Electronic device and method of motion processing
An electronic device is provided. The electronic device includes a motion sensor and a processor. The motion sensor is configured to perform a sampling at a sampling rate. In each sampling, the motion sensor generates a sample by sampling an angular velocity or an acceleration of the electronic device. The motion sensor is further configured to store each sample in a buffer of the motion sensor. The processor is coupled to the motion sensor and is configured to perform a polling at a polling rate. In each polling, the processor fetches a plurality of the samples from the buffer. The processor is further configured to perform a numerical integration based on the fetched samples.
1. An electronic device, comprising:
a motion sensor, having sensor circuitry including a sensor clock, the motion sensor being configured to perform a sampling at a sampling rate according to the sensor clock, wherein in each said sampling the motion sensor generates a sample by sampling an angular velocity or an acceleration of the electronic device, wherein the motion sensor is further configured to store each said sample at the sampling rate in a buffer of the motion sensor, and the buffer is located inside the motion sensor; and
a processor, having processor circuitry including a processor clock, the processor being coupled to the motion sensor and configured to perform a polling at a polling rate, wherein in each said polling the processor fetches only a part of the samples from the buffer, wherein the processor is further configured to perform a numerical integration based on the fetched samples according to the sensor clock;
wherein the sampling rate is higher than the polling rate.
2. The electronic device of claim 1 , wherein the processor sets the sampling rate for the motion sensor by accessing a configuration register of the motion sensor.
3. The electronic device of claim 1 , wherein the processor uses a part of the fetched samples to perform the numerical integration.
4. The electronic device of claim 1 , wherein the processor uses all of the fetched samples to perform the numerical integration.
5. The electronic device of claim 1 , wherein the processor uses a sampling period corresponding to the sampling rate to perform the numerical integration.
6. The electronic device of claim 1 , wherein the processor lacks a dedicated interrupt pin configured to facilitate fetching of the sample.
7. A method of motion processing, comprising:
performing, by a motion sensor, a sampling at a sampling rate according to a sensor clock of the motion sensor, wherein each said sampling comprises generating a sample by sampling an angular velocity or an acceleration of an electronic device;
storing each said sample at the sampling rate in a buffer of the motion sensor, and the buffer is located inside the motion sensor;
performing a polling at a polling rate according to a processor clock, wherein each said polling comprises fetching only a part of the samples from the buffer; and
performing a numerical integration based on the fetched samples according to the sensor clock to reduce accumulated error between the processor clock and the sensor clock;
wherein the sampling rate is higher than the polling rate.
8. The method of claim 7 , wherein the step of performing the numerical integration comprises:
using a part of the fetched samples to perform the numerical integration.
9. The method of claim 7 , wherein the step of performing the numerical integration comprises:
using all of the fetched samples to perform the numerical integration.
10. The method of claim 7 , wherein the step of performing the numerical integration comprises:
using a sampling period corresponding to the sampling rate to perform the numerical integration.
11. An electronic device, comprising:
a motion sensor, having sensor circuitry including a sensor clock, the motion sensor being configured to perform a sampling to generate a sample at a sampling rate according to the sensor clock, wherein the motion sensor is further configured to store each said sample at the sampling rate in a buffer of the motion sensor, and the buffer is located inside the motion sensor; and
a processor, having processor circuitry including a processor clock, the processor being coupled to the motion sensor and configured to perform a polling at a polling rate, wherein in each said polling the processor fetches only a part of the samples from the buffer;
wherein the sampling rate is higher than the polling rate; and
wherein the processor is further configured to perform a numerical integration based on the fetched samples according to the sensor clock.
12. The electronic device of claim 11 , wherein the motion sensor is a gyro-sensor, an accelerometer, a 6-axis motion sensor or a 9-axis motion sensor.
13. The electronic device of claim 11 , wherein in each said sampling the motion sensor generates a sample by sampling an angular velocity or an acceleration of the electronic device.
14. The electronic device of claim 11 , wherein the processor lacks a dedicated interrupt pin configured to facilitate fetching of the sample.