All,
We are busily working to integrate Version 7.00 of the sensor fusion library into the Kinetis Expert (KEX) ecosystem. ETA is early August. I have attached here a preview copy of the user manual for that release. This is subject to the usual disclaimers: content subject to change, no liability, yada yada yada. There are a LOT of changes. These are documented ad nauseum in the user guide. I've also added a lot of our old blog content into the user guide, as I keep getting requests for them. Please take a look and give me your feedback.
FYI, Here is a sample main() for the new fusion, running on FreeRTOS:
/* FreeRTOS kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"
#include "event_groups.h"
// KSDK and ISSDK Headers
#include "fsl_debug_console.h" // KSDK header file for the debug interface
#include "board.h" // KSDK header file to define board configuration
#include "pin_mux.h" // KSDK header file for pin mux initialization functions
#include "clock_config.h" // KSDK header file for clock configuration
#include "fsl_port.h" // KSDK header file for Port I/O control
#include "fsl_i2c.h" // KSDK header file for I2C interfaces
#include "Driver_I2C_SDK2.h" // ISSDK header file for CMSIS I2C Driver
#include "fxas21002.h" // register address and bit field definitions
#include "mpl3115.h" // register address and bit field definitions
#include "fxos8700.h" // register address and bit field definitions
// Sensor Fusion Headers
#include "sensor_fusion.h" // top level magCal and sensor fusion interfaces
#include "control.h" // Command/Streaming interface - application specific
#include "status.h" // Sta:tus indicator interface - application specific
#include "drivers.h" // NXP sensor drivers OR customer-supplied drivers
// Global data structures
SensorFusionGlobals sfg; ///< This is the primary sensor fusion data structure
ControlSubsystem controlSubsystem; ///< used for serial communications
StatusSubsystem statusSubsystem; ///< provides visual (usually LED) status indicator
PhysicalSensor sensors[3]; ///< This implementation uses three physical sensors
EventGroupHandle_t event_group = NULL;
static void read_task(void *pvParameters); // FreeRTOS Task definition
static void fusion_task(void *pvParameters); // FreeRTOS Task definition
/// This is a FreeRTOS (dual task) implementation of the NXP sensor fusion demo build.
int main(void)
{
ARM_DRIVER_I2C* I2Cdrv = &I2C_S_DRIVER_BLOCKING; // defined in the <shield>.h file
BOARD_InitPins(); // defined in pin_mux.c, initializes pkg pins
BOARD_BootClockRUN(); // defined in clock_config.c, initializes clocks
BOARD_InitDebugConsole(); // defined in board.c, initializes the OpenSDA port
I2Cdrv->Initialize(NULL); // Initialize the KSDK driver for the I2C port
I2Cdrv->Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_FAST); // Configure the I2C bus speed
initializeControlPort(&controlSubsystem); // configure pins and ports for the control sub-system
initializeStatusSubsystem(&statusSubsystem); // configure pins and ports for the status sub-system
initSensorFusionGlobals(&sfg, &statusSubsystem, &controlSubsystem); // Initialize sensor fusion structures
// "install" the sensors we will be using
sfg.installSensor(&sfg, &sensors[0], FXOS8700_I2C_ADDR, 1, (void*) I2Cdrv, FXOS8700_Init, FXOS8700_Read);
sfg.installSensor(&sfg, &sensors[1], FXAS21002_I2C_ADDR, 1, (void*) I2Cdrv, FXAS21002_Init, FXAS21002_Read);
sfg.installSensor(&sfg, &sensors[2], MPL3115_I2C_ADDR, 2, (void*) I2Cdrv, MPL3115_Init, MPL3115_Read);
sfg.initializeFusionEngine(&sfg); // This will initialize sensors and magnetic calibration
event_group = xEventGroupCreate();
xTaskCreate(read_task, "READ", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
xTaskCreate(fusion_task, "FUSION", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
sfg.setStatus(&sfg, NORMAL); // If we got this far, let's set status state to NORMAL
vTaskStartScheduler(); // Start the RTOS scheduler
sfg.setStatus(&sfg, HARD_FAULT); // If we got this far, FreeRTOS does not have enough memory allocated
for (;;) ;
}
static void read_task(void *pvParameters)
{
uint16_t i=0; // general counter variable
portTickType lastWakeTime;
const portTickType frequency = 1; // tick counter runs at the read rate
lastWakeTime = xTaskGetTickCount();
while (1)
{
for (i=1; i<=OVERSAMPLE_RATE; i++) {
vTaskDelayUntil(&lastWakeTime, frequency);
sfg.readSensors(&sfg, i); // Reads sensors, applies HAL and does averaging (if applicable)
}
xEventGroupSetBits(event_group, B0);
}
}
static void fusion_task(void *pvParameters)
{
uint16_t i=0; // general counter variable
while (1)
{
xEventGroupWaitBits(event_group, /* The event group handle. */
B0, /* The bit pattern the event group is waiting for. */
pdTRUE, /* BIT_0 and BIT_4 will be cleared automatically. */
pdFALSE, /* Don't wait for both bits, either bit unblock task. */
portMAX_DELAY); /* Block indefinitely to wait for the condition to be met. */
sfg.conditionSensorReadings(&sfg); // magCal is run as part of this
sfg.runFusion(&sfg); // Run the actual fusion algorithms
sfg.applyPerturbation(&sfg); // apply debug perturbation (testing only)
sfg.loopcounter++; // The loop counter is used to "serialize" mag cal operations
i=i+1;
if (i>=4) { // Some status codes include a "blink" feature. This loop
i=0; // should cycle at least four times for that to operate correctly.
sfg.updateStatus(&sfg); // This is where pending status updates are made visible
}
sfg.queueStatus(&sfg, NORMAL); // assume NORMAL status for next pass through the loop
sfg.pControlSubsystem->stream(&sfg, sUARTOutputBuffer); // Send stream data to the Sensor Fusion Toolbox
}
}
/// \endcode