106 lines
3.8 KiB
ReStructuredText
106 lines
3.8 KiB
ReStructuredText
===============
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NXP UCANS32K146
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===============
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`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.
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Features
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========
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- NXP FS32K146UAT0VLHT MCU
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- 112 MHz Clock (Max.)
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- 1024 Kb Flash
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- 128 Kb SRAM
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- 4 Kb EEPROM
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- NXP UJA1169TK/F System Basis Chip
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- Connectivity:
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- Console UART (Console @ 115,200 baud)
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- 2x CAN FD
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- I/O headers with GPIO, I2C, SPI, etc.
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Serial Console
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==============
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By default, the serial console will be provided on the DCD-LZ UART (available on the 7-pin DCD-LZ debug connector P6):
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============== ==== ==========
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DCD-LZ UART RX PTC6 LPUART1_RX
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DCD-LZ UART TX PTC7 LPUART1_TX
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============== ==== ==========
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LEDs and Buttons
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================
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Leds
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----
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The UCANS32K146 has one RGB LED:
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======== ===== ========
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RedLED PTD15 FTM0 CH0
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GreenLED PTD16 FTM0 CH1
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BlueLED PTD0 FTM0 CH2
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======== ===== ========
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An output of '0' illuminates the LED.
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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):
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- GPIO_LED_R
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- GPIO_LED_G
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- GPIO_LED_B
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The RGB components could, alternatively, be controlled through PWM using the common RGB LED driver.
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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:
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================ ======================= ===== ===== ====
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State Description RED GREEN BLUE
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================ ======================= ===== ===== ====
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LED_STARTED NuttX has been started OFF OFF OFF
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LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
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LED_IRQSENABLED Interrupts enabled OFF OFF ON
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LED_STACKCREATED Idle stack created OFF ON OFF
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LED_INIRQ In an interrupt
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LED_SIGNAL In a signal handler
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LED_ASSERTION An assertion failed
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LED_PANIC The system has crashed FLASH OFF OFF
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LED_IDLE S32K146 in sleep mode
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================ ======================= ===== ===== ====
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Buttons
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-------
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The UCANS32K146 supports one button:
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=== =====
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SW3 PTC14
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=== =====
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Configurations
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==============
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Each UCANS32K146 configuration is maintained in a sub-directory and can be selected as follows::
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tools/configure.sh ucans32k146:<subdir>
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Where <subdir> is one of the sub-directories listed in the next paragraph.
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NOTES (common for all configurations):
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1. This configuration uses the mconf-based configuration tool. To change this configuration using that tool, you should:
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a. Build and install the kconfig-mconf tool. See nuttx/README.txt. Also see additional README.txt files in the NuttX tools repository.
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b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process.
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2. Unless otherwise stated, the serial console used is LPUART1 at 115,200 8N1.
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nsh
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---
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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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can
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---
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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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