The Team from the University of Padova in Vicenza are working in getting their race car ready for the upcoming EMEA Finals that will be held in Paris on 26-27 March. They filed this short video on a make up track. Conditions were not the best so they had to scale down the speed.

In this video we will look at the example code provided for the FRDM-TFC for use with Codewarrior.  

The TWR-K40X256 Kit is a Freescale evaluation board powered by the Kinetis K40 microcontroller. The Kinetis microcontroller family is a set of 32 bit ARM Cortex M4 chips which feature flexible storage, lower power usage, high performance and optional Floating Point Unit with many useful peripherals. For more information on the Kinetis family see Freescale's Kinetis website. The Tower System is a prototyping platform with interchangeable and reusable modules along with open source design files. TWR K40X256 Hardware Setup There are several main hardware configuration steps. After installing the battery, once the USB cable has been connected between the evaluation board and PC, it may be necessary to update the chip firmware which requires moving a jumper pin on the evaluation board. TWR K40X246 Hardware Setup Instructions Board Specific Tutorials K40 Blink LED K40 Drive DC Motor K40 Drive Servo Motor K40 Line Scan Camera Board Tips The TWR-K40X256 features a socket that can accept a variety of different Tower Plug-in modules featuring sensors, RF transceivers, and more. The General Purpose TWRPI socket provides access to I2C, SPI, IRQs, GPIOs, timers, analog conversion signals, TWRPI ID signals, reset, and voltage supplies. The pinout for the TWRPI Socket is defined in Table 3 of the TWR-K40X256 User's Manual, but the user manual does not describe how to order a connector A Samtec connector, part number: SFC-110-T2-L-D-A is the proper female mating connector for the TWR-K40X256 TWRPI socket. SIDE A/SIDE B White DOTS for counting Pins Solder Wire to GND, and to MCU VDD Pin for testing purposes Important Documents TWR-K40X256 User's Manual TWR-K40X256 Schematics External Links TWR-K40X256-KIT Webpage Kinetis Discussion Forum Tower Geeks Community Website Tower Geeks Freescale Cup Group

All, The date is getting closer: 28-30 August in Seoul, South Korea. Here is the official agenda (subject to last minute modifications) and more information: Location: Olympic Gymnasium at Hanyang University in Seoul Dates: 28-30 August 2014 Hotel location: Hotel Prima http://www.prima.co.kr  / Address •536, Dosan-daero, Gangnam-gu Seoul, Seoul, Korea /  Phone +82-2-6006-9201 Agenda Date Time Event Location 28-Aug-2014 Arrival at airport Transfer to Hotel and free time Hotel Prima 29-Aug-2014 7:30 - 8:30 Breakfast Hotel Prima " 8:30 Meet in the lobby for departure Hotel Prima " 9:00 - 12:00 City Tour " 12:00 - 13:00 Lunch " 13:00 - 13:30 Transfer to Hanyang University " 13:30 - 17:00 Practice on Practice tracks Hanyang University - Olympic Gymnasium " 17:00 - 17:10 Presentation: History of the Intelligent Car Competition Hanyang University - Olympic Gymnasium " 17:10 - 17:30 Teams' Introduction Hanyang University - Olympic Gymnasium " 17:30 - 17:40 Rules and Information Hanyang University - Olympic Gymnasium " 17:40 - 18:00 Q&A Hanyang University - Olympic Gymnasium " 18:00 - 18:30 Transfer to dinner " 18:30 - 20:30 Dinner " 20:30 - 21:00 Transfer to Hotel Prima Hotel " 21:00 Free Time 30-Aug-2014 7:30 - 8:30 Breakfast Prima Hotel " 8:30 Meet in the lobby for departure Prima Hotel " 8:30 - 9:00 Transfer to Hanyang University Prima Hotel " 9:00 - 9:30 Registration and technical inspection Hanyang University - Olympic Gymnasium " 9:30 - 12:00 Practice on Practice tracks Hanyang University - Olympic Gymnasium " 12:00 - 13:00 Working Lunch (lunch boxes) Hanyang University - Olympic Gymnasium " 13:00 - 13:15 Keynote by VIP Hanyang University - Olympic Gymnasium " 13:15 - 13:30 Introduction of The Worldwide Freescale Cup Championship Hanyang University - Olympic Gymnasium " 13:30 - 15:00 Finals Race Hanyang University - Olympic Gymnasium " 15:00 - 15:30 Awards Ceremony Hanyang University - Olympic Gymnasium " 15:30 - 15:40 Introduction of The Worldwide Freescale Cup 2015 in Germany Hanyang University - Olympic Gymnasium " 15:40 - 16:30 Transfer to Tour and Dinner " 16:30 - 20:00 City Tour and Dinner " 20:00 - 20:30 Transfer to Hotel Prima Hotel " 20:30 Free Time 31-Aug-2014 Check out and Transfer to Airport

