trademarks of freescale semiconductor, inc., reg. u.s. pat ... · this is done automatically by...

TM

Freescale, the Freescale logo and CodeWarrior are

trademarks of Freescale Semiconductor, Inc., Reg.

U.S. Pat. & Tm. Off. Xtrinsic is a trademark of

Freescale Semiconductor, Inc.

All other product or service names are the property

of their respective owners.

© 2013 Freescale Semiconductor, Inc.

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2

Objectives

In this module, there are three primary objectives.

• You will become familiar with the process of building your

own S19 binary for an ISF application.

• You will also gain a high-level understanding of the

contents of an ISF application by looking inside a sample

ISF application using CodeWarrior.

• You will reinforce your knowledge in three areas.

— Importing projects into the Intelligent Sensor Mailbox Tool

— Running a project

— Reading sensor data

Module 3

ObjectivesPrerequisitesRequired Items

OverviewWhat is ISF?Import projectUnderstanding the user

applicationBuilding the ImageEstablish CommunicationLoad the S19 BinaryRun the S19 BinaryRead Sensor DataConfiguring the CW

ConnectionCW - CommunicationCW - Run the binaryRead Sensor Data

Module SummaryNext Steps

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3

Prerequisites

To complete this module, you will need a Xtrinsic ISF 1.1 Windows 7 development PC meeting

the following minimum hardware requirements:

• Pentium 4 or newer

• 4 GB of RAM

• 2 USB ports (1.0, 2.0, or 3.0)

The development PC must have an internet connection and have specific software installed.

1. CodeWarrior 10.5 or newer (with inherent ColdFire support)

2. FSL_MQX_3.7_FXLC95K

3. ISF 1.1 Core Library

This is done automatically by using the ISF1.1 installer from the FSL Xtrinsic ISF Overview

page.

For more information on these installations, refer to Module 1—Installing Necessary Software.

You will also need the following items:

• KITFXLC95000EVM, -MAG, or -10AXIS Application Board

• P&E USB Multilink

• USB cables (2)

Module 3






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4

Prerequisites

Prior to beginning, you should have completed Module 2—Installing an

ISF Binary.

The best way to locate the documentation is to go to the Microsoft Start

Icon and look for the shortcuts under

“All Programs\Freescale\Documentation”.

Alternatively, the related documentation can be found on the Xtrinsic ISF

Downloads webpage.

• API Reference Manual (ISF1P195K_API_REFERENCE_RM)

• Software Reference Manual (ISF1P195K_SW_REFERENCE_RM)

• Software Release Notes (ISF1P195K_CORE_LIB_RELEASE_RN)

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Required Items

Prior to beginning, two files must be located in the ISF 1.1

installation.

1. Go to the Windows Start Icon, select “All Programs -> Freescale

-> Xtrinsic ISF v1.1 -> Example Applications Folder”. Locate the

GetAccelData directory.

2. Go to the Windows Start Icon, select “All Programs ->

FXLC95000 Mailbox Tool -> FXLC95000 Mailbox Tool .

Alternatively, if the ISF 1.1 installer has NOT been run, these items must be downloaded

from the Xtrinsic ISF Downloads webpage.

• Download the ISF1P195K GETACCELDATA S19 file from the

Run-time Software\Reference Applications area.

• Download the FXLC95000_ISF1P1_WIN_MAILBOX_TOOL_EXE executable file from

the Software Development Tools\Debuggers and Runtime Analysis area.

This is the Intelligent Sensor Mailbox Tool, used for transferring binaries to the

FXLC95000. (Note that it is also used for transferring commands and data between

the PC and FXLC95000.)

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6

Overview

In module 2, you learned four (4, 6, 7, 8) of the eight steps involved in

ISF application development.

This module discusses steps 1, 3, and 5 used in Building an ISF

Application.

Building an ISF application is a two-step process.

1. Clean the project. This step removes all previous builds.

2. Build the project. This step compiles a new build, creating the S19

binary from the source files in the project.

NOTE: Before building an ISF application, you will be introduced to a few key

concepts and the theory of operation of a user application using code snippets.

You can view the complete source code in CodeWarrior after importing the project.

1. Import project

2. Modify application

3. Build application

4. Connect hardware

5. Configure connection

6. Establishcommunication

7. Run application

8. Test

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7

What is ISF?

The Intelligent Sensing Framework (ISF)

• is a library of components based upon MQX

• causes the FXLC95000 to act as a sensor hub

• facilitates management of the sensor hub consisting of the onboard

accelerometer and any external sensors, supported by ISF sensor adapters

The user application is a user-defined application program built using the ISF

core library and functionality.

Sensor abstraction allows the user to define and set the sensor configuration

and get the sensor data without knowing how the sensors are physically

connected to the system.

