Entrenamiento acerca de Code Warrior 10.4 presentado por Carlos Musich.

Line scan camera data processing - Part II

Line scan camera data processing - Part I

One option for mounting the camera on the Freescale Cup car.  The only additional components you need are two zip ties. [no audio]

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

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.

Illustrates some basic concepts with respect to microcontroller design tools. A generic design flow will be introduced to orient the audience to the most common steps in the software development process.

Review the servo example code provided in the FRDM-TFC. TPM peripheral initialization and a simple driver interface will be shown. View Video Link : 1464

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

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

Sifting through technical documentation is part of an engineers job.  Sometimes these documents can be hundreds or thousands of pages long, so knowing where to makes life much easier.  This article is going to try to help you navigate smarter... Freescale has the following structure for technical documents: Reference Manuals (Usually end with "RM") - These are typically the thick manuals.  You will find sections detailing operation, registers, and electrical characteristics. Data Sheet (Usually ends with "DS") - These are quick summaries of the specifications of the device.  Includes electrical characteristics such as operating voltages, input and output minimum and maximum ranges.  In addition to environmental characteristics such as temperature ranges and graphs of performance vs. certain conditions. Schematic (_SCH) - This is typically referred in terms of board designs.  A schematic is useful in finding out how and where an external thing (LED, button, Display) is connected to the microcontroller.  Fact Sheet (_FS) - This is generally overview type information.  Useful when you are trying to determine which microcontroller you want to use.  Errata - Sometimes there are bugs in the chip.  When these are discovered the company issues an errata.  Sometimes the item get's fixed in the next revision of the chip, sometimes you just work around the problem.  If you think it should be working and it's not check the erratas! Tips and Tricks Use the search or find function all the time. Shortcut key '''(Ctrl-F).''' Use two monitors. Have the document open in one, search or browse to what you need to find and simply copy and paste the configuration information into your IDE. Search tips:  Use the pin name.  (I.e. PTC, PORTA, or FTM) Save trees only print out what you need. Commonly Used Acronyms: PDB - Programmable Delay Block FTM - Flex Timer Module ADC - Analog to Digital Converter DAC - Digital to Analog Converter MCG - Multipurpose Clock Generator SPI - Serial Programming Interface CnV - Channel n Value CNTIN - Counter Initial Value SIM - System Integration Module SIM_SCGCn - System Integration Module, System Clock Gating Control Register CMP - Comparator Module SIM - Provides system control and chip configuration registers. You will use this to turn on the clocks to particular peripherals. The SIM_SCGC

Freescale india and CEDT, IISc organised Freescale Cup - Smart car race india 2011 Final Run of Grand Prize(Rs. 1,00,000) winner team from NIT,Surat. Student... Amit Tank, Atit JAriwala, Vivek Kholia, Suraj Das

