STMicroelectronics UM2193 MotionAR Iṣe idanimọ Library
Ọrọ Iṣaaju
Motion AR jẹ apakan ile-ikawe agbedemeji ti sọfitiwia X-CUBE-MEMS1 ati ṣiṣe lori STM32. O pese alaye ni akoko gidi lori iru iṣẹ ṣiṣe nipasẹ olumulo. O ni anfani lati ṣe iyatọ awọn iṣẹ ṣiṣe wọnyi: iduro, nrin, nrin ni kiakia, ṣiṣere, gigun keke, wiwakọ.
Ile-ikawe yii jẹ ipinnu lati ṣiṣẹ pẹlu ST MEMS nikan.
A pese algorithm ni ọna kika ikawe aimi ati pe a ṣe apẹrẹ lati lo lori awọn oluṣakoso microcontroller STM32 ti o da lori ARM® Cortex®-M3, ARM® Cortex®-M33, ARM® Cortex®-M4 tabi ARM® Cortex®-M7 faaji.
O ti wa ni itumọ ti lori oke ti STM32Cube imọ-ẹrọ sọfitiwia ti o irọrun gbigbe kọja awọn oriṣiriṣi STM32 microcontrollers.
Sọfitiwia naa wa pẹlu sample imuse nṣiṣẹ lori X-NUCLEO-IKS01A3 tabi X-NUCLEO-IKS4A1 imugboroosi ọkọ lori a NUCLEO-F401RE, NUcleO-L152RE tabi NUcleO-U575ZI-Q igbimọ idagbasoke.
Acronyms ati abbreviations
Table 1. Akojọ ti awọn acronyms
| Adape | Apejuwe |
| API | Ohun elo siseto ni wiwo |
| BSP | Board support package |
| GUI | Ni wiwo olumulo ayaworan |
| HAL | Hardware áljẹbrà Layer |
| IDE | Ese idagbasoke ayika |
Išipopada AR middleware ìkàwé ni X-CUBE-MEMS1 software imugboroosi
Išipopada AR ti pariview
Ile-ikawe Motion AR ṣe afikun iṣẹ ṣiṣe ti sọfitiwia X-CUBE-MEMS1.
Ile-ikawe naa gba data lati iyara iyara ati pese alaye lori iru iṣẹ ṣiṣe nipasẹ olumulo.
Ile-ikawe jẹ apẹrẹ fun ST MEMS nikan. Iṣẹ ṣiṣe ati iṣẹ nigba lilo awọn sensọ MEMS miiran ko ṣe itupalẹ ati pe o le yatọ si pataki si ohun ti a ṣalaye ninu iwe naa.
Sample imuse wa lori X-NUCLEO-IKS01A3 tabi X-NUCLEO-IKS4A1 imugboroosi lọọgan, agesin lori a NUCLEO-F401RE, NUCLEO-L152RE tabi NUcleO-U575ZI-Q igbimọ idagbasoke.
Išipopada AR ìkàwé
Alaye imọ-ẹrọ ti n ṣalaye ni kikun awọn iṣẹ ati awọn ayeraye ti Motion AR APIs ni a le rii ninu MotionAR_Package.chm HTML ti a ṣajọpọ file be ni Documentation folda.
Išipopada AR ìkàwé apejuwe
- Ile-ikawe idanimọ iṣẹ ṣiṣe Motion AR n ṣakoso data ti o gba lati accelerometer; o ni awọn ẹya:
- seese lati se iyato awọn wọnyi akitiyan: adaduro, nrin, sare rin, jogging, keke, awakọ
- idanimọ ti o da lori data accelerometer nikan
- data accelerometer nilo sampling igbohunsafẹfẹ: 16 Hz
- awọn ibeere ohun elo:
- Cortex-M3: 8.5 kB koodu ati 1.4 kB ti data iranti
- Cortex-M33: 7.8 kB koodu ati 1.4 kB ti data iranti
- Cortex-M4: 7.9 kB koodu ati 1.4 kB ti data iranti
- Cortex-M7: 8.1 kB koodu ati 1.4 kB ti data iranti
- wa fun ARM Cortex-M3, Cortex-M33, Cortex-M4 ati Cortex-M7 faaji
MotionAR APIs
Awọn API MotionAR ni:
- uint8_t MotionAR_GetLibVersion(char *ẹya)
- retrieves awọn ti ikede ti awọn ìkàwé
- * Ẹya jẹ itọka si titobi ti awọn ohun kikọ 35
- pada awọn nọmba ti ohun kikọ ninu okun version
- ofo MotionAR_Initialize(ofo)
- ṣe ipilẹṣẹ ikawe MotionAR ati iṣeto ti ẹrọ inu
- module CRC ni STM32 microcontroller (ni RCC agbeegbe aago jeki iforukọsilẹ) ni lati jẹ
ṣiṣẹ ṣaaju lilo ile-ikawe
Akiyesi: Iṣẹ yii gbọdọ jẹ ipe ṣaaju lilo ile-ikawe isọdiwọn isarerometer.
- ofo MotionAR_Tunto(ofo)
- tun awọn algoridimu idanimọ aṣayan iṣẹ-ṣiṣe
- ofo MotionAR_Update(MAR_input_t *data_in, MAR_output_t *data_out, int64_t
igbaamp)- ṣiṣẹ alugoridimu ti idanimọ aṣayan iṣẹ-ṣiṣe
- * paramita_in data jẹ itọka si eto kan pẹlu data igbewọle
- Awọn paramita fun iru igbekalẹ MAR_input_t jẹ:
- acc_x jẹ iye sensọ accelerometer ni ipo X ni g
- acc_y jẹ iye sensọ accelerometer ni ipo Y ni g
- acc_z jẹ iye sensọ accelerometer ni ipo Z ni g
- * paramita_out data jẹ itọka si enum pẹlu awọn nkan wọnyi:
- MAR_NOACTIVITY = 0
- MAR_STATIONARY = 1
- MAR_NRIN = 2
- MAR_FASTWALKING = 3
- MAR_JOGGING = 4
- MAR_BIKING = 5
- MAR_DRIVING = 6
- igbaamp jẹ akoko ibatan fun s ganganample ninu ms
- ofo MotionAR_ Ṣeto Iṣalaye_ Acc(const char *acc_ iṣalaye)
- ṣeto iṣalaye data accelerometer
- iṣeto ni a maa n ṣe lẹsẹkẹsẹ lẹhin ipe iṣẹ Iṣipopada AR_ Initialize
- * acc_ paramita iṣalaye jẹ itọka si okun ti awọn ohun kikọ mẹta ti n tọka itọsọna ti ọkọọkan awọn iṣalaye rere ti fireemu itọkasi ti a lo fun iṣelọpọ data accelerometer, ni ọna x, y, z. Awọn iye to wulo jẹ: n (ariwa) tabi s (guusu), w (iwọ-oorun) tabi e (ila-oorun), u (oke) tabi d (isalẹ)
- Gẹgẹbi a ṣe han ninu nọmba ti o wa ni isalẹ, X-NUCLEO-IKS4A1 sensọ accelerometer ni SEU (x-South, y- East, z-Up), nitorina okun jẹ: "seu".
olusin 1. Sensọ iṣalaye example
API sisan char
olusin 2. Išipopada AR API kannaa ọkọọkan
Ririnkiri koodu
Koodu ifihan atẹle yii n ka data lati sensọ accelerometer ati gba koodu iṣẹ ṣiṣe
[…] #ṣetumo VERSION_STR_LENG 35 […] /*** Ibẹrẹ ***/ ẹya char lib[VERSION_STR_LENG]; char acc_orientation[] = "seu"; / * Ti idanimọ aṣayan iṣẹ-ṣiṣe API iṣẹ ibẹrẹ */ MotionAR_Initialize (); /* Iyan: Gba ẹya */ MotionAR_GetLibVersion (lib_version); /* Ṣeto iṣalaye accelerometer */ MotionAR_SetOrientation_Acc(acc_orientation); [ /*** Lilo algorithm idanimọ iṣẹ ṣiṣe ***/ Aago_ OR_ Oṣuwọn Data_ Idilọwọ_ () {
MAR_input_t data_ ni; MAR_ output_ t aṣayan iṣẹ-ṣiṣe; /* Gba isare X/Y/Z ni g */ MEMS_Read_AccValue(&data_in.acc_x, &data_in.acc_y, &data_in.acc_z); /* Gba akoko lọwọlọwọ ni ms */ TIMER_Get_TimeValue(×tamp_ms); / * imudojuiwọn algorithm idanimọ iṣẹ ṣiṣe */ MotionAR_Update (data_in, data_out, timestamp_ms); }
iṣẹ alugoridimu
Algorithm ti idanimọ iṣẹ nikan nlo data lati ohun imuyara ati ṣiṣe ni igbohunsafẹfẹ kekere kan (16 Hz) lati dinku lilo agbara.
