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S32K1 & S32K3: add basic documentation for MCU family and boards

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Jari van Ewijk 2022-08-02 16:30:14 +02:00 committed by David Sidrane
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==================
NXP RDDRONE-BMS772
==================
`NXP RDDRONE-BMS772 <https://www.nxp.com/design/designs/smart-battery-management-for-mobile-robotics:RDDRONE-BMS772>`_ is a Battery Management System (BMS) reference design for mobile robotics, such as drones and rovers. Design files are available on the NXP website and may be used to develop your own BMS. RDDRONE-BMS772 is configurable and supports batteries of 3 to 6 cells, which it can monitor individually. The board features the `NXP S32K144 <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ MCU, which can monitor the `NXP MC33772B <https://www.nxp.com/products/power-management/battery-management/battery-cell-controllers/6-channel-li-ion-battery-cell-controller-ic:MC33772B>`_ Battery Cell Controller (BCC) and may commmunicates with the Vehicle Management Unit (VMU). When faults are detected the battery output can be disconnected to prevent further damage. Status information may be communicated over I2C/SMBus, CAN or NFC.
NuttX contains basic board support RDDRONE-BMS772, which allows the S32K144 MCU to be initialized. A NuttX-compatible smart battery application for RDDRONE-BMS772 is also available. It contains additional drivers and example software to use most features of the battery management system. This application is currently published in a `separate repository <https://github.com/NXPHoverGames/RDDRONE-BMS772>`_, but (parts) may eventually be upstreamed to Apache NuttX.
Features
========
- NXP FS32K144HAT0MLFT MCU
- 80 MHz Clock (Max.)
- 512 Kb Flash
- 64 Kb SRAM
- 4 Kb EEPROM
- NXP MC33772BSP1AE Battery Cell Controller
- NXP UJA1169TK/F/3 System Basis Chip
- Connectivity:
- UART (Console @ 115,200 baud)
- CAN 2.0 (Transceiver part of UJA1169 SBC)
- I2C Master header to connect a display (e.g. small SSD1306-based OLEDs)
- I2C/SMBus Slave
- NFC (NTAG5 Boost)
Serial Console
==============
By default, the serial console will be provided on the DCD-LZ UART (available on the 7-pin DCD-LZ debug connector J19):
============== ==== ==========
DCD-LZ UART RX PTC6 LPUART1_RX
DCD-LZ UART TX PTC7 LPUART1_TX
============== ==== ==========
LEDs
====
The RDDRONE-BMS772 has one RGB LED:
======== ===== ========
RedLED PTD16 FTM0 CH1
GreenLED PTB13 FTM0 CH1
BlueLED PTD15 FTM0 CH0
======== ===== ========
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 rddrone-bms772.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 RDDRONE-BMS772. 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 S32K144 in sleep mode
================ ======================= ===== ===== ====
Configurations
==============
Each RDDRONE-BMS772 configuration is maintained in a sub-directory and can be selected as follows::
tools/configure.sh rddrone-bms772:<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:
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.

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==============
NXP S32K118EVB
==============
NXP S32K118EVB-Q064 is an evaluation board for the `NXP S32K118 MCU <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ based on an Arm Cortex-M0+ core.
Features
========
- NXP FS32K118LAT0MLHT MCU
- 48 MHz Clock (Max.)
- 256 Kb Flash
- 25 Kb SRAM
- 2 Kb EEPROM
- NXP UJA1169TK/F System Basis Chip
- Connectivity:
- OpenSDA UART (Console @ 115,200 baud)
- CAN 2.0 (Transceiver part of UJA1169 SBC)
- I/O headers with GPIO, I2C, SPI, etc.
Serial Console
==============
By default, the serial console will be provided on the OpenSDA VCOM port:
=============== ==== ==========
OpenSDA UART RX PTB0 LPUART0_RX
OpenSDA UART TX PTB1 LPUART0_TX
=============== ==== ==========
USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
LEDs and Buttons
================
Leds
----
The S32K118EVB has one RGB LED:
======== ===== ========
RedLED PTD16 FTM0 CH1
GreenLED PTD15 FTM0 CH0
BlueLED PTE8 FTM0 CH6
======== ===== ========
An output of '1' 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 s32k118evb.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 S32K118EVB. 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 S32K118 in sleep mode
================ ======================= ===== ===== ====
Buttons
-------
The S32K118EVB supports two buttons:
=== ====
SW2 PTD3
SW3 PTD5
=== ====
OpenSDA Notes
=============
- USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
- The drag'n'drog interface expects files in .srec format.
- Using Segger J-Link: Easy... but remember to use the SWD connector J14 near the touch electrodes and not the OpenSDA connector near the OpenSDA USB connector J7.
Configurations
==============
Each S32K118EVB configuration is maintained in a sub-directory and can be selected as follows::
tools/configure.sh s32k118evb:<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:
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.

