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

This tutorial covers the specific details of obtaining data from the line scan camera on the Qorivva TRK-MPC5604B board. This tutorial will help students familiarize themselves with how to interface the camera with the microcontroller, how to configure GPIO pins to create clock signals and also how to utilize the microcontroller's ADC to read the data from the camera. Outside of control algorithms, configuring the camera is one of the more complex tasks necessary to create a Freescale Cup Vehicle. 1. Overview 2. Hardware 3. Set up the Hardware: Line Scan Camera/Microcontroller Hardware Setup 4. Build the Code 5. Download/Debug/Run 6. Learning Step Functions Calling the Function Variables Setting threshold. (This can give you a simple view of what your camera sees without connecting it to a scope) Sample Code Download Link Alternative Examples Other Qorivva Tutorials: Links External 1. Overview In this exercise students will access the line scan camera, create a clock signal and create the initialization pulse which tells the camera to begin the exposure period. This tutorial will not describe line recognition or line following algorithms - these concepts are beyond its scope. Students will: Open the example file using Codewarrior Build a project Download the code to the board connect the microcontroller to the camera via the motor control board Run the program view the camera data, clock and Si pulse on an oscilloscope To successfully complete this exercise, students will need the following board and development environment: TRK-MPC5604B Motor Drive Board Version A Freescale Cup TRK-MPC5604B compatible Car Kit CodeWarrior for Microcontrollers v 2.8 P&E Micro Toolkit Freescale Line Scan Camera USB Cord Knowledge of how Pointers and arrays are utilized in C 2. Hardware   Read the Obtain Data From Line Scan Camera overview article for general information on the camera, ADC, and GPIO microcontroller configuration settings. Connect the sensors, motor drive board and microcontroller of your car according to the TRK-MPC5604B chassis build instructions 3. Set up the Hardware: Line Scan Camera/Microcontroller Hardware Setup It is crucial for an engineer to have the proper test equipment and tools for the job. In this case, without an oscilloscope, students will not be able to verify whether the proper signals are being sent to the camera, or that the camera is working properly. 4. 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. If errors are encountered, look in the Problems view and resolve them. For now ignore any warnings. 5. Download/Debug/Run Download the code to your board, once this process is complete resume the project so that the code runs. 6. Learning Step What will happen: the function ImageCapture() is called in main.c with a pointer to the first element in the array. This function completes the processes necessary to capture images using the camera. To become more familiar with Pointers and Arrays - navigate to the C Programming Tutorial. Knowledge of Pointers and Arrays is a pre-requisite for understanding the Camera Code. Functions void CAMERA(void) {   TransmitData("****Line Sensor Test****\n\r");   SIU.PCR[27].R = 0x0200; /* Program the Sensor read start pin as output*/   SIU.PCR[29].R = 0x0200; /* Program the Sensor Clock pin as output*/   for(j=0;j<2;j++)   //for(;;)   {   SIU.PCR[27].R = 0x0200; /* Program the Sensor read start pin as output*/   SIU.PCR[29].R = 0x0200; /* Program the Sensor Clock pin as output*/   SIU.PGPDO[0].R &= ~0x00000014; /* All port line low */   SIU.PGPDO[0].R |= 0x00000010; /* Sensor read start High */   Delay();   SIU.PGPDO[0].R |= 0x00000004; /* Sensor Clock High */   Delay();   SIU.PGPDO[0].R &= ~0x00000010; /* Sensor read start Low */   Delay();   SIU.PGPDO[0].R &= ~0x00000004; /* Sensor Clock Low */   Delay();   for (i=0;i<128;i++)   {   Delay();   SIU.PGPDO[0].R |= 0x00000004; /* Sensor Clock High */   ADC.MCR.B.NSTART=1; /* Trigger normal conversions for ADC0 */   while (ADC.MCR.B.NSTART == 1) {};   adcdata = ADC.CDR[0].B.CDATA;   Delay();   SIU.PGPDO[0].R &= ~0x00000004; /* Sensor Clock Low */   Result[i] = (uint8_t)(adcdata >> 2);    }   Delaycamera();   //printlistall();   }   printlistall(); } Calling the Function within the main for loop in main.c, call the camera function using the following code: for (;;)   {   CAMERA();   } Variables Creates an 128x1 array for camera data information volatile uint8_t Result[128]; /* Read converstion result from ADC input ANS0 */   Setting threshold. (This can give you a simple view of what your camera sees without connecting it to a scope) #define THRESHOLD (2.0 /*volts*/ / 0.03125) // 8-bit A/D = 31.25mV/bit CAMERA(); // read line sensor, 128x1 pixel result returned in Result[128] array // print result for (i = 16; i < 112; ++i) // ignore the first and last 16 bits in the camera frame   if (Result[i] < THRESHOLD)   TransmitCharacter('1'); // black (low intensity)   else   TransmitCharacter('0'); // white (high intensity) Sample Code Download Link Qorivva Sample Code Download Link Alternative Examples Application Note 4244 and Software. Other Qorivva Tutorials: 1. Qorivva: Blink LED 2. Qorivva: Drive DC Motor Tutorial 3. Qorivva: Turning A Servo 4. Qorivva: Line Scan Camera Tutorial Links Qorivva Overview https://community.nxp.com/docs/DOC-1019 External TRK-MPC5064B Freescale Webpage TRK-MPC5064B Freescale Reference Manual TRK-MPC5064B Freescale Schematic

