FRDM-KL46Z_Hands-On_Lab0123_v02

Kinetis L (FRDM-KL46Z) Hands-on Manual
Lab0: mbed.org
2014/04 FRDM-KL46Z_Hands-On_Lab0123_v02.docx Page 1 of 33 [Lab1/2/3=8/17/26]
Kinetis L Hands-on Manual
With FReeDoM Board FRDM-KL46Z – USB & Sensors (USB Academy)
Libor GECNUK
Lab0 – mbed.org (v0.0)
Lab1 – USB/HID-Mouse (v0.1)
Lab2 – Sensors & USB/CDC-Serial (v0.1)
Lab3 – USB/MSD-Drive & eCompass (v0.0)

Lab0: mbed.org
Introduction
This hands-on investigates on generic functionality on the
FRDM-KL46Z board using on board sensor set (acc-
accelerometer, mag-magnetometer, tsi-touch sensing
interface, light-sensor) used with couple USB Classes.
Lab1&2 presents USB-device functionality (HID, CDC) and
Lab3 USB-Host functionality. Coding and compiling is done
in mbed.org. Labs shows mbed setup and initialization of
FRDM and MCU programming (not debugging, if it is
needed mbed allows export project into IDE’s e.g. Keil).
Lab1 description
This Lab uses FRDM-KL64Z board, coding is in mbed.org.
Lab0 shows the way how to enable mbed @OpenSDA,
mbed.org login and compiler usage, selecting right
platform. Then we create first Hello World “blinky”
program in 60seconds using Import and then Export to
save it.
Lab0 Teaser
1/ mbed @OpenSDA
2/ mbed start/login
3/ platform select
4/ first blinky program using Import
 a/ blinky Green LED
5/ export program
6/ Q&A

Lab0: mbed.org
0.1 mbed @OpenSDA:
http://mbed.org/handbook/Firmware-FRDM-KL46Z
Press&Hold Reset@FRDM … plug mUSB cable
into OpenSDA debug interface and hold Reset till
green LED starts blinking (~1s).
Then Drag&Drop (or SendTo) file
mbed_if_v2.1_frdm_kl46z.s19 onto disk
BOOTLOADER and wait untill OpenSDA firmware is
updated (so then FRDM will be ready for Drag&Drop
proramming). Unplug and plug USB to finalize.
0.2 mbed start: Go to https://mbed.org/ and Login or
signup.
Put your Username and your Password and Login.
When you are logged in then click on Compiler.

Lab0: mbed.org
So you can see mbed Workspace Managem
0.3 mbed Select Platform: at No device selected
at FRDM KL46Z or Add a device (for the first
time user)
at Select Platoform
(for the first time user)

Lab0: mbed.org
(for the first time) in Platform window select FRDM-
KL46Z and (click at Freescale filter on right side
of this web page to see just Freescale platforms)
(for the first time) in Platform window “FRDM-KL46Z
selected” at Add to your mbed Compiler
Go back to the Compiler window and check that
you have selected right platform FRDM-KL46Z
/done! (Platform selection, from this point will be
created all handson)

Lab0: mbed.org
0.4 first mbed program Blinky
Click on Compiler
Click on New
Enter ”60s” and use Template “gpio example …” and
click OK
Click Compile!
Save file 60s_KL64Z.bin onto the MBED drive
Press the reset button and the RED LED blinks

Lab0: mbed.org
0.5 mbed Export Program: @KL46Z-Lab0 and
select “Export Program…”
0.6 Q&A … Thanks!!!
/End of Lab0

Lab1: USB/HID-Mouse
Libor GECNUK

Lab1: USB/HID-Mouse
Introduction
Lab1 description
Lab1 shows a/ accelerometer as source of X&Y
coordination for the USB HID (Mouse) application while
Red LED shows Z-axis and b/ usage of switch SW1, SW3
utilized as Left&Right click.
Lab1 Teaser
1/ new program
2/ import Libs (mbed+acc)
3/ coding: from mouse example
4/ compiling, flashing mcu
 a/ mouse
5/ coding: buttons
 b/ mouse & buttons
6/ export program
7/ homework
8/ Q&A

