NXP Semiconductors Freescale TWR-MECH User manual

TOWER SYSTEM
Quick Start Guide
TWR-MECH
Mechatronics Board

Quick Start Guide
2
Get to Know the Tower Mechatronics Board
Debug
USB
USB
OTG
MCF52259
On/Off Switch
SW4
(Reset)
Primary
Connector
Secondary
Connector
RS232
Port
Potentiometer
Touch Panel Sockets
Touch
Panel
Socket
Touch Panel
Socket
Connectors for
Up to Eight Servos
5V Supply
Daughter
Card
Sockets

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The Freescale robot (FSLBOT) kit
operates with the Tower mechatronics
(TWR-MECH) board to create an easy-to-
use mechatronics development and
demonstration platform. It is designed
specifically to be used and programmed
with StickOS®BASIC. More advanced
users can take programming to new levels
of functionality with the use of CodeWarrior
and Freescale’s Tower System.
TWR-MECH BOARD
Freescale Tower System
The TWR-MECH board is part of the Freescale Tower
System, a modular development platform that enables
rapid prototyping and tool re-use through reconfigurable
hardware. Take your design to the next level and begin
constructing your Tower System today.
How to Use the Mechatronics Robot

Quick Start Guide
4
Step-by-Step Installation Instructions for StickOS
StickOS BASIC is a programming
language and an IDE. It’s specifically
designed to allow those with little or no
programming experience to get up and
running quickly with the TWR-MECH
board. It also provides complex
functionality such as vision filters and
face tracking.
Install StickOS
1. Open an Internet browser of your
choice and navigate to
freescale.com/mechbot
1
2. Select the “Download” tab. Scroll
through the list of downloads and select
FSLBOT_StickOS_IDE. Click “Download”
and save the file to an easily accessible
place on your computer.
3. Decompress the downloaded file.

TOWER SYSTEM
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Configure Drivers
with Windows®XP
1. Ensure “Search for the best driver in
these locations” is selected. Also, the
“Include this location in the search” box
should be checked. Click “Browse” and
navigate to the folder of the recently
downloaded file. Click “OK,” followed
by “Next.”
Connect the USB Cable
1. Plug the included FSLBOT USB cable
into the computer and into the left rear
mini-USB port on the board (labeled
USB OTG).
2. The “Found New Hardware Wizard” will
appear. Choose “Install” from a list or
specific location (Advanced). Click “Next.”
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Quick Start Guide
6
2. The hardware wizard will install the
needed files to run the Freescale
TWR-MECH.
3. Once the hardware wizard has finished,
click “Finish” to complete the installation.
Additional Resources
For more information, visit
freescale.com/mechbot.
Join the online Tower community at
towergeeks.org.

TOWER SYSTEM
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Install CodeWarrior
• Downloadandinstallthelatestversion
of CodeWarrior for ColdFire V2 from
freescale.com.
• DownloadtheCodeWarriorsamplecode
for the Freescale mechatronics robot. This
can be found on the Freescale website
on the right hand side of the TWR-MECH
page under “Featured Software.”
Connect the USB Cable
Connect the USB cable to the PC and the
other end to the J17 on the TWR-MECH
board, also labeled “DEBUG.”
Configure Drivers
Allow PC to automatically configure drivers
if needed. If you have driver problems, please
see the TWR-MECH driver installation guide
located in the sample code folder mentioned
above, or visit pemicro.com/osbdm.
Installation Instructions for CodeWarrior
1
2
Launch Software
Launch CodeWarrior for ColdFire V2.
Close the startup box, and click “File >
Open” to open the sample code.
The file path is: TWR_MECH_FSLBOT_
Cadewarrior_Sample_CODE/ mcf5225x_
SC_FreeBot/build/cw/twr-mcf5225x/TWR
_Mechatronics_MCF5225X_base.mcp.
You are now ready to start programming
with CodeWarrior.
Note: On/Off switch must be in “On”
position for the servos to activate.
Additional Resources
Please see the related documents provided
in the sample code folder, and visit
freescale.com for more information.
4
3

