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发表于 2014-1-7 04:35:05
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读了一下register map,里面的原话摘录如下。
1. Gyroscope Self-Test
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This actuation will move the sensor’s proof masses over a distance equivalent to a pre-defined Coriolis force. This proof mass displacement results in a change in the sensor output, which is reflected in the output signal. The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
The self-test limits for each gyroscope axis is provided in the electrical characteristics tables of the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test response is within the min/max limits of the product specification, the part has passed self test. When the self-test response exceeds the min/max values specified in the document, the part is deemed to have failed self-test.
2. Accelerometer Self-Test
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This actuation simulates an external force. The actuated sensor, in turn, will produce a corresponding output signal. The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
The self-test limits for each accelerometer axis is provided in the electrical characteristics tables of the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test response is within the min/max limits of the product specification, the part has passed self test. When the self-test response exceeds the min/max values specified in the document, the part is deemed to have failed self-test.
大概意思就是开始自检之后Gyroscope就会测量地转偏向,Gyroscope Sensor 就会测量这个偏向;Accelerometer就会用电子运动产生激励,Accelerometer Sensor就会测量这个加速度。两个测量值与原值相减得到一个差值,差值再和预设值比较,范围内则通过自检,范围外则不通过。
所以我理解自检就是检测芯片坏没坏。
我也在做这个芯片,学习交流,有错轻喷。 |
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