Kinetis Microcontrollers Knowledge Base

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Document describing first steps of simple touch sensing application in Code Warrior and TWR board is attached. We will use K60 board from www.freescale.com/tower, CodeWarrior from www.freescale.com/codewarrior, TSS package www.freescale.com/tss, and later FreeMASTER visualization and debugging software www.freescale.com/freemaster the proces is described in detail and final code is attached for easy jump into the topic Pavel Sadek

The Freescale Freedom development platform is a low-cost evaluation and development platform featuring Freescale's newest ARM® Cortex™-M0+ based Kinetis KL25Z MCUs NEW! Quick Start Guide Features: KL25Z128VLK4--Cortex-M0+ MCU with: - 128KB flash, 16KB SRAM - Up to 48MHz operation - USB full-speed controller OpenSDA--sophisticated USB debug interface Tri-color LED Capacitive touch "slider" Freescale MMA8451Q accelerometer Flexible power supply options - Power from either on-board USB connector - Coin cell battery holder (optional population option) - 5V-9V Vin from optional IO header - 5V provided to optional IO header - 3.3V to or from optional IO header Reset button Expansion IO form factor accepts peripherals designed for Arduino™-compatible hardware

Hi, I have a project created by Processor Expert and CodeWarrior 10.2 for TWR-K20 demo kit. Becasue I have some problem to use the Processor Expert USB HID Keyboard Host of the USB stack 4.1.1, I need to change to add the non-PE USB HID Keyboard Host into the project. Can anyone tell me how to do it? It will be very appreciated to give me a simple 'PE' example project, and add the non-PE USB HID keyboard host stack. Thank you! Stanley

最近在论坛、QQ群里好多人都在讨论低功耗设计，想到之前遇到的一个客户也有这方面的一个要求，顺着他的想法做了一个在低功耗模式下使用ADC的例子。客户要做的是一个恒温控制，在设定温度范围内让MCU进入休眠状态，只有在超过温度范围后才唤醒MCU进行温度调节。话不多说，让我们开始例程介绍。运行平台： FRDM-25Z IARv7.3 在KL25_SC代码包中platinum工程上修改 Low Power Mode 简介飞思卡尔Kinetis系列MCU基于90纳米TFS技术，使得MCU在低功耗模式下，拥有良好的性能和功耗表现，KL系列更是被评为业内最低功耗的MCU。KL25Z 功耗模式总共有 11 种，分别是：Run、VLPR、Wait、VLPW、Stop、VLPS、LLS、VLLS3、VLLS2、VLLS1、VLLS0，能够满足客户对MCU各种低功耗的配置要求，在深度睡眠模式下智能外设能够处理相应数据而不需要唤醒内核。图1 在本设计中需要在低功耗模式下监控温度，热电偶的电信号需要用到ADC进行采样，查手册可知ADC能够运行的最低功耗模式是VLPS模式。VLPS模式下大部分外设仍然可以使用，但需要注意的是在VLPS模式下总线时钟是禁止的，因此在进入VLPS模式前应该将ADC的时钟设为ADACK，不然它进入VLPS模式后就嗝屁了。VLPS模式下只能采用硬件触发来触发ADC采样，本例采用的是LPMR定时器来触发ADC采样。VLPS模式下可以采用中断唤醒方式，本例采用ADC中断唤醒。当然也可以采用异步DMA通道来搬运ADC转换结果，搬运完成后自动回到VLPS模式下，感兴趣的话也可以试一下这种方式哈。图2 代码介绍： int main (void) { #ifdef CMSIS // If we are conforming to CMSIS, we need to call start here start(); #endif lptmr_init(1000,LPTMR_USE_LPOCLK); //trigger ADC per 1000ms // 初始化代码中设置LPO作为lptmr的时钟源，保证lptmr在VLPS下能够正常工作； init_ADC16(); //初始化ADC，设置ADC硬件触发源为lptmr，使能ADC范围比较模式，即当转换结果小于C1V，大于C2V时保存结果； enable_irq(ADC0_irq_no); //在进入低功耗模式前使能ADC中断。 printf("Enter VLPS mode...\r\n"); clockMonitor(OFF); enter_vlps(); while(1) { if(flag_wakeup == 1) { flag_wakeup = 0; ADC0_SC2 &= ~ADC_SC2_ACFE_MASK; disable_irq(ADC0_irq_no); //退出后，为调节温度需关闭范围比较模式，同时关闭ADC中断，采用查询模式； printf("Wake up from VLPS..\n"); printf("adcresult = %d\n",adcresult); } if((ADC0_SC1(0) & ADC_SC1_COCO_MASK) == ADC_SC1_COCO_MASK) //查询转换结果 { adcresult = ADC0_R(0); printf("wake up adcresult = %d\n",adcresult); if((adcresult>= 4000) && (adcresult<= 5000)) //当调节到ADC结果再次进入调节范围时，准备进入低功耗模式； { ADC0_SC2 |= ADC_SC2_ACFE_MASK; //为实现监控，重新使能范围比较模式和ADC中断。 enable_irq(ADC0_irq_no); printf("Enter VLPS mode...\n"); clockMonitor(OFF); enter_vlps(); } } } } 实验结果：设置比较值为4000~5000，打印结果如下：图3 好了，就这些了，第一次写技术文章，很浅显的东西说了一大堆，比较乱，望批评指正哈。附件为参考代码。