http://www.gpdealera.com/cgi-bin/wgainf100p.pgm?I=FUTM0043  This is the Futaba Standard Size Ball Bearing High Torque Servo. This servo can produce high-current draw from your batteries. If using NiMH or LiPo batteries, make sure they are capable of delivering approximately 2A for each servo. FEATURES: Ideal for high-torque applications requiring a standard size servo Universal connector fits Futaba, Hitec, JR, KO Propo, Airtronics Z, and Tower Hobbies. Does not fit old Airtronics A plug w/out adapter Nylon gears One bearing pre-mounted on output shaft. INCLUDES: One Futaba standard size high torque servo with; One 1.4" (35mm) diameter round servo wheel One 1.5" (39mm) diameter 4 point servo wheel One 1.25" (32mm) diameter 6 point servo wheel Four 2mm x 11mm phillips screws Four rubber grommets & Four metal eyelets REQUIRES: Small phillips screwdriver to mount to surface SPECS: Speed: 0.20 sec/60° @ 4.8V 0.16 sec/60° @ 6.0V Torque: 72 oz-in (5.2 kg-cm) @ 4.8V and 90 oz-in (6.5 kg-cm) @ 6V Dimensions: 1.6 x 0.8 x 1.5" (1-9/16 x 13/16 x 1-1/2") (40 x 20 x 38mm) Weight: 1.5oz (1-7/16oz) (41g)

Overview: The TWR-TFC-K20  is an all-in-one tower CPU card that can be used to create an autonomous race vehicle for the the Freescale Cup.   It has all the interfaces necessary for the car to sense the track and control the vehicle    This card is also a great platform for teaching embedded systems.   The TWR-TFC-K20 uses a Freescale Kinetis K20 MCU and has some really cool I/O to keep students interested. Features: Servo Outputs 3-pin Header to connector directly to steering Servo 1 Extra Servo header. Camera Interfaces 1. 5-pin header to connect directly to a Freescale Line Scan Camera 2. Header for 2nd linescan camera (optional) 3. RCA Camera Interface. Includes an LMH1981 Sync Extraction chip and connection to MCU to allow for low resolution (64x64) image capture at 60FPS Power Accepts direct battery power – onboard switching regulator 5-18v All circuitry except for motor controller can be optionally powered over USB Connector DC Motor Drivers QTY 2 MC33887APVW : Dual, Independent 5A Motor Driving Circuit. Supports forward, reverse and braking. Independent control over each drive motor allows for an active differential implementation Current Feedback to MCU ADC to allow for closed loop torque control CPU/ Programming Integrated Kinetis MK20DN512ZVLL10MCU with OSJTAG Additional I/O Some basic I/O for debugging. 4-poistion DIP Switch + 4 LEDs + 2 pushbuttons. Inputs for Tach Signal/Speed Sensor Design Files Rev Beta [B] (Current Production version) Schematics, Assembly Prints, BOM, etc. - Includes 3d view Rev B Errata: None known! Example Code: All software relating to the TWR-TFC-K20 is held in an Google Code Subversion repository.   This is the only way the source is distributed.   Never used a version control system yet?   Now is the time to learn (Google is your friend)!   All "real" software development processes use some form of version control.  TortoiseSVN is a nice client for SVN! Google Code Repository: https://code.google.com/p/tfc-twr/ This code works with Rev B of the board. All major interfaces & peripherals have been tested. At some point we will make a video going through the code. By default, the Linescan camera code is enabled. The code in main.c is pretty easy to follow. There is also code for the NTSC camera but must enabled in the TFC_Config.h file via a pre-processor directive. There is also code used for the OSTAG interface, Labview demo applications and drivers for the USB Videos:

How to setup GPIO on the Kinetis. Includes discussion on enabled clocks to peripherals and setting up the pin control registers.

