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JJJJWWWW55556666FFFFRRRR1111

1. Features• USB interface (full speed)• USB V1.1/2.0 compliance• USB HID 1.1 compliance• 3 axis acceleration measurement• 3 axis angular rate measurement• 16 bit resolution for each axis• ±2 g, ±4 g, ±8 g, ±16 g software selectable

acceleration measurement range• 125, 245, 500, 1000, 2000 dps software

selectable turn rate measurement range• Data available via joystick API at 833 Hz• High speed data at 6,664 kHz via generic HID• 8 buttons/aux inputs• Sensor settings can be stored in module• Single +5 V power supply via USB• Available as module, kit, and water proof unit

1.1 VariantsJoyWarrior56FR1 is available as either a pcbmodule, a kit (containing the module, cable andenclosure), or as a water proof unit in a ruggedplastic enclosure.

2. Functional overviewJoyWarrior56FR1 uses a MEMS solid state 6 axissensor for acceleration and angular ratemeasurement. It may be used for motion, vibration,or orientation sensing.By default the data is reported as joystick datawhich allows to use JoyWarrior56FR1 withexisting applications and simplifiesimplementation by avoiding proprietary drivers.High speed access to the sensor data is possible viaa generic HID interface (similar to IO-Warrior).Range and filter settings can be stored permanentlyin the sensor. This allows to program the sensor fora specific application and then use the joystick APIfor easy access.

3. Pin description JoyWarrior56FR1-MOD

D+, D-, +5V, GNDConnect to a USB cable.

B0..B7Inputs for the buttons or auxiliary inputs. Connectcontacts closing to ground to pull low for active.Has internal pull up resistors.

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6D acceleration + turn rate sensor

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JJJJWWWW55556666FFFFRRRR11113.1 Axis orientation for JoyWarrior56FR1-MOD

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JJJJWWWW55556666FFFFRRRR11113.2 Mechanical dimensions

All dimensions in mmMounting holes 2.5 mm

Maximum thickness < 3 mm

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JJJJWWWW55556666FFFFRRRR11114. Device operationBy following the USB HID specificationsJoyWarrior56FR1 is able to work with mostoperating systems without the need to supplyspecial drivers. Any operating system with supportfor USB HID devices and game controllers willhave the necessary drivers already in place.The six axes of the sensor are reported as joystickaxes X, Y, Z, rX, rY, rZ with 16 bit resolutioneach.

4.1 Backward compatibilityThe JW56FR1-MOD is mechanically almostidentical to the JW24F8-MOD and JW24F14-MOD. Only the pads for the USB connection havebeen enlarged to simplify soldering cables to themodule.All signal connections and the center line of thesensor are at the same positions.The data is now reported in a larger report than onthe old models. It contains all 6 axes plus the 8buttons. Using JoyWarrior56FR1 via the joystickAPI is still very similar though, only the range ofthe value is now 16 bits instead of 14 or 10 bits forthe older sensors.Commands to set the sensor properties have beenchanged completely and a high performance modeto enable reading data at 6.664 kHz has beenadded. Software that does directly access thesensor settings on JoyWarrior24F8 orJoyWarrior24F14 has to be modified to work withJoyWarrior56FR1.

4.2 Axis orientationThe sensor data is mapped to match the standardbehaviour of joystick axes.

4.3 Data rateOn the joystick interface JoyWarrior56FR1produces 833 data packets per second. Since theUSB is transfering data in 1 ms time slots therewill be some jitter in the transfer to the computer.For proper processing data should be buffered andthen handled according to the actual 833 Hz rate atwhich it is generated in the sensor.The same applies for high performance mode. Inhigh performance mode data is generated at 6,664kHz. It is then transferred in packets with 10 datasets each. The transfers also happen in 1 ms timeslots.

4.4 Operation with WindowsUpon connecting JoyWarrior56FR1 for the firsttime you may be asked to perform the standarddriver install. Usually this installation happensautomatically since system drivers are used. After the driver installation has completed youshould be able to see the device in the "GameControllers" control panel and be able to access itvia the DirectInput API. In addition two genericHID devices should show up in the devicemanager.Do not use the joystick calibration function ofWindows for JoyWarrior56FR1. If the calibrationfunction is used the data reported byJoyWarrior56FR1 gets modified by Windows.To get rid of a calibration you have to remove theJoyWarrior56FR1 in the device manager, thenunplug, replug, and reinstall it.Preferably you should read data in the uncalibratedformat. See the programming examples for details.

