Presented at Sensors Expo, 25 June 2014

Hi Everyone, This tutorial is a guide on how to create a simple application in the Kinetis Design Studio that reads the data from both sensors on the FRDM-STBC-AGM01 board​ using an interrupt technique through the I 2 C interface. The Processor Expert is used to configure the I 2 C interface and GPIO on the MKL25Z128 MCU. I will not cover the Sensor Fusion libraryand the ISF​. Before you begin please make sure that both the Kinetis Design Studio (Eclipse based) and the Kinetis SDK are setup and you can already compile and debug code. If not, please refer to Erich's blog: Tutorial: Adafruit WS2812B NeoPixels with the Freescale FRDM-K64F Board – Part 2: Software Tools | MCU on Eclipse http://centaurian.co.uk/2015/05/22/toolchain-ksdk-1-2-0-with-eclipse-4-4-luna-and-gnu-arm-plugin/ 1. Create a new project in KDS Within KDS, click on "File" menu item and select "New" > "Kinetis Project" Name and set location of your project. I use the default location under the workspace area. Click Next. Select the development board used (in my case it is the FRDM-KL25Z) and click Next. Select “KSDK 1.2.0”. Set location to KSDK path, I use an absolute path. The location of my KSDK is in the default location where KSDK would install to. Ensure “Processor Expert” checkbox is checked. Press Next. Make sure that “GNU C Compiler” is selected. Click the "Finish" button. 2. Open Processor Expert Open the Processor Expert perspective, this should be a button on the top right hand side of Eclipse. If it is not there, try clicking on the “Open Perspective” button and then selecting “Processor Expert” in the form that appears. 3. Add I2C component Click on the “Components Library” tab, search for the component “fsl_i2c” and double click on it. Select the "i2cCom1:fsl_i2c" in the Components window. In the "Component Inspector" tab configure the I2C component. As you can see in the FRDM-STBC-AGM01 schematic, 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 7-bit I 2 C slave address of the FXOS8700CQ is 0x1E (to enter hex values, switch the format to the ‘H’ mode) 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 I2C bus clock frequency is set to 400 kHz. 4. Add GPIO component Click on the “Components Library” tab, search for the component “fsl_gpio” and double click on it. Select the "gpio1:fsl_gpio" in the Components window. In the "Component Inspector" tab configure the GPIO component. 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. To enable both the PORTA and PORTD interrupts, select the “Events” tab and then select “generate code” next to PORTA IRQ and PORTD IRQ handlers. 5. Add Wait component​ Click on the “Components Library” tab, search for the component “Wait” and double click on it. At this point we have done all we can within Processor Expert. Make sure you save all on the project at this point then on the Components window, click on the "Generate code" button. 6. Add your code Here is the initialization of the FXOS8700CQ and FXAS21002C. /****************************************************************************** * FXOS8700CQ initialization function ******************************************************************************/ void FXOS8700CQ_Init (void) {   FXOS8700CQ_WriteRegister(CTRL_REG2, 0x40); // Reset all registers to POR values   WAIT1_Waitms(1);   FXOS8700CQ_WriteRegister(XYZ_DATA_CFG_REG, 0x00); // +/-2g range with 0.244mg/LSB   FXOS8700CQ_WriteRegister(M_CTRL_REG1, 0x1F); // Hybrid mode (accelerometer + magnetometer), max OSR   FXOS8700CQ_WriteRegister(M_CTRL_REG2, 0x20); // M_OUT_X_MSB register 0x33 follows the OUT_Z_LSB register 0x06 (used for burst read)   FXOS8700CQ_WriteRegister(CTRL_REG2, 0x02); // High Resolution mode   FXOS8700CQ_WriteRegister(CTRL_REG3, 0x00); // Push-pull, active low interrupt   FXOS8700CQ_WriteRegister(CTRL_REG4, 0x01); // Enable DRDY interrupt   FXOS8700CQ_WriteRegister(CTRL_REG5, 0x01); // DRDY interrupt routed to INT1 - PTD4   FXOS8700CQ_WriteRegister(CTRL_REG1, 0x25); // ODR = 25Hz, Reduced noise, Active mode } /****************************************************************************** * FXAS21002C initialization function ******************************************************************************/ void FXAS21002C_Init (void) {   FXAS21002C_WriteRegister(GYRO_CTRL_REG1, 0x40); // Reset all registers to POR values   WAIT1_Waitms(1);   FXAS21002C_WriteRegister(GYRO_CTRL_REG0, 0x03); // High-pass filter disabled, +/-250 dps range -> 7.8125 mdps/LSB = 128 LSB/dps   FXAS21002C_WriteRegister(GYRO_CTRL_REG2, 0x0C); // Enable DRDY interrupt, mapped to INT1 - PTA5, push-pull, active low interrupt   FXAS21002C_WriteRegister(GYRO_CTRL_REG1, 0x16); // ODR = 25Hz, Active mode } In the ISRs (look for the file Events.c), only the interrupt flags are cleared and the DataReady variables are set to indicate the arrival of new data. void PORTA_IRQHandler(void) {   /* Clear interrupt flag.