Freescale Semiconductor TWR-K20D50M User manual

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FreescaleSemiconductorInc.Kinetis_50MHz_LAB
TWR‐K20D50MQuickStartDemoLabGuide
Boardconfiguration,softwareanddevelopmenttools
Rev.2
MostUp‐to‐datelabguideansourcecodeareavailableat
www.freescale.com/twr‐k20d50m
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Freescale,theFreescalelogo,CodeWarrior,ColdFire,C‐Ware,theEnergyEfficientSolutionslogoaretrademarksofFreescaleSemiconductor,Inc.,Reg.U.S.Pat.&Tm.Off.ColdFire+,CoreNet,
Flexis,Kinetis,MXC,PlatforminaPackage,ProcessorExpert,andXtrinsicaretrademarksofFreescaleSemiconductor,Inc.Allotherproductorservicenamesarethepropertyoftheirrespective
owners.©2011FreescaleSemiconductor,Inc.
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TWR‐K20D50MQuickStartDemoLabGuidePage2of23
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Contents
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1Purpose......................................................................................................................................................3
2Gettingknowntheboard.....................................................................................................................3
3DownloadandInstallSoftwareandTools....................................................................................3
4ConfigureHardware..............................................................................................................................4
5RuntheDemos........................................................................................................................................5
5.1BuzzerDemo.........................................................................................................................................................................6
5.2SwitchDemo.........................................................................................................................................................................6
5.3TouchDemo..........................................................................................................................................................................6
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5.4AccelerometerDemo.........................................................................................................................................................6
5.
5. 
5MicrophoneDemo..............................................................................................................................................................6
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6TerminalDemo....................................................................................................................................................................6
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5.6.1Displaycommand...............................................................................................................................................................................7
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5.6.2RTCDemo..............................................................................................................................................................................................8
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5.6.3ADCDemo(Potentiometer)..........................................................................................................................................................8
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5.6.4LEDDemo..............................................................................................................................................................................................8
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5.6.5Tiltdetection/AccelerometerDemo.......................................................................................................................................8
5.6.6InfraRedportDemo(IRdemo)..................................................................................................................................................8
5.6.7FFT............................................................................................................................................................................................................9
6DirectoryStructure...............................................................................................................................9
7 ToolchainSupport..............................................................................................................................10
7.1IAREmbeddedWorkbench.........................................................................................................................................10
7.2CodeWarrior10.2............................................................................................................................................................10
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8OtherExamples....................................................................................................................................10
9UpdateOSJTAG.....................................................................................................................................10
10ConfigureHardware...........................................................................................................................12
11LaunchtheTerminal..........................................................................................................................12
12  DevelopmentSoftwareandProgrammingtheBoard............................................................12
12.1CodeWarriorforMicrocontrollersv10.2............................................................................................................12
12.2IAREmbeddedWorkbenchforARM6.30...........................................................................................................16
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13CreatingNewProjects.......................................................................................................................17
14OSJTAG....................................................................................................................................................18
15 TWRK20D50MJumperoptions....................................................................................................21
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1Purpose
ThislabdocumentwillfamiliarizeyouwithTWR‐K20D50Mboardanddevelopmenttools.
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YouwilllearnthefullfeaturesoftheTWR‐K20D50Mdemosthatarepre‐programmedontoyourTower
module.YouwilllearnhowtoaccessthesourcecodeusingdevelopmenttoolsIAR6.3orthe
CodeWarrior10.2
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2Gettingknowntheboard
MaincomponentsoftheTWR‐K20D50Mareshowninfollowingpicture.
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3DownloadandInstallSoftwareandTools
Gettheinstallationsoftwareanddocumentationunder“JumpStartYourDesign”at
www.freescale.com/TWR‐K20D50M
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InstalltheP&EMicroKinetisTowerToolkittoinstalltheOSJTAGandUSB‐to‐Serialdrivers.
pemicro_osbdm_osjtag_tower_toolkit.exe
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Note: Please follow instructions on section 12 before using of CW or IAR tools.
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ConfigureHardware4
1) Makesurejumpersaresetindefaultpositionasshowninfollowingpicture,formoredetailssee
TWR‐K20D50MJumperoptions
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2) ConnectoneendoftheUSBcabletothePCandtheotherendtothePower/OSJTAGmini‐B
3) llowthePCtoautomaticallyconfiguretheOSJTAGdriversusedfordebuggingandtheserial‐to‐
connectorontheTWR‐K20D50Mmodule.AllowthePCtoautomaticallyconfiguretheUSB
driversifneeded.
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A
USBfeature.
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5RuntheDemos
TWRK20D50MDemosoftware
Thiscodeispre‐programmedinyourTWRK20D50M,andshowssomeofthefeaturesoftheK20family
andtheTWRK20D50Mboard.Followingtableshowhowdifferentmodulesareusedinthisapplication
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Table1K20ModulesusedonTWRK20Demosoftware
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ModuleFunctionDetails
ADCReads2signals
Potentiometer
Microphone
12bitsmode
Hardwaretriggered
PDBCreatesasamplingfrequencyof8kHzfortheADC
converter
Continousmode
at8Khz
TriggersADC0
DMAStoremicrophonereadingsinadoublebufferof
128sampleseach
Interruptwhen128samplesare
sampledandperform
calculationofFFT,andfilters.
DSPCalculatesFFTof128samplesandmagnitudeof
eachharmonic
UsesCMSISintegratedlibraryin
IAR6.3
I2CReadsaccelerometer,accelerationineachaxesx,y,
andz
K20calculatestiltangleandfall
detectionbasedonaxes
acceleration.
PITCH0Generatesa1msecperiodicinterrupt
CH1Generatesa125msecperiodicinterrupt
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GPIO4LED,2Pushbutton
HSCMPReadssignalforIRreceiver,andoutputis
connectedtoUART0receiver
DAC6usedasHSCMPminus
input,IRreceiverconnectedto
HSCMPplusinput,
MCG+OSCOscillatorof8MHzcrystal,MCGcreatesa50MHz
signalfrom8MHzcrystalwiththePLL
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CMTCreatea40KHzcarrierfrequency,and600Baud
modulationsignalfortheIRtransmitter.
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UART0ReceivessignalfromHSCMP(IRreceiver)600,8,n,1Invertedreception
TSIConfiguredtoread2Electrodes
RTCArealtimeclock(secondsonly)basedon32Khz
Crystal
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JTAGInterfaceofdebuggingandprogrammingofthe
parts.
ProgrammedthroughtheOSJTAG
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UART1Usercommunicationinterface38400,8,n,1
FTM0Generatebuzzerfrequency

