Freescale Semiconductor MMA9559L User manual

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)
50
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)
66
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)
87
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

6Freescale Semiconductor, Inc.

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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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Freescale Semiconductor, Inc. 9
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