NXP 8MPNAVQ NavQPlus Companion Computer User Guide Product Information
- June 1, 2024
- NXP
Table of Contents
- 8MPNAVQ NavQPlus Companion Computer
- Product Information
- Specifications:
- Product Usage Instructions:
- 1. Power Supply:
- 2. Connectivity:
- 3. Software Setup:
- 4. Hardware Interfaces:
- 5. Camera Integration:
- Q: What software stack is included with NavQPlus?
- Q: What power input connector does NavQPlus use?
- Q: Can I customize the secondary boards of NavQPlus?
8MPNAVQ NavQPlus Companion Computer
Product Information
Specifications:
- Processor: NXP i.MX 8M Plus System-on-Chip (SoC)
- Memory: LPDDR4 8GB
- Storage: eMMC 32GB
- Connectivity: WiFi/BT, SDIO, USB-C, Ethernet
- Software Stack: Ubuntu Linux, ROS2
- Interfaces: JST-GH connectors, UART, NFC antenna, I2C, CAN-FD,
GPIO, PCIe, LVDS, HDMI, UART2, UART3/SPI1, UART4/SPI2
Product Usage Instructions:
1. Power Supply:
Connect the power input using the NX20P5090 JST-GH connector.
Ensure proper power input specifications are met.
2. Connectivity:
Utilize the available interfaces such as WiFi/BT, USB-C,
Ethernet, and UART for communication with other devices.
3. Software Setup:
Install the provided software stack including Ubuntu Linux and
ROS2 to leverage the full capabilities of NavQPlus.
4. Hardware Interfaces:
Utilize the various hardware interfaces like NFC antenna, I2C,
CAN-FD, GPIO, PCIe, LVDS, HDMI, and UART for connecting peripherals
as needed.
5. Camera Integration:
Integrate a camera using the Camera InnoCAM_DCM_OV5645FF
interface for image capture and processing.
Frequently Asked Questions (FAQ):
Q: What software stack is included with NavQPlus?
A: NavQPlus comes with Ubuntu Linux and ROS2 pre-installed.
Q: What power input connector does NavQPlus use?
A: NavQPlus uses the NX20P5090 JST-GH connector for power
input.
Q: Can I customize the secondary boards of NavQPlus?
A: Yes, the secondary boards allow for customization to easily
build versions tailored to your specific needs.
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Getting Started with NavQPlus Companion Computer
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Content
Keywords
UG10110, NavQPlus, Companion Computer, NavQPlus Companion Computer, NavQ+, 8MPNAVQ
Abstract
8MPNAVQ or NavQPlus is a small purpose-built Linux computer evaluation kit (EVK) based on the NXP i.MX 8M Plus System-on-Chip (SoC). It focuses on the common needs of mobile robotics systems, with a small form factor, Dronecode- compliant JST-GH connectors, and an available software stack including Ubuntu Linux and ROS2.
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Getting Started with NavQPlus Companion Computer
1 Introduction
8MPNAVQ or NavQPlus is a small purpose-built Linux computer evaluation kit
(EVK) based on the NXP i.MX 8M Plus System-on-Chip (SoC). It focuses on the
common needs of mobile robotics systems, with a small form factor, Dronecode-
compliant JST-GH connectors, and an available software stack including Ubuntu
Linux and ROS2.
The complete design is available for companies building their own similar
hardware. NavQPlus is built as a stack of boards. The top board being a SoM
(System-on-Module) containing the processor, memory, and other components with
strict layout requirements. The secondary boards are relatively inexpensive,
often four-layer boards, and allow for versions with customization to be
easily built.
Note: The SoM is almost identical to the larger NXP EVK for i.MX8M Plus except
for the I/O voltage level being changed to 3.3 V. This makes NavQPlus an
excellent stepping stone or bridge from large EVK to a system that can be
duplicated for testing in situ, or even copied directly for your application.
Power IN
NX20P5090 JST-GH
Tamper inputs SuperCap
WiFi/BT 88W8987 1×1 W5 BT5.2
SDIO
UART Bluetooth-w/ flow control
UART(BT)
USB-C
NX20P3483UK Sink and Source
PTN5110NHQZ PD PHY, TCPC
PTN36043ABXY Active Switch
2x USBC Host /PD
PMIC PCA9450
SOM
LPDDR4 8GB
NPU AI/ML eIQ
i.MX 8M Plus
eMMC 32GB
1GB Eth (IX industrial connector)
RGMII MDIO
100BaseT1 Eth TJA1103 PHY (2 pin connector)
RGMII MDIO
NFC antenna
On Board
Not On Board
I2C 2x CAN-FD
CAN2 FD CAN!2″#FD
01&!2’$T’ JA$1%4&63&’F()D+/S,-I,C).P/0H’&Y*10,)23 NX5P3090 Current limit
power switch
Camera InnoCAM_DCM_OV5645FF
GPIO x 8 (in or out) SDCARD
Power OUT 5V PCIe
LVDS out
CEC PCA9509
HDMI out
UART2 A52 Console w/
flow control
AUX UART4 DBG GPT Capture 1,2
UART3/SPI1 w/ flow control
UART4/SPI2 M7 MCU
w/ flow control (RTOS Debug)
Figure 1.NavQPlus block diagram
Refer to the NXP.com landing page https://www.nxp.com/navqplus for NavQPlus
for availability, pricing, availability, and distribution channels.
Note: Currently, there are two variants of the NavQPlus available. The part
numbers start with 8MPNAVQ. The variants are:
· 8MPNAVQ-8GB-XG This variant does not include the IX Industrial Gigabit
Ethernet Connector and PHY on board. All other components are installed,
including 100BaseT1 and WiFi. Ethernet over USB-C gadget mode is also
available.
· 8MPNAVQ-8GB-G This variant includes the IX industrial connector and Gigabit
Ethernet PHY.
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1.1 Features
NXP i.MX 8M Plus SoC on a SoM with low-power double data 4 rate dynamic
random-access memory (LPDDR4 DRAM) and eMMC flash.
