Motion tracker library for Cerevo CDP-TZ01B. [詳解]

#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#include "TZ10xx.h"
#include "SPI_TZ10xx.h"
#include "MPU-9250.h"
#include "TZ01_motion_tracker.h"

関数
bool	TZ01_motion_tracker_init (void)
	Initialize the motion tracker library. [詳解]

bool	TZ01_motion_tracker_gyro_read (uint16_t rx, uint16_t ry, uint16_t rz, float x, float y, float z)
	Read Gyro value. [詳解]

bool	TZ01_motion_tracker_accel_read (uint16_t rx, uint16_t ry, uint16_t rz, float x, float y, float z)
	Read Accel value. [詳解]

bool	TZ01_motion_tracker_temperature_read (uint16_t rt, float t)
	Read chip temperature value. [詳解]

bool	TZ01_motion_tracker_magnetometer_read (uint16_t rx, uint16_t ry, uint16_t rz, float x, float y, float z)
	Read Magnetometer value. [詳解]

bool	TZ01_motion_tracker_acc_axis_angle (float pitch_rad, float roll_rad)
	Computed AXIS angle from Accel. [詳解]

void	TZ01_motion_tracker_compute_axis_angle (float acc_x, float acc_y, float acc_z, float pitch_rad, float roll_rad)
	Comute AXIS angle from maesured accel values. [詳解]

変数
TZ10XX_DRIVER_SPI	Driver_SPI3

詳解

Motion tracker library for Cerevo CDP-TZ01B.

著者: Cerevo Inc.

関数詳解

bool TZ01_motion_tracker_acc_axis_angle	(	float *	pitch_rad,
		float *	roll_rad
	)

Computed AXIS angle from Accel.

引数

[out]	pitch_rad	(UNIT is `radian')
[out]	roll_rad	(UNIT is `radian')

戻り値: Read result.

戻り値

true	Success.
false	Failed.(Ex. Driver state missmatch.)

bool TZ01_motion_tracker_accel_read	(	uint16_t *	rx,
		uint16_t *	ry,
		uint16_t *	rz,
		float *	x,
		float *	y,
		float *	z
	)

Read Accel value.

引数

[out]	rx	Raw value of X-axis.
[out]	ry	Raw value of Y-axis.
[out]	rz	Raw value of Z-axis.
[out]	x	Computed value of X-axis.(UINT is `G')
[out]	y	Computed value of Y-axis.(UINT is `G')
[out]	z	Computed value of Z-axis.(UINT is `G')

戻り値: Read result.

戻り値

true	Success.
false	Failed.(Ex. Driver state missmatch.)

void TZ01_motion_tracker_compute_axis_angle	(	float	acc_x,
		float	acc_y,
		float	acc_z,
		float *	pitch_rad,
		float *	roll_rad
	)

Comute AXIS angle from maesured accel values.

引数

[in]	acc_x	X-axis accel value(Unit is `G')
[in]	acc_y	Y-axis accel value(Unit is `G')
[in]	acc_z	Z-axis accel value(Unit is `G')
[out]	pitch_rad	Computed pitch (UNIT is `radian')
[out]	roll_rad	Computed roll (UNIT is `radian')

bool TZ01_motion_tracker_gyro_read	(	uint16_t *	rx,
		uint16_t *	ry,
		uint16_t *	rz,
		float *	x,
		float *	y,
		float *	z
	)

Read Gyro value.

引数

[out]	rx	Raw value of X-axis/Roll.
[out]	ry	Raw value of Y-axis/Pitch.
[out]	rz	Raw value of Z-axis/Yaw.
[out]	x	Computed value of X-axis/Pitch.(UINT is `degree/s')
[out]	y	Computed value of Y-axis/Roll. (UINT is `degree/s')
[out]	z	Computed value of Z-axis/Yaw. (UINT is `degree/s')

戻り値: Read result.

戻り値

true	Success.
false	Failed.(Ex. Driver state missmatch.)

bool TZ01_motion_tracker_init ( void )

Initialize the motion tracker library.

戻り値: Initiaize result.

戻り値

true	Success.
false	Failed.

bool TZ01_motion_tracker_magnetometer_read	(	uint16_t *	rx,
		uint16_t *	ry,
		uint16_t *	rz,
		float *	x,
		float *	y,
		float *	z
	)

Read Magnetometer value.

引数

[out]	rx	Raw value of X-axis.
[out]	ry	Raw value of Y-axis.
[out]	rz	Raw value of Z-axis.
[out]	x	Computed value of X-axis.(UINT is `uH')
[out]	y	Computed value of Y-axis.(UINT is `uH')
[out]	z	Computed value of Z-axis.(UINT is `uH')

戻り値: Read result.

戻り値

true	Success.
false	Failed.(Ex. Driver state missmatch.)

bool TZ01_motion_tracker_temperature_read	(	uint16_t *	rt,
		float *	t
	)

Read chip temperature value.

引数

[out]	rt	Raw value.
[out]	t	Computed value.(Unit is `degree Celsius')

戻り値: Read result.

戻り値

true	Success.
false	Failed.(Ex. Driver state missmatch.)

変数詳解

TZ10XX_DRIVER_SPI Driver_SPI3

Includes