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Freescale Sensor Fusion for Kinetis Product Development Kit User

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1. KL2SZ_Xtrinsic_Sensor Fusion De m Figure A 2 CodeWarrior creating new launch configuration 3 Click the New button to the right of the Connection field see Figure A 2 4 Select Hardware or Simulator Connection and Click Next See Figure A 3 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 37 Creating a Run Configuration for OpenSDA 1 0 boards _ Select Remote System Type Connection configuration for a hardware based or simulated target System type type filter text 4 amp CodeWarrior Application Debugging 4 Linux AppTRK 4 CodeWarrior Bareboard Debugging es Hardware or Simulator Connection Figure A 3 Setting CodeWarrior Remote System Type 5 Enter a valid connection name in the name field see Figure A 4 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 38 Freescale Semiconductor Inc Creating a Run Configuration for OpenSDA 1 0 boards Hardware or Simulator Connection Please enter a valid connection name Parent profile RMPE01 13 v Name Description Template None Apply Defaults Target Connection type O Ga e tn Figure A 4 Naming new CodeWarrior connection 6 In the Target type field click New see Figure A 4 7 Click the Edit button on the Target type field see Figure A 5 Freescale
2. 3 Project Details This section discusses implementation details for the template programs for Freescale Kinetis microcontrollers These leverage the MQX LITE RTOS and device drivers generated via the Processor Expert code generation tool 3 1 Tasks Structure Table 3 lists the top level Sensor Fusion software routines Table 3 Top Level Sensor Fusion Routines RdSensData_Init Performs sensor initialization one time task RdSensData_Run Performs sensor sampling high frequency task Fusion Init Initializes the sensor fusion data structures one time task Fusion Run Performs sensor fusion medium frequency task MagCal_Run Performances magnetic calibration in the background NOTE For users who are planning to employ a different RTOS the functions in this table make good interface points for the new RTOS These functions are called from the MQX task definitions and provide a very high level interface to the fusion library 3 2 Project Overview The Sensor Fusion Library is encapsulated using functions in tasks c see Figure 18 and Figure 19 RdSensData_Init in fasks c calls e FXOS8700 Init e FXAS21000 Init RdSensDataRun in tasks c calls e FXOS8700 ReadData FXAS21000_ReadData In both cases the low level functions can be thought of as the sensor drivers The Init functions perform any one time initialization required by the sensors The Read functions are responsible
3. 7 1 ANSIC The Sensor Fusion Library software is written according to the ANSI C90 standard and does not use any of the ANSI C99 or C11 extensions Integers are a mixture of standard C long four byte integers with typedef as int32 and C short 2 byte integers with typedef as int16 Floating point variables are all single precision of size four bytes 7 2 Floating Point Libraries The Sensor Fusion Library software uses single precision floating point arithmetic C functions like sqrt which return a double are immediately cast back into single precision Floating point arithmetic is performed using software emulation on the processors with integer cores or directly on the FPU by processors with an internal FPU 7 3 Error Handling The Sensor Fusion Library software is believed incapable of triggering exceptions All conditions that could lead to exceptions are detected before the relevant function call is made Conditions tested to prevent runtime exceptions are e division by zero whether floating point or integer e inverse sine or cosine of an argument outside the range 1 to 1 tangent of 90 degrees or 90 degrees angles e square root of a negative number 7 4 Numerical Accuracy The Sensor Fusion Library software is numerically accurate to the limits of single precision floating point arithmetic Small angle approximations are only used when the relevant angle is in fact small so no accuracy is lost compared to u
4. NED int16 itmp16 accelerometer NED HAL itmp16 thisAccel iGpFast X thisAccel iGpFast X thisAccel iGpFast Y thisAccel iGpFast Y itmp16 magnetometer NED HAL itmp16 thisMag iBpFast X thisMag iBpFast X thisMag iBpFast Y thisMag iBpFast Y itmp16 thisMag iBpFast Z thisMag iBpFast Z gyro NED HAL itmp16 thisGyro iYpFast irow X thisGyro iYpFast irow X thisGyro iYpFast irow Y thisGyro iYpFast irow Y itmpl16 thisGyro iYpFast irow Z thisGyro iYpFast irow Z endif build h Build Parameters The file build h contains build options and defines data structures applicable to all source files Adding a new PCB The identifier for the new PCB should be added at the end of the list of sensor PCBs currently supported with a new unique identifier The constant THIS_BOARD_ID should then be set to the identifier of the new sensor PCB In the default code below three boards currently supported are listed and the software will build for the BOARD FRDM KL25Z sensor PCB The board IDs defined here are used by the Freescale Sensor Fusion Toolbox both Windows and Android to identify the board images used in the rotating device view PCB HAL options define BOARD WIN8 REVO5 0 Reserved for Freescale use define BOARD WIN8 REVO5 0 with shield define BOARD _FRDM KL25Z 1 with shield define BOARD_FRDM_K20D50M 2 with shield de
5. Timing and Filters SENSOREFS defines the execution rate of the sensor sampling task in Hz The sensor readings are averaged and decimated to arate OVERSAMPLE_RATIO lower before passing to the Kalman filter The default values of 200 and 8 respectively result in the sensors being sampled at 200 Hz and the Kalman filter executing at 25 Hz sampling rate and kalman filter timing define SENSORFS 200 integer frequency Hz of sensor sampling process define OVERSAMPLE RATIO 8 integer 3 axis 6 axis 9 axis run at SENSORFS OVERSAMPLE RATIO Hz main c Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 30 Freescale Semiconductor Inc EE ase Bluetooth Packet Structure This file contains the application s main function which performs microcontroller initialization and starts the MQX Lite operating system This function should be replaced with equivalent processor initialization and operating startup code if either is changed 6 Bluetooth Packet Structure The tables presented in this section are the same as those included with the Freescale Sensor Fusion Toolbox for Android in app help Prior to version 2013 07 18 of the Freescale Sensor Fusion Toolbox for Android application communication between the Android device and external board was strictly one way from board to Android device Version 2013 07 18 and above add the ability for the application to send commands to the developme
6. approximations lara Interface Interface ApplyGyroHAL generated by 12C and UART communications to external devices Processor Expert Tool are encapsulated by drivers c and Events c a Existing hardware platforms are discussed in later slides Figure 19 High level architecture Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 19 Project Details 3 3 Global Data Structures Fusion inputs and outputs are stored in global data structures which are only allocated if the selected build requires them Build options used to control the allocation of the global data structures are the following and are contained in build h define COMPUTE _3DOF_G BASIC 3 axis accel tilt define COMPUTE _6DOF_GB BASIC 6 axis accel mag eCompass define COMPUTE _6DOF_GY_ KALMAN 6axis accel gyro Kalman algorithm define COMPUTE _9DOF GBY KALMAN 9 axis Kalman algorithm The library is precompiled with all four options above enabled This allows ready comparison of the different options in real time Disabling an option is as easy as commenting out the appropriate define in build h Global data structures are allocated as follows in source file tasks c in response to the build options above Key structure pointers are shown in the table below Table 4 Global Structures Pointer Function Structure Name Structure Type Defined in Include File Accel
7. se eee a j A 0 ama Figure 2 KL26Z Freedom Development Platform FRDM KL26Z e KL46Z Freedom Development Platform Figure 3 based on the Kinetis KL2 family MKL26Z128VLH4 MCU e 48 MHz ARM MO core e a full speed USB controller e 128 KB of flash memory e 16 KB of RAM Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 4 Freescale Semiconductor Inc Introduction H a a Kod ry J oe Figure 3 KL46Z Freedom Development Platform FRDM KL46Z e K20D50M Freedom Development Platform Figure 4 based on the Kinetis K20 family MK20DX128VLHS MCU e 50 MHz ARM M4 core e 128 KB of flash memory 32 KB of FlexNVM e 16 KB of RAM trop eeeeeee eee r emneund lh hs Figure 4 K20D50M Freedom Development Platform FRDM K20D50M K64F Freedom Development Platform Figure 5 based on the Kinetis K60 family MK64FN1MOVLL12 MCU e 120 MHz ARM M4 core with FPU e 1 MB of flash memory e 256 KB of RAM Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 5 Introduction FRDM K64F Freescale Freedom Development Platform Figure 5 K64F Freedom Development Platform FRDM K64F Any of these platforms can be programmed via the OpenSDA serial port on the board A USB mini connector cable is required to program the board 1 4 2 Freedom Sensor Development Platform Freescale has released several
8. selection MULTI board FRDM KL25Z FRDM KL26Z FRDM KL46Z_ FRDM K20D50M FRDM K64F FRDM UARTO UARTO PTA2 1 UARTO UARTO FXS MULT PTA2 1 PTA2 1 PTB17 16 PTB17 16 FRDM UARTO UARTO PTA2 1 UART1 UART3 FXS Te PTA2 1 PTA2 1 PTE1 0 PTC17 16 default a To change the UART assignment in Processor Expert in the CodeWarrior Projects tab select the appropriate project name for the board you are using See Figure 12 fig CodeWarrior Projects 52 E talhs B FileName Build FRDM_KL46z FSFK_K20D50M GS FSFK_K64F FLASH af FSFK_KL25Z FLASH eS FSFK_KL26Z FLASH oS FSFK_KLA6Z FLASH Figure 12 CodeWarrior Projects tab b With the project selected in the Processor Expert Components panel select UART Serial_LDD entry as shown in Figure 13 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 13 Quick Start Guides 5 Components XSFK_K64F 52 E Ga 4 amp Generator_Configurations i FLASH 4 amp OSs WS MQX1 MQXLite 4 amp Processors GB Cpu MK64FN1MOVLL12 4 amp Components LED_RED BitlO_LDD LED_GREEN BitlO_LDD LED_BLUE BitIO_LDD FTM TimerUnit_LDD G UART Serial_LDD I2C I2C_LDD gt 3 TestPin_KF_Time BitIO_LDD TestPin_MagCal_Time BitlO_LDD amp PDD Figure 13 Processor Expert Components for XSFLK_64F panel c Under the Properties tab of the Component Inspector
9. FSFK_K64F FLASH FSFK_K64F elf Search Project Browse Variables v tit eae Connection f K64F JLink Target F Execute reset sequence F Execute initialization script s Apply Revert Debus cose Figure A 10 Segger OpenSDA Debug Configuration Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 45 How to Reach Us Home Page freescale com Web Support freescale com support Information in this document is provided solely to enable system and software implementers to use Freescale products There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits based on the information in this document Freescale reserves the right to make changes without further notice to any products herein Freescale makes no warranty representation or guarantee regarding the suitability of its products for any particular purpose nor does Freescale assume any liability arising out of the application or use of any product or circuit and specifically disclaims any and all liability including without limitation consequential or incidental damages Typical parameters that may be provided in Freescale data sheets and or specifications can and do vary in different applications and actual performance may vary over time All operating parameters includi
10. Inc gt oo Ny AUA WwW N Contents lnioducu grae r 1 Oiek SAT GAE Se RR 9 Project DetS re 18 Sotware Tak naonna 23 Adding Support for a New PCB ecese 27 Bluetooth Packet SUCUT osrin 31 AVES AY IES E E A A N A EEA 39 Revision FRSO oenn 36 APPL Ana e 36 ey v w freescale Introduction non standard platforms and applications is available at https community freescale com community sensors sensorfusion or can be contracted via Freescale s Software Services team This document is part of the documentation for Freescale Sensor Fusion Library for Kinetis MCUs compatible with Freedom Development Platform FRDM KL25Z FRDM KL26Z FRDM K20D50M and FRDM K64F software Its use and distribution are controlled by the license agreement in the Software Licensing 1 1 Software Licensing Copyright 2014 Freescale Semiconductor Inc All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met e Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer e Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution e Neither the name of Freescale Semiconductor Inc nor the names of its contributors may be used t
11. amp globals iBluetoothPacketNumber 1 globals iBluetoothPacketNumber 4 3 software version number tmpint16 THISBUILD sBufAppendItem sUARTOutputBuf amp iIndex uint8 amp tmpint16 2 5 in practice but can be variable add the tail byte for the debug packet type 2 SUARTOutput Buf iIndex Ox7E NOTE UART Bluetooth communications are included for ease of use but they are NOT considered part of the Fusion Library This portion of the library should be treated as example code which may be changed in future versions of the library In this section it is presumed that the user is adapting one of the Freescale Fusion Library template projects to a similar Kinetis based board also using MQX LITE Ports to other possibly non Freescale MCUs will require the user to write their own sensor drivers and supply their own RTOS layers Regardless of the MCU RTOS used Freescale recommends the user adopt the task structure and outlined in Tasks Structure The functions discussed in that section provide the cleanest point at which to interface to different hardware RTOS architectures 5 Adding Support for a New PCB The simplifying assumption in this section is that you are adapting one of the template projects to a similar Kinetis based board also using MQX LITE Ports to other possibly non Freescale MCUs will require you to write your own sensor drivers and supply your own RTOS layers Regardless of the MCU RTOS us
12. e Hard and soft iron magnetic compensation explained e CodeWarrior Integrated Development Environment Software at www freescale com codewarrior e Kinetis Design Studio software at www freescale com kds e Euler Angles at en wikipedia org wiki Euler_Angles e Introduction to Random Signals and Applied Kalman Filtering 3rd edition by Robert Grover Brown and Patrick Y C Hwang John Wiley amp Sons 1997 e Quaternions and Rotation Sequences Jack B Kuipers Princeton University Press 1999 e Freescale Freedom development platform home page at Freescale Freedom Development Platform e OpenSDA User s Guide Freescale Semiconductor Rev 0 93 2012 09 18 e PE micro Open SDA Support page at www pemicro com opensda 1 4 Requirements 1 4 1 Kinetis Platform The Sensor Fusion Library currently runs on the following two hardware platforms e KL25Z Freedom Development Platform Figure based on the Kinetis KL2 family MKL25Z128VLK4 MCU e 48 MHz ARM MO core e 128 KB of flash memory e 16 KB of RAM Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 3 Introduction Di eeeeeee eeeece Figure 1 KL25Z Freedom Development Platform FRDM KL25Z e KL26Z Freedom Development Platform Figure 2 based on the Kinetis KL2 family MKL26Z128VLH4 MCU e 48 MHz ARM MO core e a full speed USB controller e 128 KB of flash memory e 16 KB of RAM eeeeeeeeee eeeeeees mhe
13. Semiconductor Inc Software Tasks Example 3 5 2 Reading Euler Angles Euler angles are stored as float with units of degrees Using 3 axis model float roll thisSV_3DOF_G BASIC f LPPhi float pitch thisSV_3DOF_G BASIC f LPThe float yaw thisSV_3DOF_G BASIC fLPPsi Using 6 axis accel mag eCompass model float roll thisSV_6DOF_GB_BASIC fLPPhi float pitch thisSV_6DOF_GB_BASIC fLPThe float yaw thisSV_6DOF_GB BASIC fLPPsi Using 6 axis accel gyro Kalman filter model float roll thisSV_6DOF_GY_KALMAN fPhiPl float pitch thisSV_6DOF_GY_KALMAN fTheP1 float yaw thisSV_6DOF_GY KALMAN fPsiPl Using 9 axis Kalman filter model float roll thisSV_9DOF_GBY_KALMAN fPhiP1l float pitch thisSV_9DOF_GBY_KALMAN fTheP1 float yaw thisSV_9DOF_GBY_KALMAN fPsiP1 4 Software Tasks Kinetis template programs for Sensor Fusion Library are partitioned into three software tasks Table 6 Software task frequencies and priorities Sensor sampling integration and Typically runs at 200 Hz and typically This task has the highest priority decimation task decimates the sensor data to lower frequency for the sensor fusion 6 axis and 9 axis fusion task Typically executes at 25 Hz assuming __ This task has middle priority 200 Hz sensor sampling and 8x OVERSAMPLING Magnetic calibration task Typically executes once per minute This task has the lowest priority 1 The10 element version of
14. The fourth row shows the 25 Hz sensor Fusion task processing the groups of eight measurements from the 200 Hz sensor Sampling Task The sensor Fusion task starts when the eighth measurement is available from the Sensor Sampling Task and continues with interruptions by the higher priority Sensor Sampling Task until complete The magnetic Calibration Task has lower priority and executes only when neither the sensor Sampling Task nor the sensor Fusion Task are executing In the event that all tasks are complete for a given 200 Hz interval the software may drop into an idle task which may in turn place the MCU into a temporary STOP mode to save power Not shown in Figure 21 are serial communications from the embedded MCU and an external controller and or GUI In the case of the supplied board specific templates this is comprised of UART communication to an external Bluetooth module Entry into STOP mode must be deferred until any UART communications are complete the UART requires that clocks be active for transmission Instead the device will enter WAIT mode until transmission is complete 4 3 user_tasks c The CodeWarrior and KDS template projects successfully build in their as shipped configurations However additional functionality may be supplemented by adding code in the file user_tasks c see code listing below wherever PUT YOUR CODE HERE appears After adding the code the updated application can be built and downloaded to the develo
