main_baremetal_agm04.c File Reference

Bare metal 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 "fsl_pit.h"
#include "sensor_fusion.h"
#include "control.h"
#include "status.h"
#include "drivers.h"
#include "driver_pit.h"

Include dependency graph for main_baremetal_agm04.c:

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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...
registerDeviceInfo_t	i2cBusInfo

Detailed Description

Bare metal 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 bare metal project.

Definition in file main_baremetal_agm04.c.

Function Documentation

main()

int main

(

void

)

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

Definition at line 49 of file main_baremetal_agm04.c.

References SensorFusionGlobals::applyPerturbation, BOARD_BootClockRUN, BOARD_InitDebugConsole(), BOARD_InitPins(), SensorFusionGlobals::conditionSensorReadings, FUSION_HZ, FXAS21002_I2C_ADDR, FXAS21002_Init(), FXAS21002_Read(), I2C_S_DRIVER, I2C_S_SIGNAL_EVENT, I2Cdrv, initializeControlPort(), SensorFusionGlobals::initializeFusionEngine, initializeStatusSubsystem(), initSensorFusionGlobals(), SensorFusionGlobals::installSensor, SensorFusionGlobals::loopcounter, MAG3110_I2C_ADDR, MAG3110_Init(), MAG3110_Read(), MMA8652_I2C_ADDR, MMA8652_Init(), MMA8652_Read(), NORMAL, SensorFusionGlobals::pControlSubsystem, pit_init(), pitIsrFlag, SensorFusionGlobals::queueStatus, SensorFusionGlobals::readSensors, SensorFusionGlobals::runFusion, sensors, SensorFusionGlobals::setStatus, ControlSubsystem::stream, sUARTOutputBuffer, and SensorFusionGlobals::updateStatus.

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Variable Documentation

controlSubsystem

ControlSubsystem controlSubsystem

used for serial communications

Definition at line 38 of file main_baremetal_agm04.c.

i2cBusInfo

registerDeviceInfo_t i2cBusInfo

Initial value:

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

Definition at line 42 of file main_baremetal_agm04.c.

sensors

struct PhysicalSensor sensors[3]

This implementation uses three physical sensors.

Definition at line 40 of file main_baremetal_agm04.c.

Referenced by main().

sfg

SensorFusionGlobals sfg

This is the primary sensor fusion data structure.

Definition at line 37 of file main_baremetal_agm04.c.

statusSubsystem

StatusSubsystem statusSubsystem

provides visual (usually LED) status indicator

Definition at line 39 of file main_baremetal_agm04.c.