boards: arm: introduce support for NXP UCANS32K1SIC

# Copyright 2023 NXP

# SPDX-License-Identifier: Apache-2.0

config BOARD_UCANS32K1SIC

	bool "ucans32k1sic"

	depends on SOC_SERIES_S32K1XX

	select SOC_PART_NUMBER_FS32K146UAT0VLHT

# Copyright 2023 NXP

# SPDX-License-Identifier: Apache-2.0

if BOARD_UCANS32K1SIC

config BOARD

	default "ucans32k1sic"

if SERIAL

config UART_CONSOLE

	default y

endif # SERIAL

endif # BOARD_UCANS32K1SIC

# Copyright 2023 NXP

# SPDX-License-Identifier: Apache-2.0

board_runner_args(jlink

  "--device=S32K146"

  "--speed=4000"

  "--iface=swd"

  "--reset"

)

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()

include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

include(${ZEPHYR_BASE}/boards/common/trace32.board.cmake)

.. _ucans32k1sic:

NXP UCANS32K1SIC

################

Overview

********

`NXP UCANS32K1SIC`_ is a CAN signal improvement capability (SIC) evaluation

board designed for both automotive and industrial applications. The UCANS32K1SIC

provides two CAN SIC interfaces and is based on the 32-bit Arm Cortex-M4F

`NXP S32K146`_ microcontroller.

.. image:: img/ucans32k1sic_top.webp

     :align: center

     :alt: NXP UCANS32K1SIC (TOP)

Hardware

********

- NXP S32K146

    - Arm Cortex-M4F @ up to 112 Mhz

    - 1 MB Flash

    - 128 KB SRAM

    - up to 127 I/Os

    - 3x FlexCAN with 2x FD

    - eDMA, 12-bit ADC, MPU, ECC and more.

- Interfaces:

    - DCD-LZ debug interface with SWD + Console / UART

    - Dual CAN FD PHYs with dual connectors for daisy chain operation

    - JST-GH DroneCode compliant standard connectors and I/O headers

    - user RGB LED and button.

More information about the hardware and design resources can be found at

`NXP UCANS32K1SIC`_ website.

Supported Features

==================

The ``ucans32k1sic`` board configuration supports the following hardware features:

============  ==========  ================================

Interface     Controller  Driver/Component

============  ==========  ================================

SYSMPU        on-chip     mpu

PORT          on-chip     pinctrl

GPIO          on-chip     gpio

LPUART        on-chip     serial

============  ==========  ================================

The default configuration can be found in the Kconfig file

:zephyr_file:`boards/arm/ucans32k1sic/ucans32k1sic_defconfig`.

Connections and IOs

===================

This board has 5 GPIO ports named from ``gpioa`` to ``gpioe``.

Pin control can be further configured from your application overlay by adding

children nodes with the desired pinmux configuration to the singleton node

``pinctrl``. Supported properties are described in

:zephyr_file:`dts/bindings/pinctrl/nxp,kinetis-pinctrl.yaml`.

LEDs

----

The UCANS32K1SIC board has one user RGB LED:

=======================  ==============  =====

Devicetree node          Label           Pin

=======================  ==============  =====

led0 / led1_red          LED1_RGB_RED    PTD15

led1 / led1_green        LED1_RGB_GREEN  PTD16

led2 / led1_blue         LED1_RGB_BLUE   PTD0

=======================  ==============  =====

The user can control the LEDs in any way. An output of ``0`` illuminates the LED.

Buttons

-------

The UCANS32K1SIC board has one user button:

=======================  ==============  =====

Devicetree node          Label           Pin

=======================  ==============  =====

sw0 / button_3           SW3             PTD15

=======================  ==============  =====

Serial Console

==============

The serial console is provided via ``lpuart1`` on the 7-pin DCD-LZ debug

connector ``P6``.

=========  =====  ============

Connector  Pin    Pin Function

=========  =====  ============

P6.2       PTC7   LPUART1_TX

P6.3       PTC6   LPUART1_RX

=========  =====  ============

System Clock

============

The Arm Cortex-M4F core is configured to run at 80 MHz (RUN mode).

Programming and Debugging

*************************

Applications for the ``ucans32k1sic`` board can be built in the usual way as

documented in :ref:`build_an_application`.

This board configuration supports `Lauterbach TRACE32`_ and `SEGGER J-Link`_

West runners for flashing and debugging applications. Follow the steps described

in :ref:`lauterbach-trace32-debug-host-tools` and :ref:`jlink-debug-host-tools`,

to setup the flash and debug host tools for these runners, respectively. The

default runner is J-Link.

Flashing

========

Run the ``west flash`` command to flash the application using SEGGER J-Link.

Alternatively, run ``west flash -r trace32`` to use Lauterbach TRACE32.

The Lauterbach TRACE32 runner supports additional options that can be passed

through command line:

.. code-block:: console

   west flash -r trace32 --startup-args elfFile=<elf_path> loadTo=<flash/sram>

      eraseFlash=<yes/no> verifyFlash=<yes/no>

Where:

- ``<elf_path>`` is the path to the Zephyr application ELF in the output

  directory

- ``loadTo=flash`` loads the application to the SoC internal program flash

  (:kconfig:option:`CONFIG_XIP` must be set), and ``loadTo=sram`` load the

  application to SRAM. The default is ``flash``.

- ``eraseFlash=yes`` erases the whole content of SoC internal flash before the

  application is downloaded to either Flash or SRAM. This routine takes time to

  execute. The default is ``no``.

- ``verifyFlash=yes`` verify the SoC internal flash content after programming

  (use together with ``loadTo=flash``). The default is ``no``.

For example, to erase and verify flash content:

.. code-block:: console

   west flash -r trace32 --startup-args elfFile=build/zephyr/zephyr.elf loadTo=flash eraseFlash=yes verifyFlash=yes

Debugging

=========

Run the ``west debug`` command to start a GDB session using SEGGER J-Link.

Alternatively, run ``west debug -r trace32`` to launch the Lauterbach TRACE32

software debugging interface.

References

**********

.. target-notes::

.. _NXP UCANS32K1SIC:

   https://www.nxp.com/design/development-boards/analog-toolbox/can-sic-evaluation-board:UCANS32K1SIC

.. _NXP S32K146:

   https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-auto-general-purpose-mcus/s32k1-microcontrollers-for-automotive-general-purpose:S32K1

.. _Lauterbach TRACE32:

   https://www.lauterbach.com

.. _SEGGER J-Link:

   https://wiki.segger.com/S32Kxxx