15. Type 5 Altitude and Temperature This packet type is used to send altitude and temperature information to the Android app This view is enabled via a checkbox in the Preferences screen Table 12 Packet type 5 Altitude and Temperature A A 0 Packet Start Ox7E None 1 Packet Type 0x05 None 2 Packet This number increments by 1 for each sample Rolls over at OxFF to 0x00 6 3 Timestamp 1 LSB 1 00 microseconds 10 7 Altitude 1 LSB 0 001 metres 12 11 Temperature 1 LSB 0 01 degree 13 Packet END 0x7E Packet type 6 is reserved for transmitting magnetic buffer information This is used by the Windows version of the Toolbox but not by the Android version This is so application specific that Freescale is not publishing it Packet type 7 is reserved for transmitting kalman filter information Use the same notations 6 2 Toolbox to Freedom Development Platform Up until version 2013 07 18 of the Fusion Toolbox communication was strictly one way from development platform to Android device Versions released after that date include limited ability to configure the embedded board from Android The command protocol below is preliminary and is subject to change Possible 4 byte commands are shown below Substitute a space for each to enforce the 4 byte width e ALT Altitude Temperature packet on e ALT Altitude Temperature packet off default e DB debug packet on default
16. _ 69 Arguments s Debugger Source IS Environment E Common Trace and Profile a E CodeWarrior Debug session type E XSFK_KL25Z FLASH_EU Choose a predefined debug session type or custom type for maximum flexibility Launch Group Download Connect Attach 5 Custom v C C application Project XSFK_KL25Z Application FLASH_EU XSFK_KL25Z elf Search Project Browse Variables gt Build if required before launching v Target settings Connection KL25Z X Edit New Execute reset sequence Execute initialization script s Filter matched 3 of 3 items Filter by Project XSFK_KL25Z Figure 15 Run Configurations window 9 Click the Run button If the user wishes to use a different configuration follow instructions in Creating a Run Configuration for OpenSDA 1 0 boards 10 Proceed to Android Quick Start Guide 2 1 3 Getting Started with the Firmware or Development with Kinetis Design Studio The Freescale Sensor Fusion Library also supports the use of the Kinetis Design Studio Information on KDS can be found at www freescale com kds The installation and Getting Started with KDS process is nearly identical to that for CodeWarrior except that some of the screens shown in Getting Started with the Firmware or Development with CodeWarrior will have the Kinetis Design Studio title displayed instead of CodeWarrior as was previously shown Freesc
17. for reading sensor values and then populating those to global structures for use by the fusion routines 1 For a MULTI B board be sure to either remove jumper J7 when using a wired connection OR pair the device with your PC s Bluetooth adapter Step 1 above requirement applies only to the wired interface Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 18 Freescale Semiconductor Inc Project Details Full source code is provided for all layers of software allowing the user to customize as necessary Inspect the source code in drivers c to determine if other sensor drivers are available in the release The embedded app calls RdSensData_Run RdSensData_Init Fusion_Init Fusion_Run MagCal_Run These are defined in tasks_func c UART2 On BlockReeceived embedded application UART SendData magnetic calibration and sensor fusion algorithms Functions in tasks c call FXOS8700_Init FXAS21000_Init FXOS8700_ReadData FXAS21000_ReadData These are defined in drivers c tasks c Figure 18 Sensor Fusion Library processing functions Main_task RdSensData_task Fusion_task MagCal task MQX Lite RTOS RdSensData_Init Fusion_Init RdSensData_Run Fusion Run MaaCal_ Run drivers amp Events ApplyAccelHAL orientation matrix PC Inter UART GPIO ApplyMagHAL
18. is 200Hz This code runs after sensors are sampled In general try to keep high intensity code out of UserHighFrequencyTaskRun The high frequency task also has highest priority PUT YOUR CODE HERE return void UserMediumFrequencyTaskRun void This code runs after the Kalman filter loop The default frequency at which this code runs is 25Hz The following UART function constructs and sends Bluetooth packets used by the Freescale Sensor Fusion Toolbox If the developer is not using the toolbox it can be removed transmit orientation over the radio link CreateAndSendBluetoothPacketsViaUART UART2_DeviceData PUT YOUR CODE HERE Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 26 Freescale Semiconductor Inc Adding Support for a New PCB return 4 4 UART Communications UART_Send_Data is responsible for sending Bluetooth packets to the Fusion Toolbox Variable array sUARTOutputBuf contains information to be transmitted to the Android device The code snippet below which may be found in drivers c illustrates how a DEBUG packet packet type 0x02 can easily be constructed packet start byte SUARTOutput Buf iIndex Ox7E 1 packet type 2 byte tmpuints 0x02 sBufAppendItem sUARTOutputBuf amp iIndex amp tmpuints 1 2 packet number byte sBufAppendItem sUARTOutputBuf amp iIndex
19. timers and peripherals RdSensData_task High frequency sensor sampling e Fusion_task Top level control loop for sensor fusion e MagCal_task Low frequency task for magnetic calibration 2 Ifthe user is employing non Kinetis MCUs this file will probably need to be completely reworked Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 28 Freescale Semiconductor Inc Ey a a Adding Support for a New PCB If the user s project needs additional MQX Lite tasks in this file these tasks will need to be added to this file and Main_task modified to initialize them at startup Several GPIOs have been pre allocated for LED control within mgx_tasks c The user will need to remove or modify those references if those resources are not available in the project tasks c Each sensor PCB will have a different layout of the accelerometer magnetometer and gyro sensors which will require alignment in the Hardware Abstraction Layer HAL software The function ApplyHAL in the source file tasks c contains the HAL sensor alignment code for supported PCBs and the three supported coordinate systems The existing software shown below for one permutation should be used as a template for the alignment in the new PCB Detailed instructions on this subject will be presented in an upcoming application note Lf BOARD FRDM KL25Z and NED if THIS BOARD ID BOARD FRDM KL25Z amp amp THISCOORDSYSTEM
20. 20 Freescale Semiconductor Inc Project Details 3 4 2 Gyroscope Gyroscope values are stored as int16 Multiply by thisGyro gt fDegPerSecPerCount to convert to degrees second float fAngularRate 3 averaged gyro sensor output fAngularRate X thisGyro iYp X thisGyro fDegPerSecPerCount fAngularRate Y thisGyro iYp Y thisGyro fDegPerSecPerCount fAngularRate Z thisGyro iYp Z thisGyro fDegPerSecPerCount 3 4 3 Magnetometer Magnetometer values are stored as int16 Multiply by thisMag gt fCountsPeruT to convert to uTs Both raw and calibrated magnetometer outputs are available Scaling is the same for both float fBp 3 mag raw_average over OVERSAMPLE RATIO measurements float Bc 3 mag iBp after calibration fBp X thisMag iBp X thisMag fCountsPeruT fBp Y thisMag iBp Y thisMag fCountsPeruT fBp Z thisMag iBp Z thisMag fCountsPeruT fBc X thisMag iBc X thisMag fCountsPeruT fBc Y thisMag iBc Y thisMag fCountsPeruT fBc Z thisMag iBc Z thisMag fCountsPeruT 3 5 Reading Fusion Results Global Data Structure variables Table 5 specifies where to find various data items within the global structures maintained by the Fusion Library Each of the various fusion options have similar output structures Use one of the following structure pointers then index according to the following table thisSV_3DOF G BASIC OR thisSV_6DOF GB BASIC OR thisSV_6DOF GY KALMAN OR thisSV_9DO
21. F_GBY_KALMAN Structures within tasks h may be re arranged in future versions of the library Index directly to the data you need using the pointer names in Table 5 Table 5 Fusion Algorithm Options correspond to the following e G SV_3DOF_G_BASIC accel only e GB SV_6DOF_GB_BASIC accel mag eCompass e GY accel gyro Kalman e GBY 9 axis Kalman Table 5 variable names follow a strict naming convention e Core variable names e m magnetic b gyro offset a acceleration q quaternion e angle names Phi The Psi Rho Chi and Delta e f prefix floating point variable e LP low pass filtered Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 21 Project Details e Pl suffix post apriori estimate from Kalman filter e Gl suffix global frame e Se sensor frame Table 5 Location of individual variables within the global structures Description Fusion Algorithm Options data type G GB GY GBY accel eCompass accel gyro 9 axis loat roll in degrees fl f LPPhi f LPPhi f PhiPl f PhiPl pitch in degrees float f LPThe f LPThe fTheP1 fTheP1 yaw in degrees float f LPPsi f LPPsi PsiPl f PsiPl compass heading in degrees float LPRho LPRho fRhoP1 fRhoP1 tilt angle in degrees float LPChi f LPChi f ChiPl f ChiPl magnetic inclination angle in f
22. Freedom Sensor Development platforms compatible with the Freedom Development Kinetis Platforms discussed in Kinetis Platform These are e FRDM FXS 9 AXIS which contains an FKOS8700CQ 6 axis accelerometer magnetometer combination sensor and an FXAS21000 gyroscope e FRDM FXS MULTI which contains all features of the FRDM FXS 9 AXIS plus additional sensors not yet supported e FRDM FXS MULTI B which contains all features of the FRDM FXS MULTI plus Bluetooth Module and battery All three are built from the same PCB design and differ only in the number of parts on the platform The Fusion Library works with any of the three boards but the FRDM FXS MULTI B is the only one that supports Bluetooth communications to the Freescale Sensor Fusion Toolbox for Android Key components of the FRDM FXS MULTI B are identified in Figure 6 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 6 Freescale Semiconductor Inc Introduction BT Reset Bluetooth BT Power leon FXOS8700CQ MAG3110 FXLS8471 MMA8652FC MMA9553L MPL3115A2 FXAS21000 3 3 V Power Jumper beeen On Off taai ale Switch NSIC Figure 6 Freedom Development Platform Multi B with key components NOTE The user must remove the BT Power Jumper when using OpenSDA Communications Device Class CDC UART USB to communicate with a PC The FRDM FXS MULTI B Sensor Development Platform connects to the FRDM KL25Z Freedom Development Platform
