S32K Knowledge Base

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S32K344 - FOC with dual single current measurement These examples demonstrate a 3-phase Permanent Magnet Synchronous Motor (PMSM) vector control (Field Oriented Control - FOC) drive with 1- shunt current sensing with and without position sensor. This design serves as an example of motor control design using NXP S32K3 automotive family. Examples were designed on S32K344 Brushless Direct Current and Permanent Magnet Synchronous Motor Control Development Kit. C-project based examples are part of MCSPTE1AK344 Development Kit Application Software. An innovative drivers set, Real-Time Drivers (RTD),are used to configure and control the MCU. It complies with Automotive-SPICE, ISO 26262, ISO 9001 and IATF 16949. Production-ready Automotive Math and Motor Control Library set provides essential building blocks for algorithm. FreeMASTER is used as useful run-time debugging tool. Application software contains: MCSPTE1AK344_PMSM_FOC_1Sh_ll - Low-level drivers of RTD and S32 Design Studio Configuration Tools (S32CT) are used to demonstrate non-AUTOSAR approach. Since the structure of the example is similar to dual shunt example, detailed description of the example can be found in application note AN13767 and MCSPTE1AK344 - single shunt addendum.pdf (which highlights changes for single shunt) attached to this article . MCSPTE1AK344_PMSM_FOC_1Sh_as_tr - RTD, EB (Elektrobit) tresos Studio and S32 Design Studio are used to demonstrate AUTOSAR (AUTomotive Open System ARchitecture) approach. Since the structure of the example is similar to dual shunt example, detailed description of the example can be found in application note AN13884 and MCSPTE1AK344 - single shunt addendum.pdf (which highlights changes for single shunt) attached to this article . MATLAB Simulink based project (Motor Control PMSM Single Shunt Example - s32k344_mc_pmsm_1sh_ebt) is build using Model-Based Design Toolbox (MBDT) and can be downloaded from NXP Model-Based Design Toolbox for S32K3xx - version 1.4.0 or newer releases.

S32K344 - FOC with dual shunt current measurement These examples demonstrate a 3-phase Permanent Magnet Synchronous Motor (PMSM) vector control (Field Oriented Control - FOC) drive with 2- shunt current sensing with and without position sensor. This design serves as an example of motor control design using NXP S32K3 automotive family. Examples were designed on S32K344 Brushless Direct Current and Permanent Magnet Synchronous Motor Control Development Kit. C-project based examples are part of MCSPTE1AK344 Development Kit Application Software. An innovative drivers set, Real-Time Drivers (RTD),are used to configure and control the MCU. It complies with Automotive-SPICE, ISO 26262, ISO 9001 and IATF 16949. Production-ready Automotive Math and Motor Control Library set provides essential building blocks for algorithm. FreeMASTER is used as useful run-time debugging tool. Application software contains: MCSPTE1AK344_PMSM_FOC_2Sh_ll - Low-level drivers of RTD and S32 Design Studio Configuration Tools (S32CT) are used to demonstrate non-AUTOSAR approach. Detailed description of the example can be found in application note AN13767. MCSPTE1AK344_PMSM_FOC_2Sh_as_tr - RTD, EB (Elektrobit) tresos Studio and S32 Design Studio are used to demonstrate AUTOSAR (AUTomotive Open System ARchitecture) approach. Detailed description of the example can be found in application note AN13884. MATLAB Simulink based project (Motor Control PMSM Example - s32k344_mc_pmsm_ebt) is build using Model-Based Design Toolbox (MBDT) and can be downloaded from NXP Model-Based Design Toolbox for S32K3xx - version 1.4.0 or newer releases. Example is described in article 3-Phase Sensorless PMSM Motor Control Kit with S32K344 using MBDT blocks.

******************************************************************************* The purpose of this demo application is to present a usage of the Printf Semihosting for the S32K3xx MCU. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ******************************************************************************** Create New project :-- Select Semi hosting library in project Properties :-- In Debugger setting :--- Include file :-- #include <stdio.h> Output :--

******************************************************************************* The purpose of this demo application is to present a usage of the SWT IP Driver for the S32K3xx MCU. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ******************************************************************************** With S32K312 device take care, HSE clock AIPS_SLOW_CLOCK ratio, kept 1:2 :-- The example we use to trigger the SWT once & go to while(1) loop. This will trigger the watchdog RESET. Then After RESET from SWT we will check at starting of main function, if RESET reason is SWT, then glow LED and wait in while(1) loop :--

