Nuttx Guide

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NXP UCANS32K146 ​

NXP 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 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 LED_INIRQ LED_SIGNAL LED_ASSERTION Idle stack created In an interrupt In a signal handler An assertion failed OFF ON OFF LED_PANIC LED_IDLE The system has crashed S32K146 in sleep mode FLASH OFF OFF

Buttons ​

The UCANS32K146 supports one button:

SW3 PTC14

Confi gurations

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):

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.
  1. 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.