All, This is my personal "cheat sheet" that I use as reference whenever I have to code angular transformations from one frame of reference to another.  There's nothing unique here, it just organizes things in a way that I can find them quickly.  I hope you find it useful. Mike

The FXLN83XX is a 3-axis, low-power, low-g accelerometer along with a CMOS signal conditioning and control ASIC in a small 3 x 3 x 1 mm QFN package. The analog outputs for the X, Y, and Z axes are internally compensated for zero-g offset and sensitivity, and then buffered to the output pads. The outputs have a fixed 0 g offset of 0.75 V, irrespective of the VDD supply voltage. The bandwidth of the output signal for each axis may be independently set using external capacitors. The host can place the FXLN83XXQ into a low-current shutdown mode to conserve power. Here is a Render of the FXLN83XX Breakout Board downloaded from OSH park: Layout Design for this board: In the attachments section, you can find the Schematic Source File (SCH), Schematic PDF File, Layout Source File (BRD), Gerber Files (GTL, GBL, GTS, GBS, GTO, GBO, GKO, XLN) and BOM files.    If you're interested in more designs like this breakout board for other sensors, please go to Freescale Sensors Breakout Boards Designs – HOMEFreescale Sensors Breakout Boards Designs – HOME

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.

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

Unibody Package with Axial Single Port Case 867F-03

SOP Axial Port Package_482A-01

Ever wondered about the pin styles for pressure sensors in their data sheets? Well then here are some useful notes. The difference between style 1 and style 2 in the package dimensions is due to the two main families of pressure sensors Freescale offers. Style 1 is usually applicable for all MPXx10, MPXx53 and MPXx2000-series SOP Type package pressure sensors featuring differential outputs. Style 2 is applicable for all MPXx4000-series, MPXx5000-series, MPXx6000-series, MPXx7000-series integrated devices in surface mount packages featuring single ended outputs. E.g. for MPXV7002DP case no. 1351-01 SMALL OUTLINE PACKAGE

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.