This tutorial covers the details of Driving a motor on the on the Kinetis K40 using the TWR-K40x256-KIT evaluation board. Overview In this exercise students will utilize the sample project to turn a motor on and off using the TWR-K40x256-KIT evaluation board. Students will: Put together the car chassis Create a Sample Project Build the code Download and run the code on a Kinetis TWR-K40x256 board. Learn how the code works   To successfully complete this exercise students will need the following board and development environment. Kinetis TWR-K40x256 board Motor Driver Board Freescale Cup Chassis with the Motors connected 7.2v Nicad Battery CodeWarrior for Microcontrollers Recommend completing the the Blink LED Tutorial before undertaking this Tutorial Put together the Car Chassis:   There are several steps in this process: Build the Freescale Cup Car Chassis Hardware Design Step Review the Driving A DC Motor Article If needed, obtain background information on motors, timer modules, PWM signals and counters by navigating to the driving a DC motor article. Design and Implement The Hardware 1. You will need to connect the Tower K40 to the Motor Board via the TWR-PROTO or some other mechanism. 2. You will need to connect the Motor Board to the DC motors and Battery This link shows a video of the motors spinning. They start from Off and slowly pick up speed http://www.youtube.com/watch?v=kY2bRiICzwc&feature=relmfu Motor Controller Board This board takes the low-voltage, low-power "control" signals from the MCU and through an H-Bridge takes ahigh-voltage, high-power power supply (the battery) to drive the motors. Motor Board page. 1. Be careful with the wires connected to the motor. Constant flexing of the solder connection can result in joint failure. If this happens, just re-solder it. 2. The wires which protrude from the motors of The Freescale Cup Chassis are in the format of Insulated Crimp On Bullet Connectors. These can be found at Radio Shack if they are missing from the kit. 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. Learning Step: Motor Code Description Functions Variables The edge-aligned mode is selected when (QUADEN = 0), (DECAPEN = 0), (COMBINE 0), (CPWMS = 0), and (MSnB = 1). The EPWM period is determined by (MOD − CNTIN + 0x0001) and the pulse width (duty cycle) is determined by (CnV − CNTIN). The CHnF bit is set and the channel (n) interrupt is generated (if CHnIE = 1) at the channel (n) match (FTM counter = CnV), that is, at the end of the pulse width. This type of PWM signal is called edge-aligned because the leading edges of all PWM signals are aligned with the beginning of the period, which is the same for all channels within an FTM. Initialize the Motor void InitMotorPWM()  {     //Enable the Clock to the FTM1 Module     SIM_SCGC6 |= SIM_SCGC6_FTM1_MASK;     // PORTC_PCR4 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;   //Enable GPIO on on the pin -     //route the output of that channel 0 to the pin... (pick a different multiplexer value for routing the timer)     //ch 11.4.1 of the k40 reference manual is the pin control register     //For port c pin 1..   bits 10-8  Pin Mux Control...     PORTA_PCR8  = PORT_PCR_MUX(3)  | PORT_PCR_DSE_MASK;     PORTA_PCR9  = PORT_PCR_MUX(3)  | PORT_PCR_DSE_MASK;     // Choose EDGE-Aligned PWM:  selected when QUADEN=0, DECAPEN=0, COMBINE=0, CPWMS=0, and MSnB=1  (page 964)     // Properly set up Flex Timer Module     //FTM0_MODE[WPDIS] = 1; //Disable Write Protection - enables changes to QUADEN, DECAPEN, etc.      FTM1_MODE |= FTM_MODE_WPDIS_MASK;     //FTMEN is bit 0, need to set to zero so DECAPEN can be set to 0     FTM1_MODE &= ~1;      //Set Edge Aligned PWM     FTM1_QDCTRL &=~FTM_QDCTRL_QUADEN_MASK;      //QUADEN is Bit 1, Set Quadrature Decoder Mode (QUADEN) Enable to 0,   (disabled)     //FTM0_SC = 0x16; //Center Aligned PWM Select = 0, sets FTM Counter to operate in up counting mode,     //it is field 5 of FTMx_SC (status control) - also setting the pre-scale bits here   //   Also need to setup the FTM0C0SC channel control register  - Page 897   section 37.3.6   FTM1_CNT = 0x0; //FTM Counter Value - (initialize the CNT before writing to MOD)  (16 bit available - bits 0-15 are count)   FTM1_MOD = FTM1_MOD_VALUE; //Set the Modulo resister (16 bit available - bits 0-15), Mod is set to 24000   FTM1_CNTIN = 0; //Set the Counter Initial Value to 0   (pg 915)   //change MSnB = 1   FTM1_C0SC |= FTM_CnSC_ELSB_MASK;   FTM1_C0SC &= ~FTM_CnSC_ELSA_MASK;   FTM1_C0SC |= FTM_CnSC_MSB_MASK;   FTM1_C0V = FTM1_MOD_VALUE/2; //Set the Channel n Value to  (16 bit available - bits 0-15)   //Set the complimentary pinout   FTM1_C1SC |= FTM_CnSC_ELSB_MASK;   FTM1_C1SC &= ~FTM_CnSC_ELSA_MASK;   FTM1_C1SC |= FTM_CnSC_MSB_MASK;   FTM1_C1V = FTM1_MOD_VALUE/2;   FTM1_SC = FTM_SC_PS(0) | FTM_SC_CLKS(1);    // Interrupts   FTM1_SC |= FTM_SC_TOIE_MASK; //enable the interrupt mask   enable_irq(63);  // (79-16) Set NVIC location, but you still have to change/check NVIC file sysinit.c under Project Settings Folder } Set the PWM of the Motor void SetMotorPWM(float DutyCycle) {    //float compDuty = (float)100.0-DutyCycle;    FTM1_C0V =(int)((DutyCycle*.01)* (float)FTM1_MOD_VALUE);    FTM1_C1V =(int)((1.0-DutyCycle*.01)* (float)FTM1_MOD_VALUE); } Create Interrupt when motor functions are complete void MotorTick() { if (MotorTickVar < 0xff)//if motor tick less than 255 count up...    MotorTickVar++; //Clear the overflow mask if set    if(FTM1_SC & FTM_SC_TOF_MASK)    FTM1_SC &= ~FTM_SC_TOF_MASK;    //LED_E2_TOGGLE; // ends up being ___ Hz (correct) } Calling the Motor function The function SetMotorPWM(MotorPwm) turns the motor at the "MotorPwm" rate from 0-49 (backwards), 50 (stall) and 100 (forwards).