by: Carlos Musich, Luis Garabito Microcontrollers Application Engineers with Freescale. This application note is intended to demonstrate http client implementation using Freescale MQX RTOS capabilities. The hardware used to illustrate this is the TWR-K60N512-KIT. The remote controlling and monitoring have become a need rather than an option in the embedded world. This application note takes advantage of two social media interfaces for these purposes. One is used to enter commands to the MCU; http://twitter.com/. The other one is used to pull out data from the MCU; https://www.supertweet.net/. It is important to focus in the fact that with these methods the MCU is reachable through Internet without the need of a public IP address or without mounting a HTTP server in the MCU. The application source code described in this document can be found in the AN4417SW.zip file. For a full description of Freescale MQX RTOS, please visit https://www.freescale.com. This application defines two tasks in MQX. The first task is main. It is meant to configure GPIO, the RTCS and create the second task. The name of this second task is httpclient. The purpose of this task is to carry out the communication with the Twitter server and read the commands to be executed. To retrieve the input commands, the httpclient task reads them from the last tweet published by a specific Twitter account. The command then is parsed and executed according to the implementation. The main task enters into an infinite loop where the httpclient is restarted in each loop to allow a cycle behavior for reading commands. The time for each loop is controlled by a sample rate value that can be configured by the user via a command. Get the full application note...

Kinetis芯片在量产时有以下事项需要注意： 1. 保证正确的上电时序，VDD应该先于所有其他引脚上电，VDD上电之前RESET引脚不应该出现高电平。 2. 推荐在RESET引脚加10k上拉电阻，并且和编程器的Reset引脚断开。 3. 编程器至MCU的引线越短越好，最好控制在15厘米之内。 4. 所有引脚不能有超过芯片手册规定之最高电平。 5. 保证焊接温度不超过芯片手册规定之最高温度。

