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1 Product Introduction

The AFE‑R750 is using the ASR‑A701 as its motherboard.
This document will share how to use AFE-R750/ASR-A701 with JetPack 6.1.

1-1 Porduct Features​

  • AMR AI Controller Board up to 275 TOPS AI computing
  • Dedicated I/Os for AMR: 4xGbE, 2xCOM, DIO, CANFD
  • Sensor connection for camera, LiDAR, IMU...etc
  • Supports Ubuntu 22.04, JetPack 6.1SDK
  • IEC 61000-6-4 Heavy Industry Certificate
  • Supports Advantech Robotic Suite

1-2 Official Website​

2 Hardware Interface Introduction

2-1 Layout and Sizes​


2-2 Switch and Jumper​

Please refer to the following images for the switch and jumper settings.

NameDescription
RST_RCOVY_(1_2)System reset and system image recovery, be used in flashing image.
COM12_SAFE1Enable or disable fail safe function for RS-422/RS-485.
COM1_SW1Switch for selecting COM1 RS-232/RS-422/RS-485 mode, described detailed in COM section.
COM2_SW1Switch for selecting COM2 RS-232/RS-422/RS-485 mode, described detailed in COM section.
JPSON1Switch for selecting AT or ATX mode.

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-R750 User Manual.

ItemNameDescription
1DCIN1DC IN power connector
2OTG1Type-C (flash image only)
3HDMI1HDMI display
4CAN1CAN BUS interface
5REMOTE1Remote connector
6SYS_FAN1Chassis FAN connector
7PWRBTN1Power button
8CPU_FAN1Internal FAN connector
9NVME1M.2 M-Key connector
10LAN1/22 * Ethernet RJ-45 connector
11LAN3_USB12RJ-45 & 2 * USB 3.2 Gen2 connector
12LAN4_USB34RJ-45 & 2 * USB 3.2 Gen2 connector
13COM122 * COM DP9 connector
14GPIO1GPIO 16-bit isolation connector
15M2E1M.2 E-Key connector
16M2B1M.2 B-Key connector
17CN1GMSL MIPI-120 pins connector
18CN2GMSL board power connector

3 Operating System

3-1 Image Download​

Image VersionRelease DateImage DownloadBSP Download TagComment
AFE-R750_JetPack6.1_v7.0.02026-02-11Dropboxafer750a1_ubuntu22.04-jp6.1_v7.0.0_kernel-5.15.148_agx-orin+orin-nx.xmlfix orin nx com order
fix bmi088 GMSL
preinstall SUSI
set wifi179 170 install script
AFE-R750_JetPack6.1_v4.0.02025/09/23Dropboxafer750a1_ubuntu22.04-jp6.1_v4.0.0_kernel-5.15.148_agx-orin+orin-nx.xmlFixed automatic update version issue

3-2 Flashing Image​

Please refer to the online document Flash JetPack 6.1 to AFE-R750 for detailed instructions on how to flash the Jetpack to the AFE-R750.

3-3 BSP Download​

Please refer to the online document JetPack 6.1 BSP for AFE-R750 for detailed instructions on how to download and build the BSP for the AFE-R750.

4 Operating Method

4-1 Account and Password​

The default account and password for AFE-R750 are ubuntu.

4-2 Fan Kit​

Fan kit Product Number is AMK-A0057, which is used for AGX Orin with MAXN power mode.
The fan kit installation is shown as below. The smart fan setting is also provided as following table.


Temperature (℃)Fan PWM ValueFan RPM Value
0663123
39663123
63773600
8621210000
9221210000
9325512000
10525512000

4-3 Controller Area Network (CAN)​

AFE-R750 provides 1(Orin NX) or 2(AGX Orin) CAN FD which support up to 3.7M data bitrate, more information could refer to NV Developer Guide.
The CAN pin definition is shown as below. Please refer to the following commands for using CAN bus.


Insert the CAN related modules and set up the CAN0 and CAN1 bitrate to 1Mbps.

$ sudo modprobe can
$ sudo modprobe can-dev
$ sudo modprobe mttcan
$ sudo ip link set can0 down
$ sudo ip link set can1 down
$ sudo ip link set can0 type up can bitrate 1000000 dbitrate 1000000 fd on
$ sudo ip link set can1 type up can bitrate 1000000 dbitrate 1000000 fd on

CAN port 1 receives CAN message by using can-utils.

