Freescale Sensor Fusion Pre-Release

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The attached is a PRE-RELEASE copy of the next version of the Freescale Sensor Fusion Library for Kinetis MCUs.  It is a pre-release because we are still working to update the datasheet and userguide to accomodate new changes.  The datasheet and user guides included in this copy are identical to the current production versions found at http://www.freescale.com/sensorfusion.  This is the first release of the library which provides ALL SOURCE CODE.  The software license is unchanged from the prior release, and is re-produced at the end of this posting.  Please do not download the file if you can't agree to these license terms.

 

In order to get around virus filter on the community, I've had to create a simple zip file of the fusion toolkit.  There's no installer.  Just unzip it in your directory of choice.

 

Pre-Release Notes for Freescale Sensor Fusion Library for Kinetis MCUs
Previous production release: build 417
This release: build 420

This is a pre-release kit.  The included datasheet and user guide relate to the previous version (build 417).  Updates are in progress and will be published shortly.
In the meantime, changes (at a high level) are listed below.

Changes:
1.  Removed all license checking functions
2.  Fusion and magnetic calibration libraries are now included in source form.    libFusion.a is now gone.  It has been replaced by additional files in the Sources directory. 
3.  Added template projects for Kinetis Design Studio
4.  Added KL46Z board support
5.  Community supported at https://community.freescale.com/community/sensors/sensorfusion
6.  The datasheet has been updated with simulated fusion metrics, code sizes and systick counts
7.  "FLASH_EU" target names have been changed to "FLASH"
8.  Changed branding from "Xtrinsic" to "Freescale".  This resulted in project prefixes  being changed from "XSFK_" to "FSFK_".
9.  Removed the Accelerometer + Magnetometer 6-axis Kalman filter (the eCompass implementation  is more efficient)
10. Debug packets are now on by default.  This enables the Sensor Fusion Toolkit for Android to startup with the correct board display on powerup.
11. The following source files have been renamed:
    FSL_utils.c/.h are now drivers.c/.h
    tasks_func.c/.h are now tasks.c/.h
    proj_config.h is now build.h
    ProcessorExpert.c is now main.c
    baranski_kalman.h is now kalman.h
12. license.h has been removed
13. Added bare metal eCompass implementation for KL46Z (no MQXLite)
14. This version will not include run configurations for all KDS projects. There are too many permutations, and the tools are being regularly updated.

Errata:
1.  Newer K64F Freedom boards can utilize several different versions of the OpenSDA interface.  The MBED drivers do not deal properly with flash security and can temporarily "brick" a board.  In order for the download function to work properly, the value of the NV_FSEC portion of the CPU_FLASH_CONFIG_FIELD within file name Generated_Files/CPU_Config.h must have a value of 0xFE.  Processor Expert (which generates this file) does not currently support that value.  You must make the change manually after running Processor Expert.
2.  When compiling for the first time in KDS, the tool may generate the following error message: "writing to APSR without specifying a bitmask".  This is an invalid error. Simply build a second time and the error will disappear.
3.  MQXLite 1.1.0 created via Processor Expert incorrectly handles contexts switches for the  floating point unit on the K64F.  As shipped, this does not present a problem because  floating point computations are normally completed within one sample period.  However if you add additional code to that project template, such that computations extend beyond one sample period, you will get incorrect results (there is no warning!). MQXLite 1.1.1 fixes this issue.  Check the MQX1 settings in Processor Expert to see which  version you are using.
4.  I2C transmission speeds are configured for 300KHz to 400KHz.   During the build process, it is normal to see the following:
    "Warning: The device is designed to operate up to 100kHz! (SCL frequency)".
    The development team routinely operates at higher I2C frequencies, although these are not necessarily guaranteed in the device datasheets.  Other warnings arise from the  MQXLite code generated by Processor Expert.  The actual fusion library is believed to be clean.

Xtrinsic Sensor Fusion Library for Kinetis MCUs

License: LA_OPT50 Version 20 January 2014

  1. IMPORTANT. Read the following Freescale Software License Agreement (“Agreement”) completely.  By selecting the “I Agree” button at the end of this page, you indicate that you accept the terms of this Agreement and you also acknowledge that you have the authority, on behalf of your company, to bind your company to such terms.  You may then download or install the file.

FREESCALE END-USER SOFTWARE LICENSE AGREEMENT

This is a license agreement between you (either as an individual or as an authorized representative acting on behalf of your employer) and Freescale Semiconductor, Inc. (“Freescale”). It concerns your rights to use software package and any accompanying written materials (the “Software”). The Software includes any updates or error corrections or documentation relating to the Software provided to you by Freescale under this License. In consideration for Freescale allowing you to access the Software, you are agreeing to be bound by the terms of this Agreement. If you do not agree to all of the terms of this Agreement, do not download or install the Software. If you change your mind later, stop using the Software and delete all copies of the Software in your possession or control. Any copies of the Software that you have already distributed, where permitted, and do not destroy will continue to be governed by this Agreement. Your prior use will also continue to be governed by this Agreement.

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