在EEfocus上有一个关于Debug模式和正常工作模式下进入低功耗模式的问题，总结了一下，Post过来Share给大家。问题现象：使用串口接收中断，主函数进入睡眠。在调试过程中发现：只有在连接jlink调试下，串口可以正常收发数据，串口收到数据可以唤醒mcu。但在断开jlink情况下，不能正常收发数据。所做尝试：尝试过不在VLPS模式下，串口是可以正常中断接收数据的，也可以正常发送数据。另外，在使用过程中采用的是内部晶振，串口的时钟源是FLL。主函数代码： while(1) { enter_vlps(); //进入vlps模式 out_char(c); //串口接收中断函数把字符赋给c } 解答：首先，在VLPS模式下，FLL不能工作，也就无法输出clock时钟到UART，所以进入VLPS模式后UART不可以用FLL做时钟。其次，在连J-Link调试时其实没有进入VLPS模式，而是进入了STOP模式，此时FLL是有输出的。在数据手册上的MDM-AP Status Register部分关于LP有讲到:Usage intended for debug operation in which Run to VLPS is attempted. Per debug definition, the system actually enters the Stop state. 所以造成了连接J-link从表面上看起来是进入了VLPS模式(其实是进入Stop模式)，不连接J-link就无法正常工作了。

La serie Kinetis L es una combinación de eficiencia energética, escalabilidad, valor y facilidad de uso que revolucionará el mercado de microcontroladores de nivel básico. Ofrece a los usuarios de arquitecturas heredadas de 8 y 16 bits una ruta de migración hacia la gama de microcontroladores Kinetis de 32 bits y les permite aumentar el rendimiento y ampliar la funcionalidad de sus productos finales sin incrementar el consumo de energía ni los costes del sistema. La serie Kinetis L se compone de cinco familias de microcontroladores: KL0, KL1, KL2, KL3 y KL4. Cada familia combina excelentes corrientes dinámicas y de parada con una capacidad extraordinaria de procesamiento, una amplia selección de memorias flash y una gran variedad de opciones analógicas, de conectividad y de periféricos HMI. La familia KL0 es compatible en pines con la familia S08Px de 8 bits (lo que tiende un puente entre el desarrollo de 8 bits y la cartera Kinetis) y compatible en software con otras familias de la serie Kinetis L. Las familias KL1, KL2, KL3 y KL4 presentan una compatibilidad mutua en hardware y software, además de ser compatibles con sus equivalentes de la serie Kinetis K basada en el Cortex-M4 (KL1 -> K10, KL2 -> K20…). De este modo, los desarrolladores disponen de una ruta de migración ascendente/descendente hacia mayor/menor rendimiento, memoria y funcionalidad integrada, lo que les permite reutilizar el hardware y el software en todas las plataformas de productos finales y reducir el tiempo necesario para la comercialización. Las primeras familias disponibles en el mercado serán KL0, KL1 y KL2 a finales de septiembre de 2012. La disponibilidad de las familias KL3 y KL4 está prevista para el primer trimestre de 2013. Procesador ARM Cortex-M0+ El procesador ARM Cortex-M0+ ofrece niveles más altos de eficiencia energética y de rendimiento y es más fácil de usar que su antecesor, el Cortex-M0. En cuanto a las instrucciones, mantiene plena compatibilidad con todos los demás procesadores de la clase Cortex-M (Cortex-M0/3/4), por lo que los desarrolladores pueden reutilizar sus compiladores y herramientas de depuración existentes. Principales características: 1,77 coremarks/MHz: entre 2 y 40 veces más que los microcontroladores de 8/16 bits, un 9 % más que el Cortex-M0. Coremarks/mA: entre 2 y 50 veces más que los microcontroladores de 8/16 bits, un 25 % más que el Cortex M0. Pipeline de 2 etapas: reducidos ciclos por instrucción (CPI), lo que permite instrucciones de bifurcación y entradas ISR más rápidas. MTB (Micro Trace Buffer): solución ligera y no intrusiva; la información del rastreo se guarda en una pequeña área de la SRAM del microcontrolador (tamaño definido por el programador), lectura a través de SWD/JTAG. Amplio soporte para el entorno ARM. Acceso E/S monociclo: frecuencia de conmutación de la interfaz GPIO un 50 % más alta que la de la E/S estándar, lo que mejora el tiempo de respuesta a eventos externos y permite manipular bits (bit-banding) y emular protocolos de software. Espacio de direcciones lineal de 4 GB: elimina esquemas de paginación complejos y simplifica la arquitectura de software. Solamente 56 instrucciones: mayoritariamente codificadas en 16 bits; opción para MUL rápida de 32 x 32 bits en un ciclo. Conjunto de instrucciones: totalmente compatible con el procesador Cortex-M0, subconjunto de instrucciones del procesador Cortex-M3/4. La mejor densidad de códigos de su categoría en comparación con arquitecturas de 8/16 bits; menor tamaño de memoria flash y reducción del consumo de energía; mayor rendimiento que sus equivalentes de 8 y 16 bits. Acceso a la memoria del programa; reducción del consumo de energía. Familias de microcontroladores de la serie Kinetis L Los microcontroladores de la serie Kinetis L se basan en la funcionalidad del procesador ARM Cortex-M0+, que presenta un diseño de plataforma de bajo consumo energético así como modos operativos y dispositivos periféricos que ahorran energía. El resultado es un microcontrolador que ofrece la mejor eficiencia energética de la industria, consume menos de 50 μA/MHz en el modo VLPR (Very Low Power Run) y puede despertarse rápidamente desde el estado de reposo, procesar datos y restablecer el modo de reposo, lo cual alarga la vida útil de la batería en las aplicaciones. Para ver una demostración de la eficiencia energética de la serie Kinetis L, visite www.freescale.com/ftf. Familias de microcontroladores: Familia KL0: la puerta de entrada a la serie Kinetis L; microcontroladores de 8-32 kB y de 24-48 pines, compatibles en pines con la familia S08P de 8 bits y en software con todas las demás familias de la serie Kinetis L. Familia KL1: microcontroladores de 32-256 kB y de 32-80 pines con comunicaciones adicionales y periféricos analógicos, compatibles en hardware y software con todas las familias de la serie Kinetis L y con la familia K10 (CM4) de la serie K. Familia KL2: microcontroladores de 32-256 kB y de 32-121 pines con USB 2.0 de máxima velocidad tipo host/device/OTG, compatibles en hardware y software con todas las familias de la serie Kinetis L y con la familia K20 (CM4) de la serie K. Características comunes a todas las familias de microcontroladores de la serie Kinetis L: Procesamiento extremadamente eficiente Procesador ARM Cortex-M0+ de 48 MHz Tecnología flash de bajo consumo de energía: 90 nm Funciones de manipulación de bits < 50 μA/MHz; 35,4 coremarks/mA Barra cruzada de puente periférico Controlador de memoria flash con estado de espera cero Modos de consumo de energía ultrabajo Tecnología flash con baja fuga: 90 nm Múltiples modos RUN, WAIT y STOP Activación en 4,6 μs desde el modo de reposo profundo Bloqueo de reloj y de potencia (clock & power gating), opciones de arranque con bajo consumo de energía Reloj VLPR: precisión con un 3 % máximo de margen de error, que normalmente es del 0,3-0,7 % Consumo de corriente en modo de reposo profundo: 1,4 μA con retención de registros; LVD activo y activación en 4,3μs Periféricos que ahorran energía Los periféricos funcionan en modos de reposo profundo y son capaces de tomar decisiones inteligentes y de procesar datos sin despertar al núcleo: ADMA, UART, temporizadores, convertidor analógico-digital (ADC), pantalla LCD con segmentos, sensores táctiles... ADC de 12/16 bits Convertidor digital-analógico (DAC) de 12 bits Comparadores analógicos de alta velocidad Temporizadores de alta capacidad para una gran variedad de aplicaciones, incluyendo el control de motor Para tener más información del fabricante y de los servicios, por favor visiten nuestra microsite. Via Arrow Europe