All information can be found in this document

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.

This is the Academic Training that took place for Professors at Guadalajara.  Freescale Engineers provided this training that was detailed enough for the new Freescale technology users. Find below the slides, the presentation videos (in Spanish) and the lab tutorials with the CodeWarrior projects compressed in the attached file. Module Slides Training Videos in Spanish Lab Tutorial 2014 Training Slides DownloadAll Open SDA OPENSDA Flash a binary file OpenSDA Code Warrior 10.4 CodeWarrior10.4 CodeWarrior 10.4 CW Installation My first KL25 project CodeWarrior 10.x ARM Cortex M0+ ARM CortexM0+ ARM Cortex M0+ Cortex M0+ General Purpose Input Output Module GPIO GPIO GPIO GPIO Multipurpose Clock Generator Module MCG MCG MCG MCG Video Low Power Timer Module LPTMR LPTMR LPTMR LPTMR Timer PWM Module TPM Overflow   OutputCompare  PWM TPM Nested Vectored Interrupt Controller Module NVIC NVIC NVIC NVIC Universal Asynchronous Receiver/Transmitter Module UART UART UART UART Inter-Integrated Circuit Module I2C I2C I2C Analog to Digital Converter Module ADC ADC No Video ADC SampleCode If you have any question on suggestion, please comment below. Also available in the Faculty Portal

To comply with the rule that mentions that “One processor - No auxiliary processor or other programmable device is allowed”. Participants must check the camera used for the competition. The camera cannot have a processing unit that processes the image for localization, polarization, auto contrast or auto focus. The only authorization is for a compression engine (no image processing, only compression). An Analog to Digital external converter can be used. Such as AD7276/AD7277/AD7278. For any additional cameras, please contact your Regional Freescale Cup Coordinator. They can confirm if the camera can be used and it will be added to this list for further inquiries. Camera Allowed: TSL1401R−LF TSL1401-DB SEN-11745 OV-5116N Melexis MLX75306 Linear Optical Array Some restricted cameras and some examples why: OV-2540 This camera can be programmed and processes the image output. Not allowed. CM-26N/P This camera has • Auto gain, • Auto contrast and • Auto focused. OV6630 C3038 VGA OV7670