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5.1 BuzzerDemo
Pressresetbutton,theboardwillsound3tones.
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Note: Different tests use the buzzer as feedback; you can disable the buzzer by
removing jumper J1 (BUZZER).
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5.2 SwitchDemo
PressSW3,atoneisgeneratedandredledglows
PressSW2,atoneisgenerated.
5.3 TouchDemo
TouchElectrode2,atoneisgeneratedandorangeLEDglows.
TouchElectrode3,atoneisgeneratedandyellowLEDglows.
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5.4 AccelerometerDemo
Tilttheboardslowlybackandforthtoheardifferenttonesdependingontiltangle.
5.5 MicrophoneDemo
Whistle a tone for 1 or 2 seconds, the board will respond with a high tone.
Clap or snap near the microphone, the board will respond with a low tone
5.6 TerminalDemo
OpentheP&ETerminalUtilitybyclickingonStartMenu‐>Programs‐>P&EOSBDMOSJTAGVirtualSerial
Toolkit‐>Utilities‐>TerminalUtility.
MakesureUSBCOMisselectedwith115200baud,andclickonthe“OpenSerialPort”button.
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Pressresetbutton.
TheterminalswilldisplayaRESETmessageandprompt:
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TWRK20D50MDemoSoftwareRev1.4
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Intheterminalprogram,therewillbeashellpromptafteryouhittheEnterkey.Type“help”toseethelist
ofcommands.
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5.6.1 Displaycommand
Mostofthecommandsincludedinthisdemocanbedisplayedwithcommand“disp”andanumber,
asshownbelow.
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K20_Demo>dispN
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Table2Listofavailableoptionsfor“disp”command
Command  displayDescription
disp0Canceldisplay>
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Abortcurrentdisplayand
promptfornewcommand
disp1rtcRtcnnnShowsRTCsecondcounter
disp2ButtonsBnnShowbuttons/electrodesthat
arepressed
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disp3ledsLEDsnnTest4leds
disp4Accelerometer
test
xy=[14]<‐517,xz=[49]<‐220,
yz=[48]<‐149
Show[magnitude]and<anglein
degrees*10
Disp5IRtestIRport:Tx=2,Rx=0EchoesthetransmittedIR
Disp6ADCtestADCPOT=1425
Disp7FFTtestfft[0]8824,[1]0,[2]31,[3]
0,[4]31,[5]0,[6]0,[7]0,
[8]0,
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Disp8DMAstatusStatusDMA416,0
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Seefollowingsectionformoredetails:
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Note: some display modes are overwriting the terminal screen, when change to other
display mode, just type the new command, even if it is not properly showed the
command will be performed.
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5.6.2 RTCDemo
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Typecommand:K20_Demo>disp1
Terminalwilldisplaysecondssincelastreset,andsecondselapsedsinceVBAThasbeenpowered.
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RTC953;elapsedtimewithVbat1955
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5.6.3 ADCDemo(Potentiometer)
Typecommand:K20_Demo>disp6

