FreeRTOS (two task) implementation of sensor fusion on FRDM-K64F/FRDM-STBC-AGM04 using MMA8652 (Accel), FXAS21002 (Gyro) and MAG3110 (Mag). More...

#include "fsl_debug_console.h"
#include "board.h"
#include "pin_mux.h"
#include "clock_config.h"
#include "fsl_port.h"
#include "fsl_i2c.h"
#include "fsl_i2c_cmsis.h"
#include "fsl_dspi_cmsis.h"
#include "register_io_i2c.h"
#include "sensor_fusion.h"
#include "control.h"
#include "status.h"
#include "drivers.h"
#include "driver_pit.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"
#include "event_groups.h"

Include dependency graph for main_agm04_freertos_two_tasks.c:

Go to the source code of this file.

Functions
int	main (void)
	This is a FreeRTOS (dual task) implementation of the NXP sensor fusion demo build. More...

Variables
SensorFusionGlobals	sfg
	This is the primary sensor fusion data structure. More...

ControlSubsystem	controlSubsystem
	used for serial communications More...

StatusSubsystem	statusSubsystem
	provides visual (usually LED) status indicator More...

struct PhysicalSensor	sensors [3]
	This implementation uses three physical sensors. More...

EventGroupHandle_t	event_group = NULL

registerDeviceInfo_t	i2cBusInfo

Detailed Description

FreeRTOS (two task) implementation of sensor fusion on FRDM-K64F/FRDM-STBC-AGM04 using MMA8652 (Accel), FXAS21002 (Gyro) and MAG3110 (Mag).

Note: This file shows one recommended way to incorporate sensor fusion capabilities into a FreeRTOS project.

Definition in file main_agm04_freertos_two_tasks.c.

Function Documentation

◆ main()

int main ( void )

This is a FreeRTOS (dual task) implementation of the NXP sensor fusion demo build.

Definition at line 85 of file main_agm04_freertos_two_tasks.c.

References BOARD_BootClockRUN, BOARD_InitDebugConsole(), BOARD_InitPins(), event_group, FXAS21002_I2C_ADDR, FXAS21002_Init(), FXAS21002_Read(), I2C_S_DRIVER, I2C_S_SIGNAL_EVENT, initializeControlPort(), SensorFusionGlobals::initializeFusionEngine, initializeStatusSubsystem(), initSensorFusionGlobals(), SensorFusionGlobals::installSensor, MAG3110_I2C_ADDR, MAG3110_Init(), MAG3110_Read(), MMA8652_I2C_ADDR, MMA8652_Init(), MMA8652_Read(), and sensors.

Here is the call graph for this function:

Variable Documentation

◆ controlSubsystem

ControlSubsystem controlSubsystem

used for serial communications

Definition at line 70 of file main_agm04_freertos_two_tasks.c.

◆ event_group

EventGroupHandle_t event_group = NULL

Definition at line 73 of file main_agm04_freertos_two_tasks.c.

Referenced by main().

◆ i2cBusInfo

registerDeviceInfo_t i2cBusInfo

Initial value:

= {
    .deviceInstance     = I2C_S_DEVICE_INDEX,
    .functionParam      = NULL,
    .idleFunction       = NULL
}

Definition at line 75 of file main_agm04_freertos_two_tasks.c.

◆ sensors

struct PhysicalSensor sensors[3]

This implementation uses three physical sensors.

Definition at line 72 of file main_agm04_freertos_two_tasks.c.

Referenced by main().

◆ sfg

SensorFusionGlobals sfg

This is the primary sensor fusion data structure.

Definition at line 69 of file main_agm04_freertos_two_tasks.c.

◆ statusSubsystem

StatusSubsystem statusSubsystem

provides visual (usually LED) status indicator

Definition at line 71 of file main_agm04_freertos_two_tasks.c.

Functions

Variables