当STM32工作在72MHz时，为什么AHRS更新速率为50Hz？

嗨哈里纳斯
 
 
 我不是这方面的专家。但是试着在这里给你一些帮助。
 我相信我们可以将输出速率提高到50Hz以上。限制可能来自嵌入式EKF频率，即100Hz（从inemo_marketing_pres.pdf理解的EKF频率限制）。否则适当的缓冲区管理，以及提高I2C总线速度是提高输出速率的一些指针。
 
 我可以从加速器和陀螺仪上获得400Hz原始输出。刚才我修复了代码来获得这个速度。
 
 问候，
 普拉萨德



以下为原文





Hi Harinath


I am not expert in this area. But trying to provide you some help here.
I believe we can increase the output rate more than 50Hz. the limitations might be from embedded EKF frequency which is 100Hz( EKF freq limitation understood from inemo_marketing_pres.pdf). otherwise proper buffer managment, and increasing I2C bus speed are some of the pointers to enable increasing output rates.

I could get 400Hz raw out put from accel and gyro. Just now i fixed the code to get this rate.

Regards,
Prasad

嗨普拉萨德，
 
感谢您的回复。他们说EKF在inemo_marketing_pres.pdf中更新高达100Hz。
 但为什么他们限制在50Hz？我不明白。此外，当EKF更新为50Hz时，为什么它们将传感器数据速率限制为50Hz？
 
可以根据用户设置以不同的期望速率提供每个传感器数据。
顺便说一句，我在void void_Config（void）中将设置更改为100Hz以下
 iNemo.c的功能
 
 
通过IAR Embedded Workbench＆amp; amp;编程iNEMO v2 ST-Link JTAG / SWD。
 
打开他们提供的视觉工作室样本，修改了从默认到AHRS的数据流模式，我可以得到数据流。我认为EKF的工作频率为100Hz。但是，我无法检查EKF的工作速度。如果您有任何想法检查，请提供。
iNEMO Suite GUI允许我们以400Hz的频率获取加速度计的原始数据。我想您正在谈论何时启用AHRS，您将获得400Hz加速度计的原始数据，不是吗？
我很想知道在启用AHRS时你改变了什么以获得400Hz的加速度计数据。
 
谢谢
Harinath



以下为原文





Hi Prasad,

Thank you for reply. They say EKF updates up to 100Hz  in inemo_marketing_pres.pdf  .
But why did they limit to 50Hz ? I don't understand. Also, when EKF update is 50Hz, why do they limit sensors data rate to 50Hz ?

It is possible to provide each sensor data at different desired rates according to user settings.
By the way, i changed below setting to 100Hz in void Timer_Config(void)
function of iNemo.c

• unsigned
  

• char
  

• frequency = 50;
  

• //This value is the frequency interrupts in Hz
  

Programmed the iNEMO v2 through IAR Embedded Workbench & ST-Link JTAG/SWD.  

Opened the visual studio sample they provided, modified the mode of data streaming from default to AHRS, i could get the data streaming fine. I think EKF is working at 100Hz. But, I'm unable to check at what rate the EKF working. Provide if you have any idea to check this.
The iNEMO Suite GUI allows us to get raw data of accelerometer at 400Hz. I think you are talking about when the AHRS is enabled, you are getting raw data of accelerometer at 400Hz, isn't it ?  
I'm curious to know what things have you changed to get accelerometer data at 400Hz when AHRS is enabled.  

Thanks
Harinath

嗨哈里纳斯，
 
 
 原始的意思是来自传感器的未经处理的测量，同时还包括加速度和陀螺仪。
 我也是像你这样的开发人员，所以我说我在上一篇文章中不是这方面的专家。
 我们工作的代码可能会有所不同，但要查看的内容是那些，我在上一篇文章中已经告诉过你，以获得更高的输出率。 （客户端服务器通信缓冲区大小，I2C速度）
 不幸的是，我无法为你提供太多帮助。由于我能够将获取率改为100Hz以上，我想告诉你我可以在原始模式下进行，你不会失去希望:)
 如果您需要，可能有些专家应该为您提供更多线索。
 
 问候，
 普拉萨德



以下为原文





Hi Harinath,


By raw i meant, unprocessed measurements from sensors, both accel and gyro at same time.
I am also a developer like you, so I said I am not an expert in this area in my last post.
The code on which we are working might be different, but the areas to look in to are those, that I already told you in my last post to get higher output rates. (client server communication buffer sizes, I2C speeds)
Unfortunately I wont be able to assist you much. Since I was able to change the acquiring rate to more than 100Hz, I thought of conveying you that I could do it in raw mode, and you would not loose hope : )
May be some expert should provide more clues to you if you need.

Regards,
Prasad

嗨哈里纳斯，
 
 
 还有一点是我的STM32板配有LIS3DH和L3G4200D传感器。
 如果您有其他型号的传感器具有不同的频率设置，则可能是频率不匹配，并且服务器将根据允许的传感器频率进行选择，并以与请求的频率不同的频率结束。
 
 BR，
 普拉萨德



以下为原文





Hi Harinath,


One more point is that my STM32 board is fitted with LIS3DH and L3G4200D sensors.
If you have other model of sensors with different frequency set, it might be a frequency mismatch, and the server will choose based on the allowed sensor frequencies and endup with a different frequencies than the requested frequencies.

Br,
Prasad