Lab1: USB/HID-Mouse
1.1 mbed New Program: In the mbed Program
Workspace, and go for [My Programs | New
Program… ].
Use Template ‘Empty Program’. Into Program
Name type ‘KL46Z-Lab1’ @OK
at KL46Z-Lab1 and at New File
Type main_lab1.cpp and @OK
/done! (Project name, main.cpp)

Lab1: USB/HID-Mouse
1.2 mbed import Library (mbed): In the mbed
Program Workspace, @Import
And select mbed and (or drag&drop) to add
this Library into actual project (KL46Z-Lab#)
… so you will have this view …
..then .. Import Library (USB Device): In the
mbed Program Workspace, @Import and type
‘USB’ @Search . Select first
one ‘USB Device’ (from author ‘mbed official’) and
to add it into actual project.
..then.. Import Library (MMA8451Q): In the
mbed Program Workspace, @Import and type

Lab1: USB/HID-Mouse
‘MMA8451Q’ and Search. .
Select first (from author ‘Johan Kritzinger’) and .
/done! (mbed Libraries imports)
1.3 Writing code: Goto USBHIDUSBMouse.h and
find USBMouse example …
… and copy&paste this example into main.cpp …

Lab1: USB/HID-Mouse
... then goto MMA8451QMMA8451Q.h and copy
example from there and paste it into main.cpp …
… then before main()-loop add code: #defines and
#definitions required for the program …
.. then in main()-loop add code and modify code ..
.. then review your code and check if is ok.
/done! (added DigitalOut gLED, PwmOut rLED,
Structure sensorData, linked accXY sensor data as
mouse XY coordination, changed main loop period to
50ms for suitable mouse response)
int main(void)
{
gLED = LED_ON; //Green LED ON to indicate running program
rLED = LED_OFF; //Red LED OFF
rLED.period(rLEDperiod); //Red LED (rLED) blinkig shows accZ
while (1) {
sD.accValX = acc.getAccX(); //accX[-1..1]->mouse (Lab1)
sD.accValY = acc.getAccY(); //accY[-1..1]->mouse (Lab1)
sD.accValZ = acc.getAccZ(); //accZ[-1..1]->rLED
//accXY -> mouse movements from FRDM XY inclination
mouse.move(sD.accValX*16, sD.accValY*16);
//acc: z-axis 1g min-blinking//acc: z-axis 1g min-blinking
rLED = abs(sD.accValZ);
wait(0.05); //wait 50ms
}
}
#include "mbed.h"
#include "MMA8451Q.h"
#include "USBMouse.h" //Lab1-Hid
#define LED_ON 0 //outON, pwmON
#define LED_OFF 1 //outOFF,pwmOFF
DigitalOut gLED(LED_GREEN); //PTD5
#define rLEDperiod 150 //[ms]
PwmOut rLED(LED_RED); //PTE29
#define MMA8451_I2C_ADDRESS (0x1d<<1)
MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
USBMouse mouse;
struct KL46_SENSOR_DATA {
float accValX;
float accValY;
float accValZ;
} sensorData;
#define sD sensorData

Lab1: USB/HID-Mouse
1.4 mbed Compile & Program FRDM board: In the
mbed Program Workspace, @Compile (or
CTRL-D; note: CTRL-B is just build)
.. ..
(be sure that Cable/mUSB is at OpenSDA/mUSB.)
... and @SaveAs and store *.bin into
(when FRDM board is USB plugged to PC) …
.. wait for stop blinking of OpenSDA-green-LED to finish!
/done! (FRDM board programming, flashing target mcu)
#include "mbed.h"
#include "USBMouse.h"
USBMouse mouse;
float accValX;
float accValY;
float accValZ;
} sensorData;
int main(void)
{
while (1) {
mouse.move(sD.accValX*16, sD.accValY*16);
}
}

