RA4T1 Motor Control Kit

Overview

The MCK-RA4T1 is an Motor Control Kit for Renesas RA4T1 MCU Group which integrates multiple series of software and pin-compatible Arm®-based 32-bit cores that share a common set of Renesas peripherals to facilitate design scalability and efficient platform-based product development.

The MCU in this series incorporates a high-performance Arm Cortex®-M33 core running up to 100 MHz with the following features:

Up to 256 KB code flash memory
40 KB SRAM
Analog peripherals
Security and safety features

MCK-RA4T1 kit includes the items below:

RA4T1 CPU board (MCB-RA4T1)
Inverter board (MCI-LV-1)
Brushless DC Motor
Accessories (cables, standoffs, etc.)

The specifications of the CPU board are shown below:

MCU specifications

100 MHz Arm® Cortex®-M33 core based RA4T1 MCU 64 pins, LFQFP package
ROM/SRAM size: 256KB/40KB
MCU input clock: 10MHz (Generate with external crystal oscillator)
Power supply: DC 5V, select one way automatically from the below:
- Power is supplied from compatible inverter board
- Power is supplied from USB connector

Connector

Inverter board connector
USB connector for J-Link OB
SCI connector for Renesas Motor Workbench communication
Through hole for CAN communication
10 pin through hole for Arm debugger
PMOD connectors
MCU reset switch
User-controllable LED x2, Power LED x1

Onboard debugger

This product has the onboard debugger circuit, J-Link On-Board (hereinafter called “J-Link-OB”). When you write a program, connect the CPU board to PC with USB cable. J-Link-OB operates as debugger equivalent to J-Link. If connecting from flash programing tool (e.g. J-Flash Lite by SEGGER), set the type of debugger (tool) to “JLink”

Hardware

Detailed Hardware features for the RA4T1 MCU group can be found at: - The RA4T1 MCU group: RA4T1 Group User’s Manual Hardware - The MCB-RA4T1 board: MCB-RA4T1 - User’s Manual

Supported Features

The mck_ra4t1 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.

`mck_ra4t1/r7fa4t1bb3cfm` target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M33 CPU1	`arm,cortex-m33`
ADC	on-chip	Renesas RA ADC node1	`renesas,ra-adc`
CAN	on-chip	Renesas RA CANFD controller global1	`renesas,ra-canfd-global`
CAN	on-chip	Renesas RA CANFD controller1	`renesas,ra-canfd`
Clock control	on-chip	Renesas RA Clock Generation Circuit external clock configuration1	`renesas,ra-cgc-external-clock`
	on-chip	Generic fixed-rate clock provider3	`fixed-clock`
	on-chip	Renesas RA Sub-Clock1	`renesas,ra-cgc-subclk`
	on-chip	Renesas RA Clock Generation Circuit PLL Clock1	`renesas,ra-cgc-pll`
	on-chip	Renesas RA Clock Control node pclk block1	`renesas,ra-cgc-pclk-block`
	on-chip	Renesas RA Clock Control Peripheral Clock6 3	`renesas,ra-cgc-pclk`
Comparator	on-chip	Renesas RA ACMPHS (High-Speed Analog COMParator) Global1	`renesas,ra-acmphs-global`
Comparator	on-chip	Renesas RA ACMPHS (High-Speed Analog COMParator) Controller3	`renesas,ra-acmphs`
Counter	on-chip	Renesas RA AGT as Counter2	`renesas,ra-agt-counter`
CRC	on-chip	Renesas RA CRC device1	`renesas,ra-crc`
DAC	on-chip	Renesas RA DAC Controller Global1	`renesas,ra-dac-global`
DAC	on-chip	Renesas RA DAC Controller2	`renesas,ra-dac`
DMA	on-chip	Renesas RA DMA Controller1	`renesas,ra-dma`
Flash controller	on-chip	Renesas RA family flash high-performance controller1	`renesas,ra-flash-hp-controller`
GPIO & Headers	on-chip	Renesas RA GPIO I/O Port1 6	`renesas,ra-gpio-ioport`
I2C	on-chip	Renesas RA SCI I2C controller2	`renesas,ra-i2c-sci`
I3C	on-chip	Renesas RA I3C controller1	`renesas,ra-i3c`
Interrupt controller	on-chip	ARMv8-M NVIC (Nested Vectored Interrupt Controller)1	`arm,v8m-nvic`
LED	on-board	Group of GPIO-controlled LEDs1	`gpio-leds`
Miscellaneous	on-chip	Renesas RA Event Link Controller1	`renesas,ra-elc`
	on-chip	Renesas RA SCI controller1 1	`renesas,ra-sci`
	on-chip	Renesas RA AGT2	`renesas,ra-agt`
	on-chip	Renesas RA External Interrupt16	`renesas,ra-external-interrupt`
MMU / MPU	on-chip	ARMv8-M MPU (Memory Protection Unit)1	`arm,armv8m-mpu`
MTD	on-chip	Flash memory binding for Renesas RA Code flash region1	`renesas,ra-nv-code-flash`
MTD	on-chip	Flash memory binding for Renesas RA Data flash region1	`renesas,ra-nv-data-flash`
Pin control	on-chip	Renesas RA Pin Controller1	`renesas,ra-pinctrl-pfs`
PWM	on-chip	Renesas RA Pulse Width Modulation6	`renesas,ra-pwm`
RNG	on-chip	Renesas RA TRNG1	`renesas,ra-trng`
Serial controller	on-chip	Renesas RA SCI UART controller1 1	`renesas,ra-sci-uart`
SPI	on-chip	Renesas RA SPI controller2	`renesas,ra-spi`
SRAM	on-chip	Generic on-chip SRAM1	`mmio-sram`
Timer	on-chip	ARMv8-M System Tick1	`arm,armv8m-systick`
Watchdog	on-chip	Renesas RA Watchdog (wdt)1	`renesas,ra-wdt`

Programming and Debugging

The mck_ra4t1 board supports the runners and associated west commands listed below.

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

Applications for the mck_ra4t1 board can be built, flashed, and debugged in the usual way. See Building an Application and Run an Application for more details on building and running.

Configuring the Debug Probe

The MCK-RA4T1 board includes an on-board SEGGER J-Link debugger. SEGGER J-Link drivers are available at https://www.segger.com/downloads/jlink

To use the on-board J-Link debugger, ensure that:

The J-Link OB is connected to the host PC via the USB port (CN9).
The J-Link OB jumper is in the default configuration as described in the MCB-RA4T1 - User’s Manual.

Configuring a Console

Connect a USB cable from your PC to the on-board virtual COM port (CN9), and use a serial terminal of your choice (minicom, PuTTY, etc.) with the following settings:

Speed: 115200
Data: 8 bits
Parity: None
Stop bits: 1

Flashing

Here is an example for the Hello World application.

# From the root of the zephyr repository
west build -b mck_ra4t1 samples/hello_world
west flash

Open a serial terminal, reset the board (push the reset switch S1), and you should see the following message in the terminal:

***** Booting Zephyr OS v4.3.0-xxx-xxxxxxxxxxxxx *****
Hello World! mck_ra4t1

Debugging

Here is an example for the Hello World application.

# From the root of the zephyr repository
west build -b mck_ra4t1 samples/hello_world
west debug

Open a serial terminal, step through the application in your debugger, and you should see the following message in the terminal:

***** Booting Zephyr OS v4.3.0-xxx-xxxxxxxxxxxxx *****
Hello World! mck_ra4t1