32-bit Kinetis MCUs represent the most scalable portfolio of ARM® Cortex™-M4 MCUs in the industry. Enabled by innovative 90nm Thin Film Storage (TFS) flash technology with unique FlexMemory (configurable embedded EEPROM), Kinetis features the latest low-power innovations and high performance, high precision mixed-signal capability. For the Freescale Cup Challenge, we have provided several tutorials, example code and projects based on the twr-k40x256-kit. This board is part of the Freescale tower-system, a modular, reusable development platform that allows engineers to quickly prototype new designs. The K40 chip is a 144 pin package with 512KB of Flash, 245Kb of Program Flash, 4KB of EEProm, and 64KB of SRAM. Important Documents: Reference Manual Besides the Reference manual and the Datasheet, the most useful document for learning to program the K40 chip is the Kinetis Peripheral Module Quick Reference Data sheet Errata External Links Freescale's Kinetis K40 Product Page

A great exercise when first starting with a new microcontroller is to get LEDs to turn-on, flash, or dim. Depending upon the configuration of your circuit, a LED (light-emitting diode) is accessed by toggling a GPIO or 'General Purpose Input Output pin either high or low. GPIO pins can be configured either as an input (read) or output (write). A high signal is often referred to as "Asserted" or a logic "1" and a low signal designated as Negated or logic "0". The input and output voltage range for GPIO pins is typically limited to the supply voltage of the evaluation board. Usage To optimize functionality in small packages, physical microcontroller pins have several functions available via signal multiplexing. Internally, a pin will have several wires connected to it via a multiplexer (wiki) or MUX. A multiplexer selects between several inputs and sends the selected signal to its output pin. The Signal Multiplexing chapter of your reference manual illustrates which device signals are multiplexed on which external pin. The Port Control block controls which signal is present on the external pin. The configuration registers within a microcontroller require proper configuration to select the GPIO as an input or output. The same GPIO pins utilized to blink a LED can be wired to read a signal coming from an external device such as the input from a hall effect sensor. Freescale Cup participants will configure GPIO pins as outputs to control the line-scan-camera via timed pulses and clock type signals. Read/Write In write mode, the GPIO pin can be set, cleared, or toggled via software initiated register settings. To determine which pin on the microcontroller is connected to a LED and how to access it from software, refer to the schematic of the microcontroller board. This pin will have numeric or alfanumeric value as well as an descriptive designation such as PTC7. Microcontroller Reference Manual: GPIO Information You will find high level information about GPIO usage in several different areas of a reference manual. See thereference-manual article for more general information. Relevant Chapters: Introduction: Human-machine interfaces - lists the memory map and register definitions for the GPIO System Modules: System Integration Modules (SIM) - provides system control and chip configuration registers Chip Configuration: Human-Machine interfaces (HMI). Signal Multiplexing: Port control and interrupts Human-Machine Interfaces: General purpose input/output Hardware As stated before, internal registers control whether a pin is high or low. Determining the polarity or orientation of your LED is important because this will let you know whether to set the associated pin in the HIGH or LOW state. The evaluation boards from Freescale all provide LED circuits like the one shown below. LED Circuit The circuit in figure (1) demonstrates a simple way to to power a LED. The circuit consists of connecting in a LED, resistor (which limits the current) and voltage source in series. LED's are semiconductors which convert current to light. When they are forward biased (turned on), electron and holes will recombine with no change in momentum, emitting a photon or light wave. Choosing the resistor is simple if you know the operating current requirements for your LED which are determined by reading the LED datasheet or specification document. R = (Vs - VL)/ IL Where V s is the power supply voltage, and V L is the Voltage Drop across the LED, and I L is the desired current through the LED.

