FreeRTOS (two task) implementation of sensor fusion on FRDM-K64F/FRDM-FXS-AGM02 with smart power-cycling support. More...

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

Include dependency graph for main_freertos_agm02_power_cycling.c:

Go to the source code of this file.

Functions
void	vApplicationIdleHook (void)

void	vApplicationTickHook (void)

bool	motionCheck (float sample[3], float baseline[3], float tolerance, uint32_t winLength, uint32_t *count)

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

Variables
registerDeviceInfo_t	i2cBusInfo

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

Detailed Description

FreeRTOS (two task) implementation of sensor fusion on FRDM-K64F/FRDM-FXS-AGM02 with smart power-cycling support.

This file shows one recommended way to incorporate sensor fusion capabilities into a FreeRTOS project AND adds intelligent power down of sensors when the DUT is stationary.

Definition in file main_freertos_agm02_power_cycling.c.

Function Documentation

◆ main()

int main ( void )

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

Definition at line 76 of file main_freertos_agm02_power_cycling.c.

References BOARD_BootClockRUN, BOARD_InitDebugConsole(), BOARD_InitPins(), event_group, FXAS21002_I2C_ADDR, FXAS21002_Init(), FXAS21002_Read(), FXLS8952_Init(), FXLS8952_Read(), FXLS8952C_I2C_ADDR, I2C_S_DRIVER, I2C_S_SIGNAL_EVENT, I2Cdrv, initializeControlPort(), SensorFusionGlobals::initializeFusionEngine, initializeStatusSubsystem(), initSensorFusionGlobals(), SensorFusionGlobals::installSensor, MAG3110_I2C_ADDR, MAG3110_Init(), MAG3110_Read(), and sensors.

Here is the call graph for this function:

◆ motionCheck()

bool motionCheck	(	float	sample[3],
		float	baseline[3],
		float	tolerance,
		uint32_t	winLength,
		uint32_t *	count
	)

The motionCheck() function is not a sensor fusion function. It is a function that simply monitors an accelerometer or magnetometer tri-axial sensor output, returning Boolean true if the sensor appears to be stationary, and false otherwise. This function would normally be called from your fusion_tasks in your main().

Parameters

sample	processed triaxial sensor sample (accel or mag)
baseline	previous value to compare to
tolerance	how much tolerance you can stand
winLength	how many samples need to be stable to assert "noMotion"
count	how many samples so far we've been not moving

Definition at line 23 of file motionCheck.c.

References CHX, CHY, and CHZ.

◆ vApplicationIdleHook()

void vApplicationIdleHook ( void )

Definition at line 55 of file main_freertos_agm02_power_cycling.c.

◆ vApplicationTickHook()

void vApplicationTickHook ( void )

Definition at line 63 of file main_freertos_agm02_power_cycling.c.

References NORMAL, and SensorFusionGlobals::queueStatus.

Variable Documentation

◆ controlSubsystem

ControlSubsystem controlSubsystem

used for serial communications

Definition at line 51 of file main_freertos_agm02_power_cycling.c.

◆ event_group

EventGroupHandle_t event_group = NULL

Definition at line 54 of file main_freertos_agm02_power_cycling.c.

Referenced by main().

◆ i2cBusInfo

registerDeviceInfo_t i2cBusInfo

Initial value:

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

Definition at line 43 of file main_freertos_agm02_power_cycling.c.

◆ sensors

struct PhysicalSensor sensors[3]

This implementation uses three physical sensors.

Definition at line 53 of file main_freertos_agm02_power_cycling.c.

Referenced by main().

◆ sfg

SensorFusionGlobals sfg

This is the primary sensor fusion data structure.

Definition at line 50 of file main_freertos_agm02_power_cycling.c.

◆ statusSubsystem

StatusSubsystem statusSubsystem

provides visual (usually LED) status indicator

Definition at line 52 of file main_freertos_agm02_power_cycling.c.

Functions

Variables