Interfaces

AI Node Interface Function Map

Connectors

External Interfaces

NameInterfaceDescription

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

Pinout and Paths

Ethernet

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.

Pin100Base-T1000Base-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

USB Type C

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: x4 USB2.0 and x4 USB3.0

As it is a USB hub, total bandiwth is shared between all attached USB devices, that is:

  • 420Mbps for all attached USB2.0 devices

  • 5Gbps for all attached USB3.0 devices

MIPI-CSI

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

PinCSI1 FunctionCSI4 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

IO Header

Molex connector. Pinout partially compatible with Skynode, and can be used Pixhawk adapter board.

PinNameNotes

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

/dev/ttyTCU0

Debug serial, 115200 bauds

10

GPIO_12

Linux pin #286

11

UART2_RX

/dev/ttyTCU0

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

/dev/ttyTHS0

19

I2C1_SCL

20

UART1_RX

/dev/ttyTHS0

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

Nextvision

To be used with NextVision cameras only. Incorporates video input and camera controls. For more details contact our sales department.

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