Android sensor fusion APK

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

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

Hi Everyone,   In this document I would like to go through a simple bare-metal example code I created for the recently released FRDMSTBC-A8471 development board with the NXP FXLS8471Q 3-axis linear accelerometer. This board is compatible with most NXP Freedom development boards and I decided to use one of the most popular - FRDM-KL25Z. The FreeMASTER tool is used to visualize the acceleration data that are read from the FXLS8471Q using an interrupt technique through the SPI interface. I will not cover the Sensor Toolbox software and Intelligent Sensing Framework (ISF) which also support this board.   This example illustrates:   1. Initialization of the MKL25Z128 MCU (mainly SPI and PORT modules). 2. SPI data write and read operations. 3. Initialization of the FXLS8471Q to achieve the highest resolution. 4. Simple offset calibration based on the AN4069. 5. Output data reading using an interrupt technique. 6. Conversion of the output values from registers 0x01 – 0x06 to real acceleration values in g’s. 7. Visualization of the output values in the FreeMASTER tool.     1. As you can see in the FRDMSTBC-A8471​/FRDM-KL25Z​ schematics and the image below, SPI signals are routed to the SPI0 module of the KL25Z MCU and the INT1 output is connected to the PTD4 pin. The PTD0 pin (Chip Select) is not controlled automatically by SPI0 module, hence it is configured as a general-purpose output. The INT1 output of the FXLS8471Q is configured as a push-pull active-low output, so the corresponding PTD4 pin configuration is GPIO with an interrupt on falling edge.The core/system clock frequency is 20.97 MHz and SPI clock is 524.25 kHz.     The MCU is, therefore, configured as follows.   /****************************************************************************** * MCU initialization function ******************************************************************************/   void MCU_Init(void) {   //SPI0 module initialization   SIM_SCGC4 |= SIM_SCGC4_SPI0_MASK; // Turn on clock to SPI0 module   SIM_SCGC5 |= SIM_SCGC5_PORTD_MASK; // Turn on clock to Port D module   PORTD_PCR1 = PORT_PCR_MUX(0x02); // PTD1 pin is SPI0 CLK line   PORTD_PCR2 = PORT_PCR_MUX(0x02); // PTD2 pin is SPI0 MOSI line   PORTD_PCR3 = PORT_PCR_MUX(0x02); // PTD3 pin is SPI0 MISO line   PORTD_PCR0 = PORT_PCR_MUX(0x01); // PTD0 pin is configured as GPIO (CS line driven manually)   GPIOD_PSOR |= GPIO_PSOR_PTSO(0x01); // PTD0 = 1 (CS inactive)   GPIOD_PDDR |= GPIO_PDDR_PDD(0x01); // PTD0 pin is GPIO output     SPI0_C1 = SPI_C1_SPE_MASK | SPI_C1_MSTR_MASK; // Enable SPI0 module, master mode   SPI0_BR = SPI_BR_SPPR(0x04) | SPI_BR_SPR(0x02); // BaudRate = BusClock / ((SPPR+1) * 2^(SPR+1)) = 20970000 / ((4+1) * 2^(2+1)) = 524.25 kHz     //Configure the PTD4 pin (connected to the INT1 of the FXLS8471Q) for falling edge interrupts   PORTD_PCR4 |= (0|PORT_PCR_ISF_MASK| // Clear the interrupt flag                   PORT_PCR_MUX(0x1)| // PTD4 is configured as GPIO                   PORT_PCR_IRQC(0xA)); // PTD4 is configured for falling edge interrupts     //Enable PORTD interrupt on NVIC   NVIC_ICPR |= 1 << ((INT_PORTD - 16)%32);   NVIC_ISER |= 1 << ((INT_PORTD - 16)%32); }     2. The FXLS8471Q uses the ‘Mode 0′ SPI protocol, which means that an inactive state of clock signal is low and data are captured on the leading edge of clock signal and changed on the falling edge.   The falling edge on the CS pin starts the SPI communication. A write operation is initiated by transmitting a 1 for the R/W bit. Then the 8-bit register address, ADDR[7:0] is encoded in the first and second serialized bytes. Data to be written starts in the third serialized byte. The order of the bits is as follows:   Byte 0: R/W, ADDR[6], ADDR[5], ADDR[4], ADDR[3], ADDR[2], ADDR[1], ADDR[0] Byte 1: ADDR[7], X, X, X, X, X, X, X Byte 2: DATA[7], DATA[6], DATA[5], DATA[4], DATA[3], DATA[2], DATA[1], DATA[0]   The rising edge on the CS pin stops the SPI communication.   Below is the write operation which writes the value 0x3D to the CTRL_REG1 (0x3A).   Similarly a read operation is initiated by transmitting a 0 for the R/W bit. Then the 8-bit register address, ADDR[7:0] is encoded in the first and second serialized bytes. The data is read from the MISO pin (MSB first).   The screenshot below shows the read operation which reads the correct value 0x6A from the WHO_AM_I register (0x0D).   Multiple read operations are performed similar to single read except bytes are read in multiples of eight SCLK cycles. The register address is auto incremented so that every eighth next clock edges will latch the MSB of the next register.   