Here is a simple example developed at Politecnico di Torino, to show how the NXP CUP car can be managed using Simulink-generated code. The Simulink model is intended to move the car forward and backward for 20 seconds, or until an obstacle is found. Any comment is welcome.

This tutorial covers the details of Blinking an LED on the Kinetis K40 using the TWR-K40X256-KIT evaluation board. It will introduce the evaluation board, and some basic CodeWarrior features. Overview 1. Hardware 2. Set up the Software Development Environment A. Download and Install Codewarrior B. Download and Install Drivers 3. Set up the Hardware: Twr K40x256 Hardware Setup 4. Import the LED Project 5. Build the Code 6. Download/Debug/Run 7. Learning Step: LED Code Description Read/Write Functions Variables Header File Definitions Initialize the GPIO Blink the LED: Other K40 Tutorials: K40 Related Pages Credits / References Overview   In this exercise students will explore a Freescale Cup Car application which targets a Freescale K40 board attached to the Tower System.   Students will: Configure the Software Development Environment Configure the evaluation board hardware Learn how to import example files into a CodeWarrior project Build a project Download and run the code on a Kinetis K40 Tower System board Learn how to utilize the GPIO Peripheral to blink a LED     To successfully complete this exercise, students will need the following board and development environment. The K40 Tower card, TWR-K40x256 CodeWarrior for Microcontrollers USB Cord 1. Hardware     Read the Blink LED overview article for general information on LED circuits, GPIO pins and reference manuals.   2. Set up the Software Development Environment   There are several steps necessary to prepare the evaluation board and PC for microcontroller programming and development. Interfacing the evaluation board with a PC requires downloading and Install the CodeWarrior IDE, as well as the device drivers for programming the microcontroller via USB. A. Download and Install Codewarrior   Before completing this example project, download-and-install-codewarrior-10-1 or the latest version compatible with the twr-k40x256-kit.   B. Download and Install Drivers   In addition to CodeWarrior, it may(needs verified) be necessary to install one or both of the following tools: RAppID initialization tool- RAppID comes on the DVD provided with your evaluation board. In the main directory of the DVD, click on the "TRK_MPC5604B.html" file to open the DVD interface which provides user manuals, software, schematics and documentation for the evaluation board. P&E Microcomputer Systems, Inc drivers- P&E is a a computer driver for the TRK-MPC5604B and Kinetis Tower system device, enabling evaluation board programming via USB through the CodeWarrior debug OSJTAG interface. This driver can be downloaded here in case this isn't found on the disk.   3. Set up the Hardware: Twr K40x256 Hardware Setup   There are several Twr K40x256 hardware configuration steps. Follow the twr-k40x256-hardware-setup instructions before importing the LED Project. 4. Import the LED Project   After the software is successfully downloaded and installed, the next step is to import an existing project into your Workspace. in this case, the LED_BLINK_96MHZ Project. Follow the instructions on the codewarrior-project-import page to import the LED_BLINK_96MHZ project into CodeWarrior. If errors are encountered, look in the Problems view and resolve them. Ignore any warnings. 5. Build the Code   If there is more than one project in your project view, make sure the proper project is the focus. The most reliable way to do this is to right click the project and choose Build Project as shown below. You can also go to the Project menu and choose the same command. By default, the application is set to link to RAM. If you want your program in FLASH, make sure that you have that build configuration enabled:     Make sure you do a "Clean" operation (under the project menu) after you make the configuration change. If you encounter errors, look in the problems view and resolve them. You can ignore any warnings. 6. Download/Debug/Run   If the project builds correctly, it is time to download to the board and watch it work. Ensure that the USB cable that came with the board connects the board to the host computer’s USB port. There are multiple ways to issue the Debug command. Right click the project in the projects view and choose Debug As->CodeWarrior Download. Alternatively, y go to the Run menu and choose Debug (F11). Click the Resume button and your should see the LED blinking! Click the Pause button to stop execution. Click the Terminate button to end debugging. 