CN107153454A - The method and mobile device calibrated with sensor time - Google Patents
The method and mobile device calibrated with sensor time Download PDFInfo
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- CN107153454A CN107153454A CN201710122185.7A CN201710122185A CN107153454A CN 107153454 A CN107153454 A CN 107153454A CN 201710122185 A CN201710122185 A CN 201710122185A CN 107153454 A CN107153454 A CN 107153454A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3206—Monitoring of events, devices or parameters that trigger a change in power modality
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/10—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for switching-in of additional or auxiliary indicators or recorders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3206—Monitoring of events, devices or parameters that trigger a change in power modality
- G06F1/3215—Monitoring of peripheral devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3234—Power saving characterised by the action undertaken
- G06F1/3243—Power saving in microcontroller unit
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3234—Power saving characterised by the action undertaken
- G06F1/3287—Power saving characterised by the action undertaken by switching off individual functional units in the computer system
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Abstract
The method and mobile device calibrated with sensor time.A kind of representative mobile device includes：Motion sensor with sensor circuit and the first clock, the motion sensor is configured to be produced and store sensor data sample with predefined output data rate according to first clock；And the microcontroller with circuit, it is couple to the motion sensor, and extracts the sensing data sample sequence from the motion sensor during being configured to predefined average time span and calculate the total number of the extracted sensing data sample.The microcontroller is further configured to total number and reference time span based on the extracted sensing data sample and provides calibrated output data rate, the reference time span corresponds to the time span for storing the sensing data sample with the predefined output data rate during it, and the reference time span is provided by second clock.
Description
Technical field
The application is related to a kind of mobile device.
Background technology
Mobile device is commonly equipped with embedded sensors, such as accelerometer, gyrosensor and magnetometer now.Mobile dress
Sample that the CPU (central processing unit, CPU) put can be produced with collecting sensor and based on sample
This performs some processing.For example, CPU can calculate mobile capable with the orientation of mobile device or the user of calculating mobile device
How many step walked.
Because sensor constantly produces sample, therefore CPU must constantly be received and be analyzed sample.Therefore, CPU is necessary
A very long time is in complete mode of operation, this meeting consumption electric power and the battery life for shortening mobile device.
The content of the invention
In view of this, the present invention provides a kind of method and mobile device calibrated with sensor time.
The present invention provides a kind of mobile device, it include having sensor circuit and the first clock motion sensor and
Microcontroller with circuit.The motion sensor is configured to according to first clock predefine output data rate
Produce and store sensor data sample.Microcontroller is couple to the motion sensor, and is configured to predefined flat
The sensing data sample sequence is extracted from the motion sensor and calculate the extracted biography during equal time span
The total number of sensor data sample.The microcontroller is further configured to based on the extracted sensing data sample
Total number and reference time span calibrated output data rate is provided, the reference time span correspond to during it with
The predefined output data rate stores the time span of the sensing data sample, and the reference time span is by second
Clock is provided.
The present invention also provides a kind of sensor time calibration method, including：According to the first clock with predefined output data
Speed produces motion sensor data sample；The motion sensor data sample is stored with the predefined output data rate
This；The sensing data sample sequence is extracted during predefined average time span；Calculate the extracted sensor
The total number of data sample；And the total number and reference time span based on the extracted sensing data sample are provided
Calibrated output data rate, the reference time span corresponds to during it with the predefined output data rate storage
The time span of the sensing data sample, the reference time span is provided by second clock.
Brief description of the drawings
A further understanding of the present invention is to provide for including accompanying drawing, accompanying drawing is incorporated in the present specification and constitutes this
A part for specification.Schema illustrates embodiments of the invention, and is used to explain principle of the invention together with the description.
Fig. 1 is the schematic diagram for showing the mobile device according to embodiments herein.
Fig. 2 is the schematic diagram for the mobile device for showing another embodiment according to the application.
Fig. 3 is the schematic diagram for the mobile device for showing another embodiment according to the application.
Fig. 4 is the schematic diagram for the electronic equipment for showing another embodiment according to the application.
Fig. 5 is the schematic diagram for the electronic equipment for showing another embodiment according to the application.
Fig. 6 is the schematic diagram for the electronic installation for showing another embodiment according to the application.
Fig. 7 is the flow chart for the motion processing method for showing another embodiment according to the application.
Fig. 8 is the schematic diagram of the sampling for the motion process for showing another embodiment according to the application.
Fig. 9 illustrates the electronic installation of another embodiment according to the application.
Figure 10 illustrates the flow chart of the sensor time calibration method according to another embodiment of the application.
Figure 11 illustrates the signal of the application situation of the sensor time calibration method according to another embodiment of the application
Figure.
Figure 12 illustrates the flow of the application situation of the sensor time calibration method according to another embodiment of the application
Figure.
Figure 13 illustrates the flow chart of the sensor time calibration method according to another embodiment of the application.
Figure 14 illustrates the flow chart of the sensor time calibration method according to another embodiment of the application.
Drawing reference numeral explanation
100：Mobile device；
110：Sensor；
115：Buffer；
120：MCU；
125：Buffer；
130：CPU；
200：Mobile device；
201：Accelerometer；
202：Gyrosensor；
203：Magnetometer；
204：Barometer；
205：Touch panel；
206：Microphone；
207：Optical sensor；
320：Mobile device；
340：Electronic installation；
1100：Electronic equipment；
1110：Application processor；
1121、1122、112n：Sensor；
1130：Microprocessor；
S1、S2、Sn：Sensing signal；
SF：Sensing merges signal；
1200：Electronic equipment；
1210：Application processor；
1212：Inner nuclear layer；
1213：Sensor hardware level of abstraction；
1214：Ccf layer；
1215：Application layer；
2200：Electronic installation；
2210：Motion sensor；
2220：Buffer；
2230：Processor；
2240：Bus；
310、320、330、340：Step；
410：Curve；
412、414、416、418：Sample；
900：Electronic installation；
910：Sensor；
912：Sensor timer；
914：Sensor memory；
916：Output interface；
920：Microcontroller；
922：Microcontroller timer；
930：Processor；
S942、S944、S946、S948、S950：Step；
962、964、966、9666：As a result；
S972、S974、S976、S978、S980、S982、S984、S986：Step；
1000：Method；
1002、1004、1006、1008、1010：Square；
1050：Method；
1052、1054、1056、1058、1060、1062、1064、1066：Square.
Embodiment
Now with detailed reference to currently preferred embodiments of the present invention, the example of these embodiments is illustrated in the accompanying drawings.As long as can
Can, identical reference number is in schema and specification to refer to same or similar part.
Fig. 1 is the schematic diagram for showing the mobile device 100 according to embodiments herein.Mobile device 100 can be remote
Range controller, smart phone, personal digital assistant (PDA), tablet PC or notebook etc..Mobile device 100 is wrapped
Include sensor 110, MCU 120 and CPU 130.MCU 120 is couple to sensor 110.CPU 130 is couple to MCU 120.Pass
Sensor 110 includes buffer 115.MCU 120 includes buffer 125.Buffer 115 and 125 is storage device, such as register
Or memory.
Sensor 110 produces multiple samples.Sample can be stored in buffer 115 by sensor 110.MCU 120 from
Sensor 110 extracts sample, and performs initial preset processing to produce the one or more of initial preset processing according to sample
As a result.MCU 120 can by or sample or result be stored in buffer 125.Alternately, MCU 120 can by sample and
As a result it is stored in buffer 125.
CPU 130 extracts one or more results from MCU 120 or received from MCU 120 based on one or more results
Signal.CPU 130 is performed according to one or more results or signal from MCU 120 and is further preset processing.
In embodiments herein, sensor 110 is with frequency F1Produce sample, this representative sensor 110 generation F per second1
Individual sample.MCU 120 is with frequency F2Sample is extracted in batches from sensor 110.CPU130 is with frequency F3From MCU 120 in batches
Extract result.Frequency F1Frequency F can be greater than or equal to2.Frequency F2Frequency F can be greater than or equal to3。
For example, F1Can be 2000Hz, F2Can be 1Hz, and F3Can be 0.001Hz.Sensor 110 is per second to be produced
2000 samples.MCU 120 is per second to extract a sample from sensor 110.In each extract, MCU 120 is by 2000 samples
This is extracted as single batch from sensor 110.After each extract, MCU 120 performs initial preset processing and produced and is based on
40 results of 2000 samples.CPU 130 is extracted once for every 1000 seconds using 40 results as single batch from MCU 120.Every
After secondary extraction, CPU 130 is performed according to 40 results and is further preset processing.This in batches extraction mechanism alleviate MCU 120
The burden of sample is obtained, because MCU 120 from sensor 110 without one by one extracting sample.Similarly, this extraction mechanism in batches
The burden that CPU 130 obtains result is alleviated, because CPU 130 from MCU 120 without one by one extracting result.
CPU 130 performs the application program of operating system (OS) and mobile device 100.It is CPU further to preset processing
One of 130 many tasks performed.MCU 120 is exclusively dedicated for that one is handled and provided according to sample execution initial preset
Or multiple results or signal are to CPU 130.CPU 130 has than the more processing powers of MCU 120, and CPU 130 compares MCU
The 120 more electric power of consumption.MCU120 adapters are collected sample from sensor 110 and performed at the initial preset from CPU 130
The burden of reason so that CPU 130 can dormancy be so as to power saving as long as possible and extends the battery life of mobile device 100.From
MCU 120 extracts result in batches to be helped to reduce CPU 130 wakeup frequency, and this more can power saving.Constantly poll is passed MCU 120
Sensor 110 simultaneously extracts sample, therefore MCU120 never dormancy from sensor 110.
CPU 130 can with dormancy, until CPU 130 wake up with from MCU 120 extract result or until CPU 130 by from
MCU 120 signal wakes up.MCU 120 can wake up CPU 130 and notify CPU 130 to extract result from MCU 120.It is alternative
Ground, CPU 130 can wake up in the user launches application of mobile device 100 or in timer expiration.In other words,
CPU 130 can be waken up in the case of the notice not from MCU 120, and then CPU 130 can be extracted from MCU 120
One or more results.
Fig. 2 is the schematic diagram for showing the mobile device 200 according to another embodiment of the application.Mobile device 200 is wrapped
Include CPU 130, MCU 120, and seven sensors 201 to 207, i.e. accelerometer 201, gyrosensor 202, magnetometer
203rd, barometer 204, touch panel 205, microphone 206 and optical sensor 207.Accelerometer 201 is produced and mobile device 200
The sample of the mobile acceleration associated with rotation.Gyrosensor 202 produces related to the movement and rotation of mobile device 200
The sample of the angular speed of connection.Magnetometer 203 produces the sample of the magnetic force associated with rotation with the movement of mobile device 200.Gas
Pressure meter 204 produces the sample of the atmospheric pressure associated with rotation with the movement of mobile device 200.Touch panel 205 produces shifting
The sample at the position that the user of dynamic device 200 touches.Microphone 206 produces the sample of the sound around mobile device 200.Light is passed
Sensor 207 produces the sample of the ambient brightness around mobile device 200.Each in sensor 201 to 207 can include delaying
Device is rushed, as sensor 110 has buffer.
MCU 120 is couple to all the sensors 201 to 207 and operated as sensor hub.Including CPU 130,
Each subset of MCU 120 and the mobile device 200 of one in sensor 201 to 207 can be moved as shown in Figure 1
The identical mode of device 100 is operated.In addition, the sample that MCU 120 and CPU 130 can together be produced based on multiple sensors is held
The default processing of row.In another embodiment of the application, mobile device 200 can be included less than seven sensors or more than seven
Individual sensor.
In embodiments herein, mobile device 200 can provide the function of pedometer.MCU 120 is from accelerometer 201
Sample is extracted, and initial preset is performed by having walked how many step according to the user of sample calculating mobile device 200
Processing.The result (i.e. step number) that MCU 120 can be handled initial preset is stored in buffer 125.
MCU 120 can wake up CPU 130 to extract the result of every N steps, and wherein N is default positive integer.Alternately,
CPU can extract result with periodic wakeup from MCU 120.Alternately, CPU can be looked into whenever user launches application
Waken up when seeing step number.CPU 130 infrequently wake-up can save energy.Sometimes user's walking a few hours and until user to family
When just want to check step number.In this case, CPU 130 with dormancy a few hours and can save big energy.
In addition to being counted to step number, MCU 120 perform initial preset processing can also include according to accelerometer 201,
The sample that gyrosensor 202 and magnetometer 203 are produced calculates direction and the distance of each step of user.MCU 120 can be by
As a result (that is, the direction of step and distance) is stored in buffer 125.When the size of result reaches the capacity of buffer 125
During preset percentage, MCU 120 can wake up CPU 130 and notify CPU 130 to extract result.
When CPU 130 wakes up, what CPU 130 was performed, which further presets processing, can include display step number, show
The chart of step number hourly, or the direction according to step and track apart from drafting user etc..
In another embodiment of the application, mobile device 200 can provide positioning based on global positioning system (GPS)
With the function of navigation.User can close GPS functions with power saving.When closing GPS functions, the dormancy of CPU 130.As closing GPS
During function phases, MCU 120 can extract the sample of accelerometer 201, gyrosensor 202 and the generation of magnetometer 203 in terms of
Calculate the motion track of mobile device 200.Due to initial preset processing, motion track can be stored in buffer 125 by MCU 120
In.When user opens GPS functions, CPU 130 can extract motion track from MCU 120, and use mobile device 200
Motion track and last GPS location calculate reference position so that CPU 130 can quickly find working as mobile device 200
Preceding GPS location.
In another embodiment of the application, produced except accelerometer 201, gyrosensor 202 and magnetometer 203
Beyond sample, the sample that MCU 120 can also be produced according to barometer 204 calculates the motion track of mobile device 200 so that move
Dynamic rail mark can include the more accurate estimation of the change to the height above sea level of mobile device 200.
In another embodiment of the application, mobile device 200 can switch between released state and lock-out state.
