STMicroelectronics UM2193 MotionAR Arụ Ọrụ Ọbá akwụkwọ
Okwu mmalite
Motion AR bụ ọbá akwụkwọ etiti nke ngwanrọ X-CUBE-MEMS1 ma na-agba na STM32. Ọ na-enye ozi ozugbo na ụdị ọrụ onye ọrụ rụrụ. Ọ nwere ike ịmata ọdịiche dị n'ihe omume ndị a: nkwụsị, ije ije, ije ngwa ngwa, ịgba ọsọ, ịgba ígwè, ịnya ụgbọ ala.
Ezubere ọbá akwụkwọ a ka ya na ST MEMS rụọ ọrụ.
Enyere algọridim n'ụdị ọbá akwụkwọ kwụ ọtọ ma emebere ya ka ejiri ya na microcontrollers STM32 dabere na ụkpụrụ ARM® Cortex®-M3, ARM® Cortex®-M33, ARM® Cortex®-M4 ma ọ bụ ARM® Cortex®-M7 architecture.
Ewubere ya n'elu teknụzụ sọftụwia STM32Cube na-eme ka ọ dị mfe ibugharị n'ofe microcontrollers STM32 dị iche iche.
Akụrụngwa na-abịa na sample mmejuputa atumatu na-agba ọsọ na X-NUCLEO-IKS01A3 ma ọ bụ X-NUCLEO-IKS4A1 Mgbasa osisi na NUcleO-F401RE, NUCLO-L152RE ma ọ bụ NUCLEO-U575ZI-Q osisi mmepe.
Acronyms na ndebiri
Tebụl 1. Ndepụta acronyms
| Mkpọchi okwu | Nkọwa |
| API | Ngwa mmemme interface |
| BSP | ngwugwu nkwado osisi |
| GUI | Orụ ọrụ eserese |
| HAL | oyi akwa abstraction ngwaike |
| IDE | gburugburu mmepe agbakwunyere |
Motion AR middleware ọba akwụkwọ na X-CUBE-MEMS1 software mgbasawanye
Motion AR kwụsịrịview
Ọbá akwụkwọ Motion AR na-agbasawanye arụmọrụ nke ngwanrọ X-CUBE-MEMS1.
Ọbá akwụkwọ ahụ na-enweta data site na ngwa ngwa ma na-enye ozi gbasara ụdị ọrụ onye ọrụ na-arụ.
Emebere ọbá akwụkwọ a maka naanị ST MEMS. A naghị enyocha arụmọrụ na arụmọrụ mgbe ị na-eji ihe mmetụta MEMS ndị ọzọ ma nwee ike ịdị iche na nke akọwapụtara na akwụkwọ ahụ.
Sample mmejuputa iwu dị na X-NUCLEO-IKS01A3 ma ọ bụ X-NUCLEO-IKS4A1 Mgbasa mbadamba, n'ịnyịnya na NUCLO-F401RE, NUCLO-L152RE ma ọ bụ NUCLEO-U575ZI-Q osisi mmepe.
Motion AR ọba akwụkwọ
Enwere ike ịhụ ozi nka na-akọwapụta ọrụ na oke nke Motion AR API na MotionAR_Package.chm chịkọtara HTML. file dị na folda Documentation.
Nkọwa ọbá akwụkwọ Motion AR
- Ọbá akwụkwọ njirimara Motion AR na-ejikwa data enwetara site na ngwa ngwa ngwa ngwa; ọ gụnyere:
- enwere ike ịmata ọdịiche dị n'ihe omume ndị a: nkwụsị, ije ije, ije ngwa ngwa, ịgba mwe mwe ọsọ, ịgba ígwè, ịnya ụgbọ ala
- njirimara dabere na naanị data accelerometer
- achọrọ data accelerometer sampugboro ugboro: 16 Hz
- akụrụngwa chọrọ:
- Cortex-M3: 8.5 kB nke koodu na 1.4 kB nke ebe nchekwa data
- Cortex-M33: 7.8 kB nke koodu na 1.4 kB nke ebe nchekwa data
- Cortex-M4: 7.9 kB nke koodu na 1.4 kB nke ebe nchekwa data
- Cortex-M7: 8.1 kB nke koodu na 1.4 kB nke ebe nchekwa data
- dị maka ARM Cortex-M3, Cortex-M33, Cortex-M4 na Cortex-M7 architectures
API MotionAR
MotionAR API bụ:
- uint8_t MotionAR_GetLibVersion(char *mbipute)
- na-eweghachi ụdị nke ụlọ akwụkwọ ahụ
- * Ụdị bụ ntụzịaka maka mkpụrụedemede 35 dị n'usoro
- weghachite ọnụọgụ mkpụrụedemede dị na eriri ụdị
- MotionAR_ibido(ihe efu)
- na-arụ ọrụ mmalite na ọbá akwụkwọ MotionAR na nhazi nke usoro dị n'ime
- CRC modul na STM32 microcontroller (na RCC mpụta elekere nyere aha) ga-adị.