TerminalwilldisplaythevalueoftheADCconnectedtothepotentiometer.
ADCPOT=1425
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5.6.4 LEDDemo
Typecommand:K20_Demo>disp3
Terminalwilldisplayacounterandthe4ledswillbeturningon/offaccordingtothecounter.
LEDsn
5.6.5 Tiltdetection/AccelerometerDemo
Buzzerbeepsatdifferenttonesdependingonhowtiltistheboard,andterminaldisplaytheangleand
magnituderespectwithgravity“g”
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xy=[3]<0,xz=[65]<0,yz=[65]<0,

where:
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[magnitude]relativemagnitude
Angleindegrees*10from‐90.0to90.0degrees
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5.6.6 InfraRedportDemo(IRdemo)
Terminalwilldisplayacounterandeverytimethecounterincrease,thenumberistransmittedbytheIR
port,iftheIRsignalisreflectedthereceiverwillechothesamevalue.Incasethereisnotreceptionthe
valuedisplayedinreceptioniszeroorthelatestvaluereceived.
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Note: you can use a piece of white paper to reflect the IR signal.
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Jumper configuration
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JumperconfigurationforIRdemo.
J9ON(defaultOFF)

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J7ON(defaultOFF)
J4OFF(defaultON)
Note: remember to re-place jumpers at default configuration once this demo is
completed.

Typecommand:K20_Demo>disp5
IRport:Tx=002,Rx=000;IRsignalisnotbeingreceived,
IRport:Tx=005,Rx=005;IRsignalbeingreceived.
5.6.7 FFT
Microphoneissampledat8000Hz,every128samplesaFFTisperformed,theresultoftheFFTisused
fortonedetection,firstharmonicsofFFTareshownwithfollowingcommand

Typecommand:K20_Demo>disp7
fft[1]0,[2]0,[3]0,[4]0,[5]0,[6]0,[7]0,[8]0,

where:
XX[n]
[n]numberofharmonic.
XXmagnitudeofharmonicn.

Note: FFT is based on CMSIS library integrated in IAR embedded workbench,
because of that this demo is only available with IAR.

6DirectoryStructure
ThedirectorystructurefortheTWRK20D50Mdemocodeandotherbaremetalexampleshasthree
mainfolders—build,srcandutil.Thebuildfoldercontainsalldevelopmenttoolchainspecificfiles.All
ofthesourcecodefilesareinthesrcdirectory.Theutilfolderincludescompilerpatchesreferencedin
thisdocument.

