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Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015

Freescale Semiconductor, Inc.

1 Introduction

Sensor Fusion is the process where data from several different sensors are fused to complete

computations that a single sensor could not handle. An example of sensor fusion is computing the

orientation of a device in 3-dimensional space using an accelerometer and magnetometer. That data

might then be used to alter the perspective presented by a 3D GUI or game.

The Freescale Sensor Fusion Library for Kinetis MCUs provides advanced functions for computation of

device orientation, linear acceleration, gyroscope offset and magnetic interference based upon the

outputs of Freescale inertial and magnetic sensors.

Features

• Supports:

— Accelerometer only (roll, pitch and tilt)

— Magnetometer only (2D auto)

— Gyro only

— Accelerometer plus magnetometer (eCompass)

— Accelerometer plus gyro (gaming)

— Accelerometer plus magnetometer plus gyroscope sensors

• Includes Freescale’s award-winning magnetic compensation software

— Provides geomagnetic field strength, hard- and soft-iron corrections, and quality-of-fit indication

• Very low power consumption

— 3 mA 9-axis fusion IDD on Kinetis ARM

® Cortex® M0+ devices at 25 Hz fusion rate/200 Hz

sensor rate

— 0.6mA 9-axis fusion IDD on Kinetis ARM Cortex M4F devices at 25 Hz fusion rate/200 Hz sensor

rate

• Programmable sensor sample and fusion rates

• Supports multiple 3D frames of reference (aerospace NED, Android and Windows 8)

• Library is coded in standard C99 ANSI C

• Compatible with the Freescale Sensor Fusion Toolbox for Android and Windows

• Supported by Freescale CodeWarrior, Kinetis Design Studio and Processor Expert tools

• Out-of-the box support for the following Freedom Development Platforms with FRDM-FXS-MULTx

family of sensor boards

— Cortex M0+:

FRDM-KL25Z / FRDM-KL26Z / FRDM-KL46Z

— Cortex M4:

FRDM-K20D50M

— Cortex M4F:

FRDM-K64F / FRDM-K22F (KDS only)

• Library version 5.00 includes bonus bare-metal implementations for tilt and eCompass.

Typical Applications

• Notebook, tablet and smartphone sensor fusion

• Gaming, motion control, head-mounted displays, wearable electronics

• Air mouse, remote control

• Navigation, eCompass, IoT (Internet of Things) sensor data management

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