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| <li class="toctree-l1"><a class="reference internal" href="../../../introduction/inviolables.html">The Inviolable Principles of NuttX</a></li> |
| <li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Supported Platforms</a><ul class="current"> |
| <li class="toctree-l2 current"><a class="reference internal" href="../index.html">ARM</a><ul class="current"> |
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| <li class="toctree-l3"><a class="reference internal" href="../am335x/index.html">TI/Sitara AM335x</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../at32/index.html">Artery AT32</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../bcm2708/index.html">Broadcom BCM2708 (removed)</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../c5471/index.html">TI TMS320-C5471</a></li> |
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| <li class="toctree-l3"><a class="reference internal" href="../dm320/index.html">TI TMS320-DM320</a></li> |
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| <li class="toctree-l3"><a class="reference internal" href="../fvp-v8r-aarch32/index.html">FVP ARMv8-R Virt Chip</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../gd32f4/index.html">GD32F4</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../goldfish/goldfish_timer.html">GOLDFISH TIMER</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../goldfish/index.html">GOLDFISH</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../imx1/index.html">NXP/Freescale i.MX1</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../imx6/index.html">NXP/Freescale i.MX6</a></li> |
| <li class="toctree-l3"><a class="reference internal" href="../imx9/index.html">NXP i.MX9</a></li> |
| <li class="toctree-l3 current"><a class="current reference internal" href="#">NXP i.MX RT</a><ul> |
| <li class="toctree-l4"><a class="reference internal" href="#supported-mcus">Supported MCUs</a></li> |
| <li class="toctree-l4"><a class="reference internal" href="#data-and-instruction-cache">Data and Instruction Cache</a></li> |
| <li class="toctree-l4"><a class="reference internal" href="#tickless-os">Tickless OS</a></li> |
| <li class="toctree-l4"><a class="reference internal" href="#peripheral-support">Peripheral Support</a><ul> |
| <li class="toctree-l5"><a class="reference internal" href="#acmp">ACMP</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#adc">ADC</a></li> |
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| <li class="toctree-l5"><a class="reference internal" href="#csi">CSI</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#dac">DAC</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#elcdif">eLCDIF</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#enc">ENC</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#enet">ENET</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#flexio">FlexIO</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#gpio">GPIO</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#i2c">I2C</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#pwm">PWM</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#sai">SAI</a></li> |
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| <li class="toctree-l5"><a class="reference internal" href="#spi">SPI</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#uart">UART</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="#usb">USB</a></li> |
| </ul> |
| </li> |
| <li class="toctree-l4"><a class="reference internal" href="#supported-boards">Supported Boards</a><ul> |
| <li class="toctree-l5"><a class="reference internal" href="boards/arcx-socket-grid/index.html">ARCX Socket Grid</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="boards/imxrt1020-evk/index.html">i.MX RT1020 EVK</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="boards/imxrt1050-evk/index.html">i.MX RT1050 EVK</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="boards/imxrt1060-evk/index.html">i.MX RT1060 EVK</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="boards/imxrt1064-evk/index.html">i.MX RT1064 EVK</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="boards/imxrt1170-evk/index.html">i.MX RT1170 EVK</a></li> |
| <li class="toctree-l5"><a class="reference internal" href="boards/teensy-4.x/index.html">Teensy-4.x</a></li> |
| </ul> |
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| </ul> |
| </li> |
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| <section id="nxp-i-mx-rt"> |
| <h1>NXP i.MX RT<a class="headerlink" href="#nxp-i-mx-rt" title="Permalink to this heading"></a></h1> |
| <p>The i.MX RT series of chips from NXP Semiconductors is based around an ARM Cortex-M7 core running |
| at 500 MHz, 600 MHz or 1 GHz based on particular MCUs</p> |
| <section id="supported-mcus"> |
| <h2>Supported MCUs<a class="headerlink" href="#supported-mcus" title="Permalink to this heading"></a></h2> |
| <p>The following list includes MCUs from i.MX RT series and indicates whether they are supported in NuttX</p> |
| <table class="docutils align-default"> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>MCU</p></th> |
| <th class="head"><p>Support</p></th> |
| <th class="head"><p>Core</p></th> |
