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boards: arm: mr_canhubk3: add docs
Document current support for mr_canhubk3 board. Signed-off-by: Manuel Argüelles <[email protected]>
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‎boards/arm/mr_canhubk3/doc/img/mr_canhubk3_top.jpg

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‎boards/arm/mr_canhubk3/doc/index.rst

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.. _mr_canhubk3:
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NXP MR-CANHUBK3
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###############
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Overview
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********
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`NXP MR-CANHUBK3`_ is an evaluation board for mobile robotics applications such
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as autonomous mobile robots (AMR) and automated guided vehicles (AGV). It
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features an `NXP S32K344`_ general-purpose automotive microcontroller based on
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an Arm Cortex-M7 core (Lock-Step).
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.. image:: img/mr_canhubk3_top.jpg
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:align: center
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:alt: NXP MR-CANHUBK3 (TOP)
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Hardware
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********
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- NXP S32K344
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- Arm Cortex-M7 (Lock-Step), 160 MHz (Max.)
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- 4 MB of program flash, with ECC
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- 320 KB RAM, with ECC
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- Ethernet 100 Mbps, CAN FD, FlexIO, QSPI
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- 12-bit 1 Msps ADC, 16-bit eMIOS timer
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- `NXP FS26 Safety System Basis Chip`_
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- Interfaces:
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- Console UART
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- 6x CAN FD
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- 100Base-T1 Ethernet
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- DroneCode standard JST-GH connectors and I/O headers for I2C, SPI, GPIO,
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PWM, etc.
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More information about the hardware and design resources can be found at
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`NXP MR-CANHUBK3`_ website.
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Supported Features
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==================
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The ``mr_canhubk3`` board configuration supports the following hardware features:
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============ ========== ================================
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Interface Controller Driver/Component
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============ ========== ================================
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SIUL2 on-chip | pinctrl
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| gpio
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| external interrupt controller
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LPUART on-chip serial
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============ ========== ================================
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The default configuration can be found in the Kconfig file
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:zephyr_file:`boards/arm/mr_canhubk3/mr_canhubk3_defconfig`.
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Connections and IOs
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===================
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Each GPIO port is divided into two banks: low bank, from pin 0 to 15, and high
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bank, from pin 16 to 31. For example, ``PTA2`` is the pin 2 of ``gpioa_l`` (low
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bank), and ``PTA20`` is the pin 4 of ``gpioa_h`` (high bank).
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LEDs
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----
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The MR-CANHUBK3 board has one user RGB LED:
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======================= ===== ===== ===================================
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Devicetree node Color Pin Pin Functions
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======================= ===== ===== ===================================
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led0 / user_led1_red Red PTE14 FXIO D7 / EMIOS0 CH19
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led1 / user_led1_green Green PTA27 FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10
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led2 / user_led1_blue Blue PTE12 FXIO D8 / EMIOS1 CH5
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======================= ===== ===== ===================================
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The user can control the LEDs in any way. An output of ``0`` illuminates the LED.
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Buttons
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-------
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The MR-CANHUBK3 board has two user buttons:
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======================= ===== ===== ==============
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Devicetree node Label Pin Pin Functions
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======================= ===== ===== ==============
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sw0 / user_button_1 SW1 PTD15 EIRQ31
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sw0 / user_button_2 SW2 PTA25 EIRQ5 / WKPU34
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======================= ===== ===== ==============
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System Clock
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============
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The Arm Cortex-M7 (Lock-Step) are configured to run at 160 MHz.
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Serial Console
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==============
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By default, the serial console is provided through ``lpuart2`` on the 7-pin
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DCD-LZ debug connector ``P6``.
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========= ===== ============
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Connector Pin Pin Function
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========= ===== ============
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P6.2 PTA9 LPUART2_TX
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P6.3 PTA8 LPUART2_RX
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========= ===== ============
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FS26 SBC Watchdog
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=================
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On normal operation after the board is powered on, there is a window of 256 ms
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on which the FS26 watchdog must be serviced with a good token refresh, otherwise
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the watchdog will signal a reset to the MCU. Currently there is no driver for
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the watchdog so the FS26 must be started in debug mode following these steps:
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1. Power off the board.
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2. Remove the jumper ``JP1`` (pins 1-2 open), which is connected by default.
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3. Power on the board.
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4. Reconnect the jumper ``JP1`` (pins 1-2 shorted).
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Programming and Debugging
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*************************
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Applications for the ``mr_canhubk3`` board can be built in the usual way as
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documented in :ref:`build_an_application`.
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This board configuration supports `Lauterbach TRACE32`_ and `SEGGER J-Link`_
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West runners for flashing and debugging applications. Follow the steps described
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in :ref:`lauterbach-trace32-debug-host-tools` and :ref:`jlink-debug-host-tools`,
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to setup the flash and debug host tools for these runners, respectively. The
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default runner is Lauterbach TRACE32.
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Flashing
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========
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Run the ``west flash`` command to flash the application to the board using
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Lauterbach TRACE32. Alternatively, run ``west flash -r jlink`` to use SEGGER
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J-Link.
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The Lauterbach TRACE32 runner supports additional options that can be passed
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through command line:
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.. code-block:: console
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west flash --startup-args elfFile=<elf_path> loadTo=<flash/sram>
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eraseFlash=<yes/no> verifyFlash=<yes/no>
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Where:
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- ``<elf_path>`` is the path to the Zephyr application ELF in the output
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directory
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- ``loadTo=flash`` loads the application to the SoC internal program flash
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(:kconfig:option:`CONFIG_XIP` must be set), and ``loadTo=sram`` load the
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application to SRAM. Default is ``flash``.
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- ``eraseFlash=yes`` erases the whole content of SoC internal flash before the
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application is downloaded to either Flash or SRAM. This routine takes time to
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execute. Default is ``no``.
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- ``verifyFlash=yes`` verify the SoC internal flash content after programming
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(use together with ``loadTo=flash``). Default is ``no``.
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For example, to erase and verify flash content:
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.. code-block:: console
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west flash --startup-args elfFile=build/zephyr/zephyr.elf loadTo=flash eraseFlash=yes verifyFlash=yes
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Debugging
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=========
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Run the ``west debug`` command to launch the Lauterbach TRACE32 software
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debugging interface. Alternatively, run ``west debug -r jlink`` to start a
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command line debugging session using SEGGER J-Link.
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References
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**********
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.. target-notes::
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.. _NXP MR-CANHUBK3:
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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
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.. _NXP S32K344:
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https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-auto-general-purpose-mcus/s32k3-microcontrollers-for-automotive-general-purpose:S32K3
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.. _NXP FS26 Safety System Basis Chip:
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https://www.nxp.com/products/power-management/pmics-and-sbcs/safety-sbcs/safety-system-basis-chip-with-low-power-fit-for-asil-d:FS26
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.. _Lauterbach TRACE32:
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https://www.lauterbach.com
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.. _SEGGER J-Link:
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https://wiki.segger.com/NXP_S32K3xx

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