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

A examination of RC servos and their interface. Pulse width modulation will be reviews and a example configuration will be shown. View Video Link : 1465

Introduction to basic motor DC motor control. The concept of an H-Bridge will be shown as well as some useful ways to control the motor. View Video Link : 1467

How to create a basic project from scratch in Codewarrior for the the Freedom board. View Video Link : 1459

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

Data acquisition system for Kinetis K Family Author : Mauro Padin (Student) Supervisors : Professor Daniel A. Jacoby, Juan Pablo Vega (Teacher Assistant)   Summary:   This project is based on the FRDM-K64F board, a HC-05 Bluetooth module, and a smartphone. In this application, an analog signal is sampled and transmitted wirelessly to a smartphone, using an external Bluetooth module, where it is displayed. The complete CodeWarrior C code and MIT App Inventor code can be found in the .zip file. System Structure SysTick Module: Periodically triggers ADC conversions and UART transmissions. ADC Module: Samples the analog signal and manages the ADC input buffer. UART Module: Manages the UART output buffer and transmits the digitized data. Bluetooth Module: When connected, wirelessly transmits the data coming from the UART module. Smartphone App: Handles Bluetooth connection, receives the digitized data and manages the display.   Software Structure   A project template is provided to the students in order to establish a simple, and easy, program organization for the duration of the course. A portion of the template was built with the help of the Processor Expert so that, later on, the students would be able to understand its structure and limitations, and transition to this new tool. A wrapper was built around this auto-generated code and the resulting function, void __LDM_init (void), is to be used at the very beginning of the project given. This function mainly configures internal processor registers related to clock configuration.   The project is composed of separate files for each hardware and software module:   The template is composed of four files: LDM.c/h, main.c, and misc.h. The application is found in: App.c/h RTI, ADC, UART, LED Drivers are defined in: RTI.c/h, adc.c/h, uart.c/h, and LED.c/h.   The basic Driver structure consists of a void DRV_init(void) initialization, a set of void DRV_x_ISR(void) interrupt handlers, a set of void DRV_x_PISR(void) periodic interrupt handlers, and a set of void DRV_x services function. Only the initialization function is mandatory, the others being optional and dependent on the driver purpose. Service functions are interfaces between the application and the Driver and do not necessarily access any subjacent hardware. Indeed, this Driver structure can be nested and thus not handle any hardware at all. When a Driver function does access hardware, it is recommended to further use a Hardware Abstraction Layer to enhance productivity and improve portability.   Extracts of the system   As an example of the Driver Structure, the LED Driver is described below:   init void LED_init  (void)   ISR N/A   PISR void LED_PISR  (void)    Services void LED_write  (color_t color, bool value) void LED_set  (color_t color) void LED_clear  (color_t color) void LED_toggle (color_t color)   The entire application is interrupt driven, so that only initialization are necessary and the run loop is empty:   void App_init(void) {   LED_init();  // LED driver init function   uart_init();  // UART driver init function   adc_init();  // ADC driver init function   RTI_init();  // RTI driver init function }   void App_run(void) { }       Hardware interrupts are not serviced in their specific handler but referred to external handlers for readability and organization. The SysTick interrupt handler is composed of a ISR and a Service:   ISR_t SysTick_Handler(void) {   LED_isr code   ADC_conv code } The code for the smartphone side is depicted below:     Finally, a screenshot of the result:       Original Attachment has been moved to: -ADC-bluetooth-TP6.zip