******************************************************************************* The purpose of this demo application is to use pad keeping for PINS and enter the standby mode & before entering the standby mode update variables in Standby RAM memory with pin state. Once wake up from the standby mode update the pins values from the STANDBY RAM variables. S32K3xx MCU. ------------------------------------------------------------------------------ * Test HW: S32K3X4EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE Micro * Target: internal_FLASH ******************************************************************************** =============== How this DEMO works ========== Before entring standby :-- Before entering standby mode, i make BLUE LED high SW6 on board pressed to enter the standby mode. Wakeup from Standby :-- SW5 on board pressed to wakeup from standby After wakeup from Stand by:-- I glow Green LED Unglow the BLUE LED Wait for SW6 on board to be pressed to enter the standby mode. =============== Stand by RAM location =============== As noted, the Standby SRAM is allocated at the first 32 KB of the SRAM Memory. https://www.mouser.com/pdfDocs/S32K3MemoriesGuide.pdf =============== Pins used for PAD keeping =============== PTA30, PTA31, PTD14 =============== Switches used =============== Enter Standby mode, by pressing SW6 on Board EXIT Standby mode, by pressing SW5 on Board =============== Wakeup source, SW5 PTB26 =============== =============== WKPU[41] ---> WKPU_CH_45=============== Because First 4 WKPU are timers, so 41 + 4 = 45 =============== Linker file changed =============== Added Standby RAM memory & sections for standby RAM memory. Changes can be seen by comparing the original linker file =============== Startup file changed , startup_cm7.s =============== Added call to Initialise the Standby RAM Changes can be seen by comparing the original startup_cm7.s file ======================= How to verify if Standby RAM is working =============== 1> Declare two variables in file Wkup.c :-- __attribute__ ((section (".standby_ram_data"))) volatile int test_0_value ; __attribute__ ((section (".standby_ram_data"))) volatile int test_1_value ; 2> function set_pin_value() will be called before entering the standby mode. Initialise the values to these two variables inside function set_pin_value() in file Wkup.c. 3> Now burn the code inside the MCU using the PE micro debugger. Once code is burned do not run the code & disconnect the debugger. 4> Power OFF and power ON the S32K312 board. Now code is waiting to enter standby mode. Press switch SW6 MCU will enter standby mode & Blue LED glowing. Press switch SW5 MCU will wakeup from the standby mode. Code will Now code is waiting to enter standby mode 5> Now open your debugger configuration, and attach to running target. 6> Once connected click on the ELF file & press pause button. 7> In Debug window you can see the value of variables test_0_value & test_1_value same as initialised before entering the standby mode.

******************************************************************************* The purpose of this demo application is to place variables in DTCM memory for the S32K3xx MCU. ------------------------------------------------------------------------------ * Test HW: S32K3X4EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE Micro * Target: internal_FLASH ******************************************************************************** ZERO table : is for bss segment variables : contains RAM start & end address of BSS section which need to be initialized with ZER). Init_table : is for DATA segment variables : contains RAM start address of DATA section & START & end address of ROM address where the initialization values of the variables are stored. Startup file startup_cm7.s call function init_data_bss() . Inside this function uses these section :-- Variables declared :-- Linker file changes :-- startup_cm7.s file changes :-- MAP file :-- Debug window results :-- https://www.kernel.org/doc/html/v5.9/arm/tcm.html Due to being embedded inside the CPU, the TCM has a Harvard-architecture, so there is an ITCM (instruction TCM) and a DTCM (data TCM). The DTCM can not contain any instructions, but the ITCM can actually contain data. TCM is used for a few things: FIQ and other interrupt handlers that need deterministic timing and cannot wait for cache misses. Idle loops where all external RAM is set to self-refresh retention mode, so only on-chip RAM is accessible by the CPU and then we hang inside ITCM waiting for an interrupt. Other operations which implies shutting off or reconfiguring the external RAM controller.

This example for S32K312 is based on this, example on S32K344 :-- https://community.nxp.com/t5/S32K-Knowledge-Base/Example-S32K344-PIT-BTCU-parallel-ADC-FIFO-DMA-DS3-5-RTD300/ta-p/1732444 ******************************************************************************* The purpose of this demo application is to present a usage of the ADC_SAR and BCTU IP Driver for the S32K3xx MCU. The example uses the PIT0 trigger to trigger BCTU conversion list to perform parallel conversions on ADC0/ADC1. Three ADC channels are selected to be converted on each ADC: ADC0: S8 , P0, S8 ADC1: S10, S13, S17 Converted results from BCTU FIFO are moved by DMA into result array. ADC channel S10 is connected to board's potentiometer. ------------------------------------------------------------------------------ * Test HW: S32K3X4EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE Micro * Target: internal_FLASH ******************************************************************************** Set PIT Freeze Enable :--- BCTU will be do the parallel conversion for channel mentioned in BCTU list :-- "NEW DATA DMA enable mask" :-- controls These bit field in MCR register "ADC target mask" :-- It controls "ADC_SEL " bit field in "Trigger Configuration (TRGCFG_0 - TRGCFG_71)" for single conversions you can enable only one instance so the possible values for target mask: 1 (0b001) ADC0 2 (0b010) ADC1 3 (0b100) ADC2| for list of conversions we can enable also parallel con version for example 3 (0b011) parallel conversion of ADC0 and ADC1 The trigger is configured as a list of parallel conversions ADC0, ADC1 in “Adc Target Mask”. List of ADC channels is defined in “BCTU List Items” while order is given by the “Adc Target Mask”: BctuListItems_0 is ADC0, BctuListItems_1 is ADC1 etc. Result :-- I connected VDD from board on adc_0_p0 (PTD1 : J412-1) and adc_1_p2 (PTE0 J412-13). Also POT value on S10 of ADC-1 & ADC-0-VREFH value coming correct & STABLE.

