README
======
This directory holds the port to the NXP UCANS32K146 boards. There exist a
few different revisions/variants of this board. All variants with the
S32K146 microcontroller are supported.
Contents
========
o Status
o Serial Console
o LEDs and Buttons
o Thread-Aware Debugging with Eclipse
o Configurations
Status
======
2020-01-23: Configuration created (copy-paste from S32K146EVB).
Tested: Serial console, I2C, SPI.
2020-06-15: Added FlexCAN driver with SocketCAN support to the S32K1XX
arch, which has been tested with the UCANS32K146 board as well.
2020-06-16: Added Emulated EEPROM driver and initialization.
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):
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 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:
==========================================+========+========+=========
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 (no change)
LED_SIGNAL In a signal handler (no change)
LED_ASSERTION An assertion failed (no change)
LED_PANIC The system has crashed FLASH OFF OFF
LED_IDLE S32K146 in sleep mode (no change)
==========================================+========+========+=========
Buttons
-------
The UCANS32K146 supports one button:
SW3 PTC14
Thread-Aware Debugging with Eclipse
===================================
Thread-aware debugging is possible with openocd-nuttx
( https://github.com/sony/openocd-nuttx ) and was tested together with the
Eclipse-based S32 Design Studio for Arm:
https://www.nxp.com/design/software/development-software/s32-design-studio-ide/s32-design-studio-for-arm:S32DS-ARM
NOTE: This method was last tested with NuttX 8.2 and S32DS for Arm 2018.R1.
It may not work anymore with recent releases of NuttX and/or S32DS.
1. NuttX should be build with debug symbols enabled.
2. Build OpenOCD as described here (using the same parameters as well):
https://micro.ros.org/docs/tutorials/old/debugging/
3. A s32k146.cfg file is available in the scripts/ folder. Start OpenOCD
with the following command (adapt the path info):
/usr/local/bin/openocd -f /usr/share/openocd/scripts/interface/jlink.cfg \
-f boards/s32k1xx/ucans32k146/scripts/s32k146.cfg -c init -c "reset halt"
4. Setup a GDB debug session in Eclipse. The resulting debug window shows
the NuttX threads. The full stack details can be viewed.
Configurations
==============
Common Information
------------------
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. This corresponds to the OpenSDA VCOM port.
Configuration Sub-directories
-----------------------------
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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