UM2275
Imaniwali yosebenzisayo
Ukuqalisa ngelabhulali ye-MotionFD etholwa ngesikhathi sangempela sokuwa ekunwetshweni kwe-X-CUBE-MEMS1 ye-STM32Cube
Isingeniso
I-MotionEC iyingxenye yelabhulali ye-middleware yesofthiwe ye-X-CUBE-MEMS1 futhi isebenza ku-STM3z2. Ihlinzeka ngolwazi lwesikhathi sangempela mayelana nomumo wedivayisi nesimo sokunyakaza okusekelwe kudatha evela kudivayisi.
Ihlinzeka ngokuphumayo okulandelayo: umumo wedivayisi (ama-quaternion, ama-engeli e-Euler), ukuzungezisa idivayisi (ukusebenza kwe-virtual gyroscope), i-gravity vector kanye nokusheshisa komugqa.
Lo mtapo wezincwadi uhloselwe ukusebenza ne-ST MEMS kuphela.
I-algorithm inikezwa ngefomethi yelabhulali emile futhi yakhelwe ukuthi isetshenziswe kuma-STM32 microcontrollers asekelwe ku-ARM® Cortex®-M0+, ARM® Cortex®-M3, ARM® Cortex®-M33, ARM® Cortex®-M4 ne-ARM® Cortex®-M7 izakhiwo.
Yakhelwe phezu kobuchwepheshe besoftware ye-STM32Cube ukuze kube lula ukuphatheka kuzo zonke izilawuli ezincane ze-STM32 ezihlukene.
Isoftware iza ne-sample ukuqaliswa okusebenzayo ebhodini lokunweba le-X-NUCLEO-IKS4A1 noma i-X-NUCLEO-IKS01A3 ku-NUCLEO-F401RE, NUCLEO-U575ZI-Q noma ibhodi lokuthuthukisa i-NUCLEO-L152RE.
Ama-akhronimi nezifinyezo
Ithebula 1. Uhlu lwama-akhronimi
| Isifinyezo | Incazelo |
| I-API | Isixhumi esibonakalayo sohlelo lokusebenza |
| I-BSP | Iphakethe losekelo lwebhodi |
| I-GUI | Isixhumi esibonakalayo somsebenzisi |
| HAL | Isendlalelo se-Hardware abstraction |
| I-IDE | Indawo yokuthuthukisa edidiyelwe |
Ilabhulali ye-MotionFD middleware ekunwetshweni kwesoftware ye-X-CUBE-MEMS1 ye-STM32Cube
2.1 I-MotionFD iphelileview
Umtapo wezincwadi we-MotionFD wandisa ukusebenza kwesofthiwe ye-X-CUBE-MEMS1.
Ilabhulali ithola idatha ku-accelerometer nenzwa yokucindezela futhi inikeza ulwazi mayelana nomcimbi wokuwa komsebenzisi ngokusekelwe kudatha evela kudivayisi.
Umtapo wolwazi uklanyelwe i-ST MEMS kuphela. Ukusebenza nokusebenza lapho kusetshenziswa ezinye izinzwa ze-MEMS akuhlaziywa futhi kungase kuhluke kakhulu kulokho okuchazwe kudokhumenti.
Sampukuqaliswa kwe-le kuyatholakala ebhodini lokunweba le-X-NUCLEO-IKS4A1 kanye ne-X-NUCLEO-IKS01A3, elifakwe ebhodini lokuthuthukisa i-NUCLEO-F401RE, NUCLEO-U575ZI-Q noma i-NUCLEO-L152RE.
2.2 Umtapo wolwazi we-MotionFD
Ulwazi lobuchwepheshe oluchaza ngokugcwele imisebenzi namapharamitha we-MotionFD APIs lungatholakala ku-HTML ehlanganisiwe ye-MotionFD_Package.chm. file etholakala kufolda Yombhalo.
2.2.1 Incazelo yomtapo wezincwadi we-MotionFD
Umtapo wolwazi we-MotionFD wokutholwa kokuwa ulawula idatha etholwe ku-accelerometer nenzwa yokucindezela; ihlanganisa:
- kungenzeka ukuhlukanisa ukuthi ukuwa komsebenzisi kwenzeke noma cha
- ukuqashelwa okusekelwe kuphela ku-accelerometer nedatha yenzwa yokucindezela
- i-accelerometer edingekayo kanye nedatha yenzwa yokucindezela sampimvamisa ye-ling ngu-25 Hz
- izidingo zezinsiza:
- I-Cortex-M3: 3.6 kB yekhodi kanye ne-3.2 kB yememori yedatha
- I-Cortex-M33: 3.4 kB yekhodi kanye ne-3.2 kB yememori yedatha
- I-Cortex-M4: 3.4 kB yekhodi kanye ne-3.2 kB yememori yedatha
- I-Cortex-M7: 3.4 kB yekhodi kanye ne-3.2 yememori yedatha - itholakalela izakhiwo ze-ARM Cortex-M3, i-ARM Cortex-M33, i-ARM Cortex-M4 kanye ne-ARM Cortex-M7
2.2.2 Ama-MotionFD API
Ama-API welabhulali ye-MotionFD yilawa:
- uint8_t MotionFD_GetLibVersion(char *version)
– ithola inguqulo yelabhulali
- *inguqulo iyisikhombi ohlwini lwezinhlamvu ezingama-35
– ibuyisela inombolo yezinhlamvu ochungechungeni lwenguqulo - i-void MotionFD_Initialize(ize)
- yenza ukuqaliswa komtapo wezincwadi we-MotionFD kanye nokusetha indlela yangaphakathi
Qaphela: Lo msebenzi kufanele ubizwe ngaphambi kokusebenzisa ilabhulali yokuthola ukuwa futhi imojuli ye-CRC kusilawuli esincane se-STM32 (kurejista yokunika amandla iwashi le-RCC) kufanele inikwe amandla.
