Hands-On Workshop: Developing with the Kinetis Software Development Kit

Transcription

1 Hands-On Workshop: Developing with the Kinetis Software Development Kit FTF-SDS-F0127 Michael Norman Technical Marketing Manager Chris Brown Applications Engineer A p r i l TM External Use

2 Hands-On Workshop: Developing with the *new* Kinetis Software Development Kit (SDK) FTF-SDS-F Hour Class Learn about the new Kinetis software development kit (Kinetis SDK) and how it will dramatically improve your ability to develop C-language embedded bare-metal and RTOS-based applications. External Use 1

3 Session Objectives After completing this session you will: Have a good grasp on what the Kinetis SDK is and how it will benefit you and your designs with Kinetis MCUs. Understand what the future holds for the Kinetis SDK Be able to develop bare-metal and RTOS-based applications using the 1.0-Beta release of the Kinetis SDK External Use 2

4 Agenda Introduction to the Kinetis Software Development Kit (SDK) Architectural review Source review Stack and middleware integration Configuration using Processor Expert Roadmap Hands-in with the Kinetis SDK External Use 3

5 Agenda Hands-on with the Kinetis SDK Building the HAL and Driver libraries Startup and clocking configurations Adding a new board configuration Pin Muxing Tool HAL and Driver Usage Examples Blink an LED LED in an interrupt (switch) Install I2C (use accel) Clock mode changes Vector relocation Handling interrupts including dynamic interrupt tables Bare metal vs. RTOS application External Use 4

6 Software and Hardware Evaluation & Dev Tools Stacks (TCP/IP, USB) Middleware Application Specific Microcontroller Software Taxonomy HW eval kits, compilers, IDEs, GUI layout editors, data profiling and visualization, etc. Customer Application Wide range of software including touch solutions, graphics suites, utilities, etc. e.g. Audio Solutions, Motor Control, Wireless Charging Communication stacks including TCP/IPv4/IPv6, ZigBee, BLE, WIFI, and USB Libraries (DSP, Math, Encryption) RTOS Real-time operating systems; e.g. MQX, uc/os, FreeRTOS, uvelocity, and more Pre-compiled software such as HW accelerator drivers, C libraries, and proprietary algorithms HAL & Drivers MCU Hardware Bootloader Initialization and configuration; HW abstraction layers; peripheral drivers External Use 5

7 Software and Hardware Evaluation & Dev Tools Stacks (TCP/IP, USB) Middleware TM Application Specific Kinetis Software Development Kit (SDK) Learn more at: SDK A complete software framework for developing applications across all Kinetis MCUs HAL, peripheral drivers, libraries, middleware, utilities, and usage examples; delivered in C source Customer Application Libraries (DSP, Math, Encryption) BSP, Drivers & HAL Operating System Bootloader Product Features Open source Hardware Abstraction Layer (HAL) provides APIs for all Kinetis hardware resources BSD-licensed set of peripheral drivers with easy-to-use C-language APIs Comprehensive HAL and driver usage examples and sample applications for RTOS and bare-metal. CMSIS-CORE compatible startup and drivers plus CMSIS-DSP library and examples RTOS Abstraction Layer (OSA) with support for Freescale MQX, FreeRTOS, Micrium uc/os, bare-metal and more Integrates USB and TCP/IP stacks, touch sensing software, encryption and math/dsp libraries, and more Support for multiple toolchains including GNU GCC, IAR, Keil, and Kinetis Design Studio Integrated with Processor Expert MCU Hardware External Use 6 The OSI logo trademark is the trademark of Open Source Initiative.