Table 2. iṣẹ alugoridimu
| Iṣẹ-ṣiṣe | Iṣeeṣe iwari (aṣoju)(1) | Ti o dara ju išẹ | Alailagbara | Gbe awọn ipo |
| Adaduro | 92.27% | Dimu ni ọwọ ati kikọ ọrọ wuwo | Gbogbo: apo sokoto, apo seeti, apo ẹhin, nitosi ori, ati bẹbẹ lọ. | |
| Nrin | 99.44% | Oṣuwọn igbesẹ ≥ 1.4 igbese/s | Oṣuwọn igbesẹ ≤ 1.2 igbese/s | gbogbo |
| Yara rin | 95.94% | Oṣuwọn igbesẹ ≥ 2.0 igbese/s | Gbogbo | |
| Ririnkiri | 98.49% | Oṣuwọn igbesẹ ≥ 2.2 igbese/s | Iye akoko < 1 iṣẹju; iyara <8km/h | Apo trouser, fifẹ apa, ni ọwọ |
| Gigun kẹkẹ | 91.93% | Iyara ita gbangba ≥11 km/h | Ijoko ero, ibowo kompaktimenti | Apoeyin, apo seeti, apo sokoto |
| Wiwakọ | 78.65% | Iyara ≥ 48 km/h | Ijoko ero, ibowo kompaktimenti | Dimu ago, ọkọ daaṣi, apo seeti, apo sokoto |
- Aṣoju ni pato ko ni iṣeduro
Tabili 3. Cortex-M4 ati Cortex-M3: Akoko ti o ti kọja (µs) algorithm
| Cortex-M4 STM32F401RE ni 84 MHz | Cortex-M3 STM32L152RE ni 32 MHz | ||||
| Min | Apapọ | O pọju | Min | Apapọ | O pọju |
| 2 | 6 | 153 | 8 | 130 | 4883 |
Tabili 4. Cortex-M33 ati Cortex-M7: akoko ti o kọja (μs) algorithm
| Cortex-M33 STM32U575ZI-Q ni 160 MHz | Cortex-M7 STM32F767ZI ni 96 MHz | ||||
| Min | Apapọ | O pọju | Min | Apapọ | O pọju |
| < 1 | 2 | 74 | 5 | 9 | 145 |
Sample elo
MotionAR middleware le ṣe ifọwọyi ni irọrun lati kọ awọn ohun elo olumulo; biample elo ti wa ni pese ni awọn ohun elo folda.
A ṣe apẹrẹ lati ṣiṣẹ lori NUCLO-F401RE, NUCLO-L152RE tabi NUCLEO-U575ZI-Q igbimọ idagbasoke ti o sopọ mọ igbimọ imugboroja X-NUCLEO-IKS01A3 tabi X-NUCLEO-IKS4A1.
Ohun elo naa ṣe idanimọ awọn iṣẹ ṣiṣe ni akoko gidi. Data le ṣe afihan nipasẹ GUI kan. Algoridimu ṣe idanimọ iduro, nrin, nrin iyara, ṣiṣere, gigun keke ati awọn iṣẹ awakọ. Asopọ okun USB nilo lati ṣe atẹle data gidi-akoko. Igbimọ naa ni agbara nipasẹ PC nipasẹ asopọ USB. Eyi n gba olumulo laaye lati ṣafihan iṣẹ ṣiṣe ti a rii, data accelerometer, akoko stamp ati nikẹhin data sensọ miiran, ni akoko gidi, ni lilo ohun elo MEMS-Studio GUI.
MEMS-Studio ohun elo
Awọn sample elo lilo MEMS-Studio GUI ohun elo, eyi ti o le ti wa ni gbaa lati www.st.com.
Igbesẹ 1. Rii daju pe awọn awakọ to ṣe pataki ti fi sori ẹrọ ati pe STM32 Nucleo board pẹlu ọkọ imugboroja ti o yẹ ti sopọ si PC.
Igbesẹ 2. Lọlẹ MEMS-Studio ohun elo lati ṣii awọn akọkọ ohun elo window.