Project Summary Skills Developed: Materials: Step 0: Prerequisite Videos Step 1: Get a FRDM-JAM Step 2: Put it Together Step 3: Download Step 4: Hack and Slash! Sound Samples Utilities, etc: Project Summary MonkeyJam will use the FRDM-K20D50 board (which has a Cortex M4 core with DSP instructions) along with the FRDM-JAM shield so you can  make your very own guitar /bass  stomp box.  The end result will be a functional DSP system that will allow you to do high quality amplifier simulation and effects. The FRDM-JAM does not limit you to DSP on musical instruments!  There are 3.5mm stereo jacks to DSP filtering any type of audio signal.    You could even use the USB interface to create a USB-MIDI Synthesizer!  Lastly,  no need to bring the house down.....  a headphone amplifier circuit is provided so you can jam out without bothering the neighbors. MBED Support coming *very soon* Skills Developed: Real Time Processing DSP Algorithms Fixed Point Mathematics 24-bit I2S Data Converter Interfacing Soldering SOIC8 and 1206 Surface mount devices Cortex CMSIS DSP Library Materials: FRDM-K20D50 FRDM-JAM Development Tools Install Codewarrior 10.5 for Microcontrollers (Eclipse) Special Edition to your  machine Example Code Get the latest copy from Github Step 0: Prerequisite Videos The videos are organized into a nice YouTube playlist: H.I.T 1: Monkey Jam - YouTube https://www.youtube.com/playlist?list=PLWM8NW5LEukgM-D5eRMtKZ8R2WfXnqKGp MonkeyJam Watch Me 1st FRDM-JAM Hardware Overview MonkeyJam Software Overview Introduction to Fixed Point Math for Embedded Systems - Part 1 of 3 Introduction to Fixed Point Math for Embedded Systems - Part 2 of 3 Introduction to Fixed Point Math for Embedded Systems - Part 3 of 3 Real Time Signal Processing Part 1 of 3 Real Time Signal Processing Part 2 of 3 Real Time Signal Processing Part 3 of 3 q31_t (Q0.31) Number Format for the CMSIS DSP Libraries and the MonkeyJam Software Guitar physics in a nutshell Ideas for hacking the MonkeyJam Step 1: Get a FRDM-JAM MonkeyJam Build Package on the FRDM-JAM site.    Please let us know if you are interested in a pre-assembled version.  If there is enough demand we will get some preassembled for purchase, I will get a Kickstarter going!   Don't be afraid to build it yourself,  Soldering is fun!  There is plenty of good stuff on the web on how to do SMT soldering.  All of the parts on the board are fairly simply once you get the hang of it and everything can be hand soldered  The key is having some decent tools. Step 2: Put it Together Attach the FRDM-JAM to the FRDM-K20D50.  The FRDM-K20D50 comes with female headers that you can solder on so the boards can be easily separated.  Note that as of Rev Gamma (current version),   it is possible to connect to a K64F.    The software isn't quite there but it hardware connections are available.   If you are unsure,  stick with the FRDM-K20D50 Step 3: Download Download the Example Software from Github.  The video "Loading and Configuring the MonkeyJam Example Software" will step you though downloading the program and doing some basic configuration. Step 4: Hack and Slash! Plug In and jam! Sound Samples Each sound sample was my Carvin Ultra-V guitar plugged direct into the MonkeyJam Board.  The output was fed to a Zoom Handy Recorder H4n (Thanks to Brandin Claar of Remodulate LLC for the recorder).  The H4N recorded the signal at 44.1KHz Sample rate @16-bit.  The sound files were converted to mono format via Goldwave.  No processing (other than a  volume boost on the files) was performed.   I listen to the recording in real-time via a line out on the H4N.  