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.

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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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Chapter 2 Firmware Overview
The MMA9559L device is a member of the Freescale MMA955xL intelligent, motion-sensing platform
family. Unlike the other members of the MMA955xL family—where the factory-programmed firmware
provides out-of-the-box operation—the MMA9559L only provides a lightweight infrastructure and
requires user-programmed firmware for the device to run anything other than the internal,
ROM-command-line interpreter.
This approach reduces the factory programmed firmware on the MMA9559L to only 2 KB of flash
memory, leaving the other 14 KB for customer firmware.
After an introduction to the firmware file, this chapter provides an overview of the firmware and related
hardware topics. The information is divided into the following functional categories:
•“Memory and CPU usage”
•“Hardware support”
•“Events and scheduling”
•“FIFOs”
•“Power”
These same categories are used in the following chapter, that provides functional details.
2.1 Firmware elements and functionality
The mma9559.h file contains the type and function declarations required to build custom user firmware
that can be loaded onto the Freescale MMA9559L device.
In order to use this device, CodeWarrior 10.1 or later with the MMA9550 service pack must be installed
for development.
The MMA9559L device’s built-in firmware provides the following basic functionality:
• Device initialization: This code clears the RAM within the MMA9559L and sets up the Exception
Vector Base Register, Vector Table, and the user and supervisor stack pointers. The firmware
enables interrupts and switches to User mode and jumps to the function whose address is stored in
the flash location 0x0000_0800.
If the user flash memory is blank, the Freescale firmware resets back to the ROM command
interpreter.
• Exception vector handler: This code provides a thin handler that is called whenever an exception
occurs (other than a Trap instruction). This handler saves the state of the volatile registers,
disables/masks the interrupts, switches to User mode, and then calls a user-supplied,
exception-handler function.

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The user-written user_exception_handler() code returns a bit field that sets bits in the
mma9559_vars_t events field. This can be used to control a simple execution loop in the user
firmware.
• Trap vector handler: Traps are software-triggered exceptions that can be issued by user firmware.
This code provides a set of functions that can be called by the user firmware. A set of four trap
exceptions are reserved for the user firmware that can register user-supplied trap handlers for each
of them.
The contents of the mma9959.h header file may be used by customer firmware, but this file should not be
modified.
2.2 Memory and CPU usage
The Freescale firmware uses 2 KB of the MMA9559L device’s 16 KB of flash memory and 384 bytes of
its 2 KB of RAM.
2.2.1 Flash memory
The MMA9559L has 16 KB of flashmemory, located at the address range 0x0000_0000 to 0x0000_3FFF.
The flash space is assigned as shown in the following table.
The startup vector stored at 0x800 is used to locate the _startup() function in the user firmware. If this
vector is not 0xFFFF_FFFF, the Freescale firmware jumps to it after the firmware initialization is
complete. This vector is normally set in the vector table entry in the user project exceptions.c.
2.2.2 RAM
The MMA9559L has 2 KB of RAM, located at the address range 0x0080_0000 to 0x0080_07FF. This
space is assigned as shown in the following table.
Table 2-1. Firmware flash usage
Flash Region Size (bytes) Usage
0x0000_0000 to 0x0000_07FF 2048 Freescale primary firmware, including the exception table.
0x0000_0800 to 0x0000_0803 4 User firmware startup vector: Contains the address of the
user firmware startup code to execute.
0x0000_0804 to 0x0000_3FFB 14328 User firmware image.
0x0000_3FFC to 0x0000_3FFF 4 Optional Cyclic Redundancy Check (CRC) and default
Flash Options Register (FOPT) value.
Table 2-2. Firmware RAM usage
RAM Region Size (bytes) Usage
0x0080_0000 to 0x0080_00FF 256 Variables for ROM code, trim and Freescale firmware
0x0080_0100 to 0x0080_077F 1664 Space for user firmware variables, heap and user stack
0x0080_0780 to 0x0080_07FF 128 Supervisor stack used by the Freescale firmware