Ti igbimọ Nucleo STM32 pẹlu famuwia atilẹyin ti sopọ si PC, a rii laifọwọyi ibudo COM ti o yẹ. Tẹ bọtini Sopọ lati ṣii ibudo yii.
olusin 3. MEMS-Studio - Sopọ
Igbesẹ 3. Nigbati o ba sopọ si STM32 Nucleo board pẹlu atilẹyin famuwia famuwia Igbelewọn Library ti wa ni ṣiṣi.
Lati bẹrẹ ati da ṣiṣanwọle data duro yi iyipada ti o yẹ 
bẹrẹ / 
da bọtini lori awọn lode inaro ọpa bar.
Awọn data nbo lati awọn ti sopọ sensọ le jẹ viewed yiyan taabu Tabili Data lori ọpa ọpa inaro inu.
olusin 4. MEMS-Studio - Library Igbelewọn - Data Table
Olusin 5. MEMS-Studio - Igbelewọn Library - Idanimọ aṣayan iṣẹ-ṣiṣe
Igbesẹ 5. Yan Fipamọ si File taabu lori ọpa ọpa inaro inu lati ṣii window iṣeto gedu data. Yan iru sensọ ati data iṣẹ ṣiṣe lati fipamọ si wọle file. O le bẹrẹ tabi da fifipamọ duro nipa tite lori bọtini Ibẹrẹ / Duro ti o baamu.
Ṣe nọmba 6. MEMS-Studio - Igbelewọn Library - Fipamọ si File
Awọn itọkasi
Gbogbo awọn orisun atẹle wa larọwọto lori www.st.com.
- UM1859: Bibẹrẹ pẹlu išipopada MEMS X-CUBE-MEMS1 ati imugboroja sọfitiwia sensọ ayika fun STM32Cube
- UM1724: STM32 Nucleo-64 (MB1136)
- UM3233: Bibẹrẹ pẹlu MEMS-Studio
Àtúnyẹwò itan
Table 5. Iwe itan àtúnyẹwò
| Ọjọ | Ẹya | Awọn iyipada |
| 10-Apr-2017 | 1 | Itusilẹ akọkọ. |
| 26-Jan-2018 | 2 | Imudojuiwọn Abala 3 Sample elo. Awọn itọkasi ti a fi kun si igbimọ idagbasoke NUCLO-L152RE ati Table 3. Akoko ti o ti kọja (μs) algorithm. |
| 19-Oṣu Kẹta-2018 | 3 | Ifihan imudojuiwọn, Abala 2.1 Išipopada AR ti pariview ati Abala 2.2.5 iṣẹ alugoridimu. |
| 14-Kínní-2019 | 4 | Nọmba imudojuiwọn 1. Iṣalaye sensọ example, Tabili 3. Akoko ti o ti kọja (µs) algorithm ati Figure 3. STM32 Nucleo: LEDs, button, jumper. Fi kun X-NUCLEO-IKS01A3 imugboroosi ọkọ alaye. |
| 20-Oṣu Kẹta-2019 | 5 | Abala ti a ṣe imudojuiwọn 2.2.2 Išipopada AR APIs, Nọmba 3. MEMS-Studio - Sopọ, Nọmba 4. MEMS-Studio - Igbelewọn Iwe-ikawe - Data Table, Nọmba 5. MEMS-Studio - Igbelewọn Ile-ikawe - Ṣiṣe idanimọ iṣẹ ati nọmba 6. MEMS-Studio – Igbelewọn Library – Fipamọ si File. |
| 04-Apr-2024 | 6 | Imudojuiwọn Abala Ifihan, Abala 2.1: MotionAR pariview, Abala 2.2.1: MotionAR ìkàwé apejuwe, MotionAR APIs, Abala 2.2.4: Ririnkiri koodu, Abala 2.2.5: iṣẹ alugoridimu, Ẹ̀ka 3: Sample elo ati Abala 4: MEMS-Studio elo. |
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STMicroelectronics UM2193 MotionAR Iṣe idanimọ Library [pdf] Afowoyi olumulo UM2193 MotionAR Ibi-ikawe idanimọ Iṣẹ ṣiṣe, UM2193, Ile-ikawe Idanimọ Iṣẹ ṣiṣe MotionAR, Ile-ikawe idanimọ Iṣẹ, Ile-ikawe idanimọ, Ile-ikawe |
