MR-MCXN-T1

Board Overview

MR-MCXN-T1

Name:

mr_mcxn_t1

Vendor:

NXP Semiconductors

Status:

Maintained

Architecture:

arm

SoC:

mcxn947

Browse board sources

Overview

The NXP MR-MCXN-T1 is a dual-core mobile-robotics controller built around the NXP MCXN947 MCU. The MCXN947 pairs two Arm Cortex-M33 cores running at up to 150 MHz. The cores operate asymmetrically (AMP) and SMP is not supported. On this board CPU0 runs a TrustZone-secure image and CPU1 acts as a secondary core.

The board provides 100BASE-T1 single-pair Ethernet, dual CAN, an on-board inertial measurement unit, and a stacking header that mates a series of expansion boards (optical flow, GNSS and flex IO).

Hardware

• MCXN947 MCU

  • Dual Cortex-M33 at up to 150 MHz (AMP, each core runs its own image)

  • 2 MB flash

  • 512 KB SRAM

• Ethernet

  • Synopsys DesignWare Ethernet MAC 10/100/1G Quality-of-Service controller (NXP ENET QoS) with 100BASE-T1 single-pair Ethernet through a TJA1103 PHY and IEEE 1588 hardware timestamping

• CAN

  • Two FlexCAN controllers, each behind a TJA1462 CAN transceiver

• Sensors

  • ICM-45686 6-axis IMU (hub)

  • BMP581 barometer (I3C)

  • BMM350 magnetometer (I3C)

• Indicator

  • APA102 addressable LED driven over FlexIO

• Expansion

  • Stacking header exposing SPI, I2C, UART, PWM and ADC buses plus GPIO control lines

Supported Features

The mr_mcxn_t1 board supports the hardware features listed below.

on-chip / on-board

Feature integrated in the SoC / present on the board.

2 / 2

Number of instances that are enabled / disabled.
Click on the label to see the first instance of this feature in the board/SoC DTS files.

vnd,foo

Compatible string for the Devicetree binding matching the feature.
Click on the link to view the binding documentation.

mr_mcxn_t1/mcxn947/cpu0 target

On-target memory for this board target: 320 KiB of RAM, 2 MiB of Flash.

