NavQ95 EMC Test Software

Description

This repository contains the EMC test software for the NavQ95 platform. The software exercises the onboard hardware components at high utilization levels, generating representative worst-case operating conditions to support Electromagnetic Compatibility (EMC) testing and validation.

Installation

Obtain the SD card image for the NavQ95 from imx-manifest-navq95 by either building the Yocto image yourself or by downloading one of the releases.

Write the image to an SD card, and boot up the NavQ95.

The console can be accessed in two ways:

• J10 USB-C connector on the IO board (provides a TTY interface over USB)
• J2 connector on the main board (UART)

Log in as 'user' (password: 'user').

Run the following commands on the A55 console to install the EMC test services:

git clone git@github.com:NXP-Robotics/navq95-emc-test.git
cd navq95-emc-test
sudo ./install.sh

Prerequisites

The following external devices are required to run the test software:

• USB drives inserted in J13 and J12
• NVMe SSD in the M.2 Key M slot
• External network infrastructure:
  • An Ethernet switch connected to the Ethernet port on J8
  • A Wi-Fi access point with an SSID that the NavQ95 Wi-Fi interface is configured to join
• A CAN bus loopback wire connecting all NavQ95 CAN interfaces (J4, J8, and J9 on the IO shield) to each other, without termination resistors

NOTE: USB drives, NVMe SSDs, and eMMC storage devices must be formatted with a filesystem supported by the NavQ95. The recommended filesystem is ext4.

NOTE: The Wi-Fi interface must be configured to connect to a wireless network before starting the tests. Run sudo nmtui to attach to an SSID.

Features

Test Services

A number of test services are available. All services are enabled and run simultaneously by default, but each service can be individually enabled or disabled as needed.

For a full overview of the available services, see the services/ directory.

Monitor

The test services are monitored to verify that they are active. The result is indicated by the RGB LED on the NavQ95:

LED color	Meaning
RED	One or more tests are not active
GREEN	All tests are active
Any other color, or LED off	The monitor service is not running

Additional Device Utilization

In addition to running the test services, several optional actions can be performed to further increase device utilization. These do not require the test services to be running.

• Apply SJA1110 loopback

  This increases utilization of the SJA1110 network switch by connecting a loopback cable, which causes transmitted traffic to be fed back into the switch. Broadcast messages are particularly impactful because they continuously circulate through the network, multiplying the traffic and significantly increasing switch utilization.

  The loopback cable can be inserted in two 100BASE-T1 ports or two 1000BASE-T1 ports.

  The PHY configuration of the SJA1110 firmware must be updated accordingly: one port must be configured as MASTER and the other as SLAVE.

• Run Cognipilot/Cerebri on the M7 core

  Running Cognipilot/Cerebri on the M7 core enables IMU sensor data acquisition, introducing additional processing load and increasing overall device utilization.

Usage

Basic usage:

1. Power on the NavQ95.
2. Wait for the LED to blink green, which indicates that all test services are active.
3. Perform the EMC test.

By default, all EMC services are active after boot and the board continuously runs its high-utilization loops. If individual parts of the board need to be tested separately, the EMC test software can be controlled via the Linux console (TTY).

Helper Scripts

The repository provides convenience scripts to manage all test services at once:

Script	Description
start.sh	Starts all test services simultaneously
stop.sh	Stops all test services simultaneously
status.sh	Displays the current status of all test services

# Start all services
sudo ./start.sh

# Stop all services
sudo ./stop.sh

# Show the status of all services
sudo ./status.sh

Managing Individual Services

Individual test services can be started and stopped using systemctl:

# Stop a service
sudo systemctl stop emc-test-can.service

# Start a service
sudo systemctl start emc-test-can.service

Available Test Services

Service	Description
emc-test-audio.service	Exercises the audio interface
emc-test-bluetooth.service	Exercises the Bluetooth interface
emc-test-cameras.service	Exercises both camera interfaces
emc-test-can.service	Exercises the CAN bus interfaces
emc-test-console.service	Exercises the serial console
emc-test-emmc.service	Exercises the eMMC storage
emc-test-ethernet.service	Exercises the Ethernet interface
emc-test-nvme1.service	Exercises the first NVMe SSD
emc-test-nvme2.service	Exercises the second NVMe SSD
emc-test-sdcard.service	Exercises the SD card
emc-test-usb1.service	Exercises the first USB storage device
emc-test-usb2.service	Exercises the second USB storage device
emc-test-wifi.service	Exercises the Wi-Fi interface

The monitor service is emc-test-monitor.service.

Uninstallation

All services can be disabled and removed from the boot sequence using the uninstall helper script:

# Uninstall (disable) all services
sudo ./uninstall.sh