The next part of the training module goes through a simple user application,

GetAccelData introduced in Module 2, to demonstrate the usage of the on-

board accelerometer.

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8

Importing the Project into CodeWarrior

1. Open CodeWarrior 10.5 or newer.

2. Create a clean workspace.

In the Select a workspace window, click Browse, then, in a

convenient location, create a new folder named

workspace_module3, then select the folder, and then click OK.

This folder is referred to as the workspace folder.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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9

Importing the Project (continued)

3. We don’t want to use the version of GetAccelData that came in

the installation

(C: Program Files\Freescale\ISF_R1p1\Example Applications)

because we don’t want to overwrite it. For this reason, In

Windows Explorer, copy the GetAccelData directory into the

CodeWarrior workspace directory under

C:/Users/…./workspace_module3

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4. Navigate to the workspace folder, and then to the

GetAccelData\Build folder.

5. In CodeWarrior, go to the

CodeWarrior workbench.

Position Windows Explorer

and CodeWarrior so that

they are both visible.

6. Drag the .project file (not the .cproject file) from Windows

Explorer into the projects space of the CodeWarrior

workbench.

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Verify that the GetAccelData_Binary project is visible in the

CodeWarrior Projects workspace.

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12


It is recommended to verify that the ISF libraries are properly loaded.

1. In CodeWarrior, right click on the GetAccelData project, and then select

Properties.

2. In the Properties for GetAccelData window, expand Resource, and then select

Linked Resources.

3. On the Path Variables tab, verify that the variable named ISF_ROOT_DIR has a

value of C:\Progam Files\Freescale\ISF_R1p1\ISF.

4. Close the window by clicking OK.

Module 3






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13

Host

User AppCommands/

Data

External

Sensor

Internal

Sensor

Sensor

Manager

Sensor

Abstraction

ISF

Understanding the user applicationModule 3






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14

Understanding the user application (continued)

1. Every application requires a main entry point. The GetAccelData

application has a GetAccelData_main.c file in the Source folder in the

project workspace.

These header files are part of the MQX installation.

These header files are included in the Include directory under ISF top directory.

This header file is for the on-board accelerometer.

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GetAccelData_main.c has a global variables section. It is possible to add new

global variables here, if needed.

Users can add their own global variables in this area.

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The user application is added as an MQX task in this area.

If needed, it is possible to add other tasks using this template structure.

This is where a user task is added to the MQX task list. MQX starts all the tasks in this list automatically.

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The next step is to inform the system about the sensors and configure them.

In this example, the system is informed about the FXLC95000CL

accelerometer and its parameters such as resolution and range. For more

information on configuring the accelerometer, refer to the SM_SensorSetting_t

structure documentation in the ISF API Reference Manual.

Module 3






Structure used to set up the on-board accelerometer.

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18


Now that the accelerometer setup is defined, the user application subscribes

to the Sensor Manager for the accelerometer data via the

isf_sm_subscribe_sensor_data function. For more information on this

function, refer to the ISF API Reference Manual.

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19


The final step is to ask the Sensor Manager to begin sending accelerometer

data using the isf_sm_begin_sensor_data command. Essentially, this function

turns on the data from the accelerometer to the user application. For more

information on this command, refer to the ISF API Reference Manual.

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Once the request for data is turned on, the user application enters a loop to

wait for the sensor data to arrive and then reads the data once it arrives.

Module 3






Reading and processing the sensor data inside the FXLC95000.

Waiting for the Sensor Manager notificationthat data is available.

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21


The raw sensor data is put into the mailboxes on the FXLC95000. Users can

manipulate the data and implement their own algorithms in this area of the

code. In this particular case, the data is sent back to the host.

Sensor data can be

processed on the

FXLC95000 or on the

host processor.

Updating the sensor data in the mailboxes allows the data to be read by the host processor for additional processing.

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The loop repeats until the user application decides to stop getting the sensor

data by issuing the isf_sm_end_sensor_data command.

The user has the option to start the data flow again in the future if desired.

However, if no additional data is required, it is a good idea to stop the

subscription.

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23


The user stops the subscription to the sensor via the

isf_sm_unsubscribe_sensor_data command. For more information on this

command, refer to the ISF API Reference Manual.

Now that you have a basic understanding of the GetAccelData user

application, the next few slides show you how to compile and build this user

application to produce the previously loaded S19 binary.

Module 3






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24

Building the Image

The first step to building an image is

to make sure generated files from

the previous builds are removed.

1. In CodeWarrior, right-click on

the project directory, and then

select Clean Project.

When the clean-only build is

complete, the console displays a

build complete message.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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25

Now that the cleaning process removed generated files from the

previous builds, new files will be generated as part of the build

process.

2. Right-click on the project directory, and then select Build Project.

Building the Image (continued)

Module 3






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26

Building the Image (continued)

The console displays several stages of the build. When the build is

complete, the console displays a finished building target message.

