This is the 9 December 2014 build of Vibration Monitoring program written by Mark Pedley in the Sensors Solutions Division systems/algorithms team.  It is compatible with Freescale FRDM-KL25Z/KL26Z/KL46Z/K64F Freedom development platforms.  You can flash your board using the File->Flash pull-down menu.    The application contains an option for controlling motor bias and feedback via optional motor control shield to be discussed in an upcoming Freescale blog.  Use the View->Motor Controls pull-down to enable those functions.

For those of you who do not have access to Google Play, here is the latest .apk file for the Android version of the Sensor Fusion Toolbox.  This version should trap problems which caused previously reported crashes.  There are no visible changes to the functionality.   IF you have access to Google Play, we recommend that you use that as your default installer, as you can automatically get updates.

Here is the Installer file for the revision 4.2.0.8 of the Sensor Toolbox GUI

Android sensor fusion APK

The attached is a preview copy of build 422 of the sensor fusion library, which is currently being tested by the Freescale Sensor's team. Please consult the docs/Release_Notes.txt file for changes from build 420, as well as known errata. This version is released under the following license:   Freescale Sensor Fusion Library for Kinetis MCUs IMPORTANT. Read the following Freescale Software License Agreement (“Agreement”) completely.  By downloading this file, 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 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:     * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.     * Redistributions in binary form must reproduce the above copyright  notice, this list of conditions and the following disclaimer in the  documentation and/or other materials provided with the distribution.     * Neither the name of Freescale Semiconductor, Inc. nor the  names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FREESCALE SEMICONDUCTOR, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. © 2004-2014 Freescale Semiconductor, Inc. All rights reserved.

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.

Our pressure sensors are designed to be used with clean, dry air only. However, most of our customers ran their own tests to determine if the response of the sensor would be appropriated for their specific applications. I personally ran a test with an MPXV5700AP directly exposed to car coolant @25°C and 100PSI, zero failure was detected for almost a month. See attached .xlsx for detailed information. The error of the sensor was calculated comparing the output of the sensor with a mechanical manometer, however this was only an approximation since the mechanical manometer was used as the "true pressure value". In this kind of applications, we would recommend to use Parker O-lube silicone grease or DMS-T46 or T51. This type of grease is used by most of our customer without problems. In fact the basic recommendations are to use a silicone oil (or preferably grease) with high viscosity and high molecular weight. In this case the size of the molecules are big enough to limit the penetration of the grease inside our protective silicone gel which is over the die. In terms of contaminants, the silicon grease must be free of halogenures (Cl content < 50 ppm) to reduce the risk of bond pad corrosion. On the other hand, don't forget that whatever the material you will use, as soon as you put something on our gel you have a high probability to see some offset drift. This is coming from additional mechanical stress and/or gel swelling. The amount of gel and global mechanical design are usually also part of the offset drift.

Hi Folks, If you are planning to design an application where a pressure sensor is needed but you are not sure about which kind of Pressure Measurement and Level of Integration is needed, or you even doesn’t know what does that means (like me before start working with pressure sensors), then this document can be useful. First, for a better understanding about what I’m talking about in this document and how pressure sensors and measurement works I’m adding below an image that shows a cross-section of a standard pressure sensor which basically shows the Physical Internal structure of a pressure sensor: What I’m trying to show in this image is the position of the Ports P1 and P2, you will see the importance of these ports and its position for the pressure measurement. Also in this image you can see that the die and the wire bonds are protected with a Silicone Gel, this gel can get damaged leaving the die and the wire bonds exposed to the media if it’s used with different media than dry clean air. Pressure Measurements can be divided into three different categories: Absolute pressure, Gage (Gauge) pressure and Differential pressure. Let’s learn something about these categories: + Absolute pressure refers to the absolute value of the force per-unit-area exerted on a surface. Therefore the absolute pressure is the difference between the pressure at a given point and the absolute zero of pressure or a perfect vacuum. In other words: Pressure is applied on Port P1 of the sensor while the Port P2 of the sensor is a vacuum sealed reference. + Gage (Gauge) pressure is the measurement of the difference between the absolute pressure and the Local atmospheric pressure. In other words: Port P2 of the sensor is exposed to the local atmosphere while Port P1 is where pressure is applied. *Local atmospheric pressure can vary depending on ambient temperature, altitude and local weather conditions. A gage pressure by convention is always positive. A 'negative' gage pressure is defined as vacuum. Vacuum is the measurement of the amount by which the local atmospheric pressure exceeds the absolute pressure. A perfect vacuum is zero absolute pressure. + Differential pressure is simply the measurement of one unknown pressure with reference to another unknown pressure. The pressure measured is the difference between the two unknown pressures. In other words: The difference in pressure between two points is measured where pressure is applied to both sides (Port P1 and Port P2) of sensor. Since a differential pressure is a measure of one pressure referenced to another, it is not necessary to specify a pressure reference. Figure below shows the relationship between Absolute, Gage pressure and Vacuum. Freescale Pressure Sensors can also be divided into three different categories according to the Level of Integration: Uncompensated, Temperature Compensated and Integrated, now let’s learn the difference between these categories: + Uncompensated Pressure Sensors are the most basic pressure sensors according to the level of integration; this type of sensor gives a differential output in the range of millivolts, this output will need to be temperature compensated and amplified with external circuitry before sending it to the MCU’s ADC.   + Compensated Pressure Sensors is the following step according to the level of integration; although this type of sensor also gives you a differential output in the range of millivolts, the given output it’s already internally temperature compensated, so externally you only need to add the amplification circuit before sending the sensor’s signal to the MCU’s ADC. + Integrated Pressure Sensor (IPS) gives you the complete solution embedded into the same package, the output signal of the integrated pressure sensors it’s already internally temperature compensated and amplified (the output range can be from 0 to ~3V or from 0 to ~5V depending on the part number), so you do not have to worry about adding external circuitry (just probably some decoupling capacitors), the sensor signal can be sent directly to the MCU’s ADC. Additional to the mentioned types of Pressure Sensors, we also have some Digital Output Pressure Sensors which can be communicated with the MCU via SPI (MPL115A1 Digital Pressure Sensor) or I2C (MPL115A2 and MPL3115A2 Digital Pressure Sensor). Now that you know about Pressure Measurement and Level of Integration, you can jump into my Community Guideline to select the best Freescale Pressure Sensor Part Number for your application. If there are any questions regarding this document, please feel free to ask below. Your feedback or suggestions are also welcome. Regards, Jose

