External Use

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MMA9553, FXLC95000 and ISF

Logan.chen@avnet.com

APF-CON-D0284

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External Use 2

Motion Sensing PlatformsKey Products 2014

Sample Prod SRP$ ApplicationsMMA955xL 32-Bit 16K Flash CPU and 3-axisAccelerometer Tilt Measurement

Vibration MonitorPedometerHome HealthPower ManagementeCompassAsset TrackingCollision Recorder

FXLC95000CL 32-Bit 128K Flash CPU and 3-axis Accelerometer• Embedded ±2, ±4, ±8 g 3-axis 16-Bit accelerometer module• 32-Bit CF V1 CPU with MAC multiply and accumulate block• 16K or 128K on-chip Flash, 2K or 16K on-chip SRAM• SPI, I²C (master and slave), GPIO, ADC, PWM• 1.8V , 3 x 3 x 1 mm QFN, or 3 x 5 x 1 mm QFN• Pre-flashed Freescale firmware (3 Versions) or MQX/ISF• CodeWarrior CW10.x supported

Part Number Firmware User Memory Size

startingat

1.79

MMA9559L Basic 14K Flash 1.5K SRAM Now NowMMA9550L Infrastructure 6.5K Flash 0.5K SRAM Now NowMMA9551L Infrastructure and Gesture 4.5K Flash 0.5K SRAM Now NowMMA9553L High end pedometer 1.5K Flash 0.2K SRAM Now NowFXLC95000 MQX/ISF enabled 128K Flash 16K SRAM Now Now

3-Axis MEMS Accelerometer

ROM ColdFire 32-Bit

V1 Core

SPII2C

FlashRAMADCGPIO

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External Use 3

MMA955xL At-a-Glance

3

Customer/Third PartyInnovation

Applications

Scheduler Communications

MMA955xL Sensor Sensing Software

Power Management

Inertial Sensor

ColdFire V1 32-Bit Processor

Connectivity:I2C/SPI

Pressure TouchGyro Magnetics Up to 12 Sensor Components

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External Use 4

Xtrinsic MMA955xL (Eve)3-Axis Accelerometer plus 32-bit ColdFire MCU

Differentiating Points− Intelligent Motion Platform with embedded libraries

− Sensor hub capability

− Power management features and low power modes

Product Features− 1.71 to1.89V supply voltage

− Output data rate (ODR) 488 Hz

− +/-2g, 4g, 8g configurable dynamic ranges available

− 14/12/10/8 bit resolution available

− 16K Flash, 2K RAM

Typical Applications− Mobile: Phones, Tablets, eReaders

− Controllers: Remotes, Games

− Sports Monitoring

Package3x3x1mm LGA, 0.5mm pitch

AvailabilitySamples: NOWProduction: January 2013

VariationsMMA9550L

Inf rastructure only functionsUser Flash: 6.5 KbytesUser RAM: 576 bytes

MMA9551LInf rastructure plus gesturesUser Flash: 4.5 KbytesUser RAM: 452 bytes

MMA9553LInf rastructure plus pedometerUser Flash: 1.5 KbytesUser RAM: 200 bytes

MMA9559LLightweight Inf rastructureUser Flash: 14 KbytesUser RAM: 1.5 bytes

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External Use 5

Typical Logical Installations with FXLC95000

FXLC 95000

FXLC 95000

Gyro

Mag

FXLC 95000

Gyro

Mag

Apps Processor1 2

3

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External Use 6

Xtrinsic FXLC95000CL32bit MCU Sensor Fusion Hub with Accelerometer

• 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 &

resolution performance• When to choose FXLC95000CL

− Sensor hub managing multiple sensors: FSL & others

− Pass through data as needed i.e. heading− Perform 6-axis fusion Mag/accel cal/ecompass Gyro/accel

• When to choose Kinetis− Sensor fusion for 3+ sensors –> M0+− Sensor fusion and much more –> M4

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

Specification FXLC95000CL KL25 K20

Core

Coldfire V1 w/embedded

accelerometerARM® Cortex™

M0+ARM® Cortex™

M4Sensor Hub √ √ √

Sensor Fusion 6-axis Ecompass Cal9-Axis Fusion3 sensors+

9-Axis FusionMultiple sensors

+ other computations

Euler Angles √ √ √Quarterions √ √ √Rotation Matrices

Available if req’d(see your FAE for help)