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

This tutorial covers the details of Blinking an LED on the TRK-MPC5604B: MPC5604B StarterTRAK evaluation board. It will introduce the evaluation board, and some basic CodeWarrior features. Overview Hardware Set up the Software Development Environment A. Download and Install Codewarrior B. Download and Install Drivers Sample Code Serial Debugging: I made the hardware modifications for serial debugging: I did not make the hardware modifications for serial debugging: Download/Debug/Run Learning Step: LED Code Description Functions Blink the LED(s): Other Qorivva Tutorials Useful Links to Technical Data Overview In this exercise students will run sample code and build an application which enables testing of the Qorivva TRK-MPC5604B board. Students will: Configure the Software Development Environment Configure the evaluation board hardware Learn how to open CodeWarrior project example files Build a project Download and run the code on TRK-MPC5604B 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. TRK-MPC5604B evaluation board CWX-MPC-5500P-EX: Evaluation: CodeWarrior for MPC55xx/MPC56xx Microcontrollers V2.8 (Classic) RAppID initialization Tool P&E Micro Driver Software Hardware Read the MCU 101: LEDs article for general information on LED circuits. The LED's are located on the board and visible in the board schematic on page 4 as below: This schematic is found here. 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 installing 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 for MPC56xx 2.8 or the latest version. 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 device, enabling evaluation board programming via USB through the CodeWarrior debug OSJTAG interface. This driver can be downloaded here Because this isn't found on the disk. Sample Code To use the Hyperterminal communications features described in the following sections and in the attached sample code you must populate the U5 on your TRK-MPC5604B board. Qorivva Sample Code Download Serial Debugging: To use hyperterminal style debugging through the Serial port you must populate U5 with a RS232 transceiver and C55. I made the hardware modifications for serial debugging: From the Start menu Run the hyper terminal by using All programs> Accessories> Communications> HyperTerminal and make COMx properties port s ettings as Baud rate 115200, Data bits 8, Parity None, Stop bits 1 and Flow control None. 8. In the project menu select make (or F7) you will get few warning messages. I did not make the hardware modifications for serial debugging: In the project menu select MAKE (or F7) you will get few warning messages and can ignore them. Next select Debug option (or F5) from project menu. The debug window opens with few sub windows such as Code, Status and CPU etc. To run the program, select the Source GO menu button. Note: Much of the code in the sample file is utilized to send and receive messages serially. Some quick, minor changes can be applied as follows: Open main.c within the for loop, remove or comment out all the code. Now, manually call the specific function desired, in this case: for (; ; )      {           LED();      } Download/Debug/Run In sample.mcp project manager window target selection window is set to the default RAM. This means the code runs in the RAM. This target option can be changed using the drop down menu to internal_FLASH. This means the code runs in the flash and this code can run without debugger when the board is powered up. You can select either RAM target or internal_FLASH target for the following test procedure. If you select internal_FLASH target you can test the standalone operation of the board. If you encounter errors, look in the Problems view and resolve them. You can ignore any warnings. 