

SCL frequency

300

μs

SCLL

SCL low time

2.2

μs

SCLH

SCL high time

4.2

μs

SDASU

SDA setup time

μs

SDAH

SDA hold time

START condition setup time

μs

STOP condition setup time

μs

400

User's Manual

2.8 Axis Assignment
All Yost Labs 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 SensorTM Nano are as follows:
•

The positive X-axis points out of the side of the sensor with pins 7 through 12.

•

The positive Y-axis points out of the top of the sensor (the component side of the board).

•

The positive Z-axis points out of the front of the sensor (towards pins 1 and 12).

The natural axes are illustrated in the diagram below:

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:
•

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.

•

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.

•

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 data 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

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.

User's Manual

3.1.3 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:
•

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.

3.1.4 Sensor Filter
The component sensor data and reference vectors are fed into a high-performance orientation filter, which uses
statistical techniques to optimally combine the data into a final orientation reading.

3.1.5 Reference Orientation/Taring
Given the results of the QGRAD2 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 it and it should read zero. For instructions on doing this, refer to the Quick Start guide or 3-Space Suite
manual.

3.1.6 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.
•

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.

•

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.

User's Manual

3.3 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 an asynchronous serial UART connection, an SPI
connection, or an I2C connection. 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 communicate through
serial port. To learn how to use this, read the 3-Space Suite 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 Natural Axes
All Yost Labs 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 SensorTM Nano are as follows:
•

The positive X-axis points out of the side of the sensor with pins 7 through 12.

•

The positive Y-axis points out of the top of the sensor (the component side of the board).

•

The positive Z-axis points out of the front of the sensor (towards pins 1 and 12).

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.
Upon restoration of factory settings, the axis are returned to the default configuration.
The natural axes are illustrated in section 2.8.

3.4.3 Settings and Defaults
Setting Name

Purpose

Default Value

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

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

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 0(no running average)

Reference Mode

Determines how the accelerometer and compass reference vectors are
determined

Single Auto

UART Baud Rate

Determines the speed of the Serial UART communication

115200

CPU Speed

Determines how fast the CPU will run

48MHz

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. Only binary commands are available when using SPI and I2C.
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 checksum 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, be cleared whenever the 3Space 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
When interfacing with a computer, the 3-Space Sensor Nano Evaluation kit presents itself as a COM port, which
provides an interface by which the serial communication the protocol requires may happen. 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.) For more
information on how to install the sensor software on a computer and begin using it, see the Quick Start guide.
4.1.2.2 Evaluation Kit USB / UART Selection
When working with the 3-Space Sensor NanoTM Evaluation Kit you might find a situation where UART is more
desirable then the kit's USB option, or vise versa, in which case you will need to select the proper mode for the
evaluation kit. To do so you simply need to move the pin bridge, as shown in the diagram below, from USB mode to
UART mode or from UART mode to USB mode.

User's Manual

4.1.3 Electronic Interfacing Overview
The 3-Space SensorTM Nano module offers four interfacing /communications options: Asynchronous Serial, Serial
Peripheral Interface (SPI), and Inter-Integrated Circuit (I2C). One or more of the interfaces may be connected and used
together. When using multiple interfaces, care should be taken to avoid the sending overlapping concurrent commands
from multiple interfaces. Overlapping concurrent commands from multiple interfaces could result in a command being
dropped. Thus, in situations where multiple overlapping concurrent commands cannot be avoided, a simple command
verification, timeout, and retry paradigm should be used. The sections below describe the necessary pin connections
and typical circuits used for using each of the respective interface options.

4.1.3.2 Asynchronous Serial Interfacing
The asynchronous serial interface of the 3-Space SensorTM Nano requires the connection of signals as follows:
Pin

Signal

Description

GND1

Ground.

VIN

Voltage Input +3.3v ~ +6.0v.

RXD

UART Asynchronous Receive Data. Input to Module.

TXD

UART Asynchronous Transmit Data. Output from Module.

Additionally, one of the following optional interrupt pins may be configured for use during asynchronous serial mode:
Pin

Signal

Description

SDA / INT

Configurable as filter update interrupt when I2C interface is unused.

MISO / INT

Configurable as filter update interrupt when SPI interface is unused.

The following schematic diagram illustrates typical logic-level asynchronous serial interface connections:

The following schematic diagram illustrates typical RS232-level asynchronous serial interface connections:

User's Manual

4.1.3.2.1 Chain Configuration
Multiple 3-Space LX sensors can be chained together in order to communicate to a single serial host. This configuration
requires the TXD lines of each sensor to be connected to the RXD of the serial host and the RXD lines of each sensor to
be connected to the TXD of the serial host. Each sensor will require a logical ID in order to properly receive and send
messages to and from the host device. The logical ID of a sensor can be set using command 209 (0xD1).

User's Manual

4.1.3.3 SPI Interfacing
The Serial Peripheral Interface (SPI) of the 3-Space SensorTM Nano requires the connection of signals as follows:
Pin

Signal

Description

/SS

SPI Slave Select. Active Low Input to Module.

MOSI

SPI Master Out Slave In. Input to Module.

MISO

SPI Master In Slave Out. Output from Module.

SCK

SPI Serial Clock. Input to Module.

Additionally, one of the following optional interrupt pins may be configured for use during SPI mode:
Pin
2

Signal

Description

SDA / INT

Configurable as filter update interrupt when I2C interface is unused.

The following schematic diagram illustrates typical SPI interface connections:

4.1.3.4 I2C Interfacing
The Serial Peripheral Interface (SPI) of the 3-Space SensorTM Nano requires the connection of signals as follows:
Pin

Signal

Description

SCL

I2C Serial Clock. Input to Module.

SDA

I2C Data Line. Input to / Output from Module.

GND1

Ground.

VIN

Voltage Input +3.3v ~ +6.0v.

Additionally, one of the following optional interrupt pins may be configured for use during I2C mode:
Pin
9

Signal

Description

MISO / INT

Configurable as filter update interrupt when SPI interface is unused.

User's Manual

4.1.3.5 Interrupt Generation
The Nano 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. The 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 18). By default, no pin is set to act as the interrupt
generation pin. Either the SPI MISO pin or the I2C SDA pin may be set to act as the interrupt pin, meaning that while
interrupt generation is active, either the I2C or SPI will be unusable. For more information on setting the interrupt pin
and mode, see command 16.

Signal

Description

SDA

Configurable as filter update interrupt when I2C interface is unused.

MISO

Configurable as filter update interrupt when SPI interface is unused.

