Interfaces
Last updated
Last updated
Power
Molex Micro-Fit 3.0 436500200
Power supply input
Ethernet0
JST GH 9pin
Network connection port to Skynode, a payload or ethernet switch
Ethernet1
JST GH 9pin
Network connection port to Skynode, a payload or ethernet switch
USB0
USB-C
General purpose USB 3.0 port
USB1
USB-C
General purpose USB 3.0 port
Dev USB
Micro USB
Provides developer access and AuterionOS update capabilities
MIPI-CSI 1
MIPI-CSI (2 lanes)
Standard MIPI camera interface, Raspberry Pi camera-compatible
MIPI-CSI 4
MIPI-CSI (4 lanes)
Standard MIPI camera interface, Raspberry Pi camera-compatible
IO
Molex Pico-Clasp 5015714007
IO avionics port with SPI, I2C, GPIO, CAN and UART pins
NextVision
Custom connector
Video input and camera control
Micro SD
Micro SD
Micro SD Slot for data transfer or storage extension
GH 9-pin connector. Both ETH0 and ETH1 have the same pinout. Pinout is given for Fast Ethernet (Eg. for connecting to Skynode, and radio) and Gigabit Ethernet modes.
1
-
BI_DD_N
2
-
BI_DD_P
3
RD_N
BI_DB_N
4
-
BI_DC_N
5
-
BI_DC_P
6
RD_P
BI_DB_P
7
TD_N
BI_DA_N
8
TD_P
BI_DA_P
9
GND
GND
Each of the two USB Type C ports is USB3.0 rated, with backward compatibility with USB2.0.
USB2.0 hub acts as independent submodule of USB3.0 hub, allowing for independent simultanious use of both USB2.0 and USB3.0 interefaces. Type C connectors are reversible, and have two USB3.0 lanes, and two USB2.0 routed to each of the Type C ports in order to meet reversibility requirements.
Due to this design decision, it is possible to use a passive break out board to route out up to 8 USB ports for simultaneous use: 4x USB2.0 and 4x USB3.0
As it is a USB hub, total bandwidth is shared between all attached USB devices, that is:
420Mbps for all attached USB2.0 devices
5Gbps for all attached USB3.0 devices
22 pin 0.5mm ribbon cable, RPi camera compatible. By default, configured to IMX219 sensor, may be switched to IMX477 from user-space by setting CSI1_IMX477=1 or CSI4_IMX477=1.
On AOS version ainode-v0.7.0 and above:
CSI1 is available under /dev/video1, or sensor-id 1 when using nvarguscamerascr
CSI4 is available under /dev/video2, or sensor-id 2 when using nvarguscamerascr
These are fixed, persistent, and independent from other cameras attached/detached.
On older AOS versions belowainode-v0.7.0, /dev/videoX is allocated dynamically at boot, and thus is not persistent.sensor-id for nvarguscamerasrc are also allocated dynamically:
If both CSI1 and CSI4 are present, CSI1 is sensor-id 1 and CSI4 is sensor id 2
If only CSI1 is present, it is sensor-id 1
If only CSI4 is present, it is sensor-id 1
1
GND
GND
2
CSI1 D0 N
CSI4 D0 N
3
CSI1 D0 P
CSI4 D0 P
4
GND
GND
5
CSI1 D1 N
CSI4 D1 N
6
CSI1 D1 P
CSI4 D1 P
7
GND
GND
8
CSI1 CLK N
CSI4 CLK N
9
CSI1 CLK P
CSI1 CLK P
10
GND
GND
11
-
CSI4 D2 N
12
-
CSI4 D2 P
13
GND
GND
14
-
CSI4 D3 N
15
-
CSI4 D3 P
16
GND
GND
17
Camera PWDN
Camera PWDN
18
-
-
19
GND
GND
20
I2C SCL
I2C SCL
21
I2C SCA
I2C SCA
22
3V3 VDD
3V3 VDD
Molex connector. Pinout partially compatible with Skynode, and can be used Pixhawk adapter board.
1
5V VDD
2
GPIO_11
Linux pin #422
3
GPIO_10
Linux pin #417
4
GND
5
SPI1_SCK
Linux pin #491
6
SPI1_MOSI
Linux pin #493
7
GND
8
GPIO_CS0
Linux pin #494
9
UART2_TX
/dev/ttyTCU0
Debug serial, 115200 bauds
10
GPIO_12
Linux pin #286
11
UART2_RX
/dev/ttyTCU0
Debug serial, 115200 bauds
12
SPI1_MISO
Linux pin #492
13
5V VDD
14
GND
15
5V VDD
16
GPIO_13
Linux pin #393
17
GND
18
UART1_TX
/dev/ttyTHS0
19
I2C1_SCL
20
UART1_RX
/dev/ttyTHS0
21
I2C1_SDA
22
5V VDD
23
GND
24
GND
25
GPIO_09
Linux pin #436
26
GPIO_04
Linux pin #265
27
GPIO_07
Linux pin #424
28
GPIO_03
Linux pin #264
29
GPIO_06
Linux pin #267
30
GPIO_02
Linux pin #419
31
GPIO_05
Linux pin #266
32
GPIO_01
Linux pin #421
33
GND
34
-
35
CAN_P
36
GND
37
CAN_N
38
GND
39
GND
40
5V VDD
To be used with NextVision cameras only. Incorporates video input and camera controls. For more details contact our sales department.
