NXP FRDM-K64F

.. _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:: ../../../../../../../boards/nxp/frdm_k64f/doc/frdm_k64f.jpg
   :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
==================

NXP considers the FRDM-K64F as the superset board for the Kinetis K
series of MCUs.  This board is a focus for NXP's Full Platform Support for
Zephyr, to better enable the entire Kinetis K series.  NXP prioritizes enabling
this board with new support for Zephyr 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                                 |
+-----------+------------+-------------------------------------+
| RNGA      | on-chip    | entropy;                            |
|           |            | random                              |
+-----------+------------+-------------------------------------+
| FTFE      | on-chip    | flash programming                   |
+-----------+------------+-------------------------------------+
| PIT       | on-chip    | pit                                 |
+-----------+------------+-------------------------------------+

The default configuration can be found in
:zephyr_file:`boards/nxp/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:`linkserver-debug-host-tools` and make sure they are in your
	search path.  LinkServer works with the default CMSIS-DAP firmware included in
	the on-board debugger.

        Linkserver is the default for this board, ``west flash`` and ``west debug`` will
        call the linkserver runner.

	.. code-block:: console

	   west flash

	Alternatively, pyOCD can be used to flash and debug the board by using the
	``-r pyocd`` option with West. pyOCD is installed when you complete the
	:ref:`gs_python_deps` step in the Getting Started Guide. The runners supported
	by NXP are LinkServer and JLink. pyOCD is another potential option, but NXP
	does not test or support the pyOCD runner.


   .. 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 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