Pika Spark Reference Manual =========================== .. toctree:: :hidden: Buy Home Container Tutorials Case Studies Datasheet build flash connectivity/index **Pika Spark** is a **matchbox**-sized **high-performance micro robot control system** combining an unprecedented amount of **computing power and interfaces** within an **extremely small** form factor. .. image:: _static/pika-spark-top-info.png :align: center Block Diagram ^^^^^^^^^^^^^ .. image:: _static/pika-spark-overview.png :align: center Computing ^^^^^^^^^ **NXP i.MX 8M Mini Processor** running `Yocto Linux `_ with `ROS2 `_ in `Docker `_. * 4 x ARM Cortex-A53 up to 1.8 GHz / core * 1 x ARM Cortex-M4 up to 400 MHz * 2GB low power DDR4 DRAM * 16GB eMMC flash module **STM32H747XI** Micro-Control-Unit running bare-metal firmware for real-time applications. * Cortex-M7 core up to 480 MHz with double-precision FPU * Cortex-M4 core up to 240 MHz with FPU * 1 MB RAM * 2 MB Flash .. |wiki_ico| image:: _static/icons/wikipedia.png :height: 1.5ex :class: no-scaled-link Interfaces ^^^^^^^^^^ **Industrial Wired Interfaces** .. admonition:: Galvanic Isolation All industrial wired interfaces are **galvanically isolated** to prevent ground-loops and increases overall system resilience. * 2 x :doc:`CAN / CAN FD ` (|wiki_ico| : `Controller Area Network `_) * 2 x RS485: :doc:`RS485A `, RS485B (|wiki_ico| : `RS485 `_) * 1 x :doc:`Gigabit-Ethernet ` (|wiki_ico| : `1000BASE-T `_) * 1 x Single-Pair Ethernet (|wiki_ico| : `10BASE-T1S `_) **Other Wired Interfaces** * 1 x :doc:`Debug-UART ` providing a `Unix shell `_ * 1 x USB-C for flashing the Yocto image and connecting via **adb** (|wiki_ico| : `Android Debug Bridge `_) **Wireless Interfaces** * 1 x WiFi (Datasheet: `Murata 1DX `_) Sensors ^^^^^^^ * 1 x **9-DoF** (Degree-of-Freedom) **IMU** (|wiki_ico| : `Inertial Measurement Unit `_) (Datasheet: `BNO085 `_) Storage ^^^^^^^ * 1 x `EEPROM `_ for configuration storage (Datasheet: `24LC256 `_)