Mobile device 200 is generally received from touch panel 205 when in released state and inputted, but mobile device 200 will not be in lock
Determine to receive from touch panel 205 during state and input.In lock-out state, the dormancy of CPU 130.For example, working as mobile device 200
During idle preset time period, mobile device 200 can enter lock-out state from released state, and when user is in mobile device
When performing predetermined registration operation on 200, mobile device 200 can be back to released state.
Predetermined registration operation for unlocking mobile device 200 can draw desired guiding trajectory on touch panel 205.In this feelings
Under condition, MCU 200 can extract the sample of the generation of touch panel 205, and analyze sample to determine it is pre- whether user depicts
If track.When user completes desired guiding trajectory on touch panel 205, MCU 120 can send signal (for example, interruption) to call out
Wake up CPU 130.CPU 130 makes mobile device 200 be switched to released state from lock-out state in response to the signal.
Alternately, preset password can be said to microphone 206 for unlocking the predetermined registration operation of mobile device 200.
In this case, MCU 200 can extract the sample of the generation of microphone 206, and perform speech recognition to sample to determine to use
Whether preset password is said in family.When user says preset password to microphone 206, MCU 120 can send signal to wake up
CPU 130.CPU 130 makes mobile device 200 be switched to released state from lock-out state in response to the signal.
Alternately, it can hold mobile device 200 for unlocking the predetermined registration operation of mobile device 200 and make to move dress
200 are put to move along desired guiding trajectory.In this case, MCU 200 can extract accelerometer 201, gyrosensor 202 and magnetic
The sample that power meter 203 is produced, and analyze sample to determine whether mobile device 200 moves along desired guiding trajectory.Work as movement
When device 200 is moved along desired guiding trajectory, MCU 120 can send signal to wake up CPU 130.CPU 130 is in response to institute
Stating signal makes mobile device 200 be switched to released state from lock-out state.
In another embodiment of the application, mobile device 200 can include display.MCU 120 can extract light
The sample that sensor 207 is produced, and analyze sample to calculate mobile device 200 after the nearest period with predetermined length
Average environment brightness.Average environment brightness can be stored in buffer 125 by MCU 120.CPU 130 can be periodically
Average environment brightness is extracted, and according to the display brightness of average environment brightness adjustment display.
Fig. 3 is the schematic diagram for showing the mobile device 320 according to another embodiment of the application.Mobile device 320 is wrapped
Include MCU 120 and sensor 201 to 207.Similar to preceding embodiment, MCU 120 can be extracted in sensor 201 to 207
The sample of one or more generations, and initial preset processing is performed according to the sample.MCU 120 can by sample and/or
The result of initial preset processing is stored in buffer 125.In this embodiment, MCU 120 is configured to wireless connection
Or wired connection and be connected to electronic installation 340.The result that MCU 120 is further configured to handle initial preset passes through nothing
Line is connected or wired connection provides and arrives electronic installation 340.Electronic installation 340 can be performed according to one or more of results into
The default processing of one step.In certain aspects, electronic installation 340 is similar to the CPU 130 in preceding embodiment.
For example, mobile device 320 can be Worn type electronic pedometer.The sample that MCU 120 is produced according to accelerometer 201
The step number that user walks is counted.Step number can be stored in buffer 125 by MCU 120.In addition, MCU 120 can be by step
Number, which is provided to electronic installation 340, to be used to further observe or handle.
For another example, mobile device 320 can be the palm or arm or the height waved of user that could attach to user
The small device of golf club.When user plays golf, MCU 120 can extract accelerometer 201, gyrosensor 202 and magnetic
The sample that power meter 203 is produced carries out the number of times that golf club swings to calculate user.MCU 120 can deposit the number of times swung
Storage is in buffer 125.In addition, MCU 120 can by the number of times swung provide to electronic installation 340 be used for further observe or
Processing.
Alternately, MCU can analyze the sample of accelerometer 201, gyrosensor 202 and the generation of magnetometer 203 to obtain
Obtain the time swung every time and the dynamics for the golf club that user is carried out.The result of analysis can be stored in slow by MCU 120
Rush in device 125.It is used to further observe or handle in addition, MCU 120 can be provided the result of analysis to electronic installation 340.
In summary, the MCU that the application is provided is the sensor hub with buffer.MCU can be from mobile device
CPU adapter collect and analyte sensors produce sample burden.Therefore, MCU energy offloading the CPU, and CPU can
The battery life of mobile device with power saving and is extended with dormancy as long as possible.
It refer to Fig. 4.Fig. 4 is the figure for showing the electronic equipment 1100 according to another embodiment of the application.Electronics is set
Standby 1100 can be mobile phone, tablet PC, personal digital assistant etc..Electronic equipment 1100 can include but is not limited to should
112n and microprocessor 1130 (for example, MCU) are arrived with program processor 1110 (for example, CPU), multiple sensors 1121.It is multiple
Sensor 1121 is configured to produce at least one sensing signal S1 to Sn to 112n.Application processor 1110 is configured to
Signal SF is merged according to sensing and performs application program.Microprocessor 1130 is coupled in multiple sensors 1121 to 112n and applies journey
Between sequence processor 1110, and it is configured to produce sensing merging signal SF according at least one sensing signal S1 to Sn.
Above-mentioned multiple sensors 1121 can be real by accelerometer, turn-sensitive device, magnetometer and/or altimeter to 112n
Apply, however, this should not be the limitation of the application.Also, it should be mentioned that the computing capability of application processor 1110 is more than micro- place
Manage the computing capability of device 1130.For example, application processor 1110 can be the multinuclear BBP of mobile phone, and
Microprocessor 1130 can be single chip microcontroller.Those skilled in the art should readily understand application processor
Difference between 1110 and microprocessor 1130, and therefore omission is further described herein for brevity.
It should be noted that when the application processor 1110 of the electronic equipment 1100 of the application enters park mode, micro- place
Reason device 1130, which still works, causes the basic function for maintaining electronic equipment 1100.Therefore, even if hand-held electronic equipment 1100 enters
Park mode, application processor 1110 can also be waken up by the detection operation of electronic equipment 1100.Applied for example, working as
When program processor 1110 enters park mode, application processor 1110 closes the display module of electronic equipment 1100 (not
Show), and lock the touch panel (not shown) of electronic equipment 1100.The lock of the electronic equipment 1100 of the application is listed herein below
Determine mechanism.Step (1)：User swings electronic equipment 1100, and electronic equipment 1100 is detected by multiple sensors 1121 to 112n
Action and/or rotate to produce sensing signal S1 to Sn；Step (2) is then by microprocessor 1130 according to sensing signal
S1 to Sn produces the sensing that can be used for waking up application processor 1110 and merges signal SF；And step (3) application program
Processor 1110 receives sensing and merges signal SF and perform application program then according to sensing merging signal SF.For example, using journey
Sequence processor 1110 can compare sensing and merge signal SF to check whether it corresponds to certain gestures；And if sensing merges
Signal SF corresponds to certain gestures, and above-mentioned display module will be activated and automatically enter released state.Therefore, electronic equipment
1100 need not have the physical button such as prior art, and user need not press physical button to unlock electronic equipment
1100.In addition, when the display module of electronic equipment 1100 is closed, application processor 1110 can continue to play music.