MMA9553L是飞思卡尔的一款计步传感器，本文就如何快速使用该传感器做一个简单介绍。你可能还见到过MMA955xL，它与MMA9553L是什么关系呢？简单的来说MMA955xL是一个统称，它包括MMA9550L、MMA9551L、MMA9553L和MMA9559L这几个具体型号，其实这四种传感器在硬件上都是一样的。其内部主要由ColdFire 内核、模拟前端、Flash、IIC和SPI接口等部分组成，原理框图如下图所示：它们的不同之处在于内部的Firmware不同，Firmware在芯片出厂时就已经固化在芯片里面了，不同的Firmware对于不同的功能。这里介绍的MMA9553L主要就用作计步器功能。 MMA9553L和MCU之间可以通过IIC接口或者SPI接口通讯，所以使用MMA9553L的首要前提是把MCU的IIC或者SPI调通。接口调通之后就可以来操作此传感器了。这里以IIC为例来说明。附件为参考代码。测试平台：IAR7.2 + FRDM_KL25Z+FRDM-FXS-MULTI FRDM-FXS-MULTI开发板上带有MMA9553L，将FRDM-FXS-MULTI开发板和FRDM_KL25Z连接在一起就可以使用了。下面分析一下源代码：首先是调用初始化函数pedometer_init()，此函数主要调用以下几个函数： pedometer_write_config(); // config pedometer_enable(); // enable pedometer pedometer_int0_enable(); // enable INT_O pin pedometer_active(); // active MMA9553 pedometer_wakeup(); // wakeup 在此重点分析前两个函数。第一个函数 pedometer_write_config()，该函数的具体实现如下： void pedometer_write_config(void) { unsigned char Buf[]={0x15,0x20,0x00,0x10, 0x0C,0xE0, 0x13,0x20, 0x00,0x96, 0x60,0x50, 0xAF,0x50, 0x04,0x03, 0x05,0x01, 0x00,0x00}; dvMMA9553_Write(MMA9553_Slave_Addr, MMA9553_Sub_Addr, Buf, 20); } 此函数很简单，就是通过IIC给9553发送一条命令，命令的内容Buf数组中的20个字节的数据。 dvMMA9553_Write()函数的第一个参数代表MMA9553L的地址，为0x4C。datasheet中有说明。 #define MMA9553_Slave_Addr 0x4C dvMMA9553_Write()函数的第二个参数代表寄存器地址，为0x00。 #define MMA9553_Sub_Addr 0x00 发送的这一串命令：0x15,0x20,0x00,0x10,0x0C,0xE0,0x13,0x20,0x00,0x96,0x60,0x50,0xAF,0x50,0x04,0x03,0x05,0x01,0x00,0x00 具体是什么含义呢？ 0x15：表示Application ID，计步器的Application ID就是0x15 0x20：表示这条命令是Write Config command，即这条命令是用来写Configuration 寄存器的。 0x00：表示配置寄存器的偏移地址。 0x10：表示要写16字节的内容。 0x0C,0xE0,0x13,0x20,0x00,0x96,0x60,0x50,0xAF,0x50,0x04,0x03,0x05,0x01,0x00,0x00 这16字节就是写入配置寄存器中的具体内容。配置寄存器共用8个，分别是Sleep Minimum register，Sleep Maximum register，Sleep Count Threshold register，Configuration/Step Length register，Height/Weight register，Filter register，Speed Period/Step Coalesce register，Activity Count Threshold register，每个寄存器为16 bit（2 字节），所以总共16字节。第二个函数 pedometer_enable()，该函数的具体实现如下： void pedometer_enable(void) { unsigned char Buf[]={0x17,0x20,0x05,0x01,0x00}; dvMMA9553_Write(MMA9553_Slave_Addr, MMA9553_Sub_Addr, Buf, 5); } 这次写入的命令是0x17,0x20,0x05,0x01,0x00 0x17：表示Application ID 0x20：表示这条命令是Write Config command 0x05,0x01,0x00 这三个表示在偏移地址0x5处，写入一个字节的数据0x00 其他几个函数也类似，都是写入一条命令，对某种Application的配置寄存进行设置。初始化完了，现在就可以读取步数了。通过调用pedometer_main() 函数就可以读取到步数。该函数的实现如下： void pedometer_main(void) { unsigned char Buf[20]; pedometer_cmd_readstatus(); // read status while(1) { dvMMA9553_Read(MMA9553_Slave_Addr, MMA9553_Sub_Addr, Buf, 2); if(Buf[1]==0x80) { dvMMA9553_Read(MMA9553_Slave_Addr, MMA9553_Sub_Addr, Buf, 16); break; } } m_status.StepCount = Buf[6] * 256 + Buf[7]; m_status.Distance = Buf[8] * 256 + Buf[9]; m_status.Calories = Buf[12] * 256 + Buf[13]; } 主要调用了两个函数，一是pedometer_cmd_readstatus()，这个函数的实现如下： void pedometer_cmd_readstatus(void) { unsigned char Buf[]={0x15,0x30,0x00,0x0C}; dvMMA9553_Write(MMA9553_Slave_Addr, MMA9553_Sub_Addr, Buf, 4 ); } 它是发送了0x15,0x30,0x00,0x0C这条命令 0x15：表示Application ID 0x30：表示Read Status command 0x00：表示偏移地址 0x0C：表示需要读的字节数为12 之后调用dvMMA9553_Read()函数，通过IIC读取16字节的数据（4字节起始信息+12字节status register内容），读到的16字节数据如下： Step count register寄存器如下，通过其值可以算出步数来。另外还可以读取三轴加速度的值，过程与读取步数是类似的，也是先写配置寄存器，然后再读取状态寄存器。总的来说操作MMA955L的关键搞清楚有两个重要的寄存器：配置寄存器和状态寄存器。配置寄存器可读可写，状态寄存器只可读。写配置寄存器，格式是： APP_ID+0x20+offset+number+number字节的内容读配置寄存器，格式为：先发送：APP_ID+0x10+offset+number，再通过IIC读number+4字节的内容，前4字节为起始信息。读状态寄存器,格式为：先发送：APP_ID+0x30+offset+number，再通过IIC读number+4字节的内容，前4字节为起始信息。读Command 回的内容如下：

