Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015

Freescale Semiconductor, Inc.

4.2 Hardware Platforms Used to Measure Performance

In the following subsections, some parametrics are measured, some represent simulated results. There

are multiple methods used to determine parametrics. These make use of hardware platforms for

benchmarking purposes, in addition to Matlab.

Kinetis Cortex M0+

This configuration is composed of a Freescale KL25Z, KL46Z or KL26Z Freedom development platform

paired with a FXS-MULT2-B Bluetooth-enabled sensor board

1. Use of Bluetooth allows the board to be

rotated freely, untethered by cords or power cables.

Table 4. Cortex M0+ Test Configuration

Component / Parameter

Value

Baseboard

FRDM-KL25Z / FRDM-KL26Z / FRDM-KL-46Z

Sensor Board

FRDM-FXS-MULT2-B

MCU

Kinetis MKL25Z128VLK4 / MKL26Z128VLH4 / MKL46Z256VMC4

CPU

ARM® Cortex M0+

CPU Clock

48 MHz

Bus Clock

24 MHz

Accelerometer

FXOS8700CQ

Magnetometer

Gyroscope

FXAS21000

Sensor Sampling Rate

200 Hz

Fusion Rate

25 Hz

Magnetic Calibration Rate

Twice per minute once full calibration is reached

This board combination is battery powered and nominally regulated to 3.3 V for use by the sensors in

question.

1

The primary difference between the FRDM-FXS-MULTI-B and FRDM-FXS-MULT2-B is that the latter includes

a production FXAS21002 gyroscope, whereas the former used FXAS21000 pre-production units. The FRDM-

FXS-MULTI-B board is no longer in production, but continues to be supported by the kit. The two boards are

similar in appearance.