Hi Folks, Due to a very high number of questions from our customers regarding how to select the proper Freescale Pressure Sensor for their applications I have decided to create this illustrated, step-by-step easy to follow guideline about how to do it by yourself. Step 1: Go to http://www.freescale.com/webapp/parametricSelector.sp Then click on “Pressure Sensors” Now you should see the following window: And at this point everything is intuitive and basically the rest for select the proper Freescale Pressure Sensor depends on the requirements of your application. However, in order to trying to give you a better explanation, I’m doing an example: For this example let assume that my application requirements are as follow: Pressure measurement range up to 100kPa (higher priority parametric search for my app) Absolute Pressure Sensor Analog Output Integrated Side Ported Mount surface Package: SOP 8 (*I added the “Package Type” Parametric Search) (lower priority) *You can add or remove search parameters clicking on the “Show/Hide Parameters” button.  Based on the mentioned requirements, I selected the check boxes on the Parametric Search Window starting from the parametric with higher priority and leaving the parametric with lower priority at the end, and as a result I will get something like the image below: * You can leave unselected check boxes if are not important for your application, for my example from the image above I leave the “Ambient Operating Temperature” option unselected. So, from the initial 37 pressure sensors options I have to select, now the list it’s reduced to only 1 option, so, for this particular example, the MPXV5100 is the best solution for my application. If there are any questions regarding this guideline, please feel free to ask below. Your feedback or suggestions are also welcome. Regards, Jose

MEMS sensors are mechanical structure chips and easily damaged by shock or huge vibration. Sensor package trend is going to small size, and it is not easy to solder by hand on pcb to verify. In order to do sensor verification before FA process, it is necessary to use a tool to load the failed chips and use I2C/SPI to access sensor registers to check sensor function. This document introduces to use sensor fixture and toolbox for a simple sensor verify tool. It is easy to provide precise failed spec items by this tool and to speed-up FA process.

This presentation was given at the October 2014 ARM TechCon in Santa Clara, CA.  It provides a detailed description of recent changes to Freescale's sensor fusion offering.

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 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”). 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This is a pre-release .msi installer for the Freescale Sensor Fusion Toolbox for Windows NEXT RELEASE.  This (or a later copy) will eventually replace the release copy at http://www.freescale.com/sensorfusion.  Altough this is a preview copy, it is believed stable.  Please let us know of any issues seen.  This version has a nice feature in that it can re-flash your Freedom board (KL25Z, KL26Z, KL46Z, K20D50M and K64F) with the matching firmware.  The new feature is under the File->Flash menu item.  There have also been some nice changes made to the "Magnetics" view.