$ sudo candump can1

CAN port 0 transmits CAN message by using can-utils on another terminal.

$ sudo cansend can0 123#12341234

4-4 Trusted Platform Module (TPM)​

AFE-R750 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​

  1. Create a platform level primary key and store the content into platform_primary.ctx file.
# tpm2_createprimary -C p -c platform_primary.ctx
  1. 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
  1. 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
  1. 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
  1. 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

4-4-2 Non-Volatile Space Read and Write​

  1. Define a non-volatile space, which ID is 0x1500031 and size is 2048 bytes with owner read/ wirte, policy write authority.
# tpm2_nvdefine -Q 0x1500031 -C o -s 32 -a "ownerread|policywrite|ownerwrite"
  1. Write data into the defined non-volatile space from msg.dat file, the msg.dat size must be less than 2048 bytes.
# tpm2_nvwrite -Q 0x1500031 -C o -i msg.dat
  1. Read back the data from the defined non-volatile space into read.data file.
# tpm2_nvread -Q 0x1500031 -C o -s 32 -o read.data
# cat read.data

4-5 Digital Input Output (DIO)​

AFE-R750 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.


Total 16 bits DIO are in the gpiochip2 group, line 0 to 7 are DI and line 8 to 15 are DO.

$ sudo gpioinfo

Read DIO level by gpioget command with chip number and line number, for example, read DI0 level.

$ sudo gpioget gpiochip2 0

Set DO level by gpioset command with mode, chip number, line number and level, for example, set DO0 to high level.

$ gpioset --mode=wait gpiochip2 8=1

Hardware connection example for DIO.

  1. When DO0 be set to low, MOSFET will be opened, current will go through LED.
  2. When DO0 be set to high, MOSFET will be closed, LED will be off.
  3. If the switch is pressed, DI0 could read the low level.
  4. 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.


SoCCOM1 (Software control pin)COM2 (Software control pin)
AGX Orin/dev/ttyTHS1 (112)/dev/ttyTHS2 (129)
Orin NX/dev/ttyTHS2 (120)/dev/ttyTHS1 (112)

In RS-232 mode, connect COM1 Tx to COM2 Rx and Rx to COM2 Tx, and set COM_SW1 total 4 pins to OFF.
The following commands send data from ttyTHS1 to ttyTHS2, using the echo command for transmission and the cat command for reception.

First terminal (/dev/ttyTHS2 receive data):
$ sudo su
# stty -F /dev/ttyTHS1 speed 115200 raw -echo
# stty -F /dev/ttyTHS2 speed 115200 raw -echo
# cat /dev/ttyTHS2

Second terminal (/dev/ttyTHS1 send data):
$ sudo su
# echo "1234" > /dev/ttyTHS1

4-7 Inertial Measurement Unit (IMU)​

AFE-R750 supports two IMU sensors, one is onboard BMI088, the other is MTi-3 which is optional.
In order to connect IMU data into ROS2, we need to install the related SDK and packages first.

$ sudo apt install -y ros-humble-rviz2 ros-humble-imu-tools ros-humble-imu-filter-madgwick pre-commit ros-humble-nmea-msgs ros-humble-mavros-msgs

4-7-1 BMI088​

BMI088 driver had been integrated in JetPack 6.1 by default, please refer to the following commands for getting accelerometer and gyroscope datas from BMI088.

$ sudo su
# /usr/local/bin/IMU/iio_generic_buffer -a -c 10 --device-name accelerometer -g
# /usr/local/bin/IMU/iio_generic_buffer -a -c 10 --device-name gyroscope -g

After checking BMI088 is working, we can install its ROS2 package to visualize the data in rviz2.

$ wget https://github.com/Advantech-ROS2/ros2-xsens-bmi088/releases/download/v1.0.0/xsens_bmi088-node-1.0.0-humble-imx8.run
$ chmod +x xsens_bmi088-node-1.0.0-humble-imx8.run
$ ./xsens_bmi088-node-1.0.0-humble-imx8.run
$ source /opt/ros/humble/setup.bash
$ source /usr/local/Advantech/ros/humble/sensor_extension/ros2-imu-bmi088/install/setup.bash
$ ros2 run ros2_bmi088 ros2_bmi088 &
$ ros2 run imu_filter_madgwick imu_filter_madgwick_node --ros-args -p use_mag:=false &
$ rviz2

Click Add in rviz2, select By topic, add /imu/data topic , and change Fixed Frame to imu_link for visualizing the IMU data.


