NXP Semiconductors Freescale TWR-MECH User manual

TOWER SYSTEM

Quick Start Guide

TWR-MECH

Mechatronics Board

Quick Start Guide

Get to Know the Tower Mechatronics Board

Debug

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

TOWER SYSTEM

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

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

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

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.”

Quick Start Guide

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

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

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.

Quick Start Guide

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

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

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

TOWER SYSTEM

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

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

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)

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