
This SDK has been patched by Embedded Artists for the iMXRT1062 Developer's Kit.
The SDK was released on 2022-11-18 and is based on NXP's 2.12.1 SDK (SDK_2_12_1_MIMXRT1062xxxxA.zip).

This is what has been patched:
* Set CPU speed according to Commercial/Industrial CPU
* Correction of the VDD_SOC_IN voltage.
* Flash settings (speed, algorithm, size, driver) to work with the 4MB OctalSPI ATXP032
* LWIP projects - added reading of the MAC address from the onboard I2C EEPROM
* Added an I2C driver for the gpio expander (PCA6416) and code to use it
* Modified pin muxing
* SEMC projects - changed algorithm for memory test and now test entire 32MB instead of only 4KB
* Adjusted the USB interface number for USB Host examples (it is different for host and device examples)
* Added a software_reset() function in board.c/.h to issue a JEDEC reset before NVIC_SystemReset()
* Changed the Wi-Fi examples to use the Embedded Artists 1XK M.2 Module (EAR00385) as default
* Many of the projects have been updated to use a more complete pin_mux.c file where all
  necessary pins have been initialized. The SDK examples used to only configure the pins
  that they use (and often not every pin) and most of the time the configuration was only
  for MUX:ing and not the PAD settings (pull up/down/none, drive strength and slew).
* Embedded Wizard project 'ew_gui_smart_thermostat' was incorrectly setup for EVKB
* Changed the default display to RK043FN02H as it is the one mounted on the Developer's Kits

This has been added:
* New WDOG examples that work
* I2C probe example
* Example to show the use of software_reset()

This has been removed:
* All projects for the EVK - only keeping EVKB which is then patched
* The original WDOG and RTWDOG examples as those were not working

Important things to note:
* Read section "8 - Known Issues" in docs/MCUXpresso SDK Release Notes for EVK-MIMXRT1060.pdf
  to see known issues with the current version of the SDK.
* For Iperf examples, set compiler optimization to -O3 or similar to improve performance.
* If the hardware seems unresponsive and the debugger cannot connect/flash/erase the current program
  then the most likely cause is the running program preventing the access. To stop the currently
  running program and regain control:
  1) Press and hold down the ISP_ENABLE button (SW1)
  2) Press and hold down the RESET button (SW3)
  3) Let go of the RESET button
  4) Wait an extra second or two
  5) Release the ISP_ENABLE button
  6) The hardware is now in a mode where programming/erasing it should work

Connectors:
* J22 (micro USB) is the default UART and unless specified otherwise it is setup for 115200 8/N/1


!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
THIS PROJECT IS NOT DIRECTLY COMPATIBLE WITH THE HARDWARE AND WILL NOT WORK.

There is no CAN tranciever mounted on the iMX OEM Carrier Board
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!



Everything below this line is the original content of the readme file.
=======================================================================



Overview
========
The mco_manager/mcofd_manager example implements a minimal CANopen Manager.
It produces a cyclic heartbeat message (701h) and waits for 
CANopen Slave devices with a node ID in the range of 2 to 10.
Once a CiA 401 compatible generic I/O device is found,
the manager echos data received by the 401 device.

NOTE: For more details, please see the User's Manual for the
EmSA CANopen (FD) Libraries for NXP SDKs.


Implementation Description
Node-ID: 0x01, Baudrate: 500kbps

Messages produced (by CAN ID):
0x000       - NMT Master command message
0x602-0x60A - SDO requests to nodes 2 to 10
0x701       - Heartbeat (default 333ms)
Once a CiA 401 device is found with node ID nid:
0x200+nid   - RPDO1 of nid - Total of 4 input Bytes
    [6000h,1] Digital in byte 1: 0
    [6000h,2] Digital in byte 2: 0
    [6000h,3] Digital in byte 3: copy/echo of [6200h,1] Digital out byte 1
    [6000h,4] Digital in byte 4: copy/echo of [6200h,2] Digital out byte 2
0x300+nid   - RPDO2 of nid - Two 16-bit analog inputs
    [6401h,1] Analog out word16 1: timer with hi byte seconds and lo byte quarter seconds
    [6401h,2] Analog out word16 2: copy/echo of [6411h,2] Analog out word16 1