23. Freescale Semiconductor User Guide Document Number XSFL_Prod_UG Rev 1 2 1 2015 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide 1 Introduction Sensor fusion is a process by which data from several different sensors are fused to compute something more than could be determined by any one sensor alone An example is computing the orientation of a device in three dimensional space That data is then used to alter the perspective presented by a 3D GUI or game The Freescale Sensor Fusion Library for Kinetis MCUs also referred to as Fusion Library or development kit provides advanced functions for computation of device orientation linear acceleration gyro offset and magnetic interference based on the outputs of Freescale inertial and magnetic sensors The development kit now includes e Full source code for the sensor fusion libraries e Prepackaged implementations targeted at specific Freedom development platforms Support for CodeWarrior and Kinetis Design Studio e Full documentation including user manual and fusion data sheet The fusion library is now supplied under a liberal BSD open source license which allows the user to employ this software with Freescale MCUs and sensors or those of our competitors Support for issues relating to the default distribution running on Freescale reference hardware is available via standard Freescale support channels Support for 2015 Freescale Semiconductor
24. Library for Kinetis MCUs Accept the licensing agreement and the installer should begin downloading automatically or else click on the Direct Link to download it The installer provides all necessary instructions and prerequisites 2 If not already done Freescale recommends updating the OpenSDA boot loader for the Freedom Development Platform to the most recent release for that board There are two generations of OpenSDA boot loaders in existence Each is targeted at specific boards Version 1 0 also known as P amp E Micro boot loaders may be found at www pemicro opensda Freescale recommends these loaders for the KL25Z KL26Z KL46Z and K20D50M boards see Figure 8 for example of the KL 25Z Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 9 Quick Start Guides For K64F Freescale recommends the Segger solution www segger com opensda html The process to upgrade the K64F Version 2 OpenSDA MBED boot loader is described at mbed org handbook Firmware FRDM K64F Figure 8 Freedom Development Platform KL 25Z Procedure The following procedure outlines the process for updating the OpenSDA Version 1 0 boot loader The Version 2 0 process is similar but uses bin files Consult the links above for the latest instructions See Figure 8 a Hold down the Reset button located in box 2 above and then power the board by connecting a powered USB cord to the USB p
25. Modify the Application field on the dialog shown in Figure A 8 to include the elf file produced during the Build step to download Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 42 Freescale Semiconductor Inc Creating Run Configuration for Segger OpenSDA Create manage and run configurations Download an application to a target then debug or run the application Q OX BF Name KL25Z_Xtrinsic_Sensor_Fusion_Dev FLASH _EU type filter text E Main gt 64 Arguments Debugger i Source IG Environment O Common gf Trace and Profile fe CodeWarrior Download C C application x f EJ 125Z Mtrinsic Sensor Fu Project KL25Z_Xtrinsic_Sensor_Fusion_Dev Browse Launch Group Applications FLASH_EU KL25Z_Xtrinsic_Sensor_Fusion_Dev elf Search Project Browse Variables Build if required before launching Build configuration FLASH_EU Select configuration using C C Application Enable auto build Disable auto build Use workspace settings Configure Workspace Settings Connection Connection d KL25Z_connection x Edit New m Filter matched 3 of 3 items Fitter by Project LF KL2SZ_Xtrinsic_Sensor_Fusion_De s z Apply Revet D Bun l Close Figure A 8 Setting the elf file in CodeWarrior 12 Click Apply and Run to download code to the board A 2 Creating Run Configuration for Segger OpenSDA T
26. RO LPTMRO LPTMRO LPTMRO Timer to drive the sensor read process ata typical rate of 200Hz UART Serial _LDD UARTO on PTA2 1 UARTO on PTA2 1 UARTO on PTA2 1 UART1 on PTE1 0 UARTS on PTC17 16 Serial port used to communicate with the Bluetooth module transmitting orientation and sensor data to the Android device 12C I12C_LDD I12C1 on PTC2 1 12C1 on PTC2 1 12C1 on PTC2 1 I2C0 on PTB1 0 12C1 on PTC11 10 The 12C master bus communicating with the sensors Test_Pin_ KF_Time BitlO_LDD PTC10 PTC10 Test_pin_KF_Ti me PTC10 PTC10 PTC7 Output line used for debug purposes Test_Pin_ MagCal_Time BitlO_LDD PTC11 PTC11 Pin_Test_MagC al_Time PTC1 PTC5 Output line used for debug purposes Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc eel Quick Start Guides 1 See Table 1 for UART portability issues on the K20D50M and K64F platforms 1 4 4 CodeWarrior CodeWarrior 10 6 or above must be used to build these applications CodeWarrior can be downloaded from Freescale at CW MCU10 CodeWarrior for MCUs 1 4 5 Graphical User Interface A device running either Android 3 0 or Windows 7 0 or higher is required to run the Freescale Sensor Fusion Toolbox Details are available at www freescale com sensorfusion 2 Quick Start G
27. Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 39 Creating a Run Configuration for OpenSDA 1 0 boards Hardware or Simulator Target Configuration for a hardware based or simulated target Parent profile RMPE01 13 Name KL25Z Description Template None Apply Defaults Tagettype KSZN Initialization Memory J Execute reset E Run out of reset Initialize target Figure A 5 Selecting CodeWarrior Target type If you have a KL25Z board scroll down to KL25Z expand the sub list and select KL25Z128M4 If you have a K20D50M board scroll down to K20D expand the sub list and select K20DX128 8 Check the Execute reset check box see Figure A 5 then enter a value in the name field and click Finish NOTE If issues are encountered with a connection created in this way and a new connection needs to be recreated using the recommended settings shown in Figure A 6 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 40 Freescale Semiconductor Inc ET Creating a Run Configuration for OpenSDA 1 0 boards Hardware or Simulator Target Configuration for a hardware based or simulated target Parent profile RMPE01 13 v Name KL25Z_Evaluation Description Apply Defaults Template None Target type KL25Z128M4 Initialization Execute reset R
28. UART select the appropriate UART and its correct Tx and Rx pins for the board you are using according to Table 2 See Figure 14 Xy Component Inspector UART X C Properties _ Methods Events Name Value Details Device UART3 UART3 Interrupt service event Enabled 4 Settings Data width 8 bits Parity None Baud rate 115200 baud 115207 373 baud 4 Receiver Enabled RxD PTC16 UART3_RX ENETO_1588_T PTC16 UART3_RX ENETO_1588_T 4 Transmitter Enabled TxD PTC17 UART3_TX ENETO_1588_T PTC17 UART3_TX ENETO_1588_T 4 Initialization Auto initialization yes Figure 14 Component Inspector UART panel d In the Components panel click on the Generate Processor Expert Code icon Make sure the appropriate project name in the CodeWarrior Projects View is selected and then select from the menu Project gt Build Project to build the project 7 Follow the instructions in OpenSDA User s Guide listed in Supporting Documentation to ensure that the Freedom Development Platform is configured for code download from CodeWarrior 8 Select Run gt Run Configurations to bring up the Run Configurations dialog shown in Figure 15 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 14 Freescale Semiconductor Inc Quick Start Guides e3 Configurations N Create manage and run configurations Debug or run an application to a target Q CEAxI Ep Name XSFK_KL25Z FLASH_EU type filter text Main
29. a packet format utilized by the Fusion Toolbox Table 8 Current version of packet type 1 eyie Fncton SSCS SSCS 0 Packet Start Ox7E None 1 Packet Type 01 None 2 Packet This number increments by 1 for each sample Rolls over at OxFF to 0x00 6 3 Timestamp 1 LSB 1 00 microseconds Previously 1 33 Updated 2013 07 18 8 7 ACC X 1 LSB 122 07 ug Table continues on the next page Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 31 Bluetooth Packet Structure Table 8 Current version of packet type 1 continued C Fine SSCS SSCS 10 9 ACC Y 1 LSB 122 07 ug 12 11 ACGZ 1 LSB 122 07 ug 14 13 MAGX 1 LSB 0 1 uT 16 15 MAGY 1 LSB 0 1 pT 18 17 MAGZ 1 LSB 0 1 pT 20 19 GYROX 1 LSB 872 66 urad s 0 05 dps 22 21 GYROY 1 LSB 872 66 rad s 0 05 dps 24 23 GYROZ 1 LSB 872 66 rad s 0 05 dps 26 25 quaternion q0 1 LSB 1 30 000 unitless 28 27 quaternion q1 1 LSB 1 30 000 unitless 30 29 quaternion q2 1 LSB 1 30 000 unitless 32 31 quaternion q3 1 LSB 1 30 000 unitless 33 Flags Bit field with the following bit definitions Bit 0 valid gyro data Bit 1 gyro is virtual Bit 2 6 axis quaternion is valid Bit 3 9 axis quaternion is valid Bits 5 4 00 Data is NED Frame of Reference Bits 5 4 01 Data is Android Frame of Reference Bits 5 4 10 Data is W
