MMA9553L Intelligent Pedometer Platform Software Reference
Contents
1. Bit s Field Description The total distance in meters since the pedometer was last reset 15 0 DIST Valid range Ox0000 0xFFFF uint16 2 3 5 4 Speed register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 Read SPEED Write Reset 0x0000 Unimplemented or reserved Figure 2 14 Speed register Table 2 17 Speed register field descriptions Bit s Field Description Average speed in meters per hour over SPDPRD 15 0 SPEED valid range 0x0000 0xFFFF uint16 1 For information on SPDPRD see Table 2 12 on page 21 NOTE If there are no steps the speed may not necessarily fall to zero even if the activity level falls to rest See 2 2 3 Speed calculation on page 10 for more information MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 24 Freescale Semiconductor Inc 2 3 5 5 Calories register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read CALS Write Reset 0x0000 Unimplemented or reserved Figure 2 15 Calories register Table 2 18 Calories register field descriptions Bit s Field Description Total calorie count since the pedometer was last reset 15 0 CALS Valid range 0x0000 0xFFFF uint16 2 3 5 6 Sleep Count register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read SLEEPCNT Write Reset 0x0000 Unimplemented or reserved Fig2. For the pedometer the g mode setting only affects the saturation level and noise not the scaling Although it violates Nyquist at 30 Hz this AFE output is used to simplify the pedometer implementation This is the most intuitive option if a user chooses to reconfigure the hardware AFE sampling rate Precondition The pedometer init function must be executed before calling this function MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 27 Postcondition The pedometer s status variables are updated Prototype void pedometer main void Parameters None Return values None 2 5 4 pedometer clear This function is not implemented Precondition None Postcondition N A Prototype void pedometer clear void Parameters None Return values None 2 6 Sample operations This section provides sample slave port commands to read and modify application variables NOTE All commands are in the hexadecimal format For more details on the command protocol and format see Chapter 4 of the MMA955xL Intelligent Motion Sensing Platform Software Reference Manual MMA955xLSWRM accessible from References on page 7 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 28 Freescale Semiconductor Inc 2 6 1 Read status variables This command reads all 12 bytes of the status variables from the Pedometer applicati
3. SLEEPMIN Write Reset 0x0000 Unimplemented or reserved Figure 2 3 Sleep Minimum register MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 17 Table 2 6 Sleep Minimum register field descriptions Bit s Field Description Minimum acceleration vector magnitude for autonomous suspend The acceleration vector magnitude must be greater than SLEEPMIN and less than SLEEPMAX to 45 0 SLEEPMIN satisfy the autonomous suspend condition At rest the acceleration vector magnitude measures approximately 1g Therefore SLEEPMIN and SLEEPMAX are expected to be set to values near 1g 4096 at 0 244 mg LSB resolution Valid range 0x0000 0xFFFF uint16 Units 0 244 mg LSB 1 This condition must be satisfied for SLEEPTHD samples for the pedometer to autonomously suspend See Table 2 8 on page 19 2 3 4 2 Sleep Maximum register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read SLEEPMAX Write Reset 0x0000 Unimplemented or reserved Figure 2 4 Sleep Maximum register Table 2 7 Sleep Maximum register field descriptions Bit s Field Description Maximum acceleration vector magnitude for autonomous suspend The acceleration vector magnitude must be greater than SLEEPMIN and less than SLEEPMAX to satisfy the autonomous suspend condition At rest the acceleration vector magnitude 15 0 SLEEPMAX measures approximately 1g The
4. fields or ranges appear in brackets For example RAMBAR BA identifies the base address field in the RAM base address register A four bit data unit An eight bit data unit A 16 bit data unit A 32 bit data unit In some contexts such as signal encodings x indicates a do not care Used to express an undefined numerical value NOT logical operator AND logical operator OR logical operator Field concatenation operator Indicates that a signal is active low MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 1 4 Register figure conventions This document uses the following conventions for the register reset values The bit is undefined at reset u The bit is unaffected by reset signal name Reset value is determined by the polarity of the indicated signal The following register fields are used Read 0 Indicates a reserved bit field in a memory mapped register These bits are always read as O Write Read 1 Indicates a reserved bit field in a memory mapped register These bits are always read as 1 Write Read Indicates a read write bit FIELDNAME Write Read FIELDNAME Indicates a read only bit field in a memory mapped register Write Read Indicates a write only bit field in a memory mapped register Write FIELDNAME Read FIELDNAME Write 1 to clear indicates that writing a 1 to this bit field clea
5. 1 8 S lt 2 35 normal 1 00 2 35 lt S lt 2 8 fast 1 30 S 2 2 8 very fast 2 30 The DISTANCE variable contains the value of overall distance and is updated every time a step is detected 2 2 3 Speed calculation Speed is calculated over a sliding time window as Distance meters Speed pane uet Time where Distance is the total distance covered by all steps detected within the time window Time is the length of the window and can be configured by the SPDPRD variable For more information see Speed Speed register on page 24 Distance Distance register on page 24 Time Filter register on page 20 SPDPRD variable Speed Period Step Coalesce register on page 21 The SPEED variable contains the current speed value and is updated every time a step is detected or once a second if there are no steps If there are no steps the speed may not necessarily fall to zero even if the MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 10 Freescale Semiconductor Inc activity level falls to rest The activity level is reset to rest if there are no steps for a certain amount of time The speed calculation does not include a similar reset when there are no steps Therefore it may conflict with the activity level which is described in the following section In this scenario the user should disregard the speed if the activity is rest 2 2 4 Activity level calcula