Notes: Will ask - Do you want to add the Remote System to your workspace? Click yes Build - select flash Plug in your K40 board to the usb (tower is not needed in this step) Click on debug as it will ask you which configuration you want to launch: Select the internal flash one. Bottom right you will see it "Launching with a little green light indicating that it is programming your board. After clicking debug as, you will enter the debug Eclipse "view" nothing will happen until you press "resume" Download the Zip file which is located: LED BLINK 96MHZ How to: Set up a debug: Program the FLASH Click on project in codewarrior projects menu There is noe issue with the Kinetis chips errata 2448. The code which is in our zip file already has these changes made, but if you download Kinetis example code from the official freescale site instead of using the wiki code - it may not work. Read more about the work - around here: here ++ Test to make sure everything is working properly CodeWarrior typically defaults to a "pause" setting when the debug is first started. To test wheter the code is working you will need to press "resume"

This tutorial is meant to introduce you to the use of a push button. It will give an explanation and example code of how you could implement a push button. Push buttons can be a great way to set a number of different states. Push buttons are advantageous because you can change your code physically versus pulling up the debugger every time you want to make a little change. ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ Usage A button can have many different functions on your autonomous vehicle. Most notably the button has been used for testing to start, stop, or put your car in a configuration mode. Configuration mode would let you test to see if all the peripherals except the motors are working. This would help you test your camera data and servo angles without always having to run after your car. During your race you can even set your button to different speed states. Since you have two chance to traverse the track you may have a slower safer speed on one state and a faster speed the pushes the limit on another state. In the end, what you do with the button is up to you and the choices are unlimited. Description of Example Code Below there will be an example of how to implement a push button. This push button will be connected to PTA16. When reading this pin a high, "1" or 5V, is considered "OFF" and a low, "0" or 0V, is considered "ON." To reduce the effects of bounce and/or the chance of a false press, additional code has been added to filter the signal. This is done by checking the button every 10ms for 50ms. If the button has been pressed for 3 or more of the 5 times we will change the state, otherwise it will not be considered a "press." Button Initialization Here is the initialization code that can be put in a header such as "Button.h." #define BUTTONLENGTH 5   // Button's Defined State   // 0 means button not pressed   // 1 means button pressed short fButton = 0; short iButtonCount=0; short iButtonTimer=0;   // Button Triggered Start time short iButtonTime; void initButton() {   //turn on clock to Port A   SIM_SCGC5 |= SIM_SCGC5_PORTA_MASK;   // configure pin to be GPIO   PORTA_PCR16 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;   // configure PTA16 to be input   GPIOA_PDDR &= (0<<16);  } See GPIO for explanation of how these specific commands work. Button Implementation Below is an example of a function that implements the button function. This function can be stored in a header file "Button.h" along with the initialization code. To call this function you would just place "readButton();" in your 10ms Flextimer source code. Read comments for description of each line Void readButton () {                  short fButtonState  = 0;   // initializes the button state to "OFF"           iButtonCount++;            // increments button count      if (GPIOA_PDIR & (1<<16)) {                    // if button read as high then its off otherwise its on           fButtonState = 0;      } else {           fButtonState = 1;      }      if (fButtonState && ! fButton) {                          // if the button is pushed and it previously wasn't then start a count           iButtonTimer++;           if (iButtonTimer <= 1) {                                                             iButtonCount = 0;                                 // Reset the Button Count if the timer is less or equal to 1           }      } else if (! fButtonState && fButton) {           iButtonTimer++;           if ( iButtonTimer <= 1) {                iButtonCount = 0;                               // Reset the Button count if the timer is less or equal to 1           }      }      if ( iButtonCount > BUTTONLENGTH && iButtonTimer >0) {     // if button has been read for 50ms check to see if we passed the test!           if ( iButtonTimer > (3*BUTTONLENGTH/4) && fButton) {                // fButton = 0;           } else if (iButtonTimer > (3*BUTTONLENGTH/4) && ! fButton) {                fButton = 1;           }           iButtonCount = 0;           iButtonTimer = 0;     } }

