CEVA BNO085 Absolute Orientation Sensor System
Selelekela
Tokomane ena e hlalosa ts'ebetso ea Tare ea BNO085/BNO086 e hlalosang bocha mokhoa oa kutlo. Sena se lumella liphetho tsa BNO085/BNO086 hore li tsamaellane le mokhoa oo e kentsoeng ka ona sesebelisoa se seholo. Litaelo tsena li hlalositsoe ka botlalo ho SH-2 Reference Manual [1] mme tokomane ena e nka hore 'mali o na le bukana ena e fumanehang bakeng sa ho ingolisa.
Hlokomela: BNO080 e felisitsoe. Bakeng sa meralo e mecha, CEVA e khothaletsa BNO085 kapa BNO086.
Tare Overview
BNO085/BNO086 e sebelisa litaelo tse peli le rekoto ea tlhophiso ho hlakisa bocha mokhoa oa sensor, kapa "Tare":
Litaelo
- Tare Now (Karolo 6.4.4.1 ea SH-2 Reference Manual)
- E lumella Tare ea nakoana. E thusa qalong ea papali ho hlalosa mokhoa oa hajoale.
- Persist Tare (Karolo 6.4.4.2 ea SH-2 Reference Manual)
- E boloka mokhoa oa hajoale oa Tare ho rekoto ea tlhophiso ea Sensor Orientation. Ena ke tlhophiso e phehellang eo joale e fetohang mokhoa oa kamehla.
Rekoto ea Tlhophiso
Sensor Orientation
E boloka mokhoa oa sesebelisoa. Ha u se u tseba mokhoa o tloaelehileng oa BNO085/BNO086 sesebelisoa sa hau, u ka sebelisa mokhoa o ts'oanang oa ho qala lisebelisoa tsohle o sebelisa rekoto ena e le sebaka se loketseng sa ho qala. Taring e nepahetseng haholoanyane ka sesebelisoa e ka etsoa ho sebelisoa litaelo tse kaholimo.
Likhetho tsa Tare
Ho na le likhetho tse peli tseo u ka khethang ho tsona ha u tsamaisa ts'ebetso ea Tare:
Lilepe
- Ke lilepe life tseo u batlang ho li tšela? Mohlala, o ka khetha feela ho tare on yaw (Z-axis) e tla seta sehlooho bocha ho chebahalo ea pele ea mosebelisi.
- Kapa o ka nka lilepe tsohle (ho seta sehlooho, molumo le roll). Rotation Vector ho sebelisoa e le motheo oa Tare (Rotation Vector, Game Rotation Vector, Geomagnetic Rotation Vector)
- BNO085/BNO086 e fana ka mefuta e meraro e fapaneng ea liphetho tsa Rotation Vector tse hlalosang tlhophiso ea mojule ka ho sebelisa lisebelisoa tse fapaneng.
- Sheba Bukana ea Reference SH-2 bakeng sa lintlha tse ling mabapi le likhetho tsena tse tharo tsa vector ea potoloho.
- Tlhophiso ena ea Tare e lumella mosebelisi ho khetha hore na ke efe ea lihlahisoa tsa "rotation vector" eo a ka e sebelisang e le motheo oa Tare.
- Maemong a mangata, Rotation Vector ke khetho e nepahetseng mona.
- Haeba u sebelisa Game Rotation Vector e le kenyeletso ea hau ea mantlha, 'me u batla ho nka Z ho emisa hape Game Rotation Vector ho supa leboea, joale u tla hloka ho sebelisa Game Rotation Vector joalo ka motheo oa lehola. . Ka mokhoa o ts'oanang, haeba u ne u etsa tare e felletseng u sebelisa Geomagnetic Rotation Vector, u tla hloka ho e sebelisa joalo ka motheo.
