Freescale Semiconductor MMA9559L Manual de usuario

MMA9559L Intelligent, Motion-Sensing

Platform Software Reference Manual

Devices Supported:

MMA9559L

Document Number: MMA9559LSWRM

Rev. 0.1, 03/2012

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MMA9559L Intelligent, Motion-Sensing Platform Software Reference Manual, Rev. 0.1

Freescale Semiconductor, Inc. 3

Contents

Chapter 1 About this Document

1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.1.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.1.2 Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.1.3 Document structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.2 Terms and acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

1.3 Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

1.4 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Chapter 2 Firmware Overview

2.1 Firmware elements and functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

2.2 Memory and CPU usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2.2.1 Flash memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2.2.2 RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2.2.3 Supervisor stack usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

2.3 Hardware support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

2.3.1 Frame interval counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

2.3.2 Analog Front End (AFE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

2.3.3 Stop mode control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

2.4 Events and scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

2.4.1 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

2.4.2 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

2.4.3 Interrupts and critical sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

2.5 FIFOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

2.5.1 Instantiate FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

2.5.2 Initialize FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

2.5.3 Push data onto the FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

2.5.4 Pop data off the FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

2.5.5 Reset the FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

2.5.6 Other FIFO functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

2.6 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

Chapter 3 User Code Example

3.1 Header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

3.2 User exception handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

3.3 User trap handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

3.4 User main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

Chapter 4 Functional Details

4.1 Memory and CPU usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

4.1.1 Supervisor stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

4.2 Hardware support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

4.2.1 Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

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Section Number Title Page

4.2.1.1 #define NUM_SENSOR_AXIS 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

4.2.2 Enumerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

4.2.2.1 enum afe_csr_options_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

4.2.2.2 enum framerate_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

4.2.3 Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

4.2.3.1 mma9559_afe_data_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

4.2.4 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46

4.2.4.1 framerate_t mma9559_framerate_set(framerate_t rate) . . . . . . . . . . . .46

4.2.4.2 void mma9559_afe_conversion_start(void) . . . . . . . . . . . . . . . . . . . . . .47

4.2.4.3 void mma9559_afe_interrupt_clear(void) . . . . . . . . . . . . . . . . . . . . . . . .48

4.2.4.4 void mma9559_afe_raw_sensor_data_get(int16 *data_ptr) . . . . . . . . . .49

4.2.4.5 voidmma9559_afe_raw_sensor_data_trim(int16*trim_ptr,int16*data_ptr)

4.2.4.6 void mma9559_afe_trimmed_sensor_data_get(int16 *trim_ptr) . . . . . . .51

4.2.4.7 void mma9559_afe_csr_set(afe_csr_options_t options) . . . . . . . . . . . .52

4.2.4.8 afe_csr_options_t mma9559_afe_csr_get(void) . . . . . . . . . . . . . . . . . . .53

4.2.4.9 void mma9559_afe_offsets_set(int16 *data_ptr) . . . . . . . . . . . . . . . . . .54

4.2.4.10 void mma9559_afe_offsets_get(int16 *data_ptr) . . . . . . . . . . . . . . . . .55

4.3 Events and scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

4.3.1 Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

4.3.1.1 #define EVENT_BITFIELD(b) ((events_t)(1<<b)) . . . . . . . . . . . . . . . . . .56

4.3.2 Enumerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

4.3.2.1 enum idle_config_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

4.3.2.2 enum idle_bits_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

4.3.3 Data structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

4.3.3.1 mma9559_idle_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

4.3.3.2 mma9559_vars_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

4.3.4 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

4.3.4.1 mma9559_vars_t* mma9559_vars_addr_get(void) . . . . . . . . . . . . . . . .62

4.3.4.2 events_t mma9559_events_set_clear(events_t set_events,

events_t clear_events) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

4.3.4.3 int mma9559_events_find_first(events_t events) . . . . . . . . . . . . . . . . . .64

4.3.4.4 int mma9559_events_find_next(events_t events, int current_event) . . .65

4.3.4.5 void mma9559_idle_use_stop_config(idle_config_t config, idle_bits_t bits)

4.3.4.6 void mma9559_idle(void) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

4.3.4.7 int mma9559_interrupts_disable(void) . . . . . . . . . . . . . . . . . . . . . . . . . .68

4.3.4.8 void mma9559_interrupts_restore(int status) . . . . . . . . . . . . . . . . . . . . .69

4.3.4.9 int mma9559_user_trap0(int d0, int d1, int d2, void *a0, void *a1) . . . . .70

4.3.4.10 int mma9559_user_trap1(int d0, int d1, int d2, void *a0, void *a1) . . . .71

4.3.4.11 int mma9559_user_trap2(int d0, int d1, int d2, void *a0, void *a1) . . . .72

4.3.4.12 int mma9559_user_trap3(int d0, int d1, int d2, void *a0, void *a1) . . . .73

4.4 FIFOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

4.4.1 Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

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Section Number Title Page

4.4.1.1 #define FIFO_STRUCT(max_entries, bytes_per_entry) struct { uint32 rs-

vd[2]; uint8 data[max_entries * bytes_per_entry]; } . . . . . . . . . . . . . . . . .74

4.4.2 Data structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

4.4.2.1 mma9559_fifo_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

4.4.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

4.4.3.1 int mma9559_fifo_init(volatile mma9559_fifo_t *fifo_ptr, events_t events,

unsigned int max_entries, unsigned int bytes_per_entry) . . . . . . . . . . . .76

