S32K ナレッジベース

ディスカッション

This document provides a brief explanation of the Excel-based calculator developed to assist with the computation of TX Arbitration Start Delay as described in the S32K3 reference manual. The tool implements the formula provided in the datasheet, allowing users to input relevant parameters and automatically calculate the delay values. It is intended to support engineers in evaluating CAN transmission timing and optimizing arbitration performance in S32K3-based applications. 1.Fill in the clock and CBT and FDCBT configuration parameters according to your requirements. For example, we fill the parameters according Case 3: Then we can get the TASD value for non-FD frames is 24.05. Please note that this summary is not officially released by NXP. It is a personal summary for reference only. If there are any errors, please contact me.

**************************************************************************************************** * Detailed Description: * * - CMU errors cannot be injected by any means other than manipulating the CMU thresholds, * except for FXOSC_CLK, which can be physically disrupted on the PCB. * * - CMU_FC_0 (FXOSC_CLK) is configured for **synchronous interrupt** on both LFF and HFF CMU events. * - CMU_FC_3 (CORE_CLK) is configured for **asynchronous destructive reset** triggered only by the LFF event; the HFF event is ignored. * - CMU_FC_4 (CORE_CLK) is configured identically to CMU_3: **asynchronous destructive reset** on LFF only; HFF is ignored. * - CMU_FC_5 (HSE_CLK) can be configured by the HSE_B core only. * Refer to the Reference Manual rev.10, Figure 122. Frequency checking (FC) instances * * - The configuration must be identical in both the MCU MCAL driver and the Clock Configuration Tool (clock details). * - To inject a specific CMU error, define one of the following macros: `INJECT_CMU_0`, `INJECT_CMU_3`, or `INJECT_CMU_4`. * * Behavior After Destructive Reset: * - Following a destructive reset (either `MCU_CORE_CLK_FAIL_RESET` or `MCU_AIPS_PLAT_CLK_FAIL_RESET`), * execution will halt in the `while(wait)` loop. * ------------------------------------------------------------------------------------------------ * Test HW: S32K3X4EVB_Q257 * MCU: S32K344, 0P55A * SDK: RTD 6.0.0 * Debugger: PEMicro Multilink FX * Target: internal_FLASH ****************************************************************************************************

Abstract This example presents an use case for complementary PWM outputs with dead-time insertion and hardware ADC triggering using eFlexPWM, TRGMUX, BCTU, SAR-ADC and DMA modules on S32K39-37-36 series based on the RTD low level API to support diverse application needs. Connections: S32K396-BGA-DC1 -> Pin -> Signal -> Label J62-1 -> PTC30 -> siul2_gpio_94 -> GPIO1_GPT J62-5 -> PTD2 -> pwm_0_a, 2 -> PWM1 J62-6 -> PTD3 -> pwm_0_b, 2 -> PWM2 J62-30 -> PTD24 -> pwm_0_a, 0 -> PWMT J62-2 -> PTC31 -> siul2_gpio_95 -> GPIO3_BTCU_Trigger J62-4 -> PTD6 -> siul2_gpio_102 -> GPIO4_BTCU_Watermark J62-24 -> PTB14 -> adc1_s21 -> ADC1 *To use the potentiometer of S32X-MB connect: J62-24 (in S32K396-BGA-DC1) to P26-1 (in S32X-MB) Note: Following line should be added in project/generate/src/Bctu_Ip_PBcfg.c every time the code is updated in Config Tools: #define DMA_LOGIC_CH_0 ((uint8)0U) Detailed Description: The Compare Value of GPT eMIOS 0 channel 0 generates a time-out period. Once time-out is reached its eMIOS notification toggles GPIO1. This allows us to observe in scope 2 events, which describe the start and the end of the signal sequence. The eFlexPWM0 module is used for generating PWMs and hardware ADC triggering. The eFlexPWM0 Submodule 2 is employed to generate center-aligned complementary PWM outputs (PWM1 and PWM2) with dead-time insertion. The eFlexPWM0 Submodule 0 generates another independent PWM output (PWMT) and is utilized to generate the trigger signal for analog data capturing within the same PWM period —happens at half the time high in this case—using VAL0 register. The BCTU implements a list for parallel conversions using ADC0 and ADC1. Which is triggered by the eMIOS channel, and the resulting data is stored in FIFO1, as follows: • ADC0: VREFH_ChanNum51 -> BANDGAP_ChanNum48 • ADC1: VREFL_ChanNum50 -> S21_ChanNum45 For debugging purposed the GPIO3 is toggled every BCTU Trigger Notification. Additionally, the GPIO4 is toggled in BCTU Watermark Notification, which happens every time the number of active entries in FIFO exceeds the watermark level, and therefore the data is available for reading. See full signal sequence in Figure 1: Figure 1. Signals of example project When you suspend debug session, in Expressions tab (Figure 2) you can observe results: g_fifo1Result, which corresponds to the BCTU list measurements, meanwhile g_fifo1Volts corresponds to the conversion in volts. Figure 2. Expressions tab of example project References S32 Design Studio for S32 Platform Real-Time Drivers (RTD) S32K39, S32K37 and S32K36 Data Sheet [S32K39-S32K37-DS] S32K39, S32K37, and S32K36 Reference Manual [S32K396RM] S32K344 to S32K39/S32K37 Migration Guide [AN14301] S32K39/37/36 Electrification Microcontrollers Evaluation Board [S32K396-BGA-DC1] S32X-MB I/O Extension Evaluation Board for Real-Time Domain Control and Actuation [S32X-MB] S32K39-37-36 – eMIOS/BTCU/SAR-ADC/DMA – [RTD600] [S32K Knowledge Base] Application Software: - S32K396_RTD600_eFlexPWM_TRGMUX_BCTU_SARADC_DMA Example was built and tested using the following IDE and Driver versions: - S32 Design Studio for S32 Platform Version 3.6.3 - S32K3_S32M27x Real-Time Drivers ASR R21-11 Version 6.0.0