Issue Using the STB GUI for eCompass kits RD4247MAG3110 and RD4247FXOS8700 only -- v6.1.0.1 on a machine that does not have the Adobe Flash Player ActiveX program installed may run into the following error after pressing the eCompass button: Solution Install the Adobe Flash Player + ActiveX from Adobe. Let us know if you are facing any other issues with the STB GUI v6.1.0.1. Regards, Tomas

Reading and Writing to SD Card Description: A small project made with mbed (mbed.org) on the FRDM-MK64 using the SD card capabilities. The program will open a file called test.txt in the root of the SD card, and will create one if it does not exist. It will then write "one two three four five" in the .txt file. It will then read the text and output the result. You will need a terminal application (I recommend Termite) in order to see the outputs. The current program overwrites anything that was previous on the SD card. To prevent this, change the "w" to "a" during the writing process. This changes the instruction from a 'write' to an 'append'. This should be compatible with all boards that have an SD card connected. However the appropriate pins from SDFileSystem will have to be changed to suit the board. Check your board's schematic for the appropriate pins.

Presented at Sensors Expo, 25 June 2014

The attached is a copy of a presentation given 24 June 2014 at the Sensors Expo Conference in Rosemont IL.

The Freescale Freedom KL26Z hardware (FRDM-KL26Z) is a capable and cost-effective design featuring a Kinetis L series microcontroller, the industry’s first microcontroller built on the ARM® Cortex™-M0+ core. It features a KL26Z128VLH4 (KL26Z), a device boasting a maximum operating frequency of 48MHz, 128KB of flash. The FRDM-KL26Z features the Freescale open standard embedded serial and debug adapter known as OpenSDA. You can find more information at following link: FRDM-KL26Z: Freescale Freedom Development Platform for Kinetis KL16 and KL26 MCUs (up to 128 KB Flash) The second required board for this example is the Freescale's Freedom Development Platform for Multiple Xtrinsic Sensors, the FRDM-FXS-MULTI. It is a sensor expansion board that contains 7 sensors among which is the FXAS21000 Xtrinsic 3-axis gyroscopic sensors. This example is using above mentioned tools to create data acquisition system (DAQ) for acquiring angular rate data measured in deg/s from the FXAS21000 Xtrinsic 3-axis gyroscopic sensors (Gyro). For data logging and visualization of acquired data FreeMASTER tool is used. The output is in 3 directions of rotation. Around X direction is for the Roll (around longitudinal axis), around Y direction is for the Pitch (around the lateral axis) and around Z direction for the Yaw (around the vertical axis). The Gyro embedded registers are accessed through an I 2 C serial interface and routed to KL26Z I 2 C 1 module with following pin association. Precisely the 7-bit I 2 C slave address is 0x20 (SA0=0) and SCL1, SDA1 lines are routed to port C of the I 2 C 1 module at KL26Z board pins PTC1 and PTC2: Proper interrupt INT1_GYRO at J1-6 needs to be routed via jumper on J6 to INT_GYRO as shown in following block diagram since the interrupts are shared with other sensors: This is then handled as GPIO port A: PTA at the KL26Z board and configured for the falling edge interrupts. For more details see the schematics of the FRDM-FXS-MULTI block diagram. This example illustrates:    1.  Initialization of the KL26Z MCU (I 2 C and PORT modules).    2. Initialization of the Gyro to achieve the resolution 0.025 dsp/LSB with +/-200 dps range and a high-pass filter on.    3. Output data reading using an interrupt technique.    4. Conversion of the output values from registers 0x01 – 0x06 to real values in deg/s.    5. Visualization of the output values in the FreeMASTER tool. 1. According to the schematic, the INT1_GYRO output of the FXAS21000 is connected to the PTA5 pin of the KL26Z MCU and both SCL and SDA lines are connected to the I2C1 module (PTC1 and PTC2 pins). The MCU is, therefore, configured as follows:      void MCU_Init(void){              //I2C1 module initialisation         SIM_SCGC4 |= SIM_SCGC4_I2C1_MASK;       // Turn on clock to I2C1 module         SIM_SCGC5 |= SIM_SCGC5_PORTC_MASK;      // Turn on clock to Port C module         PORTC_PCR1 = PORT_PCR_MUX(2);           // PTC1 pin is I2C1 SCL1 line pin alternative         PORTC_PCR2 = PORT_PCR_MUX(2);           // PTC2 pin is I2C1 SDA1 line pin alternative         I2C1_F = 0x14; // SDA hold time = 2.125us, SCL start hold time = 4.25us, SCL stop hold time = 5.125us         I2C1_C1 = I2C_C1_IICEN_MASK;                    // Enable I2C1 module              //Configure the PTA5 pin (connected to the INT_GYRO of the FXAS21000) for falling edge interrupts         SIM_SCGC5 |= SIM_SCGC5_PORTA_MASK;      // Turn on clock to Port A module         PORTA_PCR5 |= (0|PORT_PCR_ISF_MASK|     // Clear the interrupt flag         