4.1 ISF v2.1 features
In addition to some ease of use items, the core libraries have been replaced with public source code.
The KIT V2 is now included as one of two options that may be invoked from the Freedom Sensor Toolbox Launcher. The Freedom Sensor Toolbox Launcher incorporates both the KIT V2 Tool and the Freescale Sensor Fusion Toolbox. Once invoked, the KIT V2 Tool operates exactly the same as for ISF v2.0. This allows all the materials from the ISF v2.0 videos to apply directly to ISF v2.1. The Freedom Sensor Toolbox Launcher can also optionally invoke the Freescale Sensor Fusion Toolbox, which displays sensor fusion output for the sensor fusion projects associated with the FRDM-K22F and FRDM-K64F boards.
Sensor Fusion is available through the virtual orientation sensor, which combines data from an available and configured accelerometer, magnetometer, or gyroscope. This is an ISF implementation of the Freescale Sensor Fusion library.
Additional sensors supported include the MMA8652, MMA8653, FXLS8471Q, and MPL3115A2. The updated list of sensor adapters using generic APIs is:

4.2 ISF v2.0 features
The middleware is integrated into the Freescale Processor Expert technology. This allows the middleware to be autogenerated for specific hardware configurations.
By using Processor Expert, ISF is abstracted from the specific MCU hardware. ISF can be configured for almost all of the Kinetis processors, those with a PIT timer. Implementations for two Kinetis processors, the KL25Z and the K64F, have been tested and verified for this release.
The middleware includes a set of Processor Expert components downloadable from the Freescale ISF website.
The ISF_Core component is a library of components. Some of the components of interest within the ISF_Core library are: