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

Freescale Semiconductor, Inc.

4.6 Computation Metrics

The Sensor Fusion Library computations are measured directly using the Sensor Fusion Toolbox and

the ARM® sysTick clock.

4.6.1

Statistics from Build #5.00 of the Sensor Fusion Library

For the current build (5.00), Freescale used the built in sysTick counter to measure each iteration of the

algorithm in units of CPU clock cycles. The customer can repeat the exact same measurement,

because both PC and Android Sensor Fusion Toolboxes display this information in a real-time basis.

The test results will vary depending device movement are presented as “typical” numbers.

Table 10. SysTick Values for Freedom Development Platforms and Sensor Combinations

Freedom Platform

Accel

2D Mag

Gyro

eCompass

Accel

+Gyro

9-axis

SysTick Values for CodeWarrior Build 5.00 in kTicks

KL25Z

58

46

172

72

208

740

KL26Z

58

45

171

71

210

740

KL46Z

59

45

171

72

207

740

K20D50M

34

26

63

42

157

509

K64F

3.1

2.86

4.5

3.6

10.6

50.5

KL25Z

58

46

172

72

208

740

SysTick Values for KDS Build 5.00 in kTicks

KL25Z

59

47

174

74

211

840

KL26Z

61

48

173

75

211

860

KL46Z

60

49

174

74

210

840

K20D50M

35

27

66

44

160

580

K64F

3.3

3.1

4.9

3.9

11.4

54.6

K22F

3.9

3.7

5.8

4.4

13.4

59.1