main_baremetal_agmp03.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_pit.h"
#include "fsl_i2c.h"
#include "fxas21002.h"
#include "fxls8962.h"
#include "mag3110.h"
#include "register_io_i2c.h"
#include "fsl_i2c_cmsis.h"
#include "sensor_fusion.h"
#include "control.h"
#include "status.h"
#include "drivers.h"
#include "driver_pit.h"

Include dependency graph for main_baremetal_agmp03.c:

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Functions
int	main (void)
	This is a bare-metal 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 [4]
	This implementation uses up to 4 sensors. More...
registerDeviceInfo_t	i2cBusInfo

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_agmp03.c.

Function Documentation

main()

int main

(

void

)

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

Definition at line 56 of file main_baremetal_agmp03.c.

References SensorFusionGlobals::applyPerturbation, BOARD_BootClockRUN, BOARD_InitDebugConsole(), BOARD_InitPins(), SensorFusionGlobals::conditionSensorReadings, FUSION_HZ, FXAS21002_I2C_ADDR, FXAS21002_Init(), FXAS21002_Read(), FXLS8962_I2C_ADDR, FXLS8962_Init(), FXLS8962_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(), MPL3115_I2C_ADDR, MPL3115_Init(), MPL3115_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 44 of file main_baremetal_agmp03.c.

i2cBusInfo

registerDeviceInfo_t i2cBusInfo

Initial value:

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

Definition at line 48 of file main_baremetal_agmp03.c.

sensors

struct PhysicalSensor sensors[4]

This implementation uses up to 4 sensors.

Definition at line 46 of file main_baremetal_agmp03.c.

Referenced by main().

sfg

SensorFusionGlobals sfg

This is the primary sensor fusion data structure.

Definition at line 43 of file main_baremetal_agmp03.c.

statusSubsystem

StatusSubsystem statusSubsystem

provides visual (usually LED) status indicator

Definition at line 45 of file main_baremetal_agmp03.c.