· 4x Arm Cortex-A53 core · 1x Arm Cortex-M7 core · 1x Neural Processing Unit
(2.3 TOPS) · 1080p60 H.265/H.264 encoder · Dual Camera Image Signal Processor
(HDR, Dewarp)
A secondary board with connectors to hardware interfaces, such as:
· Dual MIPI-CSI camera interfaces · Two CAN-FD interfaces · I2C, SPI, UART,
GPIO · SD card slot · 2.4/5GHz WiFi and Bluetooth 5.0 using NXP 88W8987-based
Murata Type 1ZM module · Micro-HDMI, MIPI-DSI, and LVDS for displays · USB-C,
including power input and output · 1 Gigabit Ethernet with ix Industrial
connector · JTAG BOOT
1.2 Applications
NavQPlus is suitable for many purposes, including generic robots, various
vision systems, and AI/ML applications.
· Unmanned aerial vehicles (UAVs) Such as multicopters and vertical take-off
and landing (VTOL) air crafts.
· Rovers and other unmanned ground vehicles (UGVs) Road-going delivery
vehicles Robotic lawn mowers Robotic vacuum cleaners
· Marine vessels · Camera and vision processing modules · Time-of-flight (ToF)
cameras · AI/ML inference · Cellular gateway · Vision systems in other
applications
For example, a hospital bed monitor that detects if a patient is sitting up or
at risk of falling out of bed.
Several complete developer tool examples are the NXP HoverGames drone, MR-B3RB
Mobile Robotics Bugg, and the NXP Cup car.
1.3 Software
The intent of the 8MPNavQ enable developers with a solution that allows them
to harness common robotics packages and libraries such as:
· ROS/ROS2 · OpenCV
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· GStreamer · pyeIQ
TensorFlow/TFLite PyTorch Arm NN The 8MPNavQ runs Linux with a package
manager enabling the installation of almost all the packages that require to
complete your projects successfully and efficiently.
2 Caution and disclaimers
Refer to the HoverGames disclaimer below when using NavQPlus with a drone or
similar vehicle.
https://app.gitbook.com/o/-L9GLsni4p7csCR7QCJ8/s/-L9GLtb-Tz_XaKbQu-
Al/disclaimer. Note: It is an assumption that as a NavQPlus user, you know how
to operate an embedded Linux computer in a headless terminal environment.
While NavQPlus can support a desktop environment, it is not a personal
computer or a desktop computer. Therefore, many graphical applications
designed for these devices do not work due to the requirement of device-
specific libraries and graphics drivers.
2.1 Resources
If you are not comfortable operating a Linux computer in a terminal
environment, refer to the following resources for help.
· Linux command line for beginners · Embedded Linux introduction
2.2 Federal Communication Commission and Industry Canada information
This topic provides information on the Federal Communication Commission (FCC)
and Industry Canada (IC) information.
2.2.1 FCC information
Contains the Transmitter Module FCC ID: VPYLB1ZM or Contains FCC ID: VPYLB1ZM
CAUTION: Changes or modifications not explicitly approved by the party
responsible for compliance could void the user authority to operate the
equipment. Important: Do not colocate or operate the transmitter with any
other antenna or transmitter. This device complies with part 15 of the FCC
rules. Operation is subject to the following conditions.
· This device may not cause harmful interference. · This device must accept
any interference received, including interference that causes undesired
operation. The available scientific evidence does not show that any health
problems are associated with using low-power wireless devices. However, there
is no proof that these low-power wireless devices are safe.
Low-power wireless devices emit low levels of radio frequency energy (RF) in
the microwave range when in use. However, high levels of RF can produce health
effects by heating tissue. No known adverse effect of exposure to low-level
radio frequency has been discovered. Many studies of low-level RF exposures
have not found any biological effects. Some studies have suggested that some
biological effects can occur. However, there are no confirmed findings. Tests
indicate that LBEE5QD1ZM complies with FCC radiation exposure limits set for
an uncontrolled environment and meets the FCC Radio Frequency (RF) Exposure
Guidelines.
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It is necessary to take a specific absorption rate (SAR) test with your set
mounting this module, except for Bluetooth. Class 2 permissive change
application is necessary using the SAR report. For details, contact Murata.
This equipment complies with FCC radiation exposure limits set for an
uncontrolled environment and meets the FCC Radio Frequency (RF) Exposure
Guidelines. Ensure to install and operate the equipment keeping the radiator
at least 20 cm or more away from your body.
2.2.2 Canadian IC information
Contains IC: 772C-LB1ZM. Operation is subject to the following conditions.
· This device may not cause interference. · This device must accept any
interference, including interference that may cause undesired operation of the
device.
The software passed down through the MAC initiates the data transmission. The
transmission happens through the digital, and analog baseband, and finally to
the radio frequency (RF) chip. The media access controller (MAC) initiates
several special packets. The above are the only ways that the digital baseband
portion turns ON the RF transmitter, which then turns OFF at the end of the
packet. Therefore, the transmitter is ON only when one of the aforementioned
packets transmits. In other words, this device automatically discontinues the
transmission in the absence of information to transmit or an operational
failure.
This radio transmitter (IC Number: 772C-LB1ZM) identifies the device by
certification number or model number. For Category 2, Industry Canada approves
the operation with the antenna types listed below with the maximum permissible
gain indicated. Prohibit the use of the device with antenna types not listed
having a gain greater than the maximum gain indicated for that type.
· 146153 Dual Dipole antenna Gain: +3.2 dBi@2.4 GHz + 4.25 dBi@5 GHz · 146187
Dual Dipole antenna Gain: +3.4 dBi@2.4 GHz+ 4.75 dBi@5 GHz · LBEE5QD1ZM-
Antenna monopole antenna Gain: +3.6 dBi@2.4 GHz + 4.6 dBi@5 GHz
The available scientific evidence does not show that any health problems are
associated with using lowpower wireless devices. However, there is no proof
that these low-power wireless devices are safe. Low-power wireless devices
emit low levels of radio frequency energy (RF) in the microwave range when in
use. However, high levels of RF can produce health effects by heating tissue.
