"STM32Cube中MotionGC陀螺仪校准库入门指南" - CSDN文库

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• void MotionGC_SetKnobs(MGC_knobs_t *knobs)

–

sets the library knobs

– *knobs

parameter is a pointer to a structure with settings

–

the parameters for the structure type

MGC_knobs_t are the following:

◦ AccThr is the accelerometer threshold to detect steady state in g. The default value is 0.01 g.

The input range is 0.003 to 0.05 g. For higher accuracy, set the value low; for platforms inherent

vibration or noisy sensor, set the value high.

◦ GyroThr is the gyroscope threshold to detect steady state in degree per second. The default

value is 0.2 dps. The input range is 0.008 to 0.4 dps. For higher accuracy, set the value low.

◦ FilterConst is the decay constant for the internal filter (from 0 to1). Setting a higher value can

cause a variation in the gyro offset but allows a quick convergence. The default value is 0.002.

◦ FastStart set to 1 immediately starts computing the gyro offset and quickly converges to gyro

offset. By setting the value to 1, it is possible that the initial gyro offset value is not accurate but

converges over a period of time.

◦ MaxGyro is the maximum expected angular zero-rate level when still in dps. The default value is

15 dps.

◦ MaxAcc is the maximum acceleration module when still in g. The default value is 1.3 g.

• void MotionGC_GetKnobs(MGC_knobs_t *knobs):

– gets the library knob setting

– *knobs is a pointer to the setting structure

Note:

This function needs to be called before making changes in the settings.

• void MotionGC_Update(MGC_input_t *data_in, MGC_output_t *gyro_bias, int

*bias_update):

– runs the gyroscope calibration algorithm and returns compensation parameters

– *data_in parameter is a pointer to a structure with input data

– the parameters for the structure type MGC_input_t are the following:

◦ Acc[3] is an array of accelerometer sensor value in g

◦ Gyro[3] is an array of gyroscope sensor value in dps

– *gyro_bias parameter is a pointer to a structure with gyroscope angular zero-rate level

– the parameters for the structure type MGC_output_t are the following:

◦ GyroBiasX is the actual x axis gyroscope bias value in dps

◦ GyroBiasY is the actual y axis gyroscope bias value in dps

◦ GyroBiasZ is the actual z axis gyroscope bias value in dps

– *bias_update is a pointer to an integer set to 1 if the device is in stable state and the gyroscope bias

is updated (0 otherwise)

Note: This function has to be called periodically as indicated in the initialization function.

• void MotionGC_GetCalParams(MGC_output_t *gyro_bias):

– retrieves the gyroscope compensation parameters

– *gyro_bias parameter is a pointer to a structure with gyroscope angular zero-rate level

• void MotionGC_SetCalParams(MGC_output_t *gyro_bias)

– sets the initial gyroscope compensation parameters, helping to quickly converge to the gyro offset right

value

– *gyro_bias parameter is a pointer to a structure with gyroscope angular zero-rate level

Note:

This function should be called just after MotionGC_Initialize

• void MotionGC_SetFrequency(float freq)

– applies the new sample frequency to the library without resetting

– freq indicates the new sample frequency in Hertz

UM2181

MotionGC library

UM2181 - Rev 4

page 4/16

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