NXP Semiconductors MR-CANHUBK344 Instructions for use

MR-CANHUBK344 Hardware User
Manual
Rev. 0.1— May 30,2023
User Manual
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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.

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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

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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
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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Normally the FS26 is connected through SPI to the S32K344 and implements a
challenger window watchdog. Sending challenges to the through SPI S32K344 as the
window watchdog when the response is invalid or not during the timing window the
FS26 will reset the S32K344 MCU. In included sample code, the challenge watchdog
functionality has not been implemented. Instead during startup of the S32K344 the
sample application sends a request to the FS26 to disable the watchdog functionality
thus avoiding resetting the S32K344 while running sample applications.
5.2 Note on PMIC and board power up sequence
The FS26 onboard PMIC by default implements a challenger window watchdog that will
reset the S32K344 MCU continuously if the challenge is not handled in software.
To avoid this, the FS26 must be put into debug mode. This is done by removing the JP1
and then supplying exactly 12.0V on P27 or P28 and then inserting the JP1 jumper.
Figure 3: FS26 PMIC Block diagram
Figure 2: JP1 for PMIC Debug mode

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Now the reset LED D24 should no longer blink and the S32K344 will not be reset
continuously by the FS26.
6. Board connections
The MR-CANHUBK344 board includes a variety of connectors to permit access to the on-
chip interfaces. The intended application space is mobile robotics, which mostly defined
the DroneCode JST GH connectors and pinouts. Where an interface did not have a
formal DroneCode standard, a typical derivative pinout was used. To support power
input directly from a battery, a wide input voltage range is supported from 5V to 40V.
The 100Base-T1 2-wire Automotive Ethernet interface uses the latest TJA1103 Ethernet
Phy. Also included is a SE050 secure element for authentication into the system and also
NFC interface into the board.
6.1 Evaluation Board Block diagram
Figure 3: Evaluation board Block Diagram

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6.2 Power Input Connectors
P27: Power is normally applied at the 5-pin JST-GH connector P27
pin #
signal
specification
1
Power+
+5 to +40V
2
Power+
+5 to +40V
3
NC
NC
4
Power (GND)
0V
5
Power (GND)
0V
Figure 5: P27 Power input connector
P28: Alternatively, power may be supplied at the two-pin header P28 located directly
below P27
pin #
signal
specification
1
Power+
+5 to +40V
2
Power- (GND)
0V (GND)
Figure 6: P28 Alt Power input connector
Figure 4: Connectors used in CAN over Ethernet demo

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Figure 7: Power input connectors P27, P28 schematic
6.3 CAN Connectors
There are six independent CAN FD capable CAN busses each with two connectors.
The dual connectors are only for convenience in forming a bus and or plugging in a can
termination board.
BUS name
CAN PHY
Type
CAN0, CAN1
TJA1443
CAN FD
CAN2, CAN3
TJA1463
CAN SIC (Signal Improvement)
CAN4, CAN5
TJA1153
CAN FD/SCT
(Secure CAN Transceiver)
Connectors P12 through P23 are the CAN connectors. For each “CANx” bus connector
the pinout is as follows (where x = BUS number 0 to 5):
pin #
signal
specification
1
5V4
5.4V output
2
CANx_H
5.0V
3
CANx_L
5.0V
4
GND
0V
Figure 8: CAN interface chip
assignment

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Figure 9: CAN Connectors Pinout
Pin 1 of each CAN connector is available to supply 5V to externally connected CAN
devices. This optionally may be used to supply limited power to a CAN peripheral. A
blocking diode prevents powering the CANHUBK344 from the CAN BUS
Figure 10: CAN_P5V4 power output R69 disconnect
Termination:
A CAN bus usually requires 60 Ohm termination at both ends of a CAN bus. This may be
accomplished using one of the included CAN-TERM boards.
Each can bus connects to TWO identical connectors labelled A and B. This is to allow for
daisy chain wiring and multiple drops along a can bus. Should the MR-CANHUB344 be
the end of the CAN bus and require termination, then termination may be provided by
plugging in a termination board or populating (soldering) the normally unpopulated
termination resistors directly on the board.
Figure 11: CAN bus representative schematic
6.3.1 CAN SIC Termination
Note that the CAN SIC PHYs are able to operate with stub connections and potentially a
single or central termination. The signal integrity should be validated against your

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specific system configuration.
6.4 P9 - 100Base-T1 Ethernet Connector
P9 is a two pin JST-GH connector provides the 100Base-T1 “two wire” Ethernet
connection. The connection can plug directly into a MR-T1ETH8 network switch or other
mobile robotics boards such as NavQPlus or FMURT6.
You may need to create a simple adapter cable to adapt to other systems (such as
automotive devices) which have 100Base-T1 Ethernet.
Automotive 100Base-T1 Ethernet uses two wires to provide full duplex 100Mbps
Ethernet signaling without the need for large or heavy magnetics like 100Base-TX
Ethernet. The signals are capacitively coupled and there is a simple filter network before
external signals reach the PHY.
The Yellow LED (D88) on the backside of the PCB indicates the link status. Flashing
indicates there is a link.
Connector P9
pin #
signal
specification
1
T1-P(N)
Polarity is automatically negotiated
2
T1-N(P)
Polarity is automatically negotiated
Figure 13: P9 100Base-T1 "two wire" connector
Figure 12: Bottom Edge connectors