There are no known adverse health effects of exposure to top-level RF that
does not produce heating effects. Many studies of low-level RF exposures have
not found any biological effects. Some studies have suggested that some
biological effects can occur. However, there are no confirmed findings. Tests
indicate that LBEE5QD1ZM complies with the IC radiation exposure limits set
for an uncontrolled environment. It also meets RSS-102 of the IC radio
frequency (RF) Exposure rules.
It is necessary to take a specific absorption rate (SAR) test with your set
mounting this module.
Class 4 permissive change application is necessary using the SAR report. For
details, contact Murata.
This equipment complies with IC radiation exposure limits set for an
uncontrolled environment and meets the RSS-102 of the IC radio frequency (RF)
Exposure rules. Ensure to install and operate the equipment keeping the
radiator at least 20 cm or more away from your body.
3 Prerequisites
The NavQPlus is an embedded Linux device. You need terminal access via a PC or
Laptop to interface with the board. While a Windows PC can have terminal
programs, working in a Linux host environment allows flexibility, capability,
and ability to cross-compile software. Most examples used in the section
assume that there is a Linux host PC running Ubuntu 22.04 or later attached.
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3.1 Ubuntu desktop
For details on how to install the Ubuntu desktop on a development computer,
refer to https://ubuntu.com/ download.
3.2 Supported hardware
NavQPlus is a standalone embedded Linux device. There are many peripherals
that attach and interface with it in the presence of the correct drivers. In
addition, the Mobile Robotics teams with several complimentary devices and
boards, which work with the NavQPlus.
· MR-B3RB (Buggy3 RevB): a robotic platform in the form of an Ackerman
steering small car. · iRobot Create3: AKA Turtlebot 4, ROS development
platform. · RDDRONE-T1ADAPT: Adapter board from 100BaseT1 to RJ45. · MR-
T1ETH8: T1+RJ45 Ethernet switch. · MR-CANHUBK344: MCU board with S32K344, 6
CAN, T1 Ethernet. · CANHUB-ADAP: plug on board with IMU and GPS connectors. ·
MR-VMU-RT1176. · Pixhawk V6X standard Vehicle Management Unit, with IMU.
Note: This platform supports Both NuttX and Zephyr. · RDDRONE-BMS772: Battery
Management 6S. · UCANS32K146: CAN node board. · HDMI displays; Many off the
shelf small displays.
3.3 Supported software
This section provides information on Section 3.3.1 “NavQPlus enablement”,
Section 3.3.2 “Open source community”, and Section 3.3.3 “Yocto Linux”.
3.3.1 NavQPlus enablement
NavQPlus has specific enablement that is not available in generic EVKs from
NXP. The Ubuntu POC, ROS2, and other software are enabled to work with
robotics development systems.
NavQPlus OS images can include the following.
· NXP Yocto Linux 5.15 kernel gstreamer eIQ AI/ML tools Ethernet over
USB-C Gadget mode (SSH connection to laptop using USB cable)
· Ubuntu 22.04 built on top of NXP Yocto 5.15 ROS2 Humble enabled Note: The
configuration changes regularly and can upgrade to newer versions.
3.3.2 Open source community
While the software is used and tested, it is continuously under development
and subjects to frequent changes. The software is application level (that is,
ROS2), and not hardware device level (that is, gstreamer), refer to the open
source community support for that application and not directly from NXP.
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3.3.3 Yocto Linux
NXP i.MX 8M Plus Linux is a Yocto build plus desktop image layer. Refer to the
NXP Git repo and NXP documentation when building from source. Important: Linux
on NavQPlus is based on the EVK Yocto image. However, it has board-specific
DTS changes made and other packages prepared for use as a robotics development
tool. The NXP Yocto tree does not include these changes. Building from scratch
with Yocto is a more complex process. To maintain the functionality of the
NavQPlus as provided, refer to one of the third-party images/source trees. For
details, see the i.MX Yocto Project User Guide (document: IMXLXYOCTOUG).
3.3.3.1 Other NXP EVK software
NavQPlus is a derivative of the NXP EVK. For a complete view of all the
software available, refer to the NXP website i.MX 8M Plus.
3.4 Experimental nature
NavQPlus is experimental and contains a new set of boards and peripherals.
Therefore, expect and plan for software enablement to undergo several
iterations. The intent is to provide an Ubuntu Proof of Concept (PoC) “user-
friendly Linux” with packages and other tools included instead of the
traditional highly optimized and stripped down Yocto-based distribution for
Linux operating systems, used in embedded products. This Ubuntu PoC is built
on top of Yocto. Therefore, it is possible to reduce and optimize it for full
commercial deployment.
3.5 Ubuntu Proof of Concept
The software available for the NavQPlus includes an Ubuntu desktop environment
based on the Ubuntu open source distribution as a Proof of Concept (PoC).
Note: This Ubuntu PoC is NOT an official Canonical distribution. Canonical
outlines this mission philosophy of supporting free and open software
here:https://ubuntu.com/ community/ethos/mission.
3.5.1 Canonical Ubuntu commercial support
Canonical independently supports the commercial development on NXP i.MX
processors. To provide commercial support for Canonical Ubuntu on NXP
processors. They are available on a contractual basis.
3.5.2 Third-party commercial support
NXP has created NavQPlus in cooperation with Emcraft, which is one of our Gold
partners, Note: Various NXP partner program partners are available for
commercial support including hardware and software support. For further
details, refer to: https://www.nxp.com/design/partner-marketplace:PARTNER-
MARKETPLACE.
4 Quick start guide
This section lists the steps to start using the NavQPlus in no time. For more
information, refer to Section 5 “NavQPlus interface usage”, Paragraph, and the
other parts of this GitBook.