- i-void MotionFD_Update (MFD_input_t *data_in, MFD_output_t *data_out)
- yenza i-algorithm yokuthola ukuwa
- *ipharamitha_yedatha iyisikhombi esakhiweni esinedatha yokufaka
- amapharamitha ohlobo lwesakhiwo MFD_input_t yilezi:
◦ I-AccX inani lenzwa ye-accelerometer ku-X eksisi ngo-mg
◦ I-AccY inani lenzwa ye-accelerometer ku-Y axis ngo-mg
◦ I-AccZ inani lenzwa ye-accelerometer ku-axis engu-Z ngo-mg
◦ Cindezela inani lenzwa yokucindezela ku-hPa
- *ipharamitha_yokuphuma kwedatha iyinkomba ye-enum enezinto ezilandelayo:
◦ MFD_NOFALL = 0
◦ MFD_FALL = 1 - i-void MotionFD_SetKnobs(float fall_threshold, int32_t fall_altitude_delta, float lying_time)
– usetha imingcele yokumisa umtapo
– fall_threshold acceleration threshold in mg
– fall_altitude_delta umehluko wobude ngo-cm
- isikhathi sokulala ngemizuzwana ngaphandle kokunyakaza ngemva komthelela - i-void MotionFD_GetKnobs(ntanta *fall_threshold, int32_t *fall_altitude_delta, ntanta *lying_time)
- ithola amapharamitha wokucushwa komtapo
– fall_threshold acceleration threshold in mg
– fall_altitude_delta umehluko wobude ngo-cm
- isikhathi sokulala ngemizuzwana ngaphandle kokunyakaza ngemva komthelela
2.2.3 Ishadi lokugeleza kwe-API
2.2.4 Ikhodi yedemo
Ikhodi yokubonisa elandelayo ifunda idatha kusuka ku-accelerometer nenzwa yokucindezela futhi ithola ikhodi yomcimbi wokuwa.
2.2.5 Ukusebenza kwe-algorithm
I-algorithm yokuthola ukuwa isebenzisa kuphela idatha evela ku-accelerometer nenzwa yokucindezela futhi isebenza ngefrikhwensi ephansi (25 Hz) ukuze kwehliswe ukusetshenziswa kwamandla.
2.3 Sampisicelo
I-MotionFD middleware ingashintshwa kalula ukuze kwakhiwe izinhlelo zokusebenza zabasebenzisi; njengeampuhlelo lokusebenza lunikezwe kufolda yohlelo lokusebenza.
Idizayinelwe ukusebenza kubhodi lokuthuthukisa i-NUCLEO-F401RE, NUCLEO-U575ZI-Q noma i-NUCLEO-L152RE exhunywe ebhodini lokunweba le-X-NUCLEO-IKS4A1 noma i-X-NUCLEO-IKS01A3.
Uhlelo lokusebenza lubona umcimbi wokuwa komsebenzisi ngesikhathi sangempela.
Isithombe esingenhla sibonisa inkinobho yomsebenzisi ethi B1 nama-LED amathathu ebhodi le-NUCLEO-F401RE. Uma ibhodi selinikwe amandla, i-LED LD3 (PWR) ivuleka.
Kudingeka uxhumano lwekhebula le-USB ukuze kuqashwe idatha yesikhathi sangempela. Ibhodi linikwa amandla yi-PC ngoxhumano lwe-USB. Le modi yokusebenza ivumela isehlakalo sokuwa komsebenzisi esitholiwe, i-accelerometer nedatha yenzwa yokucindezela, isikhathi stamp futhi ekugcineni nenye idatha yezinzwa, ngesikhathi sangempela, kusetshenziswa i-MEMS-Studio.
2.4 Isicelo se-MEMS-Studio
I-sampUhlelo lokusebenza lusebenzisa uhlelo lwe-MEMS-Studio, olungalandwa kulo www.st.com.
Isinyathelo 1. Qinisekisa ukuthi abashayeli abadingekayo bafakiwe futhi ibhodi le-STM32 Nucleo elinebhodi lokunweba elifanele lixhunywe ku-PC.
Isinyathelo 2. Yethula uhlelo lokusebenza lwe-MEMS-Studio ukuze uvule iwindi lesicelo esikhulu.
