.. zephyr:board:: mimxrt1062_fmurt6

Overview

The MIMXRT1062_FMURT6 adds to the industry's crossover processor series and expands the i.MX RT series to three scalable families.

The i.MX RT1062 doubles the On-Chip SRAM to 1MB while keeping pin-to-pin compatibility with i.MX RT1050. This series introduces additional features ideal for real-time applications such as High-Speed GPIO, CAN FD, and synchronous parallel NAND/NOR/PSRAM controller. The i.MX RT1062 runs on the Arm® Cortex-M7® core up to 600 MHz.

Hardware

MIMXRT1062DVL6B MCU (600 MHz, 1024 KB on-chip memory)
Memory
- 256 Mbit SDRAM
- 512 Mbit Hyper Flash
- TF socket for SD card
Ethernet
- 10/100 Mbit/s Ethernet PHY
USB
- USB 2.0 OTG connector
- USB 2.0 host connector
Audio
- 3.5 mm audio stereo headphone jack
- Board-mounted microphone
- Left and right speaker out connectors
Power
- 5 V DC jack
Debug
- JTAG 20-pin connector
- OpenSDA with DAPLink
Sensor
- BMI088 6-axis e-compass
Expansion port
- Arduino interface
CAN bus connector

For more information about the MIMXRT1062 SoC and MIMXRT1062-FMURT6 board, see these references:

i.MX RT1060 Website_
i.MX RT1060 Reference Manual_
MIMXRT1062-FMURT6 User Guide_
MIMXRT1062-FMURT6 Schematics_

Supported Features

.. zephyr:board-supported-hw::

.. note::

For additional features not yet supported, please also refer to the :zephyr:board:mimxrt1064_evk , which is the superset board in NXP's i.MX RT10xx family. NXP prioritizes enabling the superset board with NXP's Full Platform Support for Zephyr. Therefore, the mimxrt1064_evk board may have additional features already supported, which can also be re-used on this mimxrt1060_evk board.

Connections and I/Os

The MIMXRT1062 SoC has five pairs of pinmux/gpio controllers.

System Clock

The MIMXRT1062 SoC is configured to use SysTick as the system clock source, running at 600MHz.

When power management is enabled, the 32 KHz low frequency oscillator on the board will be used as a source for the GPT timer to generate a system clock. This clock enables lower power states, at the cost of reduced resolution

Serial Port

The MIMXRT1062 SoC has eight UARTs. LPUART7 is configured for the console, LPUART8 and 2 for GPS/MAG, LPUART3 and 4 for Telemetry and the remaining are not used.

Programming and Debugging

.. zephyr:board-supported-runners::

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. This board is configured by default to use the :ref:opensda-daplink-onboard-debug-probe, however the :ref:pyocd-debug-host-tools do not yet support programming the external flashes on this board so you must reconfigure the board for one of the following debug probes instead.

.. _Using J-Link RT1062:

Using J-Link

Install the :ref:jlink-debug-host-tools and make sure they are in your search path.

For Hyperflash support on i.MxRT106x use JLink_V780 or above.

There are two options: the onboard debug circuit can be updated with Segger J-Link firmware, or :ref:jlink-external-debug-probe can be attached to the FMURT6 on J23 FMU Debug Port. Run JLink.exe and choose device / core as MIMXRT106A-ALEXA.

Configuring a Console

Regardless of your choice in debug probe, we will use the OpenSDA microcontroller as a usb-to-serial adapter for the serial console.

Connect a USB cable from your PC to PixHawk debug adapter.

Use the following settings with your serial terminal of choice (minicom, putty, etc.):

Speed: 115200
Data: 8 bits
Parity: None
Stop bits: 1

Using SWO

SWO can be used as a logging backend, by setting CONFIG_LOG_BACKEND_SWO=y. Your SWO viewer should be configured with a CPU frequency of 132MHz, and SWO frequency of 7500KHz.

Flashing

Here is an example for the :zephyr:code-sample:hello_world application.

.. zephyr-app-commands:: :zephyr-app: samples/hello_world :board: mimxrt1062_fmurt6 :goals: flash

Open a serial terminal, reset the board (press the SW9 button), and you should see the following message in the terminal:

.. code-block:: console

***** Booting Zephyr OS v3.20.0 ***** Hello World! mimxrt1062_fmurt6

Debugging

Here is an example for the :zephyr:code-sample:hello_world application.

.. zephyr-app-commands:: :zephyr-app: samples/hello_world :board: mimxrt1062_fmurt6 :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 v3.20.0 ***** Hello World! mimxrt1062_fmurt6

Troubleshooting

If the west flash or debug commands fail, and the command hangs while executing runners.jlink, confirm the J-Link debug probe is configured, powered, and connected to the FMURT6 properly.

.. include:: ../../common/board-footer.rst.inc

.. _MIMXRT1062-FMURT6 Website: https://www.nxp.com/part/RDDRONE-FMURT6#

.. _MIMXRT1062-FMURT6 User Guide: https://docs.px4.io/master/en/

.. _MIMXRT1062-FMURT6 Schematics: https://github.com/NXPHoverGames/NXP-FMUMRT6

.. _i.MX RT1060 Website: https://www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/i.mx-applications-processors/i.mx-rt-series/i.mx-rt1060-crossover-processor-with-arm-cortex-m7-core:i.MX-RT1060

.. _i.MX RT1060 Datasheet: https://www.nxp.com/docs/en/nxp/data-sheets/IMXRT1060CEC.pdf

.. _i.MX RT1060 Reference Manual: https://www.nxp.com/webapp/Download?colCode=IMXRT1060RM