A burst read of 6 bytes from registers 0x01 to 0x06 is shown below. It also shows how the INT1 pin is automatically cleared by reading the acceleration output data.     3. The dynamic range is set to ±2g and to achieve the highest resolution, the LNOISE bit is set and the lowest ODR (1.56Hz) and the High Resolution mode are selected (more details in AN4075). The DRDY interrupt is enabled and routed to the INT1 interrupt pin that is configured to be a push-pull, active-low output.   /****************************************************************************** * FXLS8471Q initialization function ******************************************************************************/   void FXLS8471Q_Init (void) {   FXLS8471Q_WriteRegister(CTRL_REG2, 0x02); // High Resolution mode   FXLS8471Q_WriteRegister(CTRL_REG3, 0x00); // Push-pull, active low interrupt   FXLS8471Q_WriteRegister(CTRL_REG4, 0x01); // Enable DRDY interrupt   FXLS8471Q_WriteRegister(CTRL_REG5, 0x01); // DRDY interrupt routed to INT1-PTD4   FXLS8471Q_WriteRegister(CTRL_REG1, 0x3D); // ODR = 1.56Hz, Reduced noise, Active mode   }     4. A simple offset calibration method is implemented according to the AN4069​.   /****************************************************************************** * Simple accelerometer offset calibration ******************************************************************************/   void FXLS8471Q_Calibrate (void) {   unsigned char reg_val = 0;     while (!reg_val) // Wait for a first set of data    {     reg_val = FXLS8471Q_ReadRegister(STATUS_REG) & 0x08;   }      FXLS8471Q_ReadMultiRegisters(OUT_X_MSB_REG, 6, AccData); // Read data output registers 0x01-0x06       Xout_14_bit = ((short) (AccData[0]<<8 | AccData[1])) >> 2; // Compute 14-bit X-axis output value   Yout_14_bit = ((short) (AccData[2]<<8 | AccData[3])) >> 2; // Compute 14-bit Y-axis output value   Zout_14_bit = ((short) (AccData[4]<<8 | AccData[5])) >> 2; // Compute 14-bit Z-axis output value      Xoffset = Xout_14_bit / 8 * (-1); // Compute X-axis offset correction value   Yoffset = Yout_14_bit / 8 * (-1); // Compute Y-axis offset correction value   Zoffset = (Zout_14_bit - SENSITIVITY_2G) / 8 * (-1); // Compute Z-axis offset correction value      FXLS8471Q_WriteRegister(CTRL_REG1, 0x00); // Standby mode to allow writing to the offset registers   FXLS8471Q_WriteRegister(OFF_X_REG, Xoffset);   FXLS8471Q_WriteRegister(OFF_Y_REG, Yoffset);   FXLS8471Q_WriteRegister(OFF_Z_REG, Zoffset);      FXLS8471Q_WriteRegister(CTRL_REG1, 0x3D); // ODR = 1.56Hz, Reduced noise, Active mode }     5. In the ISR, only the interrupt flag is cleared and the DataReady variable is set to indicate the arrival of new data.   /****************************************************************************** * PORT D Interrupt handler ******************************************************************************/   void PORTD_IRQHandler() {   PORTD_PCR4 |= PORT_PCR_ISF_MASK; // Clear the interrupt flag   DataReady = 1; }     6. The output values from accelerometer registers 0x01 – 0x06 are first converted to signed 14-bit values and afterwards to real values in g’s.   if (DataReady)     // Is a new set of data ready? {   DataReady = 0;     FXLS8471Q_ReadMultiRegisters(OUT_X_MSB_REG, 6, AccData); // Read data output registers 0x01-0x06                                                    Xout_14_bit = ((short) (AccData[0]<<8 | AccData[1])) >> 2; // Compute 14-bit X-axis output value   Yout_14_bit = ((short) (AccData[2]<<8 | AccData[3])) >> 2; // Compute 14-bit Y-axis output value   Zout_14_bit = ((short) (AccData[4]<<8 | AccData[5])) >> 2; // Compute 14-bit Z-axis output value                                        Xout_g = ((float) Xout_14_bit) / SENSITIVITY_2G; // Compute X-axis output value in g's   Yout_g = ((float) Yout_14_bit) / SENSITIVITY_2G; // Compute Y-axis output value in g's   Zout_g = ((float) Zout_14_bit) / SENSITIVITY_2G; // Compute Z-axis output value in g's }     7. The calculated values can be watched in the "Variables" window on the top right of the Debug perspective or in the FreeMASTER application. To open and run the FreeMASTER project, install the FreeMASTER 2.0 application and FreeMASTER Communication Driver.         Attached you can find the complete source code written in the CW for MCU's v10.6​ including the FreeMASTER project.   If there are any questions regarding this simple application, please feel free to ask below. Your feedback or suggestions are also welcome.   Regards, Tomas