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M33F CPU1	arm,cortex-m33f
ADC	on-chip	LPC LPADC2	nxp,lpc-lpadc
Audio	on-chip	NXP PDM Microphone Interface (MICFIL)1	nxp,micfil
CAN	on-chip	NXP FlexCAN CANFD controller2	nxp,flexcan-fd
Clock control	on-chip	LPC SYSCON & CLKCTL IP node1	nxp,lpc-syscon
Clock monitor	on-chip	NXP Frequency Measurement (FREQME) module1	nxp,freqme
Comparator	on-chip	NXP Low Power Comparator (LPCMP)3	nxp,lpcmp
Counter	on-chip	NXP MCUX Standard Timer/Counter14	nxp,lpc-ctimer
	on-chip	NXP LPTMR2	nxp,lptmr
	on-chip	NXP Multirate Timer1	nxp,mrt
	on-chip	NXP Multirate Timer Channel4	nxp,mrt-channel
CRC	on-chip	NXP CRC device1	nxp,crc
Cryptographic accelerator	on-chip	NXP EdgeLock Secure Subsystem1	nxp,els
DAC	on-chip	NXP MCUX LPDAC2	nxp,lpdac
	on-chip	NXP MCUX HPDAC (14-bit DAC)1	nxp,hpdac
DMA	on-chip	NXP MCUX EDMA controller11	nxp,mcux-edma
	on-chip	NXP SmartDMA controller1	nxp,smartdma
DSP	on-chip	NXP PowerQuad DSP coprocessor1	nxp,powerquad
EDAC	on-chip	NXP Error Injection Module1	nxp,eim
	on-chip	NXP Error Reporting Module1	nxp,erm
Ethernet	on-chip	NXP ENET QOS Ethernet Controller1	nxp,enet-qos
	on-chip	Synopsys DesignWare MAC PTP (Precision Time Protocol) Clock1	snps,dwmac-ptp-clock
	on-chip	Synopsys DesignWare MAC MDIO controller1	snps,dwmac-mdio
	on-board	TJA1103 PHY1	nxp,tja1103
Flash controller	on-chip	NXP MSF1 Flash Memory Module (FMU)1	nxp,msf1
GPIO & Headers	on-chip	Kinetis GPIO51	nxp,kinetis-gpio
	on-board	GPIO control lines exposed on the MR-MCXN-T1 stacking header1	mr-mcxn-t1-header
Hardware information	on-chip	NXP LPC 128-bit Unique identifier1	nxp,lpc-uid
Hardware spinlock	on-chip	NXP SEMA42 hardware semaphore controller1	nxp,sema42
I2C	on-chip	NXP LPI2C controller10	nxp,lpi2c
I2S	on-chip	NXP mcux SAI-I2S controller2	nxp,mcux-i2s
I3C	on-chip	NXP MCUX I3C controller2	nxp,mcux-i3c
Input	on-chip	NXP TSI V6 Touch Sensing Input Device1	nxp,tsi-input
Interrupt controller	on-chip	ARMv8-M NVIC (Nested Vectored Interrupt Controller)1	arm,v8m-nvic
LED strip	on-board	APA102 SPI LED strip1	apa,apa102
Mailbox	on-chip	NXP Mailbox Unit as Zephyr MBOX1	nxp,mbox-mailbox
Multi-Function Device	on-chip	Low Power Flexcomm28	nxp,lp-flexcomm
MIPI-DBI	on-chip	NXP FlexIO LCD controller1	nxp,mipi-dbi-flexio-lcdif
Miscellaneous	on-chip	NXP FlexIO controller1	nxp,flexio
MMU / MPU	on-chip	ARMv8-M MPU (Memory Protection Unit)1	arm,armv8m-mpu
MTD	on-chip	Flash node1	soc-nv-flash
MUX	on-chip	NXP INPUTMUX peripheral binding1	nxp,inputmux
OPAMP	on-chip	NXP Operational Amplifier (opamp)3	nxp,opamp
OTP memory	on-chip	NXP OTPC eFuse controller1	nxp,otpc
PHY	on-board	Simple GPIO controlled CAN transceiver2	can-transceiver-gpio
Pin control	on-chip	NXP PORT Pin Controller6	nxp,port-pinmux
	on-chip	NXP PORT Pin Controller1	nxp,port-pinctrl
Power management	on-chip	NXP System Power Control (SPC)1	nxp,spc
	on-chip	NXP Core Mode Controller (CMC)1	nxp,cmc
	on-chip	NXP Smart Power Switch (VBAT)1	nxp,vbat
Power domain	on-chip	This power domain will Turn On and Off devices when transitioning in and out a specified Power State1	power-domain-soc-state-change
PWM	on-chip	NXP eFLEX PWM module with mcux-pwm submodules2	nxp,flexpwm
	on-chip	NXP MCUX PWM8	nxp,imx-pwm
	on-chip	NXP SCTimer PWM1	nxp,sctimer-pwm
Regulator	on-chip	NXP VREF SOC peripheral1	nxp,vref
Reset controller	on-chip	LPC SYSCON Peripheral reset controller1	nxp,lpc-syscon-reset
RNG	on-chip	NXP EdgeLock Secure Subsystem TRNG1	nxp,els-trng
RTC	on-chip	IRTC1	nxp,irtc
SDHC	on-chip	NXP imx USDHC controller1	nxp,imx-usdhc
Sensors	on-board	ICM45686 High-precision 6-axis motion tracking device When setting the accel-pm, accel-range, accel-odr, gyro-pm, gyro-range, gyro-odr properties in a .dts or .dtsi file you may include icm45686.h and use the macros defined there1	invensense,icm45686
	on-chip	NXP MCUX QDC2	nxp,mcux-qdc
	on-board	The BMP581 is a Barometric pressure sensor on I3C1	bosch,bmp581
	on-board	Bosch BMM350 Geomagnetic sensor on I3C1	bosch,bmm350
Serial controller	on-chip	NXP LPUART19	nxp,lpuart
SPI	on-chip	NXP LPSPI controller19	nxp,lpspi
	on-board	NXP FlexIO SPI controller1	nxp,flexio-spi
	on-chip	NXP FlexSPI controller1	nxp,imx-flexspi
SRAM	on-chip	Generic on-chip SRAM3	mmio-sram
Timer	on-chip	ARMv8-M System Tick1	arm,armv8m-systick
	on-chip	NXP OS Timer on i.MX-RT5xx/6xx1	nxp,os-timer
USB	on-chip	NPX Kinetis USBFSOTG Controller in device mode1	nxp,kinetis-usbd
	on-chip	NXP EHCI USB device mode1	nxp,ehci
	on-chip	NXP USB High Speed PHY1	nxp,usbphy
Watchdog	on-chip	LPC Windowed Watchdog Timer1	nxp,lpc-wwdt
	on-chip	NXP External Watchdog Monitor1	nxp,ewm
Wakeup Controller	on-chip	NXP Wakeup Unit (WUU) acting as a Wakeup Controller (WUC)1	nxp,wuc-wuu

mr_mcxn_t1/mcxn947/cpu1 target

On-target memory for this board target: 64 KiB of RAM, 2 MiB of Flash.

