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
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