***************************************************************************** *Detailed Description: *This example will show you how to configure Sbc_fs23 Driver. *It initialization of Sbc_fs23 with watchdog window disabled. The Sbc_fs23_InitDevice() must be done within the dedicated 256 ms INIT window. *It Disable regulator V2, then re-enable it again. FS0b pin is asserted due to V2 Undervoltage reaction setting configured in FailSafe Init Configuration tab. *If the example runs without errors, the D12 LED on S32K31XEVB-Q100 will light up Green; otherwise, it will light up Red. *The SPI data between FS23 and S32K311 are captured and attached to the project. *Use the analog input of a logic analyzer or an oscilloscope to monitor the signals of FS23_V2 (TP27) and FS23_FS0 (TP8) on the KITFS23SKTEVM board. *This example is migrated from Sbc_fs23_example_HLD_S32K344 *The method of migrating refers to the video "2.S32DS CT MCAL demo porting K344 to K312 based on RTD500": https://community.nxp.com/t5/S32K-Knowledge-Base/S32K3-Tools-Part-How-to-port-RTD-s-existing-MCAL-demo-to-other/ta-p/1966315 *------------------------------------------------------------------------------ *Test HW: * S32K31XEVB-Q100 Board SCH-55131 REV A P32K311HV 0P98C * KITFS23SKTEVM Dev-kit SCH-53096 REV B2 MFS2320BMBB1EP * My S32K31XEVB-Q100 has an onboard PFS2320A0L1W1, but Step 13/14 of AN14041 mention that A0 devices are not supported, so S32K311 communicate with the FS23 on the KITFS23SKTEVM. *Connections: KITFS23SKTEVM | S32K31XEVB-Q100 ------------------------------|-------------------- SPI_CSB J28-2 | J12-5(PTB-17) SPI_MOSI J29-2 | J12-7(PTB-16) SPI_SCK J31-2 | J12-11(PTB-14) SPI_MISO J32-2 | J12.9(PTB-15) VCC J6-1 | J40-15 GND J6-2 | J40-13 - KITFS23SKTEVM: SW1 - position 2-3 , J30 - ON, J26 5-6 ON, J26 9-10 ON . - Connect KITFS23SKTEVM Dev-kit and S32K3 MCU via on-board Arduino headers. *SDK: * S32K3 RTD 4.0.0 (SW32K3_S32M27x_RTD_R21-11_4.0.0_D2311_DS_updatesite.zip) * FS23 RTD 1.0.0 (S32K3xx_SBC_FS23_R21-11_1.0.0_DS_updatesite_D2402_updated_D250115.zip) *Debugger: S32DS 3.5.8, OpenSDA/ PEmicro Multilink Universal FX *Target: internal_FLASH *Reference Documentation: * AN14041 FS23 quick start guide (Rev. 2.0 23 January 2025) * AN14129 FS23 implementation and behaviors (Rev. 2.0 13 December 2024) * FS23, Safety System Basis Chip (SBC) with Power Management, CAN FD and LIN Transceivers Data Sheet (Rev. 8.0 30 June 2025) *****************************************************************************

