Interfaces

AI Node Interface Function Map

AI Node interfaces names

Connectors

External Interfaces

Name	Interface	Description
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

Pinout and Paths

Ethernet

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.

Pin	100Base-T	1000Base-T
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

USB Type C

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

MIPI-CSI

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

Pin	CSI1 Function	CSI4 Function
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

IO Header

Molex connector. Pinout partially compatible with Skynode, and can be used Pixhawk adapter board.

Pin	Name	Notes
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

Nextvision

To be used with NextVision cameras only. Incorporates video input and camera controls. For more details contact our sales department.