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.