6. 6 9 Configure output interrupt Suspend change on GPIO8 30 2 6 10 Configure output interrupt Merged flags on GPIO6 30 2 6 11 Configure output interrupt Every 10 steps on GPIO7 31 2 6 12 Wake up from Deep Sleep Stop No Clock mode 55 31 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 2 Freescale Semiconductor Inc Chapter 1 About This Document 1 1 Overview 1 1 1 This reference manual describes the features architecture usage examples and programming model of the MMA9553L intelligent pedometer platform 1 1 2 Audience This document is primarily for system architects and software application developers who are using or considering use of the MMA9553L platform in a system 1 2 Terms and acronyms AFE APP ID application table API BSL CC CI CMD COCO consumers CSR DFC DM DTAP FIFO FOPT GPIO hash HG Analog Front End Application Identifier Publishes the location of the pedometer s top level functions and the sizes of the external data structures to the Scheduler Application Programming Interface Base Stride Length Command Complete Command Interpreter Command Conversion Complete Persons who use devices developed by original equipment manufacturers who incorporate Freescale technology See users ColdFire Configuration Status Register Data Format Code Background D
7. Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 32
8. computes the step count speed and other status pedometer variables This function performs the following operations 1 Uses the new accelerometer sample to determine if the device is stationary 2 Reinitializes if necessary A reinitialization occurs when the host processor or another MMA9553L user application sets the CONFIG bit indicating that new configuration parameters such as height or weight need to be passed to the pedometer 3 Does one of the following a Ifthe device is not autonomously suspended Processes the new accelerometer sample XYZ to compute step count speed and other status variables b Ifthe device is autonomously suspended Skips this step 4 Updates the pedometer status variables This occurs within a critical section to ensure that all status variables are updated atomically By default the MMA955xL firmware samples the accelerometer and executes all system tasks at 30 Hz System tasks include activities such as AFE filtering GPIO update and quick read update The AFE application provides several output taps with different sample rates and bandwidths Of these the pedometer uses the stage 0 AFE output nominally sampled at 488 Hz with a 100 Hz bandwidth The MMA9553L overrides the default behavior of the MMA955xL such that the stage 0 AFE output is sampled at 30 5 Hz with 6 25 Hz bandwidth This output is always scaled to 8g resolution regardless of the hardware AFE configuration 2 4g 8g
9. 12 2 2 7 Autonomous suspend 6k oo osc iace RR LRRRERA veGKdW awd Riek haba CRT a 12 2 2 8 Usage of data types and data structures 00 cee eee ee 13 220 1 BI ald Wee 6 64 pedea eo ees ee QR Rau Hed Reda e qe HE d mad 13 2 0 5 2 Sucre data types 12d cbr qaad e ritiri dU RR EV ORR RLS 13 2 3 Memory maps and register descriptions 22 2 2 0052 e ee eee eee eee 14 2 3 1 Pedometer memory maps lt c sc csesccucecedecededadsisiseceagetersaa 14 2 3 2 Pedometer application configuration example 15 2 3 3 Pedometer application read example 0 0 00 cee eee eee 16 2 3 4 Pedometer configuration register descriptions 0200005 17 2 3 4 1 Sleep Minimum register asses ee ee eesae eee enews oe eS EET ERIS 17 2 3 4 2 Sleep Maximum register 2 22662202266 22 seen o eee bees 18 2 3 4 3 Sleep Count Threshold register 0220e2 eee ee eeee 18 2 3 4 4 Configuration Step Length register 00 000 cee ee eee 19 2 4 4 5 Height Weight register 26 6b eee eee ee OREN AWA od eee Gees 20 oe FR TBI nex rid thas 6 bode kee Reds oe IUE e eee ee ees 20 2 3 4 7 Speed Period Step Coalesce register 000 eee eeaee 21 2 3 4 8 Activity Count Threshold register 00022000 eee eee 21 2 3 5 Pedometer status register descriptions nnas anaana 22 20 0 1 SAUS ORR EN beable PEE aee E EERE EE 22 2 9 9 2 Step COUNT POISE s ocus aor ESSERE ER ERT TE
10. MMA9553L Intelligent Pedometer Platform Software Reference Manual Devices Supported MMA9553L Document Number MMA9553LSWRM Rev 2 2 6 2015 y 9 oe e t freescale Energy eo Efficient Solutions y Freescale How to Reach Us Home Page freescale com Web Support freescale com support Document Number MMA9553LSWRM Rev 2 2 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 including 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 rig
11. NE Kd EEEE AR Ead 23 2 9 9 Distance TROISIBI dicio e ee ERE HO KN REESE OR ee OES 24 2 9 5 4 Speed register 26 ce cdasdn ccd dbo ERRES Sdad eairt EErEE 24 2 2559 Calories register scs taduiad cnen sed ecedededeteschekaebewede 25 20 0 6 Sleep Lou Og ssec ok She eee eee see hk eeee ee eke ees 25 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 1 GOES S DUCERET ITI LT EE 25 2g FONOS 4246 34d diode d E KU dE CCP o c RC Ro ee re ee 26 29 1 pedometer MI a uud de RR kde cake RIGEN RO ERR AO ACD Wd RONDE Oa 26 2 5 2 DROUIESI rosei sede eee da ax aeg ede NS LSE Ee ER CCS 26 2 5 3 pedomler MAIN danonecloced sesetese9sePREPRS ASA Re ROSOeTTE REEF RES 27 2904 pedometer CGA cLonsuunsedehedaedeadan4niPpemeqdauk x SUE AR d EROR RR 28 26 Sample operations soe REERIR VAI ORO ERCER ICD Row ce ee ee ee A 28 261 Fead satus I ee ecek k EE e a orea 29 2 6 2 Read configuration variables 14145554 040644 eee HEN EEE ROC EORR RR RO 29 2 6 3 Write configuration variables uestes kaxexaG ke 4e EE a eee eee 29 2 6 4 Reset configuration variables to their defaults 222 05 29 2 6 5 Enable disable the Pedometer application llle 29 2 6 6 Configure the AFE range lt cs clisesh cu seeps evedededei ei cegueeesecds 29 2 6 7 Configure output interrupt Activity change on GPIO6 30 2 6 8 Configure output interrupt Step change on GPIO7 30 2