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==============
NXP S32K144EVB
==============
`NXP S32K144EVB-Q100 <https://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k144-q100-general-purpose-evaluation-board:S32K144EVB>`_ is an evaluation board for the `NXP S32K144 MCU <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ based on an Arm Cortex-M4F core.
Features
========
- NXP FS32K144HFT0VLLT MCU
- 80 MHz Clock (Max.)
- 512 Kb Flash
- 64 Kb SRAM
- 4 Kb EEPROM
- NXP UJA1169TK/F System Basis Chip
- Connectivity:
- OpenSDA UART (Console @ 115,200 baud)
- CAN 2.0 (Transceiver part of UJA1169 SBC)
- I/O headers with GPIO, I2C, SPI, etc.
Serial Console
==============
By default, the serial console will be provided on the OpenSDA VCOM port:
=============== ==== ==========
OpenSDA UART RX PTC6 LPUART1_RX
OpenSDA UART TX PTC7 LPUART1_TX
=============== ==== ==========
USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
LEDs and Buttons
================
Leds
----
The S32K144EVB 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 s32k144evb.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 S32K144EVB. 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 S32K144 in sleep mode
================ ======================= ===== ===== ====
Buttons
-------
The S32K144EVB supports two buttons:
=== =====
SW2 PTC12
SW3 PTC13
=== =====
OpenSDA Notes
=============
- USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
- The drag'n'drog interface expects files in .srec format.
- Using Segger J-Link: Easy... but remember to use the SWD connector J14 near the touch electrodes and not the OpenSDA connector near the OpenSDA USB connector J7.
Configurations
==============
Each S32K144EVB configuration is maintained in a sub-directory and can be selected as follows::
tools/configure.sh s32k144evb:<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:
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.

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==============
NXP S32K146EVB
==============
`NXP S32K146EVB-Q144 <https://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k146-q144-general-purpose-evaluation-board:S32K146EVB>`_ is an evaluation board for the `NXP S32K146 MCU <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ based on an Arm Cortex-M4F core.
Features
========
- NXP FS32K146UAT0VLQT MCU
- 112 MHz Clock (Max.)
- 1024 Kb Flash
- 128 Kb SRAM
- 4 Kb EEPROM
- NXP UJA1169TK/F System Basis Chip
- Connectivity:
- OpenSDA UART (Console @ 115,200 baud)
- CAN 2.0 (Transceiver part of UJA1169 SBC)
- I/O headers with GPIO, I2C, SPI, etc.
Serial Console
==============
By default, the serial console will be provided on the OpenSDA VCOM port:
=============== ==== ==========
OpenSDA UART RX PTC6 LPUART1_RX
OpenSDA UART TX PTC7 LPUART1_TX
=============== ==== ==========
USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
LEDs and Buttons
================
Leds
----
The S32K146EVB 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 s32k146evb.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 S32K146EVB. 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 S32K146EVB supports two buttons:
=== =====
SW2 PTC12
SW3 PTC13
=== =====
OpenSDA Notes
=============
- USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
- The drag'n'drog interface expects files in .srec format.
- Using Segger J-Link: Easy... but remember to use the SWD connector J14 near the touch electrodes and not the OpenSDA connector near the OpenSDA USB connector J7.
Configurations
==============
Each S32K146EVB configuration is maintained in a sub-directory and can be selected as follows::
tools/configure.sh s32k146evb:<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:
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.