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). Learning Step: LED Code Description Within the sample code, there is a for loop which calls a switch statement. With working hyper-terminal and proper serial connector interface into a PC, entering the numerical characters "1" - "9" into the hyper-terminal will call each separate function initiating the following actions Blinks Leds & outputs text strings to hyperterminal Calls the Switch function - which sends text strings to hyperterminal indicating which switch has been pressed Calls the Servo function which sweeps the servo back and forth; sends text strings to hyperterminal Calls the motor function which enables and disables the left motor; sends status text strings to hyperterminal Calls the motor function which enables and disables the right motor; sends status text strings to hyperterminal Calls the Camera function which sends the correct signals to the camera and reads the data; sends status text strings to hyperterminal Calls the Left_Motor_Current function; sends status text strings to hyperterminal Calls the Right_Motor_Current function; sends status text strings to hyperterminal   (hyperterminal code documentation needs verified ) TransmitData("\n\r**The Freescale Cup**");         TransmitData("\n\r*********************");         TransmitData("\n\r1.Led\n\r");         TransmitData("2.Switch\n\r");         TransmitData("3.Servo\n\r");         TransmitData("4.Motor Left\n\r");         TransmitData("5.Motor Right\n\r");         TransmitData("6.Camera\n\r");         TransmitData("7.Left Motor Current\n\r");         TransmitData("8.Right Motor Current");         TransmitData("\n\r**********************"); option = ReadData(); option = 1;     switch(option)         {             case '1':                 LED();             break;             case '2':                 SWITCH();             break;             case '3':                 SERVO();             break;             case '4':                 MOTOR_LEFT();             break;             case '5':                 MOTOR_RIGHT();             break;             case '6':                 CAMERA();             break;             case '7':                 LEFT_MOTOR_CURRENT();             break;             case '8':                 RIGHT_MOTOR_CURRENT();             break;             default:             break;          } As visible from the schematic - the LED's are accessed via the following ports. Hardware Chip Port/Pin Comment LED1 PE4 LED2 PE5 LED3 PE6 LED4 PE7 Functions The following function is utilized in the code to blink the LED's This function is located in main.c void LED(void) {    SIU.PCR[68].R = 0x0200;  /* Program the drive enable pin of LED1 (PE4) as output*/    SIU.PCR[69].R = 0x0200;  /* Program the drive enable pin of LED2 (PE5) as output*/    SIU.PCR[70].R = 0x0200;  /* Program the drive enable pin of LED3 (PE6) as output*/    SIU.PCR[71].R = 0x0200;  /* Program the drive enable pin of LED4 (PE7) as output*/    TransmitData("****Led Test****\n\r");    TransmitData("All Led ON\n\r");    Delayled();    SIU.PGPDO[2].R |= 0x0f000000;  /* Disable LEDs*/    SIU.PGPDO[2].R &= 0x07000000;  /* Enable LED1*/    TransmitData("Led 1 ON\n\r");    Delayled();    SIU.PGPDO[2].R |= 0x08000000;  /* Disable LED1*/    SIU.PGPDO[2].R &= 0x0b000000;  /* Enable LED2*/    TransmitData("Led 2 ON\n\r");    Delayled();    SIU.PGPDO[2].R |= 0x04000000;  /* Disable LED2*/    SIU.PGPDO[2].R &= 0x0d000000;  /* Enable LED3*/    TransmitData("Led 3 ON\n\r");    Delayled();    SIU.PGPDO[2].R |= 0x02000000;  /* Disable LED3*/    SIU.PGPDO[2].R &= 0x0e000000;  /* Enable LED4*/    TransmitData("Led 4 ON\n\r");    Delayled();    SIU.PGPDO[2].R |= 0x01000000;  /* Disable LED4*/ } Code Details: SIU - System Integration Unit PCR - Port Configuration Register PGPDO - Parallel GPIO Pad Data Output Registers : definition From viewing the user manual, under Functional port pin descriptions, it is Blink the LED(s): Within the main find the infinite for loop. for ( ; ; )      {      } loop of Main.c, remove all code, and add the LED's with the following function: for(;;) { LED(); } To alter the behavior of the LEDs, change the function itself, or pull specific code from the function and insert it within loops of a program for testing purposes. LED's are often used for testing important parts of an algorithm. By connecting an oscilloscope to a LED, it is possible to test the duration of a key algorithm, or to verify if signal timing is as expected along with the visual cue. Other Qorivva Tutorials Qorivva: Drive DC Motor Tutorial Qorivva: Turning A Servo Qorivva: Line Scan Camera Tutorial Useful Links to Technical Data TRK-MPC5064B Freescale Webpage TRK-MPC5064B Freescale Reference Manual TRK-MPC5064B Freescale Schematic

