KL25Z and Sensor Fusion

[#1]

All,

The attached was put together in response to the posting by Andrew Hartnett.  It contains a bare-metal IAR project for 9-axis sensor fusion V7.00 on the KL25Z.  You need to have built KSDK for the KL25Z to include the ISSDK option.  Then unzip this file into your SDK_2.0_FRDM-KL25Z/boards directory.  The sample project is then located at SDK_2.0_FRDM-KL25Z/boards/frdmkl25z_virtual_shield/issdk_examples/algorithms/sensorfusion/baremetal_sensor_fusion/iar.

There is also an included freertos_sensor_fusion project.  Ignore that for now.  It compiles and links, but needs more RAM than the KL25Z supplies.  I'm looking at ways to decrease the RAM requirements to fit.

Regards,

Mike

[michaelestanley]

All,

I was able to get the FreeRTOS version up and running.  Here's what you need to know:

1. Compile for only 1 algorithm as per the bare metal notes
2. "#define configMINIMAL_STACK_SIZE ((unsigned short)256)" in FreeRTOSConfig.h
3. replace the FreeRTOS heap_4.c with heap_3.c  (FreeRTOS has several memory allocation options)
4. Change the value of __size_heap__ in MKL25Z128xxx4_flash.lcf from 0x400 to 0x1000.

Enjoy!

Mike