30. aced with a function appropriate to their RTOS tasks c Contains the functions executed by the three software tasks defined in mqx_tasks c It also contains tasks h Apply HAL which is responsible for applying the PCB specific hardware abstraction layer build h Build options consolidated into a single file main c Initializes and executes MQX 5 1 File by File Changes Events c This file contains event handlers for e non maskable interrupt currently empty e 200 Hz timer e UART communications UART communications include function UART2_OnBlockReceived This implements decode of incoming Bluetooth packets sent by the Freescale Sensor Fusion Toolbox for Android The user can replace that code with whatever communications is appropriate for their application drivers c This file is highly project dependent It contains 1 Timer utility functions 2 Sensor initialization and sampling functions such as sensor drivers 3 UART utility functions 4 CreateAndSendBluetoothPacketViaUART which is responsible for creating output packets for transmission via Bluetooth If the user s project utilizes the same default peripherals and sensors defined in earlier sections they will probably not need to make any changes to steps 1 3 above If you use a different communications mechanism or packet structure item 4 above will need to be replaced mqx_tasks c This file contains e Main_task Basic initialization of events
31. ale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 15 Quick Start Guides 2 1 4 Limitations Sensors supported using the development kit out of the box include FXKOS8700CQ 6 axis accelerometer magnetometer combination sensor and the FXAS21000 gyroscope Kalman filters are tuned for specific sensors Alternate sensor combinations are available and more can easily be added by making the appropriate additions to drivers c h and build h 2 2 Android Quick Start Guide 1 Once running the Tri Color LED on the Freedom Development Platform flashes green at a rapid rate Every once in a while a red flash will appear when the magnetic calibration routines are running Freedom sensor shield configurations also include a blue LED next to the BlueRadios module on the shield board Table 1 For production boards this LED is OFF when the board is NOT connected to a Bluetooth link It is ON when it IS connected via Bluetooth to another device 2 If not already done download the Sensor Fusion Toolbox onto an Android 4 0 or higher device tablets are desired This app can be found by searching Google Play at http play google com for the term sensor fusion Start the app on the Android device once it has been installed Once the Sensor Fusion Toolbox is open the software will display as shown in this example see Figure 16 Exit Source Algorithr Figure 16 Sensor Fusion Toolbox 3 O
32. by the developer to create additional functionality as described in user_tasks c Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 24 Freescale Semiconductor Inc Software Tasks 4 2 Timing Diagram Figure 21 shows the relative timing and priorities of the sensors and the three software tasks 5 ms FXOS8700 Output 200 Hz O P FXAS21000 Output 200 Hz E p o a B a fal a E p Sensor Sampling Task 200 Hz E E i E E E E a a Sensor Fusion Task 200 Hz a BREE BERS BEGG FEEN BE EE IG Magnetic Calibration Task aa Ban Ba anno Figure 21 Software Task Timing Diagram The first two rows show the internal timing of the FXOS8700 and FXAS21000 sensors sampling and latching data at a typical rate of 200 Hz These two sensors operate asynchronously to each other and asynchronously to the three software tasks executing on the uC There are therefore offsets between the latching of the FXKOS8700 output data the latching of the FXAS21000 output data and their reading by the Sensor Sampling Task These offsets will slowly drift resulting in a variable timing error of up to 2 5 ms at 200 Hz between the FXOS8700 and FXAS21000 sensor data and a variable latency of up to 2 5 ms before this data is read by the uC sensor Sampling Task The third row shows the I7C reads of the 200 Hz sensor Sampling task with groups of eight measurements coded in the same color on the assumption that the OVERSAMPLE_RATIO 8
33. com contact us html For development on target hardware we recommend our industry leading J Link PRO http www seqger com jlink pro html J Link Ultra http www segger com jlink ultra plus html J Link PLUS http www segger com jlink plus html J Link http www seqger com jlink html For professional production flash programming we recommend Do not show this message again for today Figure A 9 Freescale Software Terms of Use Set the Segger OpenSDA Debug configuration as in Figure A 10 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 44 Freescale Semiconductor Inc Create manage and run configurations Debug or run an application to a target Sax B x type filter text a E CodeWarrior E FSFK_K64F FLASH Segger E FSFK K64F_FLASH_OpenSDA Launch Group Filter matched 4 of 4 items Filter by Project tS FRDM_KL46Z tS FSFK_K20D50M ES FSFK_K64F TS FSFK_KL25Z so rery vi wey Name FSFK_K64F FLASH Segger E Main 69 Arguments Debugger Source IMB Environment Common Trace and Profile Choose a predefined debug session type or custom type for maximum flexibility 7 Application gt Build if required before launching v Target settings Debug session type Download Connect Attach Custom v C C application Project
34. ed Freescale recommends the user adopt the task structure and outlined in Tasks Structure The functions discussed in that section provide the cleanest point at which to interface to different hardware RTOS architectures This section provides a brief explanation of how to add support in the software for a new PCB The fusion library has been implemented on top of basic functions created via Processor Expert Consult Peripherals Used by the Kit to determine if your PCB design affects any software assumptions If so it is best to make those adjustments directly within Processor Expert and then regenerate support functions using Processor Expert Table 7 lists files not generated by Processor Expert that may need to be modified to implement the sensor fusion algorithms on different hardware with a different RTOS or with different sensors Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 27 a a Adding Support for a New PCB Table 7 Source files which may need to be modified CO Me a Events c Callback functions for hardware events Events h drivers Initialization of hardware timers and 12C drivers for FXOS8700 and FXAS21000 sensors drivers h mqx_tasks c Creates and runs the Sampling Fusion and Calibration tasks which call functions in tasks c mqx_tasks h If the user employs a different RTOS the Main task in mqx_tasks c will need to be repl
35. er angles and sensor values are different coordinate system for the build 3 permutations define NED 0 identifier for NED angle output define ANDROID 1 identifier for Android angle output define WIN8 2 identifier for Windows 8 angle output define THISCOORDSYSTEM ANDROID the coordinate system to be used Orientation Models The software is capable of running the 3 axis accelerometer only 6 axis accelerometer and magnetometer eCompass and 9 axis accelerometer magnetometer and gyro sensors in parallel The default setting computes the 6 axis and 9 axis orientation because the Bluetooth interface transmits the 6 axis and 9 axis orientation but not the 3 axis orientation quaternion to the Android tablet for display For a pure 9 axis application define only COMPUTE_9DOF_GBY_KALMAN in the list below degrees of freedom algorithms to be executed define COMPUTE 1DOF _P BASIC 1DOF pressure altitude and temperature define COMPUTE 3DOF_G BASIC 3DOF accelerometer tilt basic algorithm define COMPUTE 3DOF_B BASIC 3DOF magnetometer compass basic vehicle algorithm define COMPUTE 3DOF_Y BASIC 3DOF gyro integration basic algorithm define COMPUTE 6DOF_GB BASIC 6DOF accelerometer and magnetometer eCompass basic algorithm define COMPUTE 6DOF_GY KALMAN 6DOF accelerometer and gyro Kalman algorithm define COMPUTE 9DOF_GBY KALMAN 9DOF accelerometer magnetometer and gyro Kalman algorithm
36. erometer thisAccel AccelSensor build h Magnetometer thisMag MagSensor Gyroscope thisGyro GyroSensor 3 axis results thisSV_3DOF_G BASIC SV_3DOF_G BASIC tasks h eCompass results thisSV_6DOF GB BASIC SB_6DOF_GB BASIC accel gyro results thisSV_6DOF_GY KALMAN Sv_6DOF_GY_KALMAN 9 axis results thisSV_9DOF_GBY_ KALMAN SV_9DOF_GBY_KALMAN 3 3 1 Writing Sensor Values into Global Structures The product development version of the library should update global input structures via ReadAccelMagnData and ReadGyroData Both of these are called via RASensData_Run which is itself called from the high frequency MQX task RdSensData_Run is also responsible for integrating sensor values at an oversample rate defined by OVERSAMPLE_RATIO See tasks c for details 3 4 Reading Sensor Values Note X Y and Z are conveniently defined as 0 1 and 2 for readability in the library The user should only read averaged integrated sensor values from global structures via the sensor fusion 25 Hz task 3 4 1 Accelerometer Accelerometer values are stored as int16 Multiply by thisAccel gt fgPerCount to convert to gravities float fAcc 3 accel sensor output x Y Z fAcc X float thisAccel iGp X thisAccel fgPerCount fAcc Y float thisAccel iGp Y thisAccel fgPerCount fAcc Z float thisAccel iGp Z thisAccel fgPerCount Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015