MCU101 (Theory Topics)   Know Your Microcontrollers   Blink LED   Drive a DC Motor   Turn a Servo   https://community.nxp.com/docs/DOC-1030   Navigating Technical Documentation   C programming for Embedded System Software Tools CodeWarrior Software Development Tools & IDE CodeWarrior Beginners Tutorial (videos)   TRK-MPC 5604B Hardware Setup   Creating a new bareboard project   Debugging a bareboard project   Importing projects and merging code   Discussion of the header files (part 1)   Discussion of the header files (part 2) Qorivva Specific (with Code) Beginners Hands-on Tutorials Blink LED Drive DC Motor Turn A Servo Line Scan Camera Hardware https://community.nxp.com/docs/DOC-1016 DIY Camera Mounting Wiring Connections for TRK-MPC5604b Batteries Advanced Tutorial Series Push-Buttons   I2C Sensors using Kinetis K40 Miscellaneous Topics PCB design tips

1. Download CodeWarrior 2.8 Evaluation Version (Classic, Windows-hosted) To Program your microcontroller you will need to set up the CodeWarrior Integrated Development Environment. CodeWarrior is available on the Freescale.com Website. Method 1: Direct Link direct download link (Caution - link may not be up to date) Method 2: Navigate to the Download Link From Freescale.com click on: "Design Resources" tab at the top of the page, then navigate to "Software and Tools", and then to "Codewarrior Devleopment Tools" Click on the "Download CodeWarrior now link" Click on the Download Evaluation Versions link" Within this page, use your browser "find" feature (Typically CTRL-F) to search for the text string "V2.8" Click the "download" button next to "Evaluation: CodeWarrior for MPC55xx/MPC56xx Microcontrollers V2.8 (Classic)". and save it to your computer. 2. Install CodeWarrior To install CodeWarrior Development Studio for Microcontrollers v2.8, double-click the installation package and a wizard will guide you through the installation process. Installation Notes: Are you using Windows Vista or Windows 7? Evaluation Edition User: If you are installing the Evaluation Edition, the Evaluation license is automatically installed with your product and you do not need to register it. This license allows you to develop projects as Professional Edition within the 30-day evaluation period. After 30 days, the license works as Special Edition license (free permanent, but feature limited) which supports unlimited assembly code, up to 32KB of C code for HCS08/RS08 derivatives, up to 64KB of C code for V1 ColdFire derivatives and up to 128KB of C code for V2-V4 ColdFire and Kinetis derivatives and up to 512KB of C code for MPC56xx derivatives. Once you have finished downloading and installing CodeWarrior, users can return to Downloading and Installing P&E as part of the Blink a LED on Qorivva Tutorial

Video on YouTube done by the University of Applied Sciences of Munich about the Freescale Cup event held on March 18th Freescale Cup 2014 an der Hochschule München - YouTube

Kinetis Header Part 1 of 2

Overview An H-Bridge circuit has a control circuit, usually PWM, which then determines the switching of high-voltage supply to drive a current. Typical embedded H-Bridges can drive about 5A of current. In the case, of the Freescale Cup car the motors can sustain much more current resulting in more toque and faster speeds. Performance Tuning Tips 1. You can place H-Bridges in parallel to balance the current load. For example, if you place two 5A (peak) H-Bridge outputs in parallel, the system can support up to 10A current. 2. Keep it Cool. H-Bridge's dissipate A LOT of heat. Heat = increases inefficiency of a semiconductor, so the better job you do keeping it cool, the better (and longer) it will work for you. Operation Theory This is the simplest H-bridge, where the four gates represent for transistors. By manipulating these gates and connecting the upper and lower terminals to a voltage supply, you can control the motor in all the behaviors as below. H-Bridge States