User's Manual

4.3 Protocol Packet Format (Chain Configuration)
4.3.1 Binary Packet Format
The chain 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 chain binary packet is at least 4 bytes in length and is formatted as shown in figure 3.

Figure 3 - Chain 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_floatingpoint_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.

User's Manual

4.3.2 ASCII Text Packet Format
chain ASCII packets are very similar to regular ASCII packets. Each chain ASCII packet is formatted as shown in
figure 4.
> Address, Command , Data1 , Data2 , ... , DataN \n

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.
Address – Wireless address of the sensor to communicate with.
Start of ASCII Packet – Indicated by the greater than character.

Figure 4 - Chain ASCII Command Packet Format
Thus the ASCII packet consists of the the following characters:
> – 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.
Sample ASCII commands:
>1,0\n

Read orientation as a quaternion from senor with ID 1

>0,106,2\n

Set oversample rate to 2 on sensor with ID 0

ASCII Return Values:
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.

User's Manual

4.2 Protocol Packet Format (Serial)
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
247(0xF7)

First Byte – Start of Packet

Command

Second Byte – Command Value
Selected from the command chart

Command Data
…
Command Data

}

Command Data
Zero or more bytes representing
parameters to the command being called.
See the command chart for details.

Last Byte – Packet Checksum
Sum of all other bytes except the first.

Checksum

Figure 1 - Typical 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_floatingpoint_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.

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. 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
21

User's Manual
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.

: Command , Data1 , Data2 , ... , DataN \n

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 - Typical ASCII Command Packet Format
Thus the ASCII packet consists of the following characters:
: – the ASCII colon 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.
Sample ASCII commands:
:0\n

Read orientation as a quaternion

:106,2\n

Set oversample rate to 2

User's Manual

4.4 Protocol Packet Format (SPI and I2C)
4.4.1 SPI Command Packet Format
In order to initiate an SPI data transfer, one of three command bytes must be sent in order to enter the proper protocol
mode. The SPI commands supported by the TSS Nano are as followed:
0xE9 (SPI Write Command) This command prepares the sensor to receive a TSS command and any
additional arguments.
0x69 (SPI Read Data) This command prepares the sensor to send out data to the master device.
0x81 (SPI Read Status) This command prepares the sensor to send the status value of the slave device.
If the byte 0xE9 is sent then it should be followed by a TSS command byte and any additional arguments that may be
required. If the command byte has a return value, such as command 0x0 or 0x6, then the return data will be stored into
an internal buffer that can be read from by sending the byte 0x69 and then reading out all of the command data. The
data buffer will constantly be updated based off of the command sent until a new command byte is received or if the
sensors settings are reset using command 0xE0. If the sensor receives the byte 0x81, then the data buffer will be loaded
with the 8 bit status value of the SPI device. This status will contain:
(Bit 0) – New data flag: Flag is set when there is new data to be read by the master device.
(Bit 1) – Update disabled flag: Flag is set when reading from SPI device to prevent the data buffer from
updating while being read.
(Bit 2-7) – Command size: The return data size of the currently set command.

4.4.2 I2C Command Packet Format
I2C packet format is very similar to SPI. In order to initiate an I2C communication, the I2C address byte 0xEE must be
sent first before sending one of three I2C commands:
0x42 (I2C Write Command) This command prepares the sensor to receive a TSS command and any
additional arguments.
0x43 (I2C Read Data) This command prepares the sensor to send out data to the master device.
0x41 (I2C Read Status) This command prepares the sensor to send the status value of the slave device.
If the byte 0x42 is sent then it should be followed by a TSS command byte and any additional arguments that may be
required. If the command byte has a return value, such as command 0x0 or 0x6, then the return data will be stored into
an internal buffer that can be read from by sending the byte 0x43 and then reading out all of the command data. The
data buffer will constantly be updated based off of the command sent until a new command byte is received or if the
sensors settings are reset using command 0xE0. If the sensor receives the byte 0x41, then the data buffer will be loaded
with the 8 bit status value of the I2C device.

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 the Start of Packet, Command, or Checksum bytes for serial
packets. Thus, the total message size for serial can be calculated by adding three bytes to the “Data Len” listed
in the table. The total message size for SPI is Data Len plus the one Command byte.
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.

4.5.1 Commands for Reading Filtered Sensor Data
These commands return sensor data which has been filtered using the QGRAD2 filter. None of these commands take
any parameters, they only return data.
Command Description

Return Len Return Data Details

0(0x00)

Read filtered, tared orientation(Quaternion)

Quaternion(float x4)

1(0x01)

Read filtered, tared orientation(Euler Angles)

Euler Angles(float x3)

2(0x02)

Read filtered, tared orientation(Rotation Matrix)

Rotation Matrix(float x9)

3(0x03)

Read filtered, tared orientation(Axis Angle)

Axis(float x3), Angle(float)

4(0x04)

Read filtered, tared orientation(Two Vector(Forward, Down))

Vector(float x3), Vector(float x3)

6(0x06)

Read filtered, untared orientation (Quaternion)

Quaternion(float x4)

7(0x07)

Read filtered, untared orientation (Euler Angles)

Euler Angles(float x3)

8(0x08)

Read filtered, untared orientation (Rotation Matrix)

Rotation Matrix(float x9)

9(0x09)

Read filtered, untared orientation (Axis Angle)

Axis(float x3), Angle(float)

10(0x0A)

Get untared orientation (two vector)

North Vector (float x3), Gravity Vector (float x3)

11(0x0B)

Get tared two vector in sensor frame

Forward Vector (float x3), Down Vector (float x3)

12(0x0C)

Get untared two vector in sensor frame

North Vector (float x3), Gravity Vector (float x3)

4.5.2 Commands for Interfacing with Electronic Systems
These commands are used to configure the Nano to signal a data ready interrupt on either the SDA or MISO pin.
Command Description
29(0x1D) Set interrupt type

Return Data Len

Return Data Details

30(0x1E)

Read interrupt type

31(0x1F)

Read interrupt status

Mode(byte, 0 for off, 1
for pulse, 2 for level),
pin(byte, 0 for SDA, 1 for
MISO), polarity (byte, 0
for LOW, 1 for HIGH)
Interrupt status(byte, 1
for new data since last
orient read, 0 for no new
data)

Data Len Data Details
Mode(byte, 0 for off, 1 for pulse, 2 for level),
3
pin(byte, 0 for SDA, 1 for MISO), polarity(byte, 0 for
LOW, 1 for HIGH)
0

