Include dependency graph for main_baremetal.c:

Functions
int	main (void)

Variables
SensorFusionGlobals	sfg

ControlSubsystem	controlSubsystem

StatusSubsystem	statusSubsystem

PhysicalSensor	sensors [3]

Detailed Description

This file shows the recommended way to incorporate sensor fusion capabilities into a bare metal (no RTOS) project.

Definition in file main_baremetal.c.

Function Documentation

int main ( void )

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

Definition at line 65 of file main_baremetal.c.

 {
     ARM_DRIVER_I2C* I2Cdrv = &I2C_S_DRIVER_BLOCKING;   // defined in the <shield>.h file
     uint16_t i=0;                       // general counter variable
     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
 #if F_USING_ACCEL || F_USING_MAG
     sfg.installSensor(&sfg, &sensors[0], FXOS8700_I2C_ADDR,  1, (void*) I2Cdrv, FXOS8700_Init,  FXOS8700_Read);
 #endif
 #if F_USING_GYRO
     sfg.installSensor(&sfg, &sensors[1], FXAS21002_I2C_ADDR, 1, (void*) I2Cdrv, FXAS21002_Init, FXAS21002_Read);
 #endif
 #if F_USING_PRESSURE
     sfg.installSensor(&sfg, &sensors[2], MPL3115_I2C_ADDR,   1, (void*) I2Cdrv, MPL3115_Init,   MPL3115_Read);
 #endif
     sfg.initializeFusionEngine(&sfg);           // This will initialize sensors and magnetic calibration
 
     pit_init(1000000/FUSION_HZ);                // pitIsrFlag will be set true at FUSION_HZ periodic intervals
 
     sfg.setStatus(&sfg, NORMAL);                // If we got this far, let's set status state to NORMAL
     while (true)
     {
         if (true == pitIsrFlag) {               // Check whether occur interupt and toggle LED
             sfg.readSensors(&sfg, 1);           // Reads sensors, applies HAL and does averaging (if applicable)
             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
             pitIsrFlag = false;                 // Reset the flag for the next cycle
         }
     }
 }