12. O 0x15 pedometer application ID MBI 0x84 COCO 1 error code 4 MCI ERROR PARAM MB2 0x00 actual number of bytes read MB3 0x10 requested number of bytes to read 2 3 3 Pedometer application read example To read all the pedometer status registers send the following command packet from the host to the device mailboxes MBO 0x15 Set the Pedometer Application Identifier 0x15 MBI 0x30 Set the Command Read Status command with zero offset 0x30 MB2 0x00 Set the Offset 0x00 to point to the first status register MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 16 Freescale Semiconductor Inc MB3 0x0C Set the Count field to 12 to declare reading 12 bytes Read back the mailboxes when the COCO Command Complete bit is set the status data will be in the mailbox registers Bytes to send 0x15 0x30 0x00 0x0C The response to this command will be MBO 0x15 pedometer application ID MBI 0x80 COCO 1 error code 0 MB2 0x0C actual number of bytes read MB3 0x0C requested number of bytes to read MBA pedometer status register MSB MBS pedometer status register LSB MB6 step count MSB MBT7 step count LSB MBS distance MSB MB9 distance LSB MB10 speed MSB MBI1 speed LSB MBI2 calories MSB MBI3 calories LSB MBI14 sleep count MSB MBIS5 sleep count LSB 2 3 4 Pedometer configuration register descriptions 2 3 4 1 Sleep Minimum register Read
13. Table 2 5 Status registers Oret Register Access Reset Details address 0x0 Status register R 0x0001 Status register on page 22 0x2 Step count register R 0x0000 Step Count register on page 23 0x4 Distance register R 0x0000 Distance register on page 24 0x6 Speed register R Ox0000 X Speed register on page 24 0x8 Calories register R 0x0000 Calories register on page 25 OxA Sleep Count register R 0x0000 Sleep Count register on page 25 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 2 3 2 Pedometer application configuration example To write all the pedometer configuration registers send the following command packet from the host to the device mailboxes The most significant byte of a register MSB is written in the lower numbered mailbox NOTE The question marks represent placeholders for the application specific values Please replace the question marks with your own values for the application MBO 0x15 Set the Pedometer Application Identifier 0x15 MBI 0x20 Set the Command Write Config command with zero offset 0x20 MB2 0x00 Set the Offset to point to the first configuration register MB3 0x10 Set the Count field to declare writing 16 bytes MB4 5 0x Value for Sleep Min Register MB6 7 0x Value for Sleep Max Register MB8 9 0x Value for Sleep Count Threshold MB10 11 0x Value for Config Step Lengt
14. a 5 N op lt lt Write Reset 0 0 0 0 0 000 0x01 Unimplemented or reserved Figure 2 11 Status register Table 2 14 Status register field descriptions Bit s Field Description Merged status change flags This bit is the logical OR of the SUSPCHG STEPCHG and ACTCHG flags It can be routed to a pin to enable a single merged output interrupt using the MMA955xL GPIO application The host can trigger an interrupt on rising edges to receive notification when at least one of the 15 MRGFL status change flags is asserted The host is responsible for resolving the source if desired That can be done by comparing the STEPCNT to a previous value to determine that a STEPCNT change caused the MRGFL assertion 0 None of the status change flags are asserted 1 Atleast one of the status change flags SUSPCHG STEPCHG ACTCHG is asserted Indicates a change in the SUSP bit This bit is transient and only asserts during frames in which the SUSP bit changes from the previous frame A frame is one 30 Hz period This bit can be routed to a pin to enable output interrupts using 14 SUSPCHG the MMA955xL GPIO application The host can trigger an interrupt on rising edges to receive notification when the pedometer suspends or resumes 0 No change in the SUSP bit since the last pedometer call 1 The SUSP bit changed since the last pedometer call Indicates a change in STEPCNT by STEPCOALSCE steps This bit is transient and only asserts during f
15. anges 03 20 02 02 15 05 2 6 9 Configure output interrupt Suspend change on GPIO8 This command writes two bytes of the configuration variable to the GPIO application APP_ID 0x03 starting at byte offset 4 This causes the GPIO application to copy the pedometer s SUSPCHG status bit to GPIO8 after every new accelerometer sample The host processor can trigger an interrupt on rising edges of this pin to receive notification when the pedometer autonomously suspends or resumes 03 20 04 02 15 06 2 6 10 Configure output interrupt Merged flags on GPIO6 This command writes two bytes of the configuration variable to the GPIO application APP_ID 0x03 starting at byte offset 0 This causes the GPIO application to copy the pedometer s MRGFL status bit to GPIO6 after every new accelerometer sample The host processor can trigger an interrupt on rising edges of this pin to receive notification the activity level step count or suspend state changes 03 20 00 02 15 07 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 30 Freescale Semiconductor Inc 2 6 11 Configure output interrupt Every 10 steps on GPIO7 The first command writes one byte of configuration variable to the Pedometer application APP ID 0x15 starting at byte offset 13 This causes the pedometer to coalesce steps and assert STEPCHG once every 10 steps The second command writes two bytes of configuration variables to the GPIO applicat
16. d by another application define RESERVED APPID 20 APP ID reserved for pedometer internal functions define PEDOMETER APPID 21 APP ID for pedometer wrapper interface 2 2 8 2 Structure data types The pedometer uses a compound data structure for its public status and configuration variables The status variables precede the configuration variables as required for all user applications compatible with the MMAOSSxL platform This data structure aligns all elements to their natural boundaries For example words are word aligned The structure also limits the length such that all status variables or all configuration variables can be read or written with a single slave port command In Legacy mode a slave port command can read up to 16 status bytes or 16 configuration bytes Normal and Legacy modes are defined in the MMA955xL Intelligent Motion Sensing Platform Software Reference Manual MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 13 2 3 Memory maps and register descriptions The Pedometer Application running in the MMA9553L device has eight configuration registers and six status or data registers The configuration registers allow the user to customize and control the behavior of the pedometer application The status registers report back the measured and calculated data All status registers are shown as 16 bits wide They are byte accessible but should be