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4.1 Download an Ubuntu image
Download the latest Ubuntu image for NavQPlus in the *.wic file format from
GitHub: · For use with iRobot Create3 (AKA Turtlebot4), refer to
https://github.com/rudislabs/navqplus-create3-images/
releases. · For use with NXP MR-B3RB, refer to https://github.com/rudislabs
/meta-navqplus-apt-ros.
4.2 Download the Universal Update Utility tool
Universal Update Utility (UUU(is an NXP command-line tool that runs on a
computer and can communicate directly with the MPU on the NavQPlus. To flash
the eMMC memory on NavQPlus, you must download the uuu tool. Download the
latest release from GitHub: https://github.com/nxp-imx/mfgtools/releases.
Note: Make sure to download the correct application for your platform. The
*.exe file is a Windows executable. The file named “uuu” without extension is
a x86/64 Linux binary.
4.3 Set the boot switch to the flash mode
Before plugging in the board, find the boot switches on NavQPlus and flip them to the flash mode.
Table 1.Set the boot switch to the flash mode
Mode
Switch 1
SD
ON
eMMC
OFF
Flash
ON
Switch 2 ON ON OFF
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Figure 2.Set the boot switch to the flash mode
4.4 Flash the eMMC memory
Developers prefer to install the NavQPlus firmware on the eMMC memory for
reliability reasons. Even though it is convenient to use the SD card for
development. Especially, if you are flying a drone, vibrations can cause
occasional failure of the physical connections to an SD card. 1. Connect the
NavQPlus to your computer using the leftmost USB-C port (USB 1). The two
status LEDs must
light up as shown below.
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Figure 3.Set the boot switch to the flash mode 2. Open a command-line window.
3. To check that UUU recognizes the NavQPlus firmware, run the following
command.
Note: Make sure that you are in the correct directory where the UUU file is
available and the image file. Otherwise, you must add the path to the file.
For Linux users
./uuu -lsusb
For Windows users:
./uuu.exe -lsusb
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Figure 4.Check that UUU recognizes NavQPlus Ensure device detection. To flash
your board, use the command below. Adapt the filename and version to match the
image file that you downloaded in step 1. For Linux users:
.uuu -b emmc_all navqplus-image-
For Windows users:
.uuu.exe -b emmc_all navqplus-image-
Once this process finishes, compare the program output to the image below to
ensure a successful flash process.
Figure 5.Compare the program output
4.5 Set the boot switch to the eMMC mode
Again, change the boot switches¯to boot from eMMC. (For reference, see Section 4.3.
Table 2.Set the boot switch to the eMMC mode
Mode
Switch 1
SD
ON
eMMC
OFF
Flash
ON
Switch 2 ON ON OFF
4.6 Log in for the first time
Power on the NavQPlus by plugging in a USB-C cable to the centermost USB-C
port (USB2). Make sure to provide enough power. Recommended is a >5 W supply.
The NavQPlus boots, and you can confirm that it has fully booted by observing
the LEDs on board. The three LEDs by the USB1 port and the two LEDs next to
the CAN bus connectors must be on.
To log into NavQPlus for the first time, you can either use the included USB
to UART adapter, Ethernet, or USB gadget mode.
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4.6.1 Connect USB to UART adapter
1. Connect the included USB to the UART adapter to the UART2 port on the
NavQPlus. 2. Open your favorite serial console application. For example, PuTTy
for Windows users and Minicom on
Linux. 3. Open a serial console and set the baud rate to 115200.
If there is no output on the screen, press Enter to get a log-in prompt
Figure 6.Connect the included USB to UART adapter
If the boot was successful, in the terminal prompts you to enter the user name
and the password. The default user name/password is as follows:
Username: user Password: user
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At this point, you can start working with the NavQPlus. However, NXP
recommends you to Section “Expand image, if required” and Section “Change the
default user name and password “.
4.6.2 Ethernet
1. To connect the board over Ethernet, connect the included ix Industrial
Ethernet cable to NavQPlus. 2. Connect the RJ45 connector to your computer,
switch, or router on your local network.
You can log into NavQPlus over SSH. For more information on this setup, refer
to Section 5.3 “Wired network connections”. The default host name for NavQPlus
is imx8mpnavq or use the IP adress from your board instead. To SSH into
NavQPlus, you can run the following command:
ssh user@imx8mpnavq.local
After a successful connection, the terminal prompts you to enter the password.
As mentioned above, the default password is user.
4.6.3 USB gadget Ethernet
NavQPlus statically assigns the IP address 192.168.186.3 to the usb0 network
interface. To use USB gadget Ethernet to connect to NavQPlus, you must assign
a static IP to your existing gadget Ethernet interface on your computer.
First go to your network settings and click the plus icon on the top right.
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Figure 7. The network configuration is as follows: IP Address: 192.168.186.2 Network Mask: 255.255.255.0
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Figure 8.Network manager connection profile. Once you have set up your USB-C
gadget Ethernet interface on your computer, you can SSH by running:
ssh user@imx8mpnavq.local
4.7 Expand image, if required
Note: This step of expanding the image is not used with MR-B3RB. To use all
the available storage, you must expand the flashed images. After logging into
the NavQPlus, open a terminal and run: · Expand the image on the eMMC memory
(if you chose to flash the image on the eMMC memory):
echo -e “dn2nnnpn2n196608nnnw” | sudo fdisk /dev/mmcblk2 && sudo resize2fs
/dev/mmcblk2p2
· Expand the image on the SD card (if you chose to flash the image on the SD
card):
echo -e “dn2nnnpn2n196608nnnw” | sudo fdisk /dev/mmcblk1 && sudo resize2fs
/dev/mmcblk1p2
4.8 Change the default user name and password
To change the default user name and password, use the commands below. User
name: Replace
usermod -l
Password: The window prompts you to enter the current and new passwords.
passwd
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4.9 Next step
With the NavQPlus setup complete, you can start to install other software
packages and run your own code. For example, ROS2 (Robot Operating System) is
a commonly used framework for controlling robotic systems, with plenty of
compatible packages being available.
