.. zephyr:board:: 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). 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 SWT on-chip watchdog EMAC on-chip ethernet mdio eMIOS on-chip pwm EDMA on-chip dma FLEXIO PWM on-chip pwm STM on-chip counter ============ ========== ================================ 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= loadTo= eraseFlash= verifyFlash= Where: - ```` 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/