ST Microelectronics NUCLEO-F401RE Nako ea 'Nete Pose Estimation Library Bukana ea Mosebelisi

Laeborari ea MotionPE e holisa ts'ebetso ea software ea X-CUBE-MEMS1, e fumana data ho tsoa ho accelerometer ho fana ka leseli mabapi le boemo ba hajoale ba mosebelisi.

Sample Phethahatso:

A sample ts'ebetsong e fumaneha bakeng sa liboto tsa katoloso tsa X-NUCLEO-IKS01A3 le X-NUCLEO-IKS4A1, tse behiloeng libotong tsa ntlafatso tsa NUCLEO.

Tlhaloso ea Laeborari ea MotionPE:

Laeborari ea likhakanyo tsa MotionPE pose e ka khetholla maemo a basebelisi joalo ka ho lula, ho ema, le ho paqama, tse reretsoeng lisebelisoa tse aparoang ke letsoho tse nang le kananelo e thehiloeng ho data ea accelerometer.

MotionPE Library APIs

MotionPE_GetLibVersion(char *version): Fumana laebrari
tlhahisoleseling ea mofuta.
MotionPE_Initialize(): Qala ho
laeborari.

MotionPE_ResetLib(): Hlophisa laeborari.
MotionPE_Update(MPE_input_t *data_in, MPE_output_t *data_out): Ntlafatsa laeborari ka data ea accelerometer.

MotionPE_SetOrientation_Acc(const char *acc_orientation): Beha mokhoa oa accelerometer.

Lipotso Tse Botsoang Hangata

P: A na nka sebelisa laeborari ea MotionPE e nang le lisensara tseo e seng tsa ST MEMS?
- A: Laeborari e etselitsoe ST MEMS feela. Ho sebelisa li-sensor tse ling tsa MEMS ho ka baka ts'ebetso le ts'ebetso e fapaneng.
P: Ke lintlha life tse hlokahalang tsa accelerometer data sampling frequency bakeng sa laeborari ea MotionPE?
- A: E hlokahalang sampmaqhubu a mang ke 16 Hz bakeng sa khakanyo e nepahetseng ea boemo.

Selelekela

Laeborari ea MotionPE middleware ke karolo ea software ea X-CUBE-MEMS1 mme e sebetsa ho STM32. E fana ka tlhaiso-leseling ea nako ea 'nete mabapi le boemo ba mosebelisi hajoale bo ipapisitse le data ea sesebelisoa. E khona ho khetholla maemo a latelang: ho lula, ho ema le ho robala. Laebrari e etselitsoe lisebelisoa tse roaloang ka letsoho. Laeborari ena e reretsoe ho sebetsa le ST MEMS feela. Algorithm e fanoa ka sebopeho sa laebrari e sa fetoheng 'me e etselitsoe ho sebelisoa ho li-microcontrollers tsa STM32 tse ipapisitseng le meaho ea ARM® Cortex®-M3, ARM® Cortex®-M33, ARM® Cortex®-M4 kapa ARM® Cortex®-M7. E hahiloe ka holim'a theknoloji ea software ea STM32Cube ho nolofatsa ts'ebetso ho li-microcontroller tse fapaneng tsa STM32. Software e tla le sample ts'ebetsong e sebetsang ho boto ea X-NUCLEO-IKS01A3 kapa X-NUCLEO-IKS4A1katoloso ea boto ea ntlafatso ea NUCLEO-F401RE, NUCLEO-U575ZI-Q kapa NUCLEO-L152RE.

Acronyms le khutsufatso

Lethathamo la 1. Lethathamo la li-acronyms

Laeborari ea MotionPE middleware ho katoloso ea software ea X-CUBE-MEMS1 bakeng sa STM32Cube

MotionPE e felileview

Laeborari ea MotionPE e holisa tšebetso ea software ea X-CUBE-MEMS1. Laeborari e fumana data ho tsoa ho accelerometer mme e fana ka tlhahisoleseling mabapi le boemo ba hajoale ba mosebelisi ho latela data e tsoang sesebelisoa. Laeborari e etselitsoe ST MEMS feela. Ts'ebetso le ts'ebetso ha u sebelisa li-sensor tse ling tsa MEMS ha li hlahlojoe 'me li ka fapana haholo le tse hlalositsoeng tokomaneng. A sample ts'ebetsong e fumaneha bakeng sa liboto tsa katoloso tsa X-NUCLEO-IKS01A3 le X-NUCLEO-IKS4A1, tse behiloeng holim'a boto ea ntlafatso ea NUCLEO-F401RE, NUCLEO-U575ZI-Q kapa NUCLEO-L152RE.

Laeborari ea MotionPE

Lintlha tsa tekheniki tse hlalosang ka botlalo mesebetsi le liparamente tsa MotionPE API li ka fumanoa ho MotionPE_Package.chm compiled HTML file e fumanehang ka har'a foldara ea Litokomane.