Lab1: USB/HID-Mouse
1.5 Mouse example (emulate PC mouse by FRDM
using accelerometer): swap mUSB-Cable from
OpenSDA/mUSB to KL46/mUSB connector and wait
for Windows messages (Installing device driver
software -> HID or USB input device installation ->
Your device is ready to use). Note: no drivers are
needed as this USB HID class is already natively in
Windows.
..
/done! (FRDM as PC mouse XY pointer, no touch yet)
Add mouse buttons: In the mbed add defines into
main_lab1.cpp.
.. then add cooperative code for mouse-click into
main()-loop ..
#include "mbed.h"
#include "USBMouse.h"
#define PRESS_ON 0
#define PRESS_OFF 1
DigitalIn sw1(PTC3); //if(sw1) Release else Press
DigitalIn sw3(PTC12); //while(sw3); wait for Press
USBMouse mouse;
int sw1State;
int sw3State;
float accValX;
float accValY;
float accValZ;
} sensorData;

Lab1: USB/HID-Mouse
.. Compile & Program FRDM board using
OpenSDA/mUSB connector and try mouse example
with click left & right buttons using KL46/mUSB
connector.
1.6 Mbed Export Program: @KL46Z-Lab# and
select “Export Program…”
.. and select “mbed Online IDE” -> @ Export.
SaveAs and use e.g. predefined name “KL46Z-
Lab1_mouse.zip” and store it to local disc.
1.7 Homework …
1/ Try composite usb class “keyboard + mouse” (e.g.
open window)
2/ Try implementing mouse with dynamic speed
3/ Try detect light. Use it for enabling dynamically
mouse functionality only when hand is above board.
4/ Try to use eCompass for X-axis coordination
/End of Lab1
int main(void)
{
sw1.mode(PullUp); sw3.mode(PullUp);
while (1) {
sD.sw1State = sw1; sD.sw3State = sw3;
sensorData.accValX = acc.getAccX(); //accX[-1..1]->mouse
sensorData.accValY = acc.getAccY(); //accY[-1..1]->mouse
sensorData.accValZ = acc.getAccZ(); //accZ[-1..1]->rLED
if(sD.sw1State==PRESS_ON) //mouse left button
mouse.press(MOUSE_LEFT);
else
mouse.release(MOUSE_LEFT);
if(sD.sw3State==PRESS_ON) //mouse right button
mouse.press(MOUSE_RIGHT);
else
mouse.release(MOUSE_RIGHT);
mouse.move(sensorData.accValX*16, sensorData.accValY*16);
//accZ -> red blinking duty-cycle (maxZ -> maxDutyCycle)
rLED = 1 - abs(sensorData.accValZ);
}
}

Lab2: Sensors & USB/CDC-Serial
Libor GECNUK

Introduction
Lab2 description
Lab2 shows a/ print out capability using PC terminal using
OpenSDA composite port, b/ sensing capability and using
same port and c/ print out at sensing capability using
Virtual Com port at KL46Z.
Lab2 Teaser
1/ copy program | import
2/ remove unwanted code from Lab1
3/ import mag+tsi+slcd and add serial i/o for PC-terminal
4/ coding: all sensor support, add wait/slcd(), serial,
sensing, printout
5/ install mbed terminal drivers @ Windows …
 a/ sensor data at PC-console via OpenSDA
6/ add USB-cdc, install mbed/serial.inf @ Windows
 c/ sensor data at PC-console directly via KL46Z
7/ export program
8/ homework
9/ Q&A

2.1 mbed Import Program (from previous Lab1):
@Import in mbed Workspace -> @Upload ->
@Browse… and find “KL46Z-Lab1export.zip”.
Select this file and @Import in Import Wizard.
.. and change the Import Name to “KL46Z-Lab2”
@Import button.
.. then rename main_lab1.cpp -> main_lab2.cpp
(Note: its previous example but with added
formatting for better orientation in next examples)
You can click at ‘The document is out of date’ to
have Classes help in the Program Workspace (Note
that Classes will be grouped in workspace)