PORT_PCR_MUX(0x1)|                      // PTA5 is configured as GPIO         PORT_PCR_IRQC(0xA));                    // PTA5 is configured for falling edge interrupts             //Enable PORTA interrupt on NVIC         NVIC_ICPR |= 1 << ((INT_PORTA - 16)%32);         NVIC_ISER |= 1 << ((INT_PORTA - 16)%32);      } 2. At the beginning of the initialization, all Gyro registers are reset to their default values by setting the RST bit of the CTRL_REG1 register. Also the ZR_cond in CTRL_REG1 to trigger the offset compensation is enabled and hold till ZR_cond offset compensation is accomplished. This is meant to be used only when the IC is in zero rate condition on all axes. Writing a '1' to this bit initiates the internal zero-rate offset calibration. The ZR_cond bit self-clears after the zero-rate offset calculation, and it can only be used once after a hard or soft reset has occurred. The measuring range of Gyro is set to ±200 dps and to achieve the highest resolution the ODR = 1.5625Hz (640ms) and the High-pass filter is enabled with H-P filter cutoff frq.:0.047 Hz.      void Gyro_Init (void){              unsigned char reg_val = 0;          I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG1, 0x40); // Reset all registers to POR values              do              // Wait for the RST bit to clear              {                 reg_val = I2C_ReadRegister(FXAS21_I2C_ADDRESS, CTRL_REG1) & 0x40;              } while (reg_val);         // Zero values initialisation ------------------------------------------------------------             //      I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG1, 0x80); // ZR_cond to trigger offset compensation             do      // wait till ZR_cond to trigger offset compensation accomplished          {           reg_val = I2C_ReadRegister(FXAS21_I2C_ADDRESS, CTRL_REG1) & 0x80;               } while (reg_val);             //----------------------------------------------------------------------------------------         I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG2, 0x0C); // Enable DRDY interrupt, DRDY interrupt routed to INT1 - PTA5, Push-pull, active low interrupt         I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG0, 0x17); // High-pass filter enabled, H-P filter cutoff frq.:0.047 Hz, +/-200 dps range -> 0.025 dsp/LSB = 40 LSB/dps         I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG1, 0x1E); // ODR = 1.5625Hz(640ms), Active mode      }      Below are the snap shots of write and read section of the registers from the instructions above.           3. In the ISR, only the interrupt flag is cleared and the DataReady variable is set to indicate the arrival of new data.      void PORTA_IRQHandler(){         PORTA_PCR5 |= PORT_PCR_ISF_MASK;                        // Clear the interrupt flag         DataReady = 1;       }      4. The output values from Gyro registers 0x01 – 0x06 are first converted to signed 14-bit values and afterwards to real values in deg/s.      while(1){              if (DataReady){                 // Is a new set of data ready?                               DataReady = 0;                                                                                                I2C_ReadMultiRegisters(FXAS21_I2C_ADDRESS, OUT_X_MSB_REG, 6, GyrData);  // Read data output registers 0x01-0x06              Xout_14_bit = ((short) (GyrData[0]<<8 | GyrData[1])) >> 2;// Compute 14-bit X-axis output value      Yout_14_bit = ((short) (GyrData[2]<<8 | GyrData[3])) >> 2;// Compute 14-bit Y-axis output value              Zout_14_bit = ((short) (GyrData[4]<<8 | GyrData[5])) >> 2;// Compute 14-bit Z-axis output value                                        Roll = ((float) (Xout_14_bit)) / SENGYR_025D;   // Compute X-axis output value in dps              Pitch = ((float) (Yout_14_bit)) / SENGYR_025D;  // Compute Y-axis output value in dps              Yaw = ((float) (Zout_14_bit)) / SENGYR_025D;    // Compute Z-axis output value in dps                                    Temperature on the Gyro is also read out from the TEMP register of the Gyro              Temp = (signed char) I2C_ReadRegister(FXAS21_I2C_ADDRESS, TEMP_REG);  // temperature on Gyro      5. The calculated values can be watched in the "(x)= Variables" window on the top right of the Debug perspective of the CodeWarrior IDE or in the FreeMASTER application.      To open and run the FreeMASTER project, install the FreeMASTER 1.4 application and FreeMASTER Communication Driver that can be downloaded from following link:      FREEMASTER: FreeMASTER Run-Time Debugging Tool      User Guide for FreeMASTER is available within the installation.      For board communication in FreeMASTER following Options of Plug-in Module needs to be selected and configured for the BDM P&E Kinetis cable settings:             FreeMASTER in action screenshot: Enjoy the Freescale Gyro.

Unibody Package with Axial Single Port Case 867F-03

  Unibody Package with Dual Side Ports_CASE_867C_05