Messages consumed (by CAN ID):
0x082-0x0AA - Emergencies of nodes 2 to 10
0x582-0x58A - SDO responses to nodes 2 to 10
0x702-0x70A - Bootup and heartbeats of nodes 2 to 10
Once a CiA 401 device is found with node ID nid:
0x180+nid   - TPDO1 of nid - Four bytes of digital outputs. 
0x280+nid   - TPDO2 of nid - Two 16-bit analog outputs.

User can use a CAN monitor (USB CAN analysis) to probe the CAN frame transfered.
- CANL in CAN USB analysis connected with CANL in two board by shunt-wound method.
- CANH in CAN USB analysis connected with CANH in two board by shunt-wound method.
- (optinal) GND in CAN USB analysis connected with GND in two board by shunt-wound method.

Toolchain supported
===================
- IAR embedded Workbench  9.30.1
- Keil MDK  5.37
- GCC ARM Embedded  10.3.1
- MCUXpresso  11.6.0

Hardware requirements
=====================
- Two mini/micro USB cables
- Two EVKB-IMXRT1060 boards with J42 pin header connector populated
- CAN cabling with pin header female connectors 
- Personal Computer

Board settings
==============
The example requires 2 sets of boards, each of them with the J42 header pin connector populated.
Using dupont wires, connect all 3 pins of both boards with each other.
Pin 1 to pin 1 (CAN_Hi), pin 2 to pin 2 (GND) and pin 3 to pin 3 (CAN_Lo).

Prepare the Demo
================
1. Connect a USB cable between the PC host and the OpenSDA USB on the board.
2. Open a serial terminal on PC for OpenSDA serial device with these settings:
   - 115200 baud rate
   - 8 data bits
   - No parity
   - One stop bit
   - No flow control
3. Download the mco_slave program to one target board.
4. Download the mco_manager program to the other target board.

Running the demo
================
1. First press the reset button on the board with the mco_slave example
2. Second press the reset button on the board with the mco_manager example

~~~~~~~~~~~~~~~~~~~~~
The terminal connected to the mco_manager example displays similar like that:

Starting CANopen Library manager example
Provided by EmSA - www.em-sa.com/nxp

CANopen Library Event - Reset Communication, bitrate 500kbps, node id 1
CANopen Library Event - NMT Change: 0x 0 boot
CANopen Library Event - NMT Change: 0x 5 operational
CANopen Manager Event - Node Status Change: 3, 0x 0 booted
CANopen Manager Event - Node Status Change: 3, 0x81 emergency over / reset
CANopen Manager Event - Node Status Change: 3, 0xA0 scan complete
 [1000,00]:     191 [1018,01]:AF0002DC [1018,02]:C0DE0010
CANopen Manager Event - Node Status Change: 3, 0x 5 operational
CANopen Manager Event - Node Status Change: 3, 0x90 heartbeat monitoring active
CANopen Manager Client SDO Complete: node 3
 [1008,00]:CANopenLibNXPSDK CiA401 Example
 

The terminal connected to the mco_slave example displays similar like that:

Starting CANopen Library slave example
Provided by EmSA - www.em-sa.com/nxp

CANopen Library Event - Reset Communication, bitrate 500kbps, node id 3
CANopen Library Event - NMT Change: 0x 0 boot
CANopen Library Event - NMT Change: 0x7F pre-operational
CANopen Library Event - NMT Change: 0x7F pre-operational
CANopen Library Event - NMT Change: 0x 5 operational
~~~~~~~~~~~~~~~~~~~~~