2.2 remove unwanted code from Lab1
2.3 mbed Import Library (MAG3110): In the mbed
Program Workspace, @Import and type ‘mag’
@Search . Select first one
‘MAG3110’ (from author ‘Andrew Lindsay’
http://mbed.org/users/SomeRandomBloke/code/MA
G3110/ ) and to add it into actual project.
Note: please make sure you make selection at
project before adding this Lib into this project.
In the same way …
Import Library ‘TSI’ from ‘First Last’ and
Import Library ‘SLCD-’ from ‘’Libor GECNUK’
(added support for sigh ‘-’ from original SLCD lib)
… so you will have next view …
#include "USBMouse.h" //Lab1-Hid
USBMouse mouse; //Lab1-Hid
if(sD.sw1State==PRESS_ON) //mouse left button
mouse.press(MOUSE_LEFT);
else
mouse.release(MOUSE_LEFT);
if(sD.sw3State==PRESS_ON) //mouse right button
mouse.press(MOUSE_RIGHT);
else
mouse.release(MOUSE_RIGHT);
mouse.move(sensorData.accValX*16, sensorData.accValY*16);

2.4 coding all sensors support: add include, defines … …add function SLCD_blinking_msg_wait(): it will
be used to wait for start program until pressed &
released SW1 switch @FRDM and also to show
@SLCD custom messages …
… in main() add wait&slcd() and serial coop-code …
//---- MAIN/Inits (Wait4SW1) -> Start! --------------------//
//wait for Press SW1 - e.g. for HID/CDC/MSD Windows install.
SLCD_blinking_msg_wait(" o","PrES");//Lab1=Hid;2=cdc;3=Msd
//---- MAIN/Inits Interface -------------------------------//
usb_osda.baud(115200);
usb_osda.printf("n___________________________________rn");
usb_osda.printf("nFRDM-KL46Z_Labrn rn I am a CDC serial port
@OpenSDA/mUSB. Baud=115200 rn");
//_____________________________________________________________//
//======== FUNC() =============================================//
//¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯//
//Lab2add
void SLCD_blinking_msg_wait(char *slcd_msg1, char *slcd_msg2)
{
char wait4sw1=0; //~500ms blinking
//wait for Press SW1 - to start mag calibration
while(sw1 == PRESS_ON); //wait for release
while(sw1 == PRESS_OFF) { //wait for press
if (++wait4sw1 < 150) //300ms
slcd.printf(slcd_msg1);
else //200ms
slcd.printf(slcd_msg2);
wait(0.002);
}
while(sw1 == PRESS_ON); //wait for release
}
//======== INCLUDES ===========================================//
#include "MAG3110.h"
#include "SLCD.h"
#include "TSISensor.h"
//======== DEFINES & VARIABLES ================================//
SLCD slcd; //[88:88][8.8.8.8] SegmentLCD
AnalogIn light(PTE22); //analog-light input
TSISensor slider; //Capacitive Touch Slider
MAG3110 mag(PTE25, PTE24); //Magnetometer
Serial usb_osda(USBTX, USBRX); //OpenSDA Terminal
#define pf usb_osda //printf out -> osda (lab1,2,3)
int sw1State;
int sw3State;
float accValX;
float accValY;
float accValZ;
float slider;
float light;
int magValX;
int magValY;
int magValZ;
} sensorData;
void SLCD_blinking_msg_wait(char *slcd_msg1, char *slcd_msg2);

