SpacePoint Scout User Manual
Table of Contents 1 2 3 4 5 6 COPYRIGHT & WARRANTY INFORMATION ............................................................ 3 INTRODUCTION .......................................................................................................... 4 SPECIFICATIONS ....................................................................................................... 5 3.1 CHARACTERISTICS & REQUIREMENTS ..................................................... 5 3.2 MECHANICAL DRAWING..........................
1 Copyright & Warranty Information © Copyright PNI Sensor Corporation 2012 All Rights Reserved. Reproduction, adaptation, or translation without prior written permission is prohibited, except as allowed under copyright laws. Revised January 2013: for the most recent version visit our website at www.pnicorp.com PNI Sensor Corporation 2331 Circadian Way Santa Rosa, CA 95407, USA Tel: (707) 566-2260 Fax: (707) 566-2261 Warranty and Limitation of Liability.
2 Introduction Thank you for purchasing PNI Sensor Corporation‟s SpacePoint Scout motion-tracking module, pn 13317. We‟re certain you‟ll be impressed with its performance. The SpacePoint Scout outputs precise data regarding the module‟s orientation. This can be used for a variety of motion-tracking applications, most notably for motion-based controllers for TV and set-top box navigation, and for video gaming.
3 Specifications 3.1 Characteristics & Requirements Table 3-1: Sensor Components Sensor Type Manufacturer Model 3-Axis Gyroscope ST Microelectronics L3G4200D 3-Axis Accelerometer ST Microelectronics LIS3LV02DL PNI Sensor Corporation RM3000-f 3-Axis Magnetic Sensor Table 3-2: I/O Characteristics Parameter Value Supply Voltage (Vin) 3.
Table 3-4: Mechanical Characteristics Parameter Dimensions (l x w x h) Weight Value 25.4 x 25.4 x 16.0 mm 6 gm Connector 7 pin SIP, 0.1” Header 3.
4 Using the SpacePoint Scout The SpacePoint Scout supports both UART and I2C interfaces for communicating with the user‟s host system. These interfaces are discussed in Sections 4.2 and 4.3, respectively, which follow a discussion on setting up the SpacePoint Scout. PNI‟s CommBoard (pn 13466) can be mated with the SpacePoint Scout and this, in combination with the SpacePoint Scout Test Program, provides a quick way to start working with the SpacePoint Scout.
the orientation of the module, and the horizontal and vertical position for a cursor. See Section 5 for how to interpret the outputs. Table 4-1: UART Configuration Parameter Value Baud Rate 115200 Data Bits 8 Parity none Stop Bits 1 Flow Control none The receive (Rx) and transmit (Tx) data structures and data frames for the UART interface are shown below in Figure 4-1 and Figure 4-2. All data is presented as unsigned integers in little Endian format.
kRequestQ & kRequestQResp The command to receive data (kRequestQ) is 0x32. Once the SpacePoint algorithm receives the kRequestQ command, the algorithm will operate in push mode, such that the response frame is constantly transmitted at 125 Hz. The structure of the kRequestQResp frame is given below in Table 4-2.
Note: The CRC mentioned in this document adheres to a 16-bit Fletcher algorithm. See http://en.wikipedia.org/wiki/Fletcher%27s_checksum. kResetRef Cursor position tracking is relative to a reference established by the user. Normally a user will point the SpacePoint Scout at the center of a screen, then press a keyboard button or a button on the user‟s device that resets the cursor to the center of the screen. The UART command to set the cursor at the center of the screen is 0x34. 4.
Slave Reserved Master Slave HPOS MSB-1 Master Slave Reserved Reserved MAK MAK HPOS LSB+1 MAK HPOS MSB MAK VPOS MSB-1 MAK HPOS LSB VPOS MSB MAK VPOS LSB+1 NMAK SP VPOS LSB Establishing the Cursor Reference Frame (ResetRef) Cursor position tracking is relative to a reference established by the user. Normally the user will point the SpacePoint Scout at the center of a screen, then press a keyboard button or a button on the user‟s device that will reset the cursor to the center of the screen.
5 Converting and Interpreting the Output The various outputs provided by the SpacePoint Scout are in an unscaled format. Table 5-1 provides conversion and scaling information for both the UART and I2C interfaces. Further discussion on SpacePoint Quaternions and Cursor Position follows. Table 5-1: Scaling of Output Data Output Interface Equation Units or Range Quaternions UART & I C q_scaled = (q_output - 32768)/32768 Range: –1.0 to 1.
5.2 Cursor Position The cursor position values, Hpos and Vpos, are used to map the SpacePoint Scout‟s orientation to a cursor‟s position on a TV or computer screen. Standard practice is for Hpos and Vpos values to range from –0.5 to +0.5, such that “0.0” is the center of the screen, Hpos = –0.5 represents the left side of the screen, and Vpos = 0.5 represents the bottom of the screen.
6 SpacePoint Scout Test Program The SpacePoint Scout Test Program is intended to demonstrate the functionality and performance of the SpacePoint Scout. The program is built with the Unity3D Game Engine and will run on Windows XP, Windows Vista, and Windows7 computers. To help ensure optimal performance, a dedicated graphics card is recommended. PNI generally recommends mating the Scout to PNI‟s CommBoard (pn 13466) to run the SpacePoint Scout Test Program, as this simplifies the set up.
Figure 6-1: PNI CommBoard Jumper Configuration 6.1.3 Hardware – Direct UART Connection If incorporating the SpacePoint Scout directly into a host system, the UART interface should be directly implemented. This involves following the set-up instructions discussed in Sections 4.1 and 4.2, and specifically requires soldering or otherwise connecting the GND, Vin, TxD, and RxD pins on the Scout to the host system, as indicated in Figure 3-1. 6.
6.3 Launching the Test Program Launch the program by double-clicking on “SpacePointTestProgram.exe”. The program Configuration window will appear, as shown below. The default settings normally work well, but you can change them if you prefer. Note that if “Windowed” is unchecked the program will launch in full screen mode. Click to proceed. Now the port configuration screen will appear, as shown below. Set the COM Port to the appropriate port.
6.4 Running the Point Tracking Screen The Point Tracking screen will now open, as shown below. Initialization: Point the SpacePoint Scout at the center of the screen, and then press the „4‟ key. This establishes the relationship between the orientation of the device and the cursor position (ResetRef). Next press the „2‟ key to start outputting data. Viewing data: To view output data, press “H” so the data window appears.
To stop outputting data press „0‟. 6.5 Running the Motion Tracking Screen The SpacePoint Scout Test Program also provides a 3-D rendering of the SpacePoint Demonstration Module. This is accessed by pressing “M” to toggle to the Motion Tracking screen. Pressing the “H” key brings up the data window, just as on the Point Tracking screen. Press the „2‟ key to start outputting data. Note that the rendered image will not change, even though data is being output.
Table 6-1: Summary of SpacePoint Scout Test Program Commands Key Command “2” Start serial communication between SpacePoint Scout and computer “0” Stop serial communication between SpacePoint Scout and computer “H” Toggle to show or hide the data screen “M” Toggle between the Point Tracking and Motion Tracking screens “P” Set orientation in Motion Tracking screen “4” Center cursor in Point Tracking screen “X” Exit program PNI Sensor Corporation SpacePoint Scout User Manual – January 2013 Do