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==============
NXP S32K148EVB
==============
`NXP S32K148EVB-Q176 <hhttps://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k148-q176-general-purpose-evaluation-board:S32K148EVB>`_ is an evaluation board for the `NXP S32K148 MCU <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ based on an Arm Cortex-M4F core.
Features
========
- NXP FS32K148UAT0VLUT MCU
- 112 MHz Clock (Max.)
- 2048 Kb Flash
- 256 Kb SRAM
- 4 Kb EEPROM
- NXP UJA1132HWF5V4 System Basis Chip
- Connectivity:
- OpenSDA UART (Console @ 115,200 baud)
- CAN 2.0 (Transceiver part of UJA1132 SBC)
- I/O headers with GPIO, I2C, SPI, etc.
Serial Console
==============
By default, the serial console will be provided on the OpenSDA VCOM port:
=============== ==== ==========
OpenSDA UART RX PTC6 LPUART1_RX
OpenSDA UART TX PTC7 LPUART1_TX
=============== ==== ==========
USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
LEDs and Buttons
================
Leds
----
The S32K148EVB has one RGB LED:
======== ===== ========
RedLED PTE21 FTM4 CH1
GreenLED PTE22 FTM4 CH2
BlueLED PTE23 FTM4 CH3
======== ===== ========
An output of '1' 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 s32k148evb.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 S32K148EVB. 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 S32K148 in sleep mode
================ ======================= ===== ===== ====
Buttons
-------
The S32K148EVB supports two buttons:
=== =====
SW3 PTC12
SW4 PTC13
=== =====
OpenSDA Notes
=============
- USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
- The drag'n'drog interface expects files in .srec format.
- Using Segger J-Link: Easy... but remember to use the SWD connector J14 near the touch electrodes and not the OpenSDA connector near the OpenSDA USB connector J7.
Configurations
==============
Each S32K148EVB configuration is maintained in a sub-directory and can be selected as follows::
tools/configure.sh s32k148evb:<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:
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.

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===============
NXP UCANS32K146
===============
`NXP UCANS32K146 <https://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k146-uavcan-v1-and-mavcan-development-system: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 <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ 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:<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:
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.

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===========
NXP S32K1XX
===========
The `S32K1XX series <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k1-microcontrollers-for-general-purpose:S32K1>`_ is a family of automotive-grade general-purpose microcontrollers from NXP Semiconductors. The lower end of the family is based on an Arm Cortex-M0+ core and can run at clockspeeds up to 48 MHz. The higher end chips are based on the Arm Cortex-M4F core which runs at up to 80 or 112 MHz.
Supported MCUs
==============
The following list includes MCUs from the S32K1XX series and indicates whether they are supported in NuttX:
======== ======= ========== =========
MCU Support Core Frequency
======== ======= ========== =========
S32K116 Yes* Cortex-M0+ 48 MHz
S32K118 Yes* Cortex-M0+ 48 MHz
S32K142 Yes* Cortex-M4F 112 MHz
S32K144 Yes Cortex-M4F 112 MHz
S32K146 Yes Cortex-M4F 112 MHz
S32K148 Yes Cortex-M4F 112 MHz
S32K142W No** Cortex-M4F 80 MHz
S32K144W No** Cortex-M4F 80 MHz
======== ======= ========== =========
| \* Supported but (mostly) untested.
| ** Not supported (yet), but it is expected that existing code can be adapted with limited effort.
Supported Modules & Peripherals
===============================
The following list indicates modules and peripherals supported in NuttX. Note that this list does not include all MCU modules. Please refer to the S32K1XX Reference Manual for a complete overview of its features.
========== ======= ==========================
Peripheral Support Comments
========== ======= ==========================
ADC No
CMP No
eDMA No
EEEPROM Yes EEPROM emulated by FlexRAM
ENET Yes
FlexCAN Yes SocketCAN-compatible
FlexIO No
FTM Yes PWM driver only
GPIO Yes
LPI2C Yes I2C Master and Slave
LPSPI Yes
LPUART Yes
QSPI No
RTC Yes
SAI No
========== ======= ==========================
ADC
---
12-Bit Successive Approximation (SAR) Analog-to-Digital Converter (ADC). No driver support (yet).
CMP
---
Analog Comparator. No driver support (yet).
eDMA
----
Enhanced Direct Memory Access module. There is a driver that was copied from the i.MX RT port, but this was not tested on S32K1XX.
EEEPROM
-------
Emulated EEPROM (implemented by FlexRAM module). A basic block driver is available to read and write data.
ENET
----
10/100 Mbit/s Ethernet MAC. Only available on S32K148. Driver is available.
FlexCAN
-------
The S32K1XX family has up to 3x FlexCAN modules (which may not all have CAN FD support). A SocketCAN-compatible driver is available.
FlexIO
------
A configurable module providing a range of functionality like emulation of a variety of serial/parallel communication protocols, flexible 16-bit timers or programmable logic blocks. No driver available.
FTM
---
A PWM driver based on FlexTimer (FTM) is available.
GPIO
----
Pins can be configured using :c:func:`s32k1xx_pinconfig` function. Writing to pins is done by :c:func:`s32k1xx_gpiowrite` function and reading is done by :c:func:`s32k1xx_gpioread`.
LPI2C
-----
Low-Power Inter-Integrated Circuit (I2C) module supporting an interface to an I2C bus as master and/or
as a slave. The lower-half of this driver is initialize by calling :c:func:`s32k1xx_i2cbus_initialize`.
LPSPI
-----
Low-Power Serial Peripheral Interface (SPI) module that supports an interface to an SPI bus as a master
and/or a slave. The lower-half of this driver is initialize by calling :c:func:`s32k1xx_lpspibus_initialize`.
LPUART
------
Low-Power Universal Asynchronous Receiver/Transmitter (UART) module. UART is initialized automatically during
MCU boot.
QSPI
----
QuadSPI memory interface for external serial flash devices. No driver implemented.
RTC
---
Real-Time Clock module. A basic driver has been implemented.
SAI
---
The Synchronous Audio Interface for digital audio over I2S (Inter-IC Sound) is only available on S32K148. No driver implemented.
Supported Boards
================
.. toctree::
:glob:
:maxdepth: 1
boards/*/*