Harvard Extension School CSCI E-251, Fall 2012: Principles of Operating Systems Final Project Presentations Presentation by Ram Garlapati

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.

Note:    We are currently a 3 completed projects.   At this point we are going to stop and rethink the ideas for future projects.   Feel free to add comments below for project suggestions!   Any ideas for new stuff that currently aren't out in the wild with other platforms would be very helpful! Introduction HIT projects are a new initiative to help improve your embedded systems chops.  The target audience spans STEM student in high school,  DIY enthusiasts, hackers, Makers,  universities and seasoned embedded developers.    Each project makes use open hardware, software and instructional videos to supply the audience all they need to put together a cool project and expose them to a new topic space. Each HIT project will be comprised of the following A low cost Freescale Development Board (such as the FRDM series) A FRDM Shield.  Many cases,  there will be a shield that the participant can assemble themselves with parts procured from common distributors.  Raw PCBs will be available at low cost All Hardware will open.  Raw design files (Schematics, BOM. Gerbers, notes) will be supplied so the participant can fabricate PCBs themselves. All software will be opensource and available on the project packages and/or Google Code or GitHub The projects will try to simulate the participant by mapping code to the senses..... Play sounds,  blinking LEDs, starting warp drives.  After all it is nice to see a microcontroller do something.  A DMA unit  may be a really cool piece of hardware but it would be quite boring if we never used it to do something cool ! The goal is to have cool projects that will capture your interest,  develop new skills while not breaking the bank.    While efforts will be made to keeps costs minimum,  other factors such as part availability, ease of use, cool factor also come into play! Each project will list a set of skills that you will develop.  This will included both microcontroller hardware  and high level concepts (I2S modules, Digital Signal Processing, etc.).    When you complete a project,  you will have some good experience with something new.  Efforts will be made to have the project span a variety of hardware interfaces, design patterns and embedded systems topics.  Most importantly, each project will be cool in its own way! Project Listing and Roadmap Here you will find the current project list , status and roadmap.  Note that items on the roadmap are subject to change Project #1: Monkey Jam! A DIY Guitar / Bass Stomp Box Summary: Project #1 will use the FRDM-K20D50 board (which has a Cortex M4 core with DSP instruction) 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 Skills Developed: Real Time DSP Algorithms Fixed Point Mathematics 24-bit I2S Data Converter Interfacing Soldering SOIC8 and 1206 Surface mount devices Cortex CMSIS DSP Library Audio filtering techniques Tube Amplifier modeling Status:    Released! Project Page: Freescale H.I.T. Project #1:  MonkeyJam - A DIY Guitar Stomp Box Project #2: Monkey Listen! Audio Spectrum Analyzer Display Summary: MonkeyListen uses the FRDM-K20D50 board (which has a Cortex M4 core with DSP instructions) with the FRDM-OLED shield so you can make your very own spectrum analyzer display.  The end result will be a functional DSP system that will analyze incoming audio content via an electret microphone on FRDM-OLED board and display the spectral content.   The example code will also show you how to plot time domain data (a simple audio scope!),  Frequency domain data (via an FFT) and a time-frequency plot (spectrogram).  Extra I/O are provided to hack the code and create your own DMM or oscilloscope. The FRDM-OLED shield also has an optional RS-485 interface for doing cool things like driving a DMX lighting system! Skills Developed: Spectrum Anazlysis via FFT OLED Display Interfacing Electret Microphone Interfacing Soldering SOIC8 and 1206 Surface mount devices Cortex CMSIS DSP Library Audio Data Capturing with an ADC Status: Released! Project Page: Freescale H.I.T. Project # 2:  MonkeyListen - A DIY Audio Spectrum Analyzer Display Project #3: Monkey Do! DIY Home Automation and IoT Summary: Project #3 will explore DIY Home In this project, you will learn how to do basic electrical automation and control via the web.  Think of the NEST.... only more open and hackable!   Using Websockets, Javascipt and HTML,  you will have a simple way of viewing remote data and be able to control some solid state relays.   This framework will will allow you to create more complex IoT applications.    The example will combine a FRDM-K64F and a FRDM-AUTO to read a temperature sensor and control a solid state relay. 1 High current solid State relay output (10Amp Triac About up to 240VAC) 1 Low current solid state relay  output (1Amp Triac output up to 120VAC) 2 Opto-Coupler (Isolated) Inputs - (Read up to 120VAC on/off signals) Option for K-Type thermocouple Input with Omega thermocouple Connector Option for MCP9700A active thermistor Input RN-XV WIFI Module -  Footprint compatible with Xbee modules and RN42-XV bluetooth modules. RS-485 interface for chaining multiple systems over a wired network.... Or talk to a FRDM-OLED Skills Developed Embedded Systems Networking Electrical Control Systems HTML5/Javascript - Websockets SOIC8 and 1206 Surface mount soldering Internet of "Things" Status:   Released! Project Page: Freescale H.I.T Project #3: MonkeyDo

Option #1 Camera Mount Designed by Eli Hughes of WaveNumber LLC. You can order these parts through Shapeway.com which 3D prints on demand. You can choose from all sorts of materials depending on how much you want to spend. Option #2 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)