37. fine BOARD FXLC95000CL 3 define BOARD FRDM KL26Z 4 with shield define BOARD FRDM K64F 5 with shield define BOARD FRDM KL16Z 6 with shield define BOARD _FRDM KL46Z 7 with shield define BOARD FRDM KL46Z STANDALONE 8 without shield enter new PCBs here with incrementing values C Compiler Preprocessor define in the CodeWarrior project will choose which board to use ifdef REVO5 define THIS BOARD ID BOARD WIN8_ REVO5 endif ifdef KL25Z define THIS BOARD ID BOARD _FRDM_KL25Z endif Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 29 ER Adding Support for a New PCB ifdef K20D50M define THIS BOARD ID BOARD FRDM K20D50M endif ifdef FXLC95000CL define THIS BOARD ID BOARD FRDM_ FXLC95000CL endif ifdef KL26Z define THIS BOARD ID BOARD_FRDM_KL26Z endif ifdef K64F define THIS BOARD ID BOARD_FRDM_K64F endif ifdef KL16Z define THIS BOARD ID BOARD_FRDM_KL16Z endif ifdef KL46Z define THIS BOARD ID BOARD_FRDM_KL46Z endif ifdef KL46Z STANDALONE define THIS BOARD ID BOARD FRDM KL46Z STANDALONE endif Coordinate System The coordinate system to be used is set by THISCOORDSYSTEM with valid values being NED ANDROID and WIN8 The quaternion representing the orientation transmitted to the Freescale Sensor Fusion Toolbox for Android is the same for all three coordinate systems but the Eul
38. he user must have a valid run configuration created within CodeWarrior in order to download code to their development board The following sequence shows how to create one if you do not already have one for the Segger OpenSDA version 2 0 used with the Freedom Development Platform K64F Begin by accepting the software terms of use statement see Figure A 9 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 43 lt A Creating Run Configuration for Segger OpenSDA The connected emulator is an OpenSDA running aJ Link compatible firmware In order to make use of this firmware the following Terms Of Use must be accepted TERMS OF USE 1 The firmware is only to be used with Freescale target devices Using it with other devices is prohibited and illegal 2 The firmware is for use with evaluation boards only It is not for use with custom hardware 3 The firmware may only be used for development and or evaluation purposes It may not be used for production purposes 4 The firmware is made available without any warranty and without support 5 The firmware may be used with the OpenSDA platform only For more information please refer to http www segger com opensda html If there is any doubt if a certain use may be considered within the foregoing scope itis strongly recommended to consult SEGGER prior to use In order to contact SEGGER please visit http www segger
39. hether MPL3115 is present so as to support the 9 axis board Debug packet Type 2 transmits firmware build in place of padding byte Added Altitude Temperature packet Added Kalman packet Added Magnetics packet Added FXAS21002 driver and sensor option Support for Sequential Parallel algorithm RST command implemented Code and comments cleaned up and made clearer throughout ALT ALT commands added to support Altitude packet Global variable definitions are now consolidated into two structs named globals and mqxglobals 1 1 05 2014 Updated documentation for additional board support of FRDM K64F Added instructions for UART selection based on the MULTI board being used 1 2 01 2015 1 Removed all references to license checks 2 The fusion library is now open source 3 Added KL46Z support 4 Added KDS support T OOo NODO R o N a Appendix A A 1 Creating a Run Configuration for OpenSDA 1 0 boards The user must have a valid run configuration created within CodeWarrior in order to download code to the Freedom Development Platform The following sequence shows how to create one if you do not already have it See Figure A 1 1 Select Run gt Run Configurations The user should see a window similar to the screenshot below Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 36 Freescale Semiconductor Inc Creating a Run Configuration for OpenSDA 1 0 boards C
40. indows Frame of Reference Bits 5 4 11 RESERVED Bits 7 6 RESERVED 34 Board ID Numeric field with the following possible values 0 Freescale Windows8 Sensor Platform Rev 0 5 1 FRDM KL25Z with Freescale Sensor Shield 2 FRDM K20D50M with Freescale Sensor Shield 3 FXLC95000CL with Freescale Sensor Shield 4 FRDM KL26Z with Freescale Sensor Shield All others reserved Contact sfusion freescale com if the user is interested in having another board added to this list 35 Packet END 0x7E None Table 8 represents the packet format adopted by the Fusion Toolbox on August 2013 The assumption inherent in this format is that the application will instruct the development board with regard to desired algorithm 6 1 2 Packet Type 2 Debug The development board may send 1 to n 16 bit words to the app for display on the Device view This view is enabled via a checkbox in the Preferences screen Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 32 Freescale Semiconductor Inc ee a a MM Bluetooth Packet Structure Table 9 Debug Packet Format E at 0 Packet Start Ox7E None Packet Type 0x02 Bytes 6 5 now carry the sysTick count 20 2 Packet Number None 4 3 Software Version None Number 2n 1 2n Debug Wordn Last of n debug words to transmit 2n 2 Packet END Ox7E None 6 1 3 Packet Type 3 Angular Rate This packet type is
41. lgorithms are pre compiled as a linkable library e Programmable sensor sample rate Default 200 Hz e Programmable sensor fusion rate Default 200 Hz e Supported frames of reference include NED Android and Windows 8 e No procedural interface to learn e Write sensor readings into one set of global structures e Read fusion results from a different set of global structures e Ability to compile and link any combination of four standard algorithms Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 2 Freescale Semiconductor Inc Introduction e Accelerometer only tilt e Accelerometer plus magnetometer e Accelerometer plus gyroscope e Accelerometer plus magnetometer and gyroscope e 2D eCompass plus gyroscope only e Freescale s award winning magnetic compensation software which provides geomagnetic field strength hard and soft iron corrections and quality of fit indication e Supported by Freescale Code Warrior Kinetis Design Studio and Processor Expert tools e Directly compatible with the Freescale Sensor Fusion Toolbox for Android and Windows Fusion Toolbox Board specific template programs include predefined Bluetooth UART interfaces compatible with the Fusion Toolbox 1 3 Supporting Documentation e Freescale Sensor Fusion Library for Kinetis Data Sheet e www freescale com sensorfusion e MCU on Eclipse blog e Orientation Representations Part 1 e Orientation Representations Part 2
42. loat N A fDeltafLPDel N A fDeltaPl degrees ta geomagnetic vector uT global float N A N A N A fmG1 3 frame gyro offset in degrees sec float N A N A EbPL 3 EbPL 3 linear acceleration in the sensor float N A N A faSeP1 3 faSeP1 3 frame in gravities linear acceleration in the global float N A N A N A faG1P1 3 frame in gravities LPaG1P1 3 quaternion unitless fquaternion fqfLPq fqfLPq fqP1 fgPl angular velocity in dps float Omega 3 fOmega 3 Omega 3 Omega 3 orientation matrix unitless float R 3 3 R 3 3 RP1 3 3 RP1 3 3 LPR 3 3 LPR 3 3 rotation vector float fLPRVec 3 fLPRVec 3 fLPRVec 3 fLPRVec 3 time interval in seconds float fDeltat fDeltat fDeltat fDeltat 1 Yaw is not supported for 3 axis accelerometer 2 Physical gyro angular rate corrected to subtract computed offset Example 3 5 1 Reading Quaternion Values The Freescale library uses the convention that q0 cos a 2 and q1 q2 q3 u X sin Q 2 Values are stored as float and can be used directly struct fquaternion fq quaternion float q0 ql q2 q3 q thisSV_3DOF_G_BASIC fLPq OR q thisSV_6DOF GB BASIC fLPq OR q thisSV_6DOF GY KALMAN fgPl OR fq thisSV_9DOF _GBY KALMAN fqP1 q0 fq q0 ql fq ql q2 fq q2 q3 fq q3 Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 22 Freescale
43. nded to pair to a single sensor fusion Freedom Development Platform at a time 5 Restart the Android app In the app menu select Remote 9 axis for the Source Algorithm 7 Rotate the development board and observe the effects in the Android app display n 2 3 Windows Quick Start Guide The Sensor Fusion Toolbox supports the Windows operating system as well as Android OS The procedure below describes getting started with Windows 1 This tool requires an OpenSDA CDC Serial Port device driver for proper operation Consult the OpenSDA documentation from a debug vendor such as P amp E Micro Segger or MBED for details 2 Run the Windows installer Refer to www freescale com sensorfusion a Welcome Screen click Next b Choose installation folder click Next c Confirm Installation click Next d Installation is complete click Close Start the Fusion Toolbox File gt Flash gt lt board combination gt gt lt sensor combination gt gt Android ENU Coordinates 5 Attach Freedom Sensor board stack up via USB click OK on Instructions dialog box oS Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 17 Project Details a Select your Freedom board in the resulting Save As dialog box click Save Reset your Freedom Development Platform by unplugging and re plugging from to your PC click OK Click the Auto Detect button Start using the software Yon
44. netic c magnetic h main c matrix c matrix h mgx_tasks c mqx_tasks h orientation c orientation h tasks c tasks h user_tasks c user_tasks h NOTE The contents of the Sources directory is identical regardless of which board is targeted Hardware specific customizations are done in Processor Expert That code will go into the Generated_Code and MQX LITE directories 3 Open CodeWarrior and in the Workspace Launcher dialog see Figure 9 choose the workspace where the product development project is located Select a workspace CodeWarrior Development Studio stores your projects in a folder called a workspace Choose a workspace folder to use for this session Workspace C accurev_workspaces KinetisSensorFusion _ Use this as the default and do not ask again Cancel Figure 9 Workspace launcher select window 4 Import the project using File gt Import option see Figure 10 select General gt Existing Projects into Workspace Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 11 Quick Start Guides Import Eaa Select M Create new projects from an archive file or directory Select an import source type filter text a amp General Archive File l Existing Projects into Workspace G File System E Preferences C C gt amp CodeWarrior b Component Development Environment cvs gt amp Install gt Processor Exper