The electronic equipment 1100 of the application can be when user swings electronic equipment 1100 by arriving 112n according to multiple sensors 1121
Detection operation and/or rotate and produce exercise data；And microprocessor 1130 can handle exercise data and then apply journey
Sequence processor 1110 can control the music played.For example, user can rap the left side of electronic equipment 1100 to select to play
Previous song, or rap the right side of electronic equipment 1100 to select to play next song.
On the other hand, another advantage of the application is：After application processor 1110 enters park mode, step
The function of sub-count device or pedometer can still work.For example, when application processor 1110 enters park mode and electricity
When sub- equipment 1100 uses the function of step counter, sensor 1121 (such as accelerometer) can produce at least one sensing letter
Number S1.At least one sensing signal S1 that microprocessor 1130 can be produced according to accelerometer, which is produced, calculates information.It should be noted that
In another embodiment of the application, microprocessor 1130 can set acquiescence to calculate information, and such as 1000 count.Namely
Say, when calculating information is up to 1000 counting, microprocessor 1130 can be merged signal SF wake-ups by using sensing and apply journey
Sequence processor 1110.
Fig. 5 is to show the electronic equipment 1200 according to the second embodiment of the application.It refer to Fig. 5, electronic equipment 1200
Application processor 1210 (for example, CPU), microprocessor 1130 (for example, MCU) and multiple sensors 1121 can be included
To 112n.Above-mentioned multiple sensors 1121 can be real by accelerometer, turn-sensitive device, magnetometer and/or altimeter to 112n
Apply.Application processor 1210 can include inner nuclear layer 1212, sensor hardware level of abstraction (sensor HAL) 1213, framework
Layer 1214 and application layer 1215, wherein application layer 1215 can be the application layer of Android system.Microprocessor 1130 is arranged on should
With program processor 1210 and multiple sensors 1121 between 112n.Multiple sensors 1121 will be produced after sensing to 112n
Raw corresponding sense signal S1 to SN, and sensing signal S1 to SN is transferred to microprocessor 1130.Microprocessor 1130 merges
Multiple sensors 1121 arrive sensing signal S1 to the SN that 112n is produced, and sensing merging signal SF then is transferred into application program
Processor 1210.Application processor 1210 merges signal SF according to sensing and performs corresponding application program.It should be noted that using
Communication between program processor 1210 and microprocessor 1130 is implemented by internal integrated circuit port；And microprocessor
Communication between 1130 and multiple sensors is implemented by internal integrated circuit port；However, this should not be the limitation of the application.
For example, in certain embodiments, the function associated with MCU can be embedded in for the component for providing CPU (for example, half
Conductor chip) in.
Electronic equipment 1100/1200 is characterised by：Microprocessor 1130 can be selectively enabled or disabled with power saving.
For example, multiple sensors 1121 can include accelerometer to 1212N, and the sensing signal that accelerometer is produced can be used for control
Microprocessor 1130 enabling and disables.In more detail, when accelerometer produces the related sensing signal of acceleration, it represents electricity
Sub- equipment 1100/1200 is just moving (for example, now sensing signal may be at high level) to enable microprocessor 1130.
After microprocessor 1130 is enabled, it can merge multiple sensors 1121 to 112n sensing signal S1 to the SN produced so that root
Sensing, which is produced, according to algorithm merges signal SF.Then sensing merging signal SF is transferred to application program processing from microprocessor 1130
Device 1110/1210, to make application processor 1110/1210 perform corresponding application program.
The advantage of the configuration of the application is：Determine whether to enable microprocessor by using the feature of multiple sensors
1130 so as to power saving.For example, in the above-described embodiments, can determine whether to enable microprocessor by using accelerometer sensor
Device 1130.In other words, the electronic equipment 1100/1200 with this configuration can be determined whether based on the motion detection of itself
Enable microprocessor 1130 and perform corresponding application program so as to power saving.It should be noted that in the electronic equipment 1100/1200 of the application
One embodiment in, microprocessor 1130 and multiple sensors 1121 are not encapsulated in single at least one in 112n
In piece, however, this should not be the limitation of the application.Multiple sensors 1121 can be encapsulated in single-chip to some in 112n
In.In addition, microprocessor 1130 is independently of application processor 1110/1210, and they are not encapsulated in single-chip.
It should be noted that multiple sensors 1121 to 112n driver can be pre-loaded onto in microprocessor 1130.Therefore, if exploitation
Person uses the microprocessor 1130 of the application, and the sensing signal S1 that can successfully handle multiple sensors 1121 to 112n is arrived
SN.The advantage of the configuration of the application is：The elasticity of selection sensor chip supplier can be improved.
Fig. 6 is the schematic diagram for showing the electronic installation 2200 according to embodiments herein.Electronic installation 2200 can be
Smart phone, personal digital assistant (PDA), tablet PC, remote control or any other electronics that can be moved and/or rotate
Device.Electronic installation 2200 includes motion sensor 2210, processor 2230 and bus 2240.Motion sensor 2210 includes slow
Rush device 2220.Processor 2230 is couple to motion sensor 2210 by bus 2240.
It should be noted that motion sensor can be gyrosensor, accelerometer, 6 axis movement sensors or 9 axle motion-sensings
Device.In embodiments herein, motion sensor 2210 can be the angular speed of detection electronic installation 2200 and it is sampled
Gyrosensor.In another embodiment of the application, motion sensor 2210 can be detection electronic installation 2200
Acceleration and the accelerometer sampled to it.In another embodiment of the application, motion sensor 2210 can be detection electricity
The acceleration or angular speed of sub-device 2200 and 6 axis movement sensors sampled to it.In another embodiment of the application,
Motion sensor 2210 can be acceleration, angular speed or the magnetic force of detection electronic installation 2200 and it is sampled 9 axles motion
Sensor.Those skilled in the art can be readily understood by, and 6 axis movement sensors include 3 axle gyroscopes and 3 axle accelerometers,
And omit and further describe for brevity herein.Similarly, 9 axis movement sensors include 3 axle gyroscopes, 3 axle accelerometers
With 3 axle compass, and herein for brevity omit further describe.Buffer 2220 can store motion sensor
First in first out (first-in-first-out, FIFO) register of the 2210 multiple samples produced.Processor 2230 can be
CPU, microprocessor, or electronic installation 2200 embedded controller.
Fig. 7 is the flow chart for showing the motion processing method according to embodiments herein.The method shown in Fig. 7 can be with
Performed by electronic installation 2200.In the step 310, motion sensor 2210 performs sampling with predetermined sampling rate.Performing
Before the method shown in Fig. 7, processor 2230 can set fortune by accessing the configuration register of motion sensor 2210
The sampling rate of dynamic sensor 2210.In every sub-sampling, motion sensor 2210 passes through the angular speed to electronic installation 2200
Or acceleration samples to produce sample.In step 320, motion sensor 2210 deposits each sample produced in step 310
Storage is in buffer 2220.