8 Kinetis Platform SDK Overview Hardware Abstraction Layer Abstracted IP level Basic operations Useable low level drivers System Services Clock Manager, Interrupt manager, Low power manager, HW timer Can be used with HAL, PD and Application FSL Peripheral Drivers Use case driven high level drivers OS Abstraction Layer (OSA) Adapt to different OS (MQX, FreeRTOS and uc/os) through corresponding OSA BSP & Configuration Board Configuration, Pin Muxing, GPIO Configuration Can be configured using Processor Expert Stacks & Middle Wares USB stack, TCP/IP stack, Connectivity Audio, Graphics, more... External Use 7

9 Kinetis SDK 2014 Release Schedule 1.0 GA - Mid July 2014 Finalized APIs for HAL and PD Add Keil, Atollic and KDS toolchains Add support for K22, KL03, KL43Z, more 1.1 GA TBD Q Additional stack and middleware integration MQX RTCS, MFS integration 1.0b 1.0-Beta - April 8, 2014 Support for K64F, K63F, and K24F via TWR-K64F120M and FRDM-K64F (new) Supports IAR and GCC w/ make Training at FTF Americas Released to web Stand-alone releases Based on 1.0 GA release Adds support for new Kinetis NPIs according to their launch schedule. External Use 8

10 Cortex Microcontroller Software Interface Standard (CMSIS) Software layers for all ARM Cortex -M processor based devices CMSIS-CORE : API for Cortex-M processor and core peripherals CMSIS-DSP : DSP library with over 60 functions for Cortex-M CMSIS-SVD : XML system view description for MCU peripherals CMSIS-RTOS : API for RTOS integration CMSIS-DAP : Standardize firmware for connecting to CoreSight DAP CMSIS-Pack : XML based package description for file collections (packs) CMSIS-Driver : defines generic peripheral driver interface for middleware External Use 9

11 CMSIS-CORE Compliant Header Files with IP Extensions The Kinetis SDK does use CMSIS-CORE API for peripheral access C macros, interrupt handler naming, etc. It also extends the peripheral headers to include Easier access to registers Use bit-banding where possible provide the CMSIS-DSP lib and source (for GCC, built-into other tools) and usage example The Kinetis SDK does not provide a CMSIS-Driver compatible layer this may be considered in a future release External Use 10

12 Peripheral IP Feature Header Files The Kinetis SDK uses feature header files to define IP specific features Helps abstract the drivers and provide common code base for variety of different IP or IP configurations Example: fsl_uart_features.h #if defined(cpu_mk10dn512vlk10) defined(cpu_mk10dn512vll10)... #define FSL_FEATURE_UART_HAS_LOW_POWER_UART_SUPPORT (0) fsl_uart_hal_transfer_functions.c void uart_hal_getchar(uint32_t uartinstance, uint8_t *readdata) { #if FSL_FEATURE_UART_HAS_LOW_POWER_UART_SUPPORT #endif } External Use 11

13 Hardware Abstraction Layer Licensed under BSD 3-clause open-source license Provides simple, stateless drivers with an API encapsulating the functions of Kinetis peripherals The layer closest to the hardware in our layered driver approach Designed to be run-time configurable by taking user defined configuration data through init function call Taking UART as an example: HAL offers low-level init and byte transfer operations Init, set baud rate, set parity, set stop bit, read byte, write byte HAL provides both blocking and non-blocking data transfers non-blocking write byte used by interrupt driven Peripheral Driver block write (polling) will make sure the byte can actually write to the data FIFO External Use 12

14 System Services Commonly used services Hardware / unified timer can be running on any of the timers in SoC Centralized Clock Manager Centralized Interrupt Manager Low Power Manager Can be built using SoC header files and HAL components Can be used by Peripheral Drivers or User Application User can just use HAL and System Services to build applications Alternatively, the Peripheral Drivers utilize the System Services and users do not need to use system services Can be used by OSA External Use 13

15 Peripheral Drivers Open-source, high-level peripheral drivers Built on top of the HAL layer May utilize one or more HAL drivers and can take advantage of System Services Shielded from the underlying hardware details by the HAL and System Services Drivers may be used as-is or as a reference for creating custom drivers Possibly combine one or multiple HALs and system services for a use case driven high level driver Peripheral Drivers are run-time configurable using configuration data structures passed into init() Examples: UART: PD can be built on top of the HAL to deal with interrupt driven buffer level of operation Composite drivers: ADC driven by using PDB NOTE: we do not encourage mixing the usage of HAL and Peripheral Drivers. The application should either using HAL, or PD, but not both at the same time. External Use 14