Common： 1. 如何在IAR、Keil和Codewarrior中禁止掉Kinetis的NMI脚 2. 使用Codewarrior、IAR和Keil三大IDE配置生成bin文件 3. Codewarrior、IAR和Keil三大IDE局部优化指令 Kinetis Design Studio 1. 飞思卡尔免费开发环境KDS调试时显示外设寄存器内容 CodeWarrior: 1. Codewarrior中如何查看Flash和RAM占用Size大小， include路径如何配置？ 2. Codewarrior10.5低功耗模式唤醒后保持调试功能 3. 浅谈Codewarrior局部优化技巧 4. 在Codewarrior10.x调试模式下导出内存数据到s19文件 5. CodeWarrior10.x中英文系统界面切换 6. CodeWarrior10.x新建Kinetis工程方法 7. Codewarrior10.x下使用ewl_noio库以节省代码空间 8. Codewarrior10.x下生成的image文件后缀都是.hex 9.代码重定位-CodeWarrior/KDS-kineits L 系列 IAR: 1. 利用IAR Timeline工具测试delay函数执行时间 2. 使用老版本IAR支持新器件 3. IAR环境下Flash loader工作原理 4. IAR环境下Flash调试和RAM调试的区别 5. IAR环境下更改ARM大小端存储模式 6. 简单移植Kinetis IAR开发框架模板的方法 7. Kinetis图形化显示stack堆栈使用情况 8. IAR使用小技巧（常用快捷键，LiveWatch配置方法，修改调试模式入口地址） 9. 实现IAR下S19、Bin、Hex文件格式转换 10. IAR生成和调用Kinetis函数库 11. 批处理查找添加IAR工程头文件 12. 通过IAR MAP文件查看目标文件内存分配 13. 解析IAR的ILINK链接器icf配置文件 14. 重定向printf输出到IAR虚拟终端 15. 解决双击eww文件无法同时打开多个IAR工程的问题 16. IAR下使用noinit段的方法和指定地址的变量分配 Keil: 1. Keil编译器ARMCC中添加对GCC扩展格式的支持 2. 关于Keil无法正确下载程序问题的总结

