=============== 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: 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 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.