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6.5 UARTS
6.5.1 P2 - UART0, P5 - UART1
These two S32K3 LPUARTs follow the DroneCode 6 pin UART standard. Pin 1 is able to
supply limited 5V power to an external device such as a GPS module or sensor.
pin #
signal
specification
1
5V
(Optional) Limited 5V Output
2
TX
3v3
3
RX
3v3
4
CTS
3v3
5
RTS
3v3
6
GND
0v (GND)
Figure 14: P2 UART 0 and P5 UART 1 pinout
6.5.2 P24 - UART9/10, P25 - UART 13/14
Connectors P24 and P25 are also 6 pin JST-GH. However, they are not fully compliant
with the DroneCode standard since pins 4 and 5 are repurposed to be a second UART
channel instead of the handshaking lines RTS/CTS. The pinouts are shown below.
pin #
signal
specification
1
5V
(Optional) Limited 5V Output
2
TX (UART9)
3v3
3
RX (UART9)
3v3
4
TX (UART10)
3v3
5
RX (UART10)
3v3
6
GND
0v (GND)
Figure 15: P24 UART9/10 pinout
pin #
signal
specification
1
5V
(Optional) Limited 5V Output
2
TX (UART13)
3v3
3
RX (UART13)
3v3
4
TX (UART14)
3v3
5
RX (UART14)
3v3

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6
GND
0v (GND)
Figure 16: P25 UART13/14 pinout
6.6 I2C Interfaces
6.6.1 P3 - I2C1
I2C1 interface connects to the outside via a 4 pin JST-GH as well as internally to the
SE050 Secure Element. Note that there is also a second I2C bus described in the next
chapter that comes from the SE050 itself.
Power output supply on I2C connectors:
The I2C1 and I2CSE interfaces include zero-Ohm resistor jumpers which can be used to
select 5V (default) or 3v3 output on pin one. Note that the PWR output is intended for
limited current supply and the overall power supply draw for external peripherals must
be considered.
Pin
Signal
Specification
1
PWR
5V output default (3v3 optional)
2
SCL
3v3
3
SDA
3v3
4
GND
0v (GND)
Figure 17: I2C1 pinout
6.6.2 P11 - I2CSE
P11 is a I2C bus which is from the SE050 Secure Element device. It can be used for
special applications such as encrypted sensor data. Refer to the SE050 datasheet for
detailed information on how this may be used.
Pin
Signal
Specification
1
PWR
5V output (optional)
2
SCL
3v3
3
SDA
3v3
4
GND
0v (GND)
Figure 18: I2CSE (Secure Element)

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6.6.3 P4 - I2C0 OLED Interface
This connector is for attaching the included I2C-connected 0.91 OLED display. These
OLED displays use an SSD1306 type controller and information about their use is
commonly available from online sources. Note that the pinout does not follow a
standard, but most of them use the pinout chosen here. Please double check the pinout
and orientation should you replace or use an alternative similar display.
Figure 19: P4 I2C OLED and display placement
Pin #
Signal
Specification
1
GND
0V (GND)
2
VCC
5V default (3v3 optional using R25)
3
I
2
C0 SCL
3v3 (w/ 4K pullup on signal line)
4
I2C0 SCK
3v3 (w/ 4K pullup on signal line)
Figure 20: I2C0 OLED display Pinout

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6.7 SPI Interfaces
6.7.1 P1A - SPI1, P1B - SPI2
Two independent SPI interfaces are available and follow the DroneCode connector
standard for a SPI port. Two independent chip selects available on each connector using
a JST-GH 7 pin connector.
Pin #
Signal
Specification
1
PWR
5V
2
LPSPIx_SCK
3v3
3
LPSPIx_MISO
3v3
4
LPSPIx_MOSI
3v3
5
LPSPIx_CS0
3v3
6
LPSPIx_CS1
3v3
7
GND
0V
Figure 21: SPI interface(s) pinout
6.8 P26 - Pixhawk V6X IMU
This is a custom connector for attaching an Intertial Measurement Unit (IMU) board
from a Pixhawk V6X FMU module. It is included in the design for testing purposes only,
this IMU board is not readily available from NXP. The Pixhawk design is opensource and
may be obtained from Linux Foundation Dronecode.org.
It may also be possible to buy this module directly from the manufacturer - Holybro.
For more general investigation of IMUs please note the NXP Mobile robotics team may
have adapter boards (or designs to share) that plug on top of the MR-CANHUBK344 and
provide typical IMU components and connector interfaces such as RTK GPS connectors