User's Manual

4.5.3 Commands for Reading Normalized Sensor Data
These commands return sensor data which has been converted from a raw form to a form that represents a real world
quantity, but has not yet been used with the QGRAD2 filter. None of these commands take any parameters, they only
return data.
Command

Description

32(0x20)

Read all(gyro, accelerometer, compass)

Return Len Return Data Details
36

Vector(float x3), Vector(float x3), Vector(float x3)

33(0x21)

Read gyros

Vector(float x3)

34(0x22)

Read accelerometer

Vector(float x3)

35(0x23)

Read compass

Vector(float x3)

43(0x2B)

Read temperature (Celsius)

float

44(0x2C)

Read temperature (Fahrenheit)

float

4.5.4 Commands for Reading Corrected Sensor Data
These commands return sensor data which has been converted from a raw form to a form that represents a real world
quantity. None of these commands take any parameters, they only return data.
Command

Description

37(0x25)

Read all (gyro, accelerometer, compass)

Return Len Return Data Details
36

Vector(float x3), Vector(float x3), Vector(float x3)

38(0x26)

Read gyros

Vector(float x3)

39(0x27)

Read accelerometer

Vector(float x3)

40(0x28)

Read compass

Vector(float x3)

41(0x29)

Read linear acceleration

Vector(float x3)

48(0x30)

Correct raw gyro data

Gyro Rate in units of radians/sec (float x3)

49(0x31)

Correct raw accel data

Acceleration Vector in units of G (float x3)

50(0x32)

Correct raw compass data

Compass Vector in units of gauss (float x3)

4.5.5 Commands for Reading Raw Sensor Data
These commands return sensor data just as it was when it was read from each sensor. None of these commands take any
parameters, they only return data.
Command Description
64(0x40) Read all raw (gyro, accelerometer, compass)

Return Len Return Data Details
36
Vector(float x3), Vector(float x3), Vector(float x3)

65(0x41)

Read gyro raw

Vector(float x3)

66(0x42)

Read accelerometer raw

Vector(float x3)

67(0x43)

Read compass raw

Vector(float x3)

4.5.6 Commands for Streaming Data
These commands allow for the configuration of parameters associated with the streaming of data asynchronously from
the sensor.
Command Description

Return Len Return Data Details

Data Len

80(0x50)

Set streaming slots

81(0x51)

Get streaming slots

82(0x52)

Set streaming timing

83(0x53)

Get streaming timing

84(0x54)

Get streaming batch

Varies

85(0x55)

Start streaming

86(0x56)

Stop streaming

95(0x5f)

Update current timestamp

Commands (Bytes x 8)

0
12

Interval, duration, delay (Unsigned
int x 3)

Data Details

Interval, duration, delay (Unsigned
int x 3)

Timestamp (Unsigned int)

User's Manual

4.5.7 Commands for Setting Filter Parameters
These commands allow the configuration of parameters associated with the QGRAD2 filter. Most of these commands
take parameters, none return any data.
Command Description

Data Len Data Details

16(0x10)

Set euler angle decomposition order

19(0x13)

Offset with current Orientation

Euler angle decomposition order (byte)

20(0x14)

Reset base offset

21(0x15)

22(0x16)

Offset with quaternion
Set base offset with current
orientation

96(0x60)

Tare with current orientation

97(0x61)

Tare with quaternion

Quaternion (float x4)

98(0x62)

Tare with rotation matrix

Quaternion (float x4)

105(0x69) Set reference vector mode

Rotation Matrix (float x9)
Mode(byte, 0 for single static, 1 for single auto, 2 for single auto continuous, 3 for
multi)

106(0x6a) Set oversample rate

Rate(1 for off, 2+ for number of samples per frame)

107(0x6b) Enable/disable gyros

Mode(byte, 0 for disabled, 1 for enabled)

108(0x6c) Enable/disable accelerometer

Mode(byte, 0 for disabled, 1 for enabled)

109(0x6d) Enable/disable compass

Mode(byte, 0 for disabled, 1 for enabled)

110(0x6e) Set filter parameters

Kp, Max Smooth Factor, Min Smooth Factor (Float x 3)

116(0x74) Set axis directions

Axis direction byte

117(0x75) Set running average percent

Percent(float)

118(0x76) Set compass reference vector

Vector(float x3)

119(0x77) Set accelerometer reference vector

Vector(float x3)

121(0x79) Set accelerometer range

125(0x7d) Set gyroscope range

Accel range(byte, 0 for 2G, 1 for 4G, 2 for 8G, 3 for 16G)
Gyro range mode(byte, 0 for 125 dps, 1 for 245 dps, 2 for 500 dps, 3 for 1000 dps,
4 for 2000 dps)

126(0x7e) Set compass range

Compass range mode(byte, see command details for options)

4.5.8 Commands for Reading Filter Parameters
These commands allow the reading of parameters associated with the filter. All these commands return data, and accept
no parameters.
Command Description

Return
Len

Return Data Details

128(0x80) Read tare orientation(Quaternion)

Quaternion(float x4)

129(0x81) Read tare orientation(Rotation Matrix)

Rotation Matrix(float x9)

132(0x84) Read current update rate

Update rate in microseconds(int)

133(0x85) Read compass reference vector

Vector(float x3)

134(0x86) Read accelerometer reference vector

135(0x87) Read reference vector mode

Vector(float x3)
Mode(byte, 0 for single static, 1 for single auto, 2 for single auto continuous, 3 for
multi)

140(0x8c) Read gyro enabled state

Mode(byte, 0 for disabled, 1 for enabled)

141(0x8d) Read accelerometer enabled state

Mode(byte, 0 for disabled, 1 for enabled)

142(0x8e) Read compass enabled state

Mode(byte, 0 for disabled, 1 for enabled)

143(0x8f)

Axis direction byte

144(0x90) Read oversample rate

Read axis directions

Rate(1 for off, 2+ for number of samples per frame)

145(0x91) Read running average percent

Percent(float)

148(0x94) Read accelerometer range

Accel range(byte, 0 for 2G, 0x10 for 4G, 0x30 for 8G)

154(0x9a) Read gyroscope range

Gyro range mode(byte, 0 for 250 dps, 1 for 500 dps, 2 for 2000 dps)

155(0x9b) Read compass range

Gyro range mode(byte, see command details for options)

156(0x9c) Get euler angle decomposition order

Euler angle decomposition order (byte)

159(0x9f)

Quaternion (float x4)

Get offset orientation as Quaternion

User's Manual

4.5.9 Commands for Calibration
These commands allow the configuration and reading of calibration parameters and enabling of calibration modes.
Command Description
160 (0xa0)

