In this exercise students will explore a Freescale Cup Car application which targets a Freescale K40 board attached to the Tower System.
Configure the Software Development Environment
Configure the evaluation board hardware
Learn how to import example files into a CodeWarrior project
Build a project
Download and run the code on a Kinetis K40 Tower System board
Learn how to utilize the GPIO Peripheral to blink a LED
To successfully complete this exercise, students will need the following board and development environment.
The K40 Tower card, TWR-K40x256
CodeWarrior for Microcontrollers
Read the Blink LED overview article for general information on LED circuits, GPIO pins and reference manuals.
2. Set up the Software Development Environment
There are several steps necessary to prepare the evaluation board and PC for microcontroller programming and development. Interfacing the evaluation board with a PC requires downloading and Install the CodeWarrior IDE, as well as the device drivers for programming the microcontroller via USB.
In addition to CodeWarrior, it may(needs verified) be necessary to install one or both of the following tools:
RAppID initialization tool- RAppID comes on the DVD provided with your evaluation board. In the main directory of the DVD, click on the "TRK_MPC5604B.html" file to open the DVD interface which provides user manuals, software, schematics and documentation for the evaluation board.
P&E Microcomputer Systems, Inc drivers- P&E is a a computer driver for the TRK-MPC5604B and Kinetis Tower system device, enabling evaluation board programming via USB through the CodeWarrior debug OSJTAG interface. This driver can be downloaded here in case this isn't found on the disk.
3. Set up the Hardware: Twr K40x256 Hardware Setup
There are several Twr K40x256 hardware configuration steps. Follow the twr-k40x256-hardware-setup instructions before importing the LED Project.
4. Import the LED Project
After the software is successfully downloaded and installed, the next step is to import an existing project into your Workspace. in this case, the LED_BLINK_96MHZ Project. Follow the instructions on the codewarrior-project-import page to import the LED_BLINK_96MHZ project into CodeWarrior.
If errors are encountered, look in the Problems view and resolve them. Ignore any warnings.
5. Build the Code
If there is more than one project in your project view, make sure the proper project is the focus. The most reliable way to do this is to right click the project and choose Build Project as shown below. You can also go to the Project menu and choose the same command.
By default, the application is set to link to RAM. If you want your program in FLASH, make sure that you have that build configuration enabled:
Make sure you do a "Clean" operation (under the project menu) after you make the configuration change.
If you encounter errors, look in the problems view and resolve them. You can ignore any warnings.
If the project builds correctly, it is time to download to the board and watch it work. Ensure that the USB cable that came with the board connects the board to the host computer’s USB port. There are multiple ways to issue the Debug command. Right click the project in the projects view and choose Debug As->CodeWarrior Download. Alternatively, y go to the Run menu and choose Debug (F11).
Click the Resume button and your should see the LED blinking!
Click the Pause button to stop execution. Click the Terminate button to end debugging.
7. Learning Step: LED Code Description
If the LED was on Port C, Bit 7 we might have code like:
For example, to toggle a pin the following code might be used:
"Sets" the LED located at "E1" high.
the syntax means the following GPIOC refers to Port C
"Set" is one of three commonly utilized commands for GPIO control. There are also commands for "Clear" and "Toggle."
Command: "GPIOC_PSOR" literally means PORT SET OUTPUT REGISTER which SETS a pin high
Command: "GPIOC_PCOR" clears a pin, PORT CLEAR OUTPUT REGISTER which CLEARS a pin to the "low" state
Command: "GPIOC_PTOR" toggles a pin opposite of the current state
the « is a "shift" command which is discussed in the c-programming-for-embedded-systems. You can alter the raw register as well using a MASK but the dedicated set/clear/toggle registers are more straightforward.
**NEEDS UPDATED **
The following functions can access the LED;
//Where n is the LED number LED_En_TOGGLE; //will toggle a LED to a different state LED_En_ON; // turns the LED ON LED_En_OFF// turns the LED OFF
Locations of the LED's
Header File Definitions
//The E1 LED is on Port C, Bit 7 #defineLED_E1_LOC(1<<7) #defineLED_E2_LOC(1<<8) #defineLED_E3_LOC(1<<9) #defineLED_E4_LOC(1<<11)
//There are dedicated set and clear registers. //Write a one to PSOR Sets the Bits, Writing to PCOR clears bits. //Toggling a bit can be done with the PTOR register //You can access the raw register as well -> PDOR |= My Bit //but the dedicated bit set/clear/toggle registers are easier!
//Also, The cathode of the LEDs are towards the port pin! This means //you have to turn the port off to get the LED to turn the pin on.
//To use a Port, its Clock must be enabled!! //Lets just enable the clocks for ALL of the ports
//Important! Each IO pin has a dedicated 32-bit Register to set it up (Selection GPIO vs peripheral, IRQ, Etc.) //Setup port C7,C8,C9 and B11 as GPIO and enable High Drive Strength PORTC_PCR7 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin PORTC_PCR8 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin PORTC_PCR9 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin PORTB_PCR11 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin