Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
4.2 Hardware Platforms Used to Measure Performance
In the following subsections, some parametrics are measured, some represent simulated results. There
are multiple methods used to determine parametrics. These make use of hardware platforms for
benchmarking purposes, in addition to Matlab.
Kinetis Cortex M0+
This configuration is composed of a Freescale KL25Z, KL46Z or KL26Z Freedom development platform
paired with a FXS-MULT2-B Bluetooth-enabled sensor board
1
. Use of Bluetooth allows the board to be
rotated freely, untethered by cords or power cables.
Table 4. Cortex M0+ Test Configuration
Component / Parameter Value
Baseboard FRDM-KL25Z / FRDM-KL26Z / FRDM-KL-46Z
Sensor Board FRDM-FXS-MULT2-B
MCU Kinetis MKL25Z128VLK4 / MKL26Z128VLH4 / MKL46Z256VMC4
CPU
ARM
®
Cortex M0+
CPU Clock 48 MHz
Bus Clock 24 MHz
Accelerometer
FXOS8700CQ
Magnetometer
Gyroscope FXAS21000
Sensor Sampling Rate 200 Hz
Fusion Rate 25 Hz
Magnetic Calibration Rate Twice per minute once full calibration is reached
This board combination is battery powered and nominally regulated to 3.3 V for use by the sensors in
question.
1 The primary difference between the FRDM-FXS-MULTI-B and FRDM-FXS-MULT2-B is that the latter includes
a production FXAS21002 gyroscope, whereas the former used FXAS21000 pre-production units. The FRDM-
FXS-MULTI-B board is no longer in production, but continues to be supported by the kit. The two boards are
similar in appearance.