In a step 330, processor 2230 is with predetermined poll rate periodic ground poll motion sensor 2210.Motion is passed
The sampling rate of sensor 2210 can be greater than or equal to the poll rate of processor 2230.Therefore, whenever the poll of processor 2230
, may be in the presence of the multiple samples being stored in buffer 2220 during motion sensor 2210 so that processor 2230 can be with
More than one sample is extracted from buffer 2220.Processor 2230 can be extracted in each above-mentioned poll and deposited in buffer 2220
The part or all of sample of storage.Processor 2230 performs poll and extraction by bus 2240.
In step 340, processor 2230 performs numerical integration based on the sample extracted in a step 330.When motion is passed
When sensor 2210 is gyrosensor, sample can be that the result of the angular speed of electronic installation 2200 and numerical integration can be
The rotation of electronic installation 2200 or the angle of orientation.When motion sensor 2210 is accelerometer, sample can be electronic installation
2200 acceleration, and numerical integration result can be electronic installation 2200 point-to-point speed or distance.Processor 2230
The part or all of sample extracted in a step 330 can be used to perform numerical integration.Using more multisample, numerical integration
Accumulated error is smaller.
Fig. 8 is the schematic diagram of the sampling for the motion process for showing the electronic installation 2200 according to embodiments herein.It is bent
Line 410 represents the angular speed or acceleration samples of the extraction of motion sensor 2210.Round dot of the sample on curve 410 represent, example
Such as sample 412,414,416 and 418.
In this embodiment, the sampling rate of motion sensor 2210 is 500Hz, and the poll rate of processor 2230
It is 100Hz.In other words, 2210 every two milliseconds of generations of motion sensor, one sample, and 2230 every ten milliseconds of polls of processor
Motion sensor 2210.In each poll, five samples that there is storage in buffer 2220 wait processor
2230.Processor 2230 can extract the part or all of of five samples for being stored in buffer 2220.
In this way, the sampling rate of motion sensor 2210 can be set to than processor 2230 by processor 2230
Poll rate is much higher so that there is the available great amount of samples of processor 2230 during each poll.Low poll rate can make place
Reason device 2230 is polled and extracted from continually accessing bus 2240, and there is such processor 2230 more time to handle
Other tasks of electronic installation 2200.In addition, the high sampling rate of motion sensor 2210 means that more multisample sum value is accumulated
The smaller accumulated error divided.
In this embodiment, processor 2230 is made using the sampling period of the sampling rate corresponding to motion sensor 2210
The numerical integration in step 340 is performed for the trapezoidal height (or width) defined by sample.In other words, processor 2230
Numerical integration is performed according to the clock of motion sensor 2210 rather than the clock of itself of processor 2230, this is eliminated by two
Accumulated error caused by individual asynchronous clock.Motion sensor 2210 is exclusively used in producing sample according to the clock of its own.With processing
Unlike device 2230, motion sensor 2210 does not have other distractive tasks.Therefore, motion sensor 2210
Sample time is very accurate, and this contributes to the accumulated error for reducing numerical integration.
In summary, the application can efficiently reduce motion by the sampling rate of more accurate sample time and Geng Gao
The accumulated error of numerical integration during processing.In addition, the application does not require the dedicated pin of processor, because during processor is not needed
It is disconnected to extract sample.
It should be noted that in certain embodiments, application program can be depended on and changed from sensor hub (MCU) to application
The extraction state of the process signal of program processor (AP or CPU).By means of example, for game application, (it may
Seek relatively quick renewal frequency), system can postpone and use bypass mode, be extracted in batches wherein can not perform.Using such
Latent defect during bypass mode may include that AP needs continually to wake up (for example, will call out when it is from MCU recall signals
Wake up).Comparatively speaking, for PDR or health monitoring function (it so need not can rapidly update), AP will in batch mode
Extraction process signal is so as to reduce power consumption.
Meanwhile, in certain embodiments, such as under the accurate timing of gyroscope or external timer, gyroscope may be needed
Sample is extracted in batch mode.Because the sample that gyroscope is produced is in the form of relative vector.Generally according to integrating meter
Calculate to calculate such relative vector to obtain relative rotation angle.Therefore, sampled data generally (is similar to stream with Format Series Lines
Dynamic formula is received, and it is referred to alternatively as flow-type reception pattern) retain in a buffer to improve accuracy.Therefore, accuracy be
Sensor side uses the main cause of batch mode, it is also contemplated that power consumption.
From gyroscope produce sample unlike, accelerometer generation sample be absolute direction vector.Make on system
With system need not can continually retrieve accelerometer sample as gyroscope sample.For example, MCU can arrive 40ms with 20
The frequency retrieval accelerometer sample of (without too large deviation), but MCU can retrieve gyroscope sample with 5ms frequency.Therefore, when
When MCU determines to need sample, it can only need to accelerator sample uploading to MCU.
Fig. 9 illustrate according to an exemplary embodiment of the present in the electronic installation of one.It is disclosed more closely in reference to Figure 10
The function of component.
Refer to Fig. 9, for exemplary purposes, electronic installation 900 include sensor 910, microcontroller 920 (for example,
) and processor 930 (for example, CPU or AP) MCU.It should be noted that in other embodiments, electronic apparatus 900 can include
More than one sensor.The present invention is not limited in this respect.
Sensor 910 can be the event in its environment of detecting or change and provide any kind of biography that accordingly exports
Sensor, such as motion sensor, voltage sensor, optical sensor, imaging sensor, microphone etc..Sensor 910 will include
Sensor timer 912 is used for sensor 910 itself with predefined frequency detecting event and sample data to provide timing signal.
Sensor 910 will further comprise sensor memory 914 and output interface 916, store and export respectively the data detected
And time stamp.Sensor memory 914 can be first in first out (first-in-first-out, FIFO) buffer.For showing
Example property purpose, in embodiments of the present invention, motion sensor 910 can be it is following in one or its combination：Accelerometer (example
Such as, G- sensors), gyroscope (for example, gyrosensor), or detection electronic apparatus 900 is linear mobile, linear mobile
Direction or any sensor in rotary moving.For example, triaxial accelerometer will be responsive to dash forward when electronic installation 900 runs into external force
Any detection for so moving and export the acceleration information corresponding to each axle.Gyroscope will detect the specific axle surrounded in space
The electronic apparatus 900 of rotation in rotary moving and export the expression data in rotary moving.Accelerometer and gyroscope
Combination can form the more accurate measurement for moving integrally and orienting of electronic installation 900.
Microcontroller 920 can be by (such as) SPI bus (SPI) or interframe integrated circuit (I2C) electricity
It is couple to the sensor hub of sensor 910.Microcontroller 920 is configured to integrated and handles the number obtained from sensor
According to, and result is transferred to processor 930 after.It should be noted that in embodiments of the present invention, microcontroller 920 will enter
One step includes timer 922, so as to keep precise time with pinpoint accuracy and low-power consumption.Such timer is also known as pinpoint accuracy
Timer, and hereinafter it is referred to alternatively as " microcontroller timer 922 ".