This tutorial covers the details of Turning A Servo on the Kinetis K40 using TWR-K40x256-KIT evaluation board. Overview In this exercise you will build a “bare metal” (no RTOS) application which turns a servo, targeting a Freescale K40 board. You will: Create the Servo code in CodeWarrior Build the Servo project Download and run the code on a Kinetis K40 Tower System board Learn how to utilize the FlexTimer module to control a Servo   To successfully complete this exercise you need the following board and development environment. The K40 Tower card, TWR-K40x256 Tower Elevator Panels Servo Prototyping Board Power to your servo - either utilize the 7.2v Nicad Battery or a DC power supply CodeWarrior for Microcontrollers 1. Hardware 2. Create a New CodeWarrior Project 3. Build the Code 4. Download/Debug/Run 5. Learning Step: Servo Code Description Example Code Variables Init_PWM_Servo PWM_Servo PWM_Servo_Angle Set Up a Look-Up Table for Servo Angles Other K40 Tutorials: Links 1. Hardware   The first step of this tutorial requires you read the Turn A Servo article for background information on servo's, timer modules, PWM signals and counters. You will need to connect your servo to the microcontroller and also to a separate power source. 2. Create a New CodeWarrior Project The next step is to create a new project (or add this code to an existing project). 3. Build the Code If you have 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. If you encounter errors, look in the Problems view and resolve them. You can ignore any warnings. 4. Download/Debug/Run This link shows a video of the servo turning the wheels from left to right in small increments http://www.youtube.com/watch?v=QgwASk9DHvU&feature=relmfu 5. Learning Step: Servo Code Description Your code will sweep your servo from max to minimum angular position, and then back again continuously. Example Code This code sets up the Pulse Width Modulation Timer Module for use by a servo. It is set to utilize Edge-Aligned PWM, and this file properly configures the period, and pulse width for use by the other modules Several important functions are contained in this file: 1. Init_PWM_Servo () - initializes the timer module 2. PWM_Servo (double duty_Cycle) - enter the desired duty cycle setting for the servo 3. PWM_Servo_Angle (int Angle) - enter the desired angle for the servo Straight forward - PWM_Servo_Angle (45) Full left - PWM_Servo_Angle (90)Full right - PWM_Servo_Angle (0)   4. Servo_Tick - interrupt routine which executes once/servo period PWM_Servo (double duty_Cycle) Init_PWM_Servo () PWM_Servo_Angle (float Angle) void ServoTick() Variables FTM0_CLK_PRESCALE TM0_OVERFLOW_FREQUENCY Pulse_Width_Low Pulse_Width_High Total_Count Low_Count Scale_Factor Angle Init_PWM_Servo Void Init_PWM_Servo () { //Enable the Clock to the FTM0 Module SIM_SCGC6 |= SIM_SCGC6_FTM0_MASK;  //Pin control Register (MUX allowing user to route the desired signal to the pin.  PORTC_PCR4  = PORT_PCR_MUX(4)  | PORT_PCR_DSE_MASK; //FTM0_MODE[WPDIS] = 1; //Disable Write Protection - enables changes to QUADEN, DECAPEN, etc.  FTM0_MODE |= FTM_MODE_WPDIS_MASK; //FTMEN is bit 0, need to set to zero so DECAPEN can be set to 0 FTM0_MODE &= ~1; //Set Edge Aligned PWM FTM0_QDCTRL &=~FTM_QDCTRL_QUADEN_MASK;  //QUADEN is Bit 1, Set Quadrature Decoder Mode (QUADEN) Enable to 0,   (disabled) // Also need to setup the FTM0C0SC channel control register FTM0_CNT = 0x0; //FTM Counter Value - reset counter to zero FTM0_MOD = (PERIPHERAL_BUS_CLOCK/(1<<FTM0_CLK_PRESCALE))/FTM0_OVERFLOW_FREQUENCY ;  // Count value of full duty cycle FTM0_CNTIN = 0; //Set the Counter Initial Value to 0 // FTMx_CnSC - contains the channel-interrupt status flag control bits FTM0_C3SC |= FTM_CnSC_ELSB_MASK; //Edge or level select FTM0_C3SC &= ~FTM_CnSC_ELSA_MASK; //Edge or level Select FTM0_C3SC |= FTM_CnSC_MSB_MASK; //Channel Mode select //Edit registers when no clock is fed to timer so the MOD value, gets pushed in immediately FTM0_SC = 0; //Make sure its Off! //FTMx_CnV contains the captured FTM counter value, this value determines the pulse width FTM0_C3V = FTM0_MOD; //Status and Control bits FTM0_SC =  FTM_SC_CLKS(1); // Selects Clock source to be "system clock" or (01) //sets pre-scale value see details below FTM0_SC |= FTM_SC_PS(FTM0_CLK_PRESCALE); /******begin FTM_SC_PS details **************************** * Sets the Prescale value for the Flex Timer Module which divides the * Peripheral bus clock -> 48Mhz by the set amount * Peripheral bus clock set up in clock.h *  * The value of the prescaler is selected by the PS[2:0] bits.  * (FTMx_SC field bits 0-2 are Prescale bits -  set above in FTM_SC Setting) *  *  000 - 0 - No divide *  001 - 1 - Divide by 2 *  010 - 2 - Divide by 4 *  011 - 3 - Divide by 8 *  100 - 4 - Divide by 16 *  101 - 5 - Divide by 32 *  110 - 6 - Divide by 64 - *  111 - 7 - Divide by 128 *  ******end FTM_SC_PS details*****************************/ // Interrupts FTM0_SC |= FTM_SC_TOIE_MASK; //Enable the interrupt mask.  timer overflow interrupt.. enables interrupt signal to come out of the module itself...  (have to enable 2x, one in the peripheral and once in the NVIC enable_irq(62);  // Set NVIC location, but you still have to change/check NVIC file sysinit.c under Project Settings Folder } PWM_Servo Void PWM_Servo (double duty_Cycle) {          FTM0_C3V =  FTM0_MOD*(duty_Cycle*.01); } PWM_Servo_Angle //PWM_Servo_Angle is an integer value between 0 and 90 //where 0 sets servo to full right, 45 sets servo to middle, 90 sets servo to full left void PWM_Servo_Angle (float Angle) {    High_Count = FTM0_MOD*(Pulse_Width_High)*FTM0_OVERFLOW_FREQUENCY;    Low_Count = FTM0_MOD*(Pulse_Width_Low)*FTM0_OVERFLOW_FREQUENCY;    Total_Count = High_Count - Low_Count;    Scale_Factor = High_Count -Total_Count*(Angle/90);     FTM0_C3V = Scale_Factor; //sets count to scaled value based on above calculations } Set Up a Look-Up Table for Servo Angles int main(void) {   //Servo angles can be stored in a look-up table for steering the car.   float table[n] = { steering_angle_0;    steering_angle_1;    steering_angle_2;   ……    steering_angle_n-1    };   Steering_Angle = table[x];   PWM_Servo_Angle (Steering_Angle); // Call PWM_Servo_Angle function. } Other K40 Tutorials: K40 Blink LED Tutorial K40 DC Motor Tutorial Kinetis K40: Turning A Servo K40 Line Scan Camera Tutorial Links Kinetis K40 TWR-K40X256-KIT