4.5 Operation with MacOSOn MacOS X access is available via theHIDManager.There will be no warnings or dialogs when aproperly functioning JoyWarrior based device isconnected under MacOS X, it will simply start towork.

4.6 Setting sensor parametersAcceleration and angular rate can be measured indifferent ranges. The resolution in each of theranges is always 16 bits per axis.There are also some options for additional filteringof the data inside the sensor to reduce noise.Setting the sensor parameters is done by sending aeight byte command to the joystick function:

$00 is the command to set the parameters. Theywill not be stored persistently until a command todo that is issued (see 4.7).ARng is the measurement range for theaccelerometer. Values $00 to $03 are valid:$00 - ±2 g$01 - ±16 g$02 - ±4 g$03 - ±8 g

0$00

1 2ARng AFilt

3 4GRng GFilt

5…7$00

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JJJJWWWW55556666FFFFRRRR1111AFilt contains flags to control the input filter of theaccelerometer:7 - Secondary low pass filter (LP2) on/off6 - High/low pass filter5 - LP bandwith select4 - unused write 03 - unused write 02 - unused write 01 - BW-MSB0 - BW-LSB

The filter chain for the accelerometer starts with alow pass filter (LP1) that is always on. Optionallythe output of LP1 can be fed through another lowpass filter (LP2) or a high pass filter (HP):

LP bandwith select must be 0 when the HP filter isenabled. For LP1+LP2 mode it selects low noisemode for 0 and low latency mode for 1. In LP1only filter mode it selects the cutoff frequency ofLP1:

The two BW bits select the cutoff frequency for theLP2 or HP filter:

GRng sets the measurement range of thegyroscope. Only certain values are valid, do notwrite the reserved values to the sensor.$00 - 245 dps$01 - 125 dps$02 - 500 dps$03 - reserved, do not use$04 - 1000 dps$05 - reserved, do not use

$06 - 2000 dpsGFilt allows to activate a high pass filter for thegyroscope data. A low pass filter is always activeat 245 Hz for normal mode and 351 Hz for highspeed mode.7 - HP filter on/off6 - unused write 05 - unused write 04 - unused write 03 - unused write 02 - unused write 01 - BW-MSB0 - BW-LSB

HP filter on/off must be 1 for the high pass filter tobe activated. The filter cutoff frequency (BW) isindependent of normal or high speed mode:00 - 16 mHz01 - 65 mHz10 - 260 mHz11 - 1.04 Hz

4.7 Storing sensor parametersThe sensor parameters can be stored persistently asthe default settings. This allows you to program thesensor once and have it automatically come up inyour configuration every time you connect it to theUSB.To store the current setting of parameters send aneight byte report with $01 in the first byte. The restof the bytes should be zero.

Sec LP (bit 7)00

High/low (bit 6) Mode01

LP1 onlyLP1+HP

11

01

LP1+LP2LP1+HP

LP Bandwith01

Normal mode High speed mode416.5 Hz

208.25 Hz3330 Hz1665 Hz

BW0001

Mode Normal modeLP1+LP2LP1+LP2

16.66 Hz8.33 Hz

High speed mode133.2 Hz

66.6 Hz10110001

LP1+LP2LP1+LP2

92.56 Hz2.08 Hz

LP1+HPLP1+HP

208.25 Hz8.33 Hz

740 Hz16.65 Hz1665 Hz66.6 Hz

1011

LP1+HPLP1+HP

92.56 Hz2.08 Hz

740 Hz16.65 Hz

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JJJJWWWW55556666FFFFRRRR11114.8 High Speed ModeFor applications that need a higher samplefrequency it is possible to run the sensor in a highspeed mode that produces data at 6,664 kHz.Though this data rate is too high to pass throughthe standard joystick API. Data in high speed modeis delivered via two interfaces that act as genericHID. One handles the acceleration data, the otherthe gyro data.High speed mode is enabled and disabled bysending an eight byte report with command code$04 in the first byte and $01 to enable and $00 todisable the mode in the second byte, the remainingbytes must be zero.The sensor data is returned in reports with 62 byteseach. Each report contains 10 sets of axis data inthe sequence X, Y, Z or rX, rY, rZ.The last two bytes of the report contain the data ofthe internal temperature sensor which may be usedfor compensation of temperature induced errors.Accelerometer and gyro use separate endpoints/interfaces. The accelerometer returns the data onendpoint 3, the gyro on endpoint 4.Setting the filters or measurement range is notpossible while in high speed mode. Set them beforeenabling high speed mode.