5 NavQPlus interface usage
This section covers the basics of the NavQPlus connection.
5.1 Power supply options
Figure 9.Powering NavQPlus
The software can configure the USB-C power management logic such that it
limits current or resets the power management when both the bootloader and
Linux image are running. This results in an unexpected behavior at power up.
If you suspect something unusual on power up or the board reboots, power
through PWR_IN first. The PWR IN port accepts an input in the 5 V-20 V* range.
However, full validation or characterization is not done. The PWR IN port
pinout schematic is as follows:
· The center pin is unused. · Pins 1 and 2 are the power input. · Pins 4 and 5
are negative (GND).
The input power voltage connection PWR_UNREG is 5 V-20 V.
5.1.1 Unexpected power resets You can encounter unexpected resets due to any of the following issues.
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· Section 5.1.1.1 “Insufficient current ” · Section 5.1.1.2 “Power glitch from
other boards” · Section 5.1.1.3 “Linux Image problems” .
5.1.1.1 Insufficient current
Insufficient current situation occurs when the power supply is unable to
provide enough current to the board or the board and the peripherals. This can
result in a brown out condition when internal blocks, interfaces, and
peripherals turn on and draw more current. If you have a bench or wall adapter
power supply limitation, supplying power with a Li-Po battery can help debug.
5.1.1.2 Power glitch from other boards
The PWR IN port connects to an onboard power control switch that can sense
reverse current spikes on the power supply and deassert a power good signal,
causing a reset. This happens when another device is sharing the power supply
and glitches the power supply when plugged in live. You may need to add a
reverse blocking diode and more bulk capacitors on a power distribution board
or inline with the power cord.
5.1.1.3 Linux Image problems
As mentioned above, you must check the specific Linux image when powering from
USB-C. The check must ensure that the boot Linux kernel does not reset USB
power on startup after the boot loading completes. The bootloader configures
the USB-C, which allows the Linux kernel to re-configure/reset it and switch
it off again.
5.2 Serial console
The following sections provide information on connecting to the serial
console. The NavQPlus kit includes an FTDI type USB-C to UART adapter cable
and a small adapter board for this cable to the serial port JST-GH connector.
A serial debugging console on the NavQPlus uses this adapter.
5.2.1 USB to UART adapter
Connect the USB to UART adapter to the UART2 port on the NavQPlus. Open your
favorite serial console application. For example, PuTTy for Windows users,
Minicom on Linux. Open a serial console and set the baud rate to 115200. If
there is no output on the screen, press Enter to get a log-in prompt.
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Figure 10.USB to UART adapter
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Figure 11.USB to serial cable and adapter board (Not exactly as shown)
Connect a USB cable+ adapter to your computer. Plug in the JST-GH connector
from the adapter into the UART2 (A53 Debug/Console) port on NavQPlus.
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Figure 12.Plug in the JST-GH connector from the adapter
5.2.2 Serial terminal software
Use your favorite serial console software such as PuTTY (Minicom, MobaXTerm,
or screen) to access the NavQPlus serial console directly.
5.2.2.1 Console baud rate
The baud rate is 115200. Note: You can use the serial console to observe the
full boot sequence including U-Boot. The terminal program on your PC should
not disconnect on reboot or reset of the NavQPlus. This is important because
the connection to the PC is really to the USB-UART adapter board inside the
TTL-232R-USB cable.
5.2.3 Successful boot
The Linux boot details appear on the terminal when the correct code loads and
the boot switches connect to the correct boot source (SD card vs EMMC).
5.2.3.1 Default user name and default password The system prompts you for the
user name and then the password. The default user name/password is as follows:
Username: user
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Password: user
At this point, you can start using Linux on the NavQPlus.
5.2.3.2 Other boot details
NavQPlus must boot normally after applying power. While booting, the device
provides detailed information to the serial console, accessible on the UART2
connector. Using the console can provide invaluable debugging information that
is difficult to find elsewhere. Once the boot process completes, the system
console is available by starting an SSH session over (USB-) Ethernet or Wi-Fi.
Important: There are DIP switches on board that select the boot source as
either SD card or onboard eMMC memory. Ensure that the settings match your
requirements.
5.2.3.2.1 Power requirements for successful boot
If the applied voltage at PWR_IN is too low, the boot process could hang upon
initializing the CPU in the Linux kernel. Make sure that your power input is 5
V-20 V. When all on-chip peripherals are enabled, the NavQPlus does not draw
more than 4 watts of power and it has relatively low current requirements.
However, the board can also supply power to external devices. Ensure that the
power source is able to maintain a stable voltage level at the requested
current. Warning: . As the software progresses, some Linux kernel/boot
configurations can limit the current or switch modes of the USB-C port
hardware when powering from USB-C. This can result in a hang or a reboot. If
you suspect this is the case, power from the PWR_IN port instead.
5.2.3.2.2 U-Boot – Observe the full boot process through the serial console
The boot process starts with U-Boot, loading the device trees in the
bootpartition and loading the Linux kernel. If you want to observe the
complete boot process, you must monitor the serial console output on UART2 by
using the USB to serial converter cable provided.
5.2.3.2.3 Shell login
Once the NavQPlus boots to the shell, the default login credentials are as
follows.
Username: user Password: user
5.3 Wired network connections
The NavQPlus can connect via Ethernet in several different ways.
· Through the IX Industrial Type A port. The provided IX to RJ45 adapter cable
allows connecting to RJ45. This is the preferred option.
· Using the USB-C port with “gadget bode” Ethernet over USB · Through the 100
Base T1 automotive Ethernet. A media port converter such a 100Base-Tn RJ45s
RDDRONE-T1ADAPT, or a switch such as MR-T1ETH8 allows connection to aRJ45
100Base-T port. · Using a USB-C Ethernet adapter dongle.
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Figure 13.Wired network connections
5.3.1 USB to Ethernet adapter The NavQ+ connects through the USB-C port, as
shown in the following example. For this method, you need a separate adapter
to convert the USB-C to RJ45.