Processor 930 can include north bridge, south bridge, field programmable gate array (field programmable gate
Array, FPGA), programmable logic device (programmable logic device, PLD), application specific integrated circuit
One in (application specific integrated circuit, ASIC) or other similar devices or its combination
Or it is multiple.Processor 930 can also include CPU (central processing unit, CPU), may be programmed and lead to
With or special microprocessor, digital signal processor (digital signal processor, DSP), graphics processing unit
(graphics processing unit, GPU), application processor (application processor, AP) or other
Similar device or its combination.Processor 930 will be conductively coupled to microcontroller 920 by (such as) I2C and SPI.
Figure 10 illustrate according to an exemplary embodiment of the present in the sensor time calibration method of one flow chart.Figure
10 the step of, can be implemented by the electronic installation 900 proposed as shown in Figure 9.
Fig. 9 and Figure 10 are please also refer to, first, the sensor timer 912 of sensor 910 will provide the first clock sequence
(step S942), and the output interface 916 of sensor 910 will export the data (step detected based on the first clock sequence
S944).Meanwhile, microcontroller timer 922 will provide second clock sequence, and the output interface 916 of measurement sensor 910
Export the period (step S946) of the data detected.In other words, will be according to sensing when sensor 910 is by normal operating
First clock sequence of device timer 912 produces the data detected.If for example, the frequency of the first clock sequence is predefined as
100Hz, then every 10ms is exported the data that one-time detection is arrived by output interface 916.When sensor 910 is operated, microcontroller
Timer 922 will also provide the clock sequence of its own through certain period of time is used for time measurement purpose.
Specifically, from the perspective of sensor 910, sensor timer 912 will be considered as embedded timer, and it is carried
For clock sequence (that is, above-mentioned first clock sequence).Microcontroller timer 922 will be considered as external timer, and it provides another
One clock sequence (that is, above-mentioned second clock sequence).Assuming that microcontroller timer 922 is considered as absolute time reference.It is preferable
Ground, sensor timer 912 should be synchronous with microcontroller timer 922.However, some examples are (for example, the environment temperature of fluctuation
With manufacture limitation) accuracy of sensor timer 912 may be negatively affected and caused relative to microcontroller timer
922 time deviation.Such time deviation can be positive or negative, will produce the sensing result of the error with obvious degree.
That is, the predefined output data rate of sensor 910 is unreliable.Therefore, in embodiments of the present invention, when will be based on second
Clock sequence calibrates the time stamp associated with the data detected of the output of sensor 910.
In detail, the number of the data to being detected during the period is counted (step by microcontroller 920
), and the number according to the data detected and the period determine relative output data rate (step S950) S948.
That is, microcontroller 920 by the basis of accumulative to passing through after the period measured by microcontroller timer 922
The number for the data detected that sensor 910 is exported is counted.
Microcontroller 920 can be by various methods to the number counting of the data detected.In embodiment, sensor
The data that every of 910 detects are associated with interrupt signal, thus microcontroller 920 can to during the period from
The number for the interrupt signal that sensor 910 is received is counted.In another embodiment, every data detected are temporarily stored in
In the sensor memory 914 of sensor 910, therefore microcontroller 920 can access sensor memory 914 and determine in institute
The number for the data detected being stored therein during stating the period.Once it is determined that the number of the data detected, microcontroller
Device 920 just can be averaging to calculate relative output data by the number of the data detected in the period adding up
Speed.The relative output data rate of assessment can be put on when larger to obtain relative optimum.
In embodiment, it is contemplated that when using sensor 910 in the environment in change (particularly when electronic installation 900
For can at any time and Anywhere use portable electron device when) or when processor 930 is multithreading, temperature
Change can substantially reduce the precision of sensor 910.In such cases, time bias will be needed for deviation.Therefore, at this
In inventive embodiments, electronic installation 900 may further include temperature sensor (not shown), and microcontroller 920 can be with
The data detected according to being obtained from temperature sensor periodically determine temperature drift whether occurs in electronic installation 900
Move.If it is, microcontroller 920 will adjust the measuring section of its microcontroller timer 922.For example, microcontroller 920 can
So that measuring section is extended into bigger markers, so that the influence caused by drift suddenly be minimized.
In embodiment, after microcontroller 920 determines relative output data rate, it will further determine sensor
Whether the difference between 910 relative output data rate and predefined output data rate is more than tolerance threshold.If described
Difference is more than tolerance threshold, the number that microcontroller 920 will be calibrated and detected according to the relative output data rate of sensor 910
According to associated time stamp.Otherwise, microcontroller 920 will be without any adjustment.It should be noted that only pair related to the data detected
The time stamp of connection performs calibration without performing calibration to sensor hardware.In other words, the reality output data rate of sensor 910
It is identical that holding manufactures default setting with it.In addition, microcontroller 920 can be by calibrated time stamp and the data storage detected
Processor 930 is further transferred in database, or by calibrated time stamp and the data detected for other purposes.
Figure 11 illustrate according to an exemplary embodiment of the present in the sensor time calibration method of one application situation
Schematic diagram.
It refer to Figure 11, it is assumed that the predefined output data rate of sensor 910 is 100Hz.It is desirable that sensor 910
Should relative to real-time time 10ms, 20ms ..., 70ms and the data that detect of 80ms outputs, as in result 962 be in
It is existing.However, when in predefined skew (that is, 10% error that there is 1ms between output data rate and reality output data rate
Rate) when, result 964 will be presented.That is, relative to real-time time (that is, microcontroller time) 9ms, 18ms,
27ms ..., the data that detect of 81ms outputs, but time stamp 10ms, 20ms ..., 70ms, 80ms and 90ms.Microcontroller
920 will be counted by the number (that is, 9) of the data detected by reference time section (that is, 81ms) divided by during this period
Calculate relative output data rate.In this case, will be 9ms with respect to output data rate, and calibrated time stamp will be
9ms, 18ms, 27ms ..., 81ms, as presented in result 966.
Figure 12 illustrate according to an exemplary embodiment of the present in the sensor time calibration method of one application situation
Flow chart.In embodiments of the present invention, sensor 910 will be gyrosensor.
Figure 12 is refer to, first, (the step of sensor 910 will be manually enabled by default or by the user of electronic installation 900
Rapid S972), then, in order to avoid the uncertainty in circuit delay, will be provided before sensor 910 performs actual measurement etc.
Treat that the time becomes stable (step S974) until the sensor.Once the stabilization of sensor 910, sensor 910 will start measurement
(step S976).Meanwhile, microcontroller 920 will start its pinpoint accuracy timer (step S978).Then, microcontroller 920
The data detected will be obtained from sensor 910, and the number of the data to detecting counts (step S980), to calculate
Average output data rate (that is, above-mentioned relative output data rate) (step S982).Microcontroller 920 will be by comparing sensing
Difference between the predefined output data rate and average output data rate of device 910 is determined whether average output data
Speed, which updates, arrives database (step 984).If it is, microcontroller 920 by average output data rate and can be detected
Data update database (step S986) together, and are back to step S980 and start another average output data rate
Calculate.If it is not, microcontroller 920 will return directly to step S980.Step S972 to S986 particular content can join
Examine Figure 10 associated description and will not hereinafter repeat.