| <th class="head"><p>Frequency</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>RT500</p></td> |
| <td><p>No</p></td> |
| <td><p>Cortex-M33</p></td> |
| <td><p>200 MHz</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RT600</p></td> |
| <td><p>No</p></td> |
| <td><p>Cortex-M33</p></td> |
| <td><p>300 MHz</p></td> |
| </tr> |
| <tr class="row-even"><td><p>RT1010</p></td> |
| <td><p>No</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>500 MHz</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RT1015</p></td> |
| <td><p>No</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>500 MHz</p></td> |
| </tr> |
| <tr class="row-even"><td><p>RT1020</p></td> |
| <td><p>Yes</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>500 MHz</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RT1024</p></td> |
| <td><p>No</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>500 MHz</p></td> |
| </tr> |
| <tr class="row-even"><td><p>RT1050</p></td> |
| <td><p>Yes</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>600 MHz</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RT1060</p></td> |
| <td><p>Yes</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>600 MHz</p></td> |
| </tr> |
| <tr class="row-even"><td><p>RT1064</p></td> |
| <td><p>Yes</p></td> |
| <td><p>Cortex-M7</p></td> |
| <td><p>600 MHz</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RT1170</p></td> |
| <td><p>No</p></td> |
| <td><p>Cortex-M7 + M4</p></td> |
| <td><p>1 GHz + 400 MHz</p></td> |
| </tr> |
| </tbody> |
| </table> |
| </section> |
| <section id="data-and-instruction-cache"> |
| <h2>Data and Instruction Cache<a class="headerlink" href="#data-and-instruction-cache" title="Permalink to this heading"></a></h2> |
| <p>MCUs i.MX RT1010 and higher have separated caches for instructions and data. Data cache is initially |
| set as write-through but can be changed to write-back via Kconfig. While write-back gives better |
| performance than write-through, it is not supported for all peripherals in NuttX yet. Write-back data |
| cache can not be selected while running Ethernet or serial port over USB.</p> |
| </section> |
| <section id="tickless-os"> |
| <h2>Tickless OS<a class="headerlink" href="#tickless-os" title="Permalink to this heading"></a></h2> |
| <p>With Tickless OS, the periodic, timer interrupt is eliminated and replaced with a one-shot, |
| interval timer, that becomes event driven instead of polled. This allows to run the MCU with |
| higher resolution without using more of the CPU bandwidth processing useless interrupts.</p> |
| <p>Only tickless via an alarm is currently supported for i.MX RT MCU, which can be selected by |
| CONFIG_SCHED_TICKLESS_ALARM option. CONFIG_USEC_PER_TICK option determines the resolution |
| of time reported by <code class="xref c c-func docutils literal notranslate"><span class="pre">clock_systime_ticks()</span></code> and the resolution of times that can be set |
| for certain delays including watchdog timers and delayed work. It is important that value set in |
| CONFIG_USEC_PER_TICK represents the frequency of GPT timer that runs the tickless mode. Clock |
| source of the timer is 16.6 MHz, which is then divided by the prescaler value from 1 to 4096. |
| Possible values for CONFIG_USEC_PER_TICK are 10 or 100 for example.</p> |
| </section> |
| <section id="peripheral-support"> |
| <h2>Peripheral Support<a class="headerlink" href="#peripheral-support" title="Permalink to this heading"></a></h2> |
| <p>The following list indicates peripherals supported in NuttX:</p> |
| <table class="docutils align-default"> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Peripheral</p></th> |
| <th class="head"><p>Support</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>ACMP</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>ADC</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>CAN</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>CSI</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>DAC</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>eLCDIF</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>ENC</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>ENET</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>FlexIO</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>GPIO</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>I2S</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>PWM</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>SAI</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>SPDIF</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>SPI</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>UART</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>USB</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| </tbody> |
| </table> |
| <section id="acmp"> |
| <h3>ACMP<a class="headerlink" href="#acmp" title="Permalink to this heading"></a></h3> |
| <p>The circout for comparing two analog input voltages designed to operate across the full |
| range of supply voltage (rail-to-rail operation).</p> |
| </section> |
| <section id="adc"> |
| <h3>ADC<a class="headerlink" href="#adc" title="Permalink to this heading"></a></h3> |
