Datasheet
Test Descriptions
28 Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
1. Output sampling period = 40 ms
2. Number of output sampling periods where one period = 40 ms
4.8.8 3-axis Accelerometer Only Parametrics
NOTE:
All parametrics provided in the following table are based on build 4.17 simulations. Build 5.00 should be
similar.
Table 18. 3-axis Accelerometer Performance Metrics
Characteristics Symbol Conditions Min Typ Max Units
Tilt Error RMS TAE Note 1 — 0.082 — degrees
Orientation response delay
O
RD
See Orientation Response
Delay
2
— < 5 — output
sample
period
1. RMS of accelerometer tilt angle error is calculated using the simulated sensor noise RMS values along each of the
three axes and the following formula (given for tilt error from the z-axis)
TAE=arctan
,
where NRMSx, NRMSy, NRMSz - RMS values of accelerometer noise for X, Y, Z axes in g units.
2. Number of output sampling periods where one period = 40 ms
5 Test Descriptions
Each of the following sub-sections defines the specification intent and the sample procedure for the
specifications listed in Mechanical and Electrical Specifications. Procedures may evolve in future drafts
of this document in order to better service the specification intents.
5.1 MCU Current
5.1.1 Intent
This is the average current consumption of the MCU executing the core Fusion routines. This is
obviously specific to the particular MCUs listed. This metric must be associated with a specific
hardware configuration similar to those defined earlier in this document. The Freedom Development
Platform was powered via the OpenSDA USB port for the results specified.
5.1.2 Procedure
1. This procedure uses modified versions of the standard demo build:
a. Measure (using the Sensor Fusion Toolbox) sysTick
fusion
which only includes time spent in the
core fusion routines. It does not include:
1) calls to magnetic calibration
2) reading sensor data
3) applying hardware abstraction layer
4) RTOS
5) Communications overhead