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NXP Semiconductors NavQPlus Getting Started

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UG10110
Getting Started with NavQPlus Companion Computer
Rev. 1.0 — 14 May 2024
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Abstract
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UG10110, NavQPlus, Companion Computer, NavQPlus Companion Computer, NavQ+,
8MPNAVQ
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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Summary of Contents for NXP Semiconductors NavQPlus

  • Page 1 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...

  • Page 2: Introduction

    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.

  • Page 3: Features

    • 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.

  • Page 4: 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.

  • Page 5: Canadian Ic Information

    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.

  • Page 6: Ubuntu Desktop

    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.

  • Page 7: Yocto Linux

    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.

  • Page 8: Download An Ubuntu Image

    UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer 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.

  • Page 9: Flash The Emmc Memory

    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.
  • Page 10 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.

  • Page 11: Set The Boot Switch To The Emmc Mode

    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.

  • Page 12: Connect Usb To Uart Adapter

    Getting Started with NavQPlus Companion Computer 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.

  • Page 13: Ethernet

    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.
  • Page 14 UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer Figure 7.  The network configuration is as follows: IP Address: 192.168.186.2 Network Mask: 255.255.255.0 UG10110 All information provided in this document is subject to legal disclaimers. © 2024 NXP B.V. All rights reserved.

  • Page 15: Expand Image, If Required

    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 "d\n2\nn\np\n2\n196608\n\n\nw"...

  • Page 16: Next Step

    Getting Started with NavQPlus Companion Computer 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.

  • Page 17: Insufficient Current

    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.
  • Page 18 UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer Figure 10. USB to UART adapter UG10110 All information provided in this document is subject to legal disclaimers. © 2024 NXP B.V. All rights reserved. User guide Rev. 1.0 — 14 May 2024...
  • Page 19 UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer 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.

  • Page 20: Serial Terminal Software

    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.

  • Page 21: Other Boot Details

    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.

  • Page 22: Usb To Ethernet Adapter

    UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer 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.
  • Page 23 UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer 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+.
  • Page 24 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. UG10110 All information provided in this document is subject to legal disclaimers.

  • Page 25: Wireless Networking

    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 <username>@<hostname>.local Or, depending on the network setup, run the following command.

  • Page 26: Camera Usage

    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.

  • Page 27: Voxelbotics Release Images

    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.

  • Page 28: Set Boot Switches For The Sd Card Boot

    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.

  • Page 29: Turtlebot4 - Irobot Create3

    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.

  • Page 30: Simulation

    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.

  • Page 31: Legal Information

    NXP Semiconductors. In the event that customer uses the product for design-in and use in In no event shall NXP Semiconductors be liable for any indirect, incidental, automotive applications to automotive specifications and standards, punitive, special or consequential damages (including - without limitation - customer (a) shall use the product without NXP Semiconductors’...
  • Page 32 UG10110 NXP Semiconductors Getting Started with NavQPlus Companion Computer AMBA, Arm, Arm7, Arm7TDMI, Arm9, Arm11, Artisan, big.LITTLE, Bluetooth — the Bluetooth wordmark and logos are registered trademarks Cordio, CoreLink, CoreSight, Cortex, DesignStart, DynamIQ, Jazelle, owned by Bluetooth SIG, Inc. and any use of such marks by NXP Keil, Mali, Mbed, Mbed Enabled, NEON, POP, RealView, SecurCore, Semiconductors is under license.
  • Page 33 Fig. 3. Set the boot switch to the flash mode ..... 10 exactly as shown) ........... 19 Fig. 4. Check that UUU recognizes NavQPlus ... 11 Fig. 12. Plug in the JST-GH connector from the Fig. 5. Compare the program output ......11 adapter ............

  • Page 34: Table Of Contents

    Getting Started with NavQPlus Companion Computer Contents Introduction ............2 5.4.2 Identify the network ......... 25 Features .............3 5.4.3 Connecting to NavQPlus over WiFi ....25 Applications ............3 5.4.4 WiFi - nmtui ............. 25 Software .............3 5.4.4.1 Configuring WiFi on NavQPlus < .....25 Caution and disclaimers .........

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