16 OSA: Real-Time Operating System Abstraction Kinetis SDK provides an operating system abstraction (OSA) layer for adapting applications for use with a real time operating system (RTOS) or bare metal (no RTOS) applications. OSAs are provided for: Freescale MQX RTOS FreeRTOS Micrium uc/os-ii Micrium uc/os-iii bare-metal (no RTOS) RTOS abstraction layer bridges KSDK to work with or without RTOS Supports key RTOS services Semaphores, Mutex, Memory Management, Event External Use 15

17 Top 3 MCU Real-Time Operating Systems #2 #3 #1 Top RTOSes 1. FreeRTOS 2. Micrium uc/os-ii & III 3. Freescale MQX Freescale MQX 65K+ Downloads 19K+ Unique Users External Use 16

18 Middleware and Stack Integration Middleware Integration runs on top of the Kinetis SDK drivers RTOS abstraction addresses the usage with or without RTOS Stacks and middleware in source or object formats including: USB Stack: comprehensive device and host stack with extensive USB class support CMSIS DSP: a suite of common signal processing functions Crypto software utilizing the mmcau hardware acceleration 1.0-GA release planning to support: Freescale MQX Real-Time TCP/IP Communication Suite (RTCS) Freescale MQX File System (MFS) FatFs, a FAT file system for small embedded systems unit More to come External Use 17

19 Board Configuration and Support Pin Muxing Kinetis SDK driver layer does not handle pin muxing It is handled at the board configuration level Pin muxing functions can be generated using Pin Muxing tool in PEx Board Specific configuration GPIO configuration Hardware Initialization code Function to initialize serial console for debug purposes. Drivers for common devices included in our evaluation boards provided for building demo applications ENET PHY SPI flash Accelerometer Codec External Use 18

20 Processor Expert Software A development system to create, configure, optimize, migrate, and deliver software and configuration details for Freescale silicon. Initialization CMSIS Headers CMSIS startup code Reset register values Vector Table setup Peripheral Initialization Pin Muxing initialization Configuration Reset configuration DDR configure/validate Pin Muxing Device Tree Editor Uboot configuration Processor Knowledge base >1000 Processors Supported Device Driver Components RTOS adaptive drivers Low power capabilities Configuration integrated NOW Kinetis Platform SDK Drivers supported API Factory Script-based build server CMSIS Header files 3 rd Party Tools NPI support Detailed Register files Si Validation scripts [Used by Common Register Repository initiative] External Use 19

21 Kinetis SDK and Processor Expert Processor Expert is a complimentary PChosted software configuration tool (Eclipse plugin) Processor Expert (PEx) provides a time-saving option for software configuration through a graphical user interface (GUI) Board configuration and driver tuning tasks include: Optional generation of low-level device initialization code for post-reset configuration Pin Muxing tools to generate pin muxing functions Components based on Kinetis SDK drivers Users configure the SoC and Peripherals in a GUI PEx creates the configuration data structures for driver config and init External Use 20

22 Demo Applications and Tool Chain Support Kinetis SDK includes software examples demonstrating the usage of the HAL, Peripheral Drivers, supported RTOS, and integrated middle wares The usage of HAL, System Services and Peripheral Drivers Demos work with or without RTOSs Demos to assemble a typical application or solution for specified vertical markets Tool chains supported: IAR Embedded Workbench GCC from ARM Embedded project with makefiles *Atollic TrueSTUDIO *ARM Keil MDK *Kinetis Design Studio External Use 21