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

This is the errata corresponding to ISF 2.1 for Kenetis with updates associated with Rev 2 of the PEUPD file released on 23 April 2015.

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.

Hi Everyone,   I would like to share here one of my examples I created for the FXLS8471Q accelerometer while working with the Freescale FRDM-KL25Z platform and FRDM-FXS-MULT2-B sensor expansion board. It illustrates the use of the embedded FIFO buffer to collect the 14-bit acceleration data that are read from the FIFO using an interrupt technique through the SPI interface. For details on the configurations of the FIFO buffer as well as more specific examples and application benefits, please refer to the AN4073.   The FXLS8471Q is initialized as follows:   void FXLS8471Q_Init (void) {/* The software reset does not work properly in SPI mode as described in Appendix A of the FXLS8471Q data sheet. Therefore the following piece of the code is not used. I have shortened R46 on the FRDM-FXS-MULTI-B board to activate a hardware reset. FXLS8471Q_WriteRegister(CTRL_REG2, 0x40); // Reset all registers to POR values */   FXLS8471Q_WriteRegister(CTRL_REG1, 0x00); // Standby mode FXLS8471Q_WriteRegister(F_SETUP_REG, 0xA0); // FIFO Fill mode, 32 samples   FXLS8471Q_WriteRegister(CTRL_REG4, 0x40); // Enable FIFO interrupt, push-pull, active low   FXLS8471Q_WriteRegister(CTRL_REG5, 0x40); // Route the FIFO interrupt to INT1 - PTA5   FXLS8471Q_WriteRegister(CTRL_REG1, 0x19); // ODR = 100Hz, Active mode }       In the ISR, only the interrupt flag is cleared and the FIFO_DataReady variable is set to indicate that the FIFO is full.   void PORTA_IRQHandler() { PORTA_PCR5 |= PORT_PCR_ISF_MASK; // Clear the interrupt flag FIFO_DataReady = 1; }       Once the FIFO_DataReady variable is set, the STATUS register (0x00) is read to clear the FIFO interrupt status bit and deassert the INT1 pin. Afterwars the FIFO is read using a 192-byte (3 x 2 x 32 bytes) burst read starting from the OUT_X_MSB register (0x01). Then the raw acceleration data are converted to signed 14-bit values and real values in g’s.   if (FIFO_DataReady) { FIFO_DataReady = 0; FIFO_Status = FXLS8471Q_ReadRegister(STATUS_REG); // Read the Status register to clear the FIFO interrupt status bit FXLS8471Q_ReadMultiRegisters(OUT_X_MSB_REG, 6*Watermark_Val, AccelData); // Read the FIFO using a burst read     for (i = 0; i < Watermark_Val; i++)   { // 14-bit accelerometer data   Xout_Accel_14_bit[i] = ((short) (AccelData[0 + i*6]<<8 | AccelData[1 + i*6])) >> 2; // Compute 14-bit X-axis acceleration output values   Yout_Accel_14_bit[i] = ((short) (AccelData[2 + i*6]<<8 | AccelData[3 + i*6])) >> 2; // Compute 14-bit Y-axis acceleration output values  Zout_Accel_14_bit[i] = ((short) (AccelData[4 + i*6]<<8 | AccelData[5 + i*6])) >> 2; // Compute 14-bit Z-axis acceleration output values   // Accelerometer data converted to g's   Xout_g[i] = ((float) Xout_Accel_14_bit[i]) / SENSITIVITY_2G; // Compute X-axis output values in g's  Yout_g[i] = ((float) Yout_Accel_14_bit[i]) / SENSITIVITY_2G; // Compute Y-axis output values in g's   Zout_g[i] = ((float) Zout_Accel_14_bit[i]) / SENSITIVITY_2G; // Compute Z-axis output values in g's   } }       Deassertion of the INT1 pin after reading the STATUS register (0x00).       ODR is set to 100Hz, so the FIFO is read every 320 ms (10 ms x 32 samples).       The calculated values can be watched in the "Variables" window on the top right of the Debug perspective.       Attached you can find the complete source code written in the CW for MCU's 10.6. If there are any questions regarding this simple example project, please feel free to ask below. Your feedback or suggestions are also welcome.   Regards, Tomas Original Attachment has been moved to: FRDM-KL25Z-FXLS8471Q-FIFO.rar