File (See Attachments) Patch Notes STE-003-Neck-a12b12g12-mlike.wav PATCH_TUBEY_CLEAN Neck Pickup Alpha Pot - 12 O'Cock Beta Pot - 12 O'Cock Gamma Pot - 12 O'Cock Pattern Similar to Metallica Sanitarium STE-005-Neck-a7b5g5-mlike.wav PATCH_TUBEY_CLEAN Neck Pickup Alpha Pot - 7 O'Cock Beta Pot - 5 O'Cock Gamma Pot - 5 O'Cock Pattern Similar to Metallica Sanitarium STE-006-Neck-a12b7g5-mlike.wav PATCH_TUBEY_CLEAN Neck Pickup Alpha Pot - 12 O'Cock Beta Pot - 7 O'Cock Gamma Pot - 5 O'Cock Pattern Similar to Metallica Sanitarium STE-007-Neck-VariousSettings-d-g-em_strum.wav PATCH_TUBEY_CLEAN Neck Pickup The pots were moved around throughout the file Strummed D-Major, G-Major and E-Minor STE-008-Neck+Bridge-VariousSettings-d-g-em_strum.wav PATCH_TUBEY_CLEAN Neck + Bridge Pickup The pots were moved around throughout the file Strummed D-Major, G-Major and E-Minor STE-009-Bridge-VariousSettings-d-g-em_strum.wav PATCH_TUBEY_CLEAN Bridge + Bridge Pickup The pots were moved around throughout the file Strummed D-Major, G-Major and E-Minor STE-010-Neck-VariousSettings-Jammy.wav PATCH_TUBEY_CLEAN Neck + Bridge Pickup The pots were moved around throughout the file B-Minor Type Jam STE-011- Bridge - Various Settings - On-Off Demo-RandomDroppedD.wav PATCH_OVERDRIVE Bridge Pickup Alpha Pot - 5 O'Cock Beta Pot - 12 O'Cock Gamma Pot - 12 O'Cock Random Dropped D twiddling STE-012- Neck - Various Settings - On-Off Demo-Jammy.wav PATCH_OVERDRIVE Neck Pickup Alpha Pot - 5 O'Cock Beta Pot - 7 O'Cock Gamma Pot - 7 O'Cock Random B-Minor twiddles (bluesy) PATCH_OVERDRIVE             +––––––––––––––––––+      +––––––––––––––––––––––––––+      +–––––––––––––––––––––+                               |                  |      |                          |      |                     |                    Signal In  |    IIR BiQuad    |      |      Hard Overdrive      |      |      IIR BiQuad     |  Signal Out       +–––––––––+>|                  +––––+>|                          +––––+>|                     +–––––––––––––+>                |   [Peaking EQ]   |      | [atan24pi Look Up Table] |      |  [Low Pass Filter]  |                               |                  |      |                          |      |                     |                               +––––––––––––––––––+      +––––––––––––––––––––––––––+      +–––––––––––––––––––––+                                                                                                                                                     0.1 < Q < 1.5    [Pot Alpha]                                     Q = 0                                                                                                                                                              50 < Fs < 750    [Pot Gamma]                                   Fs = 2000                                                                                                                                                          -20 < dbGain < 20  [Pot Beta]                                                                                                                                                                                        PATCH_TUBEY_CLEAN              +––––––––––––––––––+      +––––––––––––––––––––––––––+      +–––––––––––––––––––––+                               |                  |      |                          |      |                     |                    Signal In  |    IIR BiQuad    |      |      Soft Overdrive      |      |      IIR BiQuad     |  Signal Out       +–––––––––+>|                  +––––+>|                          +––––+>|                     +–––––––––––––+>                |     [LowShelf]   |      | [atan4pi Look Up Table]  |      |  [Low Pass Filter]  |                               |                  |      |                          |      |                     |                               +––––––––––––––––––+      +––––––––––––––––––––––––––+      +–––––––––––––––––––––+                                                                                                                                                     0.05 < Q < 2.58   [Pot Alpha]                                     Q = 2.0                                                                                                                                                             1000 < Fs < 4000    [Pot Beta]                                   Fs = 2500                                                                                                                                                      -15 < dbGain < 15  [Pot Gamma]                                                                                                                                                                                    Utilities, etc: Biquad Filter View - A IIR Biquad Filter Design &amp; Visualization Tool

