STMicroelectronics UM2193 Laeborari ea Tlhokomelo ea Mosebetsi oa MotionAR
Selelekela
Motion AR ke laeborari ea bohareng ea software ea X-CUBE-MEMS1 mme e sebetsa ho STM32. E fana ka tlhaiso-leseling ea nako ea nnete mabapi le mofuta oa ts'ebetso e etsoang ke mosebelisi. E khona ho khetholla mesebetsi e latelang: ho ema, ho tsamaea, ho tsamaea ka potlako, ho matha, ho palama libaesekele, ho khanna.
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 e nolofatsang ts'ebetso ho li-microcontroller tse fapaneng tsa STM32.
Software e tla le sample ts'ebetsong e sebetsang ho boto ea ho atolosa ea X-NUCLEO-IKS01A3 kapa X-NUCLEO-IKS4A1 holim'a boto ea ntlafatso ea NUCLEO-F401RE, NUCLEO-L152RE kapa NUCLEO-U575ZI-Q.
Acronyms le khutsufatso
Lethathamo la 1. Lethathamo la li-acronyms
| Kgutsufatso | Tlhaloso |
| API | Sebopeho sa lenaneo la kopo |
| BSP | Sephutheloana sa tšehetso sa boto |
| GUI | Sehokelo sa mosebelisi se hlakileng |
| HALALA | Hardware abstraction layer |
| IDE | Tikoloho ea ntlafatso e kopaneng |
Laeborari ea Motion AR middleware ho katoloso ea software ea X-CUBE-MEMS1
Tsamaisa AR ho fetaview
Laeborari ea Motion AR e holisa ts'ebetso ea software ea X-CUBE-MEMS1.
Laeborari e fumana data ho accelerometer mme e fana ka tlhahisoleseling mabapi le mofuta oa ts'ebetso e etsoang ke mosebelisi.
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.
Sample ts'ebetsong e fumaneha ho X-NUCLEO-IKS01A3 kapa X-NUCLEO-IKS4A1 mapolanka a ho atolosa, a behiloeng holim'a boto ea ntlafatso ea NUCLEO-F401RE, NUCLEO-L152RE kapa NUCLEO-U575ZI-Q.
Laeborari ea Motion AR
Lintlha tsa tekheniki tse hlalosang ka botlalo mesebetsi le liparamente tsa Motion AR API li ka fumanoa ho MotionAR_Package.chm e hlophisitsoeng HTML file e fumanehang ka har'a foldara ea Litokomane.
Tlhaloso ea laebrari ea Motion AR
- Laeborari ea tlhokomeliso ea ts'ebetso ea Motion AR e laola lintlha tse fumanoeng ho accelerometer; e na le:
- monyetla oa ho khetholla mesebetsi e latelang: ho emisa, ho tsamaea, ho tsamaea ka potlako, ho matha, ho palama libaesekele, ho khanna
- kananelo e thehiloeng ho data ea accelerometer feela
- e hlokahalang accelerometer data sampmaqhubu a maqhubu: 16 Hz
- litlhoko tsa lisebelisoa:
- Cortex-M3: 8.5 kB ea khoutu le 1.4 kB ea memori ea data
- Cortex-M33: 7.8 kB ea khoutu le 1.4 kB ea memori ea data
- Cortex-M4: 7.9 kB ea khoutu le 1.4 kB ea memori ea data
- Cortex-M7: 8.1 kB ea khoutu le 1.4 kB ea memori ea data
- e fumaneha bakeng sa meralo ea ARM Cortex-M3, Cortex-M33, Cortex-M4 le Cortex-M7
MotionAR APIs
MotionAR APIs ke:
- uint8_t MotionAR_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 MotionAR_Initialize(void)
- e etsa ho qala laeborari ea MotionAR le ho seta mochini oa kahare
- mojule oa CRC ho STM32 microcontroller (ho RCC peripheral clock nolofalletsa registerer) e tlameha ho ba.
e lumelloa pele u sebelisa laebrari
Hlokomela: Mosebetsi ona o tlameha ho bitsoa pele o sebelisa laebrari ea calibration ea accelerometer.
- void MotionAR_Reset(boid)
- e tsosolosa mekhoa ea ho lemoha mesebetsi
- void MotionAR_Update(MAR_input_t *data_in, MAR_output_t *data_out, int64_t
linakoamp)- e etsa algorithm ea ho lemoha mosebetsi
- *data_in parameter ke sesupo sa sebopeho se nang le data e kentsoeng
- mekhahlelo ea mofuta oa sebopeho MAR_input_t ke:
- acc_x ke boleng ba sensor ea accelerometer ho X axis ho g
- acc_y ke boleng ba sensor ea accelerometer ho Y axis ho g
- acc_z ke boleng ba sensor ea accelerometer ho Z axis ho g
- *data_out parameter ke sesupo sa ho kenyelletsa lintho tse latelang:
- MAR_NOACTIVITY = 0
- MAR_STATIONARY = 1
- MAR_WALKING = 2
- MAR_FASTWALKING = 3
- MAR_JOGGING = 4
- MAR_BIKING = 5
- MAR_DIVING = 6
- linakoamp ke nako e lekanyelitsoeng bakeng sa sample ho ms
- void MotionAR_ Set Orientation_ Acc(const char *acc_ orientation)
- e beha mokhoa oa data oa accelerometer
- tlhophiso hangata e etsoa hang ka mor'a mohala oa Motion AR_ 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 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 SEU (x-South, y- East, z-Up), kahoo khoele ke: "seu".
