NXP MR-CANHUBK3

s a CAN Node reference design and development platform for mobile robotics applications, such as drones and rovers

NXP MR-CANHUBK3 is a reference design and development platform for redundant networking and functional safety applications in Mobile Robotics, such as drones and rovers. It features the NXP S32K344 MCU based on a Arm Cortex-M7 core (Lock-Step).

Features

• NXP FS32K344

  • Lock-Step Configuration

  • 160 MHz Clock (Max.)

  • 4000 Kb Flash

  • 512 Kb RAM

• NXP FS26 Safety System Basis Chip

• Connectivity:

  • Console UART (Console @ 115,200 baud)

  • 6x CAN FD

  • 100Base-T1 Ethernet

  • Connectors and I/O headers with GPIO, I2C, SPI, etc.

Serial Console

By default, the serial console will be provided on the DCD-LZ UART (available on the 7-pin DCD-LZ debug connector P6):

DCD-LZ UART RX	PTA8	LPUART2_RX
DCD-LZ UART TX	PTA9	LPUART2_TX

LEDs and Buttons

Leds

The MR-CANHUBK3 has one RGB LED:

RedLED	PTE14	FXIO D7 / EMIOS0 CH19
GreenLED	PTA27	FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10
BlueLED	PTE12	FXIO D8 / EMIOS1 CH5

An output of ‘0’ illuminates the LED.

If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. The following definitions are used to access individual RGB components (see mr-canhubk3.h):

• GPIO_LED_R

• GPIO_LED_G

• GPIO_LED_B

The RGB components could, alternatively, be controlled through PWM using the common RGB LED driver.

If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board the MR-CANHUBK3. The following definitions describe how NuttX controls the LEDs:

State	Description	RED	GREEN	BLUE
LED_STARTED	NuttX has been started	OFF	OFF	OFF
LED_HEAPALLOCATE	Heap has been allocated	OFF	OFF	ON
LED_IRQSENABLED	Interrupts enabled	OFF	OFF	ON
LED_STACKCREATED	Idle stack created	OFF	ON	OFF
LED_INIRQ	In an interrupt
LED_SIGNAL	In a signal handler
LED_ASSERTION	An assertion failed
LED_PANIC	The system has crashed	FLASH	OFF	OFF
LED_IDLE	S32K344 in sleep mode

Buttons

The MR-CANHUBK3 supports two buttons:

SW1	PTD15	EIRQ31
SW2	PTA25	EIRQ5 / WKPU34

Configurations

Each MR-CANHUBK3 configuration is maintained in a sub-directory and can be selected as follows:

tools/configure.sh mr-canhubk3:<subdir>

Where <subdir> is one of the sub-directories listed in the next paragraph.

NOTES (common for all configurations):

1. This configuration uses the mconf-based configuration tool. To change this configuration using that tool, you should:

   1. Build and install the kconfig-mconf tool. See nuttx/README.txt. Also see additional README.txt files in the NuttX tools repository.

   2. Execute ‘make menuconfig’ in nuttx/ in order to start the reconfiguration process.

2. Unless otherwise stated, the serial console used is LPUART2 at 115,200 8N1.

nsh

Configures the NuttShell (nsh) located at apps/examples/nsh. Support for builtin applications is enabled, but in the base configuration the only application selected is the “Hello, World!” example.

net

Besides the NuttShell this configuration also enables networking and (Socket)CAN support, as well as I2C and SPI support. It includes the SLCAN and can-utils applications for monitoring and debugging CAN applications.