17. ebug Module Double tap n First In First Out a data storage and retrieval method Flash Options register General Purpose Input Output a microcontroller pin that can be programmed by software A deterministic cryptographic function that converts an arbitrary block of data into a fixed size bit string the cryptographic hash value such that an accidental or intentional change to the data will change that hash value High g MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc IFR JTAG legacy mode LG LL LR MAC MBOX MCU MTIMOV PC PD PDB PL POR Postcondition Precondition PU SFD Shared secret SSP TPM uSers VBR Flash Information Block a partition of flash memory reserved for Freescale use Joint Test Action Group JTAG the common name for the IEEE 1149 1 standard Standard Test Access Port and Boundary Scan Architecture for test access ports The lower mailbox registers continue to operate in the command response mode and the upper registers operate in the Quick Read mode The data in the Quick Read registers is automatically updated so a read request command is not required before reading the data from the upper mailboxes Complete information can be found in the MMA955xL Software Reference Manual Low g Landscape left Landscape right Multiply accumulate unit Mailbox Microcontroller Module Timer Overflow Module Program C
18. efall Detection Using the MMA84500 AN3917 available at http www freescale com files sensors doc app note AN3917 pdf MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 7 Chapter 2 Pedometer Application P Application ID 0x15 2 1 Background and overview PET n Default speed 30 Hz The MMA9553L device augments the MMA9550L with calculations for eel Configuration Start on step counting speed distance activity monitoring and calorie counting as gisters page 17 well as autonomous sleep functionality to minimize current consumption As a member of the MMA955xL family the MMA9553L utilizes a Status registers m on common command interface to access status and configuration data in addition to a common task scheduler to execute Freescale provided tasks and supplemental user tasks 2 2 Functional description The pedometer is implemented as an application compatible with the MMA955xL Scheduler and Command Interpreter This enables the pedometer to leverage the existing system services of MMA955xL to execute callback functions in response to accelerometer data becoming available at a selected rate In addition to the Scheduler and Interpreter the platform takes advantage of an established slave port command interpreter GPIO mapping and quick read mailbox mapping The following figure illustrates the hardware and software components and in
19. h Register MB12 13 0x Value for Height Weight MB14 15 0x Set the Filter Register MB16 17 0x Set the Speed Period MB18 19 0x Set the Activity Count Bytes to send 0x15 0x20 0x00 0x10 0x 0x 0x 0x 0x Ox Ox Ox 0x 0x 0x 0x 0x 0x 0x Ox To read all the pedometer configuration registers send the following command packet from the host to the device mailboxes This can be used as a device identification command allowing a host to differentiate the MMA9553L from the MMA9550L MBO 0x15 pedometer application ID MBI 0x10 opcode to read configuration MB2 0x00 offset into pedometer configuration register map MB3 0x10 number of bytes to read The MMA9553L response will be MBO 0x15 pedometer application ID MBI 0x80 COCO 1 error code 0 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 15 MB2 0x10 actual number of bytes read MB3 0x10 requested number of bytes to read MBA sleep minimum MSB MBS sleep minimum LSB MB6 sleep maximum MSB MB7 sleep maximum LSB MBs sleep count threshold MSB MB9 sleep count threshold LSB MBI0 config MBII step length MBI2 height MBI13 weight MB14 filter step MBIS5 male filter time MB16 step period MB17 step coalesce MB18 activity count threshold MSB MB19 activity count threshold LSB The MMA9550 response will be MB
20. h to compute speed If set to a value greater than 5 then 5 will be used id SEDPRD Valid range 0x02 0x05 Warning Do not set SPDPRD to 0 or 1 as this may cause undesirable behavior Number of steps to coalesce before asserting STEPCHG 0 Disables STEPCHG en SEEPOSALESUE 1 Asserts STEPCHG after every step The default Valid range 0x00 0xFF uint8 2 3 4 8 Activity Count Threshold register 15 14 13 12 t1 10 9 8 7 6 5 4 3 2 1 0 Read ACTTHD Write Reset 0x0000 Unimplemented or reserved Figure 2 10 Activity Count Threshold register Table 2 13 Activity Count Threshold register field descriptions Bit s Field Description Activity debounce count threshold The internal activity level must be stable for ACTTHD samples before ACTIVITY is updated i Valid range 0x0000 0xFFFF uint16 19 0 ACTED 0 The activity debouncer is effectively bypassed 1 The current internal activity level must equal the previous internal activity level in order to update ACTIVITY 1 For more information on the activity debouncer see Table 2 9 on page 19 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 21 2 3 5 Pedometer status register descriptions 2 3 5 1 Status register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 o I o o a 8 O I oO Read amp a O p VERSION e 8 H S 2
21. hreshold sooner than 0 07 seconds the motion is ignored The STEPCNT variable contains the number of steps detected since the last reset That count is updated every time a step is detected MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 9 2 2 2 Distance estimation The distance covered by an individual step is calculated using Base Stride Length BSL the estimated normal stride length for this consumer The BSL is calculated as follows BSL Height centimeters x GenderFactor x 1 1 where Height is the consumer s height and GenderFactor is 0 415 for males or 0 413 for females For more information about Height see Height Weight register on page 20 For more information on GenderFactor see Filter register on page 20 If no consumer information is provided BSL is set to 0 and the resulting distance values are 0 If there is a need to update the BSL without consumer information the configuration structure can be used to set a fixed stride length The overall distance 1s calculated as the sum of estimated stride lengths for all steps detected since the last reset The stride length for a particular step is calculated as follows Stride BSL x StepRateFactor The StepRateFactor values are shown in the following table Table 2 1 StepRateFactor calculation PAP StepRateFactor S lt 1 6 very slow 0 88 1 6 S lt 1 8 slow 0 95
