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

ORD

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) sysTickfusion 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