INTRODUCTION Hi everyone, Making/Developing/Porting a Bootloader is a tedious task for newbies (even for professionals) and inexperienced hobbyists who wish to use them on their custom hardware for rapid prototyping. After searching a lot on different forums I came to a conclusion that I cant develop a bootloader just like that so my next option was porting ,that too wasnt easy if you are going with old bootloaders with limited support. I then found a very easy and efficient way of rapid software development platform that can be used on almost any IDE (Keil,Codewarrior,KDS,etc.) and can be used to develop softwares like USB MSD Bootloaders,Serial Bootloaders and other applications for almost all Freedom Development Boards ,Freescale Kinetis MCUs (on a Custom Development Board ) with minimal ARM Programming Knowledge, which is perfect for newbies like me who are just starting with ARM Development using freescale or other boards.See Welcome to the homepage of the µTasker operating system with integrated TCP/IP stack, USB and target device simulator Now my project was to make custom board using MK22DX256VLF5 (48 LQFP) MCU ,my board is a rather a simple one using basic filtering circuits for powering the MCU and almost all the pinouts given as hardware pins on the dev board.Somehow I was able to flash my first blink code using Keil IDE using the OpenSDA circuitry of FRDM-KL25Z (J-11 trace cut ) with CMSIS-DAP firmware (OpenSDA app ) loaded on to it using SWD Programming. With the steps mentioned below I'll show you how to port a Mass Storage Device (MSD) Bootloader using uTasker project from scratch. REQUIREMENTS Programmer(Hardware) or Emulated Programmer(OpenSDA apps): Segger Jlink, P&E Multilink ,OpenSDA Emulators (Jlink-SDA, CMSIS-DAP,USBDM ) IDE :Keil,Codewarrior, Kinetis Design Studio etc. (I prefer CW 10.6 ) Target MCU: Choose any MCU between Kinetis,Coldfire V2,STM32  (I am using Freescale Kinetis MK22DX256VLF5 ,48 LQFP ) refer - http://www.utasker.com/ PROCEDURE 1. Lets start by downloading the uTasker project/framwork (for Kinetis ) from µTasker Kinetis Developer's Page . Then extract and copy the folder to your CW workspace ,import the project to CodeWarrior IDE, It should look like this. (I am using version 14-9-2015)   2.Next Select "uTaskerSerialLoader_Flash" from the Five build configurations (refer http://www.utasker.com/docs/uTasker/uTaskerSerialLoader.PDF  ).uTaskerBM_Loader is described in http://www.utasker.com/docs/uTasker/uTasker_BM_Loader.pdf This is a very small loader alternative that works together with an initial application. uTaskerV1.4_BM_FLASH is the application to build so that it can be loaded to a loader (including the USB-MSD one). uTaskerV1.4 is a 'stand-alone' version of the application that doesn't work together with a loader (and doesn't need a loader).If you want to build application to load using the USB-MSD loader you need to use uTaskerV1.4_BM_FLASH. after that find the files config.h and ap_hw_kinetis.h.These files define the type of MCU you use. 3.In config.h Select your board or MCU type or the closest MCU resembling the architecture of your own MCU. My MCU  MK22DX256VLF5 was not there so with a little help from mjbcswitzerland  I chose TWR_K21D50M Board settings as TWR-K21D50M module is a development board for the Freescale Kinetis K11, K12, K21 and K22 MCUs. (Note : Be sure to remove or comment any other defined boards ) After Selecting the Board/MCU scroll down to find USB_INTERFACE and USB_MSD_LOADER and make sure that these two are defined (not commented ).This is necessary to enable USB enumeration as Mass storage device. Also comment the following if already defined : HID_LOADER KBOOT_HID_LOADER USB_MSD_HOST This is necessary as we are using our Bootloader in MSD Device Mode not in MSD Host Mode. Also we arent using HID_LOADER and KBOOT. Now open  ap_hw_kinetis.h and Find your selected MCU (in my case its TWR_K21D50M ) So, Find the String "TWR_K21D50M" (or whatever your MCU is ) and see if the follwing lines are defined. #define OSC_LOW_GAIN_MODE #define CRYSTAL_FREQUENCY    8000000  #define _EXTERNAL_CLOCK      CRYSTAL_FREQUENCY #define CLOCK_DIV            4                                      or    #if(..........)         #define CLOCK_MUL        48                                            #define SYSTEM_CLOCK_DIVIDE 2                                      #else         #define CLOCK_MUL        24 #endif     #define USB_CLOCK_GENERATED_INTERNALLY Here comes an integral part of USB MSD Bootloading/Programming.You must be wondering about CRYSTAL_FREQUENCY  8000000 and  CLOCK_DIV   4  .This is the frequency of an external crystal oscillator  (8mhz) connected between EXTAL0 and XTAL0 pins of the Target MCU.If your MCU has an internal oscillator then check whether the latter is defined. refer- https://cache.freescale.com/files/microcontrollers/doc/app_note/AN4905.pdf          http://www.utasker.com/kinetis/MCG.html There are two ways to be able to use USB: 1. Use a crystal between EXTAL0 and XTAL0 - usually 8MHz is