Uma ibhodi le-STM32 Nucleo eline-firmware esekelwe lixhunywe ku-PC, litholwa ngokuzenzakalelayo.
Cindezela inkinobho ethi [Xhuma] ukuze uthole uxhumano ebhodini lokuhlola.
Isinyathelo 3. Uma uxhunywe ebhodini le-STM32 Nucleo elinethebhu ye-firmware esekelwayo [Ukuhlola Umtapo] iyavulwa.
Ukuze uqale futhi umise ukusakazwa kwedatha, guqula okufanele [Qala] 
noma [Misa] 
inkinobho kubha yamathuluzi eme mpo yangaphandle.
Idatha evela kunzwa exhunyiwe ingaba viewed ukukhetha ithebhu ethi [Ithebula Ledatha] ethuluzini elime mpo elingaphakathi ba
Isinyathelo 4. Chofoza okuthi [Ukutholwa Kokuwa] ukuze uvule iwindi lohlelo lokusebenza elizinikele.
Isinyathelo 5. Chofoza okuthi [Gcina Ku File] ukuze uvule iwindi lokumisa ukugcinwa kwedatha. Khetha idatha yokutholwa kwenzwa nokuwa ezolondolozwa ku- file. Ungaqala noma uyeke ukulondoloza ngokuchofoza inkinobho ehambisanayo.
Isinyathelo 6. Imodi ye-Data Injection ingasetshenziswa ukuthumela idatha etholwe ngaphambilini kumtapo wezincwadi futhi yamukele umphumela. Khetha ithebhu ethi [Umjovo Wedatha] kubha yamathuluzi mpo ukuze uvule okunikezelwe view kulo msebenzi.
Isinyathelo 7. Chofoza inkinobho ethi [Phequlula] ukuze ukhethe file ngedatha ethathwe ngaphambilini ngefomethi ye-CSV.
Idatha izolayishwa kuthebula okwamanje view.
Ezinye izinkinobho zizosebenza. Ungachofoza ku-:
- inkinobho ethi [Imodi engaxhunyiwe ku-inthanethi] ukuze uvule/uvale imodi engaxhunyiwe ku-inthanethi ye-firmware (imodi esebenzisa idatha ethathwe ngaphambilini).
– [Qala]/[Misa]/[Isinyathelo]/[Phinda] izinkinobho ukuze ulawule okuphakelayo kwedatha ukusuka ku-MEMS-Studio ukuya kulabhulali.
2.5 Izikhombo
Zonke lezi zinsiza ezilandelayo zitholakala mahhala ku-www.st.com.
- UM1859: Ukuqalisa nge-MEMS yokunyakaza ye-X-CUBE-MEMS1 kanye nokunwetshwa kwesofthiwe yezinzwa zemvelo ye-STM32Cube
- UM1724: STM32 Nucleo-64 board (MB1136)
- UM3233: Ukuqalisa nge-MEMS-Studio
Umlando wokubuyekeza
Ithebula 4. Umlando wokubuyekeza idokhumenti
| Usuku | Inguqulo | Izinguquko |
| 22-Sep-2017 | 1 | Ukukhishwa kokuqala. |
| 6-Feb-18 | 2 | Izinkomba ezingeziwe ebhodini lokuthuthukisa i-NUCLEO-L152RE kanye neThebula 2. Isikhathi esidlule (μs) i-algorithm. |
| 21-Mar-18 | 3 | Isingeniso Esibuyekeziwe kanye neSigaba 2.1 MotionFD siphelileview. |
| 19-Feb-19 | 4 | Ithebula elibuyekeziwe 2. Isikhathi esidlule (μs) i-algorithm kanye nomfanekiso 2. I-STM32 Nucleo: Ama-LED, inkinobho, i-jumper. Kungezwe ulwazi oluhambelana nebhodi lokunweba le-X-NUCLEO-IKS01A3. |
| 17-Sep-24 | 5 | Isingeniso Sesigaba Esibuyekeziwe, Isigaba 2.1: I-MotionFD iphelileview, Isigaba 2.2.1: Incazelo yelabhulali ye-MotionFD, Isigaba 2.2.2: I-MotionFD APIs, Isigaba 2.2.5: Ukusebenza kwe-algorithm, Isigaba 2.3: Sample isicelo, Isigaba 2.4: isicelo MEMS-Studio |
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Amadokhumenti / Izinsiza
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I-ST X-CUBE-MEMS1 MotionFD Umtapowolwazi Wokubona Ukuwa Kwesikhathi Sangempela [pdf] Imaniwali yosebenzisayo I-X-CUBE-MEMS1 MotionFD Umtapowolwazi Wokutholwa Kwesikhathi Sangempela, X-CUBE-MEMS1, Umtapowolwazi Wokutholwa Kwesikhathi Sangempela we-MotionFD, Umtapowolwazi Wokutholwa Kwesikhathi Sangempela, Umtapowolwazi Wokubona Ukuwa, Umtapowolwazi Wokubona, Umtapowolwazi |
