Hands-On Workshop: Xtrinsic FXLC95000CL Sensing Platform with Intelligent Sensing Framework (ISF)

Transcription

1 Hands-On Workshop: Xtrinsic FXLC95000CL Sensing Platform with Intelligent Sensing Framework (ISF) FTF-SDS-F0177 Margaret Nadworny SSD Software Manager A P R TM External Use

2 Agenda Introduction to the FXLC95000 hardware Short introduction to ISF Hands-on coding of a small ecompass application using ISF on the FXLC95000 hardware External Use 1

3 What the Brochure Says The FXLC95000 is the latest Xtrinsic intelligent sensing platform that combines the following items in a single package 3-axis accelerometer 32-bit MCU It provides a low power solution that can both gather sensor data, and process it efficiently. This hands-on workshop will explain: the functionality of the accompanying ISF firmware how to develop your own customer firmware for the device using the internal accelerometer and the I2C hub capability to gather data from external sensors (like the MAG3110) Some familiarity with C programming and the CodeWarrior IDE is a plus. External Use 2

4 Xtrinsic FXLC95000CL 32-bit MCU Sensor Fusion Hub with Accelerometer 3-axis accelerometer plus ColdFire MCU that enables scalable, autonomous, high precision multi sensor hub solutions with local compute and sensors management in an open architecture Differentiating Points System in Package: 32-bit MCU and 3-axis accelerometer Open MCU architecture enables differentiated creativity First open programming model with library support (Intelligent Sensing Framework) Compute and actuate locally Best in class accelerometer noise and resolution performance When to choose FXLC95000CL Sensor hub managing multiple sensors: Freescale and others Pass through data as needed i.e., heading Perform 6-axis fusion Magnetometer/accelerometer calibration/ecompass Gyro/accelerometer When to choose Kinetis MCUs Sensor fusion for 3+ sensors > M0+ Sensor fusion and much more > M4 Specification FXLC95000CL KL25 K20 Core ColdFire V1 with embedded accelerometer ARM Cortex M0+ ARM Cortex M4 Sensor Hub Sensor Fusion 6-axis ecompass Cal 9-Axis Fusion 3 sensors+ 9-Axis Fusion Multiple sensors + other computations Euler Angles Quarterions Rotation Matrices Available if required (see your FAE for help) ISF Supported * * External Use 3

5 Typical Logical Installations with FXLC95000 Mag Mag Gyro FXLC FXLC Gyro FXLC Apps Processor External Use 4

6 Power TM What Would You Want to Run on the FXLC95000? Maybe some stuff you currently run on the Host Processor Sensor management Sensor fusion Stuff for which using the Host Processor is overkill or too expensive Event recognition (e.g., Sleep/Wake) apps processor running sensor fusion Power savings sensor hub running sensor fusion CPU Loading External Use 5

7 Xtrinsic FXLC95000CL 32b MCU Sensor Fusion Hub Development Tools and Documentation KITFXLC95000EVM Intelligent Motion-Sensing Platform Development Board Hardware: Includes KITFXLC95000EVM Motion-Sensing Platform Development Board Includes FXLC95000 evaluation module Includes Quick Start Guide Available at: More information at FXLC95000 Evaluation Module KITFXLC95000EVM Motion-Sensing Platform Development Board MAG3110 and 10-Axis Daughter cards Software Xtrinsic Intelligent Sensing Framework: MQXTM: CodeWarrior: TM Product: FXLC95000/MAG3110 Evaluation Module Beyond Silicon Training and Support FXLC95000CL Datasheet FXLC95000CL Reference Manual FXLC95000CL ISF Software Reference Manual ISF Development Training Modules External Use 6

8 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 Include/isf_sensor_configuration.h Source/ISF_Source/isf_sensor_configuration.c External Use 7

9 Anatomy of a Typical Embedded Sensor Application High-level code High-level code Monolithic Application Low-level code Low-level code 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 External Use 8

10 But What is at the Heart of an Embedded App? High-level code High-level code Monolithic Application Low-level code Low-level code Things it 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 The rest is just stuff you have to do to get it all to work External Use 9

