TM
Manager, Systems/Algorithms
Sensors & Actuators Solutions Division
Freescale Semiconductor
June 2013
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, CWare, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor
Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale
Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis,
Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play,
SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are
trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of
their respective owners. © 2013 Freescale Semiconductor, Inc.
Mike.Stanley@freescale.com
http://www.freescale.com/blogs/mikestanley
•
Michael Stanley
•
Formal training is in electrical engineering
•
•
−
B.S.E. from Michigan State, 1980
−
MS from Arizona State 1986
Employed at Motorola / Freescale Semiconductor from June 1980 to the present,
where I’ve had multiple careers:
−
Bipolar circuit design
−
CAD development
−
SoC Integration / MCU Architecture
−
Sensors Architecture / Algorithms / Product Definition
http://www.freescale.com/blogs/mikestanley
TM
2
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Development of sensor fusion algorithms has been
underway at Freescale for quite some time. We needed:
•
An intuitive way of evaluating if our algorithms work as
expected. i.e. a visualization tool
•
Quantitative ways of measuring sensor and algorithm
performance
•
A way to teach our customers about the pros & cons of
various fusion options
•
A way to teach our customers how to apply the results of
sensor fusion to implement useful features
•
A fun way for our field team to demonstrate these features
TM
3
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
gyro reading
X, Y & Z
Gyro
Accelerometer
Magnetometer
9-axis
Indirect
Kalman
Filter
Frame of
Reference
Mapping
Convert
to
quaternion
hard/soft iron
compensation
compute
hard/soft iron
compensation
coefficients
9-axis
quaternion
Bluetooth
Communications
accelerometer reading
compensated mag reading
6-axis
solution
6-axis quaternion
Code is structured into 3 separate tasks running on the RTOS:
• collect & integrate gyro samples
• compute hard/soft iron compensation coefficients
• everything else
TM
4
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
output selection
sensor selection
Sensors
Native to your
Android
Device
algorithm
selection
Panorama View
Best
Device View
Better
OK
Remote
Sensor
Interface
Bad
Log Window
Worst
Statistics View
TM
5
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
3rd
party
Bluetooth Module
Kinetis K20 (ARM Cortex-M4) Processor
Subsequent app versions will be
targeted to:
• Freescale KL25Z Freedom Board
• Freescale K20D50M Freedom
Board
• Avnet WiGo Board
FXOS8700CQ
Accel/Mag
TM
FXAS21000
Gyro
6
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
ENU Frame of
Reference
+Y
X = East
Y = North
Z = up
+X
+Z is out of page
TM
7
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
http://play.google.com/store/apps/details?id=com.freescale.sensors.sfusion
TM
8
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
BlueToothInputThread
IMU
public
public
LocalSensors
Sensors Wrapper
public
public
public
HTML
Generator
public
(base class)
TimedTriad
Triad
Timed Quaternion
Sensor
Stats
Calculator
TM
Demo
Quaternion
public
(main activity)
DataSelector
A_FSL_Sensor_Demo
inheritance
public
MyWebView
(used for documentation)
MyUtils
Communication
between classes is
always via “demo”
pointer to the main
activity, which in turn
has pointers to other
subsystems.
all functions are static
DataLogger in turn uses a
separate “runnable” to
schedule periodic updates.
DataLogger
public
(screen and file output)
Settings
SharedPreferences
public
public
Statistics
TextureCube
Renderer (X2)
yellow = separate thread
gray = separate activity
light blue = classes that are stats-related
9
(secondary activity)
public
TextureCube
Graphic
Screen
Dump
all functions are static
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Byte
Number
Contents
Byte
Number
Contents
2:1
Packet #
24:23
Gyro Z
4:3
Timestamp
low order 16
bits
26:25
Quaternion
q0*30,000
6:5
Timestamp
high order
16 bits
28:27
Quaternion
q1*30,000
8:7
ACC X
30:29
Quaternion
q2*30,000
10:9
ACC Y
32:31
Quaternion
q3*30,000
12:11
ACC Z
34:33
Quaternion
q0*30,000
14:13
MAG X
36:35
Quaternion
q1*30,000
16:15
MAG Y
38:27
Quaternion
q2*30,000
18:17
MAG Z
40:39
Quaternion
q3*30,000
20:19
Gyro X
22:21
Gyro Y
TM
10
Qualifier
NINE AXIS
RESULTS
SIX AXIS
RESULTS
Acc, mag & gyro 16 bit
quantities are treated
as signed integers and
multiplied by:
• 122.07 g/LSB
• 0.1 Teslas/LSB
• 872.66 radians/LSB
Timestamps are 32 bit
signed integers which
are then multiplied by:
•1.33 s / LSB
Quaternion values are
signed integers which
are divided by 30,000
to get actual values.