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)

The Embedded World trade show is a European reference for Embedded Technologies. The exhibition and conference continues to grow and attract exhibitors and attendees from all regions of EMEA. Freescale has a large demonstration booth in Hall 4A and, for the 2nd year in a row, we also have a Freescale University Programs presentation area in the entrance all, right outside Hall 4A. The 25m2 demo space for the University Programs this year include robotics and automotive demonstrations from the following Universities: Technical University of Munich: eCARus electric buggy featuring S12 and Qorivva CAN & FlexRay automotive networks and i.MX display University of Applied Sciences Munich with K60 Tower kits running Pong tennis game University of Applied Sciences Ingolstadt with a MPC5604B 3 dimensional camera stabilization system mounted on a 6-copter drone University of Applied Sciences Deggendorf with Kinetis Tower mini-robots University of Applied Sciences Landshut with ColdFire FSLBOT University of Applied Sciences Nuremberg with a ROS communication robotic arm demo ported on i.MX535 Technical University of Ostrava with a search/rescue robot featuring i.MX31 HMI interface on remote control and HCS12 radar control system In addition we have a video presentation of the Freescale Cup.

This guide provides all the participants of the Freescale Cup finals with the key information to get organised during the event. This is the final version

Campeão Brasileiro 2011 POLIposition Team PSI USP

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:

Freescale cup 2012 Team 3.14 Slovakia Bratislava High speed camera 400fps