NXP Semiconductors MR-CANHUBK344 Istruzioni per l’uso

MR-CANHUBK344 Hardware User

Manual

Rev. 0.1— May 30,2023

User Manual

COMPANY PUBLIC

Document information

Info

Content

Keywords

MR-CANHUBK344, S32K344, FS26, SE050, TJA1103, TJA1443,

TJA1463, TJA1153, CANHUBK3

Abstract

Hardware notes describing package contents, instructions, open issues,

fixes, and limitations.

NXP Semiconductors

MR-CANHUBK344 Hardware User Manual

User Manual

All information provided in this document is subject to legal disclaimers.

User Manual

Rev. 0.1 — May 30,20223

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Contact information

For more information, please visit:

http://www.nxp.com

Revision history

Rev

Date

Description

0.1

05/30/2023

Initial version for MR-CANHUBK344

NXP Semiconductors

MR-CANHUBK344 Hardware User Manual

User Manual

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User Manual

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1. Introduction

MR-CANHUBK344 board is an evaluation board designed for mobile robotics applications

and is based on Arm®Cortex®-M7 core S32K344 general-purpose automotive

microcontroller featuring the latest in safety, security, and software support.

While targeted to mobile robotics applications the board can certainly be used for multiple

purposes where automotive lockstep cores may be desirable:

•A primary small vehicle controller

•A safety domain controller,

•A high specification “CAN FD node” board,

•Bridging between 100Base-T1 and multiple CAN PHYsical interfaces.

•Potentially as a BLDC motor controller.

Special notes on processor:

While the dual-core lockstep (DCLS) S32K344 is installed on this board, the same board may support

an S32K324 where the Cortex-M7 cores operate independently as a dual independent core device.

Additionally, the S32K35x (240Mhz/3 core) will also install in the same footprint with minor

modifications. Both these ideas would require manual rework to a board to replace the processor.

MR-CANHUBK344 includes one 100Base-T1 Automotive Ethernet and populates all six of

the CAN FD ports available on S32K344. The feature set it provides is quite suitable for a

wide variety of other applications. One example is experimenting with tunneling CAN over

Ethernet using IEEE 1722 protocol. A software example is available for this on the NXP

webpage for the device.

The 6 CAN ports are connected to three distinct types of NXP CAN PHYs, and allow for

direct comparison between standard CAN FD, CAN FD/SIC (signal improvement CAN)

and CAN FD/SCT (Secure CAN Transceivers)

Also on board is the SE050 Secure element with NFC (Near Field Communication) as well

as UART, SPI, I2C, PWM and other GPIO accessible on DroneCode standard JST-GH

connectors.

In addition to the published S32K design studio example software application as an IEEE

1722 CAN over Ethernet bridge, please also look for opensource NuttX RTOS, NuttX/PX4

and Zephyr RTOS support on this board for general purpose applications in their respective

opensource repositories.

•https://github.com/apache/nuttx

•https://github.com/PX4/PX4-Autopilot

•https://github.com/zephyrproject-rtos/zephyr

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NXP HoverGames contest uses these and other boards which are intended to work

together. You will find other code examples, additional links, and “Engineering Notebook”

style documentation specific to Mobile Robotics team at the following gitbook URLs:

https://nxp.gitbook.io/hovergames/

https://nxp.gitbook.io/mr-canhubk3

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1.1 Abbreviations

IEEE 1722 Layer 2 transport protocol working group for time-sensitive streams

100BASE-T1 Full-duplex single twisted pair Ethernet

BEC Battery Eliminator Circuit (power rail for servos and ESCs)

BLDC Brushless DC (motor)

CAN Controller Area Network 1Mbps “classical CAN”,

although may sometimes be inclusive of CAN FD

CAN FD CAN Flexible Data rate (up to 8Mbps)

CAN SIC CAN FD using Signal Improvement CAN PHY

CAN SCT CAN FD using Secure CAN Transceiver

ESC Electronic Speed Controller

FMU/VMU Flight/Vehicle Management Unit

IMU Inertial Measurement Unit

(Combination of accelerometer, Gyro, Magnetometer)

JTAG Joint Test Action Group, interface commonly used for software debugging

KB 1024 bytes

MAC Media Access Control, a MAC address is a so-called PHYsical address.

Mbps Million bits per second (106bits/s)

NFC Near Field Communication

PCB Printed Circuit Board

RTK GPS Real Time Kinematic Global Positioning System (Precision GPS Module)

SDK Software Development Kit

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2. Contents

The MR-CANHUBK344 comes as a kit that includes the items specified on the packing

slip documents. Note a reduced kit is also expected to be made available. In the full

version the following hardware components are included:

•Hardware

oMR-CANHUBK344 board

oDCD-LZ Programming Adapter board.

This is an adapter board that gives access to a console UART at

the same time as a SWD debug connector.

oUSB-UART adapter cable (attaches to DCD-LZ)

oPower adapter cables

Including JST-GH to commonly use red JST-SY connector,

barrel connector, XT-60 LiPo battery connector.

o6x CAN cables

o6x CAN Termination boards

o1x 100Base-T1 “two wire” Ethernet cable using JST-GH connectors

Note automotive applications will specify alternative connector

types. You may wish to fabricate an adapter cable.

oGeneric JST-GH cables for UART/SPI/I2C used for customizing to your

specific needs.

oSmall 0.91” OLED display

oNFC antenna connected to Secure Element.

The JST-GH connectors will follow the DroneCode pinout Standard where one exists for

that type of interface. Otherwise confirm the pinout using the schematics.

The JST-GH connectors are intended to will work directly with other Mobile Robotics

boards such as NavQPlus, UCANS32K1, RDDRONE-BMS772, MR-BMS771, and

RDDRONE-FMUK66, RDDRONE-FMURT6, or MR-FMURT1176.

NOTE That the intent with these DroneCode cables and particularly with the Generic

UART/SPI/I2C 4/6/7pin cables is that you may cut or otherwise adapt them to attach

to your specific interface requirements

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Figure 1: JST-GH style connectors

Figure 2: JST SY, JST SYP SYR style

connectors

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3. Changes

Table 1. Changes

Item

Description

xxx

Documentation

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4. Limitations

Table 1 Limitations

Item

Description

xx xx

Limitation: xxx.

Impact: xxx.

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5. Main components

This compact board includes components that are briefly described in this section. More

detailed documentation on each of these individual components is available on their

respective NXP.com webpages on-line.

5.1.1 S32K344

The S32K344 is an Automotive General Purpose MCU of NXP Semiconductors. Figure 1

gives the block diagram of this chip. The software discussed in this document is running

on the Lockstep Arm®Cortex®-M7embedded in this chip.

5.1.2 FS26

The FS26 is the ‘Safety System Basis Chip with Low Power Fit for ASIL D’ of NXP

Semiconductors. Figure 3 gives the block diagram of this power supply chip. This part is

sophisticated and is capable of additional complex configurations than implemented

here, however in this design it primarily allows for a compact power supply design and

high input voltage.

Figure 1: Block Diagram of S32K344 chip

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