******************************************************************************* The purpose of this demo application is to present a usage of the UART IP Driver for the S32K3xx MCU. The example uses LPUART6 for Freemaster uart Port. Freemaster project :-- S32K312_Freemaster_UART6\GUI_new\Project.pmpx ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the PORT & SIUL IP Driver for the S32K3xx MCU. The example uses SW5 for switch debouncing. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the ADC_SAR IP Driver for the S32K3xx MCU. The example uses the PIT0 trigger to trigger conversions on ADC1. ADC channels are selected to be converted on ADC-1: ADC channel S10 is connected to board's potentiometer. #define ADC_SAR_USED_CH_BANDGAP 48U /* Internal Bandgap Channel */ #define ADC_SAR_USED_CH_POT_0 34U ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the FlexCAN IP Driver for the S32K3xx MCU. The example uses FLEXCAN-0 for transmit & receive Tusing following Message buffer :-- #define RX_MB_IDX 1U #define TX_MB_IDX 0U. BAUDRATE : 500 KBPS ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the Siul2_Icu IP Driver for the S32K3xx MCU. The example uses EIRQ-13 on PTB23 for interrupt.. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the LPSPI IP Driver for the S32K3xx MCU. The example uses LPSPI2 for transmit & receive Twelve bytes using the DMA. MOSI MISO connected on Hardware in loopback. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the UART IP Driver for the S32K3xx MCU. The example uses LPUART6 for transmit & receive five bytes using the DMA. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ********************************************************************************

******************************************************************************* The purpose of this demo application is to present a usage of the ADC_SAR and BCTU IP Driver for the S32K3xx MCU. The example uses the PIT0 trigger to trigger BCTU conversion list to perform conversions on ADC1. ADC channels are selected to be converted on ADC-1: ADC1: P0, p1, p2, p3, p4, p5, p6, S10 Converted results from BCTU_ADC_DATA_REG are moved by DMA into result array. ADC channel S10 is connected to board's potentiometer. ------------------------------------------------------------------------------ * Test HW: S32K3X2EVB-Q172 * MCU: S32K312 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: PE micro * Target: internal_FLASH ******************************************************************************** Set PIT Freeze Enable :--- All channels are for ADC-1 , in BCTU list :-- "NEW DATA DMA enable mask" :-- controls These bit field in MCR register "ADC target mask" :-- It controls "ADC_SEL " bit field in "Trigger Configuration (TRGCFG_0 - TRGCFG_71)" for single conversions you can enable only one instance so the possible values for target mask: 1 (0b001) ADC0 2 (0b010) ADC1 3 (0b100) ADC2| for list of conversions we can enable also parallel con version for example 3 (0b011) parallel conversion of ADC0 and ADC1 The trigger is configured as a list of parallel conversions ADC0, ADC1 in “Adc Target Mask”. List of ADC channels is defined in “BCTU List Items” while order is given by the “Adc Target Mask”: BctuListItems_0 is ADC0, BctuListItems_1 is ADC1 etc.

Customer may need more high performance via S32K3xx. How to optimization user's code? As following have some suggestions: 1. Most of user code allocate to P-Flash and enable I-Cache 2. Allocate system stack to D-TCM and enable D-Cache 3. Execute code frequently allocate to I-TCM. E.g., ISRs etc. 4. OS' task stack allocate to D-TCM 5. vector table allocate to D-TCM Please note: 1. Due to enable D-Cache, other masters(E.g., DMA, HSE, another APP cores) access theses area of cacheable will be impact. So, theses area need to allocate to non-cacheable area. 2. If another master(E.g., DMA, HSE and another APP cores) access the D-TCM need to over back door. E.g., core1/DMA/HSE access core0' DTCM needed to over backdoor. Information: S32K3' Coremark in RM, theses Coremark' value are from ARM. If used IAR/GHS etc and set compiler flag, then the Coremark value is very closely with RM. If used GCC, then the Coremark value will less than RM. BR Tomlin

