| .. _mr_canhubk3: |
| |
| NXP MR-CANHUBK3 |
| ############### |
| |
| Overview |
| ******** |
| |
| `NXP MR-CANHUBK3`_ is an evaluation board for mobile robotics applications such |
| as autonomous mobile robots (AMR) and automated guided vehicles (AGV). It |
| features an `NXP S32K344`_ general-purpose automotive microcontroller based on |
| an Arm Cortex-M7 core (Lock-Step). |
| |
| .. image:: img/mr_canhubk3_top.jpg |
| :align: center |
| :alt: NXP MR-CANHUBK3 (TOP) |
| |
| Hardware |
| ******** |
| |
| - NXP S32K344 |
| - Arm Cortex-M7 (Lock-Step), 160 MHz (Max.) |
| - 4 MB of program flash, with ECC |
| - 320 KB RAM, with ECC |
| - Ethernet 100 Mbps, CAN FD, FlexIO, QSPI |
| - 12-bit 1 Msps ADC, 16-bit eMIOS timer |
| |
| - `NXP FS26 Safety System Basis Chip`_ |
| |
| - Interfaces: |
| - Console UART |
| - 6x CAN FD |
| - 100Base-T1 Ethernet |
| - JST-GH connectors and I/O headers for I2C, SPI, GPIO, |
| PWM, etc. |
| |
| More information about the hardware and design resources can be found at |
| `NXP MR-CANHUBK3`_ website. |
| |
| Supported Features |
| ================== |
| |
| The ``mr_canhubk3`` board configuration supports the following hardware features: |
| |
| ============ ========== ================================ |
| Interface Controller Driver/Component |
| ============ ========== ================================ |
| SIUL2 on-chip | pinctrl |
| | gpio |
| | external interrupt controller |
| WKPU on-chip interrupt controller |
| LPUART on-chip serial |
| QSPI on-chip flash |
| FLEXCAN on-chip can |
| LPI2C on-chip i2c |
| ADC SAR on-chip adc |
| LPSPI on-chip spi |
| WDT FS26 SBC watchdog |
| EMAC on-chip ethernet |
| mdio |
| eMIOS on-chip pwm |
| EDMA on-chip dma |
| ============ ========== ================================ |
| |
| The default configuration can be found in the Kconfig file |
| :zephyr_file:`boards/nxp/mr_canhubk3/mr_canhubk3_defconfig`. |
| |
| Connections and IOs |
| =================== |
| |
| Each GPIO port is divided into two banks: low bank, from pin 0 to 15, and high |
| bank, from pin 16 to 31. For example, ``PTA2`` is the pin 2 of ``gpioa_l`` (low |
| bank), and ``PTA20`` is the pin 4 of ``gpioa_h`` (high bank). |
| |
| The GPIO controller provides the option to route external input pad interrupts |
| to either the SIUL2 EIRQ or WKPU interrupt controllers, as supported by the SoC. |
| By default, GPIO interrupts are routed to SIUL2 EIRQ interrupt controller, |
| unless they are explicity configured to be directed to the WKPU interrupt |
| controller, as outlined in :zephyr_file:`dts/bindings/gpio/nxp,s32-gpio.yaml`. |
| |
| To find information about which GPIOs are compatible with each interrupt |
| controller, refer to the device reference manual. |
| |
| .. note:: |
| |
| It is important to highlight that the current board configuration lacks |
| support for wake-up events and power-management features. WKPU functionality |
| is restricted solely to serving as an interrupt controller. |
| |
| LEDs |
| ---- |
| |
| The MR-CANHUBK3 board has one user RGB LED: |
| |
| ======================= ===== ===== =================================== |
| Devicetree node Color Pin Pin Functions |
| ======================= ===== ===== =================================== |
| led0 / user_led1_red Red PTE14 FXIO D7 / EMIOS0 CH19 |
| led1 / user_led1_green Green PTA27 FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10 |