… in main() also add program flow and sensing code
for data acquisition …
2.5 install mbed Serial-PC-terminal support from
hands-on materials mbedWinSerial_16466.exe
(Note you can find latest version @mbed.org
http://mbed.org/handbook/SerialPC and install it)
Install PC-terminal (e.g. TeraTerm, putty)
.. after installations …
Open PC-terminal and configure communication for
115200/8/N/1 ... open port!
/done! (Serial communication through OpenSDA)
Save -> @Compile -> Save As and download
KL46Z-Lab2_KL46Z.bin into FRDM (note: after
download the program flow is waiting for your SW1-
press & release to start send full sensing data into
PC-terminal via OpenSDA/mUSB when SW1-
pressed)
// MAIN/Loop/Processing and Actions -------------------//
//disable all SLCD DPs
slcd.DP(0, false); slcd.DP(1, false); slcd.DP(2, false);
// MAIN/Loop/Sensing and Storing data -----------------//
sD.sw1State = sw1; sD.sw3State = sw3;
sD.slider = slider.readPercentage() * 100;
sD.light = light;
sD.magValX = mag.readVal(MAG_OUT_X_MSB);
sD.magValY = mag.readVal(MAG_OUT_Y_MSB);
sD.magValZ = mag.readVal(MAG_OUT_Z_MSB);
//sensor -> terminal
if (sD.sw1State != PRESS_OFF) { gLED = !gLED; //blinking
pf.printf(" rn");
pf.printf(" Switches. Light . Slider . Accelerometer .
Magnetometer . Compassrn");
pf.printf(" SW1:SW2| LUX | TSI | accX : accY : accZ | magX:
magY: maxZ | Headingrn");
pf.printf(" %d : %d | %1.3f | %2.0f %% | %+1.3f:%+1.3f:%+1.3f|
%5d:%5d:%5d | Lab3 rn",
sD.sw1State, sD.sw3State, sD.light, sD.slider, sD.accValX,
sD.accValY, sD.accValZ,
(short)sD.magValX, (short)sD.magValY, (short)sD.magValZ);
} gLED = LED_OFF;
if (sD.slider)
slcd.printf(" %3.0f", sD.slider); //night->light .. 1->0
else
slcd.printf("%1.3f", sD.light); //left->right .. 0->100%

SLCD shows Light and when you touch slider it will
show finger position at slider @FRDM.
Red LED is still showing z-axis inclination from
accelerometer.
/done! (All sensors data)
2.6 add CDC-serial class support: includes, and
//comment line ‘…pf usb_osda …’ (so the printf() will
send data into PC not via OpenSDA/mUSB but
through KL46Z/mUSB) and add USBSerial support …
KL46Z-Lab2_KL46Z.bin into FRDM.
//======== INCLUDES ===========================================//
#include "USBSerial.h" //Lab2-cdc
//======== DEFINES & VARIABLES ================================//
//#define pf usb_osda //printf out -> osda (lab1,2,3)
USBSerial usb_kl46; //KL46 Terminal
#define pf usb_kl46 //printf out -> kl46 (lab2 cdc)
//---- MAIN/Inits Labs ------------------------------------//
usb_kl46.printf("n___________________________________rn");
usb_kl46.printf("nFRDM-KL46Z_Labrn rn I am a "Virtual" CDC
serial port @KL46Z/mUSB. Baud=NA rn");

… swap mUSB-Cable from OpenSDA/mUSB to
KL46/mUSB (Note: first-time users, pls wait for
proper installation of Virtual-CDC-Serial driver
serial.inf into Windows) …
..
… so then you can check it in device manager …
or ( )
(Left: “one” cable in the KL46/mUSB)
(Right: “two” cables, KL46/mUSB &
mbed:OpenSDA/mUSB … is the set-up which could
be used e.g. to see additional statuses about USB
module, communications etc)
.. in the PC-terminal (e.g. TeraTerm) refresh
available Serial Ports and select “Mbed Virtual
Serial Port” and open this port for communication
…
Click SW1 to see All sensor data @PC-terminal …
Note: that baud rate is not important information for
Virtual Serial Port (using CDC-Class) as it
communicates always at max speed of USB.