23 Kinetis IDE Options Featured IDEs: Atollic TrueSTUDIO Professional ECLIPSE/GNU based IDE with a MISRA-C checker, code complexity analysis and source code review features. Advanced RTOS-aware debugger with ETM/ETB/SWV/ITM tracing, live variable watch view and fault analyzer. Dual-core and multi-processor debugging. Strong support for software engineering, workflow management, team collaboration and improved software quality. Green Hills MULTI Complete & integrated software and hardware environment with advanced multicore debugger Industry first TimeMachine trace debugging & profiler EEMBC certified top performing C/C++ compilers Complimentary Solutions: Kinetis Design Studio Complimentary basic capability integrated development environment (IDE) for Kinetis MCUs Eclipse and GCC-based IDE for C/C++ editing, compiling and debugging SDK 1.0-Beta SDK 1.0-GA Keil Microcontroller Development Kit Specifically designed for microcontroller applications, easy to learn and use, yet powerful enough for the most demanding embedded applications ARM C/C++ build toolchain and Execution Profiler and Performance Analyzer enable highly optimized programs Complete Code Coverage information about your program's execution IAR Embedded Workbench A powerful and reliable IDE designed for ease of use with outstanding compiler optimizations for size and speed The broadest Freescale ARM/Cortex MCU offering with dedicated versions available with functional safety certification Support for multi-core, low power debugging, trace,... mbed Development Platforms The fastest way to get started with Kinetis MCUs Online project management and build tools no installation required; option to export to traditional IDEs Includes comprehensive set of drivers, stacks and middleware with a large community of developers. Additional Ecosystem Partners: External Use 22

24 Kinetis SDK Directory Structure Demo applications Board specific code Integration guides, QSGs, RM, User s Guides Prebuilt libraries for each toolchain and board Common make files used for compiling with GCC Kinetis platform source CMSIS headers and DSP source/libs Peripheral Drivers Hardware Abstraction Linker files CMSIS startup Debug utilities, bare metal OSA OS abstraction layer code Freescale s new unified USB stack External Use 23

25 Software and Hardware Evaluation & Dev Tools Stacks (TCP/IP, USB) Middleware TM Application Specific Kinetis Software Development Kit (SDK) Learn more at: SDK A complete software framework for developing applications across all Kinetis MCUs HAL, peripheral drivers, libraries, middleware, utilities, and usage examples; delivered in C source Customer Application Libraries (DSP, Math, Encryption) BSP, Drivers & HAL Operating System Bootloader Product Features Open source Hardware Abstraction Layer (HAL) provides APIs for all Kinetis hardware resources BSD-licensed set of peripheral drivers with easy-to-use C-language APIs Comprehensive HAL and driver usage examples and sample applications for RTOS and bare-metal. CMSIS-CORE compatible startup and drivers plus CMSIS-DSP library and examples RTOS Abstraction Layer (OSA) with support for Freescale MQX, FreeRTOS, Micrium uc/os, bare-metal and more Integrates USB and TCP/IP stacks, touch sensing software, encryption and math/dsp libraries, and more Support for multiple toolchains including GNU GCC, IAR, Keil, and Kinetis Design Studio Integrated with Processor Expert MCU Hardware External Use 24 The OSI logo trademark is the trademark of Open Source Initiative.

26 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 25

27 Getting Started First, rules of the road 1. Every demo application workspace include a demo application project and the corresponding library project 1 2 1: Demo application project 2: KSDK driver library project Use these tabs to switch between the library project and the demo application project External Use 26

28 Getting Started 2. The KSDK demo applications include the driver library from a pre-built linkable library. 1 1: Pre-built linkable library External Use 27

29 Getting Started Applicable Exercises 3. This workshop is divided into multiple exercises with a banner above each section of code required for each exercise. Code to commented / uncommented. External Use 28

30 Getting Started 4. The KSDK demo applications use the PE micro as the default debugger 1 But is should be noted that the debugger should be the CMSIS- DAP 2 1: Current 2: But should be External Use 29

31 Getting Started Open the hello_world project Located at <SDK root>\apps\hello_world\<toolchain>\<board> Example: Kinetis_SDK\apps\hello_world\iar\frdmk64f120m External Use 30

32 Getting Started (Cont) Select the Demo Application Project Click the hello_world tab External Use 31

33 Getting Started Open the project options (Project->Options) Select the Debugger Category Select the setup tab. Change the driver to the CMSIS DAP. External Use 32