√ √

ISF Supported √ √* √*

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External Use 7

Leveraging Established MMA955xL Portfolio

MMA9550L MMA9551L MMA9553L MMA9559L FXLC95000CL

Description3-axis Accel + 32-bit

Coldfire V13-axis Accel + 32-bit

Coldfire V13-axis Accel + 32-bit

Coldfire V13-axis Accel + 32-bit

Coldfire V13-axis Accel + 32-bit

Coldfire V1

Package size and type 3x3x1mm LGA-16 3x3x1mm LGA-16 3x3x1mm LGA-16 3x3x1mm LGA-16 5x3x1mm LGA-24

MCU coreColdFire-V1with MAC

ColdFire-V1with MAC

ColdFire-V1with MAC

ColdFire-V1with MAC

ColdFire-V1with MAC

Memory size (kByte)Flash 16 16 16 16 128

RAM 2 2 2 2 16

GPIO count 10 10 10 10 16

Serial Comm Interfaces I2C 2 (Master & Slave) 2 (Master & Slave) 2 (Master & Slave) 2 (Master & Slave) 2 (Master & Slave)

SPI 1 (Slave) 1 (Slave) 1 (Slave) 1 (Slave) 2 (Master & Slave)

IO voltage range (V) 1.8 1.8 1.8 1.8 1.62-3.6

AccelerometerRange (±g) 2 / 4 / 8 2 / 4 / 8 2 / 4 / 8 2 / 4 / 8 2 / 4 / 8

Resolution (bits) 10 / 12 / 14/ 16 10 / 12 / 14/ 16 10 / 12 / 14/ 16 10 / 12 / 14/ 16 10 / 12 / 14/ 16

Typical Current drainunder nominal power

supply

Fast Speed 3.1mA @8MHz 3.1mA @8MHz 3.1mA @8MHz 3.1mA @8MHz 5.4mA @16MHz

Slow Speed 15µA @62.5kHz 15µA @62.5kHz 15µA @62.5kHz 15µA @62.5kHz 15µA @62.5kHz

FirmwareInfrastructure-only

functionsInfrastructure +

gesturesInfrastructure +

pedometerLightweight

infrastructureMQX, Xtrinsic ISF,

eCompass

Development tools KITMMA9550LEVM KITMMA9551LEVMKITMMA9550LEVM

with FW updateMMA9559LKUBE KITFXLC95000EVM

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External Use 8

I2C Standard

• MMA9553L follows I2C standard as below.

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External Use 9

Understanding of Command Operation with MMA9553L for I2C• Slave address: 0x4C• Register address: Mailbox address (MB address)• MMA9553L has 32 bytes mailbox for access

MB: 0x00

MB: 0x01

MB: 0x02

·····

MB: 0x10

MB: 0x11

·····

MB: 0x1C

MB: 0x1D

MB: 0x1E

MB: 0x1F

Mailbox

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External Use 10

Mailbox Commands Formats

• Mailbox commands must be included in data field of I2C for read and write command.

• Example for I2C− Write command: ST + Device ID/W + Mailbox Addr(0x00, fixed) + APP_ID +

Command/upper byte offset + Lower byte offset + Requested number of bytes + Write Data + SP

− Read command: ST + Device ID/W + Mailbox Addr + APP_ID + Command/upper byte offset + Lower byte offset + Requested number of bytes + SP

• Mailbox is updated by requested APP_ID and command through read/write function.

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External Use 11

Mailbox Response Formats

• Mailbox response formats are as below.• Example for I2C− Read register: ST + Device ID/W + Mailbox Addr + SR + Device ID/W + Read

bytes + SP

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External Use 12

Mailbox Command Box Detail

• For write command, 5 blocks are necessary.− APP_ID, Command, Byte offset, Requested number of bytes, Write data

• For read command, 4 blocks are necessary.− APP_ID, Command, Byte offset, Requested number of bytes

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External Use 13

Application ID

• Refer to the table of APP_ID.• Pedometer APP_ID is 0x15.

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External Use 14

Pedometer Memory Maps

• Pedometer has two register maps for configuration and status.• Each register is automatically updated on Mailbox by command.