******************************************************************************* The purpose of this demo application is to present a usage of configure TRGMUX to select triggers for staring Normal/Injected chain conversion. Select PIT0_Ch0 as the hardware trigger source of ADC1_Ch34 & Ch48 via TRGMUX and two LEDs to show the trigger Sequence. ADC1_Ch34 is connected to board's potentiometer,Ch38 is bandgap channel. ------------------------------------------------------------------------------ * Test HW: S32K3X4EVB-Q257 * MCU: S32K344 * Compiler: S32DS3.5 * SDK release: RTD 3.0.0 * Debugger: OpenSDA * Target: internal_FLASH ********************************************************************************

*************************************************************************************************************** Detailed Description: Example shows implementation of Analog Comparator ‘45.7.5 Windowed mode (#s 5A & 5B)’ of S32K1XXRM using S32 SDK API. The Comparator is configured to compare analog input 0(AIN0) with half the reference voltage generated with the internal DAC. PDB is used to generate pulse output which is used as sampling windows of CMP block via TRGMUX. PDB period is 5ms, the first 2.5ms WINDOW=1 and the next 2.5ms WINDOW=0. Pdb0PulseOut not only be TRGMUX to Cmp0Sample but also to TrgmuxOut0, so that we are able to observe WINDOW at TRGMUX_OUT0(PTA1) pin. Based on the input from CMP0_IN0 (1kHz external triangle wave) the LEDs light by the following rules: 1) Vin < DAC voltage : RED on, GREEN off 2) Vin > DAC voltage : RED off, GREEN on 3) Unknown state : RED on, GREEN on EVB connection: Signal Function pin S32K144EVB-Q100 WINDOW TRGMUX_OUT0 PTA1 J5.5 2.5ms WINDOW=1 and 2.5ms WINDOW=0 Plus input CMP0_IN0 PTA0 J5.7 Need to connect external 1khz triangle wave COUTA CMP0_OUT PTE3 J1.16 square wave PTC1 PTC1 J5.13 If there is no external triangle wave, a square wave(PTC1) is generated and output to CMP0 (PTA1) * * ------------------------------------------------------------------------------------------------------------------------ * Test HW: S32K144EVB-Q100 * MCU: S32K144UAVLL 0N47T * Target: Debug_FLASH * Compiler: S32DS3.4 * SDK release: S32SDK_S32K1XX_RTM_4.0.3 * Debugger: PEMicro OpenSDA * ------------------------------------------------------------------------------------------------------------------------ Revision History: Ver Date Author Description of Changes 1.0 Nov-9-2023 Robin Shen Initial version, based on cmp_dac_s32k144 and pdb_periodic_interrupt_s32k144 ***************************************************************************************************************

Hi all, Many customers complained about the K3 FlexIO I2S can not support continuous transferring because there is a gap time between 2 times of invoking SendData. This gap time will break the audio continuity and bring jitters. It is gapped by the transfer API closing and re-entry time cost. To avoid this gap and implement a real continuous transferring, we made some changes with eDMA configurations. Finally, it works! Besides, we also enabled eDMA half-complete interrupt to support double-buffer (ping-pong buffer) operation for user's further development. Attachments are the example projects and corresponding introduction slides, please kindly check if you are interested in. Any problem, just let me know. Welcome your comments here. Best Regards, Shuailin Li NXP GPIS, AE

S32K Knowledge Base

S32K Knowledge Base

Discussions

S32K344 - FOC with single shunt current measurement

S32K344 - FOC with dual shunt current measurement

Example S32K312 Printf Semihosting DS3.5 RTD300

Example S32K312 SWT DS3.5 RTD300

Example S32K312 Standby mode & Standby RAM and PAD keeping DS3.5 RTD300

Example S32K312 placing variables in DCTM & code in ICTM DS3.5 RTD300

Example S32K312 PIT BTCU parallel ADC FIFO DMA DS3.5 RTD300

Example S32K312 UART Freemaster DS3.5 RTD300

Example S32K312 Switch Debouncing DS3.5 RTD300

Example S32K312 ADC DS3.5 RTD300

Example S32K312 CAN Transmit & Receive Using Polling mode DS3.5 RTD300

Example S32K312 EIRQ Interrupt DS3.5 RTD300

Example S32K312 SPI Transmit & Receive Using DMA DS3.5 RTD300

Example S32K312 UART Transmit & Receive Using DMA DS3.5 RTD300

Example S32K312 PIT BTCU ADC-1 BCTU_ADC_DATA_REG DMA DS3.5 RTD300

S32K3xx How to optimization APP code for get more high performance

Example S32K344 PIT TRGMUX ADC DS3.5 RTD300

Example S32K144 CMP Windowed Mode use PDB S32DS3.4 RTM4.0.3

Example S32K344 PIT BTCU parallel ADC FIFO DMA DS3.5 RTD300

S32K3 FlexIO I2S Continuous Transfer

S32K3 Motor control SW examples