Tlhaloso ea laebrari ea MotionPE

Laeborari ea likhakanyo tsa MotionPE pose e laola lintlha tse fumanoeng ho accelerometer; e na le:

monyetla oa ho khetholla maemo a latelang a basebelisi: ho lula, ho ema, ho robala

e etselitsoeng lisebelisoa tse roaloang ka letsoho
kananelo e thehiloeng ho data ea accelerometer feela
e hlokahalang accelerometer data sampmaqhubu a mang a 16 Hz
litlhoko tsa lisebelisoa:
- Cortex-M3: 12.0 kB ea khoutu le 2.8 kB ea memori ea data
- Cortex-M33: 12.5kB ea khoutu le 2.8kB ea memori ea data
- Cortex-M4: 12.9 kB ea khoutu le 2.8 kB ea memori ea data
- Cortex-M7: 12.9 kB ea khoutu le 2.8kB ea memori ea data
e fumaneha bakeng sa meralo ea meralo ea ARM® Cortex®-M3, ARM Cortex®-M33, ARM® Cortex®-M4 kapa ARM® Cortex®-M7.

MotionPE APIs

Li-API tsa laeborari ea MotionPE ke:

uint8_t MotionPE_GetLibVersion(char *version)
- e fumana mofuta oa laebrari
- * Mofuta ke sesupo sa mefuta e mengata ea litlhaku tse 35
- e khutlisa palo ea litlhaku tse khoeleng ea mofuta
void MotionPE_Initialize(void)
- e etsa ho qala laeborari ea MotionPE le ho seta mochini oa kahare
  Tlhokomeliso: Ts'ebetso ena e tlameha ho bitsoa pele u sebelisa laeborari ea likhakanyo tsa boemo mme mojule oa CRC ho microcontroller ea STM32 (ho registara ea peripheral clock enable RCC) e tlameha ho buloa pele u sebelisa laeborari.

void MotionPE_ResetLib(void)
- tsosolosa laeborari
void MotionPE_Update(MPE_input_t *data_in, MPE_output_t *data_out)
- e etsa algorithm ea ho hakanya pose
- *data_in parameter ke sesupo sa sebopeho se nang le data e kentsoeng
- liparamente tsa mofuta oa sebopeho MPE_input_t ke:
  - AccX ke boleng ba sensor ea accelerometer ho X axis ho g
  - AccY ke boleng ba sensor ea accelerometer ho Y axis ho g
  - AccZ ke boleng ba sensor ea accelerometer ho Z axis ho g
- *data_out parameter ke sesupo sa enum e nang le lintho tse latelang:
  - MPE_UNKNOWN = 0
  - MPE_SITTING = 1
  - MPE_STANDING = 2
  - MPE_LYING_DOWN = 3
- void MotionPE_SetOrientation_Acc(const char *acc_orientation)
  - ts'ebetso ena e sebelisetsoa ho seta mokhoa oa data oa accelerometer
  - tlhophiso hangata e etsoa hang ka mor'a mohala oa tšebetso oa MotionPE_Initialize
  - *acc_orientation parameter ke sesupo sa letoto la litlhaku tse tharo tse bontšang tataiso ea e 'ngoe le e 'ngoe ea mekhoa e metle ea foreimi ea litšupiso e sebelisetsoang tlhahiso ea data ea accelerometer, ka tatellano ea x, y, z. Maemo a sebetsang ke: n (lebowa) kapa s (borwa), w (bophirimela) kapa e (botjhabela), u (hodimo) kapa d (tlase).
  - Joalokaha ho bontšitsoe setšoantšong se ka tlase, X-NUCLEO-IKS4A1 accelerometer sensor e na le mokhoa oa SEU (x - South, y - East, z - Up), kahoo khoele ke: "seu".

Chate ea phallo ea API

Demo khoutu

Khoutu e latelang ea pontšo e bala data ho tsoa ho sensor ea accelerometer mme e fumana boemo bo hakantsoeng

Ts'ebetso ea algorithm

Pose estimation algorithm e sebelisa feela data ho tsoa ho accelerometer mme e sebetsa ka lebelo le tlase (16 Hz) ho fokotsa tšebeliso ea matla. Tafole e ka tlase e bonts'a ts'ebetso ea algorithm ea ho hakanya pose ho latela maemo a katleho ea ho tsebahala

Sample kopo

MotionPE middleware e ka sebelisoa habonolo ho theha lits'ebetso tsa basebelisi. A sample tshebediso e fanoe ka hara foldara ya Tshebediso. E etselitsoe ho sebetsa ka boto ea ntlafatso ea NUCLEO-F401RE, NUCLEOU575ZI- Q kapa NUCLEO-L152RE e amanang le boto ea katoloso ea X-NUCLEO-IKS01A3 kapa X-NUCLEO-IKS4A1. Sesebelisoa se lemoha boemo ba mosebelisi hajoale ka nako ea nnete.