Thesourcetreeisbrokenupasfollows:

•src\common\‐Commonutilitiessuchascompilerstartupareprovidedinthisdirectory
•src\cpu\‐CPUspecificinitializationandheaderfileshere
•src\drivers\‐Driversforsomeofthevariousperipheralsareprovidedhere.
•src\platforms\‐Eachsupportedplatformhasaheaderfilethatdefinesboardspecific
information,suchastheinputclockfrequencyusedforthatboard.
•src\projects\‐Thisdirectoryholdsalltheindividualexampleprojectsourcecode
•src\semihosting\‐Utilitiestohandlenativecompilersupportforprintfandscanf

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
7ToolchainSupport
CurrentlytheIAR6.30andCW10.2toolchainsaresupported.

7.1 IAREmbeddedWorkbench
IARworkspace,project,linker,andsupportfilesareprovidedinkinetis‐sc\build\iar.Eachexamplehas
itsowndirectoryandwithinthatdirectoryisaworkspacefile(.eww)thatwillloadthesupported
projects(usuallyoneprojectforeachsupportedhardwareplatform).Eachprojectcontainsseveral
configurationoptionsthatcanbeselectedusingadropmenu.Theconfigurationsupportdifferentlink
targetsfordifferentKinetismemoryconfigurations(e.g.RAM_16KBorFLASH_128KB_PFLASH).

7.2 CodeWarrior10.2
CodeWarrior10.2projectfilescanbefoundinthekinetis‐sc\build\cwfolder.Again,eachexamplehas
itsowndirectory.

8OtherExamples
Therearemanyexampleprojectsthathighlighttheoperationofdifferentmodules.The"hello_world"
demoisthesimplestexample,andthisprojectisthebaselineusedfordevelopingotherexamples.The
hello_worldprojectwillperformbasicinitializationfortheboardandthendisplaythedevice
configurationinformationontheterminal(defaultbaudrateis115200).

Eachexampleincludesareadme.txtfileintheworkspaceorprojectdirectorythatgivesadescription
ofwhattheprojectdoesanddescribesanyconfigurationneededtouseit.


9UpdateOSJTAG
TheTWR‐K20D50MincludestheOSJTAGcircuit.Bydefaultallofthedemoprojectsaresetuptouse
OSJTAGtodownloadanddebugcode.TheOSJTAGcircuitisalsousedastheprimaryserial
communicationport.

OpenSourceJTAG(alsoknownasOSBDMonColdFiretowerboards)allowsausertoprogram,debug,
andgetserialdatafromKinetisdevicesviaaUSBcable.ThefirmwarerunsonaFreescaleMCFS08JM60
ontheundersideoftheKinetistowerboard.Toensurecompatibilitybetweenthedrivers,firmware,
andterminalwindow,thelatestversionsofeachneedtobeinstalled.

FirstdownloadandinstallbothofthelatestP&EFirmwareUpdatesandRecoveryandOSBDMVirtual
SerialToolkitprogramswhichcanbefoundathttp://www.pemicro.com/osbdm


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TWR‐K20D50MQuickStartDemoLabGuidePage11of23
Makesureyourtowerboardispluggedin,andruntheP&EFirmwareUpdaterUtilitytousethe
OSJTAGbootloadertoupgradetothelatestOSJTAGversion.

Under“SelectHardwareType”makesureOSBDM/OSJTAGisselected.Itshouldautomaticallydetect
yourboardsettingsandfillouttherestofthefieldsautomatically.



Clickon“UpdateFirmware”toupdatethefirmware.ItwillpromptyoutodisconnecttheUSBcord
fromyourcomputer,andthenshorttheJM60bootloaderjumperheader.ItisJ34.Thenre‐connect
theboardtoyourcomputer.

Thefirmwarewillthenbeupdatedonyourboard.Whenitisfinished,itwillpromptyouagainto
disconnecttheUSBcable,removethejumper,andthenre‐connecttheboardagain.OSJTAGisnow
updated.


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10 ConfigureHardware
ThehelloworldexamplecanberunusingaTWR‐K20D50Mstand‐alone.Noothertower
boards/componentsarerequiredforthisexample.