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The first section of RAM is reserved for use by the Freescale firmware to store variables used by the
firmware and the ROM functions.
The second section of 1664 bytes is available for use by the user firmware. This includes space for global
variables, the heap, and the user stack. The Freescale firmware initializes the entire user variable and heap
region with the value 0, so that all global variables are initialized to 0.
The last section ofRAM is reserved for the Freescale firmware to store the supervisor stack, which is used
whenever the firmware is running. The user_exception_handler() and the
user_trap_handler() functions are called from the Freescale firmware, but are run in User mode,
using the user stack space rather than using the supervisor stack space.
2.2.3 Supervisor stack usage
The MMA955xL devices use a ColdFire v1 core as the CPU. This CPU contains a set of user registers and
a set of supervisor registers. When executing in User mode, only the user registers are accessible, but when
running in Supervisor mode, all registers are accessible. The ColdFire CPU enables separate stacks to be
used for User and Supervisor modes. The MMA9559L firmware operates in Supervisor mode, but
switches back to User mode when executing any user firmware.
The ColdFire CPU uses the A7 and alternate A7 registers to provide the stack pointer, so that the
MMA9559L firmware only permits a single level of interrupts to be processed, eliminating the risk of
reentrant code, and a limit is placed on the amount of RAM required for the supervisor stack. Interrupts
are disabled when the device is in a critical section or executing an MMA9559L firmware function, a user
trap call, or the exception handler.
However, the INT pin is a non-maskable interrupt that can always execute, even when the interrupts are
masked. The INT pin uses a special, lightweight interrupt handler that converts the non-maskable INT
interrupt to a maskable software interrupt. But in doing so, it consumes 12 bytes of stack space.
Usage of the supervisor stackspace should be analyzed to ensure that it does not exceed the reserved space,
otherwise it starts to overwrite the user stack space and may corrupt the user program.
For details on the different operational scenarios and the amount of stack space used by each function, see
“Memory and CPU usage” on page 39.

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2.3 Hardware support
User code can access the underlying functionality of the MMA955xL hardware, but the MMA9559L also
provides functions to fully enable some key hardware capabilities. This section explains how these
functions can be used. For more details, see “Hardware support” on page 42.
2.3.1 Frame interval counter
The MMA955xL hardware is designed on a frame structure. Each frame starts when the FIC (Frame
Interval Counter) reaches the configurable frame-rate timer interval and creates a Start-of-Frame
exception. This exception can be used in the user_exception_handler() to start a sequence of
activities to be executed in each frame.
The frame-rate interval is set by calling the function mma9559_framerate_set() with one of the
following parameter values:
• FRAMERATE_NONE: Disables the FIC, preventing the device from waking up periodically.
• FRAMERATE_3906HZ: Configures the FIC to run at 3906 Hz
• FRAMERATE_1953HZ: Configures the FIC to run at 1953 Hz
• FRAMERATE_977HZ: Configures the FIC to run at 977 Hz
• FRAMERATE_488HZ: Configures the FIC to run at 488 Hz
• FRAMERATE_244HZ: Configures the FIC to run at 244 Hz
• FRAMERATE_122HZ: Configures the FIC to run at 122 Hz
• FRAMERATE_61HZ: Configures the FIC to run at 61 Hz
• FRAMERATE_30HZ: Configures the FIC to run at 30.5 Hz
• FRAMERATE_15HZ: Configures the FIC to run at 15.3 Hz
• FRAMERATE_8HZ: Configures the FIC to run at 7.6 Hz
• FRAMERATE_4HZ: Configures the FIC to run at 3.8 Hz
• FRAMERATE_2HZ: Configures the FIC to run at 1.9 Hz
• FRAMERATE_1HZ: Configures the FIC to run at 0.95 Hz
• FRAMERATE_POINT5HZ: Configures the FIC to run at 0.48 Hz
• FRAMERATE_POINT2HZ: Configures the FIC to run at 0.24 Hz
Setting the frame rate to FRAMERATE_NONE reduces the power consumption of the device to the
lowest level, because the clock to the FIC is disabled. The power consumption will generally increase as
the frame rate is increased.
When the frame interval is set to a frame rate of FRAMERATE_NONE, the Start-of-Frame exception does
not occur to wake the device. The device can be awakened by the mailbox or INT pin exceptions.