Return Data Len Return Data Details

Data Len Data Details

Set compass calibration parameters
Set accelerometer calibration
parameters

Bias(float x3), Matrix(float x9)

163 (0xa3)

Read compass calibration parameters
Read accelerometer calibration
parameters

164 (0xa4)

Read gyro calibration parameters

Bias(float x3), Matrix(float x9)
Bias(float x3), High range
bias(float x3)

165 (0xa5)

Begin gyro auto-calibration

166(0xa6)

Set gyro calibration parameters

171(0xab)

Set auto calibration mode

172(0xac)

Get auto calibration mode

161 (0xa1)
162 (0xa2)

173(0xad)

Set auto calibration factors

Bias(float x3), Matrix(float x9)

0
Bias(float x3), High range
bias(float x3)
Enable mode (Byte)

1
Enable mode (Byte)

174(0xae)

Get auto calibration factors

Too Close Angle (float), Bias
Movement
Percentage (float), Coplanarity
Tolerance (float),
Max Averages (byte), Max Bad
Deviation (byte)

175(0xaf)

Get auto calibration counts

Counter (Byte)

0
0

Too Close Angle (float), Bias
Movement
Percentage (float), Coplanarity
Tolerance (float),
Max Averages (byte), Max Bad
Deviation (byte)

4.5.10 General Commands
These commands are for the configuration of the sensor as a whole as opposed to configuration of the filter or sensors.
Command

Description

221(0xdd)

Set response header

Return
Len
Return Data Details
0

Data
Len
4

222(0xde)

Get response header

Response header configuration bitfield
(unsigned int)

223(0xdf)

Read version extended

Version number(string)

224(0xe0)

Restore factory settings

225(0xe1)

Commit Settings

226(0xe2)

Software reset

227(0xe3)

Set sleep mode

228(0xe4)

Get sleep mode

229(0xe5)

Enter firmware update mode

230(0xe6)

Get version

231(0xe7)

Set UART baud rate

Sleep mode (byte)

0
0

Data Details
Response header configuration bitfield
(unsigned int)

Sleep mode (byte)

0
0

Version number(string)

0
4

232(0xe8)

Get UART baud rate

Baud rate (int, one of:1200,2400,4800,
9600,19200,28800,38400,57600, 115200,
230400, 460800, 921600)

237(0xed)

Get serial number

Serial number (int)

244(0xf4)

Set protocol timeout

245(0xf5)

Get protocol timeout

0
0
4

Protocol Timeout (float)

Baud rate (int, one of:1200,2400,4800,
9600,19200,28800,38400,57600,
115200, 230400, 460800, 921600)

Protocol Timeout (float)

User's Manual

4.5.11 Commands for Chain Communication
These commands are for the configuration of a senor placed in a chain of TSS-LX sensors.
Command Description

Return Len

Return Data Details

Get logical ID

209(0xd1)

Set logical ID

210(0xd2)

Set chain streaming settings

Logical ID (byte), serial
number (unsigned int)
Streaming command (byte),
number of packets (byte),
sensors in chain (byte)

211(0xd3)

Set chain streaming delay

Delay (unsigned int)

212(0xd4)

Start chain streaming

Mode (byte)

213(0xd5)

Get chain streaming parameters

Logical ID (byte)

Data Len Data Details

208(0xd0)

Streaming command (byte), number of
packets (byte), sensors in chain (byte),
delay (unsigned int)

4.6 Command Details
In the tables below you'll find a description of each of the 3-Space Sensor commands and a brief explanation of how
and where each command would be used.
Function:

Read filtered, tared orientation(Quaternion)

Command Value:

0 (0x00)

Return Data Bytes:

Return Data Format: Quaternion(float x4)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the tare orientation. This version returns the
data as a quaternion.

Function:

Read filtered, tared orientation(Euler Angles)

Command Value:

1 (0x01)

Return Data Bytes:

Return Data Format: Euler Angles(float x3)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the tare orientation. This version returns the
data as Euler angles.

Function:

Read filtered, tared orientation(Rotation Matrix)

Command Value:

2 (0x02)

Return Data Bytes:

Return Data Format: Rotation Matrix(float x9)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the tare orientation. This version returns the
data as a quaternion.

Function:

Read filtered, tared orientation(Euler Angles)

Command Value:

3 (0x03)

Return Data Bytes:

Return Data Format: Axis(float x3), Angle(float)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the tare orientation. This version returns the
data as an axis and an angle.

User's Manual
Function:

Read filtered, tared orientation(Two Vector(Forward, Down))

Command Value:

4 (0x04)

Return Data Bytes:

Return Data Format: Vector(float x3), Vector(float x3)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the tare orientation. This version returns the
data as the forward and down vectors of the coordinate system defined by the orientation.

Function:

Read filtered, untared orientation(Quaternion)

Command Value:

6 (0x06)

Return Data Bytes:

Return Data Format: Quaternion(float x4)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the reference vectors. This version returns
the data as a quaternion.

Function:

Read filtered, untared orientation(Euler Angles)

Command Value:

7 (0x07)

Return Data Bytes:

Return Data Format: Euler Angles(float x3)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the reference vectors. This version returns
the data as Euler angles.

Function:

Read filtered, untared orientation(Rotation Matrix)

Command Value:

8 (0x08)

Return Data Bytes:

Return Data Format: Rotation Matrix(float x9)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the reference vectors. This version returns
the data as a quaternion.

Function:

Read filtered, untared orientation(Euler Angles)

Command Value:

9 (0x09)

Return Data Bytes:

Return Data Format: Axis(float x3), Angle(float)
Description:

Returns the final orientation as determined by the QGRAD2 filter, relative to the reference vectors. This version returns
the data as an axis and an angle.

Function:

Get untared orientation as two vector

Command Value:

10 (0x0A)

Return Data Bytes:

Return Data Format: North Vector (float x3), Gravity Vector (float x3)
Description:

Returns the filtered, untared orientation estimate in two vector form, where the first vector refers to north and the second
refers to gravity.

Function:

Get tared two vector in sensor frame

Command Value:

11 (0x0B)

Return Data Bytes:

Return Data Format: Forward Vector (float x3), Down Vector (float x3)
Description:

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 given in the sensor reference frame and not the global reference frame.

Function:

Get untared two vector in sensor frame

User's Manual
Command Value:

12 (0x0C)

Return Data Bytes:

Return Data Format: North Vector (float x3), Gravity Vector (float x3)
Description:

Returns the filtered, untared orientation estimate in two vector form, where the first vector refers to north and the second
refers to gravity. These vectors are given in the sensor reference frame and not the global reference frame.

