.. _frdm_k64f: NXP FRDM-K64F ############## Overview ******** The Freedom-K64F is an ultra-low-cost development platform for Kinetis K64, K63, and K24 MCUs. - Form-factor compatible with the Arduino R3 pin layout - Peripherals enable rapid prototyping, including a 6-axis digital accelerometer and magnetometer to create full eCompass capabilities, a tri-colored LED and 2 user push-buttons for direct interaction, a microSD card slot, and connectivity using onboard Ethernet port and headers for use with Bluetooth* and 2.4 GHz radio add-on modules - OpenSDAv2, the NXP open source hardware embedded serial and debug adapter running an open source bootloader, offers options for serial communication, flash programming, and run-control debugging .. image:: ../../../../../../../../zephyr/boards/arm/frdm_k64f/doc/frdm_k64f.jpg :width: 720px :align: center :alt: FRDM-K64F Hardware ******** - MK64FN1M0VLL12 MCU (120 MHz, 1 MB flash memory, 256 KB RAM, low-power, crystal-less USB, and 100 Low profile Quad Flat Package (LQFP)) - Dual role USB interface with micro-B USB connector - RGB LED - FXOS8700CQ accelerometer and magnetometer - Two user push buttons - Flexible power supply option - OpenSDAv2 USB, Kinetis K64 USB, and external source - Easy access to MCU input/output through Arduino* R3 compatible I/O connectors - Programmable OpenSDAv2 debug circuit supporting the CMSIS-DAP Interface software that provides: - Mass storage device (MSD) flash programming interface - CMSIS-DAP debug interface over a driver-less USB HID connection providing run-control debugging and compatibility with IDE tools - Virtual serial port interface - Open source CMSIS-DAP software project - Ethernet - SDHC For more information about the K64F SoC and FRDM-K64F board: - `K64F Website`_ - `K64F Datasheet`_ - `K64F Reference Manual`_ - `FRDM-K64F Website`_ - `FRDM-K64F User Guide`_ - `FRDM-K64F Schematics`_ Supported Features ================== The frdm_k64f board configuration supports the following hardware features: +-----------+------------+-------------------------------------+ | Interface | Controller | Driver/Component | +===========+============+=====================================+ | NVIC | on-chip | nested vector interrupt controller | +-----------+------------+-------------------------------------+ | SYSTICK | on-chip | systick | +-----------+------------+-------------------------------------+ | PINMUX | on-chip | pinmux | +-----------+------------+-------------------------------------+ | GPIO | on-chip | gpio | +-----------+------------+-------------------------------------+ | I2C | on-chip | i2c | +-----------+------------+-------------------------------------+ | SPI | on-chip | spi | +-----------+------------+-------------------------------------+ | WATCHDOG | on-chip | watchdog | +-----------+------------+-------------------------------------+ | ADC | on-chip | adc | +-----------+------------+-------------------------------------+ | DAC | on-chip | dac | +-----------+------------+-------------------------------------+ | PWM | on-chip | pwm | +-----------+------------+-------------------------------------+ | ETHERNET | on-chip | ethernet | +-----------+------------+-------------------------------------+ | UART | on-chip | serial port-polling; | | | | serial port-interrupt | +-----------+------------+-------------------------------------+ | FLASH | on-chip | soc flash | +-----------+------------+-------------------------------------+ | USB | on-chip | USB device | +-----------+------------+-------------------------------------+ | SENSOR | off-chip | fxos8700 polling; | | | | fxos8700 trigger | +-----------+------------+-------------------------------------+ | CAN | on-chip | can | +-----------+------------+-------------------------------------+ | RTC | on-chip | rtc | +-----------+------------+-------------------------------------+ | DMA | on-chip | dma | +-----------+------------+-------------------------------------+ The default configuration can be found in the defconfig file: ``boards/arm/frdm_k64f/frdm_k64f_defconfig`` Other hardware features are not currently supported by the port. Connections and IOs =================== The K64F SoC has five pairs of pinmux/gpio controllers. +-------+-----------------+---------------------------+ | Name | Function | Usage | +=======+=================+===========================+ | PTB22 | GPIO | Red LED | +-------+-----------------+---------------------------+ | PTE26 | GPIO | Green LED | +-------+-----------------+---------------------------+ | PTB21 | GPIO | Blue LED | +-------+-----------------+---------------------------+ | PTC6 | GPIO | SW2 / FXOS8700 INT1 | +-------+-----------------+---------------------------+ | PTC13 | GPIO | FXOS8700 INT2 | +-------+-----------------+---------------------------+ | PTA4 | GPIO | SW3 | +-------+-----------------+---------------------------+ | PTB10 | ADC | ADC1 channel 14 | +-------+-----------------+---------------------------+ | PTB16 | UART0_RX | UART Console | +-------+-----------------+---------------------------+ | PTB17 | UART0_TX | UART Console | +-------+-----------------+---------------------------+ | PTB18 | CAN0_TX | CAN TX | +-------+-----------------+---------------------------+ | PTB19 | CAN0_RX | CAN RX | +-------+-----------------+---------------------------+ | PTC8 | PWM | PWM_3 channel 4 | +-------+-----------------+---------------------------+ | PTC9 | PWM | PWM_3 channel 5 | +-------+-----------------+---------------------------+ | PTC16 | UART3_RX | UART BT HCI | +-------+-----------------+---------------------------+ | PTC17 | UART3_TX | UART BT HCI | +-------+-----------------+---------------------------+ | PTD0 | SPI0_PCS0 | SPI | +-------+-----------------+---------------------------+ | PTD1 | SPI0_SCK | SPI | +-------+-----------------+---------------------------+ | PTD2 | SPI0_SOUT | SPI | +-------+-----------------+---------------------------+ | PTD3 | SPI0_SIN | SPI | +-------+-----------------+---------------------------+ | PTE24 | I2C0_SCL | I2C / FXOS8700 | +-------+-----------------+---------------------------+ | PTE25 | I2C0_SDA | I2C / FXOS8700 | +-------+-----------------+---------------------------+ | PTA5 | MII0_RXER | Ethernet | +-------+-----------------+---------------------------+ | PTA12 | MII0_RXD1 | Ethernet | +-------+-----------------+---------------------------+ | PTA13 | MII0_RXD0 | Ethernet | +-------+-----------------+---------------------------+ | PTA14 | MII0_RXDV | Ethernet | +-------+-----------------+---------------------------+ | PTA15 | MII0_TXEN | Ethernet | +-------+-----------------+---------------------------+ | PTA16 | MII0_TXD0 | Ethernet | +-------+-----------------+---------------------------+ | PTA17 | MII0_TXD1 | Ethernet | +-------+-----------------+---------------------------+ | PTA28 | MII0_TXER | Ethernet | +-------+-----------------+---------------------------+ | PTB0 | MII0_MDIO | Ethernet | +-------+-----------------+---------------------------+ | PTB1 | MII0_MDC | Ethernet | +-------+-----------------+---------------------------+ | PTC16 | ENET0_1588_TMR0 | Ethernet | +-------+-----------------+---------------------------+ | PTC17 | ENET0_1588_TMR1 | Ethernet | +-------+-----------------+---------------------------+ | PTC18 | ENET0_1588_TMR2 | Ethernet | +-------+-----------------+---------------------------+ | PTC19 | ENET0_1588_TMR3 | Ethernet | +-------+-----------------+---------------------------+ .. note:: Do not enable Ethernet and UART BT HCI simultaneously because they conflict on PTC16-17. System Clock ============ The K64F SoC is configured to use the 50 MHz external oscillator on the board with the on-chip PLL to generate a 120 MHz system clock. Serial Port =========== The K64F SoC has six UARTs. One is configured for the console, another for BT HCI, and the remaining are not used. USB === The K64F SoC has a USB OTG (USBOTG) controller that supports both device and host functions through its micro USB connector (K64F USB). Only USB device function is supported in Zephyr at the moment. CAN === The FRDM-K64F board does not come with an onboard CAN transceiver. In order to use the CAN bus, an external CAN bus transceiver must be connected to ``PTB18`` (``CAN0_TX``) and ``PTB19`` (``CAN0_RX``). Programming and Debugging ************************* Build and flash applications as usual (see :ref:`build_an_application` and :ref:`application_run` for more details). Configuring a Debug Probe ========================= A debug probe is used for both flashing and debugging the board. This board is configured by default to use the :ref:`opensda-daplink-onboard-debug-probe`. Early versions of this board have an outdated version of the OpenSDA bootloader and require an update. Please see the `DAPLink Bootloader Update`_ page for instructions to update from the CMSIS-DAP bootloader to the DAPLink