Hands-On Workshop: Xtrinsic

External Use

TM

Hands-On Workshop: Xtrinsic

Intelligent Sensing Framework

(ISF) on Kinetis MCUs

FTF-SDS-F0006

A P R . 2 0 1 4

Margaret Nadworny | SSD Software Manager

TM

External Use 1

From the Brochure

• The Xtrinsic Intelligent Sensing Framework (ISF) is a

comprehensive and robust runtime framework providing open

sensor hub capability for Xtrinsic intelligent sensors

• This hands-on workshop explains how ISF can be used on the

Kinetis platform to easily add Freescale sensors to obtain sensor

data for custom sensor algorithms

TM

External Use 2

Agenda

• Talk about the FRDM-KL25Z and

FRDM-FXS-MULTI hardware

• Short introduction to ISF

• Hands-on FXAS21000 Gyro application

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External Use 3

Get to Know the FRDM-KL25Z

The Freescale Freedom development platform is a set of software and hardware tools for evaluation and development. It is ideal for rapid prototyping of microcontroller-based applications. The Freescale Freedom KL25Z hardware, FRDM-KL25Z, is a simple, yet sophisticated design featuring a Kinetis L Series microcontroller, the industry’s first microcontroller built on the ARM® Cortex™-M0+ core.

Features:

• MKL25Z128VLK4 MCU – 48 MHz, 128 KB Flash, 16 KB SRAM, USB OTG (FS), 80 LQFP

• Capacitive touch slider, MMA8451Q accelerometer, Tri-color LED

• Flexible power supply options – USB, coin cell battery, external source

• Easy access to MCU I/O

• Battery-ready, power-measurement access points

• Form factor compatible with Arduino ™ R3 pin layout

• OpenSDA debug interface

− Mass storage device flash programming interface (default)

• No tool installation required to evaluate demo apps

− P&E Debug interface provides run-control debugging and compatibility with IDE tools

− CMSIS-DAP interface: ARM standard for embedded debug interface

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External Use 4

Get to Know the FRDM-FXS-MULTI

• MMA8652FC accelerometer • MPL3115A2 pressure sensor

• FXAS21000 gyroscope • FXOS8700CQ 6-axis sensor

• MAG3110 3-axis magnetometer • MMA9553L sensing platform

Freescale's Freedom Development Platform for Multiple Xtrinsic Sensors, the FRDM-FXS-MULTI, is a sensor expansion board that includes:

Features: • Cost effective (starting at $30.00 USD) • Small size (approximately 81 mm x 52 mm x 2 mm) • Arduino™ footprint-compatible with support for sensor

expansion boards • Easy access to the MCU I/O pins

Software Enablement and Support: • Freescale Xtrinsic Sensor Fusion Toolbox for Android

(download for $0 USD with license) • Magnetic calibration code • 3-axis tilt • 6-axis sensor (magnetometer and accelerometer) using

Xtrinsic eCompass software • 6-axis capability (accelerometer and gyroscope) • 9-axis capability (accelerometer, gyroscope and

magnetometer) • Virtual gyroscope and offset compensated angular rates

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External Use 5

Anatomy of a Typical Embedded Sensor Application

Things an Embedded Sensor Application has to know how to do:

• Send/Receive I2C messages

• Register map/configuration for each particular sensor

• Schedule periodic processing

• Control the power modes

• Handle Interrupt Vector Table

• Configure board peripherals

• Compute useful outputs (Application Code)

• Send and receive host messages (USB, UART)

• Understand the host application-level protocol

• Stack pointer management/Context switching

• Implement concurrency mechanisms (mutex, semaphore, etc.)

• Perform Boot-up board initialization

Monolithic Application

High-level code

Low-level code

High-level code

Low-level code

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External Use 6

But What is at the Heart of an Embedded App?

Things it has to know how to do:


• Register map/Configuration for each particular sensor









• Implement concurrency mechanisms (mutex, semaphore, etc.)


