New boards as of 03/05/2024 have the bootloader already installed. You do not need to program the bootloader in that case
If you will be using PX4 software with the MR-VMU-RT1176 board then you will need to first program the bootloader if not already installed.
The abbreviated instructions are as follows:
Connect the holybro pixhawk debug adapter, with SEGGER debug probe connected, to Pixhawk 6X-RT
Power the Pixhawk 6X-RT either via USB or POWERx connector.
Launch JlinkExe tool from Segger
Type connect
Select SWD and target is MIMXRT1176XXXA_M7
Type reset and halt
Type loadbin /path/to/firmware/px4_fmu-v6xrt_bootloader.bin 0x30000000
If you wish to flash PX4 at this time, it can be done with the additional command:
Type loadbin /path/to/firmware/px4_fmu-v6xrt_default.bin 0x30020000
To complete the process:
type reset and go
Some additional debuggers will be available in the future. Currently this is our reference setup
The Debug adapter DCD-LZ from hovergames does not currently have the correct adapter the cable to plug into the FMURT1176. This will be updated in the future. Technically you could make your own.
This section will track the changes over time of the PX4 software support for MR-VMU-RT1176
Note instructions for burning fuses and programming the bootloader are also in this gitbook. a BLANK chip or privately manufactured board will need this done before loading flight control software. Current boards as of 03/05/2024 already have the bootloader and fuses programmed
You should be able to flash PX4 via QGC. This long term is the preferred method when it works
Flashing "main" works (03/05/2025)
Flashing "beta" currently fails. (03/05/2025)
Backport of PX4 1.14 Stable is in validation now. This was a backport from main. There are a couple of open issues still
PX4 1.15 is in pre-release, VMU-RT1176 is included. This is a forward port of main, it has the most tested time on it.
This link it to the last / latest version of PX4 Main is here. This is the working version.
Update 10/26/2023 Dear Pixhawk 6X-RT testers (all on Bcc),
This change notice is due to the change of the PX4 build target name of 6X-RT to its final name px4_fmu-v6xrt
The PX4 development branch has been changed to pr-px4_fmu-v6rt. Please checkout this branch and use for building the PX4 FW from now on.
git checkout pr-px4_fmu-v6rt
git pull –recurse-submodules
Connect the Pixhawk 6X-RT FMU via USB to your PC
(This is assuming you have PX4 bootloader already flashed – as it was done for all handed out devices on PX4 dev summit)
Do make px4_fmu-v6rt_bootloader upload
At the end of the build process the bootloader will be uploaded via USB
Do make px4_fmu-v6rt_default upload
At the end of build process PX4 FW will be uploaded via USB
IMPORTANT - There is hard fault logging enabled at the moment in this branch. If you are flight testing the FMU please switch that off with “CONFIG_DEBUG_ASSERTIONS=n” within “boards/nxp/fmurt1170-v1/nuttx-config/nsh/defconfig” before building the code (before step 4)!!
enable “Allow this log file to be used for statistical analysis”
Thank you!
DRAFT DRAFT DRAFT
This is related to the pre-production units or units manufactured from a BLANK RT1176 chip.
***IMPORTANT*** As of 03/05/2024 new boards have the FUSES set from the factory. Do NOT repeat this procedure. ********
A BLANK chip will not have any fuses burned. This means it will default to only an internal on chip boot rom. We need to set the fuses so that by default it will boot from the flash memory.
Note that burning fuses is a one time operation. Follow the instructions carefully!
You DO NOT need to burn these fuses in most cases when a board comes from a vendor or for the NXP reference design. This is for a completely blank chip only. i.e you manufactured a board from scratch.
https://www.nxp.com/design/software/development-software/mcuxpresso-software-andtools-/mcuxpresso-secure-provisioning-tool:MCUXPRESSO-SECURE-PROVISIONING#downloads
(the whole user guide for the provisioning tool can be found at the link above. This is the abbreviated version for RT1176 and the specific tasks for VMU-RT1176 board.)
Run the secure provisioning tool
Select MIMXRT1176
Click the create button
Press Yes, Wait for the script to finish. You should see a screen like this.
Select "0x960" Fuse 0x960 as shown below:
We will use Advanced mode in order to create a command line script that will program the fuses. It may be used to program subsequent VMU-RT1176 fuses
Press close
Press generate script
{workspace} is C \ users \ $username \ secure provisioning
There you will find a file burn_user_OTP_cfg_win.bat
You can now use this file to burn fuses for any new boards with blank chips..
You may wish to rename this file to ensure it is clear and obvious what board and processor it is for.
DRAFT DRAFT DRAFT How to program the VMU using a JLINK (JLINK - loadfile or loadbin but start at address 0x30000000)
Official instructions will eventually be on the PX4.io website and Cognipilot website. These are interim instructions for pre-production boards.
There are TWO variants of pre-production boards:
1) ALPHA boards: These are the FMUMRT1176 on an ALPHA carrier board. This board can be identified by having TWO debug connectors and a solid row of PWM like headers at one end.
2) BETA boards: These are the FMUMRT1176 on a BETA carrier board. This board is intended to become production. It can be identified by THREE CAN ports and the end with PWM ports shows 12PWM, a small gap, then AUX and RC IN 3 pin connectors.
DRAFT DRAFT DRAFT
THESE IMAGES ARE JUST TEMPORARY AND ONLY FOR INITIAL DEVELOPMENT AND BOARD BRINGUP.
They will change often!!!! NOTE - this page may now be depricated as PX4 is upstream to main while using the Holybro baseboard.
Link to internal NXP Sharepoint for development images (TEMPORARY ONLY) Note external parties will NOT be able to access this link.
All important information / issues will be reported on the related PR -
We kindly ask you to report any issues found yourself on PX4 git with an issue report! Please tag in this case
With any flight testing please always upload your logs to
upload the ogfile to
upload the LINK to the logfile to PR 22263 -
Select OTP configuration (One time programmable)
For the Bit-field BT_FUSE_SEL change to the required value = 1
Bottom-left corner and select advanced mode
These images are externally shared for specific developers. They are incomplete. They will be updated occasionally when requested by external parties and may not match the latest code. DO NOT RELY on this code in any way.
