NXP Semiconductors MR-CANHUBK344 Instrucciones de 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.
© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
Rev. 0.1 — May 30,20223
2 of 31
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
All information provided in this document is subject to legal disclaimers.
© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
COMPANY PUBLIC
Rev. 0.1 — May 30, 2023
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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
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
User Manual
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User Manual
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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
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
User Manual
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© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
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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
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
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User Manual
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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
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
User Manual
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© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
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Figure 1: JST-GH style connectors
Figure 2: JST SY, JST SYP SYR style
connectors
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
User Manual
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© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
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3. Changes
Table 1. Changes
Item
Description
xxx
xxx
Documentation
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
User Manual
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© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
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4. Limitations
Table 1 Limitations
Item
Description
xx xx
Limitation: xxx.
Impact: xxx.
NXP Semiconductors
MR-CANHUBK344 Hardware User Manual
User Manual
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© NXP Semiconductors N.V. 2023. All rights reserved.
User Manual
COMPANY PUBLIC
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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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