Function:

Set euler angle decomposition order

Command Value:

16 (0x10)

Data Bytes:

Data Format:

Euler angle decomposition order (byte)

Description:

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 XYZ, 0x1 for YZX, 0x2 for ZXY, 0x3 for
ZYX, 0x4 for XZY or 0x5 for YXZ (default).

Function:

Offset with current Orientation

Command Value:

19 (0x13)

Description:

Sets the offset orientation to be the same as the current filtered orientation.

Function:

Reset base offset

Command Value:

20 (0x14)

Description:

Sets the base offset to an identity quaternion.

Function:

Offset with quaternion

Command Value:

21 (0x15)

Return Data Bytes:

Return Data Format: Quaternion (float x4)
Description:

Sets the offset orientation to be the same as the supplied orientation, which should be passed as a Quaternion.

Function:

Set base offset with current orientation

Command Value:

22 (0x16)

Description:

Sets the base offset orientation to be the same as the current filtered orientation.

Function:

Set interrupt type

Command Value:

29 (0x1D)

Data Bytes:

Data Format:

Mode(byte, 0 for off, 1 for pulse, 2 for level), pin(byte, 0 for SDA, 1 for MISO), polarity(byte, 0 for LOW, 1 for HIGH)

Description:

Sets up interrupt generation. If mode is 0, no generation will occur. If mode is 1, the interrupt generator will set the
specified pin low for 5 microseconds when new data is available. If mode is 2, the interrupt generator will set the pin low
until the interrupt status is read with command 18. The pin byte specifies which pin the interrupt will be generated on.
The method of communication each pin belongs to cannot be used while that pin is being used for interrupt generation.
Note that the pin cannot be changed to SDA over I2C, and cannot be changed to MISO over SPI. If polarity is 0, then
interrupts are generated by the interrupt pin being pulled low, if 1, then the pin will be pulled high.

Function:

Read interrupt type

Command Value:

30 (0x1E)

Return Data Bytes:

Return Data Format: Mode(byte, 0 for off, 1 for pulse, 2 for level), pin(byte, 0 for SDA, 1 for MISO), polarity(byte, 0 for LOW, 1 for HIGH)
Description:

Read the current interrupt mode, pin, and polarity.

Function:

Read interrupt status

Command Value:

31 (0x1F)

User's Manual
Return Data Bytes:

Return Data Format: Interrupt status(byte, 1 for new data since last orient read, 0 for no new data)
Description:

Read the current interrupt state. If there is new data since the last orientation read(commands 0-4 and 6-10), the value
will be a 1, otherwise it will be 0. Calling this command while interrupts are in level mode will cause the interrupt pin to
return to high.

Function:

Read all normalized (gyro, accelerometer, compass)

Command Value:

32 (0x20)

Return Data Bytes:

Return Data Format: Vector(float x3), Vector(float x3), Vector(float x3)
Description:

Returns the normalized gyro, accelerometer, and compass values.

Function:

Read gyros normalized

Command Value:

33 (0x21)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the normalized gyro rates.

Function:

Read accelerometers normalized

Command Value:

34 (0x22)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the normalized gravity vector.

Function:

Read compass normalized

Command Value:

35 (0x23)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the normalized north vector.

Function:

Read all corrected data (gyro, accelerometer, compass)

Command Value:

37 (0x25)

Return Data Bytes:

Return Data Format: Vector(float x3), Vector(float x3), Vector(float x3)
Description:

Returns the corrected gyro, accelerometer, and compass values.

Function:

Read gyros corrected

Command Value:

38 (0x26)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the corrected gyro rates.

Function:

Read accelerometers corrected

Command Value:

39 (0x27)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the corrected gravity vector.

User's Manual
Function:

Read compass corrected

Command Value:

40 (0x28)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the corrected north vector.

Function:

Read linear acceleration

Command Value:

41 (0x29)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the linear acceleration of the device. Uses the untared orientation.

Function:

Read temperature C

Command Value:

43 (0x2B)

Return Data Bytes:

Return Data Format: float
Description:

Returns the temperature of the sensor in Celsius

Function:

Read temperature F

Command Value:

44 (0x2C)

Return Data Bytes:

Return Data Format: float
Description:

Returns the temperature of the sensor in Fahrenheit

Function:

Correct raw gyro data

Command Value:

48 (0x30)

Return Data Bytes:

Return Data Format: Gyro Rate in units of radians/sec (float x3)
Description:

Converts the supplied raw data gyroscope vector to its corrected data representation.

Function:

Correct raw accel data

Command Value:

49 (0x31)

Return Data Bytes:

Return Data Format: Acceleration Vector in units of G (float x3)
Description:

Converts the supplied raw data accelerometer vector to its corrected data representation.

Function:

Correct raw compass data

Command Value:

50 (0x32)

Return Data Bytes:

Return Data Format: Compass Vector in units of gauss (float x3)
Description:

Converts the supplied raw data compass vector to its corrected data representation.

Function:

Read all raw(gyro, accelerometer, compass)

Command Value:

64 (0x40)

Return Data Bytes:

Return Data Format: Vector(float x3), Vector(float x3), Vector(float x3)
Description:

Returns the raw gyro, accelerometer, and compass values. Values are according to the currently selected range for each
respective sensor.

User's Manual

Function:

Read gyro raw

Command Value:

65 (0x41)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the raw gyro values in the specified measurement range.

Function:

Read accelerometer raw

Command Value:

66 (0x42)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the raw accelerometer values in the specified measurement range.

Function:

Read compass raw

Command Value:

67 (0x43)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Returns the raw compass values in the specified measurement range.

Function:

Set streaming slots

Command Value:

80 (0x50)

Data Bytes:

Data Format:

Commands (Bytes x 8)

Description:

Configures data output slots for streaming mode.

Function:

Get streaming slots

Command Value:

81 (0x51)

Return Data Bytes:

Return Data Format: Commands (Bytes x 8)
Description:

Reads data output slots for streaming mode.

Function:

Set streaming timing

Command Value:

82 (0x52)

Data Bytes:

Data Format:

Interval (Unsigned int), Duration (Unsigned int), Delay (Unsigned int)

Description:

Configures timing information for a streaming session. All parameters are specified in microseconds.

Function:

Get streaming timing

Command Value:

83 (0x53)

Return Data Bytes:

Return Data Format: Interval (Unsigned int), Duration (Unsigned int), Delay (Unsigned int)
Description:

Returns the current streaming timing information.