The rest is just stuff you have to do

to get it all to work

Monolithic Application

High-level code

Low-level code

High-level code

Low-level code

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External Use 7

You Only Want to Write This Stuff Once



• Register map/Configuration for each particular sensor








• Implement concurrency mechanisms (mutex,

semaphore, etc.)


One Approach:

High-level code

Low-level code

Reuse this stuff

over and over

Defined Interface

Application

Code

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External Use 8

ISF is Designed to Make Your Life Easier What does it do for you?

Functionality ISF Component

• Send/Receive I2C messages I2C protocol Adapter

• Register map/Configuration for each

particular sensor

Sensor Adapters

• Schedule Periodic Processing Bus Manager

• Control the power modes Power Management

• Handle Interrupt Vector Table System Utilities

• Configure board peripherals Device Control

• Compute useful outputs (Application Code) This is the only thing you do want to write

• Send and receive host messages (USB,

UART)

Command Interpreter

• Understand the host application-level protocol Host Proxy

• Stack pointer management/Context switching Task Scheduler

• Implement concurrency mechanisms (mutex,

semaphore, etc)

Synchronization

• Send external interrupts to host Host Interrupt Control

• Perform Boot-up board initialization Powerup/Boot

I2C

AccelMagGyro

Bus

Mgmt

Power

Mgmt

Sys Util

Device

CtrlMem Map

Cmd

Interp

Host

Proxy

Scheduler

Sync

Host

Int Ctrl

PwrUp

Boot

Embedded Apps

UserUserUser

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The ISF Architecture Brick E

mb

ed

de

d In

tellig

en

t S

en

so

r E

nv

iro

nm

en

tEmbedded

Services

Integrated

Services

System

Services

OS

Services

Hardware

Abstraction

Embedded AppsContext/IntentGesturesSignal Proc

Device Mgmt

Comm Sensor Fusion Sensor Mgmt

Appl Support

Cmd

Interp

Host

Proxy

Host

Int Ctrl

Device

Msg’ing

I2CSPIGPIO

Device

Ctrl

PwrUp

Boot

Power

Mgmt

Calibration Accel

Scheduler

Sync

Tmr/Clk

Timer

Abstr

Sync

Abstr

Mem

Mgmt

UserUserUser

UserUserUserUserUserUser

Sys Util

Mem Map

Jolt

Config

Mgmt

Filters

Pattern

Recognition

PedometerContext Det Intent Mgmt

Sleep/Wake

Low G

Hi G P/L

Status

Mgmt

Tap

Pulse

Compass

Events

Sensor

Mgr

MagGyro

TempExtrn

Tilt

9 axis

fusion

Bus

Mgmt

Gesture

MgrAuto S/W

Test

Support

Digital

Sensor

Abstr

6 axis

fusion

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External Use 10

ISF is Composable – Use Only What You Need

Component Sensor App1 Sensor App2 Sensor App3 Sensor App4

I2C protocol Adapter Sensor Adapters Sensor Manager Bus Manager Power Management System Utilities Device Control Command Interpreter Host Proxy Task Scheduler (MQXTM) Synchronization (MQXTM) Host Interrupt Control Powerup/Boot

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External Use 11

ISF High-Level Design Goals

• Faster time to market

• Allow application developers to focus on their real areas of

expertise

• We want developers to get the highest bang-for-the-buck

How?

• Abstracting the details that developers do not want to deal with

• Do this for work at all levels up and down the stack

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External Use 12

Xtrinsic Intelligent Sensing Framework (ISF)

Intelligent Sensing

Framework

Sensor Manager

MQX RTOS

Power

Manager

Device

Messaging

Command Interpreter

Host Proxy

Hardware

Intelligent Sensor Hardware

ISF Abstraction

Interfaces

ISF Bus Protocol

Extensions

Embedded ApplicationEmbedded Application

Embedded Applications

Pub/Sub Event-Based

Sensor Data

Sensor Abstraction Interface

Internal

Sensor

Adapter

Bus

Manager

Host

Processor

- OR -

Sensor Data

Updates

Sensor

Configuration

I/O Buffers

Simplified

Power

Mgmt APIs

ISF Sensor

Extensions

Customer

Developed

Other Freescale

SW

Protocol DriverProtocol Driver

I2C Protocol

Driver

External

Sensor

External

Sensor

External

Sensor

LEGEND:

INT_OUT

ISF Components

Registered Callbacks

Sensor AdapterSensor AdapterSensor

Adapter

Main Sensor Data

Flow

Main Host

Interface Flow

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External Use 13

Main Sensor Flow

• Using The Sensor

Manager Interface

for Sensor Data

Sensor Manager


Pub/Sub Event-Based

Sensor Data


Sensor Data

Updates

Sensor

Configuration

I2C Protocol

Driver

Sensor

Adapter

Device

Messaging

Bus

Manager

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Command Interpreter Host Processor

Embedded Applications I/O Buffers


INT_OUT

Main Host Interface Flow

• Make outputs available

to the Host Processor

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INT_OUT


• React to data from the

Host Processor

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INT_OUT


• ISF Training Module 5 provides an example project that explains

the use of the Command Interpreter

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Power Management Interface

• Set the Power Mode

Power

Manager

Intelligent Sensor Hardware

Embedded

Applications

Simplified

Power

Mgmt APIs

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External Use 18

The ISF Installation Directory Structure

• This gets installed on your

computer via the ISF

website Installer

− ISF1P1KL25Z_INSTALLER

• Additional Sensor

Adapters get added in as

they are installed:

− lib_fsl_fxas21000_i2cspi_3d_gyro.a

− lib_fsl_mag3110_i2c_3D_mag.a

− lib_fsl_ml3115_i2C_1D_press.a

− libfsl_fxos87000_i2cspi_6D_AccMag.a

C:\Program Files\Freescale\ ISF_Kinetis\ISF_R1p1

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External Use 19

A Typical CodeWarriorTM Project with ISF

• FXAS21000_Project

isf_sensor_configuration.c

isf_sensor_configuration.h

HOST_CMD_README.txt

CodeWarrior and

Processor Expert

(Pex) Files

Project source code:

FXAS21000_Project.c

Doc

Documentation

Generated Code

Include Files

MQXLITE

Project Settings

Sources

app

ISF

Include

Source

All Include files

Project-Specific

ISF/System

Configuration Code

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External Use 20

ISF Overall Development Flow

• Pick a Project Template/Example to start from

− Example Embedded App projects

− Sensor Adapter template project

− Training Module Projects

• Modify ISF Configuration as necessary

− Add/Remove sensors

− Add/Remove ISF Components

• Update Project Properties to match

− Include Paths, Link Libraries

• Add your own embedded app logic

• Compile/Execute

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External Use 21

ISF Training Modules

• Module 1 - Installing Necessary Software

• Module 2 - Installing an ISF binary

• Module 3 - Building an ISF Application

• Module 4 - Modifying an ISF Application

• Module 5 - Using the ISF Command Interpreter

• Module 6 - Adding an External Sensor

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External Use 22

An ISF Software Reference Manual is Available

ISF1P195K_SW_REFERENCE_RM

http://cache.freescale.com/files/sensors/doc/ref_manual/ISF1P095K_SW_REFERENCE_RM.pdf?fpsp=1&WT_TYPE=Reference Manuals&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation



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External Use 23

An HTML ISF API Reference Manual is Available

ISF1P1KL25Z_API_REFERENCE_RM

http://cache.freescale.com/files/sensors/doc/ref_manual/ISF1P095K_API_REFERENCE_RM.zip?fpsp=1&WT_TYPE=Reference Manuals&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=zip&WT_ASSET=Documentation

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External Use 24

New Freescale Sensor Community

community.freescale.com/community/sensors

• Forum for customers and Freescale experts to exchange technical

information about Freescale solutions

− In this vibrant, best-in-class environment, you can share sensor design ideas and

tips, ask and answer technical questions, and receive input on just about any

sensor design topic

− Technical support with fellow design engineers and Freescale experts

http://community.freescale.com/

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External Use 25

HANDS-ON TRAINING

Building a small gyro application on the

FRDM-KL25Z and the

FRDM-FXS-MULTI Sensor Expansion

Board

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External Use 26

What is Needed

For this class, your computers have been pre-installed with:

Base for ISF development on KL25Z:

• CodeWarrior 10.5

• ISF1P1KL25Z- Base framework for application development on the

FRDM-KL25Z

Sensor Adapter:

• ISF1P1_KL25Z FXAS21000_ADAPTER_LIB - ISF component to manage

the Freescake FXAS21000 Gyro

Demo Project:

• FXAS21000_Project - The CodeWarrior project for this session

Gyro Demo PC GUI App:

• FXAS21000 Demo - Graphical display application for gyro data

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External Use 27

The Application

What are we going to do?

Create an application that subscribes to gyro data and sends it to the

PC for graphical display

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External Use 28

The FRDMKL25Z + Sensor Expansion Board Setup

Serial Comms

KL25Z

PC

Gyro

I2C

USB To PC using

the OpenSDA

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External Use 29

ISF Overall Development Flow

1. Pick a Project Template/Example to start from:

− Example Embedded App projects

− Sensor Adapter template project

− Training Module Projects

2. Modify ISF Configuration as necessary

− Add/Remove sensors

− Add/Remove ISF Components

3. Add your own embedded app logic

4. Compile/Execute

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External Use 30

A Typical ISF User Application Structure

Part of Template

Included by example in

Template

Placeholder in Template

Includes, Defines, and Prototypes

Main_task

Initialization code

Sensor subscription code

Main Loop

Wait for sensor data

Set sensor settings

Call Subscribe

Begin Sensor Data

Retrieve sensor data

Use sensor data

Shutdown/Cleanup code

ISF provides some

Template/Example

projects to get started

The first is the

FXAS21000 Project

used in this workshop

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External Use 31

General Approach is to Start with an Example

Project and Modify it

Types of changes we’d want to make for this app:

1. Update the sensor configuration to include the FXAS21000

2. Subscribe to gyro data

3. Send data to the PC using the ISF Command Interpreter

whenever new data is available

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External Use 32

Configuring Available Sensors

• Define the sensors available in the system

• This changes a little more often than the

channels configuration

• A default system configuration for FXLC95000

is provided

• It is recommended that you copy and

customize these files for each application

you write to include the sensors you need

for your application

Example Applications

/…/Sources/ISF/

Include/isf_sensor_configuration.h

Example Applications/…/Sources/ISF/Source/isf_sensor_configuration.c

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External Use 33

Describe the CI interface for this App

For each sensor, there is a corresponding embedded application provided.

For each embedded app, there is a README.txt file provided to explain some of the commands provided by the embedded application.

(Sensor Name)_Project_HOST_CMD_README.txt

FXAS21000_Project_HOST_CMD_README.txt

| FXAS21000_EMBEDDED_APP P R O J E C T A P P L I C A T I O N I D s

+-----------+------------------------------+----------------------------------------------------------------------------+

| APP ID | NAME | DESCRIPTION |

+-----------+------------------------------+----------------------------------------------------------------------------+

| 0 | Device Info | ISF Built-in: Returns Device Information |

|------------+------------------------------+----------------------------------------------------------------------------+

| 1 | ISF Mailbox App | ISF Built-in: Manages Quick-Read Mailbox configuration |

+-----------+------------------------------+----------------------------------------------------------------------------+

| 2 | FXAS21000_App | FXAS21000 application |

|------------+------------------------------+----------------------------------------------------------------------------+

0x7E 0x02 0x00 0x00 0x7E

0x7E => Start and end of a data packet

0x02 => Number of bytes in the data packet

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External Use 34

Describe the CI interface for this App (Continued)

| FXAS21000_EMBEDDED_APP P R O J E C T A P P L I C A T I O N I D s Reset the application

(CI_CMD_RESET_APP)

+-----------+------------------------------+----------------------------------------------------------------------------+ Reset : 0x7E 0x04 0x02