1) NotethatthedefaultjumpersettingsareinsectionTWR‐K20D50MJumperoptions.Ifyouwant
tochangebacktothedefaultsettingsafteryouaredonerunningthedemo.
2) Connectamini‐ABUSBcablebetweentheTWRboardandtheUSBportonyourcomputer.
3) AllowthePCtoautomaticallyconfiguretheOSJTAGdriversusedfordebuggingandtheserial‐
to‐USBfeature.


11 LaunchtheTerminal
1) OpentheP&ETerminalUtilitybyclickingonStartMenu‐>Programs‐>P&EKinetisTowerToolkit‐
>Utilities‐>TerminalUtility
2) MakesureUSBCOMisselectedwith115200baud,andclickonthe“OpenSerialPort”button.




12 DevelopmentSoftwareandProgrammingtheBoard
ThefollowinginstructionsdescribehowtobuildandflashthehelloworlddemousingCodeWarrior
MCU10.2orIAR6.30.

12.1 CodeWarriorforMicrocontrollersv10.2
1) FollowthedirectionsinSection9toupdatetheOSJTAGfirmwareanddrivers.
2) InstallCodeWarriorforMicrocontrollers10.2.
3) MakesureyouhaveCodeWarriorforMicrocontrollers10.2orhigher
4) OpenCW10.2.Atthewelcomescreen,settheworkspacetothe"kinetis_50MHz_sc"folder
location.Theseprojectsuseworkspacerelativepaths,soinorderfortheprojecttofindallfiles
correctlytheworkspacemustbesettothekinetis_50MHz_scfolder(theonethatcontainsthe
buildandsrcdirectories).
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5) IfyoualreadyhaveCW10open,youcanchangetheworkspacebygoingtoFile‐>Switch
Workspace
6) ThefirsttimeyouopenCW10,youwillbetakentotheWelcomescreen.Clickon“GoTo
Workbench”inthelowerlefthandside.
7) Theworkbenchviewwillopenup.Toensureallthewindowsareproperlyset,gotoWindow‐>
ResetPerspective

8) ClickonFile‐>Importinthemenubar.Inthedialogboxthatcomesup,select“ExistingProjects
intoWorkspace”undertheGeneralfolder.ThenclickNext
 

9) Onthenextscreen,selectthe“Selectrootdirectory:”option,andclickonBrowse
10)Navigatetothe..\kinetis_50MHz_sc\build\cw\hello_worlddirectoryandhitOK.
11)Selecttheprojectstoimport.ThenselectFinish.

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TWR‐K20D50MQuickStartDemoLabGuidePage14of23
 



12)Selectthelinkconfigurationthatyouwouldliketobuild.


13)BuildtheprojectbyclickingontheHammericoninthetoolbar
14)ClickRun‐>DebugConfigurations…inthemenubar,andselectthedebugconfiguration
appropriatefortheproject,buildconfiguration,andhardwareconnectionyouareusing.For
example,ifyouarebuildingthehello_worldprojecttorunfromtheinternalRAMandusing


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OSJTAGasyourdebugger,thenyouwouldselecttheFLASH_OSJTAGconfiguration.Thenhit
thedebugbuttoninthebottomofthewindow



15)Ifthisisthefirsttimeyou’veusedCW10.2withyourboard,youmaygetadialogboxaskingto
updatetheOSJTAGfirmware.Unplugyourboard,putajumperonJ34(JM60BOOT),andplug
theboardbackin.Hit“OK”onthedialogbox,andtheboardOSJTAGfirmwarewillupdate.
Whenitisdone,unplugtheboard,removethejumperonJ34,plugtheboardbackinandhit
“OK”againonthedialogbox.Ifyoudonothaveasparejumper,youcantemporarilyusethe
oneonJ7.
16)Thecodewillthenbedownloadedtotheboardandthedebuggerstarted.Thismaytakea
severalmoments.YoumayalsoseethefollowingWarningmessage:

