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Interfaces

AI Node interfaces names
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 |
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 |
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: x4 USB2.0 and x4 USB3.0
As it is a USB hub, total bandiwth 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
, orsensor-id 1
when usingnvarguscamerascr
- CSI4 is available under
/dev/video2
, orsensor-id 2
when usingnvarguscamerascr
These are fixed, persistent, and independent from other cameras attached/detached.
On older AOS versions below
ainode-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 issensor 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 |
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 | |
To be used with NextVision cameras only. Incorporates video input and camera controls. For more details contact our sales department.
Last modified 22d ago