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

This page will guide you through the attachment of the servo to the Freescale Cup chassis.   The servo steers the vehicle and is controlled using Pulse-width modulation . Video Tutorial (no sound): Step-by-Step: (Click any image to enlarge) Servo Plate Inside the kit are various mounting options for different servo manufacturers. Look for the bushing of the servo that you are using. You will need the three pieces shown below. You will screw this into the servo. Pieces are notched, so assembly is straight forward. Remove the screw and black servo plate. Mount the yellow servo plate assembly to the servo as shown below. Make sure to add the small yellow washer (pictured below) in between the servo plate and the screw. Tighten well, a servo produces a good amount of torque and will slip if not tight. Steering Bar Assembly Assemble the short arm. Assemble the long arm.   Putting the Two Together Attach the short arm to the yellow bracket. First, insert the bearing into the control arm. This allows the joint to flex and move. Screw this assembly into the servo plate. Attach the long arm to the yellow bracket. Mounting the Servo Motor Attach the motor mount blocks to the back of the servo on both sides. Screw in the attachment blocks from the bottom of the car. Words of Wisdom Be sure to have servo motor in the 0 degree position before securing the control arms. Failure to do so will result in not being utilize the full range of motion. Do not change the position of the steering servomotor by hand. The position of the steering servomotor should be changed through electrical input only. Don’t move the steering servo motor beyond the maximum limit of the movement and this will damage the servo motor

Getting Started with the Freescale Cup How to achieve the goal of creating an autonomous vehicle that quickly navigates around a track? Before continuing with this tutorial, students should take the time to choose which Freescale Microcontroller your team is going to use. The Introduction to Freescale Cup Training article has some details about how to choose your microcontroller. Although the concepts and end results are similar no matter which microcontroller you decide to utilize, much of the software implementation details will differ. What is a Microcontroller? For information on what a microcontroller is head to the microcontrollers article. Getting Started - Learn to Program a microcontroller First off, you are going to need to know C programming. For a crash-course head to c-programming-for-embedded-systems. The classic first application to learn how to program a microcontroller is to get through the process of Blinking an LED. This wiki contains a tutorial for each of the Cup microprocessors which simplifies the process of setting up the evaluation board, installing the Integrated Development Environment, and programming the board with a simple set of software which blinks a LED. The Blink a LED tutorial is the first of 4 tutorials designed to familiarize students with the process of designing a cup car. These four tutorials will introduce students to many of the fundamentals of robotics, the software used to control the locomotion and sensors on an autonomous line following vehicle, and provide example code which help simplify the process of creating a competitive entry in the Freescale Cup. Here is an outline of the Basic Microcontroller Programming Tutorial: Read the microcontroller article Choose a microcontroller Set up the development environment Set up the microcontroller evaluation board Program A LED move to the next tutorial…