特集記事

The S32K3 family of 32-bit AEC-Q100 qualified MCUs combines a scalable family of Arm® Cortex-M7-based microcontrollers built on long-lasting features with a comprehensive suite of production-grade tools. S32K3 MCUs are included in NXP’s Product Longevity Program, guaranteeing a minimum of 15 years of assured supply. The S32K3 offers dedicated peripherals set for rapid motor control loop implementation: enhanced Modular IO Subsystem(eMIOS), Logic Control Unit (LCU), TRGMUX, BodyCross-triggering Unit (BCTU), Analog to Digital Converter(ADC), and Analog Comparator (CMP). The comprehensive motor control ecosystem based on Automotive Math and Motor Control Library(AMMCLib) set, FreeMASTER with Motor Control ApplicationTuning (MCAT) tool and Model-Based Design Toolbox (MBDT) helps to enable S32K3 MCU in wide range of motor control use cases. The table below points to the articles with more detailed description each of S32K3 motor control use cases, hardware description, links to appropriate application notes and their addendums, and software repositories. Device HW Article S32K344 MCSPTE1AK344 12 V development kit engineered for 3-phase PMSM and BLDC motor control applications FOC with dual shunt current measurement Article focuses on solution based Field Oriented Control (FOC) technique (typically used for 3-phase PMSM motors) with dual shunt current measurement and without any position sensor (sensorless). The Encoder sensor is supported by SW option, but missing on HW kit. The available example codes covers both ANSI-C and Matlab Simulink approaches and uses RTD drivers with high-level Autosar compliant API or low-level non-Autosar API. FOC with single shunt current measurement Article focuses on solution based Field Oriented Control (FOC) technique (typically used for 3-phase PMSM motors) with single shunt current measurement and without any position sensor (sensorless). The Encoder sensor is supported by SW option, but missing on HW kit. The single shunt current measurement is advanced technique that allows decrese the cost of Bill of Material (BOM). The available example codes covers both ANSI-C and Matlab Simulink approaches and uses RTD drivers with high-level Autosar compliant API or low-level non-Autosar API. FOC integrated with FreeRTOS Article focuses on integration of motor control software (based on FOC with dual shunt current measurement) and Real Time Operating System (FreeRTOS). The available example code is based ANSI-C code and uses RTD drivers with low-level non-Autosar API. Six-step commutation control. Article focuses on solution based Six-step commutation (6-step) technique (typically used for 3-phase BLDC motors) with Hall position sensor and without any position sensor (sensorless). The available example codes covers both ANSI-C and Matlab Simulink approaches and uses RTD drivers with low-level non-Autosar API. Note: the list of use cases cannot cover all combinations of MCU, current measurement scenario, control technique and sensor inputs, but should work as a base reference for most common configurations. This list is not final, please follow this acticle to be notified about updates with new use cases.

S32K ナレッジベース

S32K Knowledge Base

ディスカッション

S32K3 FlexCAN TASD calculation

Example_S32K344_MCAL_MCU_ClockMonitor_v1_0_S32DS36_RTD600

S32K39-37-36 – eFlexPWM/TRGMUX/BCTU/SAR-ADC/DMA – [RTD600]

Example S32K311 SPI Sbc_fs23 MCAL S32DS3.5.8 RTD4.0.0

S32K3 Motor control SW examples