| <p>ADC driver with the successive approximation analog/digital converter. The lower-half of |
| this driver is initialize by calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_adcinitialize()</span></code>.</p> |
| <p>ADC module can use either continuous trigger (next conversion is started as soon as the |
| previous is finished) or hardware trigger. This option is selected by IMXRT_ADCx_ETC |
| (x = 1, 2) config option. If IMXRT_ADCx_ETC = -1 then continuous trigger is used. If |
| corresponding XBAR number is put in IMXRT_ADCx_ETC then that signal is used to trigger |
| the ADC conversion (for example PWM signal can be used as a source). For PWM XBAR options |
| please refer to PWM chapter of this documentation.</p> |
| <p>Hardware triggering is currently limited to maximum of 8 channels. HW trigger is automatically |
| disabled if there are more than 8 channels.</p> |
| <p>DMA is currently not supported for ADC modules.</p> |
| </section> |
| <section id="can"> |
| <h3>CAN<a class="headerlink" href="#can" title="Permalink to this heading"></a></h3> |
| <p>FlexCAN driver is supported in MCUs i.MX RT1020 and higher. i.MX RT106x have both classical |
| CAN and also one CAN FD while i.MX RT1170 have 3 CAN FD peripherals. FlexCAN driver in imxrt |
| works beyond SocketCAN driver layout. The lower-half of this driver is initialize by |
| calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_cannitialize()</span></code>.</p> |
| <p>There is an booting option that automatically provides initialization of network interface |
| in the early stages of booting and therefore calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_cannitialize()</span></code> via |
| board specific logic is not necessary. This however works only when there is only one |
| interface in the chip. For running more interfaces (like CAN and Ethernet), network late |
| initialization must be turn on by CONFIG_NETDEV_LATEINIT and board specific logic must call |
| lower-half part of drivers.</p> |
| </section> |
| <section id="csi"> |
| <h3>CSI<a class="headerlink" href="#csi" title="Permalink to this heading"></a></h3> |
| <p>CMOS Sensor interface which enables the chip to connect directly to external CMOS image sensors.</p> |
| </section> |
| <section id="dac"> |
| <h3>DAC<a class="headerlink" href="#dac" title="Permalink to this heading"></a></h3> |
| <p>Digital/analog converter for external signal is only supported in i.MX RT1170 MCU. It is 12 bit |
| lower power, general purpose DAC.</p> |
| </section> |
| <section id="elcdif"> |
| <h3>eLCDIF<a class="headerlink" href="#elcdif" title="Permalink to this heading"></a></h3> |
| <p>The enhanced Liquid Crystal Display interface (LCDIF) is a general purpose display controller.</p> |
| </section> |
| <section id="enc"> |
| <h3>ENC<a class="headerlink" href="#enc" title="Permalink to this heading"></a></h3> |
| <p>The enhanced quadrature encoder/decoder module supported in i.MX RT1015 and higher. The lower-half |
| of this driver is initialize by calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_qeinitialize()</span></code>.</p> |
| </section> |
| <section id="enet"> |
| <h3>ENET<a class="headerlink" href="#enet" title="Permalink to this heading"></a></h3> |
| <p>Ethernet driver supported in i.MX RT1020 and higher. The lower-half of this driver is initialize |
| by calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_netnitialize()</span></code>.</p> |
| <p>There is an booting option that automatically provides initialization of network interface |
| in the early stages of booting and therefore calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_cannitialize()</span></code> via |
| board specific logic is not necessary. This however works only when there is only one |
| interface in the chip. For running more interfaces (like CAN and Ethernet), network late |
| initialization must be turn on by CONFIG_NETDEV_LATEINIT and board specific logic must call |
| lower-half part of drivers.</p> |
| </section> |
| <section id="flexio"> |
| <h3>FlexIO<a class="headerlink" href="#flexio" title="Permalink to this heading"></a></h3> |
| <p>A configurable module providing a range of functionality like emulation of a variety of |
| serial/parallel communication protocols, flexible 16-bit timers or programmable logic blocks. |
| This module is supported in i.MX RT1010 and higher.</p> |
| </section> |
| <section id="gpio"> |
| <h3>GPIO<a class="headerlink" href="#gpio" title="Permalink to this heading"></a></h3> |
| <p>Pins can be configured using <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_config_gpio()</span></code> function. Writing to pins is |
| done by <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_gpio_write()</span></code> function and reading is done by <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_gpio_read()</span></code>.</p> |
| <p>MCUs i.MX RT1060 and higher includes both standard speed GPIOs (1-5) and high speed |
| GPIOS (6-9). Regular and high speed GPIO share the same pins (GPIO1 is with GPIO6 etc), |
| therefore IOMUXC_GPR_GPR26-29 registers are used to determine what module is used for the |
| GPIO pins.</p> |
| </section> |
| <section id="i2c"> |