34 Getting Started - Now select CMSIS DAP from the Category selections - Select the JTAG/SWD Tab - Change the Interface to SWD External Use 33

35 Getting Started (Cont) Build the project Select Project->Rebuild All Verify that there were no errors or warnings. External Use 34

36 Getting Started (Cont) Connect your FRDM-K64F to your PC via the provided USB A to micro B cable. The USB cable should connect to J26 of the FRDM-K64F Now, connect a terminal program to the FRDM-K64F board using these terminal settings: Baud: 115,200 Data bits: 8 Parity: None Stop bits: 1 Flow Control: None External Use 35

37 Getting Started (Cont) Run the project Click the download and debug button Then click Go Now, Hello World!!! should be printed to the terminal screen and you should be able to type into the terminal External Use 36

38 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 37

39 Adding a New Board Configuration Browse to a board folder in explorer and copy it Board folders are located at <SDK root>\boards Example: Kinetis_SDK\boards\frdmk64f120m External Use 38

40 Adding a New Board Configuration (Cont) After copying the frdmk64f120m folder, paste it into the boards folder and rename it appropriately (myftfboard for the purposes of this exercise). External Use 39

41 Adding a New Board Configuration (Cont) Now to use the new board configuration, we simply change the path the in the project directory path list, and point IAR to the source files in the new location. Select Project->options Select C/C++ Compiler from the Categories, and then select the Preprocessor tab. Scroll down in the list until you find the link to the frdmk64f120m board External Use 40

42 Adding a New Board Configuration (Cont) Replace frdmk64f120m with the new board folder name (myftfboard) Once you have done that, click OK. External Use 41

43 Adding a New Board Configuration (Cont) Select the board files, right click and select Remove Now, right click on the board folder, select Add-> Add Files to add the new board files External Use 42

44 Adding a New Board Configuration (Cont) Navigate to the board folder we just created and select the source files. Then click Open. External Use 43

45 Adding a New Board Configuration (Cont) Open gpio_pins.h by double clicking it in the Workspace view. Change kgpioled1 to myftfled External Use 44

46 Adding a New Board Configuration (Cont) Open gpio_pins.c Change kgpioled1 in the ledpins structure to myftfled External Use 45

47 Getting Started (Cont) Build the project Select Project->Rebuild All Verify that there were no errors or warnings. External Use 46

48 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 47

49 Using the HAL and Drivers Let s add an LED blink routine while the application waits for characters. First, the original code should be commented out Open hello_world.c and find the original code and comment it out External Use 48

50 Using the HAL and Drivers Uncomment the code necessary for Exercise #1 (marked by the Exercise #1 banner) External Use 49

51 Using the HAL and Drivers To use enable the use of the GPIO, the GPIO initialization function must be called. Uncomment it (it is also marked with an Exercise #1 banner). External Use 50

52 Getting Started (Cont) Run the project Click the download and debug button (all modified files will be automatically saved and re-compiled). Then click Go Now, Hello World!!! should be printed to the terminal screen and you should be able to see the LED toggling approximately once per second. External Use 51

53 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 52

54 Using the HAL and Drivers Now let s make the LED toggle at a more accurate/consistent 1 Hz. To accomplish this: Use the PIT Toggle the LED in the PIT ISR First, the PIT driver paths need to be added Add platform\drivers\pit ($PROJ_DIR$\..\..\..\..\platform\drivers\pit) Add platform\hal\pit ($PROJ_DIR$\..\..\..\..\platform\hal\pit) Add platform\drivers\interrupt ($PROJ_DIR$\..\..\..\..\platform\drivers/interrupt) External Use 53

55 Using the HAL and Drivers Next, enable the PIT initialization structure by un-commenting the following structure definition (marked by Exercise 2 banner). External Use 54

56 Using the HAL and Drivers After making the configuration structure, uncomment the PIT_0_IRQCallback and its prototype (marked by Exercise #2 banner). External Use 55