Function:

Get streaming batch

Command Value:

84 (0x54)

Data:

Varies

Description:

Return a single packet of streaming data using the current slot configuration.

User's Manual
Function:

Start streaming

Command Value:

85 (0x55)

Description:

Start a streaming session using the current slot and Timing configuration.

Function:

Stop streaming

Command Value:

86 (0x56)

Description:

Stop the current streaming session.

Function:

Update current timestamp

Command Value:

95 (0x5F)

Data Bytes:

Data Format:

Timestamp (Unsigned int)

Description:

Set the current internal timestamp to the specified value.

Function:

Tare with current orientation

Command Value:

96 (0x60)

Description:

Sets current filtered orientation as the tare orientation.

Function:

Tare with quaternion

Command Value:

97 (0x61)

Data Bytes:

Data Format:

Quaternion (float x4)

Description:

Sets the tare orientation to be the same as the supplied orientation, which should be passed as a Quaternion.

Function:

Tare with rotation matrix

Command Value:

98 (0x62)

Data Bytes:

Data Format:

Rotation Matrix (float x9)

Description:

Sets the tare orientation to be the same as the supplied orientation, which should be passed as a rotation matrix.

Function:

Set reference vector mode

Command Value:

105 (0x69)

Data Bytes:

Data Format:

Mode(byte, 0 for single static, 1 for single auto, 2 for single auto continuous, 3 for multi)

Description:

Sets reference vector mode.
-Single static mode uses a certain reference vector for the compass and another certain reference vector for the
accelerometer at all times.
-Single auto mode uses (0,-1,0) as the reference vector for the accelerometer at all times and uses the current average
angle between the accelerometer and compass to calculate the compass reference vector. After that this mode acts like
single static mode.
-Single auto continuous mode 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 constantly redetermine the compass reference vector.
-Multi mode uses a collection of reference vectors for the compass and accelerometer, and selects which ones to use
before each step of the filter.

Function:

Set oversample rate

Command Value:

106 (0x6a)

Data Bytes:

Data Format:

Rate(1 for off, 2+ for number of samples per frame)

User's Manual
Description:

Sets the number of times to sample data for each run of the filter.

Function:

Enable/disable gyros

Command Value:

107 (0x6b)

Data Bytes:

Data Format:

Mode(byte, 0 for disabled, 1 for enabled)

Description:

Enables or disables the gyros(will be replaced with a still gyro reading if disabled).

Function:

Enable/disable accelerometer

Command Value:

108 (0x6c)

Data Bytes:

Data Format:

Mode(byte, 0 for disabled, 1 for enabled)

Description:

Enables or disables the accelerometer(This filter will not use this data if disabled).

Function:

Enable/disable compass

Command Value:

109 (0x6d)

Data Bytes:

Data Format:

Mode(byte, 0 for disabled, 1 for enabled)

Description:

Enables or disables the compass(This filter will not use this data if disabled).

Function:

Get filter parameters

Command Value:

111 (0x6f)

Data Bytes:

Data Format:

Kp, Max Smooth Factor, Min Smooth Factor (Float x 3)

Description:

Read out adjustable filter parameters

Function:

Set axis directions

Command Value:

116 (0x74)

Data Bytes:

Data Format:

Axis direction byte

Description:

Set which directions each of the natural axes of the sensor point. The lower 3 bits are used to specify which axis each of
the natural axes will read as:
000: XYZ(standard operation)
001: XZY
002: YXZ
003: YZX
004: ZXY
005: ZYX
(For example, using ZXY means that whatever value appears as X on the natural axes will now be the Z component of
any new data)
The 3 bits above those are used to indicate which axes should be reversed. If it is cleared, the axis is pointing in the
positive direction, and if it is set the axis is flipped.
(Note: these are applied to the axes after the above 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 )

Function:

Set running average percent

Command Value:

117 (0x75)

Data Bytes:

Data Format:

Percent(float)

User's Manual
Description:

Sets what percentage of running average to use on the sensor's orientation. This is computed as follows:
total_orient = total_orient * percent
total_orient = total_orient + current_orient * (1 – percent)
current_orient = total_orient
If the percentage is 0, the running average will be shut off completely.

Function:

Set compass reference vector

Command Value:

118 (0x76)

Data Bytes:

Data Format:

Vector(float x3)

Description:

Sets the static compass reference vector

Function:

Set accelerometer reference vector

Command Value:

119 (0x77)

Data Bytes:

Data Format:

Vector(float x3)

Description:

Sets the static accelerometer reference vector

Function:

Set accelerometer range

Command Value:

121 (0x79)

Data Bytes:

Data Format:

Accel range(byte, 0 for ±2g, 0x10 for ±4g, 0x30 for ±8g)

Description:

Set which range of accelerometer data to use. Higher ranges can detect and report larger accelerations, but are not as
accurate for smaller ones.

Function:

Set gyroscope range

Command Value:

125 (0x7d)

Data Bytes:

Data Format:

Gyro range(byte: 0 for ±250dps, 1 for ±500dps, 2 for ±2000dps )

Description:

Sets the measurement range used by the gyroscope sensor.

Function:

Set compass range

Command Value:

126 (0x7e)

Data Bytes:

Data Format:

Compass range (byte: 0 for ±0.88Ga, 1 for ±1.3Ga, 2 for ±1.9Ga, 3 for ±2.5Ga, 4 for ±4.0Ga, 5 for ±4.7Ga, 6 for ±5.6Ga,
7 for ±8.1Ga)

Description:

Sets the measurement range used by the compass sensor.

Function:

Read tare orientation(Quaternion)

Command Value:

128 (0x80)

Return Data Bytes:

Return Data Format: Quaternion(float x4)
Description:

Reads the tare orientation as a quaternion.

Function:

Read tare orientation(Rotation Matrix)

Command Value:

129 (0x81)

Return Data Bytes:

Return Data Format: Rotation Matrix(float x9)

User's Manual
Description:

Reads the tare orientation as a rotation matrix.

Function:

Read current update rate

Command Value:

132 (0x84)

Return Data Bytes:

Return Data Format: Update rate in microseconds(int)
Description:

Reads the amount of time the last frame took.

Function:

Read compass reference vector

Command Value:

133 (0x85)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Reads the single mode compass reference vector.

Function:

Read accelerometer reference vector

Command Value:

134 (0x86)

Return Data Bytes:

Return Data Format: Vector(float x3)
Description:

Reads the single mode accelerometer reference vector.

Function:

Read reference vector mode

Command Value:

135 (0x87)

Return Data Bytes:

Return Data Format: Mode(byte, 0 for single static, 1 for single auto, 2 for single auto continuous, 3 for multi)
Description:

Reads the current reference vector mode. See command 105 for details.

