.. zephyr:board:: 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.

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

.. zephyr:board-supported-hw::

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,port-pinctrl.yaml`.

LEDs
----

The UCANS32K1SIC board has one user RGB LED that can be used either as a GPIO
LED or as a PWM LED.

.. table:: RGB LED as GPIO LED
   :widths: auto

   ===============  ================  ===============  =====
   Devicetree node  Devicetree alias  Label            Pin
   ===============  ================  ===============  =====
   led1_red         led0              LED1_RGB_RED     PTD15
   led1_green       led1              LED1_RGB_GREEN   PTD16
   led1_blue        led2              LED1_RGB_BLUE    PTD0
   ===============  ================  ===============  =====

.. table:: RGB LED as PWM LED
   :widths: auto

   ===============  ========================  ==================  ================
   Devicetree node  Devicetree alias          Label               Pin
   ===============  ========================  ==================  ================
   led1_red_pwm     pwm-led0 / red-pwm-led    LED1_RGB_RED_PWM    PTD15 / FTM0_CH0
   led1_green_pwm   pwm-led1 / green-pwm-led  LED1_RGB_GREEN_PWM  PTD16 / FTM0_CH1
   led1_blue_pwm    pwm-led2 / blue-pwm-led   LED1_RGB_BLUE_PWM   PTD0 / FTM0_CH2
   ===============  ========================  ==================  ================

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

.. zephyr:board-supported-runners::

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.

.. include:: ../../common/board-footer.rst.inc

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