7. Learning Step: LED Code Description Read/Write   If the LED was on Port C, Bit 7 we might have code like: #define LED_E1_Location(1<<7)   For example, to toggle a pin the following code might be used: GPIOC_PSOR=LED_E1_LOC     "Sets" the LED located at "E1" high.   the syntax means the following GPIOC refers to Port C   "Set" is one of three commonly utilized commands for GPIO control. There are also commands for "Clear" and "Toggle."   Command: "GPIOC_PSOR" literally means PORT SET OUTPUT REGISTER which SETS a pin high Command: "GPIOC_PCOR" clears a pin, PORT CLEAR OUTPUT REGISTER which CLEARS a pin to the "low" state Command: "GPIOC_PTOR" toggles a pin opposite of the current state   the « is a "shift" command which is discussed in the c-programming-for-embedded-systems. You can alter the raw register as well using a MASK but the dedicated set/clear/toggle registers are more straightforward.   **NEEDS UPDATED ** Hardware Chip Port/Pin Comment SW3 PT cell-content SW4 cell-content cell-content Functions   The following functions can access the LED; //Where n is the LED number LED_En_TOGGLE;  //will toggle a LED to a different state LED_En_ON; // turns the LED ON LED_En_OFF // turns the LED OFF Variables   Locations of the LED's LED_E1_LOC LED_E2_LOC LED_E3_LOC LED_E4_LOC Header File Definitions   from k40_TOWER_BOARD_SUPPORT.h //The E1 LED is on Port C, Bit 7 #define LED_E1_LOC (1<<7) #define LED_E2_LOC (1<<8) #define LED_E3_LOC (1<<9) #define LED_E4_LOC (1<<11)    //There are dedicated set and clear registers.    //Write a one to PSOR Sets the Bits, Writing to PCOR clears bits.    //Toggling a bit can be done with the PTOR register    //You can access the raw register as well -> PDOR |= My Bit    //but the dedicated bit set/clear/toggle registers are easier!    //Also, The cathode of the LEDs are towards the port pin! This means    //you have to turn the port off to get the LED to turn the pin on. #define LED_E1_OFF   GPIOC_PSOR=LED_E1_LOC #define LED_E1_ON   GPIOC_PCOR=LED_E1_LOC #define LED_E1_TOGGLE   GPIOC_PTOR=LED_E1_LOC #define LED_E2_OFF   GPIOC_PSOR=LED_E2_LOC #define LED_E2_ON   GPIOC_PCOR=LED_E2_LOC #define LED_E2_TOGGLE   GPIOC_PTOR=LED_E2_LOC #define LED_E3_OFF   GPIOC_PSOR=LED_E3_LOC #define LED_E3_ON   GPIOC_PCOR=LED_E3_LOC #define LED_E3_TOGGLE   GPIOC_PTOR=LED_E3_LOC #define LED_E4_OFF   GPIOB_PSOR=LED_E4_LOC #define LED_E4_ON   GPIOB_PCOR=LED_E4_LOC #define LED_E4_TOGGLE   GPIOB_PTOR=LED_E4_LOC Initialize the GPIO   From K40_TOWER_BOARD_SUPPORT.c void InitK40GPIO() {    SIM_SCGC5 = SIM_SCGC5_PORTA_MASK | SIM_SCGC5_PORTB_MASK | SIM_SCGC5_PORTC_MASK | SIM_SCGC5_PORTD_MASK | SIM_SCGC5_PORTE_MASK;    //To use a Port, its Clock must be enabled!!    //Lets just enable the clocks for ALL of the ports    //Important! Each IO pin has a dedicated 32-bit Register to set it up (Selection GPIO vs peripheral, IRQ, Etc.)    //Setup port C7,C8,C9 and B11 as GPIO and enable High Drive Strength    PORTC_PCR7 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;  //Enable GPIO on on the pin    PORTC_PCR8 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;  //Enable GPIO on on the pin    PORTC_PCR9 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;  //Enable GPIO on on the pin    PORTB_PCR11 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;  //Enable GPIO on on the pin    PORTC_PCR18 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;    PORTE_PCR28 = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;    //Make Sure the GPIO is setup to be an output    GPIOC_PDDR |= LED_E1_LOC | LED_E2_LOC | LED_E3_LOC;    GPIOB_PDDR |= LED_E4_LOC;    LED_E1_OFF;    LED_E2_OFF;    LED_E3_OFF;    LED_E4_OFF; } Blink the LED:   Within Main.c or any other C file created, Blink the LED's using the following functions: LED_E1_TOGGLE; LED_E1_ON; LED_E2_OFF; Other K40 Tutorials:   K40 Related Pages   K40: Turning A Servo Tutorial   K40: Drive DC Motor Tutorial Kinetis K40 TWR-K40X256 K40: Blinking LED Credits / References   Some of the content from this tutorial originated from:   Shawn Moffit: Electrical Engineering, Penn State University for - K40 Code   Processor Expert Hands-On Lab Rev. 1.0, 05/2011 by Jim Trudeau, Freescale Semiconductor, Inc. for - some text descriptions of steps Original Attachment has been moved to: LED_BLINK_96MHZ.zip