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
private final SensorEventListener localSensorListener = new SensorEventListener() {
@Override
synchronized public void onSensorChanged(SensorEvent event) {
int sensorType = event.sensor.getType();
switch (sensorType) {
case Sensor.TYPE_ACCELEROMETER:
acc.update(
event.timestamp,
event.values[0],
event.values[1],
event.values[2]);
dump_acc();
break;
case Sensor.TYPE_GYROSCOPE:
gyro.update(
event.timestamp,
degreesPerRadian*event.values[0],
degreesPerRadian*event.values[1],
degreesPerRadian*event.values[2]);
dump_gyro();
break;
case Sensor.TYPE_MAGNETIC_FIELD:
mag.update(
event.timestamp,
event.values[0],
event.values[1],
event.values[2]);
dump_mag();
break;
case Sensor.TYPE_ROTATION_VECTOR:
updateRotation(event.timestamp, event.values);
dump_quaternion();
break;
}
}
Define a function to
“listen” for new sensor
values
acc, gyro and mag are local class
instances used to cache sensor data
prior to use.
TM
11
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Get handles for your local sensors…
localAcc = localSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
localGyro = localSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
localMag = localSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
localRotationVectorSensor = localSensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
Register your listener function for those sensors…
localSensorManager.registerListener(localSensorListener, localAcc,
localSensorManager.registerListener(localSensorListener, localGyro,
localSensorManager.registerListener(localSensorListener, localMag,
accSampleRate);
magSampleRate);
gyroSampleRate);
localSensorManager.registerListener(localSensorListener, localRotationVectorSensor, rotationVectorSampleRate);
EASY!
TM
12
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Navigation
Control
Android Action Bar
The Options
Menu is a button
on some devices
Fusion Settings Bar
If present, click to enable
low pass filter
Sensor & Algorithm
Selection Here
TM
13
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Choose:
• Source/Algorithm = Local Accel
• Nav = Device view
The device does not respond to
rotation about the Z-axis
It does respond to rotation about X
and Y axes
TM
14
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Choose:
• Source/Algorithm = Local Mag/Accel
• Nav = Device view
The device now responds to rotation about the Z-axis as well as X and Y axes.
Notice:
1. Fairly high noise (jitter)
2. Rotten immunity to magnetic interference
Try experimenting with the low pass filter option
TM
15
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
16
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
For mag / accel / gyro and
rotation, the “Statistics” Views
displays:
• sensor description
• current sensor value
• min / mean / max values
• standard deviation
• noise / √Hz
When used with the “local” sensor
sources, this is a great way to gain
insight into devices from the
competition!
TM
17
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
From a developer perspective, the graphical interface was
great for evaluating:
− frame
of reference errors
− static and dynamic response
− noise / jitter
•
The tool makes a great interactive teaching aide
− but
we suspect that most users do not bother reading the
included tutorial information
•
Deficiencies:
− We
also need a way to control inertial stimulus. Android isn’t
ideal here
− Android devices do not provide an easy environment for
scripting.
TM
18
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Freescale 9-axis sensor
board running on
Kinetis MK20DX256ZVLK10
Sensor
communications is
via Bluetooth
PC running Matlab
TM
Non-ferrous
stand designed to act
as “spacer” between
table
and sensors
USB-to-serial
Excitron MRT7-57-25 7”
adapter cable
motorized rotary table
19
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
Embedded code is exactly the same.
•
Matlab scripts control rotary table movement and read
fusion packets
•
Able to get quick, quantitative, “sanity results”
•
Easy to package regression tests:
− static
orientation
− dynamic
− quality
response (subject to table limitations)
of magnetic calibration
− magnetic
interference
TM
20
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM
21
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Heading accuracy appears limited by 6axis (mag + accel) accuracy. As
expected, 9-axis results less noisy.
TM
22
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
This plot shows very good
magCal results. Other runs
were not as stellar.
TM
23
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
160 dps
120 dps
80 dps
40 dps
TM
24
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Device is rotating
here and here
Device is stationary
here
Magnetic
Interference
TM
25
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
But the rotary table has limitations,
including:
− Stepper
/ Gear Noise
− Noticeable
lag between command and
response
control linear acceleration –
need lab robot and reference IMU for
that
− Cannot
Unfortunately, this baby does
generate a lot of magnetic
interference.
TM
26
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
•
Android is a great environment for visualization and basic
noise measurements.
•
Not so great for
− environmental
− ease
•
of adapting scripts on-the-fly
PC-based environment:
− great
− but
•
control of “off the shelf” equipment
for scripting
single-threaded nature poses limitations
Precise measurements require precise machining and a lot
of attention paid to managing magnetic interference
TM
27
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
Thank you!
TM
28
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,
Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.
TM