Attached is an LPCExpresso project for LPC1549.  It is compatible with the latest version of the Sensor Fusion Toolbox for Windows (the version targeted at Version 6.00 and 7.00 sensor fusion).  This project is a variant on the Sensor Fusion Version 6.00 library.  Algorithmically this is virtually identical to Version 7.00.

All, Drop the attached into SDK_2.0_FRDM-KL25Z/boards/frdmkl25z_virtual_shield/issdk_examples/algorithms/sensorfusion/baremetal_sensor_fusion. Apologies for both the delay in posting and the fact that even though I thought I was linking to files elsewhere in the system, I ended up getting local copies built into this project.  Some of you may like that.  I don't particularly.  But as I've noted elsewhere, KDS and I have our differences... Regards, Mike

Attached is a PDF dump of a classic blog post.  Please forgive the format problems.  I'll work with the web team in January to get it reposted to the NXP site. Mike

Here's a zip file which incorporates the patch I outlined in my previous posting.

You will have to add a .exe extension to the unzipped file.

This posting summarizes known issues, not already in the errata) for Sensor Fusion Build 420: FRDM-KL25Z, KL26Z, KL46Z, K20D50M and K64F boards shipped to date do not include pull-up resistors on the NMI pin.  This has reportedly caused applications to not start properly because of inadvertent non-maskable interrupts.   There are several possible ways to resolve this: Add the missing pull-up resistor Disable the NMI during the first call to the NMI interrupt handler.  You can do that by replacing the existing default handler with:          // called on NMI          void Cpu_OnNMIINT(void)          {            // Disable NMI pin (some boards do not have pullups)            SIM_SCGC5 |= (uint32_t)SIM_SCGC5_PORTA_MASK; /* NMI and PORTA clock gate enable */            PORTA_PCR4 &= PORT_PCR_MUX_MASK;            /* enable input with pull up enable not NMI */            PORTA_PCR4 |= PORT_PCR_MUX(01) | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;            // return with no action            return;          } Add two new PE components.  One of type BitIO_LDD and the other of type Init_GPIO.  Between them you can assign PTA4 as an input GPIO with pullup enabled.  This has the advantage of requiring no changes to the .c or .h files. KDS builds using optimization level O3 do not properly execute the command interpreter within Events.c function UART_OnBlockReceived().  Change the project settings optimization level to O1 and it should work fine. It is possible for the Sensor Fusion Toolbox (both Windows and Android versions) to "fall out of sync" with the development board firmware with regard to desired sensor fusion algorithm being executed.  Symptoms and root causes are reviewed in the PDF attached to this posting.

All, Twitter traffic revealed a need for PDF versions of the sensor fusion documentation.  Apologies for any inconvenience.  Our standard documents are in Word format (we make extensive use of the equation tools in Word), and we supply them in that same format to make it easy to reuse the material.  But for those who do not have Word, please see the attached PDF. Regards, Mike

Android sensor fusion APK