57 Using the HAL and Drivers Now the PIT is setup. Simply call the initialization and interrupt enable functions as shown by un-commenting these sets of code (marked by Exercise #2 banners). External Use 56

58 Using the HAL and Drivers Uncomment the PIT callback register command so that the callback will be used. External Use 57

59 Using the HAL and Drivers When using new drivers, don t forget to include the necessary header files in the files that are using those particular drivers. In this case, we need to include the interrupt manager driver header file and the PIT driver header file. External Use 58

60 Using the HAL and Drivers Comment the code necessary for Exercise #1 (marked by the Exercise #1 banner) External Use 59

61 Using the HAL and Drivers Finally, uncomment the while loop in main for Exercises 2-4 (marked by the banners). External Use 60

62 Getting Started (Cont) Run the project Click the download and debug button (all modified files will be automatically saved and re-compiled). Then click Go Now, Hello World!!! should be printed to the terminal screen and you should be able to see the LED toggling once every three seconds. External Use 61

63 Using the HAL and Drivers Now let s suppose it is necessary to completely overwrite the default ISR. Uncomment the interrupt vector replacement instruction (marked by Exercise #3 banner). Re-comment out the callback register function (marked by the Exercise #3 statement. External Use 62

64 Using the HAL and Drivers Also need to uncomment the PIT_0_IRQHandler function and its prototype (marked by the Exercise #3 banner). External Use 63

65 Using the HAL and Drivers and re-comment the PIT_0_IRQCallback and its prototype (marked by the Exercise #2 banner). External Use 64

66 Getting Started (Cont) Run the project Click the download and debug button (all modified files will be automatically saved and re-compiled). Then click Go Now, Hello World!!! should be printed to the terminal screen and you should be able to see the LED toggling once per second. External Use 65

67 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 66

68 Startup and Clocking Configuration Now let s say that the application needs to operate at a different clock frequency. Change the CLOCK_SETUP macro in system_<device>.h to accomplish this. External Use 67

69 Startup and Clocking Configuration Change CLOCK_SETUP from 1 to 0. Next, add a statement to write the PIT LDVAL with the same value that should yield a 1s interval for a 60 MHz clock (this is so that we can more easily observe the changes in the clock). Simply uncomment the pit_hal_set_timer_period_counter statement marked by the Exercise #4 statement. External Use 68

70 Getting Started (Cont) Run the project Click the download and debug button (all modified files will be automatically saved and re-compiled). Then click Go Now, Hello World!!! should be printed to the terminal screen and you should be able to see the LED toggling once every three seconds. External Use 69

71 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 70

72 Building the HAL and Driver Libraries Copy the gpio toggle command Now let s modify the PIT driver to handle the blinking of the LED. Select the platform_lib in the project workspace to open it. External Use 71

73 Building the HAL and Driver Libraries (Cont) Once the platform_lib project is open, expand the platform, drivers, pit and src (under the pit directory) folder, and open the fsl_pit_irq.c file. External Use 72

74 Building the HAL and Driver Libraries (Cont) Find the PIT0_IRQHandler function and add the gpio toggle command. External Use 73

75 Building the HAL and Driver Libraries (Cont) The board.h file must be included for the library to be able to find the LED pin handle that was added. So add the following include. Next, rebuild the library by clicking the make button. Now go back to the hello_world project, and in hello_world.c, remove the interrupt register statement. External Use 74

76 Building the HAL and Driver Libraries (Cont) Rebuild the project by clicking the Make button again, and debug the project. Once in the debug session, it should stop at main. Place a breakpoint in the PIT_0_IRQHandler function that we previously used to toggle the gpio. (HINT: You should find that you can t). External Use 75

77 Building the HAL and Driver Libraries (Cont) Finally, click go (with no breakpoints set) and the LED should now be blinking approximately once every 3 seconds. External Use 76

78 Hands-on workshop In this portion of the presentation, you will learn how to: Add new board configurations Use the HAL and driver Configure startup and clocking configurations Install and implement your interrupt functions Build the HAL and driver libraries Setup your application for use with an RTOS External Use 77