NOTE:

The file generated in this build is GetAccelData.elf.S19 located in the Binary folder. Since

no source files were modified, it is identical to the S19 Binary used in Module 2 and

operates in the same manner.

First, the S19 binary will be loaded onto the evaluation board using

the Intelligent Sensor Mailbox tool as was done in Module 2.

Second, you’ll learn how to load the S19 file from within

CodeWarrior. This is important if you want to debug your code.

Module 3






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27

Establishing Communication

Now you can open the Intelligent Sensor Mailbox Tool and establish

communication.

1. Locate and open the previously identified Intelligent Sensor

Mailbox Tool (FXLC95000 MailboxTool.exe).

2. In the “ComPort” tab of the Intelligent Sensor Mailbox Tool,

click Open Comm.

Module 3






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28

Establishing Communication (continued)

If this window appears, try each of the steps below.

If this window does not appear, proceed to the next slide.

If you are using a

KITFXLC95000EVM board, you

probably have the old bridge

software. Please contact your FSL

representative to exchange your

boards for a KITFXLC95000MAG.

The alternate version of the mailbox

tool using the old bridge software,

works the same way as instructed.

Module 3






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29

Establishing Communication (continued)

Verify that communication is established.

• Running ROM code is displayed in the console

• Connected to Device is indicated in the status bar

Notice also that the Port Number, Bridge Version, and Device ID windows now have values.

Alternate values that will also work: Port Number: COM67, Bridge Version HW: 06 SW:20

Module 3






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30

Loading the S19 Binary

You are now ready to transfer the S19 Binary image to the FXLC95000CL device and run the

application.

Return to the mailbox tool and switch over to the “Flash Utility” tab .

In case there is another image already in flash, begin by pressing “Erase Flash”.

1. Import project



4. Connect hardware

5. Configureconnection


7. Run application

8. Test

Module 3






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31

Loading the S19 Binary (continued)

Now select “Program Flash” and select the S19 file from the CodeWarrior workspace

C:\Users\...\workspace_module3\GetAccelData\Build\Binary\GetAccelData.elf.S19

1. Import project



4. Connect hardware

5. Configureconnection


7. Run application

8. Test

Module 3






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32

Loading the S19 Binary (continued)

Wait while the S19 binary image is loaded onto the device.

Module 3






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33

Running the S19 Binary

When it has finished loading, the window in the mailbox tool looks like:

To get the image to execute on the device, select “Boot to Flash”

Module 3






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34

Running the S19 Binary (continued)

Verify the transfer process is complete.

• All notifications will disappear

The GetAccelData application is now running on the Application board.

Data and commands can be sent to the application board from the

Intelligent Sensor Mailbox Tool and data can be received from the

application.

Module 3






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35

Reading Sensor Data Using the

Intelligent Sensor Mailbox Tool

With communication established and the application running on the

Application Board, you can read sensor data using the Intelligent

Sensor Mailbox Tool.

In the Intelligent Sensor Mailbox Tool, click on the “Mail Box” tab.

Read the contents of the mailboxes by clicking MB Read.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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36

Reading Sensor Data (continued)

The sample user application provides the sample count and X, Y, Z

accelerometer data.

• MB4:7 contain the sample count

• MB12:17 contain the X, Y, Z accelerometer data

MB19MB12:17MB4:7MB0

Note: Do not expect the same values as shown. Just

see the values changing in these particular mailboxes.

Module 3






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37

Configuring the Connection using

CodeWarrior


Step 4 was completed in Module 2—Installing an ISF Binary.

For step 5, you can also use CodeWarrior to load the binary onto the device.

Throughout this training, the Intelligent Sensor Mailbox tool will be used but it

is important for you to know how to use the CodeWarrior mechanism,

especially when you debug your code.

When using CodeWarrior, the P&E USB Multilink must be used. This

changes the hardware configuration slightly from what was used in Module 2.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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38

Connecting the Hardware

Three pieces of hardware must be connected properly.

• Developer PC

• Application Board

• P&E USB Multilink

Connect the hardware using the following procedure.

1. Connect the Application Board

to the PC using one of the

provided USB cables.

NOTE:

The Application Board power

switch should be in the OFF position.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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39

Connecting the Hardware (continued)

2. Connect the P&E USB Multilink

to the PC using the remaining

USB cable.

NOTE:

If this is the first time the P&E

Multilink is connected to the

developer PC, device drivers

may install. Allow the driver

installations to complete,

indicating that the device is ready

to use.

Module 3






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40


3. Connect the P&E USB Multilink to the Application Board J14

junction using the JTAG interface on the P&E Multilink. Ensure

that the JTAG interface connects to all pins of J14 and pin1 is

aligned with the stripe.

4. Power on the Application Board by moving its power switch to

the ON position.