2.7 Mbed Export Program: @KL46Z-Lab# and
select “Export
Program…”
->
.. and select “mbed Online IDE” -> @ Export.
SaveAs and use e.g. predefined name “KL46Z-
Lab2_serial.zip”
2.8 Homework …
1/ Try sending date only when lower light indicate
human hand proximity
2/ Try recognize by your embedded code that CDC-
Serial is ready and after this send that info to
terminal.
3/ Try scan commands from terminal (e.g. getc())
4/ Try use composite usb class “keyboard + mouse”
to open e.g notepad in Windows, put few sensor
messages, save it, and close it.
5/ Try to use usb analyzer 
/End of Lab2

Lab3: USB/MSD-Drive & eCompass
Libor GECNUK
Lab2 – Sensors & USB/Serial (v0.1)
Lab3 – USB/MSD-Drive & eCompass(v0.0)

Introduction
Lab3 description
Lab3 shows a/ FRDM as USB host application with
capability write and read USB-drive destination and b/
eCompass calibration and usage of FRDM and tracker.
Lab3 Teaser
1/ new & copy (drag & drop) mbed program
2/ remove unwanted code from Lab2
3/ coding, adding USB/MSD
 a/ writing acc Z-axis@USB-drive
4/ coding eCompass (need calibration)
 a/ eCompass Heading @USB-drive
5/ homework
6/ Q&A

3.1 mbed New&Copy Program: In the mbed
Program Workspace, and go for [My Programs
| New Program… ].
Use Template ‘Empty Program’. Into Program
Name type ‘KL46Z-Lab3’ @OK
mbed Copy Program: @KL46Z-Lab2 and select
all content (except USB Device) using CTRL+
and copy that using CTRL+C and CTRL+V @KL46Z-
Lab3. (Note: also is possible use drag&drop and
then select from context menu ‘Copy Here’)
… and rename -> …
… import “USB Host” Library ( serach ‘usb kl46’ USB
host by ‘Norimasa Okamoto’) and to add it into
actual project.

3.2 remove unwanted code from Lab2
3.3 coding, adding USB/MSD support: add include
(USBHostMSD.h),
… defines (enable line ‘…pf usb_osda …’ by remove
//comment and so the printf() will send data into PC
via OpenSDA/mUSB -> PC terminal)
… modify SLCD message to “MSd ” …
//---- MAIN/Inits (Wait4SW1) -> Start! --------------------//
//wait for Press SW1 - e.g. for HID/CDC/MSD Windows install.
SLCD_blinking_msg_wait(" o","MSd ");//Lab1=Hid;2=cdc;3=Msd
#include "USBHostMSD.h" //Lab3-MSd
#define pf usb_osda //printf out -> osda (lab1,2,3)
int main(void)
{
FILE* fp;
//---- MAIN/Inits Labs ------------------------------------//
pf.printf("rn Lab3: pls plug USB-stick into mUSB/KL46Z rn");
slcd.printf("USb~"); //Lab1=Hid;2=cdc;3=Msd
USBHostMSD msd("usb"); //wait for plugged USB-stick
if (!msd.connect()) {
error(" USB Flash drive not found.rn");
}
//Attempt to crete file /usb/usb_lab3.txt @USB-stick.
fp = fopen("/usb/usb_lab3.txt", "w"); //rewrite, or create
if (fp) {
pf.printf(" ... sucess file-open (/usb/usb_lab3.txt @USB-
stick)!rnrn");
fprintf(fp, " Lab3: from FRDM-KL46Z rnrn");
fclose(fp); fp=NULL;
} else pf.printf(" ... failed file-open (/usb/usb_lab3.txt @USB-
stick)!rnrn");
if (sD.slider)
slcd.printf(" %3.0f", sD.slider); //night->light .. 1->0
else
slcd.printf("%1.3f", sD.light); //left->right .. 0->100%
if (sD.sw1State != PRESS_OFF) { gLED = !gLED; //blinking
pf.printf(" rn");
pf.printf(" Switches. Light . Slider . Accelerometer .
Magnetometer . Compassrn");
pf.printf(" SW1:SW2| LUX | TSI | accX : accY : accZ | magX:
magY: maxZ | Headingrn");
pf.printf(" %d : %d | %1.3f | %2.0f %% | %+1.3f:%+1.3f:%+1.3f|
%5d:%5d:%5d | Lab3 rn",
sD.sw1State, sD.sw3State, sD.light, sD.slider, sD.accValX,
sD.accValY, sD.accValZ,
(short)sD.magValX, (short)sD.magValY, (short)sD.magValZ);
} gLED = LED_OFF;
#include "USBSerial.h" //Lab2-cdc
USBSerial usb_kl46; //KL46 Terminal
#define pf usb_kl46 //printf out -> kl46 (lab2 cdc)
//---- MAIN/Inits Labs ------------------------------------//
usb_kl46.printf("n___________________________________rn");
usb_kl46.printf("nFRDM-KL46Z_Labrn rn I am a "Virtual" CDC
serial port @KL46Z/mUSB. Baud=NA rn");

