ユニバーシティ・プログラムのナレッジベース

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Features General Tower card Form Factor Connections to allow use with a TRK-MPC5604B Board Camera Interfaces 1. 5-pin header to connect directly to Freescale Line Scan Camera 2. Header for 2nd linescan camera (optional) 3. RCA Camera Interface. Includes an LMH1981 Sync Extraction chip and connectors to MCU to allow for low resolution (32x32) decoding of signals Servo Outputs 3-pin Header to connector directly to steering Servo 1 Extra Servo header. Power Accepts direct Battery Power – Onboard Switching regulator 5-18v Tower Card will source power to other tower modules. All circuitry except for motor controller can be optionally powered over USB Connector Battery Input and motor Outputs will be a Tyco (TE Connectivity) TE Connectivity Screw Terminal http://search.digikey.com/us/en/products/1776275-2/A98036-ND/1826899 Motor Driver 2x MC33887APVW : Dual, Independent 5A Motor Driving Circuit Supports forward, reverse and braking. Current Feedback to MCU ADC to allow for closed loop torque control Programming Integrated Kinetis MK20DN512ZVLL10MCU with OSJTAG Can be used stand-alone or be used as a peripheral in the tower system. Additional I/O Extra signals from K40 routed to tower edge card connector. Signals for H-bridge, camera and servo can be routed to Tower Edge connector to be driven by another MCU card. Each can be disconnected via jumper. - We will need to crosscheck the signals to all other CPU modules. Would it be easier to just have a version that doesn't have the K40 populated and OSJTAG populated? Also, we may not need jumpers. Simply configure the Kinets I/O to inputs. Some basic I/O for debugging. 4-poistion DIP Switch + 4 LEDs. Inputs for Tach Signal/Speed Sensor Design Files Rev Alpha Schematics (Sent to MyRO on 4.4.2012) - Includes 3d view Assembly Prints (For Reference) PCB Fabrication Notes Bill of Materials Rev A Errata: Pins 4 & 5 for the camera (Gnd and +3.3v) got swapped on the PCB. You will need to swap the wires in the cable. You can pop the contacts out of the connector housing with tweezers. POT0 has a jumper wire to pin 26 (ADC1_SE18 . This was done to put all signals *except* the NTSC video onto ADC1 to simplify software. Future versions will have this change in the artwork Some components interfere with the tower connector. It can be mated to about 95%. Will work fine. Future versions will fix this issue Rev Beta Schematics, Assembly Prints, BOM, etc. - Includes 3d view Rev B Errata: None known! Google Code repository for the Example Code: https://code.google.com/p/tfc-twr/ This code works with Rev B of the board (and Rev A). All major interfaces & peripherals have been tested. At some point we will make a video going through the code. By default the Linescan camera code is enabled. The code in Main.c is pretty easy to follow. There is also code for the NTSC camera but must enabled in the TFC_Config.h file via a pre-processor directive. There is also code used for teh OSTAG interface, Labview demo applications and drivers for the USB Pictures Just verified the OSJTAG. Test Project to blink the battery LED's was downloaded into the K20 Videos Testing the Servo circuits….. Testing the pots, servos, H-bridges and K20 USB port Linescan Camera Bringup with Labview NTSC Camera Bringup with Labview 1.) This is a basic demo of an NTSC camera being brought in using the a Combo of the ADC, port interrupts and DMA transfers. 2.) I *ahem* overclock the ADC to 24MHz to get some extra resolution for a 64x64 pixel image (the first 6 columns are junk as they contain color burst data*) 3.) I decimate the images to a few frames per second to send over the WIFI (the booster pack card I made) to a Labview program. The Kinetis can bring the data in a the same frame rate of the camera, I just need to send much slower as there is some overhead in my communications scheme (ASCII text) and the WIFI is driven via a UART. 4.) In reality, I can get a 64 x 480 pixel image in memory as I pull in all the lines. I just decimate the rows to get a 64x64 result on the labview display. 5.) DMA does most of the work freeing up the CPU to do algorithms in the foreground.

Project Summary 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 HTML5, you will have a simple way of viewing remote data and be able to control some solid state relays. This framework 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. Skills Developed: Embedded Systems Networking Electrical Control Systems HTML5/Javascript - Websockets SOIC8 and 1206 Surface mount soldering Internet of "Things" Materials: FRDM-K64F FRDM-AUTO Development Tools mbed.org Google Chrome Notepad++ Example Code mbed.org Github Step 0: Prerequisite Videos The videos are organized into a nice YouTube playlist: FRDM-AUTO Hardware Overview MonkeyDo Software Overview Websockets & The MonkeyDo communication model Solid state relay introduction & sage Opto-coupler introduction & usage MonkeyDo system demonstration Step 1: Get a FRDM-AUTO & FRDM-K64 The build package is on the FRDM-AUTO site. Note that for this exercise you only need to build the "OPTION 1" version. Please let us know if you are interested in a pre-assembled version. If there is enough demand we will get a lot assembled 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 Assemble the FRDM-AUTO and K64F. When you get started, do NOT hook up anything to the solid state relays until you are sure things are working. WARNING: Wiring to household power can be dangerous! You are 100% responsible for what you do. Be careful and never apply power until you fundamentally understand what you are wiring up! Step 3: Download If you have never used the mbed environment, make sure to careful read this page. Get the "blinky" programming working before you try anything else. Download the example firmware to the FRDM-K64F. Make sure to press the reset button. Step 4: Follow Along Make sure to watch the demo video. Load the example javascript pages from the github repo and recreate what you see in the demo video. Note: You should NOT use the websocket server used in the demo code. When you register for an mbed account, you automatically get your own websocket server channel. See Websocket server by Mbed. Step 5: Hack and Slash! Make something cool! Be cool and publish your work! Some Ideas to Extend the System Get the opto-couplers into the Websocket system and see if you can report their state Make a basic thermostat using the temperature sensor and relay to control a heater. Report status via the websockets interface