| led2 / user_led1_blue Blue PTE12 FXIO D8 / EMIOS1 CH5 |
| ======================= ===== ===== =================================== |
| |
| In addition to the RGB LED, the MR-CANHUBK3 board has six red LEDs, each located |
| next to one of the CAN connectors: |
| |
| ======================= ===== ===== =================================== |
| Devicetree node Color Pin Pin Functions |
| ======================= ===== ===== =================================== |
| can_led0 Red PTC18 FXIO D6 / FXIO D12 / EMIOS2 CH12 |
| can_led1 Red PTE5 FXIO D7 / EMIOS1 CH5 / EMIOS0 CH 19 |
| can_led2 Red PTD20 EMIOS1 CH17 / EMIOS2 CH0 |
| can_led3 Red PTB24 FXIO D5 / EMIOS1 CH20 / EMIOS2 CH20 |
| can_led4 Red PTB26 FXIO D7 / EMIOS1 CH22 / EMIOS2 CH22 |
| can_led5 Red PTD31 FXIO D6 / EMIOS2 CH22 |
| ======================= ===== ===== =================================== |
| |
| The user can control the LEDs in any way. An output of ``0`` illuminates the LED. |
| |
| Buttons |
| ------- |
| |
| The MR-CANHUBK3 board has two user buttons: |
| |
| ======================= ===== ===== ============== |
| Devicetree node Label Pin Pin Functions |
| ======================= ===== ===== ============== |
| sw0 / user_button_1 SW1 PTD15 EIRQ31 |
| sw0 / user_button_2 SW2 PTA25 EIRQ5 / WKPU34 |
| ======================= ===== ===== ============== |
| |
| System Clock |
| ============ |
| |
| The Arm Cortex-M7 (Lock-Step) are configured to run at 160 MHz. |
| |
| Serial Console |
| ============== |
| |
| By default, the serial console is provided through ``lpuart2`` on the 7-pin |
| DCD-LZ debug connector ``P6``. |
| |
| ========= ===== ============ |
| Connector Pin Pin Function |
| ========= ===== ============ |
| P6.2 PTA9 LPUART2_TX |
| P6.3 PTA8 LPUART2_RX |
| ========= ===== ============ |
| |
| CAN |
| === |
| |
| CAN is provided through FLEXCAN interface with 6 instances. |
| |
| =============== ======= =============== ============= |
| Devicetree node Pin Pin Function Bus Connector |
| =============== ======= =============== ============= |
| flexcan0 | PTA6 | PTA6_CAN0_RX P12/P13 |
| | PTA7 | PTA7_CAN0_TX |
| flexcan1 | PTC9 | PTC9_CAN0_RX P14/P15 |
| | PTC8 | PTC8_CAN0_TX |
| flexcan2 | PTE25 | PTE25_CAN0_RX P16/P17 |
| | PTE24 | PTE24_CAN0_TX |
| flexcan3 | PTC29 | PTC29_CAN0_RX P18/019 |
| | PTC28 | PTC28_CAN0_TX |
| flexcan4 | PTC31 | PTC31_CAN0_RX P20/P21 |
| | PTC30 | PTC30_CAN0_TX |
| flexcan5 | PTC11 | PTC11_CAN0_RX P22/P23 |
| | PTC10 | PTC10_CAN0_TX |
| =============== ======= =============== ============= |
| |
| .. note:: |
| There is limitation by HAL SDK, so CAN only has support maximum 64 message buffers (MBs) |
| and support maximum 32 message buffers for concurrent active instances with 8 bytes |
| payload. We need to pay attention to configuration options: |
| |
| 1. :kconfig:option:`CONFIG_CAN_MAX_MB` must be less or equal than the |
| maximum number of message buffers that is according to the table below. |
| |
| 2. :kconfig:option:`CONFIG_CAN_MAX_FILTER` must be less or equal than |
| :kconfig:option:`CONFIG_CAN_MAX_MB`. |
| |
| =============== ========== ================ ================ |
| Devicetree node Payload Hardware support Software support |
| =============== ========== ================ ================ |
| flexcan0 | 8 bytes | 96 MBs | 64 MBs |
| | 16 bytes | 63 MBs | 42 MBs |