Setšoantšo sa 1. Sensor orientation example
API flow char
Setšoantšo sa 2. Tatelano ea logic ea Motion AR API
Demo khoutu
Khoutu e latelang ea pontšo e bala data ho tsoa ho sensor ea accelerometer mme e fumana khoutu ea ts'ebetso
[…] #define VERSION_STR_LENG 35 […] /*** Ho qala ***/ char lib_version[VERSION_STR_LENG]; char acc_orientation[] = "seu"; /* Ts'ebetso ea ho qala API e amohelang mosebetsi */ MotionAR_Initialize(); /* Boikhethelo: Fumana mofuta */ MotionAR_GetLibVersion(lib_version); /* Beha mokhoa oa accelerometer */ MotionAR_SetOrientation_Acc(acc_orientation); […] /*** Ho sebelisa algorithm ea tlhokomeliso ea mosebetsi ***/ Sebali-nako_ KAPA_ Sekhahla sa Lintlha_ Seketso_ Sebatli() {
MAR_input_t data_ ho; MAR_ output_ t ts'ebetso; /* Fumana potlakiso X/Y/Z ho g */ MEMS_Read_AccValue(&data_in.acc_x, &data_in.acc_y, &data_in.acc_z); /* Fumana nako ea hajoale ka ms */ TIMER_Get_TimeValue(×tamp_Mof); /* Ntlafatso ea tlhokomeliso ea tšebetso ea algorithm */ MotionAR_Update(data_in, data_out, timestamp_Mof); }
Ts'ebetso ea algorithm
Algorithm ea ho lemoha mesebetsi e sebelisa feela data e tsoang ho accelerometer mme e sebetsa ka lebelo le tlase (16 Hz) ho fokotsa tšebeliso ea matla.
Lethathamo la 2. Ts'ebetso ea algorithm
| Ketsahalo | Monyetla oa ho fumanoa (ts'ebetso)(1) | Tshebetso e ntle ka ho fetisisa | E hlaseleha habonolo | Jara maemo |
| E lutseng | 92.27% | Ho tshoara ka letsoho le melaetsa e boima | Tsohle: pokotho ea borikhoe, mokotla oa hempe, mokotla o ka morao, haufi le hlooho, joalo-joalo. | |
| Ho tsamaya | 99.44% | Sekhahla sa mohato ≥ 1.4 mohato/s | Sekhahla sa mohato ≤ 1.2 mohato/s | kaofela |
| Ho tsamaya kapele | 95.94% | Sekhahla sa mohato ≥ 2.0 mohato/s | Tsohle | |
| Ho matha | 98.49% | Sekhahla sa mohato ≥ 2.2 mohato/s | Nako < motsotso o le mong; lebelo <1 Km/h | Pokotho ea borikhoe, ho sotha letsoho, ka letsohong |
| Ho palama baesekele | 91.93% | Lebelo la kantle ≥11 Km/h | Setulo sa baeti, kamore ea liatlana | Mokotla, mokotla oa hempe, mokotla oa borikhoe |
| Ho kganna | 78.65% | Lebelo ≥ 48 Km/h | Setulo sa baeti, kamore ea liatlana | Sets'oants'o sa mohope, dash board, pokotho ea hempe, mokotla oa borikhoe |
- Litlhaloso tse tloaelehileng ha lia tiisetsoa
Letlapa la 3. Cortex-M4 le Cortex-M3: Nako e fetileng (µs) algorithm
| Cortex-M4 STM32F401RE ho 84 MHz | Cortex-M3 STM32L152RE ho 32 MHz | ||||
| Min | Avg | Max | Min | Avg | Max |
| 2 | 6 | 153 | 8 | 130 | 4883 |
Letlapa la 4. Cortex-M33 le Cortex-M7: nako e fetileng (μs) algorithm
| Cortex-M33 STM32U575ZI-Q ka 160 MHz | Cortex-M7 STM32F767ZI ho 96 MHz | ||||
| Min | Avg | Max | Min | Avg | Max |
| <1 | 2 | 74 | 5 | 9 | 145 |
Sample kopo
MotionAR middleware e ka sebelisoa habonolo ho aha lits'ebetso tsa basebelisi; joalo kaample tshebediso e fanoe ka hara foldara ya Tshebediso.
E etselitsoe ho sebetsa ka boto ea ntlafatso ea NUCLEO-F401RE, NUCLEO-L152RE kapa NUCLEO-U575ZI-Q e amanang le boto ea katoloso ea X-NUCLEO-IKS01A3 kapa X-NUCLEO-IKS4A1.
