接口定义

整机接口定义

LPA-AGX-Orin 提供了丰�富的接口，具体如下图：

丝印	设备节点	备注
风扇	/sys/class/hwmon/hwmon4/pwm1	根据温度自动调整风扇转速 /usr/sbin/nvfancontrol控制
MIC		输入声音，录制音频文件
LINE		播放音频文件
HDMI1		HDMI输出，最高支持4K@60fps
ETH0	eth0	千兆网卡 J3613
ETH1	eth1	EtherCAT 千兆网卡，靠近recovery键
ETH2	eth2	EtherCAT 千兆网卡，靠近音配端子
WIFI	wlan0	2.4/5GHz
RS485-1	/dev/ttysWK0(398) /sys/class/gpio/PI.00	串口，默认波特率9600
RS485-2	/dev/ttysWK2(399) /sys/class/gpio/PH.07	串口，默认波特率9600
UART	/dev/ttyTHS4	串口，默认波特率9600
PWR LED		电源灯不可控
STATUS LED		状态灯*3 可控

目前需要手动执行 root@tegra-ubuntu:/etc/init.d# sh neardi.sh 加载驱动

设备树与配置文件

主要 dts 路径Linux_for_Tegra/source/public/hardware/nvidia/platform/t23x/concord/kernel-dts/tegra234-p3701-0005-p3737-0000.dts
Pinmux 配置文件bootloader/t186ref/BCT/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi
GPIO 配置文件bootloader/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi
defconfig 路径Linux_for_Tegra/source/public/kernel/kernel-5.10/arch/arm64/configs/tegra_defconfig
neardi 路径Linux_for_Tegra/neardi 配置建议：尽量采用 overlay 方式增加信息，避免直接修改原始配置，以防功能异常。
SoC 管脚配置信息下载Jetson AGX Orin Pinmux Config Template

系统按键说明

风扇使用

控制节点： /sys/class/hwmon/hwmon4/pwm1 默认温控自动调节风扇转速，根据温度自动调整风扇转速。

LINE 使用

i2ctransfer -f -y 8 w2@0x11 0x04 0x30 && \  
amixer -c APE cset name="I2S1 Mux" ADMAIF1 && \  
aplay -D hw:APE,0 they48k.wav

MIC 使用

sudo i2ctransfer -f -y 8 w2@0x11 0x03 0x00 && \  
amixer -c APE cset name="ADMAIF1 Mux" I2S1 && \  
arecord -D hw:APE,0 -r 48000 -c 2 -f S16 -d 10 output.wav

ETH 说明

可以通过调试串口、ssh查看IP地址，例如：

ETH0

root@tegra-ubuntu:/system/lib/modules# ifconfig   
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500  
        inet 192.168.1.21  netmask 255.255.255.0  broadcast 192.168.1.255  
        inet6 fe80::b8a3:6266:f4a8:d724  prefixlen 64  scopeid 0x20<link>  
        ether 00:55:7b:b5:7d:f7  txqueuelen 1000  (Ethernet)  
        RX packets 647  bytes 65789 (65.7 KB)  
        RX errors 0  dropped 0  overruns 0  frame 0  
        TX packets 346  bytes 48062 (48.0 KB)  
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0  
        device interrupt 70  base 0x8000

EtherCAT ETH1/ETH2网口说明E

通过如下命令查看当前ETH1/ETH2型号：

root@tegra-ubuntu:/etc/init.d# lspci  
0005:01:00.0 Ethernet controller: Intel Corporation I210 Gigabit Network Connection (rev 03)

若没有eth1和2，需要加载igb驱动：

root@tegra-ubuntu:/system/lib/modules# insmod igb.ko

eth1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500  
        inet 192.168.1.52  netmask 255.255.255.0  broadcast 192.168.1.255  
        inet6 fe80::91d4:1ba2:972f:2770  prefixlen 64  scopeid 0x20<link>  
        ether 00:a0:c9:00:00:01  txqueuelen 1000  (Ethernet)  
        RX packets 13  bytes 1601 (1.6 KB)  
        RX errors 0  dropped 0  overruns 0  frame 0  
        TX packets 34  bytes 4562 (4.5 KB)  
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0  
        device memory 0x2428000000-242807ffff    
  
eth2: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500  
        ether 00:a0:c9:00:00:02  txqueuelen 1000  (Ethernet)  
        RX packets 0  bytes 0 (0.0 B)  
        RX errors 0  dropped 0  overruns 0  frame 0  
        TX packets 0  bytes 0 (0.0 B)  
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0  
        device memory 0x2b28000000-2b2807ffff

Wi-Fi 说明

通过如下命令查看当前Wi-Fi型号：

root@tegra-ubuntu:/etc/init.d# lspci  
0001:01:00.0 Unassigned class [ff00]: Device 1ffe:6316 (rev 01)

