Motion tracker library for Cerevo CDP-TZ01B.
[詳解]
#include <stdint.h>
#include <stdbool.h>
[ソースコード]
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#define | PI (3.1415926535) |
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bool | TZ01_motion_tracker_init (void) |
| Initialize the motion tracker library. [詳解]
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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]
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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]
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bool | TZ01_motion_tracker_temperature_read (uint16_t *rt, float *t) |
| Read chip temperature value. [詳解]
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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]
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bool | TZ01_motion_tracker_acc_axis_angle (float *pitch_rad, float *roll_rad) |
| Computed AXIS angle from Accel. [詳解]
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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]
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Motion tracker library for Cerevo CDP-TZ01B.
- 著者
- Cerevo Inc.
bool TZ01_motion_tracker_acc_axis_angle |
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float * |
pitch_rad, |
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float * |
roll_rad |
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Computed AXIS angle from Accel.
- 引数
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[out] | pitch_rad | (UNIT is `radian') |
[out] | roll_rad | (UNIT is `radian') |
- 戻り値
- Read result.
- 戻り値
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true | Success. |
false | Failed.(Ex. Driver state missmatch.) |
bool TZ01_motion_tracker_accel_read |
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uint16_t * |
rx, |
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uint16_t * |
ry, |
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uint16_t * |
rz, |
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float * |
x, |
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float * |
y, |
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float * |
z |
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Read Accel value.
- 引数
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[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
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true | Success. |
false | Failed.(Ex. Driver state missmatch.) |
void TZ01_motion_tracker_compute_axis_angle |
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float |
acc_x, |
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float |
acc_y, |
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float |
acc_z, |
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float * |
pitch_rad, |
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float * |
roll_rad |
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) |
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Comute AXIS angle from maesured accel values.
- 引数
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[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 |
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uint16_t * |
rx, |
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uint16_t * |
ry, |
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uint16_t * |
rz, |
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float * |
x, |
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float * |
y, |
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float * |
z |
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) |
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Read Gyro value.
- 引数
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[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
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true | Success. |
false | Failed.(Ex. Driver state missmatch.) |
bool TZ01_motion_tracker_init |
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void |
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Initialize the motion tracker library.
- 戻り値
- Initiaize result.
- 戻り値
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true | Success. |
false | Failed. |
bool TZ01_motion_tracker_magnetometer_read |
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uint16_t * |
rx, |
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uint16_t * |
ry, |
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uint16_t * |
rz, |
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float * |
x, |
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float * |
y, |
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float * |
z |
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) |
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Read Magnetometer value.
- 引数
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[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
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true | Success. |
false | Failed.(Ex. Driver state missmatch.) |
bool TZ01_motion_tracker_temperature_read |
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uint16_t * |
rt, |
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float * |
t |
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Read chip temperature value.
- 引数
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[out] | rt | Raw value. |
[out] | t | Computed value.(Unit is `degree Celsius') |
- 戻り値
- Read result.
- 戻り値
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true | Success. |
false | Failed.(Ex. Driver state missmatch.) |