Interfaces

AI Node Interface Function Map

Connectors

External Interfaces

| Name | Interface | Description | | ---------- | ----------------------------- | ---------------------------------------------------------------- | | 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.

| Pin | 100Base-T | 1000Base-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.

{% hint style="success" %} 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: 4x USB2.0 and 4x USB3.0 {% endhint %}

{% hint style="info" %} As it is a USB hub, total bandwidth is shared between all attached USB devices, that is:

420Mbps for all attached USB2.0 devices
5Gbps for all attached USB3.0 devices {% endhint %}

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.

{% hint style="success" %} 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. {% endhint %}

{% hint style="warning" %} 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 {% endhint %}

| Pin | CSI1 Function | CSI4 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.

| Pin | Name | Notes | | --- | ---------- | ----------------------------------------------------------------- | | 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

/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.