Module 3






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41


Verify that the hardware is connected properly.

• P&E Multilink blue LED and yellow LED are lit.

• Application Board green LED (D4) is lit.

Module 3






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42

1. Import project



4. Connect hardware



7. Run application

8. Test

Configuring the CW Connection

Configuring the connection is a one-time

procedure.

1. In CodeWarrior, right-click the

GetAccelData project and select Run

As, and then select Run

Configurations.

2. Select CodeWarrior Download, and

click the New launch configuration

icon. This opens a GetAccelData

Binary tabbed window panel, which is

pre-populated with some CodeWarrior

project-related configuration

information.

3. Click New, located to the right of the

Connection field.

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43

Configuring the CW Connection (continued)

4. In the Select Remote

System Type window,

expand CodeWarrior

Bareboard Debugging, then

select Hardware or

Simulator Connection, and

then click Next.

Module 3






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44


5. In the Hardware or

Simulator Connection

window, enter

FXLC95000_multilink into

the Name field

6. Click New, located next to

the Target field.

Module 3






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7. In the Hardware or Simulator

Target window, enter

FXLC95000 in the Name field.

8. In the Target type menu,

expand coldfire.FXLC95xxx,

then select FXLC95000, and

then click Finish.

Module 3






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46

9. In the Hardware or Simulator

Connection window, from the

choices available in the

Connection type menu, select

the P&E ColdFire multilink

(exact wording may be

different depending on the

multilink model), and then click

Finish.


Module 3






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10. In the Create, manage,

and run configurations

window, click Apply.

The connection type is now

configured and saved.

Keep this window open.

Module 3






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1. Locate and open the Intelligent Sensor Mailbox Tool

(ISF1P1WIN_MAILBOX_TOOL_EXE.exe)

2. Connect the hardware as described in Module 1.

3. Click Open Comm on the “Com Port” tab.

Verify that communication is established.

• Running ROM code is displayed in the console

• Connected to Device is indicated in the status bar

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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49

Running the Binary

You are now ready to transfer the Binary image to the FXLC95000CL device and run the

application.

1. In the CodeWarrior Create,

manage, and run configurations

window, click Run.

In the lower right corner of CodeWarrior,

launching information appears indicating

that the binary is being transferred to the

device.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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50

Running the Binary (continued)

Verify the transfer process is complete.

• All notifications will disappear

The sample application is now running on the Application board. Data

and commands can be sent to the application board from the Intelligent

Sensor Mailbox Tool and data can be received from the application.

NOTE:

Each of the provided application files contains a readme file that

explains project-specific commands that may need to be written to the

sensor via the Intelligent Sensor Mailbox Tool.

The project used in this module does not require writing any of these

commands at this time.

Module 3






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51

Reading Sensor Data Using the

Intelligent Sensor Mailbox Tool

With communication established, the new build completed, and the

application running on the Application Board, you can read sensor

data using the Intelligent Sensor Mailbox Tool.

In the Intelligent Sensor Mailbox Tool, read the contents of the

mailboxes by clicking on the Mail Box tab and clicking MB Read.

1. Import project



4. Connect hardware



7. Run application

8. Test

Module 3






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The sample user application provides the sample count and X, Y, Z

accelerometer data.

• MB4:7 contain the sample count

• MB12:17 contain the X, Y, Z accelerometer data

MB19MB12:17MB4:7MB0

Note: Do not expect the same values as shown. Just see

the values changing in these particular mailboxes.

Module 3






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Verify your data by reading the data multiple times.

While changing the orientation of the Application Board, click

MB Read several times. Each click displays a new set of data in the

console.

• MB4:7 contain the sample count.

This value increases with each click.

• MB12:17 contain the X, Y, Z accelerometer data.

The accelerometer data changes based on the orientation of the

Application Board.

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Module Summary

This completes Module 3—Building an ISF application.

At this point, you know seven of the eight main steps to developing ISF

applications and running them on the KITFXLC95000EVM/MAG/10-AXIS

Application Board.

1. Importing the project into CodeWarrior

2. Modifying an ISF application

3. Building an ISF application

4. Connecting the Application Board

5. Configuring the connection between PC and the Application Board using

either CodeWarrior or the Mailbox tool

6. Establishing communication between the PC and Application Board using

the Mailbox tool

7. Transferring the image of the application to the Application Board and

running the application using either CodeWarrior or the Mailbox tool

8. Reading sensor data using the Mailbox Tool

Module 3






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Next Steps

Now that you can import, build, and run existing ISF applications,

you are ready to begin learning how to modify applications.

In Module 4, you will start with a working application and then

modify it to implement your own application.

Please continue to Module 4—Modifying an ISF application.

Module 3






trademarks of freescale semiconductor, inc., reg. u.s. pat ... · this is done automatically by...

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