4.4.3.2 void mma9559_fifo_reset(volatile mma9559_fifo_t *fifo_ptr) . . . . . . . . .78

4.4.3.3 int mma9559_fifo_pop(volatile mma9559_fifo_t *fifo_ptr, uint8 *data_ptr,

unsigned int entries) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

4.4.3.4 int mma9559_fifo_push(volatile mma9559_fifo_t *fifo_ptr, uint8 *data_ptr,

unsigned int entries) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

4.4.3.5 int mma9559_fifo_entries_used(volatile mma9559_fifo_t *fifo_ptr) . . . .81

4.4.3.6 int mma9559_fifo_entries_free(volatile mma9559_fifo_t *fifo_ptr) . . . . .81

4.5 Other functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

4.5.1 Enumerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

4.5.1.1 enum boot_options_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

4.5.1.2 enum rmf_func_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

4.5.2 Data structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

4.5.2.1 mma9559_device_info_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

4.5.2.2 union rmf_return_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

4.5.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

4.5.3.1 void mma9559_boot_options_set(boot_options_t option) . . . . . . . . . . .86

4.5.3.2 int mma9559_device_info_get(int length, mma9559_device_info_t *addr)

4.5.3.3 void* mma9559_rom_command(rmf_func_t func_id, void *addr) . . . . . .88

4.6 IIR filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

4.6.1 Data structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

4.6.1.1 mma9559_coef_t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

4.6.2 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

4.6.2.1 int16 mma9559_iir_filter(int16 input, const mma9559_coef_t *coef,

void *buffer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

4.6.3 Typedefs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92

4.6.3.1 typedef struct mma9559_coef_t mma9559_coef_t . . . . . . . . . . . . . . . . .92

Appendix A

Revision History

A.1 Changes Between Revisions 0 and 0.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93

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Chapter 1 About this Document

1.1 Overview

1.1.1 Purpose

This reference manual describes the features, architecture and programming model of the MMA9559L

Intelligent, Motion-Sensing Platform. This device incorporates dedicated accelerometer MEMS

transducers, signal conditioning, data conversion, and a 32-bit programmable microcontroller. For

information about the device’s hardware, see the MMA955xL Intelligent, Motion-Sensing Hardware

Reference Manual (MMA955xLRM). (See “References” on page 10.)

1.1.2 Audience

This document is primarily for system architects and software application developers who are using or

considering use of the MMA9559L device in a system.

1.1.3 Document structure

This document combines a firmware overview with detailed functional documentation and sample user

code.

•“Firmware Overview”: Provides an overview of the device’s memory configuration and firmware

requirements and explanations of the firmware’s basic functional blocks.

•“User Code Example”: Provides sample code that can be used as a template for creating user code.

•“Functional Details”: Gives the technical details of the firmware’s macros, enumerations, data

structures, and functions.

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1.2 Terms and acronyms

AFE Analog Front End

API Application Programming Interface

CC Command Complete

CI Command Interpreter

CMD Command

COCO Conversion Complete

CRC Cyclic Redundancy Check

DFC Data Format Code

EVM Evaluation Module

FIFO First In First Out (Data structure)

FOPT Flash Options Register

GPIO General-Purpose Input / Output

IIR Infinite Impulse Response

MBOX Mailbox

MCU Microcontroller

MTIM Modulo Timer Module

PDB Program Delay Block

RCSR Reset Control and Status Register

SFD Start Frame Digital

TPM Timer Program Module

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1.3 Conventions

This document uses the following notational conventions:

cleared/set When a bit takes the value 0, it is said to be cleared; when it takes a value of 1, it

is said to be set.

MNEMONICS In text, instruction mnemonics are shown in uppercase.

mnemonics In code and tables, instruction mnemonics are shown in lowercase.

italics Italics indicate variable command parameters.

Book titles also are italicized.

0x0Prefix of 0x to denote a hexadecimal number

0b Suffix of bto denote a binary number

REG[FIELD] Abbreviations for registers are shown in uppercase. Specific bits, fields or ranges

appear in brackets. For example, RAMBAR[BA] identifies the base address field

in the RAM base-address register.

nibble A 4-bit data unit

byte An 8-bit data unit

word A 16-bit data unit

longword A 32-bit data unit

x In some contexts, such as signal encodings, x indicates a “do not care.”

nUsed to express an undefined numerical value.

~ NOT logical operator

& AND logical operator

| OR logical operator

|| Field concatenation operator

OVERLINE Indicates that a signal is active-low.

MMA9559L Intelligent, Motion-Sensing Platform Software Reference Manual, Rev. 0.1

10 Freescale Semiconductor, Inc.

1.4 References

1. MMA955xL Intelligent, Motion-Sensing Hardware Reference Manual (MMA955xLRM);

also see the MMA955xL documentation webpage

2. The I2C-Bus Specification, Version 2.1, January 2000, Philips Semiconductors

3. I2C-Bus Specification and User Manual, NXP Semiconductors Document UM10204, Rev. 03 -

19 June 2007

4. ColdFire Family Programmer’s Reference Manual (CFPRM) Rev. 3, 03/2005, Freescale

Semiconductor, Inc.

5. IIR Filter application note AN4464, Digital Filtering with MMA955xL

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