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boards: arm: introduce NXP MR-CANHUBK3 board

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NXP MR-CANHUBK3 is an evaluation board for mobile robotics applications.
It features an NXP S32K344 MCU based on an Arm Cortex-M7 core
(lock-step).

By default, this board configuration uses Lauterbach TRACE32 West runner
for flashing and debugging applications, but other debuggers can be used
to download the program to flash.

Co-authored-by: Dat Nguyen Duy <dat.nguyenduy@nxp.com>
Co-authored-by: Cong Nguyen Huu <cong.nguyenhuu@nxp.com>
Signed-off-by: Manuel Argüelles <manuel.arguelles@nxp.com>
This commit is contained in:
Manuel Arguelles 2023-05-26 00:00:00 +00:00 committed by Mahesh Mahadevan
parent b22f1162f3
commit 493f7b10d2
9 changed files with 256 additions and 0 deletions
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7
boards/arm/mr_canhubk3/Kconfig.board Normal file
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# Copyright 2023 NXP
# SPDX-License-Identifier: Apache-2.0
config BOARD_MR_CANHUBK3
bool "mr_canhubk3"
depends on SOC_SERIES_S32K3_M7
select SOC_PART_NUMBER_S32K344

9
boards/arm/mr_canhubk3/Kconfig.defconfig Normal file
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# Copyright 2023 NXP
# SPDX-License-Identifier: Apache-2.0
if BOARD_MR_CANHUBK3
config BOARD
default "mr_canhubk3"
endif # BOARD_MR_CANHUBK3

17
boards/arm/mr_canhubk3/board.cmake Normal file
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# Copyright 2023 NXP
# SPDX-License-Identifier: Apache-2.0
board_runner_args(trace32
"--startup-args"
"elfFile=${PROJECT_BINARY_DIR}/${KERNEL_ELF_NAME}"
)
if(${CONFIG_XIP})
board_runner_args(trace32 "loadTo=flash")
else()
board_runner_args(trace32 "loadTo=sram")
endif()
board_runner_args(jlink "--device=S32K344")
include(${ZEPHYR_BASE}/boards/common/trace32.board.cmake)
include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

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boards/arm/mr_canhubk3/mr_canhubk3.dts Normal file
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/*
* Copyright 2023 NXP
*
* SPDX-License-Identifier: Apache-2.0
*/
/dts-v1/;
#include <arm/nxp/nxp_s32k344_m7.dtsi>
/ {
model = "NXP MR-CANHUBK3";
compatible = "nxp,mr_canhubk3";
chosen {
zephyr,sram = &sram0_1;
zephyr,flash = &flash0;
zephyr,itcm = &itcm;
zephyr,dtcm = &dtcm;
zephyr,code-partition = &code_partition;
};
};
&flash0 {
partitions {
compatible = "fixed-partitions";
#address-cells = <1>;
#size-cells = <1>;
ivt_header: partition@0 {
label = "ivt-header";
reg = <0x00000000 0x100>;
};
code_partition: partition@100 {
label = "code-partition";
reg = <0x00000100 (DT_SIZE_K(4048) - 0x100)>;
};
};
};

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boards/arm/mr_canhubk3/mr_canhubk3.yaml Normal file
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# Copyright 2023 NXP
# SPDX-License-Identifier: Apache-2.0
identifier: mr_canhubk3
name: NXP MR-CANHUBK3
type: mcu
arch: arm
ram: 1024
flash: 1024
toolchain:
- zephyr

19
boards/arm/mr_canhubk3/mr_canhubk3_defconfig Normal file
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# Copyright 2023 NXP
# SPDX-License-Identifier: Apache-2.0
CONFIG_BOARD_MR_CANHUBK3=y
CONFIG_SOC_S32K344_M7=y
CONFIG_SOC_SERIES_S32K3_M7=y
CONFIG_BUILD_OUTPUT_HEX=y
# Use Systick as system clock
CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=160000000
# Run from internal Flash
CONFIG_XIP=y
# Enable MPU
CONFIG_ARM_MPU=y
# Use no-cached memory for HAL
CONFIG_NOCACHE_MEMORY=y

13
boards/arm/mr_canhubk3/support/debug.cmm Normal file
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;*******************************************************************************
; Copyright 2023 NXP *
; SPDX-License-Identifier: Apache-2.0 *
; *
; Lauterbach TRACE32 start-up script for debugging mr_canhubk3 *
; *
;*******************************************************************************
ENTRY %LINE &args
DO ~~~~/startup.cmm command=debug &args
ENDDO