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Figure 14.Example of the USB-C Ethernet connection
To connect the board through SSH, it must connect the same network using a
router and a network cable. Next, connect the NavQ+ and the PC to it. The
connection establishes SSH between thePC and the NavQ+.
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Figure 15.PC and NavQ+ are connected to the same router Warning: Not all USB
to Ethernet adapters is toEthernet adapters supported. Sometimes, the board
reboots when powering up with an adapter. While still suboptimal, unplug the
Ethernet, circumvent the reboot, and let the board boot first. Once the board
boots, reattach the adapter and reconnect the Ethernet. Next, connect through
SSH using the following code on the PC terminal:
ssh user@imx8mpnavq.local
Or you can input the IP address of your NavQ+:
ssh user@<NavQ+’s IP address>
The terminal prompts you to input the password. The default password is user.
Important: You can also find your IP address using the command: ifconfig. To
connect the NavQPlus WiFi to a local network, perform the steps in the
following section.
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5.4 Wireless networking
This section provides information on configuring WiFi, system host name, and
uername/password.
5.4.1 Configuring WiFi on NavQPlus To connect NavQPlus to a WiFi network, use
the nmcli command. The interface is relatively straightforward to connect with
nmcli using the following command.
sudo nmcli device wifi connect
If there is an issue in connecting to a network, see if it is visible by using
the following command. sudo nmcli device wifi list
Once NavQPlus successfully connects to a WiFi network, it reconnects to the
same network even after a reboot.
5.4.2 Identify the network To identify the WiFi network the NavQPlus is
connected without using sudo, use the following command. nmcli device wifi
list Or, if running with sudo it is the network prefixed with a star.
5.4.3 Connecting to NavQPlus over WiFi To connect over a local WiFi network,
SSH into the NavQPlus over WiFi, and run the following command.
ssh
Or, depending on the network setup, run the following command. ssh
5.4.4 WiFi – nmtui This section provides information on setting up the NavQ+
to connect with WiFi.
5.4.4.1 Configuring WiFi on NavQPlus < An alternative tool to connect NavQPlus
to the local Wi-Fi network is the nmtui command. This command presents a GUI
on the terminal to help connect with the Wi-Fi. The interface is relatively
straightforward. To run nmtui, run the following command.
sudo nmtui
To use the non-GUI way to connect the Wi-Fi or manage the network connections,
use nmcli and run the following command. This method is preferred.
sudo nmcli device wifi connect
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Once NavQPlus successfully connects to a WiFi network, you can exit the
application. NavQPlus reconnects to the same network even after a reboot.
5.5 Camera usage
NavQPlus models typically ships with one Omnivision camera module, which is
either from Innowave or Google Coral Camera. Third parties also have other
cameras that support NavQPlus. You can also add another camera to the second
MIPI port. Note: Other USB or Ethernet cameras can also supply image data to
the NavQPlus. To take an image using an attached MIPI camera module on
NavQPlus, use the gstreamer command. For example:
sudo gst-launch-1.0 -v v4l2src device=/dev/video3 num-buffers=1 ! jpegenc !
filesink location=capture1.jpeg
5.6 Flash the new firmware
This section provides information on changing the NavQPlus firmware and
booting from SD card or EMMC flash.
5.6.1 Introduction Note: New images are released along with an associated
link. To flash the NavQPlus, there are two options. You can either flash the
eMMC chip onboard, or flash the SD card included with the kit. The eMMC runs
faster but is not removable like the SD card. The SD card is easily removeable
and can be programmed quickly and directly from a PC. You can choose any of
the above options.
5.6.1.1 NXP images The official source for Linux on NavQPlus will eventually
be NXP Linux Factory. However, currently it is a work in progress. Note: This
NXP Linux Factory enablement is a work in progress. Meanwhile, links to images
that can be downloaded and used on the NavQPlus are provided below. Building
from scratch using NXP Linux Factory and Yocto requires some advanced
knowledge and is not documented currently. NavQPlus is similar to the 8MPlus
EVK, but with some minor changes to the memory type, and the dtb files
describing the board interfaces. The following section lists the instructions
on how to flash the SD card or eMMC.
5.6.2 Third-party images The following are third-party images that support the
NavQPlus. · For use with iRobot Create3 (AKA Turtlebot4), refer to
https://github.com/rudislabs/navqplus-create3-images/
releases. · For use with NXP MR-B3RB, refer to https://github.com/rudislabs
/meta-navqplus-apt-ros.
5.6.2.1 Emcraft release images For details, refer to
https://www.emcraft.com/products/1222#releases.
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5.6.2.2 Voxelbotics release images For details, refer to
https://staging.voxelbotics.com/releases/.
5.6.2.3 Rudis Labs images For details, refer to https://github.com/rudislabs
/navqplus-create3-images/releases/.
5.6.3 Flash an image to an SD card The NavQPlus typically comes with a 16 GB
SD card or larger that you can flash with the prebuilt Ubuntu 22.04 image.
Refer to the following sections for instructions on how to flash your SD card
on each platform. Note: You must have an SD card reader available on your
system to perform these instructions. Low-cost USB dongles or hubs with SD
card slots are available.
5.6.3.1 Flash an SD card using Windows PC Several free programs are available
to flash an SD card with an image, we use Win32DiskImager. Once you have
downloaded Win32DiskImager, insert your SD card into your computer. Open the
program. Select the navqplus-image-{vX.X}.wic file as your image. Select your
SD card under Device. DANGER: Make sure that your device selection is the
correct drive letter for your SD card. You do noyt want to erase your hard
drive. Ensure to only click Write after double-checking the correct drive
letter. Once the flashing completes, a prompts appears with a message that the
write was successful.