79 Setup your application for use with an RTOS Now let s suppose we want to add an RTOS to our application. What to do?... First, we need to remove the baremetal library. Expand lib\debug in the workspace window Right click on the library (*.a) Click Remove External Use 78

80 Setup your application for use with an RTOS Next, we need to include the appropriate library. For this example, we will use the FreeRTOS library, located at <SDK root>\lib\iar\k64f12\output\debug. External Use 79

81 Setup your application for use with an RTOS Right click on the debug folder under the lib folder in the Workspace. Select Add-> Add Files In the pop-up navigate to lib\iar\k64f12\output\debug Note: Make sure you select All files in the dialog box. Otherwise, the libraries will not be visible. External Use 80

82 Setup your application for use with an RTOS Freertos will also require us to add source files to the project. For this, create a folder named FreeRTOS External Use 81

83 Setup your application for use with an RTOS Repeat the process we just performed, to add three sub-groups (under the FreeRTOS group) named: Config Ports src External Use 82

84 Setup your application for use with an RTOS The FreeRTOS kernel files are provided as a separate downloadable zip file which can be unzipped directly to your SDK installation. It is recommended that you download and unzip these files to <KSDK root>\rtos\freertos Navigate to <KSDK root>\rtos\freertos and save the KSDK FreeRTOS package to this folder. Unzip the package and you should see the following zip package and files: External Use 83

85 Setup your application for use with an RTOS Unzip the FreeRTOS_V7.5.0.zip file and the following folders should be added. External Use 84

86 Setup your application for use with an RTOS After unzipping the kernel files to the location specified, add the files to folders in the IAR project as indicated: Config -> <KSDK root>\rtos\freertos\config\k64f12 Ports -> <KSDK root>\rtos\freertos\port\iar Src -> <KSDK root>\rtos\freertos\src External Use 85

87 Setup your application for use with an RTOS Once this is done, we now need to modify the source files of our project to fit the structure of an RTOS. First, comment out the while loop that has been used for Exercises #2-4. External Use 86

88 Setup your application for use with an RTOS Next, uncomment the task_create command and task scheduler start command. External Use 87

89 Setup your application for use with an RTOS Uncomment the task_start function The task, task_create, will in turn create two tasks: one to sample the UART, the other to blink the LED. External Use 88

90 Setup your application for use with an RTOS Now, uncomment function to get the UART data and echo back to the terminal (marked with the Exercise #5 banner). External Use 89

91 Setup your application for use with an RTOS Also need to uncomment the LED blink routine (marked by an Exercise #5 banner). External Use 90

92 Setup your application for use with an RTOS For the compiler to find the appropriate tasks, the function prototypes should be uncommented out as well. External Use 91

93 Setup your application for use with an RTOS After creating the tasks, the PIT configuration code should be removed. Comment out the PIT interrupt and PIT enable statements used for Exercises #2, 3, and 4. External Use 92

94 Setup your application for use with an RTOS To use an RTOS task, the task needs to be defined using the provided RTOS abstraction definitions. This definition is defined in fsl_os_abstraction_free_rtos.h External Use 93

95 Setup your application for use with an RTOS In addition, the task handler variables need to be declared globally. The priorities and stack sizes should also be defined. External Use 94

96 Setup your application for use with an RTOS Finally, uncomment the inclusion of FreeRTOS.h. Now, the assembler Preprocessor path must be added for the tool to find all of the necessary definitions. Assembler Preprocessor paths External Use 95

97 Setup your application for use with an RTOS And C/C++ compiler defines and paths must be added. C/C++ compiler paths as defined symbols External Use 96

98 Setup your application for use with an RTOS Disable the MISRA-C checks FreeRTOS does not comply with the MISRA requirements that the SDK targets. External Use 97

99 Getting Started (Cont) Run the project Click the download and debug button (all modified files will be automatically saved and re-compiled). Then click Go Now, Hello World!!! should be printed to the terminal screen and you should be able to see the LED toggling once every three seconds. External Use 98

100 Freescale Semiconductor, Inc. External Use