sl-jetson
c47ac41573
- Dockerfile: L4T R32.6.1 (JetPack 4.6) base + ROS2 Humble + SLAM stack (slam_toolbox, Nav2, rplidar_ros, realsense2_camera, robot_localization) - docker-compose.yml: multi-service stack (ROS2, RPLIDAR A1M8, D435i, STM32 bridge) with device passthrough, host networking for DDS, persistent map volume - docs/pinout.md: full GPIO/I2C/UART pinout for STM32F722 bridge (USB CDC + UART fallback), RealSense D435i (USB3), RPLIDAR A1M8, udev rules - docs/power-budget.md: 10W envelope analysis with per-component breakdown, mitigation strategies (RPLIDAR gating, D435i 640p, nvpmodel modes) - scripts/setup-jetson.sh: host one-shot setup (Docker, nvidia-container-runtime, udev rules, MAXN power mode, swap) - scripts/build-and-run.sh: build/up/down/shell/slam/status helper Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
214 lines
6.3 KiB
Markdown
214 lines
6.3 KiB
Markdown
# Jetson Nano — GPIO / I2C / UART Pinout Reference
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## Self-Balancing Robot: STM32F722 Bridge + RealSense D435i + RPLIDAR A1M8
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Last updated: 2026-02-28
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JetPack version: 4.6 (L4T R32.6.1)
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---
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## 40-Pin Header Overview
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The Jetson Nano 40-pin header is physically compatible with Raspberry Pi HATs.
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Pin numbering below follows **physical board pin** (1–40) and the Jetson GPIO BCM-equivalent name.
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```
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3.3V [ 1] [ 2] 5V
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SDA1 [ 3] [ 4] 5V ← I2C SDA (i2c-1)
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SCL1 [ 5] [ 6] GND ← I2C SCL (i2c-1)
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GPIO [ 7] [ 8] TXD0 ← UART TX (ttyTHS1)
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GND [ 9] [10] RXD0 ← UART RX (ttyTHS1)
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GPIO [11] [12] GPIO
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GPIO [13] [14] GND
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GPIO [15] [16] GPIO
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3.3V [17] [18] GPIO
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MOSI [19] [20] GND ← SPI0 MOSI
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MISO [21] [22] GPIO ← SPI0 MISO
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SCLK [23] [24] CE0 ← SPI0 CLK / CS0
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GND [25] [26] CE1 ← SPI0 CS1
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ID_SD[27] [28] ID_SC ← I2C ID EEPROM (reserved)
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GPIO [29] [30] GND
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GPIO [31] [32] GPIO
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GPIO [33] [34] GND
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GPIO [35] [36] GPIO
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GPIO [37] [38] GPIO
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GND [39] [40] GPIO
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```
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---
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## 1. STM32F722 Bridge (UART)
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The STM32 acts as a real-time motor + IMU controller. Communication to Jetson is via **USB CDC serial** (primary) with hardware UART as fallback.
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### USB CDC (Primary — Recommended)
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| Connection | Detail |
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|-----------|--------|
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| Interface | USB Micro-B on STM32 dev board → USB-A on Jetson |
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| Device node | `/dev/ttyACM0` or `/dev/ttyUSB1` |
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| Baud rate | 921600 (configured in STM32 firmware) |
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| Protocol | Custom binary framing (see `src/comm/`) |
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| Power | Powered via Jetson USB 5V (500mA max from host) |
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### Hardware UART (Fallback)
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| Jetson Pin | Signal | STM32 Pin | Notes |
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|-----------|--------|-----------|-------|
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| Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
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| Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
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| Pin 6 (GND) | GND | GND | Common ground **required** |
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**Jetson device node:** `/dev/ttyTHS1`
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**Baud rate:** 921600, 8N1
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**Voltage level:** 3.3V — STM32F722 is 3.3V tolerant; Jetson GPIO is 3.3V
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**Do NOT use 5V** — Jetson GPIO max is 3.3V
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```bash
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# Verify UART on Jetson
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ls /dev/ttyTHS1
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# Check permissions (add user to dialout group)
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sudo usermod -aG dialout $USER
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# Quick loopback test (connect TX→RX)
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picocom -b 921600 /dev/ttyTHS1
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```
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**ROS2 topic mapping (STM32 bridge node):**
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| ROS2 Topic | Direction | Content |
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|-----------|-----------|---------|
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| `/stm32/imu_raw` | STM32→Jetson | IMU data (accel, gyro) at 500Hz |
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| `/stm32/motor_state` | STM32→Jetson | Motor RPM, current, temperature |
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| `/cmd_vel` | Jetson→STM32 | Velocity commands (m/s, rad/s) |
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| `/stm32/estop` | Jetson→STM32 | Emergency stop signal |
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---
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## 2. RealSense D435i (USB3)
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The D435i provides RGB-D (depth + color) and IMU (accelerometer + gyroscope).
