Difference between revisions of "AIR 020 Development"

Latest revision as of 03:22, 16 July 2025

Flash Mac Address

GBE in eeprom

$ sudo ./eeprom $SOC $mac_address

Where SOC

  186 : TX2-NX
  194 : XavierNX
  210 : Nano 

Intel I210

$ sudo -s
$ BDF=`lspci | grep 210 | awk '{print $1}'`
$ setpci -s $BDF COMMAND=0007

Get NIC

$./EepromAccessTool

Flash I210 address with mac_address = D4E5F6123456 ( If mac address = D4:E5:F6:12:34:56 )

$ ./EepromAccessTool -nic=<NIC> -f=Dev_Start_I210_Copper_NOMNG_8Mb_A2_3.25_0.03.hex -mac=$mac_address

Cold reboot the device.

Tools

Test Command

JP5.1.0

CAN

$ modprobe can
$ modprobe can-dev
$ modprobe mttcan
$ ip link set can0 type can bitrate 500000
$ ip link set can0 up
$ ip link set can1 type can bitrate 500000
$ ip link set can1 up

In other terminal, run below command

$ candump can1

then run

$ cansend can0 123#abcdabcd

WatchDog

root@linux:/home/ubuntu$ sudo -s
root@linux:/home/ubuntu# sync; sleep 2; sync; echo c > /proc/sysrq-trigger

TPM

Pre-install TPM-tools

$ sudo apt install --yes tpm2-tools

(1)產生randon code

root@linux:/home/ubuntu# tpm2_getrandom --hex 20

(2) 對指定檔案 msg.dat 加密

root@linux:/home/ubuntu# tpm2_createprimary -C p -c platform_primary.ctx
root@linux:/home/ubuntu# tpm2_create -C platform_primary.ctx -G rsa2048 -u key.pub -r key.priv
root@linux:/home/ubuntu# tpm2_load -C platform_primary.ctx -u key.pub -r key.priv -c key.ctx
root@linux:/home/ubuntu# echo "my test" >msg.dat
root@linux:/home/ubuntu# tpm2_rsaencrypt -c key.ctx -o msg.enc msg.dat
root@linux:/home/ubuntu# cat msg.enc
root@linux:/home/ubuntu# tpm2_rsadecrypt -c key.ctx -o msg.ptext msg.enc
root@linux:/home/ubuntu# cat msg.ptext 
root@linux:/home/ubuntu# cat msg.dat

(3) 將資料儲存至 tpm 內存

root@linux:/home/ubuntu# tpm2_nvdefine -Q 0x1500031 -C o -s 32 -a "ownerread|policywrite|ownerwrite"
root@linux:/home/ubuntu# echo "write_tpm_adv" >  adv.data
root@linux:/home/ubuntu# tpm2_nvwrite -Q 0x1500031 -C o -i adv.data
root@linux:/home/ubuntu# tpm2_nvread -Q 0x1500031 -C o -s 32 -o read.data
root@linux:/home/ubuntu# cat read.data

(4) 確認已經寫入儲存區域　

root@linux:/home/ubuntu# tpm2_nvreadpublic > nv.out
root@linux:/home/ubuntu# cat nv.out

Error

ERROR: Esys_NV_DefineSpace(0x14C) - tpm:error(2.0): NV Index or persistent object already defined
ERROR: Failed to create NV index 0x1500031.

fixed

root@linux:/home/ubuntu# tpm2_nvundefine 0x1500031

RTC

DUT AC on:
1. Power on DUT and boot into OS.
2. Connect a LAN cable from the DUT to DHCP server.
3. Get a dynamic IP from DHCP server.
4. Type cmd to disable ntp service in DUT.

# sudo timedatectl set-ntp false

5. Synchronize system time and RTC time with NTP server.

# ntpdate tock.stdtime.gov.tw <===安裝ntpdate方式: $sudo apt-get install ntpdate <enter> 
# hwclock -w 

6. Keep the DUT on for 24 hours.
7. Synchronize system time and RTC time with NTP server again and check inaccuracies.

# ntpdate tock.stdtime.gov.tw && hwclock -s &&ntpdate -u tock.stdtime.gov.tw 

Camera

The imx219 mode:
Size: Discrete 3280x2464 Interval: Discrete 0.048s (21.000 fps)
Size: Discrete 3280x1848 Interval: Discrete 0.036s (28.000 fps)
Size: Discrete 1920x1080 Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 1640x1232 Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 1280x720 Interval: Discrete 0.017s (60.000 fps)

Preview command:
3280x2464

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=3280, height=2464, format=NV12, framerate=21/1' ! nv3dsink

3280x1848

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=3280, height=1848, format=NV12, framerate=28/1' ! nv3dsink

1920x1080

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1920, height=1080, format=NV12, framerate=29/1' ! nv3dsink

1640x1232

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1640, height=1232, format=NV12, framerate=29/1' ! nv3dsink

1280x720

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1280, height=720, format=NV12, framerate=59/1' ! nv3dsink