Setšoantšo se ka holimo se bontša konopo ea mosebedisi B1 le li-LED tse tharo tsa boto ea NUCLEO-F401RE. Hang ha boardis e tsamaisoa, LED LD3 (PWR) e bulela.
Tlhokomeliso: Kamora ho matlafatsa boto, LED LD2 e panya hang ha e bontša hore kopo e se e lokile. Khokelo ea thapo ea USB ea hlokahala ho beha leihlo data ea nako ea nnete. Boto e tsamaisoa ke PC ka khokahano ea USB. Mokhoa ona oa ho sebetsa o lumella mosebelisi ho bonts'a boemo ba mosebelisi bo fumanoeng ka nako ea nnete, data ea accelerometer, nako stamp le data efe kapa efe ea sensor, e sebelisang MEMS-Studio.

Sesebelisoa sa MEMS-Studio

Likarolo tsa sampSesebelisoa se sebelisa sesebelisoa sa MEMS-Studio, se ka jarolleloang ho www.st.com.
Mohato oa 1. Etsa bonnete ba hore bakhanni ba hlokahalang ba kenngoa 'me boto ea STM32 Nucleo e nang le boto e loketseng ea ho atolosa e hokahane le PC.

Mohato oa 2. Qala sesebelisoa sa MEMS-Studio ho bula fensetere ea mantlha ea kopo. Haeba boto ea STM32 Nucleo e nang le firmware e tšehetsoeng e hokahane le PC, boema-kepe bo nepahetseng ba COM bo fumanoa ka bo eona. Tobetsa konopo ea [Hokela] ho theha khokahano le boto ea tlhahlobo

Mohato oa 3. Ha o hokahantsoe le boto ea STM32 Nucleo e nang le firmware e tšehetsoeng tab ea [Library Evaluation] ea buloa.

Ho qala le ho emisa ho phalla ha data, fetola e nepahetseng [Qala] kapa [Emisa] konopo holim'a thulupa e emeng e kantle. Lintlha tse tsoang ho sensor e hokahaneng li ka ba viewed ka ho khetha [Letlapa la Lintlha] letlapeng la lithulusi le otlolohileng.

Mohato 4. Tobetsa ho [Pose Estimation] ho bula leqephe le inehetseng bakeng sa laeborari ena.

Mohato 5. Tobetsa ho [Boloka ho File] ho bula fensetere ea tlhophiso ea ho boloka boitsebiso. Khetha sensor 'me u behe data ea khakanyo e tla bolokoa ho file. O ka qala kapa oa emisa ho boloka ka ho tobetsa konopo e tsamaisanang le eona

Mohato oa 6. Data Injection mode e ka sebelisoa ho romela data e fumanoeng pele laebraring le ho amohela sephetho. Khetha tab ea [Data Injection] ho bareng ea sesebelisoa e emeng ho bula e inehetseng view bakeng sa tshebetso ena

Mohato 7. Tobetsa ho [Browse] konopo ho khetha file ka data e hapiloeng pele ka sebopeho sa CSV. Lintlha li tla kenngoa tafoleng ea hajoale view.

Likonopo tse ling li tla qala ho sebetsa. O ka tobetsa ho:

[Offline Mode] ho bulela/ tima firmware offline mode (mokhoa o sebelisa data e nkiloeng pele).
[Qala]/[Emisa]/[Mohato]/[Pheta] likonopo ho laola phepelo ea data ho tloha MEMS-Studio ho ea laeboraring

Litšupiso

Lisebelisoa tsohle tse latelang li fumaneha mahala ho www.st.com.

UM1859: Ho qala ka X-CUBE-MEMS1 motion MEMS le katoloso ea software ea sensor ea tikoloho bakeng sa STM32Cube
UM1724: liboto tsa STM32 Nucleo-64 (MB1136)

UM3233: Ho qala ka MEMS-Studio

Nalane ea ntlafatso

Lethathamo la 5. Histori ea ntlafatso ea litokomane

TSEBISO EA BOHLOKOA – BALA KA HLOKO

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Litokomane / Lisebelisoa

ST Microelectronics NUCLEO-F401RE Nako ea 'Nete Pose Estimation Library [pdf] Bukana ea Mosebelisi
NUCLEO-F401RE, NUCLEO-U575ZI-Q, NUCLEO-L152RE, NUCLEO-F401RE Real Time Pose Estimation Library, NUCLEO-F401RE, Laeborari ea Khakanyo ea Nako ea 'Nete, Laebrari ea Khakanyo ea Nako, Laebrari ea Khakanyo ea Nako, Laebrari ea Khakanyo, Laeborari ea Khakanyo

Litšupiso

Bukana ea Mosebelisi

ST Microelectronics NUCLEO-F401RE Laeborari ea Khakanyo ea Nako ea 'Nete ea Pose

Tlhahisoleseding ya Sehlahiswa

Litaelo tsa Tšebeliso ea Sehlahisoa