HZHY-AI200完整开发手册

第第PAGE1共NUMPAGES42PortableDocument第第PAGE3共NUMPAGES42第第PAGE4共NUMPAGES42 声 简 第1 第2 Pimux配 第3 检查GPIO编 第4 第5 Pinmux配 测 测 I2C扩展GPIO配 camera测 USB0VBUSDET引脚设 USB配 继电 移植AC8265wifi/蓝牙模块到JetsonXaver 第6 11第第PAGE6共NUMPAGES42第1章概述本文档主要为L4T开发配置说明，及如何修改官方SDK到HZHY-AI200板。HZHY-AI200EVM4SD卡，具有RS232/RS485转换电路等。22Pimux第第PAGE7共NUMPAGES42第2章Pimux$JETPACK_ROOT/JetPack_4.4_DP_Linux_DP_JETSION_XAVIER_NX/Linux_for_Tegra/jetson-xavier-as-xavier-nx.confXavierNXpinmuxtegra19x-mb1-pinmux-p362.1-GenerateDTFiletegra19x-jetson_xavier_nx_module-$pythonpinmux-dts2cfg.py--pinmuxaddr_info.txtgpio_addr_info.txtpor_val.txt--mandatory_pinmux_filemandatory_pinmux.txttegra19x-jetson_xavier_nx_module-pinmux.dtsitegra19x-jetson_xavier_nx_module-gpio-default.dtsi1.0>pinmux.cfg$pythonpinmux-dts2cfg.py--padpad_info.txttegra19x-jetson_xavier_nx_module-padvoltage-default.dtsi1.0>pad.cfgpinmux.cfg拷贝到_for_Tegra/bootloader/t186ref/BCT/PINMUX_CONFIGtegra19x-mb1-pinmupad.cfg拷贝到_Tegra/bootloader/t186ref/BCT/PMC_CONFIGtegra19x-mb1-padvoltage-p$sudocat$sudocat/sys/kernel/debug/tegra_pinctrl_reg|grepBank:0Reg:0x02434000Val:0x00000454->dap2_din_pi1Bank:0Reg:0x02434008Val:0x00000400->dap2_dout_pi0Bank:0Reg:0x02434010Val:0x00001440->dap2_fs_pi2Bank:0Reg:0x02434018Val:0x00001440->dap2_sclk_ph7XavierTechnicalReferenceManual文档中搜索"BallName"pinmux寄存器定义，寄存器名PADCTRL_XXXX_"BallName"_[0-9]。bit10SFIO(1)bit1:0SFIO时的功能033GPIO第第PAGE10共NUMPAGES42第3GPIO我们需要了解GPIOGPIOJetson_AGX_Xavier_Generic_Customer_Pinmux_Release.xlsxGPIO3_PS.04为例介GPIO编号计算方法。GPIO，所以查找内核启动信息获取mainaonroot@jetson:/home/ubuntu#dmesg|grep[0.768151]gpiochip_setup_dev:registeredGPIOs288to511ondevice:gpiochip0(tegra-gpio)[0.776930gpiochip_setup_dev:registeredGPIOs248to287ondevice:gpiochip1tegra-gpio-aon)JetsonGPIO端口偏移如下：•tegra-gpio,offset=GPIO3_PS.04tegra-gpio（main）组即偏移量为288。tegra194-gpio.hGPIOGPIO3_PS.04的编号为(18*84)+288436。group+(port*8+pin)/*/*GPIOsimplementedbymaincontroller#define0#define1#define2#define3#define4#define5#define6#define789#defineTEGRA194_MAIN_GPIO_PORT_FF#defineTEGRA194_MAIN_GPIO_PORT_GG#defineTEGRA194_MAIN_GPIO(port,offset)\((TEGRA194_MAIN_GPIO_PORT_##port*8)+offset)/*GPIOsimplementedbyAONGPIOcontroller0123444第第PAGE12共NUMPAGES42第4章内核配置说明PCubuntuaarch64-linux-gnu-gcc-v查看交叉4.1-es/kernel/kernel-4.9目录，执行以下命令编译内核。