Freescale Semiconductor TWR-K60D100M User manual

Freescale Semiconductor Inc.
TWRK60D100MQSDLAB
TWR-K60D100M Quick Start Demo
Lab Guide for MQX 4.0
Rev. 1

TWR-K60D100M Quick Start Demo Lab Guide Page 2 of 19
Contents
1Purpose .......................................................................................................................................................3
2Configure Hardware ...............................................................................................................................3
3Update OSJTAG .........................................................................................................................................3
4Run the Demo............................................................................................................................................5
5Development Software and Programming the Board ................................................................7
5.1 CodeWarrior for Microcontrollers 10.4 ....................................................................................................................8
5.2 IAR Embedded Workbench for ARM 6.50.6 ......................................................................................................... 11
6Task Aware Debugging....................................................................................................................... 14
7Demo Software Overview .................................................................................................................. 14
8Creating a new MQX project ............................................................................................................. 15
9OSJTAG...................................................................................................................................................... 16

TWR-K60D100M Quick Start Demo Lab Guide Page 3 of 19
1Purpose
This lab document describes how to use the TWR-K60D100M demo that is pre-programmed onto your
Tower module. It also covers how to configure your tower module to run the demo, and the steps to
re-flash this project back onto your board.
Use Sections 2, 3, and 4 to run the demo. Use Section 5 to learn how to re-flash the demo on the
board.
2Configure Hardware
If running the TWR-K60D100M board in stand-alone mode:
1) Insert the battery into the battery socket on the underside of the board
2) Change J12 to pins 2-3 to connect the VBAT domain to run off the battery
3) Add a jumper on J5 to use the potentiometer.
If using the TWR-K60D100M board with the TWR-SER board (required for web server and USB
demos):
1) Follow the steps in the section above plus:
2) On the TWR-K60D100M board:
a. Change J10 to pins 2-3 to use the 50Mhz clock from the TWR-SER board
3) On the TWR-SER board:
a. Change J2 to pins 3-4 to give a 50Mhz clock to the PHY
b. Add jumper to J3 pins 2-3 to bring up the 50Mhz clock from the TWR-SER
c. Add jumper to J12 pins 9-10 to put into RMII mode
If you do not have extra jumpers, you can use the ones on CAN_SEL (J5) on the TWR-SER board
4) Connect the TWR-K60D100M and TWR-SER boards via the elevator boards. Make sure the
primary side (often marked with a white stripe) goes into the elevator board with the white
edges. Detailed instructions are in the Quick Start Guide inside the TWR-ELEV module.
5) Connect an Ethernet cable between the TWR-SER board and an Ethernet port on your
computer
6) Note that the default jumper settings are in the Quick Start Guide for the TWR-K60D100M and
TWR-SER if you want to change back to the default settings after you are done running the
demo.
3Update OSJTAG
Open Source JTAG 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.

TWR-K60D100M Quick Start Demo Lab Guide Page 4 of 19
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
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 J19and is labelled
JM60 Boot on the silk screen. Then re-connect the board to your computer.

TWR-K60D100M Quick Start Demo Lab Guide Page 5 of 19
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.
4Run the Demo
1) Connect a mini-B USB cable to the TWR-K60D100M tower module.
2) Allow the PC to automatically configure the OSJTAG drivers used for debugging and the serial-
to-USB feature. If you have trouble connecting to the board or using the Serial Terminal, see
Section 9 for troubleshooting and make sure you completed the steps listed in Section 3.
Touch Demo
3) Press the E1-E4 touch pads to toggle on and off the LED’s
Memory Game
4) Press SW2 to play a memory game using the Touch pads E1-E4. A sequence will light up, and
then press the touch sensors in the order flashed. If an incorrect sequence is input or you
take too long, then all the lights will blink rapidly and the game will reset. See how far you can
go!
5) Press SW1 to go back to the touch and accelerometer demo
Accelerometer Demo
6) Tilt the board back and forth to see the LED’s light up as it is tilted
7) Press SW1 and SW2 at the same time to calibrate the accelerometer. It will store the calibration
into internal flash memory, so this will only need to be done one time while the board is flat.
Terminal Demo
8) Open a terminal window (115200 baud, 8 data bits, no parity, 1 stop bit) and connect to the
OSBDM/OSJTAG –CDC Serial port.
Note: If you disconnect power, you will need to close the terminal window, connect power,
and then re-open the terminal window

TWR-K60D100M Quick Start Demo Lab Guide Page 6 of 19
9) In the terminal program, there will be a shell prompt after you hit the Enter key. Type “help” to
see the full list of commands.
10) Type “settime HH:MM” to adjust the time to HH:MM.
11) Type “accel start” to print out the accelerometer data to the terminal. Type “accel stop” or
press SW1 or SW2 to stop the printout.
SD Card Demo
12) Insert a SD Card into the SD Socket on the underside of the board. You can then access the files
and create new files and directories on the SD Card via the shell interface. Type “help” to see
the full list of commands.
USB Mouse Demo - The following steps require the TWR-SER peripheral module:
13) Using a second USB mini-B cable, plug it into the USB mini-B connector on the TWR-SER.
14) The tower kit will then enumerate as a mouse on your computer. You can tilt the board around
to move the mouse cursor. Press SW2 to left click. Press SW1 to right click.
Web Server Demo - The following steps require the TWR-SER peripheral module:
15) Finally we will run the web browser. The default IP address of the board is 169.254.3.3.
Typically, when you connect your computer directly to the board, the computer will default to
an auto IP address on the same subnet as the board (169.254.x.x), therefore requiring no
setup.
Note: The PC may take a few minutes to default to the auto IP address and make the
connection. Also ensure any browser proxy settings, VPN connections, and wireless
connections are turned off since that can interfere with making a connection to the IP address.
16) However, if you have trouble connecting, you may configure the IP address of the computer
manually. Select Start >Settings > Network Connections > Local Area Connection. Note your
original TCP/IP settings, and then set your IP address to on your computer 169.254.3.4 and

TWR-K60D100M Quick Start Demo Lab Guide Page 7 of 19
your subnet mask to 255.255.0.0. Make sure the computer IP address is different than the
board address
17) Open a web browser and go to the target device address. In this case, 169.254.3.3
18) You should see the web server welcome page in the browser window, as seen in figure below:
19) Browse the links on the left hand side to see other pages. These pages include:
Accelerometer data
Real Time Clock (displaying elapsed time since first boot-up, or the time set by the settime
command)
Toggle LED’s
Status of the switches, LED’s, potentiometer, and ADC temperature sensor
The current score and high score in the memory game (not part of pre-flashed demo. This
page is only in web-downloaded version)
More information on the Kinetis K60 family
20) Browse web pages on the SD card you inserted earlier by clicking on the Browse SD Card link on
the left hand menu. It will link to an index.html file you can place on the SD Card. You can also
access any other webpage on the SD card by going to <board IP
address>\sdcard\file_name.html
(This feature is not part of the pre-flashed demo, and is only in web-downloaded version. Also
note the errata described in the SD Card demo section above for Rev D TWR-K60D100M
boards.)
5Development Software and Programming the Board
The following instructions describe how to build and flash the Kinetis Quick Start Demo using MQX
4.0 with both CodeWarrior MCU 10.4 and IAR 6.50.6

TWR-K60D100M Quick Start Demo Lab Guide Page 8 of 19
5.1 CodeWarrior for Microcontrollers 10.4
1) Follow the directions in Section 3 to update the OSJTAG firmware and drivers. See Section 9 for
OSJTAG Troubleshooting.
2) Install CodeWarrior for Microcontrollers 10.4. The Evaluation edition or Standard version or
higher will be required because of code size.
3) Install any CodeWarrior patches available.
4) Install MQX 4.0. You can find this from the MQX website
5) You must then compile the MQX libraries for the TWR-K60D100M board. The workspace at
<mqx_dir>\config\twrk60d100m\cw10\twrk60d100m.wsd has all the libraries to build and
can be imported going to the File->Import and then Other->Import Working Sets.
6) Click on the Build All button to re-compile all the K60 libraries.
Use the default “Debug” targets. See the Getting Started with Freescale MQX™ RTOS
document in the <mqx_dir>\doc folder for more information if needed on compiling the
libraries before continuing on with the lab.

TWR-K60D100M Quick Start Demo Lab Guide Page 9 of 19
7) If you did not install the K60 Quick Start Demo to the default location inside of
C:\Freescale\Freescale_MQX_4_0\demo folder, move the folder TWR-
K60D100M_Quick_Start_Demo to that location. The path after the move should be
C:\Freescale\Freescale_MQX_4_0\demo\TWR-K60D100M_Quick_Start_Demo
8) If MQX is installed in another location, move the folder to the <mqx_dir>\demo directory at
that location instead.
9) Next we need to import the Quick Start Demo into our CW10 workspace.
10) 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
11) On the next screen, select the “Select root directory:” option, and click on Browse
12) Navigate to the C:\Freescale\Freescale_MQX_4_0\demo\TWR-
K60D100M_Quick_Start_Demo directory and hit OK.
13) Make sure TWR-K60D100M_Quick_Start_Demo is checked, and hit Finish.

TWR-K60D100M Quick Start Demo Lab Guide Page 10 of 19
14) Make sure the Debug configuration is set for the project
15) Open the web.h file in the project pane window. Double-click the file item located in the
“Source/web” group in the project tree.
16) You can change the default IP address by modifying the ENET_IPADDR define. For example, to
set the target address to 169.254.3.3, and the line will be:
#define ENET_IPADDR IPADDR(169,254,3,3)
17) You could also use DHCP instead of a static IP address by setting
DEMOCFG_ENABLE_DHCP to 1in web.h
18) Save the file after you are done.

TWR-K60D100M Quick Start Demo Lab Guide Page 11 of 19
19) Build the project by clicking on the Hammer icon in the toolbar
20) Click Run->Debug Configurations… in the menu bar, and select the
QSD_twrK60D100M_Int_Flash_Debug_PnE U-MultiLink configuration. Then hit the debug
button in the bottom of the window
21) If this is the first time you’ve used CW10.4 with your board, you may get a dialog box asking to
update the OSJTAG firmware. Unplug your board, put a jumper on J19which is labeled 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 J19, and hit “OK” again
on the dialog box. If you do not have a spare jumper, you can temporarily use the one on J9.
22) The code will then be flashed to the board and the debugger started.
23) Once the code is done flashing, the code will pause at the starting instruction of the MQX.
24) Hit the run icon to continue the program execution.
5.2 IAR Embedded Workbench for ARM 6.50.6
1) Follow the directions in Section 3 to update the OSJTAG firmware and drivers. See Section 9 for
OSJTAG Troubleshooting.
2) Install IAR for ARM v6.60 or higher. The Evaluation edition or Full edition will be required
because of code size.
3) Install MQX 4.0. You can find this on the MQX website

TWR-K60D100M Quick Start Demo Lab Guide Page 12 of 19
4) You must then compile the MQX libraries for the TWR-K60D100M board. The workspace at
<mqx_dir>\config\twrk60d100m\iar\build_libs.eww has all the libraries to build. Use the
default “Debug” targets and you can select all the libraries by holding the Ctrl key as you click
on each project name, and after they are all highlighted, select “Rebuild All”.
See the Getting Started with Freescale MQX™ RTOS document in the <mqx_dir>\doc folder
for more information if needed on compiling the libraries before continuing on with the lab.
5) If you did not install the K60 Quick Start Demo to the default location inside of
C:\Freescale\Freescale_MQX_4_0\demo folder, move the folder TWR-
K60D100M_Quick_Start_Demo to that location. The path after the move should be
C:\Freescale\Freescale_MQX_4_0\demo\TWR-K60D100M_Quick_Start_Demo
6) If MQX is installed in another location, move the folder to the <mqx_dir>\demo directory at
that location instead.
7) Open the workspace file that will be located at C:\Freescale\Freescale_MQX_4_0\demo\TWR-
K60D100M_Quick_Start_Demo\iar\TWR-K60D100M_Quick_Start_Demo.eww
8) Open the web.h file in the project pane window. Double-click the file item located in the
“Source/web” group in the project tree.

TWR-K60D100M Quick Start Demo Lab Guide Page 13 of 19
9) You can change the default IP address by modifying the ENET_IPADDR define. For example, to
set the target address to 169.254.3.3, and the line will be:
#define ENET_IPADDR IPADDR(169,254,3,3)
10) You could also use DHCP instead of a static IP address by setting
DEMOCFG_ENABLE_DHCP to 1in web.h
11) Save the file after you are done.
12) Select the Int Flash Debug target
13) Compile the project by clicking the Make icon (or right clicking on the project and select
“Make”).
14) After compilation completes, download the code to the board and start the debugger by
pressing the “Download and Debug” button
15) The code will download to Flash, and the debugger screen will come up and pause at the first
instruction. Hit the “Go” button to start running.

TWR-K60D100M Quick Start Demo Lab Guide Page 14 of 19
6Task Aware Debugging
MQX comes with Task Aware Debugging (TAD) when using both CodeWarrior and IAR IDE’s. This
feature is only available in the Evaluation or Full editions of those compilers.
To use TAD, start up an MQX project within the debugger. While the project is running, hit the Break
button ( in IAR, or in CodeWarrior) to pause the debugger. Then click on MQX->Task Summary
to see all the tasks MQX is running and their current state. Explore the other options as well, and look
at the Release Notes for more information on TAD.
7Demo Software Overview
This demo is a combination of several tasks running in parallel, while using MQX drivers and stacks.
Looking at Tasks.c first, this contains the MQX_template_list[] data structure. This has the attributes
for all the tasks that will be created by this demo, except for the webserver tasks. It includes the stack
size for each tasks, their priority, and any other attributes. More details can be found in the MQX
User Guide in the <mqx_dir>\doc\mqx directory.
The Init_Task is the only task with the MQX_AUTO_START_TASK attribute set, so it is the only task
that will be running at bootup. This code for this task is in Init_Task.c. This task will start all the other
tasks for the demo.
Inside the initialization task, global variables are initialized and then the LWGPIO driver is initialized.
Next the Accl_Task is started, which polls the MMA7660 sensor on the TWR-K60D100M over I2C.
Then the ADC_Task is started, which polls the ADC channel connected to the potentiometer, and the
ADC temperature sensor. The values for these readings are stored in a global SENSOR_DATA
structure, so that their information can be easily re-used by other tasks.
Next the memory game task is started, which waits for the memory mode to start.

TWR-K60D100M Quick Start Demo Lab Guide Page 15 of 19
Next the Demo_Task is started. This determines, based on the accelerometer readings and button
presses, which mode the demo is in and how the LED’s should be controlled. This is the main task for
the Quick Start Demo.
The shell and SD Card tasks are started after that. This is the same code as in the sdcard MFS
example. And then the USB task is started which starts the USB stack and waits for a USB connection
to enumerate as a HID class mouse.
The web server is then initialized, which creates two tasks for the RTCS stack and the http server. The
web pages are stored in the \web\web_pages folder. The mktfs.exe executable converts them into
ASCII arrays stored in the tfs_data.c file, which is what is programmed into flash. The cgi_index.c file
contains the CGI functions for getting data to and from the web server.
Finally the TSI module is initialized and started. It performs some calibration and then uses the TSI ISR
to detect touches. Depending on the demo mode, it will set different variables upon detecting a
touch.
The initialization task then calls _task_block() to be permanently blocked, and the demo is now up
and ready. See the comments in the source code for more information on how the demo works.
Also explore the documentation, app notes, and examples in the <mqx_dir>\doc folder and explore
online at http://freescale.com/mqx for more information on using MQX.
8Creating a new MQX project
To create a new MQX project in CW10, use the following steps:
1) Go to File->New->MQX 4.0 Project
2) Follow the wizard to setup and create a new MQX project.
To create a basic MQX project in IAR via a script, use the following steps:
1) Make sure you have not modified the files in the K60 Quick Start Demo
2) Double click on the k60d_make_new_iar_mqx_project.exe file inside the K60 Quick Start Demo.
3) Type in the new project’s name, with no spaces, such as k60_hello
4) Hit the Enter key. The script that is now running copies the project files from the K60 Quick Start Demo
into a new directory in <mqx_dir>\demo, modifies them to use the new name, and copies the Hello
World example from <mqx_dir>\mqx\examples\hello
5) After the script finishes, hit the Enter key to close the window.

TWR-K60D100M Quick Start Demo Lab Guide Page 16 of 19
To copy the Quick Start Demo project in IAR manually, use the following steps:
1. Copy the TWR-K60D100M_Quick_Start_Demo folder and place the copy in the MQX demo folder at C:
\Freescale\Freescale_MQX_4_0\demo
2. Rename the folder to the new project name, with no spaces. For example, k60_demo
3. Inside the k60_demo folder, go into the iar folder
4. Rename the four IAR files to k60_demo
5. Open the k60_demo.eww file and change the following line to point to the new project name:
6. Save the file
7. Open the k60_demo.eww workspace
9OSJTAG
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 Section 3 or 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:

TWR-K60D100M Quick Start Demo Lab Guide Page 17 of 19
If you only see it enumerate as the OSBDM/OSJTAG 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.
If there are still problems with enumerating correctly, you can also manually select the drivers.

TWR-K60D100M Quick Start Demo Lab Guide Page 18 of 19

TWR-K60D100M Quick Start Demo Lab Guide Page 19 of 19
For the Open Source BDM –Debug Port, use the driver at:
C:\PEMicro\osbdm_osjtag_virtual_serial_toolkit\Drivers\osbdm\OSJTAG_Debug_Interface_libusb.inf
For the PEMicro USB Serial Port (i1), use the driver at:
C:\PEMicro\osbdm_osjtag_virtual_serial_toolkit\Drivers\osbdmOSJTAG_Serial_Interface_windriver_
version.inf