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M33 CPU1	arm,cortex-m33
ADC	on-chip	LPC LPADC2	nxp,lpc-lpadc
Audio	on-chip	NXP PDM Microphone Interface (MICFIL)1	nxp,micfil
CAN	on-chip	NXP FlexCAN CANFD controller2	nxp,flexcan-fd
Clock control	on-chip	LPC SYSCON & CLKCTL IP node1	nxp,lpc-syscon
Clock monitor	on-chip	NXP Frequency Measurement (FREQME) module1	nxp,freqme
Comparator	on-chip	NXP Low Power Comparator (LPCMP)3	nxp,lpcmp
Counter	on-chip	NXP MCUX Standard Timer/Counter5	nxp,lpc-ctimer
	on-chip	NXP LPTMR2	nxp,lptmr
	on-chip	NXP Multirate Timer1	nxp,mrt
	on-chip	NXP Multirate Timer Channel4	nxp,mrt-channel
CRC	on-chip	NXP CRC device1	nxp,crc
Cryptographic accelerator	on-chip	NXP EdgeLock Secure Subsystem1	nxp,els
DAC	on-chip	NXP MCUX LPDAC2	nxp,lpdac
	on-chip	NXP MCUX HPDAC (14-bit DAC)1	nxp,hpdac
DMA	on-chip	NXP MCUX EDMA controller11	nxp,mcux-edma
	on-chip	NXP SmartDMA controller1	nxp,smartdma
DSP	on-chip	NXP PowerQuad DSP coprocessor1	nxp,powerquad
EDAC	on-chip	NXP Error Injection Module1	nxp,eim
	on-chip	NXP Error Reporting Module1	nxp,erm
Ethernet	on-chip	NXP ENET QOS Ethernet Controller1	nxp,enet-qos
	on-chip	Synopsys DesignWare MAC PTP (Precision Time Protocol) Clock1	snps,dwmac-ptp-clock
	on-chip	Synopsys DesignWare MAC MDIO controller1	snps,dwmac-mdio
	on-board	TJA1103 PHY1	nxp,tja1103
Flash controller	on-chip	NXP MSF1 Flash Memory Module (FMU)1	nxp,msf1
GPIO & Headers	on-chip	Kinetis GPIO6	nxp,kinetis-gpio
	on-board	GPIO control lines exposed on the MR-MCXN-T1 stacking header1	mr-mcxn-t1-header
Hardware information	on-chip	NXP LPC 128-bit Unique identifier1	nxp,lpc-uid
Hardware spinlock	on-chip	NXP SEMA42 hardware semaphore controller1	nxp,sema42
I2C	on-chip	NXP LPI2C controller10	nxp,lpi2c
I2S	on-chip	NXP mcux SAI-I2S controller2	nxp,mcux-i2s
I3C	on-chip	NXP MCUX I3C controller2	nxp,mcux-i3c
Input	on-chip	NXP TSI V6 Touch Sensing Input Device1	nxp,tsi-input
Interrupt controller	on-chip	ARMv8-M NVIC (Nested Vectored Interrupt Controller)1	arm,v8m-nvic
LED strip	on-board	APA102 SPI LED strip1	apa,apa102
Mailbox	on-chip	NXP Mailbox Unit as Zephyr MBOX1	nxp,mbox-mailbox
Multi-Function Device	on-chip	Low Power Flexcomm10	nxp,lp-flexcomm
MIPI-DBI	on-chip	NXP FlexIO LCD controller1	nxp,mipi-dbi-flexio-lcdif
Miscellaneous	on-chip	NXP FlexIO controller1	nxp,flexio
MTD	on-chip	Flash node1	soc-nv-flash
MUX	on-chip	NXP INPUTMUX peripheral binding1	nxp,inputmux
OPAMP	on-chip	NXP Operational Amplifier (opamp)3	nxp,opamp
OTP memory	on-chip	NXP OTPC eFuse controller1	nxp,otpc
PHY	on-board	Simple GPIO controlled CAN transceiver2	can-transceiver-gpio
Pin control	on-chip	NXP PORT Pin Controller6	nxp,port-pinmux
	on-chip	NXP PORT Pin Controller1	nxp,port-pinctrl
Power management	on-chip	NXP System Power Control (SPC)1	nxp,spc
	on-chip	NXP Core Mode Controller (CMC)1	nxp,cmc
	on-chip	NXP Smart Power Switch (VBAT)1	nxp,vbat
Power domain	on-chip	This power domain will Turn On and Off devices when transitioning in and out a specified Power State1	power-domain-soc-state-change
PWM	on-chip	NXP eFLEX PWM module with mcux-pwm submodules2	nxp,flexpwm
	on-chip	NXP MCUX PWM8	nxp,imx-pwm
	on-chip	NXP SCTimer PWM1	nxp,sctimer-pwm
Regulator	on-chip	NXP VREF SOC peripheral1	nxp,vref
Reset controller	on-chip	LPC SYSCON Peripheral reset controller1	nxp,lpc-syscon-reset
RNG	on-chip	NXP EdgeLock Secure Subsystem TRNG1	nxp,els-trng
RTC	on-chip	IRTC1	nxp,irtc
SDHC	on-chip	NXP imx USDHC controller1	nxp,imx-usdhc
Sensors	on-board	ICM45686 High-precision 6-axis motion tracking device When setting the accel-pm, accel-range, accel-odr, gyro-pm, gyro-range, gyro-odr properties in a .dts or .dtsi file you may include icm45686.h and use the macros defined there1	invensense,icm45686
	on-chip	NXP MCUX QDC2	nxp,mcux-qdc
	on-board	The BMP581 is a Barometric pressure sensor on I3C1	bosch,bmp581
	on-board	Bosch BMM350 Geomagnetic sensor on I3C1	bosch,bmm350
Serial controller	on-chip	NXP LPUART10	nxp,lpuart
SPI	on-chip	NXP LPSPI controller10	nxp,lpspi
	on-board	NXP FlexIO SPI controller1	nxp,flexio-spi
	on-chip	NXP FlexSPI controller1	nxp,imx-flexspi
SRAM	on-chip	Generic on-chip SRAM3	mmio-sram
Timer	on-chip	ARMv8-M System Tick1	arm,armv8m-systick
	on-chip	NXP OS Timer on i.MX-RT5xx/6xx1	nxp,os-timer
USB	on-chip	NPX Kinetis USBFSOTG Controller in device mode1	nxp,kinetis-usbd
	on-chip	NXP EHCI USB device mode1	nxp,ehci
	on-chip	NXP USB High Speed PHY1	nxp,usbphy
Watchdog	on-chip	LPC Windowed Watchdog Timer1	nxp,lpc-wwdt
	on-chip	NXP External Watchdog Monitor1	nxp,ewm
Wakeup Controller	on-chip	NXP Wakeup Unit (WUU) acting as a Wakeup Controller (WUC)1	nxp,wuc-wuu