Sesebelisoa se lemoha mesebetsi e entsoeng ka nako ea nnete. Lintlha li ka hlahisoa ka GUI. Algorithm e lemoha ho ema, ho tsamaea, ho tsamaea ka potlako, ho matha, ho palama libaesekele le ho khanna. Khokelo ea thapo ea USB ea hlokahala ho beha leihlo data ea nako ea nnete. Boto e tsamaisoa ke PC ka khokahano ea USB. Sena se lumella mosebelisi ho bonts'a ts'ebetso e fumanoeng, data ea accelerometer, nako stamp mme qetellong lintlha tse ling tsa sensor, ka nako ea nnete, li sebelisa sesebelisoa sa MEMS-Studio GUI.
Sesebelisoa sa MEMS-Studio
Likarolo tsa sampkopo e sebelisa sesebelisoa sa MEMS-Studio GUI, se ka khoasolloang ho tsoa ho www.st.com.
Mohato oa 1. Netefatsa hore li-driver tse hlokahalang li kentsoe 'me boto ea STM32 Nucleo e nang le boto e loketseng ea katoloso 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 tšehelitsoeng e hokahane le PC, e tla lemoha ka bo eona boema-kepe bo nepahetseng ba COM. Tobetsa konopo ea Connect ho bula boema-kepe bona.
Setšoantšo sa 3. MEMS-Studio - Connect
Mohato oa 3. Ha e 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 toggle e loketseng 
qala / 
konopo ea ho emisa leboteng la lisebelisoa tse otlolohileng.
Lintlha tse tsoang ho sensor e hokahaneng li ka ba viewed ho khetha "Data Table" ho bareng ea lisebelisoa tse otlolohileng.
Setšoantšo sa 4. MEMS-Studio - Tlhahlobo ea Laebrari - Letlapa la Boitsebiso
Setšoantšo sa 5. MEMS-Studio - Tlhahlobo ea Laebrari - Tlhokomelo ea Mesebetsi
Mohato oa 5. Khetha ea Save to File tab ea ka hare e otlolohileng ea lisebelisoa ho bula fensetere ea tlhophiso ea ho rema lifate. Khetha hore na u boloka data ea sensor le ts'ebetso efe ho boloka file. O ka qala kapa oa emisa ho boloka ka ho tobetsa konopo e lumellanang ea Qala / Emisa.
Setšoantšo sa 6. MEMS-Studio - Tlhahlobo ea Laebrari - Boloka ho File
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
| Letsatsi | Phetolelo | Liphetoho |
| 10-Apr-2017 | 1 | Tokollo ea pele. |
| 26-Jan-2018 | 2 | E ntlafalitsoe Karolo ea 3 Sample kopo. Litšupiso tse ekelitsoeng ho boto ea ntlafatso ea NUCLEO-L152RE le Lethathamo la 3. Nako e fetileng (μs) algorithm. |
| 19-Mar-2018 | 3 | Kenyelletso e ntlafalitsoeng, Karolo ea 2.1 Motion AR e felileview le Karolo ea 2.2.5 Algorithm tshebetso. |
| 14-Feb-2019 | 4 | E ntlafalitsoeng Setšoantšo sa 1. Mokhoa oa kutlo example, Letlapa la 3. Nako e fetileng (µs) algorithm le Setšoantšo sa 3. STM32 Nucleo: Li-LED, konopo, jumper. E kenyellelitse lintlha tsa X-NUCLEO-IKS01A3 tsa boto ea katoloso. |
| 20-Mar-2019 | 5 | Ntlafatso ea Karolo ea 2.2.2 Motion AR APIs, Figure 3. MEMS-Studio - Connect, Figure 4. MEMS-Studio - Tlhahlobo ea Laebrari - Lethathamo la Boitsebiso, Setšoantšo sa 5. MEMS-Studio - Tlhahlobo ea Laebrari - Tlhokomelo ea Mesebetsi le Setšoantšo sa 6. MEMS-Studio – Tlhahlobo ea Laebrari – Boloka ho File. |
| 04-Apr-2024 | 6 | Nchafatso Selelekela sa Karolo, Karolo ea 2.1: MotionAR overview, Karolo ea 2.2.1: laebrari ea MotionAR tlhaloso, MotionAR APIs, Karolo ea 2.2.4: Khoutu ea demo, Karolo ea 2.2.5: Ts'ebetso ea algorithm, Karolo ea 3: Sample kopo le Karolo ea 4: Kopo ea MEMS-Studio. |
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STMicroelectronics UM2193 Laeborari ea Tlhokomelo ea Mosebetsi oa MotionAR [pdf] Bukana ea Mosebelisi UM2193 MotionAR Recognition Library, UM2193, Laeborari ea Tlhokomeliso ea Mosebetsi oa MotionAR, Laeborari e Lemohileng Mosebetsi, Laeborari ea Kemohelo, Laeborari |