bootloader. .. tabs:: .. group-tab:: OpenSDA DAPLink Onboard (Recommended) Install the :ref:`pyocd-debug-host-tools` and make sure they are in your search path. Follow the instructions in :ref:`opensda-daplink-onboard-debug-probe` to program the `OpenSDA DAPLink FRDM-K64F Firmware`_. .. group-tab:: OpenSDA JLink Onboard Install the :ref:`jlink-debug-host-tools` and make sure they are in your search path. The version of J-Link firmware to program to the board depends on the version of the DAPLink bootloader. Refer to `OpenSDA Serial and Debug Adapter`_ for more details. On this page, change the pull-down menu for "Choose your board to start" to FRDM-K64F, and review the section "To update your board with OpenSDA applications". Note that Segger does provide an OpenSDA J-Link Board-Specific Firmware for this board, however it is not compatible with the DAPLink bootloader. After downloading the appropriate J-Link firmware, follow the instructions in :ref:`opensda-jlink-onboard-debug-probe` to program to the board. Add the arguments ``-DBOARD_FLASH_RUNNER=jlink`` and ``-DBOARD_DEBUG_RUNNER=jlink`` when you invoke ``west build`` to override the default runner from pyOCD to J-Link: .. zephyr-app-commands:: :zephyr-app: samples/hello_world :board: frdm_k64f :gen-args: -DBOARD_FLASH_RUNNER=jlink -DBOARD_DEBUG_RUNNER=jlink :goals: build Configuring a Console ===================== Regardless of your choice in debug probe, we will use the OpenSDA microcontroller as a usb-to-serial adapter for the serial console. Connect a USB cable from your PC to J26. Use the following settings with your serial terminal of choice (minicom, putty, etc.): - Speed: 115200 - Data: 8 bits - Parity: None - Stop bits: 1 Flashing ======== Here is an example for the :ref:`hello_world` application. .. zephyr-app-commands:: :zephyr-app: samples/hello_world :board: frdm_k64f :goals: flash Open a serial terminal, reset the board (press the SW1 button), and you should see the following message in the terminal: .. code-block:: console ***** Booting Zephyr OS v1.14.0-rc1 ***** Hello World! frdm_k64f Debugging ========= Here is an example for the :ref:`hello_world` application. .. zephyr-app-commands:: :zephyr-app: samples/hello_world :board: frdm_k64f :goals: debug Open a serial terminal, step through the application in your debugger, and you should see the following message in the terminal: .. code-block:: console ***** Booting Zephyr OS v1.14.0-rc1 ***** Hello World! frdm_k64f Troubleshooting =============== If pyocd raises an uncaught ``DAPAccessIntf.TransferFaultError()`` exception when you try to flash or debug, it's possible that the K64F flash may have been locked by a corrupt application. You can unlock it with the following sequence of pyocd commands: .. code-block:: console $ pyocd cmd 0001915:WARNING:target_kinetis:Forcing halt on connect in order to gain control of device Connected to K64F [Halted]: 0240000026334e450028400d5e0e000e4eb1000097969900 >>> unlock 0016178:WARNING:target_kinetis:K64F secure state: unlocked successfully >>> reinit 0034584:WARNING:target_kinetis:Forcing halt on connect in order to gain control of device >>> load build/zephyr/zephyr.bin [====================] 100% >>> reset Resetting target >>> quit .. _FRDM-K64F Website: https://www.nxp.com/support/developer-resources/evaluation-and-development-boards/freedom-development-boards/mcu-boards/freedom-development-platform-for-kinetis-k64-k63-and-k24-mcus:FRDM-K64F .. _FRDM-K64F User Guide: https://www.nxp.com/webapp/Download?colCode=FRDMK64FUG .. _FRDM-K64F Schematics: https://www.nxp.com/webapp/Download?colCode=FRDM-K64F-SCH-E4 .. _K64F Website: https://www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/kinetis-cortex-m-mcus/k-seriesperformancem4/k6x-ethernet/kinetis-k64-120-mhz-256kb-sram-microcontrollers-mcus-based-on-arm-cortex-m4-core:K64_120 .. _K64F Datasheet: https://www.nxp.com/docs/en/data-sheet/K64P144M120SF5.pdf .. _K64F Reference Manual: https://www.nxp.com/docs/en/reference-manual/K64P144M120SF5RM.pdf .. _DAPLink Bootloader Update: https://os.mbed.com/blog/entry/DAPLink-bootloader-update/ .. _OpenSDA DAPLink FRDM-K64F Firmware: https://www.nxp.com/downloads/en/snippets-boot-code-headers-monitors/k20dx_frdmk64f_if_crc_legacy_0x5000.bin .. _OpenSDA Serial and Debug Adapter: https://www.nxp.com/design/microcontrollers-developer-resources/ides-for-kinetis-mcus/opensda-serial-and-debug-adapter:OPENSDA#FRDM-K64F