On September 14-15, 2015, The Freescale Cup Worldwide Finals will be held at the Fraunhofer Institute of Integrated Circuits (Fraunhofer IIS) in Erlangen, Germany You can follow along and see the regional champion teams from South Korea, China, India, Taiwan, Malaysia, Mexico, Brazil, USA and Switzerland train and compete for the World Title. Agenda of the event covered by the LiveCast is (all times are Central Europe Time): September 14th 14:00 - 15:00 Opening Ceremony 15:00 - 17:30 Training Session 17:30 - 18:00 High Schools and Innovation Challenge Demonstrations September 15th 9:00 - 13:00 Training Session 13:00 - 14:30 Technical Inspection and preparation for the Finals Race 14:30 - 15:00 Finals Race 15:00 - 15:45 Preparation for the Awards 15:45 - 17:30 Awards Ceremony Download and print the attached poster with the embedded QR-Code for posting the link of the LiveCast Direct LiveCast URL is http://www2.iis.fraunhofer.de/freescale

Notes: Will ask - Do you want to add the Remote System to your workspace? Click yes Build - select flash Plug in your K40 board to the usb (tower is not needed in this step) Click on debug as it will ask you which configuration you want to launch: Select the internal flash one. Bottom right you will see it "Launching with a little green light indicating that it is programming your board. After clicking debug as, you will enter the debug Eclipse "view" nothing will happen until you press "resume" Download the Zip file which is located: LED BLINK 96MHZ How to: Set up a debug: Program the FLASH Click on project in codewarrior projects menu There is noe issue with the Kinetis chips errata 2448. The code which is in our zip file already has these changes made, but if you download Kinetis example code from the official freescale site instead of using the wiki code - it may not work. Read more about the work - around here: here ++ Test to make sure everything is working properly CodeWarrior typically defaults to a "pause" setting when the debug is first started. To test wheter the code is working you will need to press "resume"

Below is one example process of creating a PCB. Create a Bill of Materials (BOM) In other words, decide which devices you want to use and what you will need to construct your circuit. If space is a constraint, picking the right device package is crucial. Create a Pin List Once you have all your devices. Create a simple Excel sheet of the various pin-outs from each of these devices. The goal here is to create a reference of which pin goes to which. This will greatly increase your accuracy in the next step… Create a Schematic You will need to download and install a schematic-and-layout-program. Using your schematic program create any needed device libraries and then create the schematic for the board. Create a Layout Once your done with the schematic, layout is just routing the traces around the PCB as efficiently as possible. Some tips for good routing. Use a ground plane (aka solid fill) - This helps with transient signals, and reduces trace congestion. Keep any noisy signals away from data signals (keep the motor driving lines away from data lines) Generate Gerbers and Drill Files Read the website of the Manufacturer that will be building your boards. Most of them do a good job of explaining what format the design needs to be in for them to do the job correctly. Some manufactures support the layout files from certain software toolsets (usually their own). Gerbers are pretty much the universal language though. Send to Board Manufacturer and order your BOM. Below are some of the most popular ones in the USA. If you have a resource in your area please add to the list below. pcbexpress.com sunstonecircuits.com Related Links Training by Freescale on Effective PCB Design General PCB design Engineering Articles from Quick-teck PCBs

Overview An H-Bridge circuit has a control circuit, usually PWM, which then determines the switching of high-voltage supply to drive a current. Typical embedded H-Bridges can drive about 5A of current. In the case, of the Freescale Cup car the motors can sustain much more current resulting in more toque and faster speeds. Performance Tuning Tips 1. You can place H-Bridges in parallel to balance the current load. For example, if you place two 5A (peak) H-Bridge outputs in parallel, the system can support up to 10A current. 2. Keep it Cool. H-Bridge's dissipate A LOT of heat. Heat = increases inefficiency of a semiconductor, so the better job you do keeping it cool, the better (and longer) it will work for you. Operation Theory This is the simplest H-bridge, where the four gates represent for transistors. By manipulating these gates and connecting the upper and lower terminals to a voltage supply, you can control the motor in all the behaviors as below. H-Bridge States

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

ユニバーシティ・プログラムのナレッジベース

University Programs Knowledge Base

ディスカッション

Prototype TFC Tower Board with Kinetis and Motor Drivers

Kinetis L - LPTMR.pdf

Line scan camera data processing - Part I

Introduction to DC Motor Control - Part II

Microcontrollers in Depth - Part I

Introduction to DC Motor Control - Part I

Freescale H.I.T Project #3: MonkeyDo

The Freescale Cup Worldwide Finals LiveCast Information

Introduction to servos - Part II

Importing a Codewarrior Project (Eclipse)

Kinetis L - TPM.pdf

PCB Design Tips

Hardware Interfacing Concepts - Part II

Kinetis L - ADC.pdf

FRDM-TFC example code using mbed

H Bridege

Hardware Interfacing Concepts - Part I

Freedom Board --- Warning about on-board Crystal / PLL

Kinetis L - MCG.pdf

Kinetis L - NVIC.pdf