*/   PORT_HAL_ClearPortIntFlag(PORTA_BASE_PTR);   /* Write your code here ... */   FXAS21002C_DataReady = 1; } void PORTD_IRQHandler(void) {   /* Clear interrupt flag.*/   PORT_HAL_ClearPortIntFlag(PORTD_BASE_PTR);   /* Write your code here ... */   FXOS8700CQ_DataReady = 1; } 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;       FXOS8700CQ_ReadRegisters(OUT_X_MSB_REG, 12, AccelMagData);         // Read FXOS8700CQ data output registers 0x01-0x06 and 0x33 - 0x38       // 14-bit accelerometer data    Xout_Accel_14_bit = ((int16_t) (AccelMagData[0]<<8 | AccelMagData[1])) >> 2;             // Compute 14-bit X-axis acceleration output value    Yout_Accel_14_bit = ((int16_t) (AccelMagData[2]<<8 | AccelMagData[3])) >> 2;             // Compute 14-bit Y-axis acceleration output value    Zout_Accel_14_bit = ((int16_t) (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 = (int16_t) (AccelMagData[6]<<8 | AccelMagData[7]);        // Compute 16-bit X-axis magnetic output value    Yout_Mag_16_bit = (int16_t) (AccelMagData[8]<<8 | AccelMagData[9]);        // Compute 16-bit Y-axis magnetic output value    Zout_Mag_16_bit = (int16_t) (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;    FXAS21002C_ReadRegisters(GYRO_OUT_X_MSB_REG, 6, GyroData);         // Read FXAS21002C data output registers 0x01-0x06    // 16-bit gyro data    Xout_Gyro_16_bit = (int16_t) (GyroData[0]<<8 | GyroData[1]);         // Compute 16-bit X-axis output value    Yout_Gyro_16_bit = (int16_t) (GyroData[2]<<8 | GyroData[3]);         // Compute 16-bit Y-axis output value    Zout_Gyro_16_bit = (int16_t) (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    FXAS21002C_ReadRegisters(GYRO_TEMP_REG, 1, GyroData);    Temp = (int8_t) (GyroData[0]); } The complete project including the I2C communication routines and sensor's header files is attached. 6. Build and debug the project To build the project, select the root folder of the project in the Project Explorer view and click the "Hammer" icon to build it. If everything goes well, no errors are shown in the "Problems" view: The .elf (binary) file has been created inside the "Debug" folder: Connect the SDA port on the FRDM-KL25Z board to a USB port on your computer. To debug the project for the first time, select the root folder of the project in the Project Explorer view and open the "Debug Configurations" window. Select the ""GDB PEMicro Interface Debugging" and click the "New launch configuration" icon. In the "Debugger" tab, select the "OpenSDA Embedded Debug - USB Port" interface and the KL25Z128M4 as a target device. Click the "Debug" button. Click the "Resume" button to run the project. You can pause the execution and look at the data using the "Suspend" button. Now you can edit, build and debug the project again. As we used a debug configuration, it is listed under the "Debug" icon, so you can start it from there. Well done if you managed to follow along and get it all working. As a bonus I have attached the FreeMASTER project that will allow you to visualize the gathered data. If there are any questions regarding this simple project, do not hesitate to ask below. Your feedback or suggestions are also welcome. Regards, Tomas

Hello community, As we know, The MMA8451Q has embedded single/double and directional tap detection. This post describes an example project using the Single Tap detection for the MMA8451Q included on the FRDM-KL25Z. Figure 1. Depending on the tapping direction, positive or negative of each axis, the RGB LED will turn into a different color. For more detailed information on how to configure the device for tap detection please refer to NXP application note, AN4072. Configuring the MCU Enable the I2C module of the KL25Z MCU and turn on all the corresponding clocks. In this case, the INT1 output of the MMA8451Q is connected to the PTA14 pin and both SCL and SDA lines are connected to the I2C0 module (PTE24 and PTE25 pins). Please review the FRDM-KL25Z schematic.      //I2C0 module initialization        SIM_SCGC4 |= SIM_SCGC4_I2C0_MASK;        // Turn on clock to I2C0 module        SIM_SCGC5 |= SIM_SCGC5_PORTE_MASK;       // Turn on clock to Port E module        PORTE_PCR24 = PORT_PCR_MUX(5);           // PTE24 pin is I2C0 SCL line        PORTE_PCR25 = PORT_PCR_MUX(5);           // PTE25 pin is I2C0 SDA line        I2C0_F = 0x14;                           // SDA hold time = 2.125us, SCL start hold time = 4.25us, SCL stop hold time = 5.125us *        I2C0_C1 = I2C_C1_IICEN_MASK;             // Enable I2C0 module                   //Configure the PTA14 pin (connected to the INT1 of the MMA8451Q) for falling edge interrupts        SIM_SCGC5 |= SIM_SCGC5_PORTA_MASK;       // Turn on clock to Port A module        PORTA_PCR14 |= (0|PORT_PCR_ISF_MASK|     // Clear the interrupt flag        PORT_PCR_MUX(0x1)|           // PTA14 is configured as GPIO        PORT_PCR_IRQC(0xA));         // PTA14 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); Configure the RBG LED of the FRDM-KL25Z Based on FRDM-KL25Z User's Manual , the RGB LED signals are connected as follow: The pins mentioned, are configured as output.      //Configure PTB18, PTB19 and PTD1 as output for the RGB LED        SIM_SCGC5 |= SIM_SCGC5_PORTB_MASK;    // Turn on clock to Port B module        SIM_SCGC5 |= SIM_SCGC5_PORTD_MASK;    // Turn on clock to Port D module                   PORTB_PCR18 |= PORT_PCR_MUX(0x1);     // PTB18 is configured as GPIO        PORTB_PCR19 |= PORT_PCR_MUX(0x1);     // PTB19 is configured as GPIO        PORTD_PCR1 |= PORT_PCR_MUX(0x1);      // PTD1 is configured as GPIO                   GPIOB_PDDR |= (1 << 18);              //Port Data Direction Register (GPIOx_PDDR)        GPIOB_PDDR |= (1 << 19);              //Set GPIO direction set bit corresponding bit on the direction        GPIOD_PDDR |= (1 << 1);               //register for each port, set the bit means OUTPUT Initialize and configure the MMA8451Q for Tap Detection To utilize the single and/or double tap detection the following eight (8) registers must be configured. Register 0x21: PULSE_CFG Pulse Configuration Register Register 0x22: PULSE_SRC Pulse Source Register Register 0x23 - 0x25: PULSE_THSX,Y,Z Pulse Threshold for X, Y and Z Registers Register 0x26: PULSE_TMLT Pulse Time Window 1 Register Register 0x27: PULSE_LTCY Pulse Latency Timer Register Register 0x28: PULSE_WIND Second Pulse Time Window Register Please review the MMA8451Q datasheet in order to get more information about the registers mentioned. For a single tap event, the PULSE_TMLT, PULSE_THSX/Y/Z and PULSE_LTCY registers are key parameters to consider. Note in condition (a) the interrupt is asserted since the acceleration due to a pulse exceeds the specified acceleration threshold (value set in the PULSE_THSX) and crosses up and down before the specified Pulse Time Limit (value set in PULSE_TMLT) expires. Note that in condition (b) the acceleration due to a pulse exceeds the specified acceleration threshold limit, but does not go below the threshold before the specified Pulse Time Limit expires. Therefore, this is an invalid pulse and the interrupt will not be triggered. Also note that the Latency is not shown for this example.              unsigned char reg_val = 0, CTRL_REG1_val = 0;            I2C_WriteRegister(MMA845x_I2C_ADDRESS, CTRL_REG2, 0x40);             // Reset all registers to POR values                 do            // Wait for the RST bit to clear        {               reg_val = I2C_ReadRegister(MMA845x_I2C_ADDRESS, CTRL_REG2) & 0x40;        }      while (reg_val);            I2C_WriteRegister(MMA845x_I2C_ADDRESS, CTRL_REG1, 0x0C);             // ODR = 400Hz, Reduced noise, Standby mode        I2C_WriteRegister(MMA845x_I2C_ADDRESS, XYZ_DATA_CFG_REG, 0x00);      // +/-2g range -> 1g = 16384/4 = 4096 counts        I2C_WriteRegister(MMA845x_I2C_ADDRESS, CTRL_REG2, 0x02);             // High Resolution mode            I2C_WriteRegister(MMA845x_I2C_ADDRESS, PULSE_CFG_REG, 0x15);         //Enable X, Y and Z Single Pulse        I2C_WriteRegister(MMA845x_I2C_ADDRESS, PULSE_THSX_REG, 0x20);        //Set X Threshold to 2.016g        I2C_WriteRegister(MMA845x_I2C_ADDRESS, PULSE_THSY_REG, 0x20);        //Set Y Threshold to 2.016g        I2C_WriteRegister(MMA845x_I2C_ADDRESS, PULSE_THSZ_REG, 0x2A);        //Set Z Threshold to 2.646g        I2C_WriteRegister(MMA845x_I2C_ADDRESS, PULSE_TMLT_REG, 0x28);        //Set Time Limit for Tap Detection to 25 ms        I2C_WriteRegister(MMA845x_I2C_ADDRESS, PULSE_LTCY_REG, 0x28);        //Set Latency Time to 50 ms        I2C_WriteRegister(MMA845x_I2C_ADDRESS, CTRL_REG4, 0x08);             //Pulse detection interrupt enabled        I2C_WriteRegister(MMA845x_I2C_ADDRESS, CTRL_REG5, 0x08);             //Route INT1 to system interrupt            CTRL_REG1_val = I2C_ReadRegister(MMA845x_I2C_ADDRESS, CTRL_REG1);   //Active Mode        CTRL_REG1_val |= 0x01;        I2C_WriteRegister(MMA845x_I2C_ADDRESS, CTRL_REG1, CTRL_REG1_val); Handle the Interrupt The PULSE_SRC register indicates a double or single pulse event has occurred and also which direction. In this case the value of the register mentioned is passed to the PULSE_SRC_val variable and evaluated. Reading the PULSE_SRC register clears all bits. Reading the source register will clear the interrupt.      void PORTA_IRQHandler()      {             PORTA_PCR14 |= PORT_PCR_ISF_MASK;               // Clear the interrupt flag              PULSE_SRC_val = I2C_ReadRegister(MMA845x_I2C_ADDRESS, PULSE_SRC_REG); //Read Pulse Source Register      } Please find attached the complete source code written in the CodeWarrior for Microcontrollers-Eclipse IDE|NXP . As I mentioned before, you can find more detailed information at application note AN4072. Useful information about handling the MMA8451 can be founded in MMA8451Q - Bare metal example project. I hope you find useful and funny this sample project. Regards, David

The FXLS8471Q Freescale accelerometer is highly versatile for industrial and consumer high-performance low-g applications that offer noise density, board mount offset, temperature performance and sensitivity. Integrated motion detection features include tilt, shake and tap detection with a new vector magnitude output that simplifies implementation and reduces power consumption. This new FXLS8471Q accelerometer has a SPI interface that is pin-compatible with Freescale’s industry-leading I2C accelerometer portfolio. Here is a Render of the FXLS8471 Breakout- Board downloaded from OSH Park: And here is an image of the 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 for this Breakout-board. If you are interested in more designs like this breakout board for other sensors, please go to Freescale Sensors Breakout Boards Designs – HOME

All, We've had some problems with migration of Freescale blogs over to the NXP domain.  One set of listings that gets requested a fair bit are the postings on orientation representations.  The attached is a PDF version of the same material which will be contained in the upcoming Sensor Fusion Version 7.00 User Guide.

The Freedom Sensor Toolbox-Community Edition GUI (Graphic User Interface) offers quick and easy demonstration and evaluation of the NXP sensors. The GUI can be downloaded from this link: https://www.nxp.com/design/software/development-software/sensor-toolbox-sensor-development-ecosystem/freedom-sensor-toolbox-community-edition-sensor-evaluation-and-visualization-software:SENSOR-TOOLBOX-CE NXP sensor demonstration kits compatible with the GUI are available at this link: https://www.nxp.com/design/sensor-developer-resources/sensor-toolbox-sensor-development-ecosystem/evaluation-boards:SNSTOOLBOX?tid=vanSENSOREVALUATIONBOARDS There is an User Guide available, for the Freedom Sensor Toolbox-Community Edition GUI, describing installation, running and also troubleshooting of some common problems with the GUI. Please find the User Guide at this link: https://www.nxp.com/docs/en/user-guide/STBCEUG.pdf   Figure 1. The Freedom Sensor Toolbox GUI is running correctly, Main Page When the toolbox is running correctly, after pressing the Stat button, user can observe change in individual axis in the plot,  according to the change of the individual axis on the sensor evaluated. See Figure 1. for an example with the MMA8652 accelerometer.  Note the green mark in the right down corner indicating, that the GUI and kit is working correctly. User can also observe change in Parameter Details in the Register page. See Figure 2.   Figure 2. The Freedom Sensor Toolbox GUI  is running correctly, Register Page Some users might come across an issue, where after pressing the start button, the plot in the Main Page of the Toolbox shows only zeroes for all three axis, no matter how the tilt for any of the axis, of the evaluated sensor changes. See Figure 3. Note the red exclamation mark in the right down corner, indicating an issue with the GUI. Although the Parameter Details in the Register Page shows correct values according the change of individual axis on the evaluated sensor. See Figure 4.   Figure 3. Plot in the Main Page of the GUI shows only zeroes for all three axis   Figure 4. Parameter Details in the Register Page of the GUI The issue with the wrong scaling in the Freedom Sensor Toolbox-Community Edition GUI is linked to the local preference and format on the computer. The GUIs have been designed in Chandler/USA where decimal symbol is a simple point. In Europe and in some Asian countries, it is usually a comma, hence this can cause issue with the plot. The workaround to fix the issue with the unresponsive plot in the Main Page of the GUI is to change the decimal point in Windows operational system from comma to point. Follow the instructions according the following Figures.   Figure 5. In Start menu press the Settings button   Figure 6. In the Windows Settings choose Time & Language   Figure 7. In the Time & Language window choose Region following with Additional date, time & regional settings   Figure 8. In the Clock and Region choose Change date, time or number formats   Figure 9. In Region window press Additional settings   Figure 10. In the Customize Format window change the Decimal symbol to point After changing the Decimal symbol to point, simply turn on the Freedom Sensor Toolbox GUI and the plot will show changes in the individual axis according to the change in tilt of the sensor for individual axis.