45. ng typicals must be validated for each customer application by customer s technical experts Freescale does not convey any license under its patent rights nor the rights of others Freescale sells products pursuant to standard terms and conditions of sale which can be found at the following address freescale com SalesTermsandConditions Freescale the Freescale logo CodeWarrior and Kinetis are trademarks of Freescale Semiconductor Inc Reg U S Pat amp Tm Off The Freescale Freedom Development Platform is a trademark of Freescale Semiconductor Inc All other product or service names are the property of their respective owners 2015 Freescale Semiconductor Inc Document Number XSFL_Prod_UG Revision 1 2 1 2015 e Po oe freescale
46. nt board This is done at application start up for flags to enable the following e debug mode e roll pitch compass display on the Device view e virtual compass display on the Device view The debug mode is now required to be always on since this packet transmits the firmware version number that is displayed by the Toolbox Additionally a packet may be sent to change quaternion type whenever the Source Algorithm selector in the Sensor Fusion Toolbox is changed 6 1 Development board to Fusion Toolbox The development board to Android protocol is a streaming data protocol using RFCOMM Packets are delimited by inserting a special byte Ox7E between packets This means that we must provide a means for transmitting 0x7E within the packet payload This is done on the transmission side by making the following substitutions e Replace 0x7E by 0x7D5E 1 byte payload becomes 2 transmitted e Replace 0x7D by 0x7D5D 1 byte payload becomes 2 transmitted The Fusion Toolbox does the inverse mapping as the data stream is received Partial packets are discarded The options menu has a Toggle Hex Display option available for developers coding their own board interface On the embedded app side the 0x7E and 0x7D encoding is performed automatically by function sBufAppendItem which is used to create outgoing packet structures The developer only needs to explicitly add starting and ending 0x7E delimiters 6 1 1 Packet Type 1 This is the primary dat
47. o endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL FREESCALE SEMICONDUCTOR INC BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 1 2 Software Features The development kit comes with an installer which installs to the development PC and CodeWarrior projects targeted to each of the supported Freescale Freedom Development Platforms used in conjunction with the FRDM FXS MULTI family of sensor boards listed below In addition to CodeWarrior Freescale will be supporting Kinetis Design Studio for this release e FRDM KL25Z e FRDM KL26Z e FRDM K20D50M e FRDM KL46Z and e FRDM K64F Freedom Development Platforms This product provides access to source code for all functions The software features include e Fusion and magnetic calibration a
48. onfigure launch settings from this dialog type fter tec T Press the New button to create a configuration of the selected type E CodeWarrior Download Press the Duplicate button to copy the selected configuration gt eee Seay Press the Delete button to remove the selected configuration Press the Filter button te configure fitering options Edit or view an exiting configuration by selecting 8 EESE IR 2 of 2 Ruse Configure launch perspective settings from the Peripectrres preference page Filter by Project Figure A 1 CodeWarrior Run Configuration window 2 Select CodeWarrior Download and then click the New Launch Configuration icon on the left see Figure A 2 Create manage and run configurations Program not specified ll SB Bb Ry Name 125Z_Xtrinsic_Sensor_Fusion_Dev FLASH_EU type filter text T Main gt 09 gt Arguments 1 Debugger Ly Source Environment E Common l Trace and Profile a E CodeWarrior Download C C application E KL2SZ_Xtrinsic Sensor Fu B Tan Project KL25Z_Xtrinsic_Sensor_Fusion_ Dev Browse Application Search Project Browse Variables Build if required before launching Build configuration Use Active 7 Select configuration using C C Application Enable auto build Disable auto build Use workspace settings Configure Workspace Settings Connection Th m i Connection Filter matched 3 of 3 items Filter by Project
49. ort located in box 1 above The LED will blink located in box 3 above indicating that the board is now in boot loader mode Release the Reset button at this point b Open Windows Explorer and locate the BOOTLOADER thumb drive c If necessary extract the DEBUG APP Vxxx SDA file from the Pemicro_OpenSDA_Debug_MSD_Update_Apps_yyyy_mm_dd zip file d Drag the DEBUG APP Vxxx SDA file onto the thumb drive any application or firmware file can be drag and dropped onto the device at this point e Unplug the USB cable from the board then plug it back in The Freedom Development Platform is now updated to the latest firmware or application 3 Start the installer and then follow the instructions in the installation wizard NOTE The user can choose to install CodeWarrior Kinetis Design Studio or both sets of template projects 2 1 2 Getting Started with the Firmware or Development with CodeWarrior 1 If not already accomplished install and test CodeWarrior 10 6 on your computer Download the tool by following the link provided in CodeWarrior 2 After successfully running the installer the file structure in the workspace should be as shown below approximations c approximations h build h drivers c drivers h Events c Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 10 Freescale Semiconductor Inc eel Quick Start Guides Events h files txt fusion c fusion h include_all h mag
50. pen the Preferences Screen see Figure 17 and check the Automatically enable Bluetooth on entry checkbox Click Save and Exit option and then exit the application Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 16 Freescale Semiconductor Inc eel Quick Start Guides ion freescale 590 Preferences Screen Default email address fusion freescale com Logger output filename fslDemoLog txt Statistics output filename statistics html Max of messages to record 10000 Bluetooth device prefix BlueRadios Wi Go IP Code 192 168 43 82 Wi Go Port Number 15000 V Automatically enable Bluetooth on entry v Enable Javascript Enable debug packet desplay Enable roll pitch compass display v Enable angular rate display Screen Orientation Portrait Accelerometer sample rate SENSOR_DELAY_FASTEST Magnetometer sample rate SENSOR_DELAY_FASTEST Gyro sample rate SENSOR_DELAY_FASTEST Rotaton Vector sample rate l SENSOR_DELAY_FASTEST Cancel i Save and Exit L IL j Figure 17 Sensor Fusion preferences window 4 If not already done pair the development board Bluetooth interface with the Android device The exact process is different for each model of Android device but usually this is done in the Settings gt Bluetooth screen Search for active devices and look for one that starts with BlueRadios followed by a 6 digit hex code Pair to that device It is recomme
51. pment board If using the product development version the file user_tasks c can be considered redundant and may be removed by the developer if desired Be sure to remove all calls to affected functions before deleting the file C Freescale Semiconductor Inc user_tasks c Created on Sep 13 2013 Author Michael Stanley FF FF HF Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 25 Software Tasks include Cpu h include Events h include mgx_tasks h include UART2 h include include_all h void UserStartup void The following UART function call initializes Bluetooth communications used by the Freescale Sensor Fusion Toolbox If the developer is not using the toolbox these can be removed initialize BlueRadios Bluetooth module BlueRadios Init UART2_DeviceData put code here to b xecuted at the end of the RTOS startup sequence PUT YOUR CODE HERE return void UserHighFrequencyTaskInit void User code to b xecuted ONE TIME the first time the high frequency task is run PUT YOUR CODE HERE return void UserMediumFrequencyTaskInit void User code to b xecuted ONE TIME the first time the medium frequency task is run PUT YOUR CODE HERE return void UserHighFrequencyTaskRun void The default frequency at which this code runs
52. see Figure 7 Figure 7 Freedom Development Platforms FRDM FXS MULTI B mated to FRDM KL25Z NOTE When mating the two boards check to ensure that sensor board when configured with a battery mounted on the back is free of any obstacles presented by the base Freescale Freedom Development board Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 7 Introduction 1 4 3 Peripherals Used by the Kit The product development software uses the virtual peripherals in Table 1 These are initialized via Processor Expert Table 1 Virtual Peripheral N A Virtual peripherals mapping to MCU resources per board combination FRDM FRDM KL46Z FRDM FRDM K64F Description KL26Z K20D50M Processor Expert Function CPU FRDM KL25Z MKL25212 8VLK4 Cortex MO MCU MKL26212 8VLH4 Cortex MO MCU MKL46Z256VM C4 Cortex MO MCU MK20DX128VL H5 Cortex M4 MK64FN1MOVL L12 Cortex M4 with FPU Microcontroller LED_RED BitlO_LDD PTB18 PTE29 PTE29 PTC3 PTB22 Red LED illuminated only during the period when a magnetic calibration is in progress LED_GREEN BitlO_LDD PTB19 PTE31 PTDS PTD4 PTE26 Green LED flickers when the sensor fusion algorithms are executing LED_BLUE BitlO_LDD PTD1 PTD5 PTE31 PTA2 PTB21 Currently unused FTM TimerUnit_ LDD LPTMRO LPTM
