| .. _VMU RT1170: |
| |
| NXP VMU RT1170 |
| ################## |
| |
| Overview |
| ******** |
| |
| The VMU RT1170 features an i.MX RT1176 dual core MCU with the |
| Cortex-M7 core at 1 GHz and a Cortex-M4 at 400 MHz. |
| The i.MX RT1176 MCU offers support over a wide temperature range |
| and is qualified for consumer, industrial and automotive markets. |
| The VMU RT1170 is the default VMU for CogniPilot's Cerebri, a |
| Zephyr RTOS based Autopilot. |
| |
| .. image:: vmu_rt1170.jpg |
| :align: center |
| :alt: VMU RT1170 |
| |
| Hardware |
| ******** |
| |
| - MIMXRT1176DVMAA MCU |
| |
| - 1GHz Cortex-M7 & 400Mhz Cortex-M4 |
| - 2MB SRAM with 512KB of TCM for Cortex-M7 and 256KB of TCM for Cortex-M4 |
| |
| - Memory |
| |
| - 512 Mbit Octal Flash |
| - TF socket for SD card |
| |
| - Ethernet |
| |
| - 2 wire 100BASE-T1 |
| |
| - USB |
| |
| - USB 2.0 connector |
| |
| - Power |
| |
| - Redundant dual picoflex power ports |
| |
| - Debug |
| |
| - 10 pin debug and shell adapter board to 20 Pin JTAG debugger and USB-C shell |
| |
| - Sensor |
| |
| - BMI088 6-axis IMU |
| - BMM150 Magnetometer |
| - Dual BMP388 Barometer |
| - Dual ICM-42688 6-axis IMU |
| - IST8310 3-axis Magnetometer |
| - U-blox NEO-M8N GNSS module |
| |
| - UART JST-GH connectors |
| |
| - I2C JST-GH connectors |
| |
| - CAN bus JST-GH connectors |
| |
| For more information about the MIMXRT1176 SoC and VMU RT1170 board, see |
| these references: |
| |
| - `VMU RT1170 Website`_ |
| - `VMU RT1170 User Guide`_ |
| - `VMU RT1170 Schematics`_ |
| - `i.MX RT1170 Datasheet`_ |
| - `i.MX RT1170 Reference Manual`_ |
| |
| Supported Features |
| ================== |
| |
| VMU-RT1170 is a "Vehicle Management Unit" based on the general i.MX RT1170 |
| family of processors. The VMU RT1170 board configuration supports the |
| following hardware features: |
| |
| +-----------+------------+-------------------------------------+ |
| | Interface | Controller | Driver/Component | |
| +===========+============+=====================================+ |
| | NVIC | on-chip | nested vector interrupt controller | |
| +-----------+------------+-------------------------------------+ |
| | SYSTICK | on-chip | systick | |
| +-----------+------------+-------------------------------------+ |
| | GPIO | on-chip | gpio | |
| +-----------+------------+-------------------------------------+ |
| | COUNTER | on-chip | counter | |
| +-----------+------------+-------------------------------------+ |
| | CAN | on-chip | flexcan | |
| +-----------+------------+-------------------------------------+ |
| | SPI | on-chip | spi | |
| +-----------+------------+-------------------------------------+ |
| | I2C | on-chip | i2c | |
| +-----------+------------+-------------------------------------+ |
| | PWM | on-chip | pwm | |
| +-----------+------------+-------------------------------------+ |
| | ADC | on-chip | adc | |
| +-----------+------------+-------------------------------------+ |
| | UART | on-chip | serial port-polling; | |
| | | | serial port-interrupt | |
| +-----------+------------+-------------------------------------+ |
| | DMA | on-chip | dma | |
| +-----------+------------+-------------------------------------+ |
| | GPT | on-chip | gpt | |
| +-----------+------------+-------------------------------------+ |
| | WATCHDOG | on-chip | watchdog | |
| +-----------+------------+-------------------------------------+ |
| | ENET | on-chip | ethernet | |
| +-----------+------------+-------------------------------------+ |
| | SAI | on-chip | i2s | |
| +-----------+------------+-------------------------------------+ |
| | USB | on-chip | USB Device | |
| +-----------+------------+-------------------------------------+ |
| | HWINFO | on-chip | Unique device serial number | |
| +-----------+------------+-------------------------------------+ |
| | DISPLAY | on-chip | display | |
| +-----------+------------+-------------------------------------+ |
| | ACMP | on-chip | analog comparator | |
| +-----------+------------+-------------------------------------+ |
| | CAAM RNG | on-chip | entropy | |
| +-----------+------------+-------------------------------------+ |
| | FLEXSPI | on-chip | flash programming | |
| +-----------+------------+-------------------------------------+ |
| |
| The default configuration can be found in |
| :zephyr_file:`boards/nxp/vmu_rt1170/vmu_rt1170_defconfig` |
| |
| Other hardware features are not currently supported by the port. |
| |
| Connections and I/Os |
| ==================== |
| |
| The MIMXRT1170 SoC has six pairs of pinmux/gpio controllers. |
| |
| +---------------------------+----------------+------------------+ |
| | Name | Function | Usage | |
| +---------------------------+----------------+------------------+ |