Function:

Get gyroscope enabled state

Command Value:

140 (0x8c)

Return Data Bytes:

Return Data Format: Mode(byte, 0 for disabled, 1 for enabled)
Description:

Reads the enabled state of the gyros.

Function:

Read accelerometer enabled state

Command Value:

141 (0x8d)

Return Data Bytes:

Return Data Format: Mode(byte, 0 for disabled, 1 for enabled)
Description:

Reads the enabled state of the accelerometer.

Function:

Read compass enabled state

Command Value:

142 (0x8e)

Return Data Bytes:

Return Data Format: Mode(byte, 0 for disabled, 1 for enabled)
Description:

Reads the enabled state of the compass.

Function:

Read axis directions

Command Value:

143 (0x8f)

Return Data Bytes:

User's Manual
Return Data Format: Axis direction byte.
Description:

Reads the axis direction byte. For its meaning, see command 116.

Function:

Read oversample rate

Command Value:

144 (0x90)

Return Data Bytes:

Return Data Format: Rate(1 for off, 2+ for number of samples per frame)
Description:

Reads the current oversample rate.

Function:

Read running average percent

Command Value:

145 (0x91)

Return Data Bytes:

Return Data Format: Percent(float)
Description:

Reads the current running average percent. For its meaning, see command 117.

Function:

Read accelerometer range

Command Value:

148 (0x94)

Return Data Bytes:

Return Data Format: Accel range(byte, 0 for 2G, 0x10 for 4G, 0x30 for 8G)
Description:

Read accelerometer sensitivity range.

Function:

Read gyroscope range

Command Value:

154 (0x9a)

Return Data Bytes:

Return Data Format: Gyro range(byte: 0 for ±250dps, 1 for ±500dps, 2 for ±2000dps )
Description:

Reads the current measurement range setting used by the gyroscope sensor.

Function:

Set compass range

Command Value:

155 (0x9b)

Return Data Bytes:

Return Data Format: Compass range (byte: 0 for ±0.88Ga, 1 for ±1.3Ga, 2 for ±1.9Ga, 3 for ±2.5Ga, 4 for ±4.0Ga, 5 for ±4.7Ga, 6 for ±5.6Ga,
7 for ±8.1Ga)
Description:

Reads the current measurement range setting used by the compass sensor.

Function:

Get euler angle decomposition order

Command Value:

156 (0x9c)

Return Data Bytes:

Return Data Format: Euler angle decomposition order (byte)
Description:

Reads the current euler angle decomposition order.

Function:

Get offset orientation as Quaternion

Command Value:

159 (0x9f)

Return Data Bytes:

Return Data Format: Quaternion (float x4)
Description:

Returns the current offset orientation as a Quaternion.

Function:

Set compass calibration parameters

Command Value:

160 (0xA0)

User's Manual
Data Bytes:

Data Format:

Bias(float x3), Matrix(float x9)

Description:

Sets the compass calibration parameters to the given values. These consist of a bias which is applied to the raw data as a
translation, and a matrix by which the value is multiplied by.

Function:

Set accelerometer calibration parameters

Command Value:

161 (0xA1)

Data Bytes:

Data Format:

Bias(float x3), Matrix(float x9)

Description:

Sets the accelerometer calibration parameters to the given values. These consist of a bias which is applied to the raw data
as a translation, and a matrix by which the value is multiplied by.

Function:

Read compass calibration parameters

Command Value:

162 (0xA2)

Return Data Bytes:

Return Data Format: Bias(float x3), Matrix(float x9)
Description:

Reads the compass calibration parameters.

Function:

Read accelerometer calibration parameters

Command Value:

163 (0xA3)

Return Data Bytes:

Return Data Format: Bias(float x3), Matrix(float x9)
Description:

Reads the accelerometer calibration parameters.

Function:

Read gyro calibration parameters

Command Value:

164 (0xA4)

Return Data Bytes:

Return Data Format: Bias(float x3), High range bias(float x3)
Description:

Reads the gyroscope calibration parameters.

Function:

Begin gyro auto-calibration

Command Value:

165 (0xA5)

Description:

Puts the sensor in gyro calibration mode. It will collect a few frames of data from the gyro to determine its bias. It will
return to normal operation after this or if the sensor is reset.

Function:

Set accelerometer calibration parameters

Command Value:

166 (0xA6)

Data Bytes:

Data Format:

Bias(float x3), High range bias(float x3)

Description:

Sets the gyroscope calibration parameters to the given values. These consist of a bias for each gyro mode which will be
applied to the data from the appropriate mode as a translation.

Function:

Set auto calibration mode

Command Value:

171 (0xAB)

Data Bytes:

Data Format:

Enable mode (Byte)

Description:

Sets the operating mode for auto calibration. Mode 0 will Disable auto calibration, 1 enables Single Mode that does the
calibration once at sensor start up and when the mode is set to single, 2 enables Auto Mode that does the calibration as
needed and will not perform calibration if it evaluates the current calibration as OK, 3 enables Auto continuous that does
the calibration steps non-stop, it will perform calibration regardless of the quality of the current calibration.

User's Manual

Function:

Get auto calibration mode

Command Value:

172 (0xAC)

Data Bytes:

Data Format:

Enable mode (Byte)

Description:

Read out operating mode for auto calibration.

Function:

Set auto calibration factors

Command Value:

173 (0xAD)

Data Bytes:

Data Format:

Too Close Angle (float), Bias Movement Percentage (float), Coplanarity Tolerance (float), Max Averages (byte), Max Bad
Deviation (byte)

Description:

Sets auto calibration factors:
-Too Close Angle: Compass samples are not taken if the angle between two samples is too close. Samples that are too
close produce a bad calibration.
-Bias Movement Percentage: Determines the allowable variance between new calibration biases and the current running
average bias. Helps prevent bad calibrations.
-Coplanarity Tolerance: Determines the threshold for when a set of samples are considered coplanar. Coplanar samples
produce a bad calibration.
-Max Averages: The max allowable number of calibrations for the running average of the bias. Higher = Slower
Calibration But more accuracy.
-Max Bad Deviations: The max allowable number of calibrations that are too variable before the running average bias is
reset.

Function:

Get auto calibration factors

Command Value:

174 (0xAE)

Data Bytes:

Data Format:

Too Close Angle (float), Bias Movement Percentage (float), Coplanarity Tolerance (float), Max Averages (byte), Max Bad
Deviation (byte)

Description:

Read out adjustable auto calibration factors.

