Freescale, the Freescale logo and CodeWarrior are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Xtrinsic is a trademark of

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1 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 Freescale Semiconductor, Inc.

2 In this module, there are three primary objectives. You will become familiar with the process of building your own S19 binary for an ISF. You will also gain a high-level understanding of the contents of an ISF by looking inside a sample ISF using CodeWarrior. You will reinforce your knowledge in three areas. Importing projects into the Intelligent Sensor Mailbox Tool Running a project Reading sensor data 2

3 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 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) 3

4 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) 4

5 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 FXLC (Note that it is also used for transferring commands and data between the PC and FXLC95000.) 5

6 In module 2, you learned four (4, 6, 7, 8) of the eight steps involved in ISF development. 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection This module discusses steps 1, 3, and 5 used in Building an ISF Application. Building an ISF is a two-step process. 6. Establish communication 1. Clean the project. This step removes all previous builds. 7. Run 2. Build the project. This step compiles a new build, creating the S19 binary from the source files in the project. 8. Test NOTE: Before building an ISF, you will be introduced to a few key concepts and the theory of operation of a user using code snippets. You can view the complete source code in CodeWarrior after importing the project. 6

7 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 is a user-defined 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, GetAccelData introduced in Module 2, to demonstrate the usage of the onboard accelerometer. 7

8 Importing the Project into CodeWarrior 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 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. 8. Test 8

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 9

10 Importing the Project (continued) 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. 10

11 Importing the Project (continued) Verify that the GetAccelData_Binary project is visible in the CodeWarrior Projects workspace. 11

12 Importing the Project (continued) 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. 12

13 Host Commands/ Data User App Sensor Manager ISF Sensor Abstraction Internal Sensor External Sensor 13

14 (continued) 1. Every requires a main entry point. The GetAccelData 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. 14

15 (continued) 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. 15

16 (continued) The user 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. 16

17 (continued) 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. Structure used to set up the on-board accelerometer. 17

18 (continued) Now that the accelerometer setup is defined, the user 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. 18

19 (continued) 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. For more information on this command, refer to the ISF API Reference Manual. 19

20 (continued) Once the request for data is turned on, the user enters a loop to wait for the sensor data to arrive and then reads the data once it arrives. Waiting for the Sensor Manager notification that data is available. Reading and processing the sensor data inside the FXLC

21 (continued) The raw sensor data is put into the mailboxes on the FXLC 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. 21

22 (continued) The loop repeats until the user 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. 22

23 (continued) 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, the next few slides show you how to compile and build this user to produce the previously loaded S19 binary. 23

24 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test 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. 24

25 (continued) 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. 25

26 (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. 26

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. 27

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. 28

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 29

30 Loading the S19 Binary 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test You are now ready to transfer the S19 Binary image to the FXLC95000CL device and run the. 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. 30

31 Loading the S19 Binary (continued) 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test Now select Program Flash and select the S19 file from the CodeWarrior workspace C:\Users\...\workspace_module3\GetAccelData\Build\Binary\GetAccelData.elf.S19 31

32 Loading the S19 Binary (continued) Wait while the S19 binary image is loaded onto the device. 32

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 33

34 Running the S19 Binary (continued) Verify the transfer process is complete. All notifications will disappear The GetAccelData is now running on the Application board. Data and commands can be sent to the board from the Intelligent Sensor Mailbox Tool and data can be received from the. 34

35 Reading Sensor Data Using the Intelligent Sensor Mailbox Tool 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run With communication established and the 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. 8. Test 35

36 Reading Sensor Data (continued) The sample user 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 Note: Do not expect the same values as shown. Just see the values changing in these particular mailboxes. MB0 MB4:7 MB12:17 MB19 36

37 Configuring the using CodeWarrior Establishing Communication 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication Step 4 was completed in Module 2 Installing an ISF Binary. 7. Run 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 Test 37

38 Connecting the Hardware 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test 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. 38

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. 39

40 Connecting the Hardware (continued) 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. 40

41 Connecting the Hardware (continued) Verify that the hardware is connected properly. P&E Multilink blue LED and yellow LED are lit. Application Board green LED (D4) is lit. 41

42 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test 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 field. 42

43 (continued) 4. In the Select Remote System Type window, expand CodeWarrior Bareboard Debugging, then select Hardware or Simulator, and then click Next. 43

44 (continued) 5. In the Hardware or Simulator window, enter FXLC95000_multilink into the Name field 6. Click New, located next to the Target field. 44

45 (continued) 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. 45

46 (continued) 9. In the Hardware or Simulator window, from the choices available in the type menu, select the P&E ColdFire multilink (exact wording may be different depending on the multilink model), and then click Finish. 46

47 (continued) 10. In the Create, manage, and run configurations window, click Apply. The connection type is now configured and saved. Keep this window open. 47

48 Establishing Communication 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test 1. Locate and open the Intelligent Sensor Mailbox Tool (ISF1P1WIN_MAILBOX_TOOL_EXE.exe) 2. Connect the hardware as described in Module 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 48

49 Running the Binary 1. Import project 2. Modify 3. Build You are now ready to transfer the Binary image to the FXLC95000CL device and run the. 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. 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run 8. Test 49

50 Running the Binary (continued) Verify the transfer process is complete. All notifications will disappear The sample is now running on the Application board. Data and commands can be sent to the board from the Intelligent Sensor Mailbox Tool and data can be received from the. NOTE: Each of the provided 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. 50

51 Reading Sensor Data Using the Intelligent Sensor Mailbox Tool 1. Import project 2. Modify 3. Build 4. Connect hardware 5. Configure connection 6. Establish communication 7. Run With communication established, the new build completed, and the 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. 8. Test 51

52 Reading Sensor Data (continued) The sample user 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 MB0 MB4:7 MB12:17 MB19 Note: Do not expect the same values as shown. Just see the values changing in these particular mailboxes. 52

53 Reading Sensor Data (continued) 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. 53

54 This completes Module 3 Building an ISF. At this point, you know seven of the eight main steps to developing ISF s and running them on the KITFXLC95000EVM/MAG/10-AXIS Application Board. 1. Importing the project into CodeWarrior 2. Modifying an ISF 3. Building an ISF 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 to the Application Board and running the using either CodeWarrior or the Mailbox tool 8. Reading sensor data using the Mailbox Tool 54

55 Now that you can import, build, and run existing ISF s, you are ready to begin learning how to modify s. In Module 4, you will start with a working and then modify it to implement your own. Please continue to Module 4 Modifying an ISF. 55

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