… in the main loop, processing part, use dual-print
out (to terminal and also to usb/msd at the same
time), add also acc value shown at SLCD …
KL46Z-Lab3_KL46Z.bin into FRDM -> Press reset,
and follow instructions at PC-terminal …
Once the USB-drive is plugged during start process
pls do not detach/attach after as this example is not
implemented for dynamical device mapping.
Press and hold SW1 to write down sensor data onto
USB-drive.// MAIN/Loop/Processing and Actions -------------------//
if (fp) { gLED = !gLED; //blinkig
pf.printf("% 1.2frn", sD.accValZ); //->terminal
fprintf(fp,"% 1.2frn", sD.accValZ); //->usb_file
} else gLED = LED_OFF;
if(!fp && sw1==PRESS_ON) fp=fopen("/usb/usb_lab3.txt", "a");
else
if(fp && sw1==PRESS_OFF) {fclose(fp); fp=NULL; gLED=LED_OFF;}
slcd.CharPosition=0; //prevent slcd rolling
slcd.printf("% 3.0f", sD.accValZ);

3.4 coding eCompass:
… modify in Defines section by add ‘magHeading’
into sensorData structure and put ‘prototype’ of the
MagCalibrationXY() and also put ‘mag_calib’
variable required for calibration init …
… put the calibration function into function section …
//Lab3add
int MagCalibrationXY(void)
{
int newX, tempXmax, tempXmin;
int newY, tempYmax, tempYmin;
int newZ, tempZmax, tempZmin;
int delta_avg=0, delta_avg_min=0, delta_avg_max=0, delta_calib_limit=800;
// Read initial values of magnetomoter
//read it here to create a slight delay for calPin to settle!!!
tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB);
tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB);
tempZmax = tempZmin = mag.readVal(MAG_OUT_Z_MSB);
// Update min and max values until calPin asserted again
while(sw1) {//wait for Press == manual calib stop
newX = mag.readVal(MAG_OUT_X_MSB);
newY = mag.readVal(MAG_OUT_Y_MSB);
newZ = mag.readVal(MAG_OUT_Z_MSB);
if (newX > tempXmax) tempXmax = newX;
if (newX < tempXmin) tempXmin = newX; newX = tempXmax - tempXmin;
if (newY > tempYmax) tempYmax = newY;
if (newY < tempYmin) tempYmin = newY; newY = tempYmax - tempYmin;
if (newZ > tempZmax) tempZmax = newZ;
if (newZ < tempZmin) tempZmin = newZ; newZ = tempZmax - tempZmin;
delta_avg = (newX + newY + newZ);
//delta is too high? -> error, try new calib!!!
if (delta_avg > 5 * delta_calib_limit) {delta_avg = 0; break; }
//div3 with error +0.8 pct
delta_avg = (21*(newX + newY + newZ))>>6;
//calib ok for delat ~800-1200 (~80-120uT)
if (delta_avg > delta_calib_limit){
delta_avg_min = delta_avg - (delta_avg>>2);
delta_avg_max = delta_avg + (delta_avg>>1);
if (delta_avg_min < newX && delta_avg_max > newX
&& delta_avg_min < newY && delta_avg_max > newY
&& delta_avg_min < newZ && delta_avg_max > newZ) break;
}
//show calib progress 0->100%
slcd.printf("C%3.0f", (float)delta_avg/delta_calib_limit*100);
}
if (sw1 == PRESS_ON || delta_avg ) {
mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
if (sw1 == PRESS_ON) return -1; //==-1 ..user skip
return delta_avg; //>0 .. done, ok calib
}
return 0; //==0 .. error, no calib
}
int sw1State;
int sw3State;
float accValX;
float accValY;
float accValZ;
float slider;
float light;
int magValX;
int magValY;
int magValZ;
float magHeading;
} sensorData;
void SLCD_blinking_msg_wait(char *slcd_msg1, char *slcd_msg2);
int MagCalibrationXY(void); //mag calib
//_____________________________________________________________//
//======== MAIN() =============================================//
//¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯//
int main(void)
{
int mag_calib = 0;
FILE* fp;

