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MCSPTE1AK116 (S32K116 + GD3000): Can CAN0 TX/RX be used with the motor driver board attached? Integr

Hello, I’m working with the MCSPTE1AK116 kit (S32K116 + GD3000) using the BLDC 6-step sensorless example.
My goal is to implement dual-axis control using two boards connected via CAN (each board controls one motor), where CAN commands update the motor speed setpoint.

On an EVB project (CAN PAL example), I already verified board-to-board CAN communication with LED indication and UART logging. Now I want to port the CAN logic into the MCSPTE1AK116 motor example project and integrate it as “CAN RX → motor speed(setpoint) update”.

However, I previously experienced a pin conflict where UART signals overlapped with GD3000-related signals, so I’m concerned that CAN might face similar issues. I’d like advice on the following:

With the GD3000 motor driver board attached, are CAN0 TX/RX pins actually available/usable on MCSPTE1AK116?

Which S32K116 pins are routed to CAN_TX/RX on this kit, and what transceiver (e.g., UJA1169) is used?
Could the motor driver board occupy or reroute those pins in a way that prevents CAN from working?
Are there any jumpers/resistors/board settings required to enable CAN when the motor driver board is installed?

When adding CAN to the BLDC 6-step sensorless example, what are the typical resource conflicts to watch for (interrupts/timers/ADC, etc.)?

The 6-step example heavily uses PWM timers, capture/compare, ADC triggering, PIT/LPTMR, and interrupt priorities.
Are there known conflict points (especially interrupt priority or timing) that can destabilize motor operation when CAN RX is added?

Recommended software pattern for CAN handling in motor control?

My plan is to avoid any blocking calls (delay, UART blocking send, etc.) inside CAN RX ISR.
Instead, the ISR only updates flags/buffers, and the motor control loop (e.g., 1 ms task) applies setpoint updates.
Is this the recommended approach?

If there is any reference documentation for CAN0 pin routing/transceiver schematic/jumper settings on MCSPTE1AK116, or any example of integrating CAN into the motor control demo safely, I would appreciate your guidance. Thank you

Re: MCSPTE1AK116 (S32K116 + GD3000): Can CAN0 TX/RX be used with the motor driver board attached? In

Thank you for the helpful answer.

Re: MCSPTE1AK116 (S32K116 + GD3000): Can CAN0 TX/RX be used with the motor driver board attached? In

Hi,

see my feedbacks below...

With the GD3000 motor driver board attached, are CAN0 TX/RX pins actually available/usable on MCSPTE1AK116?
A: yes, CAN0 TX/RX pins are still available

Which S32K116 pins are routed to CAN_TX/RX on this kit, and what transceiver (e.g., UJA1169) is used?
A: CAN_TX/RX on PTE5/PTE4 are used and connected to SBC's (UJA1169) CAN transceiver. CAN bus signals are available on J13 header

Could the motor driver board occupy or reroute those pins in a way that prevents CAN from working?
A: No, there is no conflict with above pins used.

Are there any jumpers/resistors/board settings required to enable CAN when the motor driver board is installed?
A: No jumpers are needed. The board/SBC must be powered by external 12V. SBC should be ideally kept in default Forced Normal mode, unless SPI setting will be needed to enable its transceiver.

When adding CAN to the BLDC 6-step sensorless example, what are the typical resource conflicts to watch for (interrupts/timers/ADC, etc.)?
A: check chapter 4.3.4. Application timing and interrupts of the kit AN13000 for resource utilization

The 6-step example heavily uses PWM timers, capture/compare, ADC triggering, PIT/LPTMR, and interrupt priorities.
Are there known conflict points (especially interrupt priority or timing) that can destabilize motor operation when CAN RX is added?
A: heavy bus traffic can most probably affect motor control timing, but if CAN ISR will be kept as short as possible and its priority set to do not preempt critical motor control ISR, then it can be used.

Recommended software pattern for CAN handling in motor control? My plan is to avoid any blocking calls (delay, UART blocking send, etc.) inside CAN RX ISR. Instead, the ISR only updates flags/buffers, and the motor control loop (e.g., 1 ms task) applies setpoint updates. Is this the recommended approach?
A: yes it can be considered as good approach. Also polling handling can be tested. Similar as FreeMASTER, where polling control is used.

If there is any reference documentation for CAN0 pin routing/transceiver schematic/jumper settings on MCSPTE1AK116, or any example of integrating CAN into the motor control demo safely
A: You can simply check S32K116EVB schematic for CAN connection.
Unfortunately I am not aware of motor control demo integrating CAN communication. You can refer to available SDK demo examples for CAN implementation.

BR, Petr