| <h3>I2C<a class="headerlink" href="#i2c" title="Permalink to this heading"></a></h3> |
| <p>Inter-Integrated Circout module supporting an interface to an I2C bus as master and/or |
| as a slave. The lower-half of this driver is initialize by calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_i2cbus_initialize()</span></code>.</p> |
| </section> |
| <section id="pwm"> |
| <h3>PWM<a class="headerlink" href="#pwm" title="Permalink to this heading"></a></h3> |
| <p>Pulse width modulator supported in i.MX RT1010 and higher. Multiple channels option is available. |
| Output on pin B is currently supported only as a complementary option to pin A. |
| The lower-half of this driver is initialize by calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_pwminitialize()</span></code>.</p> |
| <p>PWM module can be synchronized by an external signal. The external signal used for synchronization |
| is selected by IMXRT_FLEXPWMx_MODx_SYNC_SRC config option. The number in IMXRT_FLEXPWMx_MODx_SYNC_SRC |
| corresponds with the XBAR number. Following numbers can be used for synchronization of PWMs with other |
| PWM module when using iMXRT1020, iMXRT1050 or iMXRT1060.</p> |
| <ul class="simple"> |
| <li><p>PWM1 Module 1 = 40</p></li> |
| <li><p>PWM1 Module 2 = 41</p></li> |
| <li><p>PWM1 Module 3 = 42</p></li> |
| <li><p>PWM1 Module 4 = 43</p></li> |
| <li><p>PWM2 Module 1 = 44</p></li> |
| <li><p>PWM2 Module 2 = 45</p></li> |
| <li><p>PWM2 Module 3 = 46</p></li> |
| <li><p>PWM2 Module 4 = 47</p></li> |
| <li><p>PWM3 Module 1 = 48</p></li> |
| <li><p>PWM3 Module 2 = 49</p></li> |
| <li><p>PWM3 Module 3 = 50</p></li> |
| <li><p>PWM3 Module 4 = 51</p></li> |
| <li><p>PWM4 Module 1 = 52</p></li> |
| <li><p>PWM4 Module 2 = 53</p></li> |
| <li><p>PWM4 Module 3 = 54</p></li> |
| <li><p>PWM4 Module 4 = 55</p></li> |
| </ul> |
| <p>iMXRT1170 has different XBAR connections:</p> |
| <ul class="simple"> |
| <li><p>PWM1 Module 1 = 74</p></li> |
| <li><p>PWM1 Module 2 = 75</p></li> |
| <li><p>PWM1 Module 3 = 76</p></li> |
| <li><p>PWM1 Module 4 = 77</p></li> |
| <li><p>PWM2 Module 1 = 78</p></li> |
| <li><p>PWM2 Module 2 = 79</p></li> |
| <li><p>PWM2 Module 3 = 80</p></li> |
| <li><p>PWM2 Module 4 = 81</p></li> |
| <li><p>PWM3 Module 1 = 82</p></li> |
| <li><p>PWM3 Module 2 = 83</p></li> |
| <li><p>PWM3 Module 3 = 84</p></li> |
| <li><p>PWM3 Module 4 = 85</p></li> |
| <li><p>PWM4 Module 1 = 86</p></li> |
| <li><p>PWM4 Module 2 = 87</p></li> |
| <li><p>PWM4 Module 3 = 88</p></li> |
| <li><p>PWM4 Module 4 = 89</p></li> |
| </ul> |
| <p>Option IMXRT_FLEXPWMx_MODx_TRIG allows the module to generate a trigger signal. The trigger is generated on |
| timer capture of either period or duty cycle value based on the configuration.</p> |
| </section> |
| <section id="sai"> |
| <h3>SAI<a class="headerlink" href="#sai" title="Permalink to this heading"></a></h3> |
| <p>Synchronous audio interface provided by I2C module. Supported in i.MX RT1015 and higher.</p> |
| </section> |
| <section id="spdif"> |
| <h3>SPDIF<a class="headerlink" href="#spdif" title="Permalink to this heading"></a></h3> |
| <p>Sony/Philips digital interface audio block. It is a stereo transceiver that allows the |
| processor to receive and transmit digital audio. Supported in i.MX RT1010 and higher.</p> |
| </section> |
| <section id="spi"> |
| <h3>SPI<a class="headerlink" href="#spi" title="Permalink to this heading"></a></h3> |
| <p>Serial Peripheral interface module that supports an interface to an SPI bus as a master |
| and/or a slave. The lower-half of this driver is initialize by calling <code class="xref c c-func docutils literal notranslate"><span class="pre">imxrt_lpsibus_initialize()</span></code>.</p> |
| </section> |
| <section id="uart"> |
| <h3>UART<a class="headerlink" href="#uart" title="Permalink to this heading"></a></h3> |
| <p>Universal Asynchronous Receiver/Transmitter module. UART is initialized automatically during |
| MCU boot.</p> |
| </section> |
| <section id="usb"> |
| <h3>USB<a class="headerlink" href="#usb" title="Permalink to this heading"></a></h3> |
| <p>Console communication over USB is supported via CDC-ACM. Only USB Device is currently supported |
| for i.MX RT in NuttX</p> |
| </section> |
| </section> |
| <section id="supported-boards"> |
| <h2>Supported Boards<a class="headerlink" href="#supported-boards" title="Permalink to this heading"></a></h2> |
| <div class="toctree-wrapper compound"> |
| <ul> |
| <li class="toctree-l1"><a class="reference internal" href="boards/arcx-socket-grid/index.html">ARCX Socket Grid</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/imxrt1020-evk/index.html">i.MX RT1020 EVK</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/imxrt1050-evk/index.html">i.MX RT1050 EVK</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/imxrt1060-evk/index.html">i.MX RT1060 EVK</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/imxrt1064-evk/index.html">i.MX RT1064 EVK</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/imxrt1170-evk/index.html">i.MX RT1170 EVK</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/teensy-4.x/index.html">Teensy-4.x</a></li> |
| </ul> |
| </div> |
| </section> |
| </section> |
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