Hands-on Training using Sensors Development Ecosystem

This is a step-by-step guide document to set the FRDM-K64F-AGM01 on the Freescale Sensor Fusion Toolbox Software.

    Objective: Getting Started guide for MPL3115 using i.MXRT1020 EVK and FRDMSTBC-P3115. This guide help enable you to: Get familiarity with NXP’s sensor toolbox ecosystem: a complete ecosystem for product development with NXP’s motion and pressure sensors targeted toward IoT, Industrial, Medical applications. Try hands-on IoT (Industrial/medical) sensor applications using NXP’s IoT sensors and IoT Sensing SDK framework (ISSDK, available as middleware component in MCUXpresso SDK). Leverage FRDMSTBC-P3115 sensor development board with i.MXRT1020 EVK to create and run example sensor applications for: NXP’s absolute pressure sensor MPL3115A2 designed for industrial applications.   Prerequisites: This Getting Started guide assumes following prior prerequisites actions to be completed: Availability of Windows 10 development PC. Availability of MIMXRT1020-EVK evaluation kit with Arduino I/O headers populated Availability of FRDMSTBC-P3115 sensor development boards. NXP’s MCUXpresso IDE v11.3.0 in installed on the development PC. mbed windows serial drivers are installed on development PC.  MIMXRT1020-EVK evaluation kit is pre-programmed with the latest OpenSDA bootloader and firmware application. Generate and download EVK-MIMXRT1020 SDK package from web based MCUXpresso SDK builder. Any serial terminal application (e.g. RealTerm) is installed on the training PC to view sensor output of ISSDK example applications.   Introduction to Sensors Developers Ecosystem: Sensor Development Toolbox is the complete ecosystem for product development with NXP’s motion and pressure sensors targeted toward IoT, Industrial, Medical applications. It encompasses a wide spectrum of sensor evaluation hardware and software tools making our sensors easy to use. Sensor Evaluation Boards Sensor evaluation boards provide a wide spectrum of enablement hardware for quick sensor evaluation and development. It includes a demonstration kit, shield development board and breakout board for motion and pressure sensors targeted toward IoT, Industrial, Medical applications. IoT Sensing SDK The IoT Sensing Software Development Kit (ISSDK) is the embedded software framework for the Sensor Toolbox ecosystem enabling NXP's digital and analog sensors platforms for IoT applications. Following are key features and benefits provided by ISSDK framework: ISSDK provides a unified set of sensor support models that target NXP’s portfolio of sensors across a broad range of NXP’s Arm ® Cortex ® -M core-based microcontrollers including NXP’s LPC, Kinetis and i.MX RT crossover platforms. ISSDK leverages latest version of MCUXpresso SDK (Kinetis, LPC and i.MX SDK) drivers and release infrastructure through MCUXpresso web. ISSDK combines a set of robust sensor drivers and algorithms along with out-of-box example applications to allow users to get started with using NXP sensors. Enables easy porting across broad range of NXP’s Arm Cortex M based Microcontrollers by using Arm CMSIS Driver APIs. Provides NXP’s sensor register definitions, register access interfaces and sensor level multiple register read/write interfaces. For more information on list of ISSDK supported sensors and development kits, refer to ISSDK Release Notes. Executing out-of-box MPL3115 examples: The out-of-box sensors (MPL3115) example projects ("evkmimxrt1020_mpl3115_examples.zip") are made available through this sensor knowledge base community page. These example projects are based on ISSDK framework using MPL3115 sensor drivers. Please refer to next sections on steps to run these out-of-box examples on MIMXRT1020-EVK attached with FRDMSTBC-P3115 sensor development board. Refer to attached "NXP_Hackathon_Sensors_GS_MPL3115.pdf" section#4, to execute out-of-box MPL3115 sensor examples using i.MXRT1020 EVK and FRDMSTBC-P3115 sensor development board. License and Copyright Information: Note: Please refer to the SW-Content-Register.txt file to get more details on the example project SW package components and applicable licenses. The example project sources are released under "LA_OPT_NXP_Software_License", users downloading this SW should carefully read the license agreements and comply.