Figure 13 illustrates the flow chart of the sensor time calibration method according to another embodiment of the application.It should be noted that
Methods described can be implemented on various devices, such as Fig. 9 device 900.
As shown in Figure 13, method 1000 can be understood as starting at square 1002, wherein according to the first clock (example
Such as, timer 912) with the motion sensor number of predefined output data rate generation motion sensor (for example, sensor 910)
According to sample.By means of example, motion sensor can be gyroscope.In square 1004, deposited with predefined output data rate
Store up motion sensor data sample.Then, as described in square 1006, sensing is extracted during predefined average time span
Device data sample sequence.In square 1008, the total number of extracted sensing data sample is calculated, and then, is based on
The total number and reference time span of the sensing data sample extracted provide calibrated output data rate (square 1010).
Specifically, reference time span is provided by second clock, and is deposited corresponding to during it with predefined output data rate
Store up the time span of sensing data sample.
On the function of square 1004, in certain embodiments, the motion of the storage of sensing data sample can be performed
Sensing data sample can be stored in buffer (for example, memory 914) by sensor (for example, sensor 910).Separately
Outside, motion sensor can produce the sample counting of the number for the sample for indicating to store in a buffer, and in response to described
Sample counting provides the flush signal (flush signal) corresponding to watermark value (for example, predetermined value).In response to receiving punching
Brush signal, microcontroller (for example, microcontroller 920) can be used for extracting sensing data sample from buffer (such as in batches)
This (square 1006).
In certain embodiments, grasped with battery saving mode and sample extraction pattern to the microcontroller property of may be configured to select
Make.Specifically, when in battery saving mode, microcontroller can receive flush signal from motion sensor and be switched to sample
Extraction pattern.Once in sample extraction pattern, microcontroller just extracts sensing data sample in batches from the first buffer.
In certain embodiments, microcontroller includes being used to store the sensor number extracted from the buffer of motion sensor
According to the buffer of sample.Additionally or alternatively, microcontroller be configured so that corresponding time indicator with from motion sensor
Buffer extract sensing data sample choose sample be associated.Can be in response to microcontroller in response to being passed from motion
The querying command that sensor receives flush signal and provided carrys out the generation of deadline designator.It is worth noting that, according to second
Clock (for example, timer 922) generation time designator is to provide the reference sequential (example for determining reference time span
Such as, time stamp, time tag).Specifically, microcontroller is based on the difference between the continuous time designator in time indicator
Reference time span is determined, it corresponds to during it with predefined output data rate (but relative to microcontroller more
Precision clock) store sensor data sample time span.
Relative to square 1010, in certain embodiments, by the way that the total number of the sensing data extracted sample is removed
Calibrated output data rate is calculated with reference time span.Using calibrated output speed (and sensing data sample),
Microcontroller can calculate the anglec of rotation associated with mobile device.It is worth noting that, the sensing data sample extracted
Each in this represents the rotary speed associated with mobile device.Combining the accelerometer for producing acceleration signal
In those embodiments, microcontroller can be configured to perform default processing according to acceleration signal and the anglec of rotation to be transported
Dynamic result.
Use on predefining average time span, in certain embodiments, sets up predefined average time span, makes
It extends after at least continuous two batches sensing data sample.It should be noted that can be based on one or more of various factors
The predefined average time span of adjustment.By means of example, if the difference of the time span associated with continuous two batches is less than
Between poor threshold value, microcontroller can increase predefined average time span to ensure accuracy.As another example, if detection
The temperature change increase arrived, microcontroller can reduce predefined average time span for similar reasons.
Figure 14 illustrates the flow chart of the sensor time calibration method according to another embodiment of the application.As in Figure 14
Shown, method 1050 can be understood as starting at square 1052, be provided with the parameter associated with gyroscope.Citing comes
Say, parameter can include one or more of the following：Predefined output data rate is set (namely based on sensor meter
When device produce clock sampling rate)；The watermark for corresponding to the multiple samples for treating to export in batches or threshold value are set；Gyro is set
The buffer of instrument；And initially predefined average time span is set, microcontroller is after the time span from gyroscope
Buffer obtains sensing data sample.In certain embodiments, initially predefined average time span is set to correspond to greatly
Cause multiple sensing data samples between 5 batches and substantially 10 batches.
In square 1054, with flow-type reception pattern operate gyroscope, its can include filter out Gyroscopic stabilization it
The initial sensor data sample of preceding generation.In certain embodiments, with operation of sleep mode microcontroller before confirmation is interrupted
Device.
In square 1056, confirmed and interrupted based on watermark.Specifically, if multiple sensing data samples in buffer
This corresponds to watermark (that is, threshold value), just provides interrupt signal (for example, flush signal) and arrives microcontroller.As in square 1058
Described, interrupt signal causes microcontroller to wake up.Once waking up, microcontroller can perform one or many in various functions
It is individual, for example：Sensing data sample is extracted in batches from gyroscope buffer；Determine the number of extracted sample；And hold
Row time synchronized is operated.As described previously, time synchronized operation can include translating in response to the time of the sample of interrupt signal
Code form.
Continue square 1060, predefined average time span can be updated.For example, if the temperature drift detected
Or change increase, predefined average time span can be reduced；And/or it is if associated with continuously batch sensing data sample
The difference of time span is less than time difference threshold value, can increase predefined average time span.
In square 1062, the sensing data sample sequence extracted from gyroscope buffer is collected by microcontroller.
Specifically, the sensing data sample sequence corresponds to what is stored during the predefined average time span of microcontroller
Sensing data sample.In certain embodiments, the microcontroller time associated with sample by analyzing is (such as by checking
The time tag produced in response to interrupt signal) come calculate the sequence from first sample to last sample when
Between span, the counter for being also based on buffer determines the number of sensing data sample.
Then, in square 1064, calibrated output data rate is determined by microcontroller.In certain embodiments,
This can be by determining each sample by the number of the sample in time span divided by corresponding sequence relative to output data rate
(that is, Δ t) is completed time variance between this.Then microcontroller can update output data speed according to the time variance
Rate (square 1066).This makes it possible to update angular speed determination to obtain the accurate meter of anglec of rotation change according to time variance
Calculate.After square 1066, the process can be back to such as square 1054.
In view of foregoing description, because the predefined output data rate of sensor timer may be because of manufacture limitation or temperature
Change and it is unstable, therefore can dynamically calibrate being produced by sensor with number that is detecting based on pinpoint accuracy timer
According to associated time stamp.
It will be apparent to those skilled in the art that, without departing from the scope or spirit of the invention,
Various modifications and variations can be carried out to the structure of the present invention.In view of being above content, it is desirable to which the application covers repairing for the present invention
Change and change, as long as the modifications and variations are fallen into the range of appended claims and its equivalent.
The cross reference of related application
U.S. Provisional Application 62/302,192 that the present patent application was submitted based on March 2nd, 2016 simultaneously advocates the U.S.