enyere tupu iji ụlọ akwụkwọ
Mara: A ga-akpọrịrị ọrụ a tupu i jiri ọbá akwụkwọ mmezi ngwa ngwa.
- MotionAR_Reset (ihe efu)
- na-emegharị algọridim ọrụ njirimara
- MotionAR_Update efu(MAR_input_t *data_in, MAR_output_t *data_out, int64_t
ogeamp)- na-arụ ọrụ njirimara algọridim
- * data_in parameter bụ ihe nrụtụ aka na nhazi nwere data ntinye
- paramita maka ụdị nhazi MAR_input_t bụ:
- acc_x bụ uru ihe mmetụta accelerometer na X axis na g
- acc_y bụ uru ihe mmetụta accelerometer na axis Y na g
- acc_z bụ uru ihe mmetụta accelerometer na axis Z na g
- * paramita_out data bụ ihe nrụtụ aka iji tinye ihe ndị a:
- MAR_NOACTIVITY = 0
- MAR_STATIONARY = 1
- MAR_ỊGA = 2
- MAR_FASTWALKING = 3
- MAR_JOGGING = 4
- MAR_BIKING = 5
- MAR_DRIVING = 6
- ogeamp bụ oge ikwu n'ezie sample na ms
- Void MotionAR_ Set Orientation_ Acc(const char *acc_ orientation)
- na-edozi nghazi data accelerometer
- A na-arụkarị nhazi ozugbo ka oku arụ ọrụ Motion AR_ Bido
- *acc_ orientation paramita bụ ihe ntụnye aka na eriri mkpụrụedemede atọ na-egosi ntụzịaka nke ọ bụla n'ime ntụzịaka dị mma nke etiti ntụaka ejiri maka mmepụta data accelerometer, n'usoro x, y, z. Ụkpụrụ ndị bara uru bụ: n (north) ma ọ bụ s (ndịda), w (ọdịda anyanwụ) ma ọ bụ e (ọwụwa anyanwụ), u (elu) ma ọ bụ d (ala)
- Dị ka e gosiri na foto dị n'okpuru ebe a, X-NUCLEO-IKS4A1 accelerometer sensọ nwere SEU (x-South, y- East, z-Up), ya mere eriri bụ: "seu".
Onyonyo 1. Sensor nghazi example
Mpempe ọsọ API
Ọgụgụ 2. Motion AR API usoro mgbagha
Koodu ngosi
Koodu ngosi na-esote na-agụ data sitere na ihe mmetụta accelerometer wee nweta koodu ọrụ
[…] #akọwapụta VERSION_STR_LENG 35 […] /*** mmalite ***/ ụdị char lib[VERSION_STR_LENG]; char acc_orientation[] = "seu"; /* Ọrụ mmalite API njirimara ọrụ */ MotionAR_Initialize(); /* Nhọrọ: Nweta ụdị */ MotionAR_GetLibVersion(lib_version); /* Tọọ nghazi accelerometer */ MotionAR_SetOrientation_Acc(acc_orientation); [...] /*** Iji njirimara ọrụ algọridim ***/ Ngụ oge_ OR_ Ọnụego data_ Interrupt_ Handler() {
MAR_input_t data_ n'ime; MAR_ mmepụta_ t ọrụ; /* Nweta osooso X/Y/Z na g */ MEMS_Read_AccValue(&data_in.acc_x, &data_in.acc_y, &data_in.acc_z); /* Nweta oge ugbu a na ms */ TIMER_Get_TimeValue(×tamp_ms); /* Mmelite algorithm njirimara ọrụ */ MotionAR_Update (data_in, data_out, timestamp_ms); }
Algorithm arụmọrụ
Algọridim njirimara ọrụ na-eji naanị data sitere na accelerometer ma na-agba ọsọ na obere oge (16 Hz) iji belata oriri ike.
