1 Product Introduction
The AFE‑A702 is using the ASR‑A702 as its motherboard.
This document will share how to use AFE-A702/ASR-A702 with Ubuntu 24.04.
Platform: Jetson Thor
1-1 Product Features
- Ubuntu 24.04 validation ready
- Peripheral interface function verification
- Network, display, storage, and expansion interface validation
- Suitable for robotic / edge AI application validation workflow
- Supports Advantech Robotic Suite integration workflow
1-2 Official Website
2 Hardware Interface Introduction
2-1 Layout and Sizes
- ASR-A702/AFE-A702 series
2-2 Switch and Jumper
Please refer to the following images for the switch and jumper settings.
| Item | Name | Description |
|---|---|---|
| 1 | RST_RCOVY_(1_2) | System reset and system image recovery |
| 2 | COM12_SAFE1 | COM Port Failsafe Function Selection |
| 3 | COM1_SW1 | COM1 SW RS232/422/485 mode selection |
| 4 | COM2_SW1 | COM2 SW RS232/422/485 mode selection |
| 5 | PWRBTN1 | System power button |
| 6 | JPSON1 | AT/ATX mode switch |
2-3 Connector Introduction
Please refer to the following images for the IO connectors, more details about the pin defination can be found in the AFE-A702 User Manual.
| Item | Name | Description |
|---|---|---|
| 1 | CAGE1_SFP28 | SFP28 connector |
| 2 | CAN1 | CAN BUS |
| 3 | GPIO1 | GPIO 16-bit isolation CONN I/O |
| 4 | REMOTE1 | Remote connector |
| 5 | DCIN1 | DC IN power connector |
| 6 | M2_E1 | M.2 E-Key connector |
| 7 | COM1 | COM port 1 |
| 8 | COM2 | COM port 2 |
| 9 | BAT1 | Battery connector |
| 10 | SYS_FAN2 | System fan |
| 11 | SYS_FAN3 | System fan |
| 12 | M2_M1 | M.2 M-Key connector |
| 13 | PWRBTN1 | Power button |
| 14 | OTG1 | Type-C (flash image Recovery mode) |
| 15 | HDMI1_USB0506 | HDMI + USB 3.2 Gen2 stack connector |
| 16 | LAN2_USB34 | RJ-45 + USB 3.2 Gen2 stack connector |
| 17 | LAN1_USB12 | RJ-45 + USB 3.2 Gen2 stack connector |
| 18 | LAN34 | RJ45 stack connector |
| 19 | LAN56_POE | RJ45 stack connector + POE |
| 20 | POE_PWR1 | POE power connector |
| 21 | M2_B1 | M.2 B-Key connector |
| 22 | CPU_FAN1 | CPU fan connector |
| 23 | SYS_FAN1 | System fan |
| 24 | CN2 | GMSL power connector |
| 25 | GMSL1 | GMSL MIPI-120 pins connector |
3 Operating System
3-1 BSP launcher Download
BSP launcher Download link: Download
4 Operating Method
4-1 Account and Password
The default account and password for AFE-A702/ASR-A702 are ubuntu / ubuntu.
4-2 Fan
The smart fan setting is provided as following table.
TBD
4-2-1 CPU FAN
Test Steps
$ sudo systemctl disable nvfancontrol.service
$ sudo systemctl stop nvfancontrol
$ echo 0 > /sys/class/hwmon/hwmon2/pwm1
4-2-2 SYS_FAN1 (NUVOTON_NCT7802Y)
Test Steps
$ echo 0 > /sys/class/hwmon/hwmon0/pwm1
4-2-3 SYS_FAN2 (NUVOTON_NCT7802Y)
Test Steps
$ echo 0 > /sys/class/hwmon/hwmon0/pwm2
4-2-4 SYS_FAN3 (NUVOTON_NCT7802Y)
Test Steps
$ echo 0 > /sys/class/hwmon/hwmon0/pwm3
4-3 Controller Area Network (CAN)
ASR-A702/AFE-A702 provides the following Controller Area Network (CAN). The CAN pin definition is shown as below.
Please refer to the following commands for using CAN bus.
Connect : Hi-Hi / Lo-Lo
(CAN0 - CAN1)
$ sudo ip link set can0 up type can bitrate 125000
$ sudo ip link set can1 up type can bitrate 125000
$ sudo ifconfig can0 up
$ sudo ifconfig can1 up
$ candump can0 &
$ cansend can1 1F334455#1122334455667788
4-4 Trusted Platform Module (TPM)
ASR-A702/AFE-A702 provides TPM 2.0 module to enhance system security. Please install tpm2-tools by apt command first, and then refer to the following commands for using TPM.
$ sudo apt install -y tpm2-tools
$ sudo -s
4-4-1 File Encryption and Decryption
- Create a platform level primary key and store the content into platform_primary.ctx file.
# tpm2_createprimary -C p -c platform_primary.ctx
- Based on platform primary key, generate a public key and private key by RSA2048 encryption method.
# tpm2_create -C platform_primary.ctx -G rsa2048 -u key.pub -r key.priv
- Load the platform primary key into TPM and store the content into key.ctx file. The key.pub could be shared to others for encryption purpose, while key.priv should be kept secret.