The priority of provisional application, and be part continuation application, its U. S. application 15/357 submitted based on November 21st, 2016,
176 and advocate the priority of the U. S. application.U. S. application 15/357,176 is the first U.S. submitted on November 25th, 2013
State applies for the part continuation application of 14/088,452 (co-pending at present) and advocates the benefit of priority of the first U. S. application, beautiful
State apply 14/088,452 be the first U. S. application 13/945,930 (at present co-pending) submitted on July 19th, 2013 part after
The continuous benefit of priority applied and advocate the first U. S. application, the first U.S. that itself or September in 2013 are submitted on the 23rd
Continue Shen in the part of application 14/033,553 (currently acquired patent is that 9,104,417,2015 years Augusts of United States Patent (USP) are issued on the 11st)
The benefit of priority of the first U. S. application and please be advocated.First U. S. application 14/033,553 advocates on May 8th, 2013
The benefit of priority for No. 201320245496.X China's application submitted.The full content of each in above-mentioned patent application
It is hereby incorporated by reference herein and constitutes the part of this specification.
Claims (20)
1. a kind of mobile device, it is characterised in that including：
Motion sensor with sensor circuit and the first clock, when the motion sensor is configured to according to described first
Clock is produced and store sensor data sample with predefined output data rate；And
Microcontroller with circuit, is couple to the motion sensor, and be configured to predefined average time span
Period extracts the sensing data sample sequence from the motion sensor and calculates the extracted sensing data sample
This total number；
Wherein described microcontroller is further configured to total number and ginseng based on the extracted sensing data sample
Examine time span and calibrated output data rate is provided, the reference time span corresponds to during it with described predefined defeated
Go out the time span that data rate stores the sensing data sample, the reference time span is provided by second clock.
2. mobile device according to claim 1, it is characterised in that：
The motion sensor has the first buffer；
The motion sensor is configured to the sensing data sample being stored in first buffer, produces instruction
The sample counting of the number for the sample being stored in first buffer, and correspond in response to sample counting offer
The flush signal of watermark value；And
The microcontroller is configured to respond to receive the flush signal and extract in batches from first buffer
The sensing data sample.
3. mobile device according to claim 2, it is characterised in that：
The microcontroller is configured to optionally operate with battery saving mode and sample extraction pattern；
In the battery saving mode, the microcontroller is used for receiving the flush signal and is switched to the sample extraction mould
Formula；And
In the sample extraction pattern, the microcontroller extracts the sensing data in batches from first buffer
Sample.
4. mobile device according to claim 2, it is characterised in that：
The microcontroller has the second buffer；
The microcontroller is configured to the sensing data sample extracted from first buffer being stored in described
In second buffer.
5. mobile device according to claim 2, it is characterised in that：
The microcontroller is configured so that corresponding time indicator and the sensor number extracted from first buffer
Sample is chosen to be associated according in sample；And
The time indicator is produced according to the second clock.
6. mobile device according to claim 5, it is characterised in that：
The microcontroller is configured to respond to receive the flush signal confirmation querying command；And
Each in the time indicator is in response to the correspondence one in the querying command and produced.
7. mobile device according to claim 5, it is characterised in that the microcontroller is configured to be based on the time
The difference between continuous time designator in designator determines the reference time span.
8. mobile device according to claim 5, it is characterised in that：
The time indicator is time tag；And
The mobile device further comprises being configured to the reference timing that the time tag is produced according to the second clock
Device.
9. mobile device according to claim 1, it is characterised in that by by the extracted sensing data sample
Total number divided by the reference time span calculate the calibrated output data rate.
10. mobile device according to claim 2, it is characterised in that：
The microcontroller is further configured to based on the sensing data sample extracted and described calibrated defeated in batches
Go out the data rate calculation anglec of rotation associated with the mobile device；And
Each in the extracted sensing data sample represents the rotary speed associated with the mobile device.
11. mobile device according to claim 10, it is characterised in that：
The mobile device further comprises accelerometer, and the accelerometer is configured to produce acceleration signal；And
The microcontroller be further configured to according to the acceleration signal and the anglec of rotation perform default processing from
And obtain motion result.
12. mobile device according to claim 1, it is characterised in that the motion sensor is gyroscope.
13. mobile device according to claim 2, it is characterised in that the predefined average time span at least after
Sensing data sample described in continuous two batches.
14. mobile device according to claim 13, it is characterised in that the microcontroller is further configured to：
Increase described predetermined in the case where the difference of the time span associated with the continuous two batches is less than time difference threshold value
Adopted average time span；And
Reduce the predefined average time span in the case of the temperature change detected is increased.
15. a kind of sensor time calibration method, it is characterised in that including：
Motion sensor data sample is produced with predefined output data rate according to the first clock；
The motion sensor data sample is stored with the predefined output data rate；
The sensing data sample sequence is extracted during predefined average time span；
Calculate the total number of the extracted sensing data sample；And
Total number and reference time span based on the extracted sensing data sample provide calibrated output data speed
Rate, the reference time span corresponds to during it with the predefined output data rate storage sensing data sample
This time span, the reference time span is provided by second clock.
16. method according to claim 15, it is characterised in that：
The storage includes the motion sensor data sample being stored in the first buffer；
Methods described further comprises：Produce the sample counting of the number for the sample for indicating to be stored in first buffer；
And provide the flush signal corresponding to watermark value in response to the sample counting；And
Described extract includes extracting the sensing in batches from first buffer in response to receiving the flush signal
Device data sample.
17. method according to claim 16, it is characterised in that：
The extraction is held by the microcontroller for being configured to optionally operate with battery saving mode and sample extraction pattern
OK；
Methods described further comprises：The microcontroller is operated with the battery saving mode, described letter is washed away in response to receiving
Number, operate the microcontroller that the microcontroller is carried in batches from first buffer with the sample extraction pattern
Take the sensing data sample.
18. method according to claim 16, it is characterised in that further comprise to extract from first buffer
The sensing data sample is stored in the second buffer.
19. method according to claim 16, it is characterised in that further comprise making corresponding time indicator with from described
Sample is chosen to be associated in the sensing data sample that first buffer is extracted, wherein the time indicator is basis
The second clock and produce.
20. method according to claim 15, it is characterised in that further comprise：
Increase described predetermined in the case where the difference of the time span associated with the continuous two batches is less than time difference threshold value
Adopted average time span；And
Reduce the predefined average time span in the case of the temperature change detected is increased.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201662302192P | 2016-03-02 | 2016-03-02 | |
| US62/302,192 | 2016-03-02 | ||
| US15/430,619 US10551211B2 (en) | 2013-05-08 | 2017-02-13 | Methods and devices with sensor time calibration |
| US15/430,619 | 2017-02-13 |
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| TWI835438B (en) * | 2022-11-29 | 2024-03-11 | 瑞昱半導體股份有限公司 | Media communication system and media communication apparatus and method thereof having built-in signal synchronization mechanism |
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| CN107153454B (en) | 2020-10-09 |
| TW201732488A (en) | 2017-09-16 |
| TWI631451B (en) | 2018-08-01 |
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