110 lines
3.9 KiB
ReStructuredText
110 lines
3.9 KiB
ReStructuredText
===============
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NXP MR-CANHUBK3
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===============
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s a CAN Node reference design and development platform for mobile robotics applications, such as drones and rovers
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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).
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Features
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========
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- NXP FS32K344
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- Lock-Step Configuration
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- 160 MHz Clock (Max.)
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- 4000 Kb Flash
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- 512 Kb RAM
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- NXP FS26 Safety System Basis Chip
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- Connectivity:
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- Console UART (Console @ 115,200 baud)
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- 6x CAN FD
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- 100Base-T1 Ethernet
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- Connectors and 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 PTA8 LPUART2_RX
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DCD-LZ UART TX PTA9 LPUART2_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 MR-CANHUBK3 has one RGB LED:
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======== ===== ===================================
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RedLED PTE14 FXIO D7 / EMIOS0 CH19
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GreenLED PTA27 FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10
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BlueLED PTE12 FXIO D8 / EMIOS1 CH5
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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 mr-canhubk3.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 MR-CANHUBK3. 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 S32K344 in sleep mode
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================ ======================= ===== ===== ====
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Buttons
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-------
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The MR-CANHUBK3 supports two buttons:
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=== ===== ==============
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SW1 PTD15 EIRQ31
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SW2 PTA25 EIRQ5 / WKPU34
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=== ===== ==============
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Configurations
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==============
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Each MR-CANHUBK3 configuration is maintained in a sub-directory and can be selected as follows::
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tools/configure.sh mr-canhubk3:<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 LPUART2 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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net
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---
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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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