For details on how to use the Motors, visit theDC Motor Tutorial Images Boards before 2013 Current Board Rev. 0 Rev. 1 Technical Details Revision 1 (Schematics, design files, sample code, instructional videos) Revision 0 (Schematics) H-Bridge Specifications Freescale MC33931 Datasheet Pro Tips: #1 - Electro-Magnetic Interfence (EMI) This has been mitigated in the rev. 1 board. In many cases the dc drive motors give off much EM interference causing poor data from the camera, and decreasing the servo motor performance substantially. In most cases around a PWM value of 20-25 duty cycle at the drive motors, caused detrimental problems. This problem was remedied in two ways, (1) connecting capacitors between the motor leads, the closer to the drive motor the better; (2) There is a way to connect the camera directly to the kwikstik and bypass the motor board. #2 - Rev. 0 Board workaround to Enable Braking This has been fixed in the rev. 1 board. In order to go forward AND backwards, you have to have control over IN1 and IN2 (see table below). If you look at the schematic, you can see that IN1 is directly connected to GND. In order to enable breaking you need to lift pin 43, solder a wire to it and control it properly. Tutorials General Tutorial on the DC Motor Control Qorivva: DC Motor Tutorial Kinetis Tower: DC Motor Tutorial Design evolution of motor board prior to 2010 - Freescale Cup Cars utilized the MC33932EVB 2010~2012 - Freescale Cup teams migrated to the current Interface/Motor board featuring Dual H-Bridges [Not manufactured] Tower and Trak Compatible Interface/Motor Control Board (Design files if you want to make one!) 2013+ - FRDM-KL25Z shield

One option for mounting the FRDM-KL25Z Freescale Freedom board to the car chassis. [no audio] Important Note:  Secure the wires coming from your motors!!  (I used a zip tie in the video)  If they are allowed to flex at the joint where the wire connects to the motor, it will eventually fail.

prueba con una linea recta y una ligera curva a maxima velocidad

Review the design and operation of the Freescale linescan camera included with the TFC-KIT. A high level overview of the sensor IC interface will be shown to the audience. View Video Link : 1471 and Video Link : 1472

Entrenamiento acerca del MCG de la herramienta de desarrollo Freedom, para los microcontroladores Kinetis L series. Para acceder al material completo visita: https://community.freescale.com/docs/DOC-95205

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

Find the complete material at: https://community.freescale.com/docs/DOC-95205

Freescale Cup shield introduction for use with the FRDM-KL25Z or similar development board. Steps through the schematic of the FRDM-TFC shield and explain it's interfaces, logic, and use.

Continue showing how to start a project from scratch.  In this second part,  we will see how to import new files into a CodeWarrior project to build a project. View Video Link : 1458

The Freescale Cup East China 2013 challenge video 2 After formal competition finished in East China, we gave a challenge and asked teams to try a hill with >30 angle, some cars successes

In this video we will discuss clock distribution in the KL25Z device. An example of initializing the PLL with the on-board crystal will be demonstrated.

Find the complete material at: https://community.freescale.com/docs/DOC-95205

Find the complete material at: https://community.freescale.com/docs/DOC-95205

This video will examine how can design speed sensing into their vehicle platform.   An example of magnet and sensor placement is shown.

After formal competition finished in East China, we gave a challenge and asked teams to try a hill with >30 angle, some cars successes

The Freescale Cup Brazil 2012 Semifinal and Final National Competition was held on October 25th, 2012 in the Designing with Freescale Market Solutions Seminar Sao Paulo. Universities from all over the country participated in the challenge by creating a high-speed, autonomous, race of RC scale cars. Part of Freescale's University Programs to promote engineering in the classroom... Are you Ready to Participate?

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!

Find the complete material at: https://community.freescale.com/docs/DOC-95205