22. hts 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 and Energy Efficient Solutions logo are trademarks of Freescale Semiconductor Inc Reg U S Pat amp Tm Off All other product or service names are the property of their respective owners 2013 2015 Freescale Semiconductor Inc Z freescale Sensors Contents Chapter 1 About This Document ee See ATUM 3 LEI PUDOR ee ee Edda ee ee ad dat idt dade d ede Pp qx ee ee ee 3 Nice C E decade E cpm 3 12 IBEUDSBDO acronyme el eee eee ct eucede mrt kaks krp k Ee dedi resed eati Abii 3 lie TACOS 244 E pex 5 1 4 Register figure conventions s555 oora r arrr es pa aar RREREE RE EE es 6 1 9 Fero icasi cionb Ee eked ck ke ka ii se eU CE Ede dde ed OR KS KSA 7 Chapter 2 Pedometer Application 21 CN ee ee ede eee das EX dnd EEEE pii e LEER ME ER F dS 8 2 2 Functional description oc ci cscee secs ow iho RARE ERR 5514480000 Geee Ed EE dd 8 22 1 SUD OBDDEUDII doen chou ios de RORIERR Ede EUR eda d e e oe RR Ro 9 2 2 2 Distan e f ci TTD 10 0 Speed NEUE uic addu dod REPE E qd dud Kex qued oo Ekr qe HORS 10 2 2 4 Activity level calculation 2 2 da RR op ceca CCCo Ro R ORC Rob ER bE C de 11 2 2 5 Calorie expenditure calculation 00 ccc eee eee 11 220 We OW ood bees shee ceed dE Ede dq eens teak dae piv
23. ion APP ID 0x03 starting at byte offset 2 This causes the GPIO application to copy the pedometer s STEPCHG status bit to GPIO7 after every new accelerometer sample 15 20 OD 01 OA 03 20 02 02 15 05 2 6 12 Wake up from Deep Sleep Stop No Clock mode By default the MMA955xL initializes all applications after a hardware reset and then falls into Deep Sleep mode where all system clocks are stopped A slave port command can be used to wake up the clocks enable the accelerometer and execute the pedometer This command writes one byte of configuration variable to the sleep wake application APP ID 0x12 starting at byte offset 6 12 20 06 01 00 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 31 Revision History Revision Date Description 1 0 04 2013 Initial Release of the Software Reference Manual 2 0 07 2013 Updates for release R1 33 Section 2 2 3 Speed calculation added disclaimer re no steps Table 2 5 Status registers Offset address 0x0 Reset was 0x0000 Table 2 12 Speed Period Step Coalesce register field descriptions Bit 15 8 2 1 10 2013 Deleted If set to 0 then 1 will be used Valid range was 0x01 0x05 Added warning Speed register field descriptions table added note 22 06 2015 Section 2 2 2 StepRateFactor value changed to 1 30 Section 2 2 5 Calorie expenditure equation corrected to match the calculation MMA9553L
24. nc 11 The CALS variable contains the total amount of calories burned since the last reset The value is updated every time a step is detected 2 2 6 Debounce count The debounce_count function implements a debounce counter as defined in Motion and Freefall Detection Using the MMA84500 AN3917 an application note that is accessible from the platform documentation link in References on page 7 If the input condition is satisfied the count is incremented by one up to the threshold Otherwise the count is decremented or cleared depending on the debounce counter mode The debounce counter s behavior is shown in Figure 2 2 Vi Low g event 1 7 on all three axes 3g Freefall l T Count threshold 777777 7 2 2 TL SS S 5 iy i FF MT Li Li H counter value EA FF H 1 1 Low g event l on all three axes 1 1 Freefall Count threshold 2Z22 DBCNTM 1 FF_MT b counter value Freefall Count threshold DBCNTM 0 1 i Low g event on all three axes 1 1 1 1 FF MT counter value EA FF Figure 2 2 Debounce counter behavior 2 2 7 Autonomous suspend The pedometer uses the acceleration vector magnitude squared X Y Z2 to determine if the device is stationary It is designed to suspend the pedometer conservatively and wake the pedometer aggressively to avoid missing any steps MMA9553L Intelligent Pedometer Pla
25. nted or reserved Figure 2 6 Configuration Step Length register Table 2 9 Configuration Step Length register field descriptions Bit s Field Description Re initializes the pedometer with current configuration values Modifications to other pedometer configuration registers will not take effect until this bit is set It is 15 CONFIG automatically cleared after the re initialization completes 0 Do not re initialize the pedometer 1 ReJinitialize the pedometer with current configuration values Activity debounce counter mode 14 ACT DBCNTM 0 Decrement the count when the activity level changes 1 Clear the count when the activity level changes Autonomous suspend debounce counter mode 13 SLP DBCNTM 0 Decrement the count when the device is in motion 1 Clear the count when the device is in motion Reserved 128 E Set to 0 Step length in centimeters 7 0 STEPLEN Set to 0 to automatically estimate the consumer s step length based on gender and height Valid range 0x00 0xFF uint8 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 19 2 3 4 5 Height Weight register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read HEIGHT WEIGHT Write Reset 175 centimeters 80 kilograms Unimplemented or reserved Figure 2 7 Height Weight register Table 2 10 Height Weight register field descriptions Bit s Field Description Height in centimeter
26. on The host can trigger an interrupt on rising edges to receive notification when the pedometer is autonomously suspended and trigger an interrupt on falling edges to receive notification when the pedometer resumes 0 Pedometer is active 1 Pedometer is suspended 10 8 ACTIVITY Activity level 000 Unknown 001 Rest 010 Walking 011 Jogging 100 Running 101 111 Reserved 7 0 VERSION Version number of the pedometer application incremented by one for each new release 0 R1 32 1 R1 33 1 For more information on the GPIO application see chapter 5 of the MMA955xL ntelligent Motion Sensing Platform Software Reference Manual MMA955xLSWRM accessible from References on page 7 2 3 5 2 Step Count register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read STEPCNT Write Reset 0x0000 Unimplemented or reserved Figure 2 12 Step Count register Table 2 15 Step Count register field descriptions Bit s Field Description 15 0 STEPCNT The total step count since the pedometer was last reset Valid range 0x0000 0xFFFF uint16 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 23 2 3 5 3 Distance register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 Read DIST Write Reset 0x0000 Unimplemented or reserved Figure 2 13 Distance register Table 2 16 Distance register field descriptions
27. on APP_ID 0x15 starting at byte offset 0 15 30 00 OC 2 6 2 Read configuration variables This command reads all 16 bytes of the configuration variables from the Pedometer application APP_ID 0x15 starting at byte offset 0 15 10 00 10 2 6 3 Write configuration variables This command writes all 16 bytes of the configuration variables to the Pedometer application APP_ID 0x15 starting at byte offset 0 15 20 00 10 00 11 22 33 44 55 66 77 88 99 AA BB CC DD EE FF 2 6 4 Reset configuration variables to their defaults This command writes one byte of configuration variable to the Reset Suspend Clear application APP ID 0x17 starting at byte offset 1 This causes the scheduler to invoke the pedometer s reset function pedometer reset 17 20 01 01 20 2 6 5 Enable disable the Pedometer application This command writes one byte of configuration variable to the Reset Suspend Clear application APP_ID 0x17 starting at byte offset 5 This causes the scheduler to suspend the Pedometer application even if the device is not stationary 17 20 05 01 20 disable 17 20 05 01 00 enable 2 6 6 Configure the AFE range This command writes one byte of the configuration variable to the AFE application APP_ID 0x06 starting at byte offset 0 Since the pedometer uses a normalized acceleration output provided by the AFE application the g mode only affects the saturation level and noise Regardless of what g mode the AFE is configured
28. ounter Portrait down Program Delay Block Portrait Landscape Power on Reset Conditions that hold after the actions performed by the module function Conditions that must hold for a module function to execute Portrait up Start Frame Digital Encrypted data known only to the parties involved in a secure communication This data can include a password a pass phrase a big number or an array of randomly chosen bytes Supervisor Stack Pointer Timer Program Module Developers who incorporate Freescale technology into their devices See consumers Vector Base Register a register in the ColdFire memory map that controls the location of the exception vector table MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 1 3 Conventions This document uses the following notational conventions cleared set MNEMONICS mnemonics italics 0x0 Ob REG FIELD nibble byte word longword X n OVERLINE When a bit takes the value 0 it is said to be cleared when it takes a value of 1 it is said to be set In text instruction mnemonics are shown in uppercase In code and tables instruction mnemonics are shown in lowercase Italics indicate variable command parameters Book titles also are italicized Prefix of 0x to denote a hexadecimal number Suffix of b to denote a binary number Abbreviations for registers are shown in uppercase Specific bits
29. plication s external status variables leaving internal variables unchanged The pedometer does not need this function and therefore places a null pointer in the respective application table entry The MMA955xL platform requires user applications to dynamically request RAM for data structures that interface with the slave port Command Interpreter These data structures must be organized such that the status variables are immediately followed by configuration variables with no padding bytes in between Private variables may follow the configuration variables if needed 2 2 1 Step detection Step detection is based solely on detecting step impact without taking into consideration the consumer s height weight or gender The algorithm operates by keeping track of momentary acceleration defined as R 2 2 A NX Y Z where X Y and Z represent a single accelerometer reading normalized by dividing by 1g The values of A are accumulated over a fixed period of time 0 19 seconds At every reading the average A for that period is calculated and saved The algorithm detects steps by analyzing the spread of the accumulated average A values The spread is the difference between minimum and maximum of the calculated values For a step to be reported the spread in the buffer of average values of A has to exceed a fixed threshold 0 13 g and stay above that threshold for at least the fixed value of 0 07 seconds If the spread falls below the t
30. rames in which STEPCNT changed from the previous frame A frame is one 30 Hz period This bit can be routed to a pin to enable output interrupts using the MMA955xL GPIO application The host can trigger an interrupt on rising edges to receive 13 STEPCHG notification after every step 0 The step count has not been incremented by STEPCOALESCE steps since the last STEPCHG assertion or the pedometer was last initialized 1 The step count has been incremented by STEPCOALESCE steps since the last STEPCHG assertion or the pedometer was last initialized Indicates a change in activity level This bit is transient and only asserts during frames in which ACTIVITY changed from the previous frame A frame is one 30 Hz period This bit can be routed to a pin to enable output interrupts using 12 ACTCHG the MMA955xL GPIO application The host can trigger an interrupt on rising edges to receive notification when the activity level is changed 0 No change in activity level since last pedometer call 1 New activity level since last pedometer call MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 22 Freescale Semiconductor Inc Table 2 14 Status register field descriptions Continued Bit s Field Description 11 SUSP Indicates whether the pedometer is active or has been autonomously suspended This bit can be routed to a pin to enable output interrupts using the MMA955xL GPIO applicati
