Interfaces
Last updated
Last updated
| 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: 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
| 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 |
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 |
Debug serial, 115200 bauds |
10 | GPIO_12 | Linux pin #286 |
11 | UART2_RX |
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 |
|
19 | I2C1_SCL | |
20 | UART1_RX |
|
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.