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### Connection
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| Parameter | Value |
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|-----------|-------|
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| Interface | USB 3.1 Gen 1 (USB-A on Jetson) |
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| Device node | `/dev/bus/usb/...` (udev-managed) |
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| USB PID:VID | `0x8086:0x0b3a` (D435i) |
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| Power draw | ~1.5W active, 3.5W peak during init |
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| Cable | USB 3.1 — use **short cable ≤1m** for stability |
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**Note:** The Jetson Nano has **4× USB-A ports** — use a USB3 port (blue) for D435i.
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```bash
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# Verify detection
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lsusb | grep Intel
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# Expected: Bus 002 Device 003: ID 8086:0b3a Intel Corp. Intel RealSense D435i
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# Install udev rules (required for non-root access)
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sudo cp /etc/udev/rules.d/99-realsense-libusb.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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# Test with realsense-viewer (if installed)
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realsense-viewer
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```
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**ROS2 topics published:**
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| Topic | Type | Rate |
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|-------|------|------|
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| `/camera/color/image_raw` | `sensor_msgs/Image` | 30Hz |
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| `/camera/depth/image_rect_raw` | `sensor_msgs/Image` | 30Hz |
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| `/camera/aligned_depth_to_color/image_raw` | `sensor_msgs/Image` | 30Hz |
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| `/camera/imu` | `sensor_msgs/Imu` | 400Hz |
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| `/camera/color/camera_info` | `sensor_msgs/CameraInfo` | 30Hz |
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---
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## 3. RPLIDAR A1M8 (UART via USB adapter)
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The A1M8 uses a CP2102/CH340 USB-UART adapter (included in kit).
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### Connection
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| Parameter | Value |
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|-----------|-------|
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| Interface | USB Micro-B (via included USB-UART adapter) |
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| Device node | `/dev/ttyUSB0` (first USB-UART device) |
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| Baud rate | 115200 |
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| Power draw | ~2.6W motor on, 0.4W idle |
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| Motor control | DTR line (handled by rplidar_ros driver) |
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```bash
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# Verify detection
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ls /dev/ttyUSB*
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# Expected: /dev/ttyUSB0
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# Set permissions
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sudo usermod -aG dialout $USER
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# Test — should output scan data
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ros2 launch rplidar_ros rplidar_a1_launch.py serial_port:=/dev/ttyUSB0
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```
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**ROS2 topics published:**
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| Topic | Type | Rate |
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|-------|------|------|
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| `/scan` | `sensor_msgs/LaserScan` | 10Hz |
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**udev rule (set consistent device name):**
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```bash
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# /etc/udev/rules.d/99-rplidar.rules
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KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
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SYMLINK+="rplidar", MODE="0666"
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```
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---
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## 4. I2C Bus (i2c-1) — Pin 3 / Pin 5
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Available for future peripherals (IMU breakout, OLED display, etc.).
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| Parameter | Value |
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|-----------|-------|
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| Jetson I2C bus | i2c-1 (pins 3 = SDA, 5 = SCL) |
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| Voltage | 3.3V pull-up |
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| Max clock | 400kHz (Fast Mode) |
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| Current source | Jetson 3.3V rail (max ~500mA shared) |
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```bash
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# Scan i2c-1 bus
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i2cdetect -y -r 1
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```
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**Note:** i2c-0 (pins 27/28) is reserved for EEPROM ID — do not use.
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---
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## 5. GPIO Summary Table
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| Physical Pin | Jetson GPIO | Voltage | Current Used For |
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|-------------|-------------|---------|-----------------|
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| 3 | SDA1 | 3.3V | I2C data (i2c-1) |
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| 5 | SCL1 | 3.3V | I2C clock (i2c-1) |
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| 8 | TXD0 | 3.3V | UART TX → STM32 (fallback) |
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| 10 | RXD0 | 3.3V | UART RX ← STM32 (fallback) |
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| USB-A (×4) | — | 5V | D435i, RPLIDAR adapter, STM32 USB |
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---
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## 6. Device Enumeration Notes
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USB devices may enumerate differently across reboots. Use udev rules for stable names:
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```bash
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# /etc/udev/rules.d/99-saltybot.rules
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# RPLIDAR A1M8 (SiliconLabs CP2102)
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KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
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SYMLINK+="rplidar", MODE="0666"
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# STM32 USB CDC (STMicroelectronics)
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KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
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SYMLINK+="stm32-bridge", MODE="0666"
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```
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Apply rules:
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```bash
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sudo cp docs/99-saltybot.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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