1 Abstract Stepper motor can be controlled by the electrical pulse signal with the open loop system, it use the electrical pulse signal realize the angular movement or linear movement. The speed and position of the stepper motor is determined by the pulse frequent and the pulse number. Stepper motor can be used in the low speed area application, with higher work efficiency and low noise. KE02 is the 5V kinetis E series MCU, it is based on ARM Cortex M0+ core, KE series are designed to maintain high robustness for complex electrical noise environment and high reliability application. For these advantages, KE02 is fit the Stepper motor control application. This document is mainly about how use the KE02 realize the Stepper motor speed, step and direction control. It can use the UART in the PC to control the Stepper motor speed. The following picture is the control diagram. Fig.1 2. Motor control parameter calculation Just as Fig.1 shows, KE02 should control the EN, DIR, PWM signal to the motor driver, then realize the stepper motor control. EN is the motor driver enable signal, 0 is enable, 1 is disable; DIR is the stepper motor direction control, 0, clockwise, 1 anticlockwise; PWM is the pulse signal to control the step and speed for the stepper motor. Stepper motor is 1.8’, it means a round have 360’/1.8’= 200 steps. But because the Motor driver have the divider, it is 32, so one stepper motor round should have 200*32 = 6400 steps. KE02 system, it use the external 10Mhz crystal, and configure both core and bus frequent to 20Mhz, it use FTM0 module as the motor pulse generate module, bus clock with 32 prescale used as the FTM0 clock source, choose up counter. If need to change the motor speed and control step, just control the FTM PWM frequent and PWM counter. For Stepper motor, one FTM period means one motor step. From the reference manual of KE02, we get that, the FTM period in up counting mode is: (MOD-CNTIN+1)*period of the FTM counter clock, if want to change the frequent of motor, just calculate the MOD of FTM is ok, then count the number of the FTM cycle, now assume CNTIN =0, then: Tftm= (32/20Mhz)*(MOD+1) From the Stepper Motor and it’s driver, we get that one step time is : Tmstep= 60/(V*6400) V is the speed of Motor, the unit is round/minute. Because Tftm=Tmstep, then we know: MOD= (60/(V*6400))*(20Mhz/32)-1 (F1) In this document, we calculate the speed of 150 round/minute, 110 round/minute, 80 round/minute, 50 round/minute and 0.1 round/minute, according to (F1), we can get the MOD for each speed as the following: 150 round/minute MOD=38 110 round/minute MOD=52 80 round/minute MOD=72 50 round/minute MOD=116 0.1 round/minute MOD=58592 If each speed need to do 10 Stepper motor round, then just control the speed counter number to: 10*6400=64000. 3. MCU pin assignment PTF0 : DIR PTF1 : EN PTA0 : PWM PTC6 : UART1_RX PTC7 : UART1_TX 4. code writing (1)FTM initial code void STEEPMOTOR_PWM_Init(uint16 MODdata) { SIM_SCGC |= SIM_SCGC_FTM0_MASK; FTM0_SC = 0; FTM0_C0SC = 0 ; FTM0_C0SC = FTM_CnSC_MSB_MASK |FTM_CnSC_ELSA_MASK ; FTM0_C0V = 0; FTM0_C0V = MODdata>>1; FTM0_MOD=MODdata; FTM0_SC |=FTM_SC_CLKS(1) | FTM_SC_PS(5) | FTM_SC_TOIE_MASK enable_irq(17); //enable interrupt } MODdata can choose the different Stepper motor speed, eg, 150 round/minute, MODdata is 38. (2) interrupt service function void FTM0_IRQHandler(void) { FTM0_SC &= ~FTM_SC_TOF_MASK;//clear the TOF flag. roundcount++; if(roundcount >= 64000) {FTM0_C0SC = 0x00; FTM0_SC &= ~(FTM_SC_TOIE_MASK);} } It can used for the step counter, and when reach the 10round, then stop the motor( stop the FTM output). (3)Speed choose with UART input void Motor_Speed_GPIO_CTRL_30round(void) { char motormode=0; uint32 COMPDATA=0; printf("\n 1 for 150 round/minute\n\r"); printf("\n 2 for 110 round/minute\n\r"); printf("\n 3 for 80 round/minute\n\r"); printf("\n 4 for 50 round/minute\n\r"); printf("\n 5 for 0.1 round/minute\n\r"); motormode = UART_getchar(PC_TERM_PORT); switch(motormode) { case '1': STEEPMOTOR_PWM_Init(38);//150 round/minute break; case '2': STEEPMOTOR_PWM_Init(52);//110 round/minute break; case '3': STEEPMOTOR_PWM_Init(72);//80 round/minute break; case '4': STEEPMOTOR_PWM_Init(116);//50 round/minute break; case '5': STEEPMOTOR_PWM_Init(58592);//0.1 round/minute break; default: break; } while( roundcount < 64000 ) {} //10 round Disable_PWM; printf("\n %c 10round PWM is finished ", motormode); roundcount=0; } 5 DEMO About the test code, please find it from the attachment.