sudomakeARCH=arm64CROSS_COMPILE=aarch64-linux-gnu- LOCALVERSION=-tegrategr sudomakeARCH=arm64CROSS_COMPILE=aarch64-linux-gnu-LOCALVERSION=-tegramodules_installINSTALL_MOD_PATH=../../../rootfs/cparch/arm64/boot/Image../../../kernel/Imagecparch/arm64/boot/dts/*.dtb../../../kernel/dtb/cd/workspace/Nvidia/nvidia_sdk/JetPack_4.4_DP_Linux_DP_JETSION_XAVIER_NX/Linux_for_Tesudotar--ownerroot--grouproot-cjfkernel_supplements.tbz2kernel_supplements.tbz2kernel/kernel_supplements.tbz2文件。sudo写系统解决。为了避免这种情况，我们可以备份内核镜像（确定备份的镜像时好使的。参考/boot/extlinux/extlinux.confLABELkenel启动崩溃时，可以从备份的kernel启动。extlinux.conf如下所示：4.2-4.2-XavierNXp3449-0000+p3668-0001-qspi-emmc.conf可知，XavierNX使用的设备树文x_DP_JETSION_XAVIER_NX/Linux_for_Tegra/sources/hardware路径下。55HZHY-AI200_B第第PAGE35共NUMPAGES42第5章HZHY-AI200_B在内核menuconfig添加SDMMC3的配置：tegra194-p3668-common.dtsi、tegra194-soc-tegra194-PinDTSDTSSDDTSDTS17)44-pinhe17)M.2KeyJ6USB-TypeGPinDTSDTSCANI2CPinDTSi2c-i2c-CameraCamerai2c-i2c-i2c-i2c-i2c-i2c-)IO44-pini2c-I2SI2SPinDTSDTSM.2KeyE44-pinStartPinDTS44-pin44-pinPCIEStartDTSM.2KeyM.2KeyM.2Key44pinHDR中一些引脚配置为GPIO44pinHeader中JetsonAGXXavierNXExpansionHeaderforHZHYGPIOGPIO123456789Pinmux5.3-这里使用的为CNA1CONFIG_MTTCAN=sources/hardware/nvidia/platform/t19x/jakku/kernel-dts/common/tegra194-p3668-common.dtsimttcan@c310000{status=安装CANsudomodprobecan //插入can总线子系统（.InsertCANBUSsubsystemsupportmodule）sudomodprobecan_raw//插入can协议模块（InsertRawCANprotocolmodule(CAN-IDfiltering)）sudomodprobemttcan //真正的can口支（RealCANinterfacesupport(forourcase,itis:mttcan)）配置CANCAN比特率(Bitrate)500Kbpssudoiplinksetcan0typecanbitrate500000sudoiplinksetup使用ifconfig5.3-#sudoapt-getinstallcan-PC端CAN测试软甲，如CANalyst.exe5.3-发送数据的格式(均为十六进制3字节是标准帧8字节是扩展帧跟标准数据帧R跟远程帧跟CANFD帧):如下示例，123ID8字节十六进制数,可以用.#cansendcan05.3-收的数据格式如下：can_xcan_iddata_dlc#candump5.3-

5.3-echo0>/sys/devices/pwm-echo200>/sys/devices/pwm-5.5-设备树中的配置顺序。因为在设备树中配置顺序为sdmmc4->sdmmc3->sdmmc1，如下图所示，这样使得sdmmc3sdmmc3识别为了启动卡。5.5-Linux_for_Tegra/sources/hardware/nvidia/platform/t19x/jakku/kernel-dts/common/*Addedbyhoward2020-05-20*/sdhci_sd3:sdhci@3440000{mmc-ocr-mask=cd-gpios=<&tegra_main_gpioTEGRA194_MAIN_GPIO(Q,2)0>;status="okay";进入Linux_for_Tegra/sources/hardware/nvidia/soc/t19x/kernel-dts/tegra194-soctegra194-sdhci0&sdmmc1;sdhci2&sdmmc3;:5.6-I2CGPIOU9、U10（tca9554）I2CGPIO扩展芯片连接到了I2C9I2C@31e0000的节点中tca9554的参数配置。