AFE R750 Development
Contents
Attention
Account & Password
Account number
ubuntu
In device used "sudo" or "sudo su" to root. Password required.
ubuntu
Tools
Test Command
JP6.2
CAN
Hardware setting for AGX Orin
<Receive> In terminal, run below command
$ sudo su # modprobe can # modprobe can-dev # modprobe mttcan # ip link set can0 type can bitrate 500000 # ip link set can0 up # candump can0
<Transmit> In other terminal, run below command
$ sudo su # modprobe can # modprobe can-dev # modprobe mttcan # ip link set can1 type can bitrate 500000 # ip link set can1 up # cansend can1 123#abcdabcd
WatchDog
$ sudo su # sync; sleep 2; sync; echo c > /proc/sysrq-trigger
TPM
Pre-install TPM-tools
$ sudo apt install --yes tpm2-tools
(1) generate randon code
$ sudo su
root@linux:/home/ubuntu# tpm2_getrandom --hex 20
(2) encrypted target file msg.dat
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) store data into tpm
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) check the data has been stored tpm
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
1. Please remove all internet.
$ sudo timedatectl
DIO GPIO
$ gpioinfo
GPI_1~GPI_8 (gpio300~gpio307) Can only be set input
$ gpioget gpiochip2 0
GPO_1~GPO_8(gpio308~gpio315) Can only be set output
$ gpioset gpiochip2 8=1
UART
AGX-Orin COM1: ttyTHS1 COM2: ttyTHS2
Switch to 232, 422, 485
Select the mode and refer to the table
COM1 :
COM2 :
RS-232
COM1_SW1 OFF-OFF-OFF-OFF
$ sudo su # stty -F /dev/ttyTHS1 speed 115200 raw -echo # cat /dev/ttyTHS1 & # echo "1234" > /dev/ttyTHS1
RS-422
<Receive> In terminal, run below command
COM1_SW1 ON-OFF-ON-OFF
$ sudo su # stty -F /dev/ttyTHS1 speed 115200 # cat /dev/ttyTHS1 & # echo "1234" > /dev/ttyTHS1
<Transmit> In other terminal, run below command
COM2_SW1 ON-OFF-ON-OFF
$ sudo su # stty -F /dev/ttyTHS2 speed 115200 # cat /dev/ttyTHS2 & # echo "1234" > /dev/ttyTHS2
RS-485
<Receive> In terminal, run below command
COM1_SW1 ON-ON-ON-ON
$ sudo su # stty -F /dev/ttyTHS1 speed 115200 raw -echo # cat /dev/ttyTHS1 & # echo "1234" > /dev/ttyTHS1
<Transmit> In other terminal, run below command
COM2_SW1 ON-ON-ON-OFF
$ sudo su # stty -F /dev/ttyTHS2 speed 115200 raw -echo # cat /dev/ttyTHS2 & # echo "1234" > /dev/ttyTHS2
IMU
BMI088
Please reference : https://docs.nvidia.com/jetson/archives/r36.4/DeveloperGuide/SD/Kernel/Bmi088ImuIioDriver.html?highlight=bmi088
AIW Tool
EWM-W179M201E
First need to install WIFI module
$ cd /usr/local/bin/EWM-W179 $ sudo su # insmod rtk_btusb.ko # insmod 8852be.ko
AIW-170
First need to install WIFI module
$ cd /usr/local/bin/AIW-170 $ sudo su # insmod btbcm.ko # insmod btintel.ko # insmod btqca.ko # insmod btrtl.ko # insmod btusb.ko # modprobe cfg80211 # insmod wlan_cnss_core_pcie.ko # insmod wlan.ko
GMSL
oToBrite Camera
Camera type : oToCAM222-C120M
HW setting : Camera link to GMSL port
AGX Orin :
Orin Nx :
Please install camera driver first
Attention : can only be executed once command to setup camera
Then system will reboot
$ cd /usr/local/bin/otocam
Choose your module
$ sudo ./set_otocam_agxorin_64g.sh
$ sudo ./set_otocam_agxorin_32g.sh
$ sudo ./set_otocam_orinnx.sh
Insmod driver
$ cd /home/ubuntu $ sudo ./insmod-otocam.sh
Check Video channel "video0"...
$ ls /dev/video*
Preview command
$ cd /home/ubuntu $ sudo ./enable-otocamera.sh
Orbbec Camera
Camera type : Orbbec Gemini 335Lg
Model : G40055-270
HW setting : Camera link to GMSL port
AGX Orin :
Orin Nx :
Please install camera driver first
$ cd /usr/local/bin/gemini335lg
Choose your module
$ sudo ./set_gemini335lg_agxorin_64g_32g.sh
$ sudo ./set_gemini335lg_orinnx_16g.sh
Cold reboot the device.
Check Video channel "video0"...
$ ls /dev/video*
Preview command
Attention : Ports 6 and 8 of the AGX Orin are unavailable, this is a limitation.
$ gst-launch-1.0 v4l2src device=/dev/video2 ! 'video/x-raw,width=1280,height=720,framerate=30/1' ! autovideosink