11 You Only Want to Write this Stuff Once One Approach: High-level Application code Code Defined Interface Reuse this stuff over and over Low-level code Compute useful outputs (Application Code) 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 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 External Use 10

12 ISF is Designed to Make Your Life Easier What does it do for you? Functionality ISF Component Send/Receive I2C messages I2C protocol Adapter I2C Register map/configuration for each particular sensor Sensor Adapters Gyro Mag Accel Schedule Periodic Processing Bus Manager Bus Mgmt Control the power modes Power Management Power Mgmt Handle Interrupt Vector Table System Utilities Sys Util 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 Device Control This is the only thing you do want to write Command Interpreter Host Proxy Task Scheduler Device Ctrl Cmd Interp Host Proxy Scheduler Mem Map Embedded Apps User User User Implement concurrency mechanisms (mutex, semaphore, etc) Send external interrupts to host Perform Boot-up board initialization Synchronization Host Interrupt Control Powerup/Boot Sync Host Int Ctrl PwrUp Boot External Use 11

13 The ISF Architecture Brick Signal Proc Filters Pattern Recognition Low G Pulse Tap Hi G Gestures Gesture Mgr Jolt Tilt User User User Sleep/Wake P/L Context Det Context/Intent User User User Intent Mgmt Embedded Apps Pedometer Compass Auto S/W User User User Embedded Services Embedded Intelligent Sensor Environment Cmd Interp Device Msg ing Comm Sensor Fusion Sensor Mgmt Host Proxy Bus Mgmt Host Int Ctrl 6 axis fusion Calibration Device Mgmt Power Mgmt PwrUp Boot 9 axis fusion Config Mgmt Extrn Gyro Sensor Mgr Mag Digital Sensor Abstr Temp Accel Appl Support Events Scheduler Mem Mgmt Sync Status Mgmt Tmr/Clk Sys Util Integrated Services System Services OS Services GPIO SPI I2C Device Ctrl Test Support Timer Abstr Sync Abstr Hardware Abstraction Mem Map External Use 12

14 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 (MQX TM ) Synchronization (MQX TM ) Host Interrupt Control Powerup/Boot External Use 13

15 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 address Do this for work at all levels up and down the stack External Use 14

16 Xtrinsic Intelligent Sensing Framework (ISF) Embedded Application Embedded Application Embedded Applications I/O Buffers Simplified Power Mgmt APIs Power Manager Pub/Sub Event-Based Sensor Data Sensor Manager Sensor Abstraction Interface Internal Sensor Adapter Sensor Configuration Sensor Data Updates Sensor Adapter Sensor Sensor Adapter Adapter Command Interpreter Intelligent Sensing Framework Main Sensor Data Flow Bus Manager Registered Callbacks - OR - Proxy Main Host Interface Flow Device Messaging Protocol Driver Protocol Driver I2C Protocol Driver INT_OUT Host Processor External Sensor External Sensor MQX RTOS External Sensor Intelligent Sensor Hardware LEGEND: ISF Components ISF Abstraction Interfaces ISF Sensor Extensions ISF Bus Protocol Extensions Other Freescale SW Hardware Customer Developed External Use 15

17 Main Sensor Flow Using The Sensor Manager Interface for Sensor Data Embedded Applications Pub/Sub Event-Based Sensor Data Sensor Manager Sensor Configuration Sensor Data Updates Sensor Abstraction Interface Sensor Adapter Bus Manager Device Messaging I2C Protocol Driver External Use 16

18 Main Host Interface Flow Make outputs available to the Host Processor Embedded Applications I/O Buffers Registered Callbacks Command Interpreter Host Processor INT_OUT External Use 17

19 Main Host Interface Flow React to data from the Host Processor Embedded Applications I/O Buffers Registered Callbacks Command Interpreter Host Processor INT_OUT External Use 18

20 Main Host Interface Flow ISF Training Module 5 provides an example project that explains the use of the Command Interpreter Embedded Applications I/O Buffers Registered Callbacks Command Interpreter Host Processor INT_OUT External Use 19

21 Power Management Interface Set the Power mode Embedded Applications Simplified Power Mgmt APIs Power Manager Intelligent Sensor Hardware External Use 20