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2.3.2 Analog Front End (AFE)
The hardware registers for the Analog Front End (AFE) cannot be directly accessed by user code. They
can be controlled and monitored through the functions provided in the Freescale firmware.
The AFE can be configured using the mma9559_afe_csr_set() function that takes a single parameter
which combines one of each of the three configurable aspects of the AFE by OR-ing them together. The
three aspects and their configurable elements include:
• G-mode range: Selects the G range operating mode by selecting one of the following:
— AFE_CSR_GRANGE_8G: Sets the AFE to the +/-8g range
— AFE_CSR_GRANGE_4G: Sets the AFE to the +/-4g range
— AFE_CSR_GRANGE_2G: Sets the AFE to the +/-2g range
• Fourth-channel data source: Selects the source of the data for the fourth channel of the AFE:
— AFE_CSR_C4MODE_NONE: Does not measure anything with the ADC’s fourth channel
— AFE_CSR_C4MODE_TEMP: Uses the ADC’s fourth channel to measure the temperature
sensor
— AFE_CSR_C4MODE_EXT: Uses the ADC’s fourth channel to measure the external inputs
• AFE conversion mode: Sets the number of bits for the AFE conversion:
— AFE_CSR_CMODE_10BIT: Performs a 10-bit ADC conversion, so the 6 LSBs is be 0
— AFE_CSR_CMODE_12BIT: Performs a 12-bit ADC conversion, so the 4 LSBs is be 0
— AFE_CSR_CMODE_14BIT: Performs a 14-bit ADC conversion, so the 2 LSBs is be 0
— AFE_CSR_CMODE_16BIT: Performs a 16-bit ADC conversion using all 16 data bits
For example, to configure the AFE to capture 10 bits of data in the 2g range, ignoring the fourth ADC
channel, the code in the following example would be used.
Example 2-1.
// Configure the AFE Control and Status Register
mma9559_afe_csr_set((afe_csr_options_t)(
AFE_CSR_GRANGE_2G | // Use +/- 2 g range
AFE_CSR_C4MODE_NONE | // Measure X, Y, Z channels only
AFE_CSR_CMODE_10BIT // Use 10 bit conversion
);
The current AFE configuration can be read using the mma9559_afe_csr_get() function.
The AFE conversion is started by calling the mma9559_afe_conversion_start() function. This is
normally called within the user_exception_handler() when a Start-of-Frame exception occurs, but
the function can be called from anywhere in user code.
When the AFE completes the AFE sample, it creates a Conversion-Complete exception. The
user_exception_handler() can respondto this exceptionby enabling a sequence of operations touse
the AFE data. Normally, this sequence is executed in the main execution level, rather than in the
user_exception_handler().

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The AFE registers contain semi-trimmed data values that need to completethe rest of the trimming process
before they can be used. In most cases, the user_exception_handler() responds to the
Conversion-Complete exception by signaling an event and the code in the main execution loop reads the
trimmed AFE data using code similar to the following example:
Example 2-2.
mma9559_afe_data_t afe_data; // Variable to hold the trimmed AFE data
...
// Read and trim the AFE data
mma9559_afe_trimmed_sensor_data_get(afe_data.data);
NOTE
The signaling of an event is described in more detail in “Events and
scheduling” on page 18.
In a few circumstances, it may be desirable to read the raw, semi-trimmed data values and then complete
the trimming later. Two situations where this might be useful are:
• A FIFO is being used to pass data from the user_exception_handler() to the main execution
loop
• The data samples are being filtered and decimated before use. (Since the trim process in this device
is linear, it is permissible to filter and decimate the semi-trimmed data and then trim the result.)
The FIFO case could be implemented with code like the following example:
Example 2-3.
// In the user exception handler
mma9559_afe_data_t raw_data; // Variable to hold the semi-trimmed AFE data
...
case VectorNumber_Vconversion_complete:
// AFE conversion complete exception
mma9559_afe_raw_sensor_data_get(raw_data.data);
// Read semi-trimmed AFE data
mma9559_fifo_push((mma9559_fifo_t*)&afe_fifo, (uint8*)raw_data.data, 1);
// store in a FIFO break;
// In the main execution loop
mma9559_afe_data_t raw_data; // Variable to hold the semi-trimmed AFE data
mma9559_afe_data_t afe_data; // Variable to hold the trimmed AFE data
...
case EVENT_AFE_FIFO: // Get the semi trimmed data from the FIFO
mma9559_fifo_pop((mma9559_fifo_t*)&afe_fifo, (uint8*)raw_data.data, 1);
mma9559_afe_raw_sensor_data_trim(afe_data.data, raw_data.data);
// and trim it
... // continue processing with the trimmed AFE data
A more complete description of the FIFO operation is given in “FIFOs” on page 24.

