=============== NXP UCANS32K146 =============== `NXP UCANS32K146 `_ is a CAN Node reference design and development platform for mobile robotics applications, such as drones and rovers. It features the `NXP S32K146 MCU `_ based on an Arm Cortex-M4F core. There exist a few different revisions/variants of this board. All variants with the S32K146 microcontroller are supported. Features ======== - NXP FS32K146UAT0VLHT MCU - 112 MHz Clock (Max.) - 1024 Kb Flash - 128 Kb SRAM - 4 Kb EEPROM - NXP UJA1169TK/F System Basis Chip - Connectivity: - Console UART (Console @ 115,200 baud) - 2x CAN FD - 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 PTC6 LPUART1_RX DCD-LZ UART TX PTC7 LPUART1_TX ============== ==== ========== LEDs and Buttons ================ Leds ---- The UCANS32K146 has one RGB LED: ======== ===== ======== RedLED PTD15 FTM0 CH0 GreenLED PTD16 FTM0 CH1 BlueLED PTD0 FTM0 CH2 ======== ===== ======== 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 ucans32k146.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 UCANS32K146. 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 S32K146 in sleep mode ================ ======================= ===== ===== ==== Buttons ------- The UCANS32K146 supports one button: === ===== SW3 PTC14 === ===== Configurations ============== Each UCANS32K146 configuration is maintained in a sub-directory and can be selected as follows:: tools/configure.sh ucans32k146: Where 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: a. Build and install the kconfig-mconf tool. See nuttx/README.txt. Also see additional README.txt files in the NuttX tools repository. b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process. 2. Unless otherwise stated, the serial console used is LPUART1 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. can --- Besides the NuttShell this configuration also enables (Socket)CAN support, as well as I2C and SPI support. It includes the SLCAN and can-utils applications for monitoring and debugging CAN applications.