Isiokwu 2. Algorithm arụmọrụ
| Ihe omume | Inwere ike ịchọpụta (nke a na-ahụkarị)(1) | Ọrụ kacha mma | Enwere ike ime ya | Buru ọnọdụ |
| Edebere | 92.27% | Jide aka na ederede dị arọ | Ihe niile: akpa uwe ogologo ọkpa, akpa uwe elu, akpa azụ, n'akụkụ isi, wdg. | |
| Ije ije | 99.44% | Ọnụego nzọụkwụ ≥ 1.4 nzọụkwụ/s | Ọnụego nzọụkwụ ≤ 1.2 nzọụkwụ/s | niile |
| Ịga ngwa ngwa | 95.94% | Ọnụego nzọụkwụ ≥ 2.0 nzọụkwụ/s | Ha niile | |
| Ịgba ọsọ | 98.49% | Ọnụego nzọụkwụ ≥ 2.2 nzọụkwụ/s | Ogologo oge <1 nkeji; ọsọ <8km/h | Akpa uwe ogologo ọkpa, ịgbagharị ogwe aka, aka |
| Ịgba ịnyịnya ígwè | 91.93% | Ọsọ n'èzí ≥11 km/h | Oche njem, akụkụ aka aka | Akpa, akpa uwe, akpa uwe ogologo ọkpa |
| Ịnya ụgbọ ala | 78.65% | Ọsọ ọsọ ≥48km/h | Oche njem, akụkụ aka aka | Ihe njide iko, bọọdụ dash, akpa uwe elu, akpa uwe ogologo ọkpa |
- Anaghị ekwe nkwa ụdị nkọwapụta
Tebụl 3. Cortex-M4 na Cortex-M3: Oge gafere (µs) algọridim
| Cortex-M4 STM32F401RE na 84 MHz | Cortex-M3 STM32L152RE na 32 MHz | ||||
| Min | Nkeji | Oke | Min | Nkeji | Oke |
| 2 | 6 | 153 | 8 | 130 | 4883 |
Tebụl 4. Cortex-M33 na Cortex-M7: oge gafere (μs) algọridim
| Cortex-M33 STM32U575ZI-Q na 160 MHz | Cortex-M7 STM32F767ZI na 96 MHz | ||||
| Min | Nkeji | Oke | Min | Nkeji | Oke |
| < 1 | 2 | 74 | 5 | 9 | 145 |
Sample ngwa
Enwere ike ịmegharị MotionAR middleware ngwa ngwa iji wuo ngwa ndị ọrụ; dị kaampA na-enye ngwa le na folda ngwa.
Emebere ya ka ọ na-agba ọsọ na bọọdụ mmepe NUCLO-F401RE, NUCLO-L152RE ma ọ bụ NUCLO-U575ZI-Q jikọtara ya na bọọdụ mgbasawanye X-NUCLEO-IKS01A3 ma ọ bụ X-NUCLEO-IKS4A1.
Ngwa ahụ na-amata mmemme emere na ozugbo. Enwere ike igosipụta data site na GUI. Algọridim na-amata nkwụsị, ije ije, ije ngwa ngwa, ịgba mwe mwe ọsọ, ịnya igwe kwụ otu ebe na ọrụ ịnya ụgbọ ala. Achọrọ njikọ eriri USB iji nyochaa data ozugbo. PC na-akwado bọọdụ ahụ site na njikọ USB. Nke a na-enye onye ọrụ ohere igosipụta ọrụ achọpụtara, data accelerometer, oge stamp na n'ikpeazụ ndị ọzọ ihe mmetụta data, na ozugbo, na-eji MEMS-Studio GUI ngwa.
Ngwa MEMS-Studio
Ndị sample ngwa na-eji MEMS-Studio GUI ngwa, nke nwere ike ibudata na www.st.com.
Nzọụkwụ 1. Gbaa mbọ hụ na etinyere ndị ọkwọ ụgbọ ala dị mkpa yana bọọdụ STM32 Nucleo nwere bọọdụ mgbasawanye kwesịrị ekwesị jikọtara na PC.
Nzọụkwụ 2. Mepee ngwa MEMS-Studio ka imepe windo ngwa ngwa.
Ọ bụrụ na ejikọrọ bọọdụ Nucleo STM32 nwere firmware akwadoro na PC, a ga-achọpụta ya ozugbo ọdụ ụgbọ mmiri COM dabara adaba. Pịa bọtịnụ Jikọọ ka imepe ọdụ ụgbọ mmiri a.