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The trim process modifies the gain and offset of the X, Y, Z, and temperature sensor values using
part-specific trim values that were measured and calculated during the manufacture of the device. The trim
process also applies a set of three, user-specified offsets to the X, Y, and Z axes that can be set to
user-configured values, by adding them to the results of the normal trim calculation.
The user-specified offsets can be set using the mma9559_afe_offsets_set() function and read back
using the mma9559_afe_offsets_get() function. The user-specified offset values are treated as
values in the 8g range and adjusted automatically to the appropriate g range when the g range is changed
with the mma9559_afe_csr_set() function. The user-specified offset values can be determined by
putting the device into the 8g mode, reading the accelerometer values without the effects of gravity, and
then negating these values.
The user offset values are reset whenever the device is reset.
2.3.3 Stop mode control
When there is no further software processing required, the CPU can be put into STOP mode to reduce the
power consumption. The MMA955xL hardware enables additional power savings by also enabling the
system clock rate to be controlled.
Three different stop clock modes are supported:
• Stop Fast Clock: The CPU is stopped and the clock tree is still running at the normal rate of 8 MHz
• Stop Slow clock: The CPU is stopped and the clock tree is running at a reduced rate of 62.5 kHz.
• Stop No Clock: The CPU is stopped and the clock tree is disabled
There are some limitations on which clock rate can be used and they vary with the hardware functionality
being used. For example:
• When the AFE is converting a data sample then the clock must remain at 8 MHz (fast), therefore
the Stop Fast Clock mode must be used when stopping the CPU, but not Stop Slow Clock or Stop
No Clock.
• If the frame interval counter is being used to wake the device periodically, then the clock must
remain running, so either Stop Fast Clock or Stop Slow Clock modes must be used when stopping
the CPU, but not Stop No Clock (in fast or slow mode).
To stop the CPU and determine which clock rate to use, the mma9559_idle() function can be called
whenever there is no other software to run. For more information on this usage, see “Events and
scheduling” on page 18. For a more detailed explanation of the clock’s operation, see “Power” on page 28.

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2.4 Events and scheduling
While the MMA9559L firmware does not provide a task scheduler, it does provide the main components
that can be used to create a simple, execution-loop scheduler, in the form of Events. This section explains
how these functions can be used. For more details, see “Events and scheduling” on page 56.
2.4.1 Events
The MMA9559L firmware supports up to 32 events, each one represented by a single bit in the
mma9559_vars_t events field. Whenever an event is signaled (activated), the corresponding bit is set in
the events field. When the event is handled, the bit is cleared.
The MMA9559L firmware does not use any of the event bits, allowing the assignment of the 32 bits by
the user firmware. In this implementation, the least-significant bit of the events bit field corresponds to
event 0—which may be treated as the highest-priority event. The most-significant bit of the event field
corresponds to event 31, which may be treated as the lowest-priority event.
The currently signaled (active) events can be read directly from the MMA9559L firmware
mma9559_vars_t data structure events field, but it should not be modified except through the return
value from the user_exception_handler() or using the mma9559_events_set_clear()
function.
Events are normally signaled in the user_exception_handler() which is created by the user and
exists in the user firmware. The easiest way to signal events is for the user_exception_handler() to
return an event bit field as the function return value where the corresponding bits have been set for the
events that should be signaled. With this, the Freescale exception handler takes care of signaling the
events.