| | 32 bytes | 36 MBs | 24 MBs |
| | 64 bytes | 21 MBs | 14 MBs |
| flexcan1 | 8 bytes | 64 MBs | 64 MBs |
| | 16 bytes | 42 MBs | 42 MBs |
| | 32 bytes | 24 MBs | 24 MBs |
| | 64 bytes | 14 MBs | 14 MBs |
| flexcan2 | 8 bytes | 64 MBs | 64 MBs |
| | 16 bytes | 42 MBs | 42 MBs |
| | 32 bytes | 24 MBs | 24 MBs |
| | 64 bytes | 14 MBs | 14 MBs |
| flexcan3 | 8 bytes | 32 MBs | 32 MBs |
| | 16 bytes | 21 MBs | 21 MBs |
| | 32 bytes | 12 MBs | 12 MBs |
| | 64 bytes | 7 MBs | 7 MBs |
| flexcan4 | 8 bytes | 32 MBs | 32 MBs |
| | 16 bytes | 21 MBs | 21 MBs |
| | 32 bytes | 12 MBs | 12 MBs |
| | 64 bytes | 7 MBs | 7 MBs |
| flexcan5 | 8 bytes | 32 MBs | 32 MBs |
| | 16 bytes | 21 MBs | 21 MBs |
| | 32 bytes | 12 MBs | 12 MBs |
| | 64 bytes | 7 MBs | 7 MBs |
| =============== ========== ================ ================ |
| |
| .. note:: |
| A CAN bus usually requires 120 Ohm termination at both ends of the bus. This may be |
| accomplished using one of the included CAN termination boards. For more details, refer |
| to the section ``6.3 CAN Connectors`` in the Hardware User Manual of `NXP MR-CANHUBK3`_. |
| |
| I2C |
| === |
| |
| I2C is provided through LPI2C interface with 2 instances ``lpi2c0`` and ``lpi2c1`` |
| on corresponding connectors ``P4``, ``P3``. |
| |
| ========= ===== ============ |
| Connector Pin Pin Function |
| ========= ===== ============ |
| P3.2 PTD9 LPI2C1_SCL |
| P3.3 PTD8 LPI2C1_SDA |
| P4.3 PTD14 LPI2C0_SCL |
| P4.4 PTD13 LPI2C0_SDA |
| ========= ===== ============ |
| |
| The accompanying display board can be connected to ``lpi2c0`` via connector ``P4``. |
| |
| ADC |
| === |
| |
| ADC is provided through ADC SAR controller with 3 instances. ADC channels are divided into |
| 3 groups (precision, standard and external). |
| |
| .. note:: |
| All channels of an instance only run on 1 group channel at the same time. |
| |
| FS26 SBC Watchdog |
| ================= |
| |
| On normal operation after the board is powered on, there is a window of 256 ms |
| on which the FS26 watchdog must be serviced with a good token refresh, otherwise |
| the watchdog will signal a reset to the MCU. This board configuration enables |
| the FS26 watchdog driver that handles this initialization. |
| |
| .. note:: |
| |
| The FS26 can also be started in debug mode (watchdog disabled) following |
| these steps: |
| |
| 1. Power off the board. |
| 2. Remove the jumper ``JP1`` (pins 1-2 open), which is connected by default. |
| 3. Power on the board. |
| 4. Reconnect the jumper ``JP1`` (pins 1-2 shorted). |
| |
| External Flash |
| ============== |
| |
| The on-board MX25L6433F 64M-bit multi-I/O Serial NOR Flash memory is connected |
| to the QSPI controller port A1. This board configuration selects it as the |
| default flash controller. |
| |
| Ethernet |
| ======== |
| |
| This board has a single instance of Ethernet Media Access Controller (EMAC) |
| interfacing with a `NXP TJA1103`_ 100Base-T1 Ethernet PHY. Currently, there is |
| limited driver for this PHY that allows for overiding the default pin strapping configuration for |
| the PHY (RMII, master, autonomous mode enabled, polarity correction enabled) |
| to slave mode. |
| |
| The 100Base-T1 signals are available in connector ``P9`` and can be converted to |
| 100Base-T using a Ethernet media converter such as `RDDRONE-T1ADAPT`_. |
| |
