Pika Spark Reference Manual
===========================

.. toctree::
    :hidden:

    Buy <https://cyphal.store/products/lxrobotics-pika-spark>
    Home <https://pika-spark.io/>
    Container <https://github.com/pika-spark/pika-spark-containers>
    Tutorials <https://pika-spark.io/tutorials/>
    Case Studies <https://pika-spark.io/case-studies/>
    Datasheet <https://datasheet.pika-spark.io/>
    build
    flash
    connectivity/index

**Pika Spark** is an `Arduino Portenta X8 <https://store.arduino.cc/products/portenta-x8>`_ based **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 <https://www.yoctoproject.org/>`_ with `ROS2 <https://docs.ros.org/>`_ in `Docker <https://www.docker.com/>`_.

* 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 <connectivity/can>` (|wiki_ico| : `Controller Area Network <https://en.wikipedia.org/wiki/CAN_bus>`_)
* 2 x RS485: :doc:`RS485A <connectivity/rs485a>`, RS485B  (|wiki_ico| : `RS485 <https://en.wikipedia.org/wiki/RS-485>`_)
* 1 x :doc:`Gigabit-Ethernet <connectivity/ethernet-1000base-t>` (|wiki_ico| : `1000BASE-T <https://en.wikipedia.org/wiki/Gigabit_Ethernet#1000BASE-T>`_)
* 1 x Single-Pair Ethernet (|wiki_ico| : `10BASE-T1S <https://en.wikipedia.org/wiki/Ethernet_over_twisted_pair>`_)

**Other Wired Interfaces**

* 1 x :doc:`Debug-UART <connectivity/debug-uart>` providing a `Unix shell <https://en.wikipedia.org/wiki/Unix_shell>`_
* 1 x USB-C for flashing the Yocto image and connecting via **adb** (|wiki_ico| : `Android Debug Bridge <https://en.wikipedia.org/wiki/Android_Debug_Bridge>`_)

**Wireless Interfaces**

* 1 x WiFi (Datasheet: `Murata 1DX <https://www.murata.com/products/connectivitymodule/wi-fi-bluetooth/overview/lineup/type1dx>`_)

Sensors
^^^^^^^

* 1 x **9-DoF** (Degree-of-Freedom) **IMU** (|wiki_ico| : `Inertial Measurement Unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`_) (Datasheet: `BNO085 <https://www.ceva-dsp.com/product/bno-9-axis-imu/>`_)

Storage
^^^^^^^

* 1 x `EEPROM <https://en.wikipedia.org/wiki/EEPROM>`_ for configuration storage (Datasheet: `24LC256 <https://ww1.microchip.com/downloads/aemDocuments/documents/MPD/ProductDocuments/DataSheets/24AA256-24LC256-24FC256-256K-I2C-Serial-EEPROM-DS20001203.pdf>`_)