0x1ffe:0x6316:FD7352S。

Uart 使用

设备节点： /dev/ttyTHS4 cat /dev/ttyTHS4 & echo "123" > /dev/ttyTHS4 测试命令： busybox microcom -t 5000 -s 115200 /dev/ttyTHS4

RS485-1 使用

RS485-1 是一种常见的通信接口，用于与外部设备进行串行通信。LPA-AGX-Orin提供了多个串口，分别对应不同的设备节�点。在使用串口之前，需要确保串口连接正确，以及波特率和其他参数设置一致。

cat /sys/kernel/debug/gpio | grep PI.00 可以查询对应GPIO的状态

若未加载wk2xxx_spi.ko驱动，需要加载：

cd /system/lib/modules/  
insmod /system/lib/modules/wk2xxx_spi.ko

RS485设备文件为/dev/ttysWK0和/dev/ttysWK2。在开发板设备上运行下列命令互相通信：

echo 398 > /sys/class/gpio/export  
echo out > /sys/class/gpio/PH.07/direction  
echo 1 > /sys/class/gpio/PH.07/value  
echo 399 > /sys/class/gpio/export  
echo out > /sys/class/gpio/PI.00/direction  
echo 0 > /sys/class/gpio/PI.00/value  
  
cat /dev/ttysWK2 &  
echo "neardi RS485 test..." > /dev/ttysWK0

LED 说明

STATUS LED 是LPA-AGX-Orin的状态指示灯，用于显示设备的运行状态。LED 有3个，分别对应不同的状态。

查看LED当前状态：

root@tegra-ubuntu:/sys/class/gpio# cat /sys/kernel/debug/gpio   
 gpio-440 (PP.00               |sysfs               ) out lo   
 gpio-441 (PP.01               |sysfs               ) out lo   
 gpio-442 (PP.02               |sysfs               ) in  lo

LED1是POWER灯斜对角

cd /sys/class/gpio  
echo 440 > export  
cd PP.00  
echo out > direction  
echo 1 > value # 亮  
echo 0 > value # 灭

LED2是POWER灯右方

cd /sys/class/gpio  
echo 441 > export  
cd PP.01  
echo out > direction  
echo 1 > value # 亮  
echo 0 > value # 灭

LED3是POWER灯上方

cd /sys/class/gpio  
echo 442 > export  
cd PP.02  
echo out > direction  
echo 1 > value # 亮  
echo 0 > value # 灭

摄像头模块配置

解串MAX9296A芯片 * 4，1个MAX9296A芯片对应2个GMSL端口，总共8个GMSL端口。

频率锁定：  
i2cset -y -f 2 0x70 0x04  
i2cdump -y -f 2 0x48  
i2ctransfer -y -f 2 w3@0x48 0x00 0x01 0x01 //设定频率，具体信息见max9296a文档  
i2ctransfer -f -y 2 w2@0x48 0x00 0x01 r1  
i2cdetect -y -r 2  
i2cdump -y -f 2 0x1a

模拟信号输入：CHA，CHB
数字信号输出（MIPI）：portA，portB
当前配置：CHA、CHB 均从 portA 输出（vc0）
默认相机模组：丽景 camera

GMSL结构说明： https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/CameraDevelopment/JetsonVirtualChannelWithGmslCameraFramework.html?highlight=gmsl

cd /home/neardi  
./jetson_gmsl_x1.sh -s 30 -a 48 && v4l2-ctl -d /dev/video0 --stream-mmap --stream-count=1000 --set-fmt-video=width=1920,height=1536,pixelformat=UYVY  
./jetson_gmsl_x1.sh -s 31 -a 48 && v4l2-ctl -d /dev/video2 --stream-mmap --stream-count=1000 --set-fmt-video=width=1920,height=1536,pixelformat=UYVY  
./jetson_gmsl_x1.sh -s 32 -a 48 && v4l2-ctl -d /dev/video4 --stream-mmap --stream-count=1000 --set-fmt-video=width=1920,height=1536,pixelformat=UYVY  
./jetson_gmsl_x1.sh -s 33 -a 48 && v4l2-ctl -d /dev/video6 --stream-mmap --stream-count=1000 --set-fmt-video=width=1920,height=1536,pixelformat=UYVY

TYPEC

结构说明：

Jetson AGX Orin Platform Adaptation and Bring-Up — NVIDIA Jetson Linux Developer Guide https://docs.nvidia.com/jetson/archives/r36.4.3/DeveloperGuide/HR/JetsonModuleAdaptationAndBringUp/JetsonAgxOrinSeries.html#enabling-gpio-as-a-wake-up-source

两个typec都可以烧录/识别typec转u盘

root@tegra-ubuntu:~# lsblk  
NAME         MAJ:MIN RM   SIZE RO TYPE MOUNTPOINT  
loop0          7:0    0    16M  1 loop   
sda            8:0    1  14.3G  0 disk   
└─sda1         8:1    1  14.3G  0 part