5.6.3.2 Flash an SD card using Linux / Mac To flash your SD card with the
image you downloaded in Section 5.6.3.1, use dd . To begin, open a terminal
and navigate to the folder that you downloaded the navqplus-image-{vX.X}.wic
file. Insert your SD card, and find the device path for it. For example,
/dev/sdX on Linux and /dev/diskX on Mac. DANGER: Be very careful that you
select the correct drive path when using dd to flash your SD card. You can
confirm with the “Disks” app on Ubuntu or the “Disk Utility” app on Mac. Once
you find the device path, run the following command in your terminal to flash
the SD card. · For Linux:
sudo dd if=navqplus-image-{vX.X}.wic of=/dev/sdX bs=1M status=progress
oflag=syncs
· For Mac: sudo dd if=navqplus-image-{vX.X}.wic of=/dev/diskX bs=1m
status=progress oflag=syncsw
Once this is done, your SD card is flashed with the image.
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5.6.3.3 Set boot switches for the SD card boot Remember to check that your
boot switches are set to boot from SD.
5.6.4 Flash the eMMC This section provides information on how to Section
5.6.4.1, Section 5.6.4.2, and Section 5.6.4.3.
5.6.4.1 Flash eMMC using UUU To flash the eMMC on your NavQPlus, download the
uuu.NXP has created the UUU tool to flash NXP boards. Make sure to download
the correct application for your platform. The file titled “uuu” with no file
extension is a binary file for use on x86/64 Linux. · After downloading uuu,
find theboot switches on your NavQ+ and flip them to the “Flash” mode. ·
Connect NavQ+ to your computer using the centermost USB-C port. · Run the
following command to make sure that the NavQ+ is recognized by uuu:.
./uuu[.exe] -lsusb
· You should see that there is a device detected. If so, you can continue
flashing. · To flash your board, use one of the commands below depending on
how the image was supplied. Note: When flashing the eMMC an additional .bin
file is required in addition to the .wic file. Recently the latest uuu was
upgraded so these two files can now be included in a single zip and used
without uncompressing. You may be supplied the .zip or the two separate files.
5.6.4.2 eMMC image in .zip format When eMMC image is supplied in the .zip
format, use the following command.
sudo ./uuu navqplus-image-{vX.X}_.zip
5.6.4.3 eMMC image supplied as .bin and .wic files When eMMC image is
supplied as .bin and .wic files, use the following command.
sudo ./uuu[.exe] -b emmc_all navqplus-image-{vX.X}.bin -flash_evk
navqplusimage-{vX.X}.wic
Note: The SDCARD image also has a .wic file extension, so ensure that you are
using the correct file. You cannot flash this to EMMC without the
corresponding .bin file. However, you can use the eMMC *.wic file to program
an SDCARD, it is the same image. Once this process finishes,, configure your
boot switches to boot from eMMC.
5.6.5 Use DIP switches to set the boot source
It is possible to configure NavQPlusto boot from either SD card or eMMC. It
also has a flash mode that allows you to flash either the eMMC or SD card over
USB-C.
Table 3.Boot switch configuration Mode
SD
Switch 1 ON
Switch 2 ON
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Table 3.Boot switch configuration…continued
Mode
Switch 1
eMMC
OFF
Flash
ON
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Switch 2 ON OFF
Figure 16.Set the boot switch to the flash mode
6 TurtleBot4 – iRobot Create3
NavQPlus works with the ROS2 Turtlebot4 reference platform, which is the
iRobot Create3 platform. This includes Lidar interfacing.
Note: There may be more technical details, instructions, or other enablements
shown on that the IRobot Create3 website, which can be relevant and repurposed
for your own needs. Both documentation sources are updated regularly, so you
may find it helpful to cross reference between this gitbook and the IRobot
pages. For details on hardware and setup, navigate to:
https://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ and
https://iroboteducation.github.io/create3_docs/setup/navqplus/.
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7 Simulation
This section provides information on Section 7.1 “Examples” and Section 7.2 “Gazebo ignition”.
7.1 Examples
The setup and scripts provided help in configuring the environment for
simulation.
7.2 Gazebo ignition
Gazebo ignition helps in modeling and simulation of vehicles using NavQPlus
running ROS and other software. There are several NXP models listed for the
Ignition Fuel library.
You can reference these models “live” from within Gazebo-Ignition, or download
them in advance from https:// app.gazebosim.org/search;q=NXP.
8 Note about the source code provided here in this document
The example code shown in this document has the following copyright and
BSD-3-Clause license:
Copyright 2024 NXP Redistribution and use in source and binary forms, with or
without modification, are permitted provided that the following conditions are
met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS”
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
9 Revision history
Table 4.Revision history Document ID
UG10110 v.1.0
Release date 14 May 2024
Description Initial version
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AMBA, Arm, Arm7, Arm7TDMI, Arm9, Arm11, Artisan, big.LITTLE, Cordio, CoreLink,
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UG10110
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 1.0 — 14 May 2024
© 2024 NXP B.V. All rights reserved.
32 / 34
NXP Semiconductors
UG10110
Getting Started with NavQPlus Companion Computer
Tables
Tab. 1. Set the boot switch to the flash mode …………… 8 Tab. 2. Set the boot switch to the eMMC mode ………. 11
Tab. 3. Boot switch configuration ………………………….. 28 Tab. 4. Revision history ………………………………………..30
Figures
Fig. 1. Fig. 2. Fig. 3. Fig. 4. Fig. 5. Fig. 6.
Fig. 7. Fig. 8. Fig. 9.
NavQPlus block diagram ……………………………..2 Set the boot switch to the flash mode …………… 9 Set the boot switch to the flash mode …………. 10 Check that UUU recognizes NavQPlus ……….. 11 Compare the program output …………………….. 11 Connect the included USB to UART adapter …………………………………………………… 12 ……………………………………………………………….. 14 Network manager connection profile. ………….. 15 Powering NavQPlus …………………………………. 16
Fig. 10. Fig. 11.
Fig. 12.
Fig. 13. Fig. 14. Fig. 15.
Fig. 16.