0x06 0x00 0x00 0x7E

| APP ID | NAME | DESCRIPTION |

+-----------+------------------------------+----------------------------------------------------------------------------+

| 0 | Device Info | ISF Built-in: Returns Device Information |

|------------+------------------------------+----------------------------------------------------------------------------+

| 1 | ISF Mailbox App | ISF Built-in: Manages Quick-Read Mailbox configuration |

+-----------+------------------------------+----------------------------------------------------------------------------+

| 2 | FXAS21000_App | FXAS21000 application |

|------------+------------------------------+----------------------------------------------------------------------------+

Write application configuration (CI_CMD_WRITE_CONFIG)

State Unsubscribed : 0x7E 0x05 0x02 0x02 0x00 0x01 0x00 0x7E

State Subscribed : 0x7E 0x05 0x02 0x02 0x00 0x01 0x01 0x7E

State Oneshot : 0x7E 0x05 0x02 0x02 0x00 0x01 0x02 0x7E

State Streaming : 0x7E 0x05 0x02 0x02 0x00 0x01 0x03 0x7E

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External Use 35

Compiling & Linking => Build Project

• Open CodeWarrior 10.5 in Workspace:

…..\workspace_ISFonKL25Z

• Find the FXAS21000 Project − Start Menu > All Programs > Freescale > Xtrinsic ISF

v1.1 Kinetis KL25Z > Example Applications

− Copy it into a new directory (to avoid corruption)

• Inside the directory, locate the .project file and copy it into the CodeWarrior window

• Right Click on the Project Name

• Select “Clean Project”

• Then select “Build Project”

Right-click

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External Use 36

Executable: hex File to S19 File

• One of the files generated in the FLASH

directory is: FXAS21000_Project.hex

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External Use 37

Make Sure the Hardware is Ready

Green and Orange “Power” LEDs USB Cable Connected to PC

(from the bottom, OpenSDA)

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External Use 38

Connect the Boards to the PC

Once you plug in the Freedom Board, it shows up as a new

device on the PC:

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External Use 39

Identify the Executable Image

Locate the .hex file in Windows Explorer, right click, and copy it

Copy it into the FRDM-KL25Z Directory

The firmware has been loaded onto the board ----

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External Use 40

Move the Executable Image onto the Board

Paste it into the FRDM-KL25Z Directory.

The executable/image is now running on the board.

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External Use 41

Run the PC GUI AKA FXAS21000 Demo GUI

From the Start Menu, click on

“All Programs” > Freescale Demos > FXAS21000 Demo

Make sure the

PC GUI is

talking to the

board. Expect

a COMi port

number with

a check box.

OK to click the

big green

START button.

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External Use 42

Run the PC GUI AKA FXAS21000 Demo GUI

Rotate the board in 3 axes -

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External Use 43

Questions and Answers

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External Use 44

Backup

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External Use 45

Sensor Manager


Pub/Sub Event-Based

Sensor Data


Sensor Data

Updates

Sensor

Configuration

I2C Protocol

Driver

Sensor

Adapter

Device

Messaging

Bus

Manager

What Makes It All Work?

Main Sensor Flow Deep-Dive

TM

External Use 46

SM Design Goals

Sensor Manager


Pub/Sub Event-Based

Sensor Data


Sensor Data

Updates

Sensor

Configuration

I2C Protocol

Driver

Sensor

Adapter

Device

Messaging

Bus

Manager

• Just wants sensor data

• Doesn’t need to understand specifics of sensor

control or configuration

• Knows sensor control

• Doesn’t need to understand specifics of sensor

configuration

• Knows sensor configuration

• Doesn’t need to understand specifics of channel

communications or periodic timing

• Knows periodic timers and bus serialization

• Doesn’t need to know what is done in each

registered callback

Knows channel communications

Doesn’t need to understand specific bus

protocols

Knows specific bus

protocols

TM

© 2014 Freescale Semiconductor, Inc. | External Use

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Documents

Hands-On Workshop: Xtrinsic