13
boards/arm/mr_canhubk3/support/flash.cmm Normal file
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;*******************************************************************************
; Copyright 2023 NXP *
; SPDX-License-Identifier: Apache-2.0 *
; *
; Lauterbach TRACE32 start-up script for flashing mr_canhubk3 *
; *
;*******************************************************************************
ENTRY %LINE &args
DO ~~~~/startup.cmm command=flash &args
ENDDO

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boards/arm/mr_canhubk3/support/startup.cmm Normal file
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;*******************************************************************************
; Copyright 2023 NXP *
; *
; Lauterbach Trace32 start-up script for S32K344 / Cortex-M7 *
; *
; Parameters: *
; - command operation to execute *
; valid values: flash, debug *
; - elfFile filepath of ELF to load *
; - loadTo if "flash", the application will be downloaded to SoC *
; program flash by a flash programming routine; if "sram" it *
; will be downloaded to SoC SRAM. *
; valid values: flash, sram *
; default: flash *
; - eraseFlash if set to "yes", the whole content in Flash device will be *
; erased before the application is downloaded to either Flash *
; or SRAM. This routine takes time to execute *
; default: "no" *
; - verifyFlash if set to "yes", verify after program application to Flash *
; default: "no" *
;*******************************************************************************
ENTRY %LINE &args
&command=STRing.SCANAndExtract("&args","command=","")
&elfFile=STRing.SCANAndExtract("&args","elfFile=","")
&loadTo=STRing.SCANAndExtract("&args","loadTo=","flash")
&eraseFlash=STRing.SCANAndExtract("&args","eraseFlash=","no")
&verifyFlash=STRing.SCANAndExtract("&args","verifyFlash=","no")
IF ("&elfFile"=="")
(
PRINT %ERROR "Missing ELF file path"
PLIST
STOP
ENDDO
)
; Initialize debugger
RESet
SYStem.RESet
SYStem.CPU S32K344-M7
SYStem.CONFIG.DEBUGPORTTYPE JTAG
SYStem.Option.DUALPORT ON
SYStem.Option.DisMode THUMB
SYStem.MemAccess DAP
SYStem.JtagClock 10MHz
Trace.DISable
TrOnchip.Set MMERR OFF
TrOnchip.Set BUSERR OFF
SYStem.Up
; Init SRAM
DO ~~/demo/arm/hardware/s32k3/scripts/init_sram.cmm
; Only declares flash, does not execute flash programming
DO ~~/demo/arm/flash/s32k3.cmm PREPAREONLY
; The prepare cmm is protecting flash area for HSE firmware, but
; since HSE firmware usage feature is not enabled, this region can
; be used by application core, marked as programmable.
FLASH.CHANGEtype 0x007D4000--0x7F3FFF TARGET
IF ("&eraseFlash"=="yes")
(
FLASH.Erase ALL
)
IF ("&loadTo"=="flash")
(
; Switch target flash to reprogramming state, erase virtual flash programming memory,
; all target non-empty flash sectors are marked as pending, to be reprogrammed.
FLASH.ReProgram ALL /Erase
; Write contents of the file to virtual Flash programming memory
Data.LOAD.Elf &elfFile
; Program only changed sectors to target flash and erase obsolete code
FLASH.ReProgram off
IF ("&verifyFlash"=="yes")
(
Data.LOAD.Elf &elfFile /DIFF
IF FOUND()
(
AREA.view
PRINT %ERROR "ERROR ! Failed to download the code to flash"
Data.LOAD.Elf &elfFile /ComPare
ENDDO
)
)
; Reset the processor
SYStem.Up
)
ELSE
(
; Init ITCM
DO ~~/demo/arm/hardware/s32k3/scripts/init_itcm.cmm
Data.LOAD.Elf &elfFile
)
IF ("&command"=="flash")
(
; Execute the application and quit
Go
QUIT
)
ELSE IF ("&command"=="debug")
(
; Setup minimal debug environment
WinCLEAR
SETUP.Var.%SpotLight
WinPOS 0. 0. 120. 30.
List.auto
WinPOS 125. 0. 80. 10.
Frame.view
WinPOS 125. 18.
Register.view /SpotLight
)
ELSE
(
PRINT %ERROR "Invalid command"
)
ENDDO