The modularity of the tower system makes it great for prototyping, but for higher speed interfaces, there might be timing/signal integrity issues from having the TWR-MEM. For example, if you run the NFC demo from MQX 4.2: C:\Freescale\Freescale_MQX_4_2\mqx\examples\nandflash\build\iar\nandflash_twrk60f120m, It works well standalone, but with TWR-MEM connected. It failed when trying to read the data from nandflash. Because the NAND flash is on the TWR-K60F120M board, any time you access the NAND flash through NFC the signal will still travel all the way to the MRAM and reflect back which can distort the signals. Checking with the NFC driver code, you may find the high driven strength of NFC IOs has already been enabled. Decreasing the NFC module clock by setting SIM_CLKDIV4_NFCDIV to 31, the demo still failed. How to fix it? Here we provide a trick/solution for this issue: Ｅｎａｂｌｅ　ｔｈｅ　ｉｎｔｅｒｎａｌ　ｐｕｌｌ－ｕｐｓ　ｏｎ　ＮＦＣ　ｉｎｔｅｒｆａｃｅ. then you may set a slower NFC clock by setting SIM_CLKDIV4_NFCDIV to 12, this value can be larger to make the communication more stable, but please note if you try to design a custom board, there is no reason it shouldn’t work at max frequency with a better layout. Hope that helps, -Kan

To do: The development platform is Eclipse. The EVAL Board is the Kinetis Tower TWR K60. On the Tower, you find 2 pushbuttons and 4 LEDs. a) Generate a hexadecimal random number from 0x0 to 0xF as long as pushbutton1 is pressed. Display the result with the 4 LEDs for about 3 seconds. b) Replace the code for recognizing a pressed key by a macro "KEY1_PRESSED". c) Replace the access to the 4 LEDs by a macro "LEDx_TOGGLE" with x = 0...3". Use active wait loops instead of the timer in this Kinetis exercise. Result: TWR_K60_RANDOM.zip

This project is for neck's physical therapy and for a wheel chair that will move just with two buttons. This project is intended to be for persons who cannot move arms to do stuff.Instead of having a little joystick to move, they will just have to press one button turn around on the wheel chair or press the other button to make it advance. Because of the time we have to present this project, we will for now apply this idea to a toy car that will help children to do physical therapy on the neck. Silla de Ruedas controlada por movimientos del cuello - YouTube Facebook Original Attachment has been moved to: Code.zip

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