Format of the report data:Byte 0 - X or rX at t0 LSB 1 - X or rX at t0 MSB 2 - Y or rY at t0 LSB 3 - Y or rY at t0 MSB 4 - Z or rZ at t0 LSB 5 - Z or rZ at t0 MSB 6 - X or rX at t0+1 LSB 7 - X or rX at t0+1 MSB 8 - Y or rY at t0+1 LSB 9 - Y or rY at t0+1 MSB10 - Z or rZ at t0+1 LSB11 - Z or rZ at t0+1 MSB....58 - Z or rZ at t0+9 LSB59 - Z or rZ at t0+9 MSB60 - temp LSB61 - temp MSB

4.9 Temperature SensorThe temperature sensor reports a 16 bit value in 1/256 °C as a signed value centered at 25 °C.$E700 = 0 °C$0000 = 25 °C$1900 = 50 °CTemperature data is available only in high speedmode where it is always the last 16 bit value ineach data packet.

4.10 CalibrationThe sensors are factory calibrated for neutralposition and range. There is no need for additionalcalibration of the sensor itself. Any mechanicaloffsets have to be compensated on the applicationside.

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JJJJWWWW55556666FFFFRRRR11115. DC characteristics

5.1 Absolute maximum ratings

Storage Temperature -55 °C to +100 °CAmbient Operating Temperature with power applied -40 °C to +85 °CAmbient Operating Temperature using USB * -10 °C to +85 °CSupply Voltage on VCC relative to VSS -0.5 V to +6.0 VDC Input Voltage -0.5 V to VCC + 0.5 VMax. Output Current into any Pin -25/+50 mAStatic Discharge Voltage (USB and button inputs) >2000 VLatch-up Current max. 200 mAMechanical Shock ** 10,000 g, ≤200 μs

*) Temperatures below this may cause USB connection loss due to frequency drift

**) Maximum shock specs apply for the sensor element only. Using the module in high g environmentswill require additional mechanical protection.

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Parameter Min Max Units RemarksVccIcc

Operating voltageOperating supply current

4.35 5.2530

VmA

IsbRupVilVih

Suspend mode current Pull-up resistance (Buttons) 4Input low threshold voltageInput high threshold voltage 2.1

3508

μAkΩ

0.8 VV

Sensor working

VohVolVdi

USB InterfaceStatic output high 2.8Static output lowDifferential input sensitivity 0.2

VcmVseCinIio

Differential input common mode rangeSingle ended transceiver threshold

0.80.8

Transceiver capacitanceHi-Z State data line leakage -10

3.6 V0.3 V

V

15kΩ±5% to GND

|(D+)-(D-)|2.52.0

VV

2010

pFμA 0V < Vin < 3.3V, Hi-Z State

ZoVcrs

USB driver output impedanceD+/D- crossover voltage

281.3

442.0

ΩV

1.3kΩ±2% to Vreg

Parameter Min Max Units RemarksVccIcc

Operating voltageOperating supply current

4.35 5.2530

VmA

IsbRupVithVH

Suspend mode current Pull-up resistance (Buttons) 4Input threshold voltageInput hysteresis voltage

45%6%

3508

μAkΩ

65%12%

VccVcc

Sensor sleeping

VohVolVdi

USB InterfaceStatic output high 2.8Static output lowDifferential input sensitivity 0.2

VcmVseCinZo

Differential input common mode rangeSingle ended transceiver threshold

0.80.8

Transceiver capacitanceUSB driver output impedance 28

3.6 V0.3 V

V

15kΩ±5% to GND

|(D+)-(D-)|2.52.0

VV

2044

pFΩ

Vcrs D+/D- crossover voltage 1.3 2.0 V

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JJJJWWWW55556666FFFFRRRR11115.2 Sensor characteristics

5.3 EMCJoyWarrior56FR1 has been EMC tested in a typical use configuration and does comply with CErequirements. Though since JW56FR1-MOD is a component and not a device there is no declaration ofconformity for it. CE conformity is declared separately for JW56FR1-WP.

Parameter Min Typ Max UnitsS2gS4g

Acceleration resolution at ±2gAcceleration resolution at ±4g

0.0610.122

mg/LSBmg/LSB

S8gS16gAsensdriftAoff

Acceleration resolution at ±8gAcceleration resolution at ±16gTemperature Coefficient of SensitivityZero-g Offset -40

0.2440.488±0.01

40

mg/LSBmg/LSB%/Kmg

AdriftAn2gAn4gAn8g

Zero-g Offset temperature driftNoise density at ±2gNoise density at ±4gNoise density at ±8g

An16gS125S245S500

Noise density at ±16gAngular rate sensitivity at ±125 dpsAngular rate sensitivity at ±245 dpsAngular rate sensitivity at ±500 dps

±0.1909090

mg/Kμg*√Hz (depends on filter)μg*√Hz (depends on filter)μg*√Hz (depends on filter)

1304.3758.7517.5

μg*√Hz (depends on filter)mdps/LSBmdps/LSBmdps/LSB

S1000S2000S%Gsensdrift

Angular rate sensitivity at ±1000 dpsAngular rate sensitivity at ±2000 dpsAngular rate sensitivity toleranceAngular rate sensitivity drift vs. temperature

GoffGdriftGnToff

Angular rate zero levelAngular rate zero level temperature driftAngular rate noiseTemperature sensor offset -15

3570±1

±0.007

mdps/LSBmdps/LSB%%/K

±3±0.015

3.815

dpsdps/Kmdps*√Hz (depends on filter)°C

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JJJJWWWW55556666FFFFRRRR11116. Ordering information

The units listed here are standard products.Customized versions are available on request.

6.1 Packaging infoJW56FR1-MOD modules come in antistatic boxesor antistatic bags packaged single or bulk.QCKIT3 and JW56FR1-WP are individuallypackaged in blisters.

6.2 USB VendorID and ProductIDBy default all JoyWarrior controllers are shippedwith the USB VendorID of Code Mercenaries($7C0 or decimal 1984) and a fixed ProductID.On request controllers can be equipped with thecustomers VendorID and ProductID. VendorIDscan be obtained from the USB ImplementersForum .Customized controllers are subject to minimumorder quantities, contact for details.

Following are the ProductIDs for the JoyWarriorcontrollers:JoyWarrior56FR1 $111A

ProductIDs are independent of the package type.

6.3 Serial numbersThe JoyWarrior56FR1 has a unique serial numberin its device descriptor. These serial numbers canbe used to simplify programming for multipleJoyWarriors connected to a single computer.

The serial numbers are factory programmed andcan not be changed. Serial numbers are 8 digithexadecimal numbers. No two chips of a type willbe produced with identical serial numbers.

7. Revision historyInitial shipping version of JW56FR1 is V2.0.0.0

Legal stuffThis document is ©1999-2018 by CodeMercenaries GmbH.

The information contained herein is subject tochange without notice. Code Mercenaries makesno claims as to the completeness or correctness ofthe information contained in this document.Code Mercenaries assumes no responsibility forthe use of any circuitry other than circuitryembodied in a Code Mercenaries product. Nordoes it convey or imply any license under patent orother rights.Code Mercenaries products may not be used in anymedical apparatus or other technical products thatare critical for the functioning of lifesaving orsupporting systems. We define these systems assuch that in the case of failure may lead to thedeath or injury of a person. Incorporation in such asystem requires the explicit written permission ofthe president of Code Mercenaries.

Trademarks used in this document are properties oftheir respective owners.

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HRB 9868 CBGeschäftsführer: Guido Körber, Christian Lucht

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Partname Order Code Description PackageJoyWarrior56FR1 ModuleQuakeCatcherKit3

JW56FR1-MODQCKIT3

6D motion sensor complete moduleKit containing 6D sensor module, cable, enclosure

ModuleKit

JoyWarrior56FR1-WP JW56FR1-WP Water proof 6D sensor with 1.8 m USB cable water proof