| Programming and Debugging |
| ************************* |
| |
| Applications for the ``mr_canhubk3`` board can be built in the usual way as |
| documented in :ref:`build_an_application`. |
| |
| This board configuration supports `Lauterbach TRACE32`_, `SEGGER J-Link`_ and `pyOCD`_ |
| West runners for flashing and debugging applications. Follow the steps described |
| in :ref:`lauterbach-trace32-debug-host-tools`, :ref:`jlink-debug-host-tools` and |
| :ref:`pyocd-debug-host-tools`, |
| to setup the flash and debug host tools for these runners, respectively. The |
| default runner is J-Link. |
| |
| Flashing |
| ======== |
| |
| Run the ``west flash`` command to flash the application using SEGGER J-Link. |
| Alternatively, run ``west flash -r trace32`` to use Lauterbach TRACE32, or |
| ``west flash -r pyocd``` to use pyOCD. |
| |
| The Lauterbach TRACE32 runner supports additional options that can be passed |
| through command line: |
| |
| .. code-block:: console |
| |
| west flash -r trace32 --startup-args elfFile=<elf_path> loadTo=<flash/sram> |
| eraseFlash=<yes/no> verifyFlash=<yes/no> |
| |
| Where: |
| |
| - ``<elf_path>`` is the path to the Zephyr application ELF in the output |
| directory |
| - ``loadTo=flash`` loads the application to the SoC internal program flash |
| (:kconfig:option:`CONFIG_XIP` must be set), and ``loadTo=sram`` load the |
| application to SRAM. Default is ``flash``. |
| - ``eraseFlash=yes`` erases the whole content of SoC internal flash before the |
| application is downloaded to either Flash or SRAM. This routine takes time to |
| execute. Default is ``no``. |
| - ``verifyFlash=yes`` verify the SoC internal flash content after programming |
| (use together with ``loadTo=flash``). Default is ``no``. |
| |
| For example, to erase and verify flash content: |
| |
| .. code-block:: console |
| |
| west flash -r trace32 --startup-args elfFile=build/zephyr/zephyr.elf loadTo=flash eraseFlash=yes verifyFlash=yes |
| |
| Debugging |
| ========= |
| |
| Run the ``west debug`` command to start a GDB session using SEGGER J-Link. |
| Alternatively, run ``west debug -r trace32`` or ``west debug -r pyocd`` |
| to launch the Lauterbach TRACE32 or pyOCD software debugging interface respectively. |
| |
| References |
| ********** |
| |
| .. target-notes:: |
| |
| .. _NXP MR-CANHUBK3: |
| https://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k344-evaluation-board-for-mobile-robotics-incorporating-100baset1-and-six-can-fd:MR-CANHUBK344 |
| |
| .. _NXP S32K344: |
| https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-auto-general-purpose-mcus/s32k3-microcontrollers-for-automotive-general-purpose:S32K3 |
| |
| .. _NXP FS26 Safety System Basis Chip: |
| https://www.nxp.com/products/power-management/pmics-and-sbcs/safety-sbcs/safety-system-basis-chip-with-low-power-fit-for-asil-d:FS26 |
| |
| .. _NXP TJA1103: |
| https://www.nxp.com/products/interfaces/ethernet-/automotive-ethernet-phys/asil-b-compliant-100base-t1-ethernet-phy:TJA1103 |
| |
| .. _RDDRONE-T1ADAPT: |
| https://www.nxp.com/products/interfaces/ethernet-/automotive-ethernet-phys/ethernet-media-converter-for-drones-rovers-mobile-robotics-and-automotive:RDDRONE-T1ADAPT |
| |
| .. _Lauterbach TRACE32: |
| https://www.lauterbach.com |
| |
| .. _SEGGER J-Link: |
| https://wiki.segger.com/NXP_S32K3xx |
| |
| .. _pyOCD: |
| https://pyocd.io/ |