31. read 16 bits two bytes or more at a time with a single command if the user wishes to read them atomically Similarly configuration registers are shown as 16 bits wide but are also byte accessible Most fields defined within the configuration registers are 8 bits or less and are byte aligned so they can be written one byte at a time if desired All bytes should be written using a single command if the user wishes to modify them atomically For more information on reading writing the Mailbox registers please see Chapter 5 of the MMA955xL Intelligent Motion Sensing Platform Software Reference Manual MMA955xLSWRM accessible from References on page 7 2 3 1 Pedometer memory maps Table 2 4 Configuration registers Orset Register Access Reset Details address 0x0 Sleep Minimum register R W 0x0000 Sleep Minimum register on page 17 0x2 Sleep Maximum register R W 0x0000 Sleep Maximum register on page 18 0x4 Sleep Count Threshold register R W 0x0001 Sleep Count Threshold register on page 18 0x6 Config Step Length register R W 0x0000 Configuration Step Length register on page 19 0x8 Height Weight register R W OxAF50 Height Weight register on page 20 OxA Filter register R W 0x0403 Filter register on page 20 O0xC Speed Period register R W 0x0501 Speed Period Step Coalesce register on page 21 OxE E Abresnon R W 0x0000 Activity Count Threshold register on page 21
32. refore SLEEPMIN and SLEEPMAX are expected to be set to values near 1g 4096 at 0 244 mg LSB resolution Set to SLEEPMAX 0 to disable autonomous suspend Valid range 0x0000 0xFFFF uint16 Units 0 244 mg LSB 1 This condition must be satisfied for SLEEPTHD samples for the pedometer to autonomously suspend See Table 2 8 on page 19 2 3 4 3 Sleep Count Threshold register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read i SLEEPTHD Write Reset 0x0001 Unimplemented or reserved Figure 2 5 Sleep Count Threshold register MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 18 Freescale Semiconductor Inc Table 2 8 Sleep Count Threshold register field descriptions Bit s 15 0 Field Description Autonomous suspend debounce count threshold The autonomous suspend condition must be satisfied for SLEEPTHD samples for the SLEEPTHD pedometer to autonomously suspend Valid range 0x0000 0xFFFF uint16 1 The acceleration vector magnitude must be greater than SLEEPMIN and less than SLEEPMAX to satisfy this condition For more information on SLEEPMIN and SLEEPMAX see Sleep Minimum register and Sleep Maximum register 2 3 4 4 Configuration Step Length register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read oO Z Z z D amp STEPLEN z Write O a a O H n O d lt 7 Reset 0 0 0 00000 0x00 Unimpleme
33. rs it Write w1c Read 0 Indicates a self clearing bit Write FIELDNAME MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 6 Freescale Semiconductor Inc 1 5 References 1 Fora list of related reference manuals application notes and other documents visit the Documentation tab of the MMA955xL product page on freescale com 2 IEEE Standard Test Access Port and Boundary Scan Architecture IEEE Std 1149 1 2001 R2008 3 I C Bus Specification Version 2 1 January 2000 Philips Semiconductors 4 PC Bus Specification and User Manual NXP Semiconductors Document UM10204 Rev 03 19 June 2007 5 ColdFire Family Programmer 5 Reference Manual CFPRM Rev 3 03 2005 Freescale Semiconductor Inc 6 Wikipedia entry for Semaphore http en wikipedia org wiki Semaphore_ 28programming 29 7 ITU T V41 Recommendation Code Independent Error Control System available at http www itu int rec T REC V 41 198811 I en 8 ITU T X 25 Recommendation Interface between Data Terminal Equipment DTE and Data Circuit terminating Equipment DCE for terminals operating in the packet mode and connected to public data networks by dedicated circuit available at http www itu int rec T REC X 25 198811 S en 9 ITU T T 30 Recommendation Procedures for document facsimile transmission in the general switched telephone network available at http www itu int rec T R EC T 30 200509 T en 10 Motion and Fre
34. s Used to estimate step length if STEPLEN 0 19 HEIGHT Valid range 0x00 0xFF uint8 Default 175 Weight in kilograms Used to estimate step length if STEPLEN 0 1 0 WEIGHT Valid range 0x00 0xFF uint8 Default 80 2 3 4 6 Filter register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read FILTSTEP MALE FILTTIME Write Reset 4 0 3 Unimplemented or reserved Figure 2 8 Filter register Table 2 11 Filter register field descriptions Bit s Field Description Number of steps that must occur within FILTTIME for the pedometer to decide the consumer is making steps 15 8 FILTSTEP Setto 0 to disable step filtering If the value specified is greater than 6 then 6 will be used Valid range 0x00 0x06 uint8 Default 4 Gender 7 MALE 0 Female 1 Male Number of seconds in which filter steps must occur Set to 0 to disable step filtering 6 0 BETTIME Valid range 0x00 0x7F uint8 Default 3 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 20 Freescale Semiconductor Inc 2 3 4 7 Speed Period Step Coalesce register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Read SPDPRD STEPCOALESCE Write Reset 5 1 Unimplemented or reserved Figure 2 9 Speed Period Step Coalesce register Table 2 12 Speed Period Step Coalesce register field descriptions Bit s Field Description Number of seconds in whic
35. scheduler defined sleep wake activity level not the pedometer activity level This setting instructs the scheduler to run pedometer main regardless of the MMA9553L s sleep wake state The pedometer performs its own computations to determine its sleep condition 3 Configures the Analog Front End AFE application to sample the accelerometer at 30 Hz in 4g mode All other AFE application characteristics are left at their default values 4 Configure the AFE GPIO MBOX FIFO EVENT QUEUE STATUS REG CI RST CLR SUSP LONG SHORT INT applications to execute in the 30 Hz task Precondition None Postcondition User RAM is allocated to the pedometer the AFE is configured to sample accelerometer data in 4g mode and the scheduler is configured to execute the Pedometer application at 30 Hz Prototype void pedometer init void Parameters None Return values None 2 5 2 pedometer reset This function resets all pedometer variables to their default states It may be called more than once after a hardware reset Precondition None MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 26 Freescale Semiconductor Inc Postcondition All pedometer variables are set to their default states Prototype void pedometer reset void Parameters None Return values None 2 5 3 pedometer_main This function executes after each new accelerometer sample 30 Hz is completed and