Connections and IOs

The stacking header is described in the devicetree by the mr_mcxn_t1_header GPIO nexus (compatible mr-mcxn-t1-header) and by labeled bus nodes for each exposed peripheral. Expansion-board overlays reference these nexus names rather than raw SoC controllers.

FlexCOMM3 and FlexCOMM7 are multiplexed across expansion boards, so only one function per instance (SPI, UART or I2C) can be active at a time.

I3C is disabled by default. The I3C bus stalls in a busy-wait at startup, and keeping it off frees flexcomm1 for the physical LPUART1 console. Re-enable the bus and its two sensors once the startup behavior is resolved.

Programming and Debugging

The mr_mcxn_t1 board supports the runners and associated west commands listed below.

	flash	debug	attach	debugserver	rtt	reset
jlink	✅ (default)	✅ (default)	✅	✅	✅	✅
linkserver	✅	✅	✅	✅
pyocd	✅	✅	✅	✅	✅	✅

The board is programmed and debugged with the on-board or an external SWD probe. Build and flash the hello_world sample for CPU0 with:

# From the root of the zephyr repository
west build -b mr_mcxn_t1/mcxn947/cpu0 samples/hello_world
west flash

Open a serial terminal at 115200 8N1 on the LPUART1 console to see the output.

References

• FRDM-MCXN947 for the MCXN947 SoC reference board

• MR-MCXN-T1 hardware design files (KiCad)