USB to UART adapter ……………………………….18 USB to serial cable and adapter board (Not exactly as shown) ……………………………………. 19 Plug in the JST-GH connector from the adapter …………………………………………………… 20 Wired network connections ……………………….. 22 Example of the USB-C Ethernet connection ….23 PC and NavQ+ are connected to the same router ……………………………………………………… 24 Set the boot switch to the flash mode …………. 29
UG10110
User guide
All information provided in this document is subject to legal disclaimers.
Rev. 1.0 — 14 May 2024
© 2024 NXP B.V. All rights reserved.
33 / 34
NXP Semiconductors
UG10110
Getting Started with NavQPlus Companion Computer
Contents
1 1.1 1.2 1.3 2 2.1 2.2
2.2.1 2.2.2 3 3.1 3.2 3.3 3.3.1 3.3.2 3.3.3 3.3.3.1 3.4 3.5 3.5.1 3.5.2 4 4.1
4.2 4.3 4.4 4.5 4.6 4.6.1 4.6.2 4.6.3 4.7 4.8
4.9 5 5.1 5.1.1 5.1.1.1 5.1.1.2 5.1.1.3 5.2 5.2.1 5.2.2 5.2.2.1 5.2.3 5.2.3.1
5.2.3.2 5.3 5.3.1 5.4 5.4.1
Introduction ……………………………………………… 2 Features …………………………………………………….3 Applications ………………………………………………..3 Software …………………………………………………….3 Caution and disclaimers …………………………… 4 Resources ………………………………………………….4 Federal Communication Commission and Industry Canada information ……………………….. 4 FCC information ………………………………………… 4 Canadian IC information ………………………………5 Prerequisites ……………………………………………. 5 Ubuntu desktop …………………………………………. 6 Supported hardware …………………………………… 6 Supported software ……………………………………..6 NavQPlus enablement …………………………………6 Open source community ………………………………6 Yocto Linux ……………………………………………….. 7 Other NXP EVK software ……………………………. 7 Experimental nature …………………………………….7 Ubuntu Proof of Concept ……………………………..7 Canonical Ubuntu commercial support ………….. 7 Third- party commercial support ……………………. 7 Quick start guide ……………………………………… 7 Download an Ubuntu image ………………………… 8 Download the Universal Update Utility tool ……..8 Set the boot switch to the flash mode …………….8 Flash the eMMC memory ……………………………. 9 Set the boot switch to the eMMC mode ………..11 Log in for the first time ……………………………… 11 Connect USB to UART adapter …………………..12 Ethernet ………………………………………………….. 13 USB gadget Ethernet …………………………………13 Expand image, if required …………………………. 15 Change the default user name and password ………………………………………………….15 Next step ………………………………………………… 16 NavQPlus interface usage ………………………. 16 Power supply options ……………………………….. 16 Unexpected power resets …………………………..16 Insufficient current ……………………………………. 17 Power glitch from other boards ……………………17 Linux Image problems ………………………………. 17 Serial console ………………………………………….. 17 USB to UART adapter ………………………………. 17 Serial terminal software …………………………….. 20 Console baud rate ……………………………………. 20 Successful boot ……………………………………….. 20 Default user name and default password …….. 20 Other boot details …………………………………….. 21 Wired network connections ……………………….. 21 USB to Ethernet adapter …………………………… 22 Wireless networking …………………………………..25 Configuring WiFi on NavQPlus …………………… 25
5.4.2 5.4.3 5.4.4 5.4.4.1 5.5 5.6 5.6.1 5.6.1.1 5.6.2 5.6.2.1 5.6.2.2 5.6.2.3
5.6.3 5.6.3.1 5.6.3.2 5.6.3.3 5.6.4 5.6.4.1 5.6.4.2 5.6.4.3
5.6.5 6 7 7.1 7.2 8
9
Identify the network ………………………………….. 25 Connecting to NavQPlus over WiFi …………….. 25 WiFi – nmtui …………………………………………….. 25 Configuring WiFi on NavQPlus < …………………25 Camera usage …………………………………………. 26 Flash the new firmware …………………………….. 26 Introduction ……………………………………………… 26 NXP images ……………………………………………..26 Third-party images …………………………………….26 Emcraft release images ……………………………..26 Voxelbotics release images ……………………….. 27 Rudis Labs images ……………………………………27 Flash an image to an SD card …………………….27 Flash an SD card using Windows PC …………..27 Flash an SD card using Linux / Mac …………….27 Set boot switches for the SD card boot ……….. 28 Flash the eMMC ………………………………………. 28 Flash eMMC using UUU …………………………….28 eMMC image in .zip format ………………………. 28 eMMC image supplied as .bin and *.wic files ………………………………………………………….28 Use DIP switches to set the boot source ……… 28 TurtleBot4 – iRobot Create3 …………………….. 29 Simulation ……………………………………………….30 Examples ………………………………………………… 30 Gazebo ignition …………………………………………30 Note about the source code provided here in this document …………………………….. 30 Revision history ………………………………………30 Legal information …………………………………….31
Please be aware that important notices concerning this document and the product(s) described herein, have been included in section ‘Legal information’.
© 2024 NXP B.V.
For more information, please visit: https://www.nxp.com
All rights reserved.
Date of release: 14 May 2024 Document identifier: UG10110
References
- GitBook
- GitBook
- Releases · nxp-imx/mfgtools · GitHub
- GitHub - rudislabs/meta-navqplus-apt-ros: NavQPlus base board with ROS 2 releases
- GitHub - rudislabs/navqplus-create3-images: Images for NXP NavQPlus for use with iRobot Create 3
- Releases · rudislabs/navqplus-create3-images · GitHub
- Releases · rudislabs/navqplus-create3-images · GitHub
- Hookup Guide - Create® 3 Docs
- Software Config - Create® 3 Docs
- ROS: Home
- Releases
- Our Mission | Ubuntu
- ubuntu.com/tutorials/command-line-for-beginners#1-overview
- Partner Marketplace | NXP Semiconductors
- ROS: Home