Hi Everyone, In this tutorial I intend to run through my simple bare metal example code I created for the Freescale FRDM-KL25Z platform and the FRDM-STBC-AGM01 board containing a three axis accelerometer + magnetometer (FXOS8700CQ) and a three axis gyroscope (FXAS21002C). I will not cover the Sensor Fusion library and the ISF which also support this board. The FreeMASTER tool is used to visualize all the data that are read from both sensors using an interrupt technique through the I 2 C interface. This example illustrates: 1. Initialization of the MKL25Z128 MCU (mainly I 2 C and PORT modules). 2. I 2 C data write and read operations. 3. Initialization of the FXOS8700CQ and FXAS21002C. 4. Simple accelerometer offset calibration based on the AN4069. 5. Output data reading using an interrupt technique. 6. Conversion of the output raw values to real values in g’s, µT, dps and °C. 7. Visualization of the calculated values in the FreeMASTER tool. 1. As you can see in the FRDM-STBC-AGM01 schematic, both sensors are controlled via I 2 C by default. With jumpers J6 and J7 in their default position (2-3), the I 2 C signals are routed to the I2C1 module (PTC1 and PTC2 pins) of the KL25Z MCU. The INT1_8700 output is connected to the PTD4 pin and the INT1_21002 pin to the PTA5 pin of the KL25Z MCU. These both interrupt pins are configured as push-pull active-low outputs, so the corresponding PTD4/PTA5 pin configuration is GPIO with an interrupt on falling edge. The MCU is, therefore, configured as follows. void MCU_Init(void) {      //I2C1 module initialization      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(0x2);         // PTC1 pin is I2C1 SCL line      PORTC_PCR2 |= PORT_PCR_MUX(0x2);         // PTC2 pin is I2C1 SDA line      I2C1_F  |= I2C_F_ICR(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 PTD4 pin (connected to the INT1 of the FXOS8700CQ) for falling edge interrupts      SIM_SCGC5 |= SIM_SCGC5_PORTD_MASK;       // Turn on clock to Port D module      PORTD_PCR4 |= (0|PORT_PCR_ISF_MASK|      // Clear the interrupt flag                       PORT_PCR_MUX(0x1)|      // PTD4 is configured as GPIO                       PORT_PCR_IRQC(0xA));    // PTD4 is configured for falling edge interrupts                   //Configure the PTA5 pin (connected to the INT1 of the FXAS21002) 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 PORTD interrupt on NVIC      NVIC_ICPR |= 1 << ((INT_PORTD - 16)%32);      NVIC_ISER |= 1 << ((INT_PORTD - 16)%32);                //Enable PORTA interrupt on NVIC      NVIC_ICPR |= 1 << ((INT_PORTA - 16)%32);      NVIC_ISER |= 1 << ((INT_PORTA - 16)%32); } 2. The 7-bit I 2 C slave address of the FXOS8700CQ is 0x1E since both SA0 and SA1 pins are shorted to GND. The address of the FXAS21002C is 0x20 since SA0 pin is also shorted to GND. The two screenshots below show the write operation which writes the value 0x25 to the CTRL_REG1 (0x2A) of the FXOS8700CQ and 0x16 to the CTRL_REG1 (0x13) of the FXAS21002C. Here is the single byte read from the WHO_AM_I register. As you can see, it returns the correct value 0xC7 for the FXOS8700CQ and 0xD7 for the FXAS21002C. Finally, a burst read of 12 bytes from the FXOS8700CQ output data registers (0x01 – 0x06 and 0x33 – 0x38) and 6 bytes from the FXAS21002C output data registers (0x01 – 0x06) is shown below. 3. At the beginning of the initialization, all registers are reset to their default values by setting the RST bit of the CTRL_REG2 register. Then the FXOS8700CQ is initialized as shown below. void FXOS8700CQ_Init (void) {      I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG2, 0x40);          // Reset all registers to POR values      Pause(0x631);          // ~1ms delay            I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, XYZ_DATA_CFG_REG, 0x00);   // +/-2g range with 0.244mg/LSB              I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, M_CTRL_REG1, 0x1F);        // Hybrid mode (accelerometer + magnetometer), max OSR      I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, M_CTRL_REG2, 