Motion-Tracking

Motion tracking using gyroscope and accelerometar.

By using the accelerometer and gyroscope from the BMI088 sensor, the capability to track the motion of an object was achived. Possible orientation states of the board have been defined and transiton between them when motion is detected with the gyroscope.

Project requirements:

Integrated Computer Systems 2, project 7b

Write a program that enables synchronous reading of a 3D accelerometer and 3D gyroscope using the X-NUCLEO-IKS01A2 sensor board. The acquired data needs to be transmitted via a serial connection to a computer and graphically displayed on an OLED display.

Report

How to set up

Hardware

• Board: X-NUCLEO-IKS01A2
• Sensor: BMI088 (used microe click with sensor integrated 13DOF-click )

Software

• Clone repo:

git clone --recurse-submodules https://github.com/UrosCvjetinovic/Motion-Tracking.git

• Adapt stm32 driver to use the given board:

   Uncomment define of STM32L476xx in file Drivers/STM32CubeL4/Drivers/CMSIS/Device/ST/STM32L4xx/include/stm324xx.h:Line78

Implementation

Used internal modules

Timers

In this project 1 timer is used TIM17 for debauncing.

TIM17

To debounce two buttons (SW1 and SW2), it is necessary to check their status after the initial press and activate the desired procedure (in this case, changing the displayed screen on the OLED display - NextScreen()) only once, and the waiting time is 90ms.

I2C

For communication with the OLED display, BME680 and BMI088, I2C 2 is used, operating in standard mode at 100kHz. The implementation of the driver for this display is included as part of the stm32-ssd1306 submodule.

USART2

For serial communication with computer. Depending on the current screen the read data is transmitted via serial port. Starting the communication is started pressing one of the buttons.

Logic

Orientation states

The orientation states can be seen in the first column of the figure 'TransitionStates'. Transitions between states occur when the angular velocity values read from the BMI088 gyroscope of axes exceeds a certain threshold.

Display manager

The display manager's role is to keep track of which screen to display and, if a button is pressed, cycle through each of the screens. Reading data from the sensors is only done for the necessary information related to the current screen.

• Idle Screen: While this screen is active, no readings are taken, and the sensors are powered off.

• Connection Status Screen: While this screen is active, the sensors are suspended, and checks are performed to verify if the sensors are connected.

• BME680 Raw Data Screen: While this screen is active, the sensor BME680 is active and BMI088 is inactive, and measurements from the BME680 are displayed on the screen.

  Measurements are: Temperature, Pressure, Humidity and Gas ressitance

• BMI088 Raw Data Screen: While this screen is active, the sensor BMI088 is active and BME680 is inactive, and measurements from the BMI088 are displayed on the screen.

  Measurements are: Temperature, Acceleration and Angular velocity in three axes

• Orientation Screen: While this screen is active, the sensor BMI088 is active and BME680 is inactive, and orientation calculated from the BMI088 measurements are displayed graphically on the OLED.

Testing

Testing manually has not shown errors. Video will not be uploaded to repo, no point.

Comments

• Transitions are made to only change by rotating on one of the axes. Possible improvement can be to have states when two axis exceed threshold at the same time
• Automated testing of the transition through states can be achieved by implementing a function that simulates gyroscope measurements, which could be a potential improvement.