36. teractions in the MMA9553L platform Host processor MMA9550L firmware Pedometer firmware Analog Front End Analog Front End application Command Slave port Interpreter E application H Figure 2 1 Pedometer Data Flow Diagram The pedometer consists of an application table and up to four top level callback functions as required for all MMA955xL applications The application table is placed at the beginning of a 512 byte flash page and publishes to the Scheduler the location of the pedometer s top level functions and the sizes of the external data structures MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 8 Freescale Semiconductor Inc The top level functions for the MMA9553L platform are e pedometer init Initialization function that executes exactly once after reset It is used to configure an application s task scheduling attributes and request dynamic RAM allocation e pedometer reset This function can be executed multiple times and is used to reset the pedometer to its default state without requiring a hardware reset Resets an application s internal and external variables to their default states e pedometer main The main function executed after every occurrence ofa selected event In the case of the pedometer this function executes after each new accelerometer sample is acquired and invokes the main pedometer function to process the sample e pedometer clear Clear an ap
37. tform Software Reference Manual Rev 2 2 12 Freescale Semiconductor Inc The autonomous suspend function compares the acceleration vector magnitude to the configurable minimum and maximum thresholds SLEEPMIN and SLEEPMAX and passes the boolean result to a debounce counter If the thresholds are satisfied for at least SLEEPTHD samples the pedometer autonomously suspends The thresholds are satisfied if the output of the debounce counter is asserted If the thresholds are not satisfied for at least SLEEPTHD samples the pedometer executes normally The parameters SLEEPMIN SLEEPMAX SLEEPTHD and SLP DBCNTM configure the behavior The SLEEPMAX parameter s reset value disables the autonomous suspend function by default For more information see SLEEPMIN Sleep Minimum register on page 17 SLEEPMAX Sleep Maximum register on page 18 SLEEPTHD Sleep Count Threshold register on page 18 SLP_DBCNTM Configuration Step Length register on page 19 If custom sleep functionality is desired a user may disable the pedometer s autonomous suspend functionality and instead use the MMA955xL s Reset Suspend Clear application to enable or disable the pedometer For an example see Enable disable the Pedometer application on page 29 2 2 8 Usage of data types and data structures 2 2 8 1 Basic data types The following application identifiers are used by the Pedometer application and must not be reuse
38. tion The activity level calculation is based on the speed value The activity level value is assigned according to the following table Table 2 2 Activity level calculation Ms S Activity level S 2 10 5 Running 6 5 S lt 10 5 Jogging 10 lt S lt 65 Walking lt 1 0 Rest The ACTIVITY variable contains the current activity level and is updated every time a step is detected or once a second if there are no steps Additionally if no steps are detected for the previous 2 5 seconds the activity level is reset to Rest 2 2 5 Calorie expenditure calculation The estimated amount of calories burned by a single step is calculated as MetabolicFactor x 0 00029 Calories x Weight StepRate where StepRate is calculated as described in Distance estimation on page 10 Weight is the consumer s weight in kilograms and MetabolicFactor is calculated according to the following table Table 2 3 MetabolicFactor calculation Step Rate 3 MetabolicFactor steps sec S lt 1 6 very slow 2 0 1 6 S lt 1 8 slow 2 5 1 8 S lt 2 35 normal 3 8 2 35 S 2 8 fast 8 0 S 2 2 8 very fast 12 5 For more information see StepRate Filter register on page 20 Weight Height Weight register on page 20 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor I
39. to for or by other applications the resolution seen by the Pedometer application is always 8g 06 20 00 01 40 2g mode 06 20 00 01 80 4g mode 06 20 00 01 00 8g mode MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 29 For more information on configuring the AFE range see the AFE configuration registers section of the MMA955xL Intelligent Motion Sensing Platform Software Reference Manual MMA955xLSWRM That document is accessible from the product documentation link in References on page 7 2 6 7 Configure output interrupt Activity change on GPIO6 This command writes two bytes of the configuration variable to the GPIO application APP_ID 0x03 starting at byte offset 0 This causes the GPIO application to copy the pedometer s ACTCHG status bit to GPIO6 after every new accelerometer sample The host processor can trigger an interrupt on rising edges of this pin to receive notification when the activity level changes 03 20 00 02 15 04 2 6 8 Configure output interrupt Step change on GPIO7 This command writes two bytes of the configuration variable to the GPIO application APP_ID 0x03 starting at byte offset 2 This causes the GPIO application to copy the pedometer s STEPCHG status bit to GPIO7 after every new accelerometer sample The host processor can trigger an interrupt on rising edges of this pin to receive notification when the step count ch
40. ure 2 16 Sleep Count register Table 2 19 Sleep Count register field descriptions Bit s Field Description Current value of the autonomous suspend debounce counter 15 0 SLEEPCNT valid range 0x0000 0xFFFF uint16 2 4 Error reporting The error reporting philosophy is to check only for errors that could cause system instability Error conditions that do not cause system instability are not checked or reported The MMA955xL Command Interpreter includes error checking and error reporting when accessing the pedometer s status and configuration variables For example the Command Interpreter does not allow a slave port command to access more bytes than are present in an application s public data structure For more details see the MMA955xL Intelligent Motion Sensing Platform Software Reference Manual MMA955xLSWRM accessible from References on page 7 MMA9553L Intelligent Pedometer Platform Software Reference Manual Rev 2 2 Freescale Semiconductor Inc 25 2 5 Functions 2 5 1 pedometer init This function initializes the pedometer once after a hardware reset It performs the following operations 1 Requests dynamic RAM allocation for the pedometer s status configuration and private variables 2 Configures the scheduling attributes for the Pedometer application Priority TASK30HZ This instructs the scheduler to execute pedometer main at 30 Hz Activity ALWAYS This is the
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