boards: arm: mr_canhubk3: add docs

Document current support for mr_canhubk3 board.

Signed-off-by: Manuel Argüelles <manuel.arguelles@nxp.com>

boards/arm/mr_canhubk3/doc/index.rst

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+.. _mr_canhubk3:
+
+NXP MR-CANHUBK3
+###############
+
+Overview
+********
+
+`NXP MR-CANHUBK3`_ is an evaluation board for mobile robotics applications such
+as autonomous mobile robots (AMR) and automated guided vehicles (AGV). It
+features an `NXP S32K344`_ general-purpose automotive microcontroller based on
+an Arm Cortex-M7 core (Lock-Step).
+
+.. image:: img/mr_canhubk3_top.jpg
+     :align: center
+     :alt: NXP MR-CANHUBK3 (TOP)
+
+Hardware
+********
+
+- NXP S32K344
+    - Arm Cortex-M7 (Lock-Step), 160 MHz (Max.)
+    - 4 MB of program flash, with ECC
+    - 320 KB RAM, with ECC
+    - Ethernet 100 Mbps, CAN FD, FlexIO, QSPI
+    - 12-bit 1 Msps ADC, 16-bit eMIOS timer
+
+- `NXP FS26 Safety System Basis Chip`_
+
+- Interfaces:
+    - Console UART
+    - 6x CAN FD
+    - 100Base-T1 Ethernet
+    - DroneCode standard JST-GH connectors and I/O headers for I2C, SPI, GPIO,
+      PWM, etc.
+
+More information about the hardware and design resources can be found at
+`NXP MR-CANHUBK3`_ website.
+
+Supported Features
+==================
+
+The ``mr_canhubk3`` board configuration supports the following hardware features:
+
+============  ==========  ================================
+Interface     Controller  Driver/Component
+============  ==========  ================================
+SIUL2         on-chip     | pinctrl
+                          | gpio
+                          | external interrupt controller
+LPUART        on-chip     serial
+============  ==========  ================================
+
+The default configuration can be found in the Kconfig file
+:zephyr_file:`boards/arm/mr_canhubk3/mr_canhubk3_defconfig`.
+
+Connections and IOs
+===================
+
+Each GPIO port is divided into two banks: low bank, from pin 0 to 15, and high
+bank, from pin 16 to 31. For example, ``PTA2`` is the pin 2 of ``gpioa_l`` (low
+bank), and ``PTA20`` is the pin 4 of ``gpioa_h`` (high bank).
+
+LEDs
+----
+
+The MR-CANHUBK3 board has one user RGB LED:
+
+=======================  =====  =====  ===================================
+Devicetree node          Color  Pin    Pin Functions
+=======================  =====  =====  ===================================
+led0 / user_led1_red     Red    PTE14  FXIO D7 / EMIOS0 CH19
+led1 / user_led1_green   Green  PTA27  FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10
+led2 / user_led1_blue    Blue   PTE12  FXIO D8 / EMIOS1 CH5
+=======================  =====  =====  ===================================
+
+The user can control the LEDs in any way. An output of ``0`` illuminates the LED.
+
+Buttons
+-------
+
+The MR-CANHUBK3 board has two user buttons:
+
+=======================  =====  =====  ==============
+Devicetree node          Label  Pin    Pin Functions
+=======================  =====  =====  ==============
+sw0 / user_button_1      SW1    PTD15  EIRQ31
+sw0 / user_button_2      SW2    PTA25  EIRQ5 / WKPU34
+=======================  =====  =====  ==============
+
+System Clock
+============
+
+The Arm Cortex-M7 (Lock-Step) are configured to run at 160 MHz.
+
+Serial Console
+==============
+
+By default, the serial console is provided through ``lpuart2`` on the 7-pin
+DCD-LZ debug connector ``P6``.
+
+=========  =====  ============
+Connector  Pin    Pin Function
+=========  =====  ============
+P6.2       PTA9   LPUART2_TX
+P6.3       PTA8   LPUART2_RX
+=========  =====  ============
+
+FS26 SBC Watchdog
+=================
+
+On normal operation after the board is powered on, there is a window of 256 ms
+on which the FS26 watchdog must be serviced with a good token refresh, otherwise
+the watchdog will signal a reset to the MCU. Currently there is no driver for
+the watchdog so the FS26 must be started in debug mode following these steps:
+
+1. Power off the board.
+2. Remove the jumper ``JP1`` (pins 1-2 open), which is connected by default.
+3. Power on the board.
+4. Reconnect the jumper ``JP1`` (pins 1-2 shorted).
+
+Programming and Debugging
+*************************
+
+Applications for the ``mr_canhubk3`` 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 Lauterbach TRACE32.
+
+Flashing
+========
+
+Run the ``west flash`` command to flash the application to the board using
+Lauterbach TRACE32. Alternatively, run ``west flash -r jlink`` to use SEGGER
+J-Link.
+
+The Lauterbach TRACE32 runner supports additional options that can be passed
+through command line:
+
+.. code-block:: console
+
+   west flash --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. 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. Default is ``no``.
+- ``verifyFlash=yes`` verify the SoC internal flash content after programming
+  (use together with ``loadTo=flash``). Default is ``no``.
+
+For example, to erase and verify flash content:
+
+.. code-block:: console
+
+   west flash --startup-args elfFile=build/zephyr/zephyr.elf loadTo=flash eraseFlash=yes verifyFlash=yes
+
+Debugging
+=========
+
+Run the ``west debug`` command to launch the Lauterbach TRACE32 software
+debugging interface. Alternatively, run ``west debug -r jlink`` to start a
+command line debugging session using SEGGER J-Link.
+
+References
+**********
+
+.. target-notes::
+
+.. _NXP MR-CANHUBK3:
+   https://www.nxp.com/design/development-boards/automotive-development-platforms/s32k-mcu-platforms/s32k344-evaluation-board-for-mobile-robotics-incorporating-100baset1-and-six-can-fd:MR-CANHUBK344
+
+.. _NXP S32K344:
+   https://www.nxp.com/products/processors-and-microcontrollers/s32-automotive-platform/s32k-auto-general-purpose-mcus/s32k3-microcontrollers-for-automotive-general-purpose:S32K3
+
+.. _NXP FS26 Safety System Basis Chip:
+   https://www.nxp.com/products/power-management/pmics-and-sbcs/safety-sbcs/safety-system-basis-chip-with-low-power-fit-for-asil-d:FS26
+
+.. _Lauterbach TRACE32:
+   https://www.lauterbach.com
+
+.. _SEGGER J-Link:
+   https://wiki.segger.com/NXP_S32K3xx