FRDM-KL26Z

Freescale Semiconductor DDooccuummeenntt NNuummbbeerr:: FSFLK DS DDAATTAA SSHHEEEETT:: PPRROODDUUCCTT PPRREEVVIIEEWW Rev. 0.7, 9/2015 FFrreeeessccaallee SSeennssoorr FFuussiioonn LLiibbrraarryy ffoorr KKiinneettiiss MCUs Updated for Freescale SSeennssoorr FFuussiioonn RReelleeaassee 55..0000 Contents 1 Introduction .................................................................................................................................................................................................... 3 2 Functional Overview ...................................................................................................................................................................................... 6 2.1 Introduction .............................................................................................................................................................................................. 6 2.2 Accelerometer Only .................................................................................................................................................................................. 6 2.3 AAcccceelleerroommeetteerr PPlluuss MMaaggnneettoommeetteerr ........................................................................................................................... 7 2.4 AAcccceelleerroommeetteerr PPlluuss GGyyrroossccooppee ................................................................................................................................. 7 2.5 AAcccceelleerroommeetteerr PPlluuss MMaaggnneettoommeetteerr PPlluuss GGyyrroossccooppee ................................................................................................. 7 3 Additional Support ......................................................................................................................................................................................... 8 3.1 FFrreeeessccaallee SSeennssoorr FFuussiioonn TToooollbbooxx ffoorr AAnnddrrooiidd .......................................................................................................... 9 3.2 FFrreeeessccaallee SSeennssoorr FFuussiioonn TToooollbbooxx ffoorr WWiinnddoowwss ........................................................................................................ 9 3.3 Terms and Acronyms .............................................................................................................................................................................. 11 3.4 References .......................................................................................................................................................................................... 12 4 MMeecchhaanniiccaall aanndd EElleeccttrriiccaall SSppeecciiffiiccaattiioonnss ................................................................................................................... 12 4.1 General Considerations .......................................................................................................................................................................... 12 4.2 HHaarrddwwaarree PPllaattffoorrmmss UUsseedd ttoo MMeeaassuurree PPeerrffoorrmmaannccee .............................................................................................. 13 4.3 Simulation Environments ........................................................................................................................................................................ 16 4.4 Frame of Reference ................................................................................................................................................................................ 18 4.5 Electrical Specifications .......................................................................................................................................................................... 18 4.6 Computation Metrics ............................................................................................................................................................................... 19 4.6.1 SStatattiisstiticcss ffrroomm BBuuiilldd 55.0.000 ooff ththee SSeennssoorr FFuussiioonn LLiibbrraarryy .................................................................................................. 19 4.7 MMaaggnneettiicc CCaalliibbrraattiioonn MMeettrriiccss ................................................................................................................................... 20 4.7.1 Background ....................................................................................................................................................................................................... 20 4.7.2 The Magnetic Buffer.......................................................................................................................................................................................... 21 4.7.3 MaMaggnneetiticc CCaalliibbrraattiioonn PPeerrffoorrmmaannccee MeMetrtriiccss ....................................................................................................................... 22 4.8 FFuussiioonn MMooddeell PPeerrffoorrmmaannccee MMeettrriiccss......................................................................................................................... 22 4.8.1 Background ....................................................................................................................................................................................................... 22 4.8.2 GGyyrroo OOffffsseet St Stetepp RReessppoonnssee .............................................................................................................................................. 23 4.8.3 EErrrroorr iinn CCoommppuutetedd LLiinneeaarr A Acccceelleerraatitioonn............................................................................................................................. 24 4.8.4 LLiimmiitatatitioonnss ImImppoosseedd vviiaa SSeennssoorr CChhooiiccee/C/Coonnffiigguurraattiioonn ..................................................................................................... 25 4.8.5 9-Axis Parametrics ............................................................................................................................................................................................ 26 4.8.6 6-aaxxiiss AAcccceelleerroommeeteterr ++ MaMaggnneettoommeeteterr PPaarraammeetrtriiccss ........................................................................................................ 27 2015 Freescale Semiconductor, Inc. 4.8.7 6-axis Accelerometer + Gyro Parametrics ........................................................................................ 27 4.8.8 3-axis Accelerometer Only Parametrics ........................................................................................... 28 5 Test Descriptions ......................................................................................................................... 28 5.1 MCU Current .......................................................................................................................... 28 5.1.1 Intent ................................................................................................................................................. 28 5.1.2 Procedure ......................................................................................................................................... 28 5.2 Flash and RAM Required ........................................................................................................ 29 5.2.1 Intent ................................................................................................................................................. 29 5.2.2 Procedure ......................................................................................................................................... 29 5.3 Fusion Loop Execution Time................................................................................................... 29 5.4 Compass Heading Linearity and Accuracy .............................................................................. 29 5.4.1 Intent ................................................................................................................................................. 29 5.4.2 Procedure ......................................................................................................................................... 30 5.5 Orientation Static Drift ............................................................................................................. 31 5.5.1 Intent ................................................................................................................................................. 31 5.5.2 Procedure ......................................................................................................................................... 31 5.6 Orientation Static Noise .......................................................................................................... 32 5.6.1 Intent ................................................................................................................................................. 32 5.6.2 Procedure ......................................................................................................................................... 32 5.7 Orientation Dynamic Drift ........................................................................................................ 32 5.7.1 Intent ................................................................................................................................................. 32 5.7.2 Procedure ......................................................................................................................................... 32 5.8 Maximum Angular Rate .......................................................................................................... 32 5.8.1 Intent ................................................................................................................................................. 32 5.8.2 Procedure ......................................................................................................................................... 32 5.9 Orientation Response Delay ................................................................................................... 33 5.9.1 Waveform Definitions ........................................................................................................................ 33 5.9.2 Intent ................................................................................................................................................. 33 5.9.3 Procedure ......................................................................................................................................... 33 5.10 Orientation Magnetic Immunity (Static Device)........................................................................ 34 5.10.1 Intent ................................................................................................................................................. 34 5.10.2 Procedure ......................................................................................................................................... 34 5.11 Orientation Magnetic Immunity (Moving Device) ..................................................................... 34 5.11.1 Intent ................................................................................................................................................. 34 5.11.2 Procedure ......................................................................................................................................... 34 5.12 Error in Computed Gyro Bias .................................................................................................. 34 5.12.1 Intent ................................................................................................................................................. 34 5.12.2 Procedure ......................................................................................................................................... 34 5.13 Gyro Offset Step Response .................................................................................................... 35 5.13.1 Intent ................................................................................................................................................. 35 5.13.2 Procedure ......................................................................................................................................... 35 5.14 Error in Computed Linear Acceleration ................................................................................... 35 5.14.1 Intent ................................................................................................................................................. 35 5.14.2 Procedure ......................................................................................................................................... 35 6 Revision history for XSFLK DS .................................................................................................. 36 2 Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015 Freescale Semiconductor, Inc.