22 The ISF Installation Directory Structure C:\Program Files\Freescale\ISF_R1p1 This gets installed on your computer via the ISF website Installer ISF1P195K_INSTALLER Additional Sensor Adapters get added in as they are installed: ISF1P195K FXAS21000 ADAPTER LIB ISF1P195K ECOMPASS ADAPTER LIB ISF1P195K_MAG3110_ADAPTER_LIB External Use 21

23 A Typical CodeWarrior TM Project with ISF GetAccelData The project used in the first ISF Training Module GetAccelData.project.cproject Build All Include files isf_sensor_configuration.h Include Project Source (your app code) Source ISF_Source Project-Specifc ISF/System configuration code isf_sensor_configuration.c External Use 22

24 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. Update Project Properties to match Include Paths, Link Libraries 4. Add your own embedded app logic 5. Compile/Execute External Use 23

25 A Typical ISF User Application Structure Includes, Defines, and Prototypes Main_task Initialization code Sensor subscription code Set sensor settings Call Subscribe Begin Sensor Data Main Loop Wait for sensor data Retrieve sensor data Use sensor data Shutdown/Cleanup code ISF provides some Template/Example projects to get started The first is the GetAccelData Project used in the Training Modules Part of Template Included by example in Template Placeholder in Template External Use 24

26 General Approach 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: 1. Include the MAG3110 adapter 2. Include the ecompass adapter 2. Implement the Freescale ecompass application: 1. Add a few lines of GPIO code to setup and control the LEDs 2. Implement the ecompass logic External Use 25

27 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 External Use 26

28 An ISF Software Reference Manual is Available ISF1P195K_SW_REFERENCE_RM External Use 27

29 An HTML ISF API Reference Manual is Available ISF1P195K_API_REFERENCE_RM External Use 28

30 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 External Use 29

31 HANDS-ON TRAINING Building an ecompass LED application with the KITFXLC95000EVM and the FXLC95000MAG DIP External Use 30

32 What is Needed For this class, your computers have been pre-installed with: Base for ISF development on FXLC95000: CodeWarrior 10.5 ISF1P1 - Base framework for application development for the FXLC95000 FSL_MQX_3.7 Core MQX RTOS Installation customized for the FXLC95000 ISF1P195K_MAG3110_ADAPTER_LIB - ISF component to manage the Freescale MAG3110 ISF1P195K ECOMPASS ADAPTER LIB Implements a virtual ecompass sensor Starter Project Template ISF1P095K_GETACCELDATA_PROJ - CodeWarrior Project modified for this workshop The Development Training Modules cover installation in more detail: Module 1 - Installing Necessary Software Module 6 Adding an External Sensor External Use 31

33 The Application What are we going to do? Create a functional ecompass: using only the KITFXLC95000EVM Board and the FXLC95000MAG DIP North is straight ahead Use the LEDs on the Development board for compass indications: North is that way North is that way External Use 32

34 The Application The lights flash faster the closer to North we are North Faster Blink Rate The two lights alternate when pointed South Slower External Use 33

35 The KITFXLC95000EVM FXLC95000 GPIO Outputs From FXLC95000 I2C MAG3100 GPIO Outputs From QE64 QE64 (ColdFire) All sensor management, sensor fusion and the embedded application execute on the FXLC95000 The QE64 only relays GPIO signals to the LEDs The Bridge code (on the QE65) installed on the boards relays GPIO Outputs from the Intelligent Sensor to the EVM LEDs External Use 34

36 Start by Importing the FTF_eCompass_Demo Project Open CodeWarrior using the following workspace: C:\Workspace_FXLC95000_Demo This workspace contains the FTF_eCompass_Demo project that implements the ecompass application discussed. External Use 35

37 Compiling and Linking = Building Right Click on the Project Name Select Clean Project Then select Build Project Right-click External Use 36

38 Make Sure the Hardware is Ready BDM connector attached Board Powered On Green Power LED External Use 37

39 Download and Execute Bring up the Run Configuration Pop-up Right-click External Use 38

40 On the Run Configurations Page: Select the GetAccelData Binary under CodeWarrior Under Target settings, Select FXLC95000 Connection Select Apply And Hit Run External Use 39

41 Freescale Semiconductor, Inc. External Use