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External Use 15

Reference

• MMA955xLSWRM.pdf− MMA955xL Intelligent, Motion-Sensing Platform Software Reference

Manual• MMA9553LSWRM.pdf− MMA9553L Intelligent Pedometer Platform Software Reference Manual

16TM

• Maybe some stuff you currently run on the Host Processor• Sensor management• Sensor fusion

apps processor runningsensor fusion

sensor hub runningsensor fusion

Pow

er

CPU Loading

Power savings

• Stuff for which using the Host Processor is overkill or too expensive

• Event recognition (e.g. Sleep/Wake)

17TM

FXLC95000 Evaluation Module

FXLC95000/MAG3110 Evaluation Module

KITFXLC95000EVM Motion-Sensing Platform

Development BoardKITFXLC95000EVM Intelligent Motion-Sensing Platform Development Board

• Hardware:• Includes KITFXLC95000EVM Motion-Sensing Platform Development Board• Includes FXLC95000 evaluation module

• Includes Quick Start Guide• Available at: www.freescale.com/sensingplatform• More information at www.freescale.com/sensortoolbox

Coming soon: MAG3110 Daughter card

Software• Xtrinsic Intelligent Sensing Framework: www.freescale.com/ISF• MQX: www.freescale.com/MQX• CodeWarrior: www.freescale.com/CodeWarrior

Beyond Silicon—Training and Support• FXLC95000CL Datasheet• FXLC95000CL Reference Manual• FXLC95000CL ISF Software Reference Manual• ISF Development Training Modules

18TM

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

Monolithic Application

High-level code

Low-level code

High-level code

Low-level code

19TM

The rest is just stuff you have to do to get it all to work

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

Monolithic Application

High-level code

Low-level code

High-level code

Low-level code

20TM

• 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

One Approach:

High-level code

Low-level code

Reuse this stuff over and over

Defined Interface

Application Code

21TM

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

What does it do for you?

I2C

AccelMagGyro

Bus Mgmt

Power Mgmt

Sys Util

Device Ctrl Mem Map

Cmd Interp

Host Proxy

Scheduler

Sync

Host Int Ctrl

PwrUp Boot

Embedded Apps

UserUserUser

22TM

Embe

dded

Inte

llige

nt S

enso

r Env

ironm

ent

EmbeddedServices

IntegratedServices

SystemServices

OSServices

HardwareAbstraction

Embedded AppsContext/IntentGesturesSignal Proc

Device Mgmt

Comm Sensor Fusion Sensor Mgmt

Appl Support

Cmd Interp

Host Proxy

Host Int Ctrl

Device Msg’ing

I2CSPIGPIODevice

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 MgmtSleep/Wake

Low G

Hi G P/L

Status Mgmt

Tap

Pulse

Compass

Events

Sensor Mgr

MagGyro

TempExtrn

Tilt

9 axis fusion

Bus Mgmt

Gesture Mgr

Auto S/W

Test Support

Digital Sensor Abstr

6 axis fusion

23TM

Component SensorApp1 Sensor App2 Sensor App3 Sensor App4I2C protocol Adapter Sensor Adapters Sensor Manager Bus Manager Power Management System Utilities Device Control Command Interpreter Host Proxy Task Scheduler (MQX) Synchronization (MQX) Host Interrupt Control Powerup/Boot

24TM

• ISF High-Level Design Goals• Faster time to market

• Allow application developers to focus on their real areas of expertise

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

Do this by abstracting details they don’t want to deal with.Do this for work at all levels up and down the stack

25TM

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 DriverI2C 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

26TM

• Base for ISF development on FXLC95000:• CodeWarrior 10.3• ISF1P095K_CORE_LIB - Base framework for application development for the FXLC95000

• FSL_MQX_3.7 – Core MQX RTOS Installation

• FSL MQX 3.7 BSP for FXLC95000 - Updates to MQX 3.7 to support FXLC95000

• Sensor Adapters:• ISF1P095K_MAG3110_ADAPTER_LIB - ISF component to manage the FSL

MAG3110

• ISF1P095K ECOMPASS ADAPTER LIB - ISF component to manage a virtual eCompass sensor

• Starter Project Template:• ISF1P095K_GETACCELDATA_PROJ - CodeWarrior Project

27TM

• This gets installed on your computer via the ISF website Download:− ISF1P095K_CORE_LIB

• Additional Sensor Adapters get added in as they are installed:− ISF1P095K FXAS21000 ADAPTER LIB

− ISF1P095K ECOMPASS ADAPTER LIB

− ISF1P095K_MAG3110_ADAPTER_LIB

28TM

• GetAccelData−The project used in the first ISF Training Module.GetAccelData

Build

Include

Source

ISF_Source

.project.cproject

All Include files

Project Source(your app code)

Project-Specifc ISF/System

configuration code

isf_sensor_configuration.c

isf_sensor_configuration.h

29TM

• Define the sensors available in the system

• This changes a little more often than the channels config.