used. (with or without load capacitor -both worked for me ) 2. Use a 48MHz oscillator on the USB-CLKIN pin. First one is easier and it worked for me.Since my MCU doesnt have an internal oscillator I have used and External 8Mhz crystal. If you want to use a 16Mhz crystal then just make the following changes : #define CRYSTAL_FREQUENCY    8000000 #define _EXTERNAL_CLOCK      CRYSTAL_FREQUENCY #define CLOCK_DIV            4                                 TO #define CRYSTAL_FREQUENCY    16000000 #define _EXTERNAL_CLOCK      CRYSTAL_FREQUENCY #define CLOCK_DIV            8 Note: The CLOCK_DIV should be such that it prescales the crystal frequency to range of 2-4MHz. Here is the clocking diagram of My MCU.The next diagram shows an oscillator crystal connected externally to my dev board. Next search for "PIN_COUNT" under your corresponding MCU/Board (mine is TWR_K21D50M).My MCU is 48 LQFP with 256kb flash and 32kb SRAM (you have to change them according to your MCU ).So I have changed the following lines                              from   #define PIN_COUNT           PIN_COUNT_121_PIN                         #define SIZE_OF_FLASH       (512 * 1024)                          #define SIZE_OF_RAM          (64 * 1024)                              to   #define PIN_COUNT           PIN_COUNT_48_PIN                      #define SIZE_OF_FLASH       (256 * 1024)                              #define SIZE_OF_RAM          (32 * 1024)  Next if you search for your MCU/Board (in this case TWR_K21D50M) ,you will find this line : #define UART2_ON_E This defines the alternative port for UART2,since many boards doesnt have PORTE ,it can be chaned to other ports. [its not important though] Note : When building the serial loader for a device with small RAM size reduce the define #define TX_BUFFER_SIZE (5512) to 512 bytes so the buffer can be allocated (the large size was used only for some debugging output on a larger device) [loader version :14.9.2015] Now search for the String "BLINK_LED" under your corresponding MCU/Board ( mine is TWR_K21D50M ) .The uTasker Bootloader has a special function ,whenever it is in MSD/LOADER mode it blinks a test LED on the board.This is not important but it can be used for debugging purposes.I have a test LED on my board at PORTB16 .You can also specify hardare pins to force bootloader mode and to stop watchdog timer if you pull SWITCH_3 and SWITCH_2 down to ground respectively.I am setting SWITCH_3 and SWITCH_2 as PORTD7 and PORTD6 respectively. Now on the toolbars go to Project > Properties > C/C++ Build > Settings > Tool Settings > Target Processor :Change it to your MCU type (mine is cortex-m4 ) .Next go to Linker >General and change the linker script file to match your MCU's flash,RAM,Type.I have set mine to K_256_32.ld (Kinetis K type processor with 256kb flash and 32 kb RAM) Apply your changes.Now you are ready to go. 4.  Build your project under SerialLoader_FLASH configuration .If there are no compilation errors then you have done it! (if there are then recheck everything with this guide ) Now Click the Flash programmer icon a and Select Flash File to Target. (if your not getting the icon switch to "DEBUG" perspective view ) Now you may choose your Programmer (or emulated programmer )[connection tab] ,select the correct Flash configuration file ,then browse for the binary file that has been generated under C:\Users\<computer user>\workspace\Kinetis_14-9-2015\Applications\uTaskerSerialBoot\KinetisCodeWarrior\uTaskerSerialBoot_FLASH\uTaskerSerialBoot.bin and Click on "Erase and Program". You may skip Step 5 and go to Step 6. 5.I am using the OpenSDA circuitry of my FRDM-KL25Z (J-11 trace cut ) as a programmer using J-link OpenSDA app. Download the app from SEGGER - The Embedded Experts for RTOS and Middleware, Debug Probes and Production Programmers - OpenSDA / OpenSDA V2 depending on your OpenSDA version (FRDM KL25Z has OpenSDAv1). Refer - Using the Freedom Board as SWD Programmer | MCU on Eclipse 5.1.First Enter bootloader mode and Flash the Jlink sda app into it.Connect the SWD wires from the board to your  Target MCU/Board ,also connect the target board        to the external oscillator.Also connect the FRDM's OpenSDA through USB. (A drive with the name JLINK Should come )                                          5.2. Go to Flash File to target and under connections tab click new. give any name and click new under Target Tab.Then select the target type (your target MCU ,mine is                      K22DX256M5).Then check Execute Reset under Initialization Tab. Click finish.    Now you'll get the option to select connection type ,then choose J-Link/J-Trace for ARM and change the Debug port interface to SWD .If you get the error :connection name is not        unique then just change the name (I have used jlink1).Click Finish.     Now I have set up my connections so I can flash the MCU with Jlink app on my OpenSDA circuitry. 6. Now to verify USB Enumeration of your Custom Board ,connect it to PC using USB and you should get a drive with the name UPLOAD_DISK.