FRDM-STBC-AGM01: 9-Axis Inertial Measurement Sensor Board FRDM-KL25Z FRDM-STBC-AGM01 - Example project in KDS 3.0.0 using KSDK 1.2.0 and Processor Expert FRDM-STBC-AGM01 - Bare metal example project   FRDMSTBC-A8471: 3-Axis Accelerometer Sensor Toolbox Development Board FRDMSTBC-A8471 - Bare metal example project FRDMSTBC-A8471 - Example project in KDS 3.0.2 using KSDK 2.0 FXLS8471Q Auto-sleep with Transient threshold trigger    MPL3115A2: 20 to 110kPa, Absolute Digital (I 2 C) Pressure Sensor MPL3115A2 - Bare metal example project FRDMKL25-P3115 - Example project in KDS 3.0.2 using KSDK 2.0 https://community.nxp.com/docs/DOC-345632    MPL115A1: 50 to 115kPa, Absolute Digital (SPI) Pressure Sensor MPL115A1- Bare metal example project    FXOS8700CQ: Digital (I 2 C/SPI) Sensor - 3-Axis Accelerometer (±2g/±4g/±8g) + 3-Axis Magnetometer FXOS8700CQ - Bare metal example project FXOS8700CQ - Magnetic threshold detection function example code  FXOS8700CQ - Auto-sleep with Magnetic threshold trigger    FXLS8471Q: ±2g/±4g/±8g, 3-Axis, 14-Bit Digital (I 2 C/SPI) Accelerometer FXLS8471Q - Bare metal example project FXLS8471Q - FIFO Fill mode example code FXLS8471Q - Accelerometer vector-magnitude function example code FXLS8471Q - Accelerometer transient detection function example code FXLS8471Q - Accelerometer motion detection function example code  FXLS8471Q - Accelerometer orientation detection function example code    MMA8652FC: ±2g/±4g/±8g, 3-Axis, 12-Bit Digital (I 2 C) Accelerometer MMA8652FC - Bare metal example project MMA8652FC - Auto-WAKE/SLEEP mode   MMA8451Q: ±2g/±4g/±8g, 3-Axis, 14-bit Digital (I 2 C) Accelerometer MMA8451Q - Bare metal example project MMA8451Q - Single Tap Detection Bare metal example project FRDM-KL27Z MMA8451Q - How to build and run an ISSDK based example project    MMA8491Q: ±8g, 3-Axis, 14-bit Digital (I 2 C) Accelerometer/Tilt Sensor MMA8491Q - Acceleration data streaming using the PIT on the Kinetis KL25Z MCU   FXLN83xxQ: 3-Axis, Low-Power, Analog Accelerometer FXLN8371Q - Bare metal example project   FXAS21002C: 3-Axis Digital (I 2 C/SPI) Gyroscope FXAS21000 – Bare metal example project FXAS21002C - Angular rate threshold detection function example code   MAG3110FC: 3-Axis Digital (I 2 C) Magnetometer MAG3110FC – Bare metal example project   LM75A: Digital temperature sensor and thermal watchdog LM75A - Temperature data streaming using the PIT on the Kinetis KL25Z MCU

FXLS93xxx 是NXP针对底盘安全领域的PSI5接口的加速度传感器。FXPS7140xxxx 是NXP针对气囊中侧碰，行人保护等应用推出的PSI5接口的压力传感器。   FXLS93xxx内部集成了OTP, One-Time-Programmable Memory (一次性烧写，不支持客户重复烧写），这种OTP Memory 分为NXP工厂烧写部分（Type是F)，客户可读，和客户可烧写部分(UF0, UF1 & UF2). 支持客户烧写的范围是UF0($E0-EE), UF1($F0-FF) & UF2($16-5E) 的区间。芯片内还有部分寄存器是客户可读的和 可读可写的寄存器（非OTP的，写的内容会随下电后重新上电后消失，可以理解为RAM）。 未经烧写OTP的芯片会工作在默认模式PSI5-P16C-500/2L，FXLS93xx0(单轴）加速度数据会在Time slot 1发送，FXLS93xxx（双轴）加速度数据，Ch0数据会在Time slot 1发送，Ch1数据会在Time slot 2发送。 OTP programming 烧写流程     进入烧程模式PME(Programming Mode Entry)的时序 上电后delay(tRS_PM) 6ms     发至少31个同步头，同步头的时间周期必须满足 245-255us   发PME command 注：上电后6ms+127ms中如果没有收到PME command, 则退出PM Entry.       烧写电压Vpp 电压9-11V是指BUS_I/VCC pin上电压   依据寄存器配置内容，写寄存器，寄存器默认值为0x00，如配置内容是默认值，则不需要写 寄存器配置内容写好后， 写0x80到WRITE_OTP_EN($11) 烧写UF0, delay 10ms 烧写完成 写0x81到WRITE_OTP_EN($11) 烧写UF1, delay 10ms 烧写完成 写0x8E(跳过COMMTYPE和PHYSADDR寄存器烧写）到WRITE_OTP_EN($11) 烧写UF2, delay 10ms 烧写完成   验证步骤： 读回烧写过的寄存器，确保烧写内容是否正确 读DEVSTAT和DEVSTAT2 寄存器，判断是否在烧写过程中有错误产生。 