53. sing the standard libraries For example sines and cosines of small angles are computed with a MacLaurin series to give similar accuracy to the standard sine and cosine libraries but at lower computational expense Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 35 Revision History Conditions that lead to inaccurate results are detected and the results computed using an alternative algorithm suitable for those cases where the primary algorithm fails An example is the calculation of the orientation quaternion from a rotation matrix where the primary algorithm differencing elements across the diagonal approaches a 0 0 calculation The alternative algorithm used near 180 degree rotations operates on the matrix diagonal elements instead The sensor fusion algorithms have been tested to be stable for tens of millions of 200 Hz iterations Accumulation of rounding errors in the rotation quaternions or matrices is prevented by regular renormalization 8 Revision History Revision Revision Description number date p 0 02 2014 Initial version 1 04 2014 Updated license scheme documentation Demo and new board specific Production licenses explained Quick start instructions for software installation via the installer added The software revision includes many enhancements the major ones are as follows 1 Added MPL3115 I2C driver 12C driver for MPL3115 now detects w
54. t b Run Debug gt amp Software Analucic lt Back Next gt Finish Cancel Figure 10 Import dialog window 5 Click Next In the Import Window that appears navigate to the folder containing the CodeWarrior project and select it See Figure 11 N a og Ex Import Projects Select a directory to search for existing Eclipse projects 4 Select root directory ts SensorFusion Prod_1 2_Release XSFK_KL25q Browse Select archive file Browse Projects Y XSFK_KL25Z C Users b06913 Documents sasd info dev DocAss m r v Copy projects into workspace Working sets Add project to working sets Working sets v Select ma ne Figure 11 Import Projects window Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 12 Freescale Semiconductor Inc Quick Start Guides 6 By default all Freedom Development Platforms projects are configured to be used with the FRDM FXS MULTI B sensor board When using FRDM K20D50M or FRDM K64F with the FRDM FXS MULTI board the Processor Expert UART configuration for the project should be changed The UART assignment for different combinations of Freedom Development Platform type and sensor board is shown in Table 2 You need to make this change whenever you use the UART USB wired interface even with the MULTI B board Table 2 MCU UART
55. the Freescale magnetic calibration library is utilized 4 1 Task Scheduling The Sampling task is scheduled by the RTOS timer typically at 200 Hz The execution of the Fusion task is locked to the Sampling task by being released to execute after a pre determined number of iterations of the Sampling task The execution of the Calibration task is controlled by the Fusion task and is released to execute after a pre determined number of iterations of the Fusion task Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 23 Software Tasks The accelerometer magnetometer and gyro sensors operate asynchronously to the RTOS Typically the sensors are configured to run freely at a nominal output data rate of 200 Hz and are polled by the Sampling task at 200 Hz Figure 20 illustrates the basic structure of the three real time tasks used by the fusion library and the hierarchical scheduling of the software tasks 200 Hz MQX Timer SamplingEventStruct 25 Hz Software Event Hardware specific RunKFEventStruct Hardware Independent Events 1 per minute Sotware Event MagCalEventStruct Figure 20 Software Task Scheduling Diagram The five software function names UserStartup UserHighFrequencyTaskInit UserHighFrequencyTaskRun UserMediumFrequencyTaskInit and UserMediumFrequencyTaskRun are shown in Figure 20 These functions may be altered
56. transmitted via Options Menu gt Enable debug e DB debug packet off transmitted via Options Menu gt Disable debug e Q3 transmit 3 axis quaternion in standard packet transmitted when Remote accel is selected on the Source Algorithms spinner e Q6MA transmit 6 axis mag accel quaternion in standard packet transmitted when Remote mag accel is selected on the Source Algorithms spinner e Q6AG transmit 6 axis accel gyro quaternion in standard packet transmitted when Remote accel gyro is selected on the Source Algorithms spinner 3 The debug packet must be enabled for firmware version number and sysTick counts to be properly displayed by the Toolbox Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 34 Freescale Semiconductor Inc eel Odds and Ends e Q9O transmit 9 axis quaternion in standard packet default transmitted when Remote 9axis is selected on the Source Algorithms spinner e RPC Roll Pitch Compass packet on e RPC Roll Pitch Compass packet off default RST Sensor Fusion soft reset resets all sensor fusion data structures e VG Virtual gyro packet on e VG Virtual gyro packet off default Note that the commands above can request that the embedded board perform computations in a specific way Confirm that the proper operation has taken place by checking the Flags field in Packet type 1 See the flags row of Table 8 7 Odds and Ends
57. uides 2 1 Quick Start Guide for CodeWarrior The development kit contains predefined CodeWarrior project s for use with supported Freescale Freedom Development Platforms Kit functionality includes sensor drivers generated via Processor Expert magnetic calibration sensor fusion and data streaming interface User code can be easily added to user_tasks c within any of the following predefined functions e void UserStartup void e void UserHighFrequencyTaskInit void runs once the first time through the 200 Hz task e void UserHighFrequencyTaskRun void runs each time the 200 Hz task runs e void UserMediumFrequencyTaskInit void runs once the first time through the 25 Hz task e void UserMediumFrequencyTaskRun void runs each time the 25 Hz task runs Sensor and fusion results are simply read from predefined structures The development kit provides access to drivers hardware abstraction layers communications interfaces and more Although this guide provides a convenient place to start the user is not limited to only the configurability that is described Details of complete configurability can be found in later sections of this guide 2 1 1 Installing the Development Kit This procedure explains how to obtain and install the Sensor Fusion Library Development Kit 1 Download the firmware installer from www freescale com sensorfusion Under the section Design Resources click on the link titled Freescale Sensor Fusion
58. un out of reset C Initialize target Figure A 6 CodeWarrior new connect example setup 9 Configure the New Connection dialog as shown in Figure A 7 If you have a K20D50M board change KL25Z to K50D50M and then click the Finish button The focus will return to the Run Configuration dialog Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 41 AT Creating a Run Configuration for OpenSDA 1 0 boards Hardware or Simulator Connection Connection configuration for a hardware based or simulated target Parent profile RMPE01 13 x Name KL25Z_connection Description Template None ind Apply Defaults Target g ksz y New Connection type P amp E ARM Multilink Multilink Universal Cyclone Max OSJTAG x Connection Connection port and Interface Type Interface OpenSOA Embedded Debug USB Port X Refresh Compatible Hardware Port USB1 OpenSDA 66027E4D z Specify IP 127 0 01 Specify Network Card iP 127 001 Adyanced Programming Options Additional Options E Aw Trace Max Buffer Size Target Communication Speed Debug Shift Freq 0 SHIFT CLOCK FREQ 1 00 MHz Bes E Delay after Reset and before communicating to target for 0 milliseconds decimal E Enable logging Figure A 7 CodeWarrior run configuration dialog 10 Click Finish 11
59. used to send angular rate values to the Android app This view is enabled via a checkbox in the Preferences screen Table 10 Packet Type 3 Angular Rate eyie Fincton SSCS SSCS 0 Packet Start Ox7E None 1 Packet Type 0x03 None 2 Packet This number increments by 1 for each sample Rolls over at OxFF to 0x00 6 3 Timestamp 1 LSB 1 00 microseconds Previously 1 33 Updated 2013 07 18 8 7 X 1 LSB 872 66 micro radians sec 0 05 dps 10 9 Y 1 LSB 872 66 micro radians sec 0 05 dps 12 11 Z 1 LSB 872 66 micro radians sec 0 05 dps 13 Packet END 0x7E None 6 1 4 Packet Type 4 Euler Angles This packet type is used to send roll pitch compass heading information to the Android app This view is enabled via a checkbox in the Preferences screen Table 11 Packet type 4 Roll Pitch Compass C e SSCS SSCS 0 Packet Start Ox7E None 1 Packet Type 0x04 None 2 Packet This number increments by 1 for each sample Rolls over at OxFF to 0x00 6 3 Timestamp 1 LSB 1 00 microseconds Previously 1 33 Updated 2013 07 18 8 7 X 1 LSB 0 1degree 10 9 Y 1 LSB 0 1degree Table continues on the next page Freescale Sensor Fusion for Kinetis Product Development Kit User Guide Rev 1 2 1 2015 Freescale Semiconductor Inc 33 Bluetooth Packet Structure Table 11 Packet type 4 Roll Pitch Compass continued a a Packet END 0x7E 6 1 5 Packet

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