In this video we will look at the example code provided for the FRDM-TFC for use with the mbed development environment. Alternatively, you can see the same example code as it is used with CodeWarrior here:

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:

Este proyecto está siendo desarrollado por alumnos del Tecnológico de Monterrey Campus Guadalajara, el cual está orientado para servir como un tipo de terapia para personas discapacitadas. El proyecto en sí consiste en el control de un vehículo de juguete por medio de pulsaciones que serán realizadas con pelotas anti-estrés, de esta forma la persona podrá realizar un ejercicio de fortalecimiento en sus extremidades superiores de una forma más entretenida y menos tediosa que las clásicas terapias. Es importante mencionar que para poder realizar este proyecto es necesario el uso de dos tarjetas Freedom KL25Z de Freescale®, dos módulos Bluetooth®, dos servomotores de rotación continua y dos sensores de presión, los cuales serán incorporados dentro de las pelotas anti-estrés. El vehículo de juguete estará compuesto por los servomotores, que servirán como llantas; un módulo Bluetooth®, el cual recibirá las señales del otro módulo; y una de las tarjetas Freedom KL25Z. Por otro lado una de las tarjetas Freedom KL25Z estará conectada con los sensores integrados en las pelotas anti-estrés y a un módulo cuya función es mandar la información capturada por los sensores al vehículo de juguete. La mecánica del proyecto depende de la pelota que sea presionada, pues si se presiona solamente una pelota, el vehículo avanzará, por otro lado si se presiona la otra pelota, el vehículo girará sobre su propio eje. Este proyecto tiene como fin la implementación de conocimiento prácticos y teóricos en busca de una aportación en beneficio de la sociedad. También es relevante comentar que las visiones a futuro de este proyecto es que pueda ser implementado como una especie de control para una silla de ruedas, con el fin de facilitar la movilidad y aumentar la comodidad al momento de usar este tipo de vehículo. Original Attachment has been moved to: Codigo-tarjetas-freedom.zip

In this training video we will examine some concepts in approaching a vehicle control system.  This includes the stages in data flow and update rates of the control software.   The concept of differential steering will be introduced.

A Livecast has been set up for you to enjoy The Freescale Cup EMEA Finals on 28-29 April that are hosted at the Politecnico of Torino. Connect on Freescale Cup 2015 live streaming - SeLM - Politecnico di Torino

WARNING If you stumble across the "getting started page" FREEDOM BOARD / CORTEX M0+ GETTING STARTED Please take note: While working with a large number of Freedom boards in a course,  it was observed that the Init Clock Routines would *sometimes* not work.    *Some* of the crystals on the freedom boards do NOT like "HIGH_GAIN" mode.   change the line   pll_init(8000000, HIGH_GAIN, CRYSTAL, 4, 24, MCGOUT); to   pll_init(8000000, LOW_POWER, CRYSTAL, 4, 24, MCGOUT);

Footage from the technical inspection taken during The Freescale Cup 2015 Worldwide Finals. Credit: Fraunhofer IIS         

Footage highlights of the Freescale Cup Worldwide finals race 2015. Credit: Fraunhofer IIS

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. Freescale K40 MCU Tower Module: 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

En este video puedes consultar paso a paso la descarga e instalación del CodeWarrior 10.4 para microcontroladores. Accede a la liga www.freescale.com/cwmcu10

Video footage highlights taken during The Freescale Cup Worldwide Finals 2015 Award Ceremony Credit: Fraunhofer IIS

In this training video we will decompose an NTSC video signal to gaining understanding of how to capture video data from a "analog" camera.

25 student teams from 21 universities coming from 11 countries will meet on 29-30 April for the Freescale Cup EMEA Challenge. Check out the event information at https://www.facebook.com/events/1425416907713292/

Freescale Cup China - Two Wheel Self Balancing Challenge 2012 In China they have another tier of competition in which the cars must complete the track autonomously while balancing on the rear wheels. For this challenge they use a charged wire in the track for which to sense and navigate the vehicle by. Really cool!

Lecture 1: Introduction and Motor Basics  This training module presented by Professor L. Umanand of CEDT, Indian Institute of Science, Bangalore provides an overview of the Freescale Cup – 2011. It introduces to the challenge describing the various components of the intelligent car tracker. Lecture 2: Pulse Width Modulation  This lecture provides an overview of Pulse Width Modulation Lecture 3: Control Design  This lecture describes controller design and PID control Lecture 4: Speed and Position  This Lecture discusses integrating your PID with sensor data Lecture 5: MPC5607B Overview  This training module provides an overview of the 32-bit Qorivva MPC5607B Processor. The course is targeted towards beginners in order to enable them to quick start the development of software on the MPC5607B.

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

The TRK-MPC560xB: MPC560xB StarterTRAK (Development Kit) is a Freescale evaluation board powered by the qorivva chip. The Qorivva microcontrollers family is a set of 32 bit Power Architecture chips. Which Chip do you have? The chipset mounted on the boards for the Freescale Cup can vary. Always validate your chipset to know it's full capabilities. MPC560xB Product Information Page Difference Highlights: 5604B = 512MB Code Flash; no DMA 5606B = 1MB Code Flash; Has 16-Channel DMA 5607B = 1.5Mb Code Flash; Has 16-Channel DMA TRK-MPC5604B 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. TRK-MPC5604B Hardware Setup Instructions Lectures: The Freescale Cup – Lecture 5: MPC5607B Overview Overview Slides from lecture Overview Slides from Lecture (PDF) other Lectures from the Freescale Cup Lecture Series Other Qorivva Tutorials: qorivva-blink-led qorivva-drive-dc-motor qorivva-turn-a-servo qorivva-line-scan-camera Board Tips Important Documents TRK-MPC5604B User's Manual TRK-MPC5604BQuick Reference Guide TRK-MPC5604B Schematics Reference manual External Links TRK-MPC5604B Webpage [Qorivva Freescale Hosted Kinetis Discussion Forum] [ ???? Community Website]

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

Footage taken using the Fraunhofer IIS Eagle Cam attached to the Car from the Politecnico of Torino on the final track layout. Credit: Fraunhofer IIS