On this page you will find additional notes to chassis assembly you may find useful. Examples of components used are obtained from the http://www.soselectronic.com/ distributor. Cables To connect battery you will need cable shown at the image top right. You can use the cable provided with the car and add an appropriate connector to its end. This usually requires special crimping tool, so it may be more appropriate to buy the "Tamyia charging cable" (shown on the bottom left side of the image above), cut the banana ends and attach the connector to the board. If you search for the appropriate type of the connector, it is called usually Tamiya charging connector, Tamiya jack 6,3 mm (SOS code 70479) or similar. Another cable you have to assemble is a power supply cable for the microprocessor board. You will need approx. 10-15 cm long cable with the barrel jack (SOS code 3834) or similar on one end and 2-pin 2.54mm connector (e.g. SOS code 4934 + 4937) on the other end. NOTE: Never power the microprocessor board and interface boards from different power supplies! In such case the grounds on both boards are not connected and you can damage the board. The grey flat ribbon cable that interconnects the boards is for signals only, there is no common GND connection! Battery You may find (as we did) the provided cable strips too weak to hold the battery on the place. Replace them with the classic electricians cable strips (e.g. SOS code 67504). Also do not forget that the batteries need to be charged fully the first time you charge them or they will not be able to fully charge in the future. If you jump the gun because you want to test your code as soon as you can you will hurt yourself later as we found our battery was absolutely shot in later stages of our build. Motor wires To attach the motor to the interface board you may find (as we did) the cables too short. Then remove 6 screws on the bottom (see image on the left), open the motor box and desolder the short wires. Replace with approx. 15 cm long silicon cables at least 1mm2. End of the cables should be connected to the 3-pin connectors with the 3,9mm pitch (e.g. SOS order code 5914 ) - see image on the right. Again, the contacts should be attached using a special crimp tool. Camera To attach the camera we found useful to prepare two metal L-shaped pieces made from aluminium. With the help of black plastic distance posts (already available in the kit) and these metal stands, you may freely change the position of the camera over the surface. You may use following files to cut the required shapes (drawing was made using the QCad program): Preview (.pdf) CAD file (.dxf)   Base board There was no motherboard in the kit, so you will need to provide your own. To make life easier, we offer you our CAD files created with QCad program. You may use it to produce your board. We use plexiglass for ours, but any other plastic material is appropriate. The large hole in the middle is for cables from the servo. We attach the board to the car using the plastic standoffs (you will need them 55 mm long, so in our case, we used the combination of 40 + 15 mm) - see an example (SOS code 10260). To attach both the processor and interface boards the simillar 5mm plastic standoffs were used. Preview (.pdf) CAD file (.dxf) Getting all together Please, notice the orientation of cables, especially the power supplies. You may find useful following connection diagram. Enlarged Schematic (.png) NOTE: Never power the microprocessor board and interface boards from different power supplies! In such case the grounds on both boards are not connected and you can damage the board. The grey flat ribbon cable that interconnects the boards is for signals only, there is no common GND connection! Servo Motor connectors The parts provided are extremely flimsy and if you snap them in and the wheels are not perfectly straight the wheels will align wrong when the servo first turns on. First off just concentrate on one wheel at a time and we found it useful to have one person hold the wheel straight while the arm was in the proper position and then we used needle nose pliers to quickly and precisely snap the pieces into the wheel. Don't be afraid to use some muscle we hesitated a few times at first because it didn't look good but it was fine.