Function:

Get auto calibration counts

Command Value:

175 (0xAF)

Data Bytes:

Data Format:

Counter (Byte)

Description:

Get number of calibrations gathered.

Function:

Start chain streaming

Command Value:

208 (0xD0)

Return Data Bytes:

Return Data Format: Logical ID (byte)
Description:

Returns the local logical ID of the sensor.

Function:

Set logical ID

Command Value:

209 (0xD1)

Return Data Bytes:

Return Data Format: Logical ID (byte), Serial Number (unsigned int)
Description:

Sets the local logical ID of the sensor to be used in a daisy chain configuration. Should be used to designate the sensors
position in the chain.

Function:

Set chain streaming settings

Command Value:

210 (0xD2)

User's Manual
Return Data Bytes:

Return Data Format: Stream Command (byte), Number of packets (byte), Sensors in chain (byte)
Description:

Sets the command to be streamed for the sensor, the number of packets to be output by the sensor, and the total number of
sensors in the chain. If the nuber of packets is set to 0, then the sensor will stream until stopped by command 0x56.

Function:

Set chain streaming delay

Command Value:

211 (0xD3)

Return Data Bytes:

Return Data Format: Delay (unsigned long int)
Description:

Sets the delay between output packets form each sensor.

Function:

Start chain streaming

Command Value:

212 (0xD4)

Return Data Bytes:

Return Data Format: Mode (byte)
Description:

Starts streaming data from all sensors in the chain. Data is produced at intervals specified by command 0xD3. This
command requires a Mode byte that acts either as a start command or a synchronization command:
1: Loads all streaming parameters and begins streaming
0: Continues to operate with most recent settings and Synchronizes the timers of all streaming devices

Function:

Get chain streaming parameters

Command Value:

213 (0xD5)

Return Data Bytes:

Return Data Format: Stream Command (byte), Number of packets(byte), Sensors in chain (byte), Delay (unsigned long int)
Description:

Returns the set streaming command, the number of output packets, total sensor count in the chain, and the delay between
each output packet.

Function:

Set wired response header

Command Value:

221(0xDD)

Data Bytes:

Data Format:

Response header configuration bitfield (unsigned int)

Description:

Configures the response header for data returned over a wired connection. The only parameter is a four-byte bitfield that
determines which data is prepended to all data responses. The following bits are used:
0x1: (1 byte) Success/Failure, with non-zero values representing failure.
0x2: (4 bytes) Timestamp, in microseconds.
0x4: (1 byte) Command echo—outputs the called command. Returns 0xFF for streamed data.
0x8: (1 byte) Additive checksum over returned data, but not including response header.
0x10: (1 byte) Logical ID, returns 0xFE for wired sensors. Meant to be used with 3-Space Dongle response header (For
more info, see command 0xDB).
0x20: (4 bytes) Serial number
0x40: (1 byte) Data length, returns the length of the requested data, not including response header.
This setting can be committed to non-volatile flash memory by calling the Commit Settings command.

Function:

Get wired response header

User's Manual
Command Value:

222 (0xDE)

Return Data Bytes:

Return Data Format: Response header configuration bitfield (unsigned int)
Description:

Return the current wired response header bitfield.

Function:

Read version extended

Command Value:

223 (0xDF)

Return Data Bytes:

Return Data Format: Version(string)
Description:

Reads the extended version string.

Function:

Restore factory settings

Command Value:

224 (0xE0)

Description:

Restores all settings to factory settings. The settings are not committed to non-volatile memory by this command, so the
commit settings command will have to be used if this is desired.

Function:

Commit settings

Command Value:

225 (0xE1)

Description:

Commits settings to non-volatile memory. This will cause them to persist even if the sensor is reset.

Function:

Software Reset

Command Value:

226 (0xE2)

Description:

Resets the sensor.

Function:

Set sleep mode

Command Value:

227 (0xE4)

Data Bytes:

Data Format:

Sleep mode (byte)

Description:

Sets the current sleep mode of the sensor. Supported sleep modes are 0 for NONE and 1 for IDLE. IDLE mode merely
skips all filtering steps. NONE is the default state.

Function:

Get sleep mode

Command Value:

228 (0xE5)

Return Data Bytes:

Return Data Format: Sleep mode (byte)
Description:

Reads the current sleep mode of the sensor, which can be 0 for NONE or 1 for IDLE.

Function:

Enter bootloader mode

Command Value:

229 (0xE5)

Description:

Puts the sensor into firmware update mode. This will cease normal operation until the firmware update mode is instructed
to return the sensor to normal operation.

Function:

Get version

Command Value:

230 (0xE6)

Return Data Bytes:

Return Data Format: Version(string)
Description:

Reads the version identifier of the sensor firmware. This will be followed by 6 digits representing the date the firmware
version was created.

User's Manual
Function:

Set UART baud rate

Command Value:

231 (0xE7)

Data Bytes:

Data Format:

Baud rate(int)

Description:

Sets the baud rate of the physical UART. This setting does not need to be committed, but does not take effect until the
sensor is reset. The baud rate will be set to the valid value nearest the requested value. Valid baud rates are: 1200, 2400,
4800, 9600, 19200, 28800, 38400, 57600, 115200, 230400, 460800, 921600. The factory default baud rate is 115200.

Function:

Get UART baud rate

Command Value:

232 (0xE8)

Return Data Bytes:

Return Data Format: Baud rate(int)
Description:

Reads the baud rate of the physical UART. Possible baud rates are: 1200, 2400, 4800, 9600, 19200, 28800, 38400,
57600, 115200, 230400, 460800, 921600. The factory default baud rate is 115200.

Function:

Get serial number

Command Value:

237 (0xED)

Return Data Bytes:

Return Data Format: Serial number(int)
Description:

Reads the sensor's serial number.

Function:

Set protocol timeout

Command Value:

244 (0xF4)

Data Bytes:

Data Format:

Protocol Timeout (float)

Description:

Sets a timeout value for the command processing protocol in microseconds.

Function:

Get protocol timeout

Command Value:

245 (0xF5)

Return Data Bytes:

Return Data Format: Protocol Timeout (float)
Description:

Gets the timeout value for the command processing protocol in microseconds.

User's Manual

Appendix
Hex / Decimal Conversion Chart

First Hexadecimal Digit

Second Hexadecimal digit
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Notes:
Serial Number: _____________________________________

User's Manual

Yost Labs
630 Second Street
Portsmouth, Ohio 45662

Phone: 740-876-4936

www.yostlabs.com

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