.. _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:: 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                   |
+-----------+------------+-------------------------------------+

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