• We provide a default system configuration for Galla

• It’s recommended that you copy and customize

these files for each application you write to

include the sensors you need for your app.

Source/ISF_Source/isf_sensor_configuration.c

Include/isf_sensor_configuration.h

30TM

• ISF1P095K_SW_REFERENCE_RM

31TM

• ISF1P095K_API_REFERENCE_RM

32TM

• 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 you going.

The first is the GetAccelData Project used in some of our

Training Modules

33TM

GPIO OutputsFrom FXLC95000

GPIO OutputsFrom QE64

The Bridge code installed on your boardsRelays GPIO Outputs from the Intelligent Sensor to the EVM LEDs.

FXLC95000 QE64(Coldfire)

Mag

I2C

• All sensor mgmt, fusion and the embedded app execute on the FXLC95000

• The QE64 only relays GPIO signals to the LEDs.

34TM

• What it does:• GetAccelData is a very small demo application that:

−Subscribes to the FXLC95000 internal accelerometer−Puts accelerometer XYZ data in the mailboxes

35TM

• Open CodeWarrior and create a new workspace\(I made mine C:\Freescale\workspaces\DFAE_Training_Demo)

• Copy the zipped GetAccelData Project from the C:\Freescale\DFAE_Training_Materials directory to your CodeWarrior workspace top-level directory and unzip it (Right click->Winzip->Extract to here).

• In Windows Explorer, navigate into the project’s Builddirectory and find the .project file- This is the file you will import into CodeWarrior.

36TM

• In the CodeWarrior C/C++ Perspective:− Drag and drop the .project file into the CodeWarrior Projects

window

37TM

• Right Click on the Project Name• Select “Clean Project”

• Then select• “Build Project”

38TM

1. Bring up the “Run Configuration Pop-up

2. In the Run Configurations Pop-up:Press the “New” Button

39TM

• Ensure the Application is set properly. Use the “Search Project” Button if in doubt.

• Create a Connection Target

40TM

• Choose “Hardware or Simulator Connection”

• And hit “Next”

41TM

• Type any name you like in the Name field− I use: FXLC95000 Connect

• Hit “New” Target

42TM

1. Enter a Target Name− I use: FXLC95000

Target

2. Expand the “Target Type” dropdown

3. Expand the “coldfireFXLC95xxx” group

4. Select “FXLC95000”

5. Click Finish

43TM

• Choose the P&E multilink choice from the “Connection Type” dropdown

• And hit “Finish”

44TM

• Hit “Run”

45TM

• BDM connector attached

• Board Powered On

Green “Power” LED

46TM

Sensor Manager

Embedded Applications

Pub/Sub Event-Based Sensor Data

Sensor Abstraction Interface

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 communicationsDoesn’t need to understand specific bus protocols

Knows specific bus protocols

47TM

MMA9555 EVM quick startUnpack the Kit• Unpack the board. Verify package contents according to the kit website: freescale.com/sensortoolbox. • Assemble the hardware by connecting the development board to the USB interface board. Both of these board types have a small arrow to indicate where to connect. See the image below. More information can be found at freescale.com/sensingplatform or freescale.com/sensortoolbox

Download Latest Software • At freescale.com/sensortoolbox download the latest software version. • This kit uses the Sensor Toolbox software. Follow the on-screen instructions to install the communication driver for the tool. Check back occasionally for software updates.

Turn It On• Plug in the USB and turn the board on using the power switch. • Run the Sensor Toolbox link on your desktop. • Explore other sensor kits at freescale.com/sensortoolbox.

48TM

将EVM板与电脑连接好

49TM

如何烧录MMA95551. 打开CW10.6

2. 将.project工程文件拖到CW工作区

50TM

如何烧录MMA95553. 右击工程, 选择Run As,Codewarrior 4. 选择SixDir MMA9553L Download

51TM

如何烧录MMA95555. 如果看见这个对话框,断电然后再上电，最后点击OK

6. 请忽略图示的错误信息，如果看到checksum verification successful, 这说明MMA9555烧录成功

52TM

确认COM是否安装好，EVM板上的串口芯片是FTDI FT232，到FTDI官网下载相应的驱动

打开 MMA9553L Pedometer V0.9软件，该软件需要联系Avnet FAE进行提供

53TM

通过上位机，将参数设定到MMA9555 读取计步器的数据

54TM

进入低功耗状态 唤醒计步器

55TM

MMA9555 6轴检测可以用作睡眠监测功能

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© 2014 Freescale Semiconductor, Inc. | External Use

www.Freescale.com