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===============
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 <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k3-microcontrollers-for-general-purpose:S32K3>`_ 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:
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.

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==============
NXP S32K344EVB
==============
`NXP S32K3X4EVB-Q257 <https://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k3x4-q257-full-featured-general-purpose-development-board:S32K3X4EVB-Q257>`_ is an evaluation board for the `NXP S32K344 MCU <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k3-microcontrollers-for-general-purpose:S32K3>`_ 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:
- OpenSDA UART (Console @ 115,200 baud)
- 2x Secure CAN transceivers
- I/O headers with GPIO, I2C, SPI, etc.
Serial Console
==============
By default, the serial console will be provided on the OpenSDA VCOM port:
=============== ===== ==========
OpenSDA UART RX PTA15 LPUART6_RX
OpenSDA UART TX PTA16 LPUART6_TX
=============== ===== ==========
USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
LEDs and Buttons
================
Leds
----
The S32K344EVB has two RGB LEDs:
========= ===== =========================
RedLED0 PTA29 EMIOS1 CH12 / EMIOS2 CH12
GreenLED0 PTA30 EMIOS1 CH13 / EMIOS2 CH13
BlueLED0 PTA31 EMIOS1 CH14 / FXIO D0
========= ===== =========================
========= ===== ===================================
RedLED1 PTB18 EMIOS1 CH15 / EMIOS2 CH14 / FXIO D1
GreenLED1 PTB25 EMIOS1 CH21 / EMIOS2 CH21 / FXIO D6
BlueLED1 PTE12 EMIOS1 CH5 / FXIO D8
========= ===== ===================================
An output of '1' 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 s32k344evb.h):
- GPIO_LED0_R
- GPIO_LED0_G
- GPIO_LED0_B
- GPIO_LED1_R
- GPIO_LED1_G
- GPIO_LED1_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 S32K344EVB. 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 S32K344EVB supports two buttons:
=== ===== ===============
SW0 PTB26 EIRQ13 / WKPU41
SW1 PTB19 WKPU38
=== ===== ===============
OpenSDA Notes
=============
- USB drivers for the PEmicro CDC Serial Port are available here: http://www.pemicro.com/opensda/
- The drag'n'drog interface expects files in .srec format.
Configurations
==============
Each S32K344EVB configuration is maintained in a sub-directory and can be selected as follows::
tools/configure.sh s32k344evb:<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:
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 LPUART6 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.