# tpm2_load -C platform_primary.ctx -u key.pub -r key.priv -c key.ctx
- On the other devices, use key.pub to encrypt the message from msg.dat to msg.enc.
# tpm2_loadexternal -C n -u key.pub -c pub.ctx
# tpm2_rsaencrypt -c pub.ctx -o msg.enc msg.dat
- Take the msg.enc file back to AFE-R750 and decrypt the message by key.ctx. The decrypted message will be stored into msg.ptext file.
# tpm2_rsadecrypt -c key.ctx -o msg.ptext msg.enc
# cat msg.ptext
4-5 Digital Input Output (DIO)
ASR-A702/AFE-A702 provides 8 bits DI and 8 bits DO, all DO are open-drain hardware design, it will require external power and pull-up resistor. The DIO pin definition is shown as below. Please refer to the following commands for using DIO and hardware connection example.
Hardware connection example for DIO are shown as below.
- When DO0 be set to low, MOSFET will be opened, current will go through LED.
- When DO0 be set to high, MOSFET will be closed, LED will be off.
- If the switch is pressed, DI0 could read the low level.
- If the switch is released, DI0 will read high level through the pull-up resistor.
4-6 Communication Port (COM)
The COM pin definition is shown as below.
The mode selection is shown as below.
4-6-1 RS-232 - UART 1 (TI_THVD4431)
COM1
Test Steps
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ cat /dev/ttyAMA9 & echo "1234" > /dev/ttyAMA9
4-6-2 RS-232 - UART 2 (TI_THVD4431)
COM2
Test Steps
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA10 & echo "1234" > /dev/ttyAMA10
4-6-3 RS-422 - UART 1 (TI_THVD4431)
HW : COM1_SW / COM2_SW both switch ON-OFF-ON-OFF
Test Steps
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA9 &
$ cat /dev/ttyAMA10 &
$ echo "ttyAMA9:echo" > /dev/ttyAMA9
$ echo "ttyAMA10:echo" > /dev/ttyAMA10
4-6-4 RS-422 - UART 2 (TI_THVD4431)
HW : Set both COM1_SW & COM2_SW to ON-OFF-ON-OFF
Test Steps
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA9 &
$ cat /dev/ttyAMA10 &
$ echo "ttyAMA9:echo" > /dev/ttyAMA9
$ echo "ttyAMA10:echo" > /dev/ttyAMA10
4-6-5 RS-485 - UART 1 (TI_THVD4431)
COM1
Test Steps
HW : Transmitter ON-ON-ON-OFF，Receiver ON-ON-ON-ON
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA10 &
$ echo "ttyAMA9:echo" > /dev/ttyAMA9
SW : COM2 transmits to COM1
Receiver：ON-ON-OFF-ON
Transmitter：ON-ON-ON-OFF
$ echo 663 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/PM.04/direction
$ echo 1 > /sys/class/gpio/PM.04/value
$ echo 631 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/PH.04/direction
$ echo 0 > /sys/class/gpio/PH.04/value
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA10 &
$ echo "ttyAMA9:echo" > /dev/ttyAMA9
4-6-6 RS-485 - UART 2 (TI_THVD4431)
COM2
Test Steps
HW : Transmitter ON-ON-ON-OFF，Receiver ON-ON-ON-ON
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA9 &
$ echo "ttyAMA10:echo" > /dev/ttyAMA10
SW : COM2 transmits to COM1
Receiver：ON-ON-OFF-ON
Transmitter：ON-ON-ON-OFF
$ echo 663 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/PM.04/direction
$ echo 1 > /sys/class/gpio/PM.04/value
$ echo 631 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/PH.04/direction
$ echo 0 > /sys/class/gpio/PH.04/value
$ stty -F /dev/ttyAMA9 speed 115200 raw -echo
$ stty -F /dev/ttyAMA10 speed 115200 raw -echo
$ cat /dev/ttyAMA9 &
$ echo "ttyAMA10:echo" > /dev/ttyAMA10
4-7 Camera Solution
ASR-A702/AFE-A702 integrated Orbbec driver into image, please refer to the following commands for using Orbbec Gemini 335Lg.
Orbbec Setup
Install the Orbbec driver:
cd /tools/orbbec/
./Install.sh
After installation, follow these steps:
- Power Down the system
- Plug in the Orbbec Gemini 335Lg camera
- Power Up the system
Load the kernel module:
sudo modprobe g300
Verify camera streaming:
gst-launch-1.0 v4l2src device=/dev/video2 ! 'video/x-raw,width=1280,height=720,framerate=30/1' ! autovideosink
4-8 IMU
ASR-A702/AFE-A702 supports the BMI088 IMU sensors, and we need to install the related SDK and packages first.
4-8-1 BMI088
Test Steps
# cd /tools/bmi088
Accelerometer :
# ./iio_generic_buffer -a -c 10 --device-name accelerometer -g
Gyroscope :
# ./iio_generic_buffer -a -c 10 --device-name gyroscope -g
Reference Doc :
https://docs.nvidia.com/jetson/archives/r38.2/DeveloperGuide/SD/Kernel/Bmi088ImuIioDriver.html