Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
Table 2. Feature Options
Feature Options
License BSD 3-Clause
CPU selection MKL25Z128VLK4
MKL26Z128VLH4
MK20DX128VLH5
MKL46Z256VMC4
MK64FN1M0VLL12
MK22FN512VLH12 (KDS only)
Board customizable Yes
Sensor sample rate Programmable
Fusion rate Programmable
Frame of Reference Programmable
Algorithms Executing Programmable
Sleep mode enabled between
samples/calculations
No
It can be added by user, but will interfere with UART operation
RTOS MQX-Lite
Code flexibility Full source code is provided. All files are can be modified.
Access to Processor Expert Yes
Product Deliverables
• This datasheet
• Software user guide
• Zip file containing both CodeWarrior and KDS projects
1. Listed MCUs are those supported by included project templates. The fusion library should be portable to any ARM
®
processor without change. Ports to other architectures are expected to be very straightforward, as the library is written
in standard C.
2. FRDM-KL25Z, FRDM-KL26Z, FRDM-KL46Z, FRDM-K20D50M, FRDM-K64F and FRDM-K22F are supported out-of-the
box and may be used as templates for other boards.
3. The sensor fusion library was written assuming the MQXLite RTOS, but should be easily adaptable to other operating
systems. See the "Freescale Sensor Fusion for Kinetis User Guide" for additional details. The sensor fusion library has
also been incorporated into Freescale’s Intelligent Sensing Framework (ISF). ISF 2.2 offers an RTOS abstraction that
allows you to target alternate real time operating systems.
The Freescale Sensor Fusion Toolbox includes bonus projects for 3-axis tilt and 6-axis eCompass
running without an RTOS. Sensor shield boards are not needed for these configurations. This results in
very low-cost demonstration platforms. The bonus projects are compatible with the Sensor Fusion
Toolbox for Windows over USB connection. The FRDM-KL46Z eCompass version can also be used
stand-alone since the compass heading is displayed directly on the FRDM-KL46Z LCD display.
The bare-board eCompass projects have sensor sampling, sensor fusion and magnetic algorithms run
as a single task at 25Hz. On power up, the green LED flashes slowly to indicate that the software is
executing but that there is no magnetic calibration solution. The green LED then flashes rapidly to
signal that the compass heading display is accurate and that a valid magnetic calibration has been
obtained after rotating the Freedom development board.