Mokhoa oa Tare
U sebelisa likhetho tse hlalositsoeng ka holimo, u ka khetha hore na ke mofuta ofe oa tlhophiso ea tare e etsang hore e be le moelelo oa kopo ea hau. Li-ex tse 'maloa ke tsenaampMelemo ea litlhophiso tse tloaelehileng:
Seta ea Nako ea Pele ea Sesebelisoa
Ho sena mohlalaample, BNO085/BNO086 e kentsoe ho HMD mme mokhoa oa sensor o hloka ho hlalosoa. Sena se ka etsoa fekthering kapa ke mosebelisi qalong ea ho seta. Sena se tla sebelisa tare e felletseng ho pholletsa le lilepe tsohle tse 3 mme hape se boloke maemo ho flash ka ts'ebetso ea Persist Tare. Hlokomela hore kaha lilepe tsa Pitch and Roll li ntse li etsoa, ts'ebetso e its'etleha holima sebopeho sa sesebelisoa ho ea Leboea, kahoo latela mehato ea 3-5 ka hloko.
- Matla ho BNO085/BNO086 'me u kenye sensor ea Rotation Vector
- Lekanya magnetometer ka ho potoloha sesebelisoa setšoantšong sa 8
- Ho netefatsa hore magnetometer e hlophisitsoe hantle, u ka sheba sebaka sa Rotation Vector's Accuracy Estimate field. Boleng bona bo fana ka khakanyo ea hore na algorithm e nahana hore e nepahetse hakae ka li-radians. Sepheo se setle ke ho netefatsa hore Tekanyetso ea ho Nepaha ke <10 degrees (0.1745 radians). Haeba ho etsa sets'oants'o sa 8 ho sa fokotse khakanyo e nepahetseng ka tlase ho likhato tse 10, joale fallela sebakeng se hloekileng sa makenete.
- Lekanya accelerometer ka ho beha sesebelisoa maemong a 4-6 a ikhethileng le ho netefatsa hore sesebelisoa se tsitsitse bakeng sa ~ 1s holima ka 'ngoe.
- Tsela e 'ngoe ea ho nahana ka sena ke ho nahana ka sesebelisoa e le cube ebe u se beha fatše sefahlehong se seng le se seng (ka holimo, ka lehlakoreng le letona, ka lehlakoreng le letšehali, ka pele, ka morao).
- Beha sesebelisoa fatše ka metsotsoana e seng mekae e le hore gyroscope ZRO e ka khona ho lekanya hape
- Etsa qeto ea leboea sebakeng sa hau sa hajoale
- U ka sheba sesupo sa 'mele kapa ua sheba Rotation Vector ho fumana hore na Leboea le hokae. Ha Rotation Vector e bala W=1, X=0, Y=0, Z=0 sesebelisoa se lebisitsoe Leboea.
- Beha sesebelisoa e le hore tataiso ea hau ea pele eo u e batlang e lebisitsoe Leboea 'me u netefatse hore sesebelisoa se boemong.
- Matha taelo ea Tare Now ka litlhophiso tse latelang:
Byte Lebitso Boleng Tlhaloso 0 Tlaleho ID 0xF2 Kopo ea Taelo 1 Nomoro ea Tatelano 0x00 2 Taelo 0x03 Tare Taelo 3 P0 (Taelo e tlase) 0x00 Sheba Joale 4 P1 (Bitmap of Axes) 0x07 Lilepe tse 3 kaofela (X,Y,Z) 5 P2 (Motheo oa Vector ea Rotation) 0x00 Vector ea ho potoloha 6-11 Reserved 0x00 Reserved - Sebelisa taelo ea Persist Tare ka li-setting tse latelang:
Byte Lebitso Boleng Tlhaloso 0 Tlaleho ID 0xF2 Kopo ea Taelo 1 Nomoro ea Tatelano 0x00 2 Taelo 0x03 Tare Taelo 3 P0 (Taelo e tlase) 0x01 Phehellang Tare 4-11 Reserved 0x00 Reserved - Sena se tla boloka litlhophiso tsa hajoale ho rekoto ea litlhophiso tsa Sensor Orientation FRS (Sheba SH2 Reference Manual Karolo ea 4.3.4). Joale litlhophiso tsena e tla ba tsa kamehla ho boot bo latelang.