ThisisacheckintroducedwithaCodeWarriorcompilerpatch.HitNotocontinueflashingthe
part,asthesamplecodeisconfiguredtoensurethepartremainsunsecured.
17)Oncethecodeisdoneflashing,thecodewillpauseatthestartofthemain()function.
18)Hittherunicontocontinuetheprogramexecution.
19)Ontheterminalyoushouldseethehelloworldmessage.
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12.2 IAREmbeddedWorkbenchforARM6.30
1) FollowthedirectionsinSection9toupdatetheOSJTAGfirmwareanddrivers.
2) InstallIARforARMv6.30orhigher.
3) Opentheworkspaceat..\kinetis‐sc\build\iar\hello_world\hello_world.eww
4) Configureflashloader
a. Unziputils\iar_flash_p0_8kb_ram.zip
b. Placeallofthefilesinthiszip(exceptthisreadmefile)inyourIARSystems\Embedded
Workbench.6.0_x\arm\config\flashloader\Freescalefolder
c. OpenyourIARworkspacefileandselectaflashconfigurationfortheproject(youmight
havetocreateoneifyoudon'thaveonealready)
d. IntheprojectoptionsselectDebugger‐>Download


e. Checkthe"Useflashloader(s)"box
f. Checkthe"Overridedefault.boardfilebox"
g. ProvidethepathtotheFlashK20Xxxx.boardfile.Shouldbe:
 $TOOLKIT_DIR$\config\flashloader\Freescale\FlashK20Xxxx.board





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5) Theprojectfortheboardisselected(hello_world_tower)



6) Selectthelinkconfigurationthatyouwanttobuild.


7) CompiletheprojectbyclickingtheMakeicon (orrightclickingontheprojectandselect
“Make”).
8) Aftercompilationcompletes,downloadthecodetotheboardandstartthedebuggerby
pressingthe“DownloadandDebug”button 
9) Thecodewilldownload,andthedebuggerscreenwillcomeupandpauseatthefirst
instruction.Hitthe“Go”buttontostartrunning.


20)Ontheterminalyoushouldseethehelloworldmessage.
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13 CreatingNewProjects
Thekinetis‐sc\build\iar\make_new_project.exeorkinetis‐sc\build\cw\make_new_cw_project.exefiles
canbeusedtoclonethehello_worldprojectfortheappropriatetoolchain.Thescriptwillpromptyou
foranametouseforthenewproject,andthencreatecopiesofallneededfilesandfolders.
Note: kinetis_50MHz_sc\build\cw\make_new_cw_project.exe doesn’t clone the
src\hello_world folder. This must be manually created. The kinetis-
sc\build\iar\make_new_project.exe doesn’t need to create any additional folder.
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14 OSJTAG
OpenSourceJTAG(alsoknownasOSBDMonColdFiretowerboards)allowsausertoprogram,debug,
andgetserialdatafromKinetisdevicesviaaUSBcable.ThefirmwarerunsonaFreescaleMCFS08JM60
ontheundersideoftheKinetistowerboard.

Thelatestfirmwareanddriverscanbefoundathttp://pemicro.com/osbdm.SeetheInstallationand
OperationdocumentontheP&Ewebsitefordetailsonupdatingthefirmwareanddrivers.Ifyouare
havingtroubleconnecting,tryupdatingtothelatestdrivers,virtualserialtoolkit,andfirmwarelocated
onthatwebsite.

Whenthetowerboardispluggedin,itshouldenumerateasacompositedevice,withonedriverfor
debugging,andtheotherasaserialport.IfyougototheDeviceManageryoushouldseethe
following:


IfyouonlyseeitenumerateastheOpenSourceBDMDebugPort,thenyourcomputermay
automaticallypickingupanoutdateddriver.Tofixthis,rightclickontheOSBDMdriverandselect
“Uninstall”.Thenunplugandre‐plugintheboard,anditshouldenumeratecorrectly.

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Iftherearestillproblemswithenumeratingcorrectly,youcanalsomanuallyselectthedrivers.
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•FortheOpenSourceBDM–DebugPort,usethedriverat:
C:\pemicro\kinetis_tower_toolkit\Drivers\osbdm\OSJTAG_Debug_Interface_libusb.inf

•ForthePEMicroUSBSerialPort(i1),usethedriverat:
C:\pemicro\kinetis_tower_toolkit\Drivers\osbdm\OSJTAG_Serial_Interface_windriver_version.inf
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