Include dependency graph for main_freertos_two_tasks.c:

Functions
static void	read_task (void *pvParameters)

static void	fusion_task (void *pvParameters)

int	main (void)

Variables
SensorFusionGlobals	sfg

ControlSubsystem	controlSubsystem

StatusSubsystem	statusSubsystem

PhysicalSensor	sensors [3]

EventGroupHandle_t	event_group = NULL

Detailed Description

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

Definition in file main_freertos_two_tasks.c.

Function Documentation

static void fusion_task ( void * pvParameters )

static

Definition at line 120 of file main_freertos_two_tasks.c.

Referenced by main().

 {
     uint16_t i=0;  // general counter variable
     while (1)
     {
         xEventGroupWaitBits(event_group,    /* The event group handle. */
                             B0,             /* The bit pattern the event group is waiting for. */
                             pdTRUE,         /* BIT_0 and BIT_4 will be cleared automatically. */
                             pdFALSE,        /* Don't wait for both bits, either bit unblock task. */
                             portMAX_DELAY); /* Block indefinitely to wait for the condition to be met. */
 
         sfg.conditionSensorReadings(&sfg);  // magCal is run as part of this
         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
     }
 }

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int main ( void )

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

Definition at line 73 of file main_freertos_two_tasks.c.

 {
     ARM_DRIVER_I2C* I2Cdrv = &I2C_S_DRIVER_BLOCKING;       // defined in the <shield>.h file
 
     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(NULL);                                 // Initialize the KSDK driver for the I2C port
 
     I2Cdrv->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], FXOS8700_I2C_ADDR, 1, (void*) I2Cdrv, FXOS8700_Init,  FXOS8700_Read);
     sfg.installSensor(&sfg, &sensors[1], FXAS21002_I2C_ADDR, 1, (void*) I2Cdrv, FXAS21002_Init, FXAS21002_Read);
     sfg.installSensor(&sfg, &sensors[2], MPL3115_I2C_ADDR, 2, (void*) I2Cdrv, MPL3115_Init, MPL3115_Read);
     sfg.initializeFusionEngine(&sfg);           // This will initialize sensors and magnetic calibration
 
     event_group = xEventGroupCreate();
     xTaskCreate(read_task, "READ", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
     xTaskCreate(fusion_task, "FUSION", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
 
     sfg.setStatus(&sfg, NORMAL);                // If we got this far, let's set status state to NORMAL
     vTaskStartScheduler();                      // Start the RTOS scheduler
     sfg.setStatus(&sfg, HARD_FAULT);            // If we got this far, FreeRTOS does not have enough memory allocated
     for (;;) ;
 }

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static void read_task ( void * pvParameters )

static

Definition at line 104 of file main_freertos_two_tasks.c.

Referenced by main().

 {
     uint16_t i=0;                       // general counter variable
     portTickType lastWakeTime;
     const portTickType frequency = 1;   // tick counter runs at the read rate
     lastWakeTime = xTaskGetTickCount();
     while (1)
     {
         for (i=1; i<=OVERSAMPLE_RATE; i++) {
             vTaskDelayUntil(&lastWakeTime, frequency);
             sfg.readSensors(&sfg, i);              // Reads sensors, applies HAL and does averaging (if applicable)
         }
         xEventGroupSetBits(event_group, B0);
     }
 }