CAN

modprobe can  
modprobe can_raw  
modprobe mttcan  
ip link set can0 down && ip link set can0 type can bitrate 100000  && ip -details -statistics link show can0 && ip link set can0 up  
ip link set can1 down && ip link set can1 type can bitrate 100000  && ip -details -statistics link show can1 && ip link set can1 up  
ifconfig  
dmesg | grep can  
candump can0 &  
cansend can0 1F223344#1122334455667788  
cansend can1 1F223344#1122334455667788  
pkill -9 can*  
lsof |grep can0  
ps -ef

4/5G

若未加载qmi_wwan驱动，需要加载：

root@tegra-ubuntu:~# lsmod  
Module                  Size  Used by  
qmi_wwan               36864  0

使用quectel-CM工具配置4/5G模块：

root@tegra-ubuntu:/system/lib/modules# quectel-CM   
[02-14_03:27:20:959] QConnectManager_Linux_V1.6.7  
[02-14_03:27:20:960] Find /sys/bus/usb/devices/1-4.2 idVendor=0x2c7c idProduct=0x125, bus=0x001, dev=0x003  
[02-14_03:27:20:960] Auto find qmichannel = /dev/cdc-wdm0  
[02-14_03:27:20:960] Auto find usbnet_adapter = wwan0  
[02-14_03:27:20:960] netcard driver = qmi_wwan, driver version = 5.10.216-tegra  
[02-14_03:27:20:960] Modem works in QMI mode  
[02-14_03:27:20:977] cdc_wdm_fd = 7  
[02-14_03:27:21:065] Get clientWDS = 5  
[02-14_03:27:21:097] Get clientDMS = 1  
[02-14_03:27:21:129] Get clientNAS = 2  
[02-14_03:27:21:162] Get clientUIM = 1  
[02-14_03:27:21:194] Get clientWDA = 1  
[02-14_03:27:21:225] requestBaseBandVersion EC20CEHDLGR08A06M1G  
[02-14_03:27:21:354] requestGetSIMStatus SIMStatus: SIM_READY  
[02-14_03:27:21:417] requestGetProfile[pdp:1 index:1] cmnet///0/IPV4V6  
[02-14_03:27:21:449] requestRegistrationState2 MCC: 460, MNC: 0, PS: Attached, DataCap: LTE  
[02-14_03:27:21:481] requestQueryDataCall IPv4ConnectionStatus: DISCONNECTED  
[02-14_03:27:21:481] ip addr flush dev wwan0  
[02-14_03:27:21:486] ip link set dev wwan0 down  
[02-14_03:27:21:546] requestSetupDataCall WdsConnectionIPv4Handle: 0x86d65170  
[02-14_03:27:21:675] ip link set dev wwan0 up  
[02-14_03:27:21:680] No default.script found, it should be in '/usr/share/udhcpc/' or '/etc//udhcpc' depend on your udhcpc version!  
[02-14_03:27:21:680] busybox udhcpc -f -n -q -t 5 -i wwan0  
udhcpc: started, v1.30.1  
udhcpc: sending discover  
udhcpc: sending discover  
udhcpc: sending discover  
udhcpc: sending discover  
udhcpc: sending discover  
udhcpc: no lease, failing  
[02-14_03:27:36:931] File:ql_raw_ip_mode_check Line:143 udhcpc fail to get ip address, try next:  
[02-14_03:27:36:931] ip link set dev wwan0 down  
[02-14_03:27:36:936] echo Y > /sys/class/net/wwan0/qmi/raw_ip  
[02-14_03:27:36:937] ip link set dev wwan0 up  
[02-14_03:27:36:942] busybox udhcpc -f -n -q -t 5 -i wwan0  
udhcpc: started, v1.30.1  
udhcpc: sending discover  
udhcpc: sending select for 10.56.7.209  
udhcpc: lease of 10.56.7.209 obtained, lease time 7200  
[02-14_03:27:37:063] ip -4 address flush dev wwan0  
[02-14_03:27:37:066] ip -4 address add 10.56.7.209/30 dev wwan0  
[02-14_03:27:37:069] ip -4 route add default via 10.56.7.210 dev wwan0

测试ping 4/5G模块是否正常连接：

root@tegra-ubuntu:~# ping -I wwan0 124.237.177.164  
PING 124.237.177.164 (124.237.177.164) from 10.56.7.209 wwan0: 56(84) bytes of data.  
64 bytes from 124.237.177.164: icmp_seq=1 ttl=47 time=165 ms  
64 bytes from 124.237.177.164: icmp_seq=2 ttl=47 time=55.1 ms  
64 bytes from 124.237.177.164: icmp_seq=3 ttl=47 time=52.6 ms

整机接口定义​

设备树与配置文件​

系统按键 说明​

风扇 使用​

LINE 使用​

MIC 使用​

ETH 说明​

Wi-Fi 说明​

Uart 使用​

RS485-1 使用​

LED 说明​

摄像头模块配置​

TYPEC​

CAN​

4/5G​