Note: if you facing lot of “erro” messages, pls adjust this sw line: if
(delta_avg > 5 * delta_calib_limit)
Note: if you facing long/short calibration pls change delta_calib_limit=800;
uto lower/higher value.
… and insert calibration process into main() into
calib. section just after initialization Inits Lab section …
… add code which will calculate and print heading
and modify SLCD output value from accValZ to
magHeading .
KL46Z-Lab3_KL46Z.bin into FRDM -> Press reset,
and follow instruction from your embedded code …
(Calibration can be skipped also by click SW1)
sD.magHeading = mag.getHeading(); //calculate heading
if (fp) { gLED = !gLED; //blinking
pf.printf("%.2ft", sD.magHeading); //->terminal
fprintf(fp,"%.2ft ", sD.magHeading); //->usb_file
pf.printf("% 1.2frn", sD.accValZ); //->terminal
fprintf(fp,"% 1.2frn", sD.accValZ); //->usb_file
} else gLED = LED_OFF;
if(!fp && sw1==PRESS_ON) fp=fopen("/usb/usb_lab3.txt", "a");
else
if(fp && sw1==PRESS_OFF) {fclose(fp); fp=NULL; gLED=LED_OFF;}
slcd.CharPosition=0; //prevent slcd rolling
slcd.printf("% 3.0f", sD.magHeading);
//slcd.printf("% 3.0f", sD.accValZ);
//---- MAIN/Inits Labs ------------------------------------//
//usb connection
//try file open
//---- MAIN/Inits (Wait4SW1) -> Calib. eCompass -----------//
while (!mag_calib) {
pf.printf(" Press and release SW1 to calibrate eCompass.rn");
SLCD_blinking_msg_wait(" o","CAL ");
// Calibrate Magnetometer to eCompass
pf.printf(" ... r o t a t e the FRDM board in 3d/360° until
[donE].rn");
mag_calib = MagCalibrationXY(); //to wait untill calib or
cancel!!!
if (mag_calib) {
if (mag_calib == -1)
{
pf.printf(" [SKiP]! Calibration skipped! ... See
Accelerometer Z-axis.rn");
SLCD_blinking_msg_wait(" o","SKiP"); //->acc
} else {
pf.printf(" [donE]! Calibration completed! ... Press
and release SW1 to try eCompass.rn");
SLCD_blinking_msg_wait(" o","donE"); //->mag
}
break; //while (!mag_calib)
} else {
slcd.printf("erro");
pf.printf("rn Error Calib !!! try again !!!rnrn");
} //repet calib
}

3.5 Homework …
1/ Try customize used USB host stack for
dynamically mapped USB-drive. Try to show USB
status info at SLCD display (capacity, writing
progress etc)
2/ Try create USB bootloader. For example when
embedded recognize attached USB-drive and
contains predefined file and format re-program mcu.
3/ Try use stored acc or mag data and use it for
post-processing and based on these find algorithms
for e.g. freefall detection, antitheft systems,
gestures etc.
4/ Try compensate eCompass using Roll and Pitch of
by using accelerometer
5/ Try create Virtual gyroscope (acc+mag) as the
Yaw is not detectable by acc but mag. Example
application could be e.g. ‘Dead reckoning’ for
walk/trail/track movements without absolute GPS.
6/ Try to compensate magnetic declination in your
region (difference between magnetic vs.
geographical North Pole)
/End of Lab3

FRDM-KL46Z_Hands-On_Lab0123_v02

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