# MR-CANHUBK3-ADAP

The MR-CANHUBK3-ADAP is an optional adapter board for the MR-CANHUBK344 that includes a SD card interface, sensors and Dronecode connectors to ease the use of PX4 on the S32K344.<br>

{% hint style="success" %}
See [MR-B3RB](https://app.gitbook.com/o/-L9GLsni4p7csCR7QCJ8/s/U93yDWZcgjXGgsC1Duqv/) for more complete usage of this board in a robotic system
{% endhint %}

<figure><img src="https://4107432906-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FtwBzyvivLuBKj9SMDwV9%2Fuploads%2FuI1OzzTzK1m0Qm02xoEL%2FMicrosoftTeams-image%20(41).png?alt=media&#x26;token=8b300349-efd1-4333-9096-c2038a41b4c2" alt=""><figcaption></figcaption></figure>

It includes the following:

* ICM42688P IMU
* BMM150 Magnetometer
* SD Card slot
* Dronecode 10-pin GPS connector
* JST-GH 6 Pin RC connector
* JST-SH 4 Pin I2C connector

The current main branch of PX4 auto-detects this board and changes the settings for the sensors and output accordingly.

To check whether board detection was successful you should see the following output on boot.\
`nsh> ver all`\
`HW arch: NXP_MR_CANHUBK3`\
`HW type: MR-CANHUBK3-ADAP`

The UART mapping for MR-CANHUBK3-ADAP is as follows.\
GPS - GPS\_1\_CONFIG - 202\
RC input - RC\_PORT\_CONFIG - 104

MR-CANHUBK3-ADAP also provides VBAT ADC circuit. The voltage divider is set by the BAT1\_V\_DIV PX4 parameter. It's recommended to re-calibrate this divider for accurate voltage measurements.

<figure><img src="https://4107432906-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FtwBzyvivLuBKj9SMDwV9%2Fuploads%2FolYTmcNsBveZqzmQcwke%2Fimage.png?alt=media&#x26;token=3a3716d8-0c07-4a6c-83ec-b6d8d58e5525" alt="" width="252"><figcaption></figcaption></figure>

The SD card needs to be wired up using a 7-pin JST-GH connector, where the MR-CANHUBK3-ADAP SPI connector has to be connected to the MR-CANHUBK344 P1B SPI connector. Note straight cable connection i.e. pin 1 to pin 1

{% file src="<https://4107432906-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FtwBzyvivLuBKj9SMDwV9%2Fuploads%2F07Epv6J7QiEOWH3WWCKQ%2FSch_MR_CANHUBK3_ADAP.pdf?alt=media&token=0f95f2a6-b994-4717-b03b-9c016228203e>" %}


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