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This methodology enables the user_exception_handler() to complete its work quickly, keeping the
interrupt duration short. A simple, user_exception_handler() is shown in the following example.
Example 2-4.
__declspec(register_abi) events_t user_exception_handler(
int vector) // exception vector number
{events_t events = 0; // Events to be signaled (defaults to none)
switch (vector)
{
case VectorNumber_Vstart_of_frame:// Start of Frame
FCSR_SF = 1; // Clear interrupt source
// Add Start of Frame event to the events to be signaled (asserted)
events |= EVENT_BITFIELD(EVENT_START_OF_FRAME);
break;
default: // code to handle the other exception sources
break;
}
return events; // signal events to be signaled (activated)
}
Events can also be managed by FIFOs. (See “FIFOs” on page 24.) In this case, events that are associated
with FIFOs are signaled when the FIFO contains data and the FIFO events are cleared when the FIFO is
empty.
Events are normally handled in a simple execution loop within the user main() function. The user
firmware selects an active event bit and performs the required processing. When the processing has
completed, the event bit can be cleared using the mma9559_events_set_clear() function.
Alternatively, if the event is associated with a FIFO, it is cleared when the last data is read from the FIFO.
Two functions are provided to assist with the selection of the event to process:
•mma9559_events_find_first() selectsthe highest-priorityeventthat isactive andreturns the
event number (from 0 to 31) for the chosen event.
•mma9559_events_find_next() selects the next active task in a round-robin manner, working
from the least-significant bit to the most-significant bit and then wrapping around again.
The mma9559_idle() function is used to put the MMA9559L into the lowest permissible power state
when no computational work is required. The function considers the events field and if any event bits are
still signaled (set) when the mma9559_idle() function is called, it returns immediately to allow the
events to be processed.
The function only enters a CPU Stop mode to save power when the mma9559_vars_t events field is 0.
When an exception occurs, the MMA9559L wakes up from STOP mode and runs the exception handler.
The mma9559_idle() function then returns back to the scheduling loop in the main function.
The mma9559_idle_use_stop_config() function can be used by user code to adjust the lowest
permissible power state when required by hardware. For more details, see “Power” on page 28.

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The discussed commands can be combined in a simple execution loop within the main function, as shown
in the following example.
Example 2-5.
events_t events;
int event = 0;
// Initialization to set up the Freescale firmware data structure
...
// Loop forever processing events
while (1) {
// retrieve the bitfield of active events
events = mma9559_vars_ptr->events;
if (events) { // if there are any active events
// select the next event to process with priority scheduling
// or use mma9559_events_find_next() for round robin scheduling
event = mma9559_events_find_first(events);
// priority scheduling
switch (event) {
// insert code to respond to each of the events here
....
}
// clear event
mma9559_events_set_clear(0, EVENT_BITFIELD(event));
}
else // if there are no outstanding events then go to sleep
mma9559_idle();
};
Event signaling can also be used creatively by tasks in the main execution loop:
• When one task completes, it can wake up the next task by signaling the appropriate event.
• Internal state variables can be used to process more time-consuming tasks.
Some tasks may require longer execution times to complete their processing. The event scheduling
is cooperative rather than preemptive, requiring long tasks to break up their processing into
multiple shorter executions.
Internal state variables may be used to keep track of the processing state of the task. Such tasks
may deliberately not clear the event that causes them to run, but instead leave it set for the task to
execute repeatedly to perform the rest of the processing steps. Only when all of the required
executions have been performed is the event bit cleared.
• Using FIFOs for inter-process communication may be easier, when some longer tasks are difficult
to break up.
The mma9559_vars_t structure also contains an events_missed field. The bits in this field are set
whenever an event is signaled and the event bit is already active in the event field. This situation indicates
that the scheduler may be “losing” events because a new occurrence of the event has been signaled before
the processing for the previous event has been completed and the event bit cleared.