Include dependency graph for main_freertos_single_task.c:

Macros
#define	I2C_DRIVER Driver_I2C1_KSDK2_Blocking

Functions
void	myI2C_callback (uint32_t event)

static void	read_task (void *pvParameters)

int	main (void)

Variables
SensorFusionGlobals	sfg

ControlSubsystem	controlSubsystem

StatusSubsystem	statusSubsystem

PhysicalSensor	sensors [2]

EventGroupHandle_t	event_group = NULL

uint8_t	sUARTOutputBuffer [256]

ARM_DRIVER_I2C	Driver_I2C1_KSDK2_Blocking

ARM_DRIVER_I2C *	I2Cdrv = &I2C_DRIVER

Detailed Description

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

Definition in file main_freertos_single_task.c.

Macro Definition Documentation

#define I2C_DRIVER Driver_I2C1_KSDK2_Blocking

Definition at line 79 of file main_freertos_single_task.c.

Referenced by main().

Function Documentation

int main ( void )

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

Definition at line 91 of file main_freertos_single_task.c.

 {
     BOARD_InitPins();                   // defined in pin_mux.c, initializes pkg pins
     BOARD_BootClockRUN();               // defined in clock_config.c, initializes clocks
     BOARD_InitDebugConsole();           // defined in board.c, initializes the OpenSDA port
 
     I2Cdrv->Initialize(myI2C_callback);                                 // Initialize the KSDK driver for the I2C port
     CLOCK_EnableClock(I2C_PORT_CLKEN);                                  // You must ewnable a port's clock before configuring it
     PORT_SetPinMux(I2C_PORT, I2C_SDA_PIN, I2C_MUX);                     // Configure the SDA pin muxing
     PORT_SetPinMux(I2C_PORT, I2C_SCL_PIN, I2C_MUX);                     // Configure the SCL pin muxing
     CLOCK_EnableClock(I2C_CLKEN);                                       // Enable the clock for the I2C module
     I2C_DRIVER.Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_FAST);      // Configure the I2C bus speed
 
     initializeControlPort(&controlSubsystem);                           // configure pins and ports for the control sub-system
     initializeStatusSubsystem(&statusSubsystem);                        // configure pins and ports for the status sub-system
     initSensorFusionGlobals(&sfg, &statusSubsystem, &controlSubsystem); // Initialize sensor fusion structures
     // "install" the sensors we will be using
     sfg.installSensor(&sfg, &sensors[0], F_ALL_SENSORS, 0x1E, 1, (void*) I2Cdrv, FXOS8700_Init,  FXOS8700_Read);
     sfg.installSensor(&sfg, &sensors[1], F_ALL_SENSORS, 0x20, 1, (void*) I2Cdrv, FXAS21002_Init, FXAS21002_Read);
     sfg.initializeFusionEngine(&sfg);           // This will initialize sensors and magnetic calibration
 
     event_group = xEventGroupCreate();
     xTaskCreate(read_task, "READ_TASK", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
     sfg.setStatus(&sfg, NORMAL);                // If we got this far, let's set status state to NORMAL
     /* Start scheduling. */
     vTaskStartScheduler();
     for (;;) ;
 }

Here is the call graph for this function:

void myI2C_callback ( uint32_t event )

Dummy callback function for the I2C driver.

Definition at line 82 of file main_freertos_single_task.c.

Referenced by main().

 {
     // Only needs to be present
 }

Here is the call graph for this function:

Here is the caller graph for this function:

static void read_task ( void * pvParameters )

static

Definition at line 120 of file main_freertos_single_task.c.

Referenced by main(), and myI2C_callback().

 {
     uint16_t i=0;                       // general counter variable
     portTickType lastWakeTime;
     const portTickType frequency = 10;
     lastWakeTime = xTaskGetTickCount();
     while (1)
     {
             vTaskDelayUntil(&lastWakeTime, frequency);
             GPIO_TogglePinsOutput(GPIOB, 1U << 9U); // toggle GPIO pin to check freq - DEBUG ONLY
 
             sfg.readSensors(&sfg, 1);           // Reads sensors, applies HAL and does averaging (if applicable)
             sfg.runFusion(&sfg);                // Run the actual fusion algorithms
             sfg.applyPerturbation(&sfg);        // apply debug perturbation (testing only)
             sfg.loopcounter++;                  // The loop counter is used to "serialize" mag cal operations
             i=i+1;
             if (i>=4) {                         // Some status codes include a "blink" feature.  This loop
                     i=0;                        // should cycle at least four times for that to operate correctly.
                     sfg.updateStatus(&sfg);     // This is where pending status updates are made visible
             }
             sfg.queueStatus(&sfg, NORMAL);      // assume NORMAL status for next pass through the loop
             sfg.pControlSubsystem->stream(&sfg, sUARTOutputBuffer);      // Send stream data to the Sensor Fusion Toolbox
     }
 }