NXP 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.

MIMXRT1062_FMURT6

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:

Supported Features

The mimxrt1062_fmurt6 board configuration supports the hardware features listed below. For additional features not yet supported, please also refer to the NXP 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:

Interface

Controller

Driver/Component

NVIC

on-chip

nested vector interrupt controller

SYSTICK

on-chip

systick

DISPLAY

on-chip

display

FLASH

on-chip

QSPI hyper flash

GPIO

on-chip

gpio

SPI

on-chip

spi

I2C

on-chip

i2c

ADC

on-chip

adc

WATCHDOG

on-chip

watchdog

PWM

on-chip

pwm

UART

on-chip

serial port-polling; serial port-interrupt

ENET

on-chip

ethernet

USB

on-chip

USB device

CAN

on-chip

can

DMA

on-chip

dma

GPT

on-chip

gpt

FLEXSPI

on-chip

flash programming

The default configuration can be found in boards/nxp/mimxrt1062_fmurt6/mimxrt1062_fmurt6_defconfig

Other hardware features are not currently supported by the port.

Connections and I/Os

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

Name

Function

Usage

GPIO_AD_B1_08

FLEXCAN1 TX

CAN

GPIO_B0_03

FLEXCAN1 RX

CAN

GPIO_AD_B0_06

PWM2A0

PWM

GPIO_EMC_08

PWM2A1

PWM

GPIO_EMC_10

PWM2A2

PWM

GPIO_AD_B0_09

PWM2A3

PWM

GPIO_EMC_31

LPUART7_TX

UART Console

GPIO_EMC_32

LPUART7_RX

UART Console

GPIO_B0_04

LPI2C2_SCL

I2C

GPIO_B0_05

LPI2C2_SDA

I2C

GPIO_AD_B1_00

LPI2C1_SCL

I2C

GPIO_AD_B1_01

LPI2C1_SDA

I2C

GPIO_AD_B0_12

LPI2C4_SCL

I2C

GPIO_AD_B0_13

LPI2C4_SDA

I2C

WAKEUP

GPIO

SW0

GPIO_B1_01

ENET_RX_DATA00

Ethernet

GPIO_B1_02

ENET_RX_DATA01

Ethernet

GPIO_B1_03

ENET_RX_EN

Ethernet

GPIO_B0_12

ENET_TX_DATA00

Ethernet

GPIO_B0_13

ENET_TX_DATA01

Ethernet

GPIO_B0_14

ENET_TX_EN

Ethernet

GPIO_B0_15

ENET_REF_CLK

Ethernet

GPIO_B1_00

ENET_RX_ER

Ethernet

GPIO_B1_12

GPIO

SD Card

GPIO_B1_14

USDHC1_VSELECT

SD Card

GPIO_EMC_40

ENET_MDC

Ethernet

GPIO_B0_01

ENET_MDIO

Ethernet

GPIO_SD_B0_00

USDHC1_CMD

SD Card

GPIO_SD_B0_01

USDHC1_CLK

SD Card

GPIO_SD_B0_02

USDHC1_DATA0

SD Card

GPIO_SD_B0_03

USDHC1_DATA1

SD Card

GPIO_SD_B0_04

USDHC1_DATA2

SD Card

GPIO_SD_B0_05

USDHC1_DATA3

SD Card

GPIO_EMC_27

LPSPI1_SCK

SPI

GPIO_EMC_28

LPSPI1_SDO

SPI

GPIO_EMC_29

LPSPI1_SDI

SPI

GPIO_EMC_00

LPSPI2_SCK

SPI

GPIO_EMC_02

LPSPI2_SDO

SPI

GPIO_EMC_03

LPSPI2_SDI

SPI

GPIO_AD_B1_15

LPSPI3_SCK

SPI

GPIO_AD_B1_14

LPSPI3_SDO

SPI

GPIO_AD_B1_13

LPSPI3_SDI

SPI

GPIO_AD_B1_11

ADC

ADC1 Channel 0

GPIO_AD_B1_09

ADC

ADC1 Channel 14

GPIO_AD_B0_15

ADC

ADC1 Channel 4

GPIO_AD_B1_02

UART2_TX_GPS1

UART GPS

GPIO_AD_B1_03

UART2_RX_GPS1

UART GPS

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

Build and flash applications as usual (see Building an Application and Run an Application 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 OpenSDA DAPLink Onboard Debug Probe, however the 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.

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 Hello World application.

# From the root of the zephyr repository
west build -b mimxrt1062_fmurt6 samples/hello_world
west flash

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

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

Debugging

Here is an example for the Hello World application.

# From the root of the zephyr repository
west build -b mimxrt1062_fmurt6 samples/hello_world
west debug

Open a serial terminal, step through the application in your debugger, and you should see the following message in the terminal:

***** 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.