4-7-2 MTi-3​

MTi-3 IMU sensor is installed on GMSL board which part number is AFE-RM04-4PA1 and AFE-RM04-8PA1 but only supported on AFE-R750-X series (AGX Orin module).


After sensor has insatlled, follow these steps to visualize the data in rviz2. More details can be found in the Official Github.

$ cd ~
$ git clone --branch ros2 https://github.com/xsenssupport/Xsens_MTi_ROS_Driver_and_Ntrip_Client.git
$ mv Xsens_MTi_ROS_Driver_and_Ntrip_Client ros2_ws
$ cd ~/ros2_ws
$ colcon build --symlink-install

Edit ~/ros2_ws/install/xsens_mti_ros2_driver/share/xsens_mti_ros2_driver/param/xsens_mti_node.yaml, set scan_for_devices to false, port to /dev/ttyTHS3, and baudrate to 115200.


$ sudo chmod 777 /dev/ttyTHS3
$ sudo stty -F /dev/ttyTHS3 speed 115200 -echo
$ source /opt/ros/humble/setup.bash
$ source ~/ros2_ws/install/setup.bash
$ ros2 launch xsens_mti_ros2_driver display.launch.py

4-8 Wi-Fi & Bluetooth​

AFE-R750 supports two Wi-Fi modules, one is AIW-170, the other is EWM-W179.
The drivers for both modules have been integrated into the AFE-R750 image.
Only one WiFi driver can be installed at a time. Installing a new one will replace the old one.

4-8-1 AIW-170​

Run the following commands once, AIW-170 driver will be installed and loaded automatically after system boot up.

$ cd /usr/local/bin/AIW-170
$ sudo bash install_aiw-170.sh
$ sudo reboot

4-8-2 EWM-W179​

Run the following commands once, EWM-W179 driver will be installed and loaded automatically after system boot up.

$ cd /usr/local/bin/EWM-W179
$ sudo bash install_ewm-w179.sh
$ sudo reboot

4-9 Camera Solution​

AFE-R750 integrated oToBrite oToCAM222 driver into image, please refer to the following commands for using oToCAM222.
AFE-R750 also supports other GMSL cameras, such as Orbbec Gemini-335LG and StereoLabs ZedX, please refer to the GMSL Driver for AFE-R750 for detailed instructions.


Set GMSL camera device tree in system by running the built-in script based on SoC. Run this step only once and system will reboot.

$ cd /usr/local/bin/otocam
$ sudo ./set_otocam_agxorin_64g.sh
$ sudo ./set_otocam_agxorin_32g.sh
$ sudo ./set_otocam_orinnx.sh

After AFE-R750 reboot, execut the inserting driver script and enabling camera script, the video stream will show up.

$ cd /home/ubuntu
$ sudo ./insmod-otocam.sh
$ sudo ./enable-otocamera.sh

4-10 PPS Time Synchronization​

AFE-R750 can install AIW-210XU-001 GNSS module to get PPS(pulse per second) for time synchronizing on application, PPS signal is shown as below.


Please refer to the following commands for installing GPS and time synchronzing related utility for PPS time synchronization.

$ sudo apt install -y gpsd gpsd-clients chrony
$ sudo echo -e START_DAEMON="true""\n"DEVICES="/dev/ttyACM0 /dev/pps0""\n"GPSD_OPTIONS="-n""\n"BAUDRATE="9600" > /etc/default/gpsd
$ sudo systemctl restart gpsd
$ sudo echo -e refclock SHM 0 refid NMEA offset 0.9999 delay 0.2 noselect"\n"refclock PPS /dev/pps0 lock NMEA refid PPS prefer"\n"makestep 0.001 10 > /etc/chrony
$ sudo systemctl restart chrony

Put the GPS antenna to outdoor, and open xgps utility to check GPS status until it is 3D fixed.


Check chrony sources to see PPS is used as time source, the system time will synchronize with PPS time once the deviation threshold of time is larger than 1ms.

$ watch -n 0.1 chronyc sources