hdr40_i2c1:i2c@31e0000{pinctrl-names="default";pinctrl-0=clock-frequency=<100000>;tca9554_i2c1:gpio@38{//compatible="ti,tca9554";compatible="ti,tca6408";reg=<0x38>;#gpio-cells=<2>;vcc-supply=<&p3509_vdd_3v3_cvb>;status="okay";tca9554_i2c1_outlow{status="okay";GPIO-0:GPIO-1:GPIO-2:GPIO-3:GPIO-4:GPIO-5:GPIO-6:GPIO-7:gpios=<001020>;label="tca9554_i2c1_outlow_0",tca9554_i2c1_outhigh{gpios=<304050607label="tca9554_i2c1_outhigh_3",status=tca9554_i2c1_input{status=tca9554_cam:cam_gpio@39//compatible="ti,tca9554";compatible="ti,tca6408";reg=<0x39>;vcc-supply=<&p3509_vdd_3v3_cvb>;#gpio-cells=<2>;status="okay";tca9554_cam_outlow{GPIO-0:GPIO-1:GPIO-2:GPIO-3:GPIO-4:GPIO-5:GPIO-6:GPIO-7:gpios=<001020304050607label="tca9554_cam_outlow_0",tca9554_cam_outhigh{status=tca9554_cam_input{status="disabled";驱动位置：sources/kernel/kernel-4.9/drivers/gpio/gpio-pca953x.cU16lm92I2C2i2c@c240000lm92传感器的参hdr40_i2c0:i2c@c240000temp-sensor@48#thermal-sensor-cells=<1>;compatible="lm92";reg=<0x48>;status="okay"; 在内核menuconfigCONFIG_SENSORS_LM92=yDeviceDrivers->HardwareMonitoringsupport-[*]NationalSemiconductorLM92andDevelopment\h\hNVIDIA相机串行接口（NVCSI）VINVCSIVI的像NVCSIVINVCSI没有VI将像素数据发送到内存。GPIO的配置，实现CAMERA复位、GPIOI2CNVCSI组件：配置CSIVI：将NVCSIISP根据原理图可知，CMAERA与CSII2C3I2CMUX同一种摄像机都具有相同的I2C地址因此我们需要一种将一个摄像机与另一个摄像机区分开的方法。最简单的方法是使用多路复用器。根据原理图可知，Camera通过2个I2CMUX进行选择总线上的设备，所以这里需要配置“i2c-mux-gpio”驱动，进行 选择。根据当访问子总线上的设备时，将使用GPIO列表输出在相关节点的reg属性中设置的值，该列表中的第一个包含最低有效值。因为有4个摄像头接口，需要2个I2CMUX，这时就需要4个gpio来控制I2CMUX的在设备树中配置如下（tca9554_cam为i2cIO节点cam_i2cmuxcompatible="i2c-mux-gpio";#address-cells=<1>;#size-cells=mux-gpios=<&tegra_aon_gpioCAM0_CAM2_MUXGPIO_ACTIVE_LOW>,//slect<&tca9554_cam0GPIO_ACTIVE_LOW>,//slect<&tca9554_cam3GPIO_ACTIVE_LOW>,//OEA0:slect<&tca9554_cam1GPIO_ACTIVE_LOW>;//OEB1:deslecti2c-parent=<&cam_i2c>; //whichis0x3180000,i2c2 } } } }}CMAERAI2CMUX选择Camera选择regtca9554_campin1选择CAM0 tca9554_campin3选择CAM1 tca9554_campin0Cam1或选择 Cam（0cam0,1000100101000110Camera0CSIPortcsi_outStreamCamera1CSIPortcsi_outStreamCamera2CSIPortcsi_outStreamCamera3CSIPortcsi_outStreamCam0Cam1Cam2 Cam3modulemodulemodulemoduleCamerai2c/I2C5.7-vi_inXNVCSI输出的位置。vi@15c10000num-channels=<4>;ports{#address-cells=#size-cells=port@0reg=<0>;rbpcv2_imx219_vi_in0:endpoint{port-index=bus-width=remote-endpoint=CSI0CSI物理接口与模块之间的物理1用作将数据发送到的输出。