烧写UF1，UF2后，做Margin read, 判断烧写深度是否足够   烧写注意事项： OTP烧写中常出现的问题主要是烧写深度不足。失效现象是通过PSI5总线收到传感器错误代码，10-bit 500 即0x1F4, 16-bit 32000 即 0x7D00(PSI5_CFG寄存器中 EMSG_EXT = 0)，10-bit 491 即0x1EB, 16-bit 31424 即 0x7AC0（PSI5_CFG寄存器中 EMSG_EXT = 1）错误码可能是会在传感器放置或者工作后一段时间，如几天，几个月或更长时间后产生，所以如发生该问题容易导致客户端失效。目前已知原因是： 烧写电压VPP不够: Datasheet中Vpp 电压9-11V是指BUS_I/VCC pin上电压，要考虑串联电阻和线束的压降，确保烧写OTP过程中，BUS_I pin电压稳定在这个范围内 烧写时间不足，写WRITE_OTP_EN后的延时必须大于10ms, 以保证烧写完成（这里写的OTP Program Timing 最大值10ms是每颗芯片需要烧写的时间有区别，但芯片最大的烧写时间是10ms, 所以烧写时间需要大于10ms以确保每颗芯片都烧写深度足够。）     为确保该问题不发生，请确保前面的两点已经满足，并且推荐烧写UF1，UF2后，做Margin read, 判断烧写深度是否足够。并将所有烧写后寄存器读回，判断烧写内容是否正确。 还要注意进入烧写模式（PME)后，请勿热插拔FXLS93xxx 芯片或模块, 以避免芯片损坏。   烧写工具： 很多客户除了做PSI5传感器, 还在做含有PSI5接口的ECU. 所以我们的文档可以支持客户自己开发PSI5 OTP烧写工具。（NXP 没有烧写工具的解决方案） 购买Seskion的 PSI5 Simulyzer进行烧写 Seskion PSI5-Simulyzer – Measuring, Analyzing, Simulating 下面是介绍如何通过Seskion PSI5 Simulyzer 进行快速烧写     Seskion configuration Once the script is generated from the NXP script generator tool you will need to load it on the PSI5 Simulyzer from Seskion by going into Tools-> ECU Pattern Editor -> Channel 0 -> Load -> Select generated script file. Make sure that “Use for Sensor Init” is ticked , see below snapshot.                 Below an example of a script generated by the Seskion Script generation tool :           The 2 first “0” are trimmed out by the defined number of bit set to 0x2A = 42. Note : Once the script file are loaded to the PSI5-Simulizer from Seskion the “00” from 00b32ba623e are not shown and what will be displayed is b32ba623e. However since the number of bit is 0x2A = 42 the 5x ‘0’ are automatically appended at the beginning of the command.         If the programming using the PSI5 Simulyzer from Seskion is not working there few things to consider for debug : Make Sure that the bit distance in bidirectional communication is set to 250us as specified in sensor product specification.     Make sure that Init Phase1 timing is set to 6.     If device respond to PSI5 programming command but the configuration is not getting written into OTP, please make sure that the applied voltage level is within product specification 9-11V at BUS_I pin. So please include potential voltage drop cause by any potential resistor connected on BUS_I/VCC pin.   烧写过程，一定是先点RUN, 然后再点Power ，烧写完成后sensor一直发送0x1e1, 就代表烧写成功了      

Session Overview Session Details Sensors Development Ecosystem   Session Hands-on Prerequisites SW prerequisites: Install required SW and tools Download following SDK, IDE and tools: 1. MCUXpresso IDE v11.9.0 or newer 2. MCUXpresso SDK v2.14.0 for FRDM-MCXN947 (while generating SDK select ISSDK and FreeMASTER middleware) 3. FreeMASTER Tool v3.2 or newer: FreeMaster Run-time Debugging tool   HW prerequisites: HW Setup and Connection  1. Know the HWs for Hands-On Training:  2. Connect HWs to get ready for Hands-On Session: Special Instructions: Attendees to bring their own Windows Laptop for hands-on training. Attendees are requested to follow this guide and come prepared with Pre-requisite SW installed on their windows laptops. Hands-on training material and boards (“FRDM-MCXN947” and “Accel 4 Click” boards) will be provided for training purpose only.        

