Commit 109d91aa authored by Benjamin Perseghetti's avatar Benjamin Perseghetti Committed by Mahesh Mahadevan
Browse files

board: Add NXP VMU RT1170 board support package 



Adds support for the NXP VMU RT1170 board. This Vehicle
Management Unit based on the i.MX RT1176 brings a fantastic
combination of sensors and IO all on one board for development
of various systems. It is also the featured board for
CogniPilot's Cerebri - VMU autopilot software based on Zephyr.

Co-authored-by: default avatarPeter van der Perk <peter.vanderperk@nxp.com>
Signed-off-by: default avatarBenjamin Perseghetti <bperseghetti@rudislabs.com>
parent 68b19303

boards/arm/vmu_rt1170/CMakeLists.txt

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#

# Copyright 2023 NXP

#

# SPDX-License-Identifier: Apache-2.0

#



if(CONFIG_NXP_IMX_RT_BOOT_HEADER)

  zephyr_library()

  set(RT1170_BOARD_DIR

    "${ZEPHYR_HAL_NXP_MODULE_DIR}/mcux/mcux-sdk/boards/evkmimxrt1170")

  if(CONFIG_BOOT_FLEXSPI_NOR)

    # Include flash configuration block for RT1170 EVK from NXP's HAL.

    # This configuration block may need modification if another flash chip is

    # used on your custom board. See NXP AN12238 for more information.

    zephyr_compile_definitions(XIP_BOOT_HEADER_ENABLE=1)

    zephyr_compile_definitions(BOARD_FLASH_SIZE=CONFIG_FLASH_SIZE*1024)

    zephyr_library_sources(flexspi_nor_config.c)

    zephyr_library_include_directories(${RT1170_BOARD_DIR}/xip)

  endif()

endif()



if(CONFIG_MCUX_GPT_TIMER)

  message(WARNING "You appear to be using the GPT hardware timer. "

    "This timer will enable lower power modes, but at the cost of reduced "

    "hardware timer resolution")

endif()

boards/arm/vmu_rt1170/Kconfig.board

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# Copyright 2023 NXP

# SPDX-License-Identifier: Apache-2.0



config BOARD_VMU_RT1170

	bool "NXP VMU_RT1170"

	depends on SOC_MIMXRT1176_CM7

	select SOC_PART_NUMBER_MIMXRT1176DVMAA

boards/arm/vmu_rt1170/Kconfig.defconfig

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# VMU_RT1170 board



# Copyright 2023 NXP

# SPDX-License-Identifier: Apache-2.0



if BOARD_VMU_RT1170



config BOARD

	default "vmu_rt1170" if BOARD_VMU_RT1170



choice CODE_LOCATION

	default CODE_FLEXSPI if BOARD_VMU_RT1170

endchoice



if DISK_DRIVERS



config IMX_USDHC_DAT3_PWR_TOGGLE

	default y



endif # DISK_DRIVERS



if FLASH



choice FLASH_MCUX_FLEXSPI_XIP_MEM_TARGET

	default FLASH_MCUX_FLEXSPI_XIP_MEM_ITCM if CPU_CORTEX_M7

	default FLASH_MCUX_FLEXSPI_XIP_MEM_SRAM if CPU_CORTEX_M4

endchoice



endif #FLASH



if NETWORKING



config NET_L2_ETHERNET

	default y if CPU_CORTEX_M7 # No cache memory support is required for driver



config ETH_MCUX_PHY_RESET

	default n



config ETH_MCUX_RMII_EXT_CLK

	default y



endif # NETWORKING





endif # BOARD_VMU_RT1170

boards/arm/vmu_rt1170/board.cmake

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#

# Copyright 2023 NXP

#

# SPDX-License-Identifier: Apache-2.0

#



if(CONFIG_SOC_MIMXRT1176_CM7 OR CONFIG_SECOND_CORE_MCUX)

board_runner_args(pyocd "--target=mimxrt1170_cm7")

board_runner_args(jlink "--device=MIMXRT1176xxxA_M7" "--reset-after-load")

elseif(CONFIG_SOC_MIMXRT1176_CM4)

board_runner_args(pyocd "--target=mimxrt1170_cm4")

# Note: Please use JLINK above V7.50 (Only support run cm4 image when debugging due to default boot core on board is cm7 core)

board_runner_args(jlink "--device=MIMXRT1176xxxA_M4")

endif()



include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)

boards/arm/vmu_rt1170/doc/index.rst

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.. _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 the defconfig file:

``boards/arm/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 RT1170:



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

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