0x20);        // M_OUT_X_MSB register 0x33 follows the OUT_Z_LSB register 0x06 (burst read)                       I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG2, 0x02);          // High Resolution mode      I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG3, 0x00);          // Push-pull, active low interrupt      I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG4, 0x01);          // Enable DRDY interrupt      I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG5, 0x01);          // DRDY interrupt routed to INT1 - PTD4      I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG1, 0x25);          // ODR = 25Hz, Reduced noise, Active mode   } And here is the initialization of the FXAS21002C. void FXAS21002C_Init (void) {      I2C_WriteRegister(FXAS21002C_I2C_ADDRESS, GYRO_CTRL_REG1, 0x40);     // Reset all registers to POR values      Pause(0x631);        // ~1ms delay            I2C_WriteRegister(FXAS21002C_I2C_ADDRESS, GYRO_CTRL_REG0, 0x03);     // High-pass filter disabled, +/-250 dps range -> 7.8125 mdps/LSB = 128 LSB/dps      I2C_WriteRegister(FXAS21002C_I2C_ADDRESS, GYRO_CTRL_REG2, 0x0C);     // Enable DRDY interrupt, routed to INT1 - PTA5, push-pull, active low interrupt      I2C_WriteRegister(FXAS21002C_I2C_ADDRESS, GYRO_CTRL_REG1, 0x16);     // ODR = 25Hz, Active mode        } 4. A simple accelerometer offset calibration method is implemented according to the AN4069. void FXOS8700CQ_Accel_Calibration (void) {      char X_Accel_offset, Y_Accel_offset, Z_Accel_offset;            FXOS8700CQ_DataReady = 0;           while (!FXOS8700CQ_DataReady){}           // Is a first set of data ready?      FXOS8700CQ_DataReady = 0;            I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG1, 0x00);          // Standby mode                 I2C_ReadMultiRegisters(FXOS8700CQ_I2C_ADDRESS, OUT_X_MSB_REG, 6, AccelMagData);          // Read data output registers 0x01-0x06                     Xout_Accel_14_bit = ((short) (AccelMagData[0]<<8 | AccelMagData[1])) >> 2;          // Compute 14-bit X-axis acceleration output value      Yout_Accel_14_bit = ((short) (AccelMagData[2]<<8 | AccelMagData[3])) >> 2;          // Compute 14-bit Y-axis acceleration output value      Zout_Accel_14_bit = ((short) (AccelMagData[4]<<8 | AccelMagData[5])) >> 2;          // Compute 14-bit Z-axis acceleration output value                   X_Accel_offset = Xout_Accel_14_bit / 8 * (-1);          // Compute X-axis offset correction value      Y_Accel_offset = Yout_Accel_14_bit / 8 * (-1);          // Compute Y-axis offset correction value      Z_Accel_offset = (Zout_Accel_14_bit - SENSITIVITY_2G) / 8 * (-1);          // Compute Z-axis offset correction value                   I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, OFF_X_REG, X_Accel_offset);                  I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, OFF_Y_REG, Y_Accel_offset);           I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, OFF_Z_REG, Z_Accel_offset);                        I2C_WriteRegister(FXOS8700CQ_I2C_ADDRESS, CTRL_REG1, 0x25);          // Active mode again } 5. In the ISRs, only the interrupt flags are cleared and the DataReady variables are set to indicate the arrival of new data. void PORTD_IRQHandler() {      PORTD_PCR4 |= PORT_PCR_ISF_MASK;          // Clear the interrupt flag      FXOS8700CQ_DataReady = 1;  } void PORTA_IRQHandler() {      PORTA_PCR5 |= PORT_PCR_ISF_MASK;          // Clear the interrupt flag      FXAS21002C_DataReady = 1;  } 6. The output values from accelerometer registers 0x01 – 0x06 are first converted to signed 14-bit integer values and afterwards to real values in g’s. Similarly, the output values from magnetometer registers 0x33 – 0x38 are first converted to signed 16-bit integer values and afterwards to real values in microtesla (µT). if (FXOS8700CQ_DataReady)          // Is a new set of accel + mag data ready? {                  FXOS8700CQ_DataReady = 0;                                                                                                                          