Ọgụgụ 3. MEMS-Studio - Jikọọ
Nzọụkwụ 3. Mgbe ejikọrọ na bọọdụ STM32 Nucleo nwere taabụ Nyocha Ọbá akwụkwọ akwadoro na-emeghe.
Ka ịmalite ma kwụsị ịkwasa data, gbanye nke dabara adaba 
ibido/ 
bọtịnụ nkwụsị n'elu ogwe ngwaọrụ kwụ ọtọ.
Data sitere na ihe mmetụta ejikọrọ nwere ike ịbụ viewed na-ahọpụta Data Tebụl taabụ na ogwe ngwaọrụ vetikal dị n'ime.
Ọgụgụ 4. MEMS-Studio - Nyochaa Ọbá akwụkwọ - Isiokwu data
Onyonyo 5. MEMS-Studio - Ntụle Ọbá akwụkwọ - Nchọpụta ọrụ
Nzọụkwụ 5. Họrọ Chekwa na File taabụ n'ime ogwe ngwaọrụ kwụ ọtọ imeghe windo nhazi ndekọ data. Họrọ nke ihe mmetụta na data ọrụ ị ga-echekwa ka ịbanye file. Ị nwere ike ịmalite ma ọ bụ kwụsị ichekwa ego site na ịpị bọtịnụ Mmalite / Kwụsị kwekọrọ.
Onyonyo 6. MEMS-Studio - Nyocha ụlọ akwụkwọ - Chekwa na File
Ntụaka
Ngwa niile ndị a dị n'efu www.st.com.
- UM1859: Malite na X-CUBE-MEMS1 ngagharị MEMS na mgbasawanye ihe mmetụta gburugburu ebe obibi maka STM32Cube
- UM1724: bọọdụ STM32 Nucleo-64 (MB1136)
- UM3233: Ịmalite na MEMS-Studio
Akụkọ ngbanwe
Tebụl 5. Akụkọ ndegharị akwụkwọ
| Ụbọchị | Ụdị | Mgbanwe |
| 10-Eprel-2017 | 1 | Ntọhapụ mbụ. |
| 26-Jen-2018 | 2 | Nkebi nke 3 S emelitereample ngwa. Ntụaka agbakwunyere na bọọdụ mmepe NUCLO-L152RE na tebụl 3. Oge gafere (μs) algọridim. |
| 19-Mar-2018 | 3 | Okwu mmalite emelitere, Nkebi 2.1 Motion AR gafereview na Nkebi 2.2.5 Algorithm arụmọrụ. |
| 14-February-2019 | 4 | Emelitere onyonyo 1. Nhazi ihe mmetụta example, Tebụl 3. Oge gafere (µs) algọridim na eserese 3. STM32 Nucleo: LEDs, bọtịnụ, jumper. agbakwunyere ozi ndakọrịta bọọdụ mgbasawanye X-NUCLEO-IKS01A3. |
| 20-Mar-2019 | 5 | Nkebi nke emelitere 2.2.2 Motion AR APIs, Ihe osise 3. MEMS-Studio - Jikọọ, Ọnụ ọgụgụ 4. MEMS-Studio - Nyochaa Ọbá akwụkwọ - Data Isiokwu, Ihe osise 5. MEMS-Studio - Ntụle Ụlọ Akwụkwọ - Nchọpụta Ọrụ na Nyocha 6. MEMS-Studio – Nyocha ụlọ akwụkwọ – Chekwaa na File. |
| 04-Eprel-2024 | 6 | Mmelite Okwu mmalite, Nkeji 2.1: MotionAR gafereview, Nkeji 2.2.1: Ọbá akwụkwọ MotionAR nkọwa, API MotionAR, Nkeji 2.2.4: Koodu ngosi, Nkebi 2.2.5: arụmọrụ algọridim, Nkeji 3: Sample ngwa na Nkeji 4: Ngwa MEMS-Studio. |
ỌMỤMỤ dị mkpa – Gụọ nke ọma
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STMicroelectronics UM2193 MotionAR Arụ Ọrụ Ọbá akwụkwọ [pdf] Akwụkwọ ntuziaka onye ọrụ UM2193 MotionAR Arụ Ọrụ Ọbá akwụkwọ, UM2193, MotionAR Arụmọrụ Ịmata Ọbá akwụkwọ, Ọrụ Nchọpụta Ọbá akwụkwọ, Nnabata Ọbá akwụkwọ, Ọbá akwụkwọ. |