The Kwikstik board is a great board for use in a Freescale Cup car! This page has some videos and example code to get you up and running quickly. For novice embedded developers it is recommended you use the FRDM-KL25Z for your Freescale Cup car. Board Tips The General Purpose TWRPI socket on the Kwikstik K40 board provides access to I2C, SPI, IRQs, GPIOs, timers, analog conversion signals, TWRPI ID signals, reset, and voltage supplies. The pinout for the TWRPI Socket is defined in Kwikstik User's Manual, but the user manual does not describe how to order a connector. Soldering and directly connecting to the pins on the socket itself is very risky and not recommended. When browsing for connectors that interface with the TWRPI sockets you have two main options. 1. The first is a surface mount chip, that is a female connector to connect with the male pins on the board. There are surface mount lead on the top of the chip which will be easier to solder to. The part number is: SFC-110-T2-L-D-A 2. The second option is a female connector which mates with the male connection on the board and is then terminated with a wire for each pin. This option can greatly simplify your wiring challenges on your car as any additional lengths or wires can easily be trimmed off. The part number is: SFSD-10-28-G-12.00-S Image of the SFSD-10-28-G-12.00-S with corresponding Kwikstik TWRPI socket. Connectors can be ordered from Samtec as samples at this website: [http://www.samtec.com/suddenservice/samples/samples.aspx] Useful Videos:   Creating a new baremetal project for a Freescale KwikStik http://www.youtube.com/watch?v=P8X079Qs7cg&feature=g-upl&context=G2f166b6AUAAAAAAADAA   Debugging a bare metal project on the Freescale Kwikstik. http://www.youtube.com/watch?v=nQhhfNJZL_o&feature=g-upl&context=G2dcfcd5AUAAAAAAAEAA   Importing projects and merging code. http://www.youtube.com/watch?v=A_h9W-QRHp8&feature=g-upl&context=G2354416AUAAAAAAACAA   A discussion of the header files (and how to use them!) for Kinetis Devices in Codewarrior V10. This is the first of 2 videos. I had to split them up as I cannot upload videos greater than 15 minutes in length. http://www.youtube.com/watch?v=EP2FydCX9tY&feature=g-upl&context=G2fdf3fcAUAAAAAAABAA   Second part of the Kinetis Header file discussion http://www.youtube.com/watch?v=ygjx-OkJuS4&feature=g-upl&context=G2792e97AUAAAAAAAAAA   Discussion on getting the Clock setup on the Kwikstik http://www.youtube.com/watch?v=_FQzXhLDP2w&feature=youtu.be   How to setup GPIO on the Kinetis. Includes discussion on enabled clocks to peripherals and setting up the pin control registers. http://www.youtube.com/watch?v=GXjRpsGJJt4&feature=youtu.be   How to use the SysTick peripheral in the Cortex core with interrupts http://youtu.be/8SRqlDkJwGU   Discussion of how to setup interrupts on the NVIC. The Flex timer is used as an example http://www.youtube.com/watch?v=_mClHzxm0Wk&feature=youtu.be   Example Programs: All of the programs are bare metal examples for CodeWarrior 10.1 that can be used on the Kwikstik board. Make sure to read all of the comments in the C files! How to Load Programs In CodeWarrior: Copy only the source files and header files into a new folder. Import that new folder into CodeWarrior to avoid debug problems.   ClockSetup - Systick This example will demonstrates how to enable the 4MHz Crystal on the Kwikstik. Early versions of the Kinetis silicon had bug in which the device could crash if the clock dividers are changed while executing from FLASH (errata e2448). This code places clock initialization code in RAM. The clock code is based upon routines from Kinetis Peripheral Module Quick Reference (Freescale document KQRUG.pdf). It also shows how to enable the SysTick module in the Cortex Core. The SysTick is used to provide a delay Function. ClockSetup - SysTick.zip     FlexTimer_NVIC_IRQ This code shows how to use the NVIC in the Cortex Core. The Flex Timer module is used to generate a periodic interrupt (similar to the SysTick example). FlexTimer_NVIC_IRQ.zip   LCD_Example This code will turn on segments on the LCD on the Kwikstik. The LCD driver code is derived from the MQX based example on the Kwikstik page. LCD_Example.zip   PWM_Test This code shows how to setup the flex timers to generate different styles of PWM. Note: One of the examples sets up the flex timer for pseudo-complementary PWM. It DOES NOT use the hardware based complementary mode. It writes 2 individual registers in a software routine. One should use this a starting point to enable full hardware based complementary mode. PWM_Test.zip   CameraTest This example is a basic example on how to interface to the Freescale Linescan Camera. It will display a rough approximation of the output on the LCD. CameraTest.zip Note: The code does not run with the camera by default. This is because the AOUT is set to the pin with the pull up resistor (J15 pin 4). Once changed it will work smoothly.

CW_NEW_PROJECT.wmv

All information can be found in this document