Phase 1 — Evaluation Board Selection
====================================

Purpose
-------

This document captures the candidate evaluation boards considered for Phase 1
hardware and the criteria against which they are compared. The goal
is to pick a single board (or board + daughter-card combination) that realizes
the architecture in :doc:`hardware_architecture` with the lowest integration
effort, while keeping a credible path to the Phase 3 custom PCB.

Four silicon vendors are in scope:

* NXP
* STMicroelectronics (ST)

Selection Criteria
------------------

The columns in the comparison table below are:

* **Manufacturer** — silicon vendor.
* **Boards** — the specific evaluation board, or controller + power-stage
  combination, under consideration.
* **Is Modular** — whether the controller MCU and the power stage are on
  physically separate boards joined by a standard connector (allowing the
  power stage or MCU to be swapped independently), as opposed to a single
  integrated board.
* **Price** — indicative public list price for the full combination, in EUR
  or USD as published by the vendor at the time of writing. Treat as
  preliminary; final pricing is captured in the procurement record.
* **Software Support** — motor-control SDK, reference firmware, GUI tooling,
  and example projects shipped by the vendor.
* **CAN Support** — whether a CAN transceiver is present on the board, or
  whether CAN must be added externally (relevant for the Phase 2 CAN
  milestone, MIL_043).

Candidate Boards
----------------

.. list-table:: Phase 1 candidate evaluation boards
   :header-rows: 1
   :widths: 12 28 8 10 22 20

   * - Manufacturer
     - Boards
     - Is Modular
     - Price
     - Software Support
     - CAN Support
   * - NXP
     - Controller: S32K144-Q100 Evaluation Board for Automotive General Purpose , Power Stage: Motor Control Shield for DEVKIT
     - Yes
     - ~105+69 USD
     - S32 Design Studio, MCAT/AMMCLib motor-control library, FreeMASTER GUI
     - On-board CAN transceiver (S32K144 FlexCAN)
   * - ST
     - P-NUCLEO-IHM03
     - Yes
     - ~90 EUR (combo)
     - STM32CubeIDE, X-CUBE-MCSDK, Motor Pilot GUI
     - No CAN transceiver on board; add external transceiver

Detailed Analysis
-----------------

NXP S32K144-Q100 + DEVKIT-MOTORGD:
* Has both 3 phase currents and 3 phase voltage readings but they are
combined with a header. Thus, to be able to read both current and voltage rework is needed.

* Needs external power supply 10-18V.
* Suggested motors are: Linix 45ZWN24-40 BLDC and Nanotec DB41M024030-A.

Both motor comes with hall sensor.
Linix 45ZWN24-40 BLDC: 41Euro but none in the stocks hard to procure.
Nanotec DB41M024030-A; Not much information.
Motor can be selected seperately.

P-NUCLEO-IHM03:
* Composed of X-NUCLEO-IHM16M1 (7-45Vdc, 1.5Arms), NUCLEO-G431RB, motor and power supply.
* Motor: GBM2804H-100T pmsm
* DC Power supply: 12V

Selected Eval Board
-------------------

P-NUCLEO-IHM03