Quick Start Guide
8
TWR-S08PT60 Default Jumper Options
The following is a list of all jumper options. The default installed jumper settings are
shown in white text within the violet boxes
.
Jumper Option Setting Description
J3 Default Clock Mode
Selection (CLKMOD1)
1-2 Disable PLL at startup
2-3 Enable PLL at startup
J4 MCU Power
Connection
On
Cut-Trace Supply 3.3V to MCU
Off Isolate MCU from power (connect an ammeter to
measure current)
J5 Clock Input Source
Selection
1-2 Connect EXTAL to the on-board crystal
2-3 Connect EXTAL to the CLKIN0 signal on the elevator
connector
J6 Default Clock Mode
Selection (CLKMOD0)
1-2 Do not use crystal oscillator at startup
2-3 Use crystal oscillator at startup
J7 Potentiometer
Selection
On
Cut-Trace Connect AN6 to potentiometer
O Isolate AN6 from potentiometer
J8 Serial Flash
Programming Mode
1-2
Cut-Trace Pull RCON high, allow normal reset behavior
2-3 Pull RCON low, as exiting reset give EzPort access to
flash memory for programming by external device
J10 Default Clock Mode
Selection (XTAL)
1-2 Bypass crystal oscillator at startup (if CLKMOD0 = 0)
2-3 Enable internal relaxation oscillator at startup
(if CLKMOD0 = 0)
Off Use crystal oscillator at startup

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Jumper Option Setting Description
J11 UART Hardware Flow
Control Connections
1-2 Connect CTS0 to the RS232 transceiver for flow control
3-4 Connect RTS0 to the RS232 transceiver for flow control
J12 UART TXD0 Routing
Selection
1-2 Connect TXD0 to the RS232 transceiver
2-3 Connect TXD0 to the OSBDM debugger interface circuit
J13 UART RXT0 Routing
Selection
1-2 Connect RXD0 to the transceiver
2-3 Connect RXD0 to the OSBDM debugger interface circuit
J14 BDM/JTAG Enable
Selection
1-2
Cut-Trace BDM mode
2-3 JTAG mode
J15 TCLK/PSTCLK
Routing Selection
1-2 Connect TCLK/PSTCLK to PSTCLK for BDM mode
2-3 Connect TCLK/PSTCLK to TCLK for JTAG
J16
TCLK/PSTCLK/
CLKOUT Routing
Selection
1-2 Connect TCLK/PSTCLK/CLKOUT to TCLK/PSTCLK for
BDM/JTAG mode
2-3 Connect TCLK/PSTCLK/CLKOUT to CLKOUT0 on the
elevation connector
J20 OSBDM Bootloader
Selection
On OSBDM bootloader mode (OSBDM firmware
reprogramming)
Off
Non-Pop Debugger mode
J21 RESET Select
On Suspend MCU in reset state (hold RSTIN low)
Off
Non-Pop
Release RSTIN so it can be controlled by SW4 to initiate
reset sequences
TWR-MECH Jumper Options (continued)

Quick Start Guide
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Jumper Option Setting Description
J22 Servo Motor
Signal Selection
1-2 Connect SERVO_1 PWM signal to servo plug
3-4 Connect SERVO_2 PWM signal to servo plug
5-6 Connect SERVO_3 PWM signal to servo plug
7-8 Connect SERVO_4 PWM signal to servo plug
9-10 Connect SERVO_5 PWM signal to servo plug
11-12 Connect SERVO_6 PWM signal to servo plug
13-14 Connect SERVO_7 PWM signal to servo plug
15-16 Connect SERVO_8 PWM signal to servo plug
J40 Touch Sensor
Interrupt Select
On
Cut-Trace
Connect IRQ_TOUCH to IRQ7_b to use touch
sensor interrupt
Off Isolate IRQ7_b from touch sensor
J41 Universal Sensor No. 1
Interrupt No. 1 Select
On Connect AN0 to IRQ1_b to sense interrupt signal
Off Isolate AN0 from IRQ1_b to measure analog signal
J42 Universal Sensor No. 1
Interrupt No. 2 Select
On Connect AN1 to IRQ3_b/FEC_MDIO to sense
interrupt signal
Off Isolate AN1 from IRQ3_b/FEC_MDIO to measure analog
signal
J43 Universal Sensor No. 1
Interrupt No. 3 Select
On Connect AN2 to IRQ5_b/FEC_MDC to sense interrupt
signal
Off Isolate AN2 from IRQ5_b/FEC_MDC to measure analog
signal
J49 Battery Selection
1-2
Cut-Trace Connect SW1 to BAT1 for 4x AA cells
2-3 Connect SW1 to BAT2 for 7.2V external battery pack
TWR-MECH Jumper Options (continued)