Beha Tataiso ea Hona Joale (User Tare)
Ho sena mohlalaample, mosebelisi o sebelisa sesebelisoa tafoleng ea bona. Ba batla ho hlalosa mokhoa oa ho ea pele pele ba qala papali, kahoo sohle se lokelang ho etsoa ke ho theola Z-axis (yaw): lilepe tse ling, tse hlalosang "boemo" ha li hloke ho fetoloa ho tloha tlhophisong ea tsona e neng e thehiloe pele. Sena se ka etsoa ka GUI e skrineng kapa konopo ea sesebelisoa. Hobane ke Z-axis feela e ntseng e etsoa, mosebelisi ha a hloke ho hokahanya sesebelisoa le Leboea.
- Ha e le hantle, li-sensor li ne li tla lekanngoa hantle:
- Matla ho BNO085/BNO086 'me u kenye sensor ea Rotation Vector
- Lekanya magnetometer ka ho potoloha sesebelisoa setšoantšong sa 8
- Beha sesebelisoa fatše ka metsotsoana e seng mekae e le hore gyroscope ZRO e ka khona ho lekanya hape
- Beha sesebelisoa moo u batlang ho leba teng
- Matha taelo ea Tare Now ka litlhophiso tse latelang:
Byte Lebitso Boleng Tlhaloso 0 Tlaleho ID 0xF2 Kopo ea Taelo 1 Nomoro ea Tatelano 0x00 2 Taelo 0x03 Tare Taelo 3 P0 (Taelo e tlase) 0x00 Sheba Joale 4 P1 (Bitmap of Axes) 0x04 Leka ho Z- axis FEELA 5 P2 (Motheo oa Vector ea Rotation) 0x00 Vector ea ho potoloha 6-11 Reserved 0x00 Reserved - Kamora ho tsamaisa tlhophiso ena, liphetho tsa Rotation Vector li tla fetisetsoa tseleng ena e ncha ea pele.
- Litlhophiso tsena li tla khutlela ho rekoto ea tlhophiso ea Sensor Orientation FRS (e neng e setiloe ka taelo ea ho qetela ea Persist Tare) nakong e tlang ha sesebelisoa se qala hape.
Mokhoa oa ho Sebelisa Liphetoho tsa Tare ho Lisebelisoa tse ngata tse hlahisoang
Ho ka etsahala hore ha u sebelisa BNO085 / BNO086 mochine oa tlhahiso, mokhoa oa ho sebelisa sensor o tla tšoana le lihlopha tse ngata. Sebakeng sa ho nka yuniti ka 'ngoe, o ka sebelisa litlhophiso tsa Tare palo efe kapa efe ea likarolo tse ling ka ho sebelisa rekoto ea tlhophiso ea FRS Sensor Orientation. Mehato e akaretsang ea sena e thathamisitsoe ka tlase. Ho fumana lintlha tse ling mabapi le ho bala/ho ngola lirekoto tsa FRS ikopanye le Hillcrest Labs.
- Tsamaisa ts'ebetso e felletseng ea Tare e thathamisitsoeng ka holimo (e ngotsoeng e le First Time Setup) sesebelisoa sa "reference"
- Bala rekoto ea Sensor Orientation FRS ho tsoa sesebelisoa sa litšupiso
- Kopitsa rekoto ena ea FRS ho rekoto ea FRS ea Sensor Orientation ea sesebelisoa ka seng
- Joale lisebelisoa tsena li tla ba le litlhophiso tse ts'oanang tsa Tare setsing se latelang sa hub
Litšupiso
1000-3625 SH-2 Reference Manual, Hillcrest Labs
Litsebiso
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Litokomane / Lisebelisoa
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