Pulse-width modulation (PWM), is a technique utilized in robotics for controlling motors and servos. Through the use of internal counters, the microcontroller modulates the duty cycle of a square wave to control the amount of power delivered to a device. The Duty Cycle referes to the porportion of time the square wave is 'on' as compared to the repeating signal period. The higher the duty cycle the higher the power carried in the signal. Duty cycle is expressed as a percentage of time the signal is 'on', with 100% being consistently on. Configuring the Timer The generation of a PWM signal using is based on hardware comparisons between register values and free running hardware counters. The timer module offers similar hardware comparison in the form of output compare circuitry. The contents of a register are continually compared to the master free-running timer. When a match occurs, a hardware output event can be configured to take place and an interrupt can then call a service routine. Timer I/O The Timer I/O port control registers are located in the Port Integration Module (PIM). Each port can be configured on a pin-by-pin basis and each timer input capture/output compare channel is associated with a single pin. On reset, timer modules are disabled and the appropriate I/O port defaults to a high impedance input. The initial state of a pin can be defined by configuring the appropriate general purpose I/O pin as an output in the Data Direction Register (DDRT) and writing the Port Data Register (PTx) to the appropriate state. An external pull device is required to control the level during reset.Setting the Timer Enable (TEN) bit in the Timer System Control Register (TSCR1) enables the timer module. The output compare functionality is disabled in the default module reset state. In this mode, the Data Direction bits (DDRTx) control the I/O state of the pins while the Input Compare logic monitors transitions on the pins. Setting the appropriate bit in the Timer Input Capture/Output Compare Select (TIOS) register enables a timer channel for output compare, as needed for PWM generation. In output compare mode, the Output Mode (OMn) and Output Level (OLn) bits in the Timer Control Registers (TCTL1/2) simultaneously select the compare event action and enable the connection of the output compare output logic to the relevant pin. If the OMn:OLn control bits for a channel are both zero the DDRTx and PTx bits control the state of the I/O pin. Setting either (or both) of the OMn:OLn bits connects the output compare circuitry to the pin, over-riding the DDRTx and PTx settings. Following a reset, the output state for each output compare circuit is zero. For PWM generation, the OM bit is set (= 1) so that the output compare output follows the state of the associated OL bit on each compare event. The state of the OL bit is inverted every time the timer channel interrupt is serviced to produce a toggling output. Clearing or setting the TEN bit disables or enables the timer module respectively, but does not modify the contents of any other timer control registers or the state of the output compare output logic A number of considerations have to be made when configuring the timer module for PWM. From a high-level point of view, the main considerations are: • PWM Frequency • PWM Duty Cycle In order to generate the required PWM frequency, the bus clock frequency must be known, and the timer prescaler must be set. These values will depend on the range of PWM frequencies that will be generated and the degree of resolution of the PWM signal. Maximum resolution and PWM frequency are limited by the maximum timer clock frequency. Lower PWM frequencies are limited by the minimum timer clock frequency. This can sometimes result in a trade-off and can be evaluated as shown in Figure 1. Once the timer channel is configured, the PWM signal can be generated using the timer channel interrupt. This should be configured to call an interrupt service routine (ISR) to load the timer compare register with the appropriate compare value (mark or space). This is achieved by identifying whether the last action was a negative or a positive edge transition, switching the transition status and loading the compare register with the next appropriate value. References to the master timer count register can be avoided by simply adding consecutive mark and space values to the timer compare register on successive ISR function calls as shown in Figure 3. Timer roll-over is seamless when using unsigned integer addition. Using the previous compare value as a reference for generating the next compare value allows precise output timing even though the ISR latency may vary. Starting the PWM is a task that requires careful consideration. In order to start the PWM generation using the interrupt, it is necessary to configure the first compare event manually. It is necessary to configure a forced compare by setting a compare to switch the output pin to the first transition state. After the initial compare event, interrupts will handle the PWM generation. The HCS12 does not support hardware forced compare, but a forced compare can be configured by setting a normal compare a few cycles ahead of the current free-running timer value. The cycles are necessary to compensate for internal latency within the MCU. The number of cycles will vary depending on the core and module clocks. When stopping the PWM generation, it is important to consider runt pulses (pulses with width shorter than the prescribed mark or space ratio as appropriate). To avoid these pulses, disable the PWM generation by setting the appropriate local interrupt mask within the associated interrupt service routine. The appropriate state of the pin at stop time can be set by disabling the interrupt in either part of the ISR; either the rising or falling edge portion. Additional Tutorial Resource: Introduction to DC Motor Control - Part II Lecture 2: Pulse Width Modulation

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 Please check your local rules to confirm allowable voltage, battery chemistry and ampere-hour as these differ by region. This article is NOT a substitute for the rules. Batteries (nor Charger) are not included in the Freescale Cup kit due to global shipping complexities. Batteries can be hazardous if not stored, used and/or disposed of properly. Battery Specifications Tamiya Connector 7.2 Volts Less than or equal to 3000mAh (Check your Rules!) NiCd or NiMH Needs to have a Tamyia connector Sources of purchase   This format battery is fairly common in the radio controlled toy industry. Start your search at any local electronics store where Radio controlled toy's are sold. Retail Sources: Radio Shack (USA) - http://www.radioshack.com/product/index.jsp?productId=4273066 Fry's (USA) - http://www.frys.com/product/6468002?site=sr:SEARCH:MAIN_RSLT_PG   Online Sources All-Battery.com http://www.all-battery.com/nicd72v2400mahhighpowerbatterypackforrccarswithtamiyaconnector.aspx http://www.all-battery.com/Tenergy7.2V3000mAhRCCarNiMHBatteryPackwithCharger-91103.aspx Europe: use Conrad online stores Conrad energy NiMH Sub-C Racingpack 7.2 V / 2400 mAh Stecksystem Tamiya-Stecker im Conrad Online Shop | 206026 (Conrad Germany but same available form other sources)