Take some time to get yourself familiar with C programming before you continue on the programming tutorial. Here is a list of topics that you should be comfortable with, and a couple of good tutorials below. Topics included: Program Structure Commenting Variables Keywords Data Types Decimal, Binary and Hexadecimal Equivalents ASCII Text/Number Conversion Math Operators Increment & Decrement Shift Logical Operators Bitwise Operators Loops If Statement Switch Statement Functions Recursion Local Variables vs. Global Arrays Pointers Typdef, struct and union Preprocessor Directives Static, const and Volatile Keywords Tutorial 1: PSU Intro to C for Embedded Design   From PSU Freescale Cup Senior Design Course Tutorial 2: Learning Programming with C This Freescale course consists of a collection of lessons that will introduce you to the fundamentals of programming using the C programming language. Coding for Readability Sometimes when a project has the ability to grow with new features, it is best to code in modules. This allows one to easily take a more modular approach to designing their program. Despite the fact that C does not support Classes like C++ does, you can create structures that can be addressed globally with little code, which is especially useful for microcontroller based projects. An example of a structure which will be made global: This goes in the globals.h file typedef struct {   unsigned char ServoPWM;   char ServoAngle;   unsigned char DrivePWM;   int TimeOut;   int Current;   int Speed; } sMotor; extern volatile sMotor Motor; This will go in any other file that we want our structure to be accessible from #include <Globals.h> volatile sMotor Motor; This is how to address the variable in the structure #include <Globals.h> volatile sMotor Motor; If you decided to have two distinguishable motors you could do this in the globals.h extern volatile sMotor Motor1; extern volatile sMotor Motor2; Then do this in the other files volatile sMotor Motor1; volatile sMotor Motor2; Helpful Hints In developing an algorithm to detect the line position, we found two basic errors in the coding practice which caused catastrophic errors in line detection. Both of these tips are very basic coding practice. First, when using C code, it usually benefits the user to initialize all variables to some value, especially if computations are involved. Often times when the value wasn't initialized it would seem to acquire a wrong value seemingly from nowhere. Secondly, when doing calculations with arrays, make sure to do calculations with array indices that actually exist. Many times we would make the mistake in our loops of trying to use an index that wasn't assigned a value. Therefore it would acquire an unknown value from memory that caused errors in our calculations.

Check the Freedom Zumo Robot designed with the Freedom Kinetis FRDM-KL25Z. Check the full development at The Freedom Zumo Robot | MCU on Eclipse