GPIO Expander

Test GPIO high/low

1).Switch to root

ubuntu@localhost:~ sudo -s
password：ubuntu

2).Commnad : where <GPIO> : gpio number and <LEVEL> : high(1)/low(0)

Xavier-NX JetPack 4.x:

For example, pull up GPIO1 to high.

root@localhost:/home/ubuntu# echo 393 > /sys/class/gpio/export
root@localhost:/home/ubuntu# echo out > /sys/class/gpio/gpio393/direction
root@localhost:/home/ubuntu# echo 1 > /sys/class/gpio/gpio393/value

Xavier-NX JetPack 5.1:

For example, pull up GPIO1 to high.

root@localhost:/home/ubuntu# echo 419 > /sys/class/gpio/export
root@localhost:/home/ubuntu# echo out > /sys/class/gpio/PN.01/direction
root@localhost:/home/ubuntu# echo 1 > /sys/class/gpio/PN.01/value

Orin-Nano JetPack 6.2:

For example, pull up GPIO1 to high.

root@localhost:/home/ubuntu# echo 391 > /sys/class/gpio/export
root@localhost:/home/ubuntu# echo out > /sys/class/gpio/PH.00/direction
root@localhost:/home/ubuntu# echo 1 > /sys/class/gpio/PH.00/value

UART

Xavier-NX COM1: ttyTHS1 , COM2: ttyTHS0
Orin-Nano COM1: ttyTHS1 , COM2: ttyTHS2

Switch to root

ubuntu@localhost:~ sudo -s
password：ubuntu

RS-232

Xavier-NX COM1: ttyTHS1 , COM2: ttyTHS0
COM1 : COM1_SW1 OFF-OFF-OFF-OFF

stty -F /dev/ttyTHS1 speed 115200 raw -echo
cat /dev/ttyTHS1 &
echo "1234" > /dev/ttyTHS1

COM2 : COM2_SW1 OFF-OFF-OFF-OFF

stty -F /dev/ttyTHS0 speed 115200 raw -echo
cat /dev/ttyTHS0 &
echo "1234" > /dev/ttyTHS0

Orin-Nano COM1: ttyTHS1 , COM2: ttyTHS2

RS-422

Xavier-NX
COM1 : COM1_SW1 ON-OFF-ON-OFF
COM2 : COM2_SW1 ON-OFF-ON-OFF
COM2 -> COM1

stty -F /dev/ttyTHS1 speed 115200
stty -F /dev/ttyTHS0 speed 115200
cat /dev/ttyTHS1 &
echo "1234" > /dev/ttyTHS0

COM1 -> COM2

stty -F /dev/ttyTHS0 speed 115200
stty -F /dev/ttyTHS1 speed 115200
cat /dev/ttyTHS0 &
echo "1234" > /dev/ttyTHS1

Orin-Nano COM1: ttyTHS1 , COM2: ttyTHS2

RS-485

Need to adjust the COM port SW1 as shown below.
COM1 : COM1_SW1
COM2 : COM2_SW1

 

Xavier-NX

COM1 : /dev/ttyTHS1
COM2 : /dev/ttyTHS0
[Hardware flow control]
COM2 -> COM1
COM1_SW1 ON-ON-ON-ON, COM2_SW1 ON-ON-ON-OFF

stty -F /dev/ttyTHS1 speed 115200
stty -F /dev/ttyTHS0 speed 115200
cat /dev/ttyTHS1 &
echo "1234" > /dev/ttyTHS0

COM1 -> COM2
COM1_SW1 ON-ON-ON-OFF, COM2_SW1 ON-ON-ON-ON

stty -F /dev/ttyTHS0 speed 115200
stty -F /dev/ttyTHS1 speed 115200
cat /dev/ttyTHS0 &
echo "1234" > /dev/ttyTHS1

[Software flow control]

COM1_SW1/COM2_SW1 ON-ON-OFF-OFF
COM2 -> COM1
UART0_RTS (103) : gpio-482 (PX.06)

echo 482 > /sys/class/gpio/export
echo out > /sys/class/gpio/PX.06/direction
stty -F /dev/ttyTHS1 speed 115200
stty -F /dev/ttyTHS0 speed 115200
cat /dev/ttyTHS1 &
echo 1 > /sys/class/gpio/PX.06/value
echo "1234" > /dev/ttyTHS0
echo 0 > /sys/class/gpio/PX.06/value

COM1 -> COM2
UART1_RTS (207) : gpio-447 (PR.04)

echo 447 > /sys/class/gpio/export
echo out > /sys/class/gpio/PR.04/direction
stty -F /dev/ttyTHS1 speed 115200
stty -F /dev/ttyTHS0 speed 115200
cat /dev/ttyTHS0 &
echo 1 > /sys/class/gpio/PR.04/value
echo "1234" > /dev/ttyTHS1
echo 0 > /sys/class/gpio/PR.04/value

Orin-Nano COM1: ttyTHS1 , COM2: ttyTHS2

Reference

JP 4.5.1 / JP 4.6.1
AIR-020-RS-485
Calculate GPIO value from pin number