imu
[/imu/imu] imu pars:
odr=o25Hz ths=32 mot=400 idle=5000 hpf=strong fs=s2g o6dths=1600 ffths=320 ffcnt=3 (Set 0*)Драфт описания парсетов акселерометра LSM303AGR. Параметры по умолчанию:







доступен только один набор параметров set0.
При модификации параметров или по команде "config imu", актуальные и пересчитанные параметры выводятся дополнительно:
imu odr=o10h [/imu/imu] imu pars:
lsm303agr config actual: full scale :s2g
data rate:o10Hz
high pass:strong (0.080000Hz) threshold:32mg
motion time:400ms
idle time:5000ms
odr=o10Hz ths=32 mot=400 idle=5000 hpf=strong fs=s2g o6dths=1600 ffths=320 ffcnt=3
Список доступных значений:
imu ?
[/imu/imu] imu pars Usage: [<name1>=<val1> [<name2>=<val2>]...]
odr:enum: o01Hz o10Hz o25Hz o50Hz o100Hz o200Hz o400Hz o1620Hz o5367Hz
ths:uint:
mot:uint:
idle:uint:
hpf:enum: aggres strong medium light fs:enum: s2g s4g s8g s16g
o6dths:uint:
ffths:uint:
ffcnt:uint:
Параметры:
fs - selects full scale of sensor
odr - accelerometer measure datarate
ths - motion detector threshold (mg). Actually represented in lsb values for current full scale: s2g s4g s8g s16g == 16, 31, 63, 125 mg.
THS=16..31 mean 1lsb for 2g scale = 16mg. THS=32..47 mean 2lsb for 2g scale = 32mg.
mot - motion detector time (ms). Time of motion that should be continuously applied to sensor to generate motion event. It actually depends and aligned on datarate: o01Hz o10Hz o25Hz o50Hz o100Hz o200Hz o400Hz o1620Hz o5367Hz == 1000, 100, 40, 20, 10, 5, 2.5, 0.617, 0.19 1lsb in ms
odridle - motion detector idle time (ms). Actually time of motion event absence. Generate device's still event. hpf - high pass filter tuning. The actual values depends on data rate like:

o6dths - 6d detector threshold (mg) ffths - free fall detector threshold (mg)
ffcnt - free fall detector count (mg) - checks minimum of ffcnt measurements in fifo with values under ffths to generate free fall event.