| | WAKEUP | GPIO | SW7 | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_04 | GPIO | LED | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_24 | LPUART1_TX | UART Console | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_25 | LPUART1_RX | UART Console | |
| +---------------------------+----------------+------------------+ |
| | GPIO_LPSR_00 | CAN3_TX | flexcan | |
| +---------------------------+----------------+------------------+ |
| | GPIO_LPSR_01 | CAN3_RX | flexcan | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_29 | SPI1_CS0 | spi | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_28 | SPI1_CLK | spi | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_30 | SPI1_SDO | spi | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_31 | SPI1_SDI | spi | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_08 | LPI2C1_SCL | i2c | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_09 | LPI2C1_SDA | i2c | |
| +---------------------------+----------------+------------------+ |
| | GPIO_LPSR_05 | LPI2C5_SCL | i2c | |
| +---------------------------+----------------+------------------+ |
| | GPIO_LPSR_04 | LPI2C5_SDA | i2c | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_04 | FLEXPWM1_PWM2 | pwm | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_32 | ENET_MDC | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_33 | ENET_MDIO | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_02 | ENET_TX_DATA00 | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_03 | ENET_TX_DATA01 | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_04 | ENET_TX_EN | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_05 | ENET_REF_CLK | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_06 | ENET_RX_DATA00 | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_07 | ENET_RX_DATA01 | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_08 | ENET_RX_EN | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_DISP_B2_09 | ENET_RX_ER | Ethernet | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_17_SAI1_MCLK | SAI_MCLK | SAI | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_21_SAI1_TX_DATA00 | SAI1_TX_DATA | SAI | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_22_SAI1_TX_BCLK | SAI1_TX_BCLK | SAI | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_23_SAI1_TX_SYNC | SAI1_TX_SYNC | SAI | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_17_SAI1_MCLK | SAI1_MCLK | SAI | |
| +---------------------------+----------------+------------------+ |
| | GPIO_AD_20_SAI1_RX_DATA00 | SAI1_RX_DATA00 | SAI | |
| +---------------------------+----------------+------------------+ |
| |
| Serial Port |
| =========== |
| |
| The MIMXRT1170 SoC has 12 UARTs. |
| |
| Programming and Debugging |
| ************************* |
| |
| Build and flash applications as usual (see :ref:`build_an_application` and |
| :ref:`application_run` for more details). |
| |
| Configuring a Debug Probe |
| ========================= |
| |
| A debug probe is used for both flashing and debugging the board. |
| |
| Using J-Link |
| ------------ |
| |
| Install the :ref:`jlink-debug-host-tools` and make sure they are in your search |
| path. |
| |
| Connect the J-Link debugger through the debug adapter board. |
| |
| Configuring a Console |
| ===================== |
| |
| Use the USB-C from the debug adapter board to access the console with |
| the following settings for your serial terminal of choice (screen, minicom, putty, |
| etc.): |
| |
| - Speed: 115200 |
| - Data: 8 bits |
| - Parity: None |
| - Stop bits: 1 |
| |
| Flashing |
| ======== |
| |
| Here is an example for the :ref:`hello_world` application. |
| |
| .. zephyr-app-commands:: |
| :zephyr-app: samples/hello_world |
| :board: vmu_rt1170 |
| :goals: flash |
| |
| You should see the following message in the terminal: |
| |
| .. code-block:: console |
| |
| ***** Booting Zephyr OS v3.4.0-xxxx-xxxxxxxxxxxxx ***** |
| Hello World! vmu_rt1170 |
| |
| Debugging |
| ========= |
| |
| Here is an example for the :ref:`hello_world` application. |
| |
| .. zephyr-app-commands:: |
| :zephyr-app: samples/hello_world |
| :board: vmu_rt1170 |
| :goals: debug |
| |
| Open a serial terminal, step through the application in your debugger, and you |
| should see the following message in the terminal: |
| |
| .. code-block:: console |
| |
| ***** Booting Zephyr OS v3.4.0-xxxx-xxxxxxxxxxxxx ***** |
| Hello World! vmu_rt1170 |
| |
| .. _VMU RT1170 Website: |
| https://www.nxp.com/part/VMU-RT1170 |
| |
| .. _VMU RT1170 User Guide: |
| https://cognipilot.org/cerebri/boards/nxp_vmu_rt1170/ |
| |
| .. _VMU RT1170 Schematics: |
| https://github.com/CogniPilot/NXP-VMU_RT117x-HW |
| |
| .. _i.MX RT1170 Datasheet: |
| https://www.nxp.com/docs/en/data-sheet/IMXRT1170CEC.pdf |
| |
| .. _i.MX RT1170 Reference Manual: |
| https://www.nxp.com/webapp/Download?colCode=IMXRT1170RM |