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===========
NXP S32K3XX
===========
The `S32K3XX series <https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-general-purpose-mcus/s32k3-microcontrollers-for-general-purpose:S32K3>`_ is a family of automotive-grade general-purpose microcontrollers from NXP Semiconductors. The chips are based around single, dual (lock-step) or tripple Arm Cortex-M7 cores, running at clockspeeds up to 240 MHz.
Supported MCUs
==============
The following list includes MCUs from the S32K3XX series and indicates whether they are supported in NuttX:
======== ======= ================= =========
MCU Support Cores Frequency
======== ======= ================= =========
S32K311 No 1x Cortex-M7 120 MHz
S32K312 No 1x Cortex-M7 120 MHz
S32K314 Yes* 1x Cortex-M7 160 MHz
S32K322 No 2x Cortex-M7 160 MHz
S32K324 Yes* 2x Cortex-M7 160 MHz
S32K341 No LS Cortex-M7 160 MHz
S32K342 No LS Cortex-M7 160 MHz
S32K344 Yes* LS Cortex-M7 160 MHz
S32K328 No 2x Cortex-M7 160 MHz
S32K338 No 3x Cortex-M7 240 MHz
S32K348 No LS Cortex-M7 160 MHz
S32K358 No LS + 1x Cortex-M7 160 MHz
======== ======= ================= =========
| \* Same silicon in different configurations. Only a single core is currently being used (no SMP support).
Supported Modules & Peripherals
===============================
The following list indicates modules and peripherals supported in NuttX. Note that this list does not include all MCU modules. Please refer to the S32K3XX Reference Manual for a complete overview of its features.
========== ======= ==========================
Peripheral Support Comments
========== ======= ==========================
ADC No
eDMA Partial
eMIOS No
EMAC Yes
FlexCAN Yes SocketCAN-compatible
FlexIO No
GPIO Yes
LPCMP No
LPI2C Yes I2C Master only
LPSPI Yes
LPUART Yes
QSPI Yes
RTC No
SAI No
========== ======= ==========================
ADC
---
12-Bit Successive Approximation (SAR) Analog-to-Digital Converter (ADC). No driver support (yet).
eDMA
----
Enhanced Direct Memory Access module. There is a driver that was copied from the S32K1XX and i.MX RT ports. Some modifications have been made to make it work with S32K3XX, but it is far from feature-complete.
eMIOS
-----
The Enhanced Modular IO Subsystem (eMIOS) is a flexible timer and I/O module for real-time control applications. Its channels can be used for (pulse) counters, PWM outputs, input period measurements, and more. There is no driver implementation available (yet).
EMAC
----
10/100/200 Mbit/s Ethernet MAC. Driver is available.
FlexCAN
-------
The S32K3XX family has up to 8x FlexCAN modules with CAN FD support. A SocketCAN-compatible driver is available.
FlexIO
------
A configurable module providing a range of functionality like emulation of a variety of serial/parallel communication protocols, flexible 16-bit timers or programmable logic blocks. No driver available.
GPIO
----
Pins can be configured using :c:func:`s32k3xx_pinconfig` function. Writing to pins is done by :c:func:`s32k3xx_gpiowrite` function and reading is done by :c:func:`s32k3xx_gpioread`.
LPCMP
---
Analog Comparator. No driver support (yet).
LPI2C
-----
Low-Power Inter-Integrated Circuit (I2C) module supporting an interface to an I2C bus as master and/or
as a slave. The lower-half of this driver is initialize by calling :c:func:`s32k3xx_i2cbus_initialize`.
LPSPI
-----
Low-Power Serial Peripheral Interface (SPI) module that supports an interface to an SPI bus as a master
and/or a slave. The lower-half of this driver is initialize by calling :c:func:`s32k3xx_lpspibus_initialize`.
LPUART
------
Low-Power Universal Asynchronous Receiver/Transmitter (UART) module. UART is initialized automatically during
MCU boot.
QSPI
----
QuadSPI memory interface for external serial flash devices. A basic driver is available.
RTC
---
Real-Time Clock module. A driver is not (yet) available.
SAI
---
Synchronous Audio Interface for digital audio over I2S (Inter-IC Sound). No driver implemented.
Supported Boards
================
.. toctree::
:glob:
:maxdepth: 1
boards/*/*