I2C_ReadMultiRegisters(FXOS8700CQ_I2C_ADDRESS, OUT_X_MSB_REG, 12, AccelMagData);         // Read FXOS8700CQ data output registers 0x01-0x06 and 0x33 - 0x38                     // 14-bit accelerometer data      Xout_Accel_14_bit = ((short) (AccelMagData[0]<<8 | AccelMagData[1])) >> 2;        // Compute 14-bit X-axis acceleration output value      Yout_Accel_14_bit = ((short) (AccelMagData[2]<<8 | AccelMagData[3])) >> 2;        // Compute 14-bit Y-axis acceleration output value      Zout_Accel_14_bit = ((short) (AccelMagData[4]<<8 | AccelMagData[5])) >> 2;        // Compute 14-bit Z-axis acceleration output value                              // Accelerometer data converted to g's      Xout_g = ((float) Xout_Accel_14_bit) / SENSITIVITY_2G;        // Compute X-axis output value in g's      Yout_g = ((float) Yout_Accel_14_bit) / SENSITIVITY_2G;        // Compute Y-axis output value in g's      Zout_g = ((float) Zout_Accel_14_bit) / SENSITIVITY_2G;        // Compute Z-axis output value in g's                               // 16-bit magnetometer data                   Xout_Mag_16_bit = (short) (AccelMagData[6]<<8 | AccelMagData[7]);          // Compute 16-bit X-axis magnetic output value      Yout_Mag_16_bit = (short) (AccelMagData[8]<<8 | AccelMagData[9]);          // Compute 16-bit Y-axis magnetic output value      Zout_Mag_16_bit = (short) (AccelMagData[10]<<8 | AccelMagData[11]);        // Compute 16-bit Z-axis magnetic output value                                                         // Magnetometer data converted to microteslas      Xout_uT = (float) (Xout_Mag_16_bit) / SENSITIVITY_MAG;        // Compute X-axis output magnetic value in uT      Yout_uT = (float) (Yout_Mag_16_bit) / SENSITIVITY_MAG;        // Compute Y-axis output magnetic value in uT      Zout_uT = (float) (Zout_Mag_16_bit) / SENSITIVITY_MAG;        // Compute Z-axis output magnetic value in uT              } Similarly, the output values from gyroscope registers 0x01 – 0x06 are first converted to signed 16-bit integer values and afterwards to real values in degrees per second. Temperature is also read out from the 0x12 register. if (FXAS21002C_DataReady)         // Is a new set of gyro data ready? {                  FXAS21002C_DataReady = 0;                                                                                                                                       I2C_ReadMultiRegisters(FXAS21002C_I2C_ADDRESS, GYRO_OUT_X_MSB_REG, 6, GyroData);         // Read FXAS21002C data output registers 0x01-0x06                                   // 16-bit gyro data      Xout_Gyro_16_bit = (short) (GyroData[0]<<8 | GyroData[1]);           // Compute 16-bit X-axis output value      Yout_Gyro_16_bit = (short) (GyroData[2]<<8 | GyroData[3]);           // Compute 16-bit Y-axis output value      Zout_Gyro_16_bit = (short) (GyroData[4]<<8 | GyroData[5]);           // Compute 16-bit Z-axis output value                                           // Gyro data converted to dps      Roll = (float) (Xout_Gyro_16_bit) / SENSITIVITY_250;          // Compute X-axis output value in dps      Pitch = (float) (Yout_Gyro_16_bit) / SENSITIVITY_250;         // Compute Y-axis output value in dps      Yaw = (float) (Zout_Gyro_16_bit) / SENSITIVITY_250;           // Compute Z-axis output value in dps                               // Temperature data      Temp = I2C_ReadRegister(FXAS21002C_I2C_ADDRESS, GYRO_TEMP_REG);                   }   7. The calculated values can be watched in the "Variables" window on the top right of the Debug perspective or in the FreeMASTER application. To open and run the FreeMASTER project, install the FreeMASTER application​ and FreeMASTER Communication Driver. I guess this is enough to let you start experimenting with the FRDM-STBC-AGM01 board. Attached you can find the complete source code written in the CW for MCU's v10.6 including the FreeMASTER project. If there are any questions regarding this simple application, do not hesitate to ask below. Your feedback or suggestions are also welcome. Regards, Tomas