如下所示：csi_base:nvcsinum-channels=#address-cells=#size-cells=<0>;csi_chan0:channel@0{reg=<0>;ports{#address-cells=#size-cells=<0>;csi_chan0_port0:port@0{reg=rbpcv2_imx219_csi_in0:endpoint@0{port-index=<0>;bus-width=remote-endpoint=csi_chan0_port1:port@1{reg=<1>;rbpcv2_imx219_csi_out0:endpoint@1remote-endpoint=}1920x1080@30FPS1280x720@60FPS。以多路复用器（i2c_8:i2c@8）8为例,imx219_a,I2C0x10i2c_8:i2c@8imx219_cam0:rbpcv2_imx219_a@10{compatible="nvidia,imx219";ports#address-cells=#size-cells=port@0reg=<0>;rbpcv2_imx219_out0:endpoint{port-index=bus-width=remote-endpoint=port-index端口索引参数，用于指定两个不同模块之间的连接。对于VI模块，端口索引代表输入5.7-tegra-camera-platformcompatible="nvidia,tegra-camera-platform";num_csi_lanes=<8>;max_lane_speed=min_bits_per_pixel=vi_peak_byte_per_pixel=vi_bw_margin_pct=max_pixel_rate=isp_peak_byte_per_pixel=isp_bw_margin_pct=modulescam_module0:module0badge="jakku_topleft_RBP194";position="topleft";orientation="1";cam_module0_drivernode0:drivernode0{pcl_id="v4l2_sensor";devname="imx2199-0010";proc-device-tree="/proc/device-cam_module0_drivernode1:drivernode1{pcl_id="v4l2_lens";proc-device-tree="/proc/device-注意bottomtop和center在六摄像系统：bottomleftbottomrightcenterleftcenterrighttopleftI2Ccamera首先确定板卡已经通过SDKManageropencv执行以下命令下载Camera\hCSI-CameraREADME.md，根据里面的测试方法进行测试：gst-launch-1.0nvarguscamerasrcsensor_id=0!'video/x-raw(memory:NVMM),width=3820,height=2464,framerate=21/1,format=NV12'!nvvidconvflip-method=0!'video/x-raw,width=960,height=616'!nvvidconv!nvegltransform!nveglglessink-e对于CSI-Camera中其他测试程序测试方法请查看README.md进行测试，这些测试程序需要USB参考（详细的USB设备树介绍\h\hJetsonXavierNXPlatformAdaptationandBring-Up->PortingUSBUniversalSerialBus)共有USB3.1P0、USB3.1P2、USB3.1P3USB0VBUSDETVBUSGPIO3_PZ.01。VBUS配置如下：external-connection{vbus_id_extcon:extcon@1{compatible="extcon-gpio-states";reg=<0x1>;extcon-gpio,name="VBUS";extcon-gpio,cable-states=<0x00x10x10x0>;gpios=<&tegra_main_gpioTEGRA194_MAIN_GPIO(Z,1)extcon-gpio,out-cable-names=<EXTCON_USBEXTCON_USB_HOSTEXTCON_NONE>;#extcon-cells=USB5.8-这里我们使用到了USB2.0的USB0、USB1、USB2USB3.1的USB3-2HZHY-AI200_B载板上USBUSB0：J7（microJ5（USB3.1HDRBTPCIE参考（详细的PCIE设备树介绍：\h\hJetsonXavierNXPlatformAdaptationandBring-Up》PCIeControllerConfigurationJetsonXavierNXPCIe速度：所有控制器均支持Gen4LaneC0,C5:uptoC4:uptoC1,C2,C3:C0,C4andC5JetsonXavierNXPCIE5.9-可知使用的为PCIE1与PCIE4：M.2KeyE:C1控制器工作在x1M.2KeyEWi-PCIE5：C5x4M.2KeyMNVMe卡。5.10-JetsonXavierNXUART内部ledscompatible="gpio-le