main_baremetal.c File Reference

Bare metal implementation of sensor fusion on FRDM-K64F. 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_smc.h"
#include "register_io_i2c.h"
#include "fsl_i2c_cmsis.h"
#include "fsl_pit.h"
#include "fxas21002.h"
#include "mpl3115.h"
#include "fxos8700.h"
#include "sensor_fusion.h"
#include "control.h"
#include "status.h"
#include "drivers.h"
#include "driver_pit.h"

Include dependency graph for main_baremetal.c:

Go to the source code of this file.

Functions
int	main (void)
	This is a bare-metal implementation of the NXP sensor fusion demo build. More...

Variables
registerDeviceInfo_t	i2cBusInfo
SensorFusionGlobals	sfg
	This is the primary sensor fusion data structure. More...
struct ControlSubsystem	controlSubsystem
	used for serial communications More...
struct StatusSubsystem	statusSubsystem
	provides visual (usually LED) status indicator More...
struct PhysicalSensor	sensors [3]
	This implementation uses up to 3 sensors. More...

Detailed Description

Bare metal implementation of sensor fusion on FRDM-K64F.

This file shows the recommended way to incorporate sensor fusion capabilities into a bare metal (no RTOS) project.

Definition in file main_baremetal.c.

Function Documentation

main()

int main

(

void

)

This is a bare-metal implementation of the NXP sensor fusion demo build.

Definition at line 78 of file main_baremetal.c.

References SensorFusionGlobals::applyPerturbation, BOARD_BootClockRUN, BOARD_InitDebugConsole(), BOARD_InitPins(), SensorFusionGlobals::conditionSensorReadings, controlSubsystem, FUSION_HZ, FXAS21002_I2C_ADDR, FXAS21002_Init(), FXAS21002_Read(), FXOS8700_I2C_ADDR, FXOS8700_Init(), FXOS8700_Read(), I2C_S_DRIVER, I2C_S_SIGNAL_EVENT, initializeControlPort(), SensorFusionGlobals::initializeFusionEngine, initializeStatusSubsystem(), initSensorFusionGlobals(), SensorFusionGlobals::installSensor, SensorFusionGlobals::loopcounter, MPL3115_I2C_ADDR, MPL3115_Init(), MPL3115_Read(), NORMAL, SensorFusionGlobals::pControlSubsystem, pit_init(), pitIsrFlag, SensorFusionGlobals::queueStatus, SensorFusionGlobals::readSensors, SensorFusionGlobals::runFusion, sensors, SensorFusionGlobals::setStatus, statusSubsystem, ControlSubsystem::stream, sUARTOutputBuffer, and SensorFusionGlobals::updateStatus.

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Variable Documentation

controlSubsystem

struct ControlSubsystem controlSubsystem

used for serial communications

Definition at line 73 of file main_baremetal.c.

Referenced by main().

i2cBusInfo

registerDeviceInfo_t i2cBusInfo

Initial value:

= {
    .deviceInstance     = I2C_S_DEVICE_INDEX,
    .functionParam      = SMC,
    .idleFunction       = (registeridlefunction_t) SMC_SetPowerModeWait
}

Definition at line 65 of file main_baremetal.c.

sensors

struct PhysicalSensor sensors[3]

This implementation uses up to 3 sensors.

Definition at line 75 of file main_baremetal.c.

Referenced by main().

sfg

SensorFusionGlobals sfg

This is the primary sensor fusion data structure.

Definition at line 72 of file main_baremetal.c.

statusSubsystem

struct StatusSubsystem statusSubsystem

provides visual (usually LED) status indicator

Definition at line 74 of file main_baremetal.c.

Referenced by main().