Hi Everyone,   In this document I would like to present a very simple bare-metal example code I created for the LM75A. This I 2 C digital temperature sensor offers an improved resolution of 0.125°C with an accuracy of ±2°C from –25°C to 100°C and ±3°C over –55°C to 125°C. It operates with a single supply from 2.8V to 5.5V and has three address pins, allowing up to eight LM75A devices to operate on a single I 2 C bus without address collisions. The device also includes an open-drain output (OS) which becomes active when the temperature exceeds the programmed limits.   NXP offers the OM13257 temperature sensor daughter card for easy evaluation of most NXP’s temperature sensors including the LM75ADP in a small 8-pin TSSOP8 package. The daughter card is shipped with no temperature sensors soldered to the board, so the LM75ADP needs to be purchased and soldered separately. The daughter board is designed to connect directly to the OM13320 Fm+ Development kit, but I have decided to pair it with one of the most popular Freedom development boards – FRDM-KL25Z.   The wiring is very straightforward as shown on the picture below. Both SCL (JP4-2) and SDA (JP3-2) lines are connected through the on-board 10K pull-up resistors to the I2C1 module (PTE1 and PTE0 pins) on the KL25Z128 MCU. The Vcc pin (JP2-2) is connected to the 3.3V supply voltage and the GND pin to common ground. The address select pins A2, A1 and A0 are connected to GND using jumpers between pins 1 and 2 of JP12, JP11 and JP10, resulting in a 7-bit I 2 C slave address of 0x48.       The LM75A does not have a data ready interrupt, so the PIT (Periodic Interrupt Timer) module is used to read the Temp register periodically at a fixed rate of about 10Hz since the temp-to-digital conversion is executed every 100 ms. The MCU is configured as follows.   /************* MCU initialization function ******/   void MCU_Init(void) {   //I2C1 module initialization SIM_SCGC4 |= SIM_SCGC4_I2C1_MASK; // Turn on clock to I2C1 module  SIM_SCGC5 |= SIM_SCGC5_PORTE_MASK; // Turn on clock to Port E module  PORTE_PCR1 |= PORT_PCR_MUX(6); // PTE1 pin is I2C1 SCL line PORTE_PCR0 |= PORT_PCR_MUX(6); // PTE0 pin is I2C1 SDA line I2C1_F  |= I2C_F_ICR(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     //PIT initialization    SIM_SCGC6 |= SIM_SCGC6_PIT_MASK; // Turn on clock to to the PIT module   PIT_LDVAL0 = 1048000; // Timeout period = 100 ms   PIT_MCR = PIT_MCR_FRZ_MASK; // Enable clock for PIT, freeze PIT in debug mode PIT_TCTRL0 = PIT_TCTRL_TIE_MASK | // Enable PIT interrupt   PIT_TCTRL_TEN_MASK; // and PIT     //Enable PIT interrupt on NVIC NVIC_ICPR |= 1 << ((INT_PIT - 16) % 32); NVIC_ISER |= 1 << ((INT_PIT - 16) % 32); }       In the PIT ISR, the Temp register is read and then the real temperature in °C is calculated as shown below. For more information on how to convert the raw values from the Temp register to real values in °C, please refer to the LM75A data sheet (chapter 7.4.3).   /******** Interrupt handler for PIT ************/   void PIT_IRQHandler() {   PIT_TFLG0 |= PIT_TFLG_TIF_MASK; // Clear the PIT interrupt flag I2C_ReadMultiRegisters(LM75A_I2C_ADDRESS, TEMP_REG, 2, TemperatureData); // Read LM75A Temperature register (MSB + LSB)    Temperature_11_bit = ((short) (TemperatureData[0]<<8 | TemperatureData[1])) >> 5; // Compute 11-bit temperature output value   Temperature = ((float) Temperature_11_bit) * 0.125; // Compute temperature in °C }       The screenshot below shows the two bytes read of the Temp register. It also illustrates how the OS output is activated in interrupt mode by crossing the Tos threshold value stored in the Tos register. The threshold value was set to 26°C, which corresponds to 16-bit value of 0x1A00 read out of the Temp register.       The calculated temperature can be watched in the "Variables" window on the top right of the Debug perspective or in the FreeMASTER application. To open and run the FreeMASTER project, install the FreeMASTER 2.0 application and FreeMASTER Communication Driver. You can try touching your finger to the sensor to see the temperature rise.         Attached you can find the complete source code written in the CW for MCU's v10.6 including the FreeMASTER project.   If there are any questions regarding this simple application, please feel free to ask below. Your feedback or suggestions are also welcome.   Regards, Tomas Original Attachment has been moved to: FreeMASTER---FRDM-KL25Z-LM75A-Temperature-reading-using-I2C.rar Original Attachment has been moved to: FRDM-KL25Z-LM75A-Temperature-reading-using-I2C.rar

Hi, The MMA865x, 3-axis, 10-bit/12-bit accelerometer that has industry leading performance in a small 2 x 2 x 1 mm DFN package. This accelerometer is packed with embedded functions that include flexible user-programmable options and two configurable interrupt pins. Overall power savings is achieved through inertial wake-up interrupt signals that monitor events and remain in a low-power mode during periods of inactivity. Here is a Render of the MMA865x Breakout- Board downloaded from OSH park: Layout Design for this board: In the attachments section, you can find the Schematic Source File (SCH), Schematic PDF File, Layout Source File (BRD), Gerber Files (GTL, GBL, GTS, GBS, GTO, GBO, GKO, XLN) and BOM files. If you're interested in more designs like this breakout board for other sensors, please go to Freescale Sensors Breakout Boards Designs – HOME

The Sensor Fusion Toolbox for Android includes a feature illustrating how an air mouse might be implemented on top of the Freescale sensor fusion library.  That tool includes documentation which discusses the algorithm.  That documentation is replicated on the MEMS Industry Group GitHub site.  It's been pointed out that this could use a couple additional diagrams to illustrate the geometry behind the calculations.  For that, please see the attached. BTW, The preview below has been somewhat corrupted by the blogging platform.  I suggest you download the powerpoint file before viewing.