FXLS93xxx 是NXP针对底盘安全领域的PSI5接口的加速度传感器。FXPS71407BPS 是NXP针对气囊中侧碰，行人保护等应用推出的PSI5接口的压力传感器。 FXLS93xxxx/FXPS71407BPS 芯片出厂时，COMMTYPE中COMMTYPE[2:0]被设置成0x1. 除COMMTYPE中这一位，其它寄存器默认值都是0. 虽然都是QFN 4mm x 4mm 封装，但pin脚顺序不同，PCB不共用 下面仅介绍了在PSI5模式下最常配置的几个寄存器，其它的配置请参考对应的datasheet 芯片烧写OTP前，有默认模式(un-programmed PSI5)输出 PSI5-P16C-500/2L with 400 Hz, 4-Pole low-pass filter.   SOURCEID_0, SOURCEID_1, SOURCEID_2, SOURCEID_3的配置 SOURCEID_0, SOURCEID_1 对应CH0 SOURCEID_2, SOURCEID_3对应CH1 具体的CH0 和CH1对应的加速度传感器在datasheet 第一页中可以找到       注：PIS5异步模式(Async mode), 仅SOURCEID_0 有效   例： FXLS93220, 这是X单轴的，它仅能使用Channel 0, 所以配置中仅能配置SOURCEID_0 或 SOURCEID_1 。   FXLS93421, CH0对应的是X轴Middle-g, CH1对应的是Z-axis Low-g的加速度传感器。 如果要使用Z-axis Low-g的加速度传感器，则配置SOURCEID_2 或 SOURCEID_3，如果一个同步周期内只需发一组加速度值，则配SOURCEID_2 就可以了。     SOURCEID_0 中PDCMFORMAT[2:0]，例：PSI5需要配置为P16CRC-1000/3H ，数据需要以16-bit 输出, 则配置PDCMFORMAT[2:0] =0b1xx   PSI5_CFG （$25） 最常需配置的位 P_CRC（默认是奇偶校验，写1是CRC校验），ASYNC（默认是Sync mode, 同步模式， 写1改为异步模式Async） EMSG_EXT 如果模块的spec里没有特别要求，建议写1，因为在模块失效时，可以提供更多的失效信息，便于做FA. PSI5_CFG 其它位的配置主要看系统的结构或接收端是否支持。 PDCM_RSPSTx（$26-$2B) 在Sync mode下，PDCM_RSPST0，PDCM_RSPST1，PDCM_RSPST2，PDCM_RSPST3 对应于SOURCEID_0, SOURCEID_1，SOURCEID_2, SOURCEID_3 的数据开始发送的时间, Start time, 这里配置的是tTIMESLOTx的值， tA_SYNC_DLY只有50-600ns.   例： SOURCEID_2的数据开始发送的Timeslot start time是244 μs, 则配置PDCM_RSPST2_L = 0xF4 通过配置的SOURCEID_x选择对应的CHx_CFG_U1，CHx_CFG_U2，CHx_CFG_U3，CHx_CFG_U4，CHx_CFG_U5进行配置。 PDCM_CMD_B_L($38) PDCM_CMD_B_H($39) PSI5 Command Blocking Time 全0为默认值450us. CH0_CFG_U1($40), CH1_CFG_U1($48) 根据产品需求，在下表中选择合适的LPF[3:0]和SAMPLERATE[1:0]. 该滤波器更详细的内容见Low-pass filter 章节     CH0_CFG_U2($41), CH1_CFG_U2($49)  寄存器U_SNS_MULT[7:0]的配置需结合CHx_CFG_U1中USER_SNS_SHIFT[1:0]一起配置。通过这个配置，可以得到对应的sensitivity和g-range. 具体计算可以参考uGen6UserSensitivityMultiplierCaculation.xslx 文件。注：PSI5 10-bit数据输出范围是-480 ~ 480 LSB, PSI5 16-bit数据输出范围为-30720 ~ 30720 LSB. （这是PSI5协议规定的） CH0_CFG_U3（$42）, CH1_CFG_U3 ($4A) CHxDATATYPE0 和 CHxDATATYPE1 , 默认是使能Offset cancellation自动归零功能的。通过这个寄存器配置，可以关闭该功能。 MOVEAVG[1:0] 默认是使用的LPF, 通过MOVEAVG[1:0]配置，可以关闭LPF, 使能平均值滤波。 CH0_CFG_U4($43), CH1_CFG_U4($4B) INVERT 如发现数据输出的正负和期望值是相反的，则将该位置1 假设将传感器转90度，即Offset为1g，当OC_FILT[1:0] 为0时 则由于OC Rate Limiting 的速度是1LSB/4s for PSI5 10-bit(or 16LSB/s for PSI5 16-bit). 如果1g对应的输出是32个LSB （PSI5 10-bit），则需要32*0.25 = 128s实现1g的自动归零功能。 如果使用0.04Hz，OC_FILT[1:0]=1，关闭OC Rate Limiting功能，则 18.36sec 实现归零 final value (+/-1%) . （最快的） 如果使用0.005Hz，OC_FILT[1:0]=2，？   CH0_U_OFFSET_L（$55), CH0_U_OFFSET_H($56), CH1_U_OFFSET_L($5D), CH1_U_OFFSET_H($5E) 当测量轴向在重力加速度方向，则需要配置该寄存器。配置的具体值参考uGen6UserSensitivityMultiplierCaculation.xslx 文件。例如FXLS93421, 当使用Z-axis在垂直方向时，由于重力加速度的耦合，使Offset超过了400mg，PSI5总线会报Offest Error信息（EMSG_EXT=1）或是Sensor Defect Error信息（EMSG_EXT=0）. 以上仅是FXLS93xxxx/FXPS71407BPS最常做的配置，注意FXPS71407BPS和FXLS93xxxx的配置还是有很多区别的，如只支持10-bit PSI5 输出，所以请以对应的datasheet为准。