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OSD3358-SM-RED

– User Guide

Rev. 1.0 9/19/2017

Octavo Systems LLC

Copyright 2017

3.12

Inertial Measurement Unit (IMU) (U23)

The board comes equipped with a 9 axis IMU (shown below). The MPU-9250 (U23) sits on the
I2C0 line of the processor. It has a 3-Axis gyroscope, a 3-Axis accelerometer and a 3-Axis
magnetometer inside and functions as a 9-Axis motion tracking device. More information on
how to use it is given in Section 5.3.

Figure 32: IMU on board

IMU MPU9250 datasheet:

https://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-

9250A-01-v1.1.pdf

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Содержание OSD3358-SM-RED

Страница 1: ...relevant resources for support and development are given below OSD3358 SM RED board design files https octavosystems com files osd3358 sm red eagle files Sign up for OSD3358 SM RED latest software up...

Страница 2: ...2 OSD3358 SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 Revision History Revision Details Date Author Initial draft 09 19 2017 Neeraj Dantu...

Страница 3: ...2 3 1 Specification 22 3 2 Processor U1 25 3 3 PC USB interface X1 26 3 4 Serial debug interface J3 27 3 5 EMMC U7 28 3 6 Cape Headers J5 J6 29 3 7 JTAG J4 30 3 8 Micro SD card slot X3 31 3 9 HDMI int...

Страница 4: ...15 Ethernet 58 4 16 HDMI interface 59 4 17 9 Axis IMU 60 4 18 Temperature sensor hub 61 4 19 Barometer 61 4 20 Trusted Platform Module TPM 62 4 21 EEPROM 63 4 22 Header descriptions 63 4 23 On board...

Страница 5: ...5 OSD3358 SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 9 Reference Documents 76...

Страница 6: ...ws the OSD3358 SM RED and its power inputs The board can be powered through any of three inputs 1 Micro USB cable connected to the micro USB port 2 5V AC adapter connected to the barrel jack 3 Single...

Страница 7: ...power up sequence of the board when powered via USB AC Adapter or battery inputs 1 Connect your preferred power source a USB i Connect the micro USB side of the USB cable to the micro USB port X1 ii C...

Страница 8: ...in the 5V AC adapter with 2 5 mm x 5 5 mm barrel into the power connector X2 Figure 3 Powering the RED board using an AC DC adapter c Battery input terminals i Connect the battery input terminals to...

Страница 9: ...cated below indicating Linux is booting Figure 6 RED board boot up LEDs D4 D7 turn ON NOTE Notes on connecting the PMIC_TS input of the SiP can be found in Battery pack temperature monitoring section...

Страница 10: ...will be needed 1 5V AC adapter 2 HDMI DVI D monitor 3 Micro HDMI to HDMI cable and or HDMI to DVI D adapter 4 Wired wireless USB keyboard and mouse 5 Ethernet cable or WiFi USB adapter connected to a...

Страница 11: ...oard and mouse plugged in to RED board 4 If internet connectivity is required a a WiFi USB adapter can be plugged into one of the available USB ports on X4 or X5 connector A list of compatible adapter...

Страница 12: ...5V AC adapter into the power connector X2 Figure 10 AC DC adapter plugged in to RED board 6 The board will go through the default boot up process 7 After the board boots up the monitor screen should s...

Страница 13: ...OSD3358 SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 8 Click on the Start System Tools Q Terminal to open up a command terminal Figure 12 Shell command terminal on booted desk...

Страница 14: ...vided in the box can be used to connect the RED board to a computer laptop Unlike the standalone mode this setup does not require additional hardware The following steps describe the procedure to powe...

Страница 15: ...SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 3 Wait for the board to show up as a mass storage device on the computer laptop Figure 14 OSD3358 SM RED USB mass storage filesys...

Страница 16: ...gure 15 OSD3358 SM RED home webpage indicating a connection to the board 5 Access the cloud9 IDE through the url http 192 168 7 2 3000 Cloud9 IDE is an opensource web based development environment sup...

Страница 17: ...serial port A USB UART serial adapter can also be used for host devices with a USB port A terminal program such as Putty is required for communication The following steps describe the procedure to acc...

Страница 18: ...ight 2017 2 Connect the USB side of the adapter to the computer laptop Figure 18 UART USB adapter plugged in to the computer 3 Check which COM port of the computer laptop the adapter is connected to u...

Страница 19: ...C Copyright 2017 4 Open a serial console opensource applications like Putty come with one Select the serial communication option and specify the port and speed of the protocol as shown below and click...

Страница 20: ...s open connect the board to a power supply through one of the three power inputs of the board The boot messages should begin to scroll on the console After boot the console will ask for secure shell l...

Страница 21: ...icator for the kernel D6 Activity indicator for MMC0 interface SD card D7 Heartbeat indicator from Linux kernel 2 5 Powering down power cycling Once the system has completely booted the board can be s...

Страница 22: ...storage and resistors capacitors and inductors into a single 21mm x 21mm design in ready package The AM335x is a low cost low power ARM Cortex A8 based processor that is widely used in the industry a...

Страница 23: ...r cycle the board power the board ON OFF Reset button S1 Function Holds the processor in reset Boot button S3 Function Used for SD card boot User LEDs D4 D7 Number 4 eMMC U7 Part number SDIN8DE2 16G M...

Страница 24: ...e diode accuracy 0 75 C Local sensor accuracy 0 35 C Supply voltage 3 3V I2C bus I2C0 I2C address 0x48 Barometer U22 Part number BMP280 Pressure range 300 1100 hPa Relative accuracy 0 16 Pa Supply vol...

Страница 25: ...nical Reference Manual http www ti com lit ds sprs717j sprs717j pdf TPS65217C Datasheet http www ti com lit ds symlink tps65217 pdf Powering AM335x with TPS65217x http www ti com lit ug slvu551i slvu5...

Страница 26: ...programs through a secure shell command prompt In addition the Beagleboard compatible Linux image allows a web browser Chrome or Firefox to browse to the web server running on the board and access Cl...

Страница 27: ...ort of the processor is exposed as a 1x6 header J3 shown below This interface serves as a debug port that can be accessed via USB port of a laptop computer using a USB to Serial interface adapter The...

Страница 28: ...B embedded Multi Media Card eMMC U7 is connected to 8 bit wide MMC1 port of the processor shown below It contains the Linux image that the board will boot from by default The board can be made to boot...

Страница 29: ...interfaces to the processor exposing a wide range of peripherals of the processor They are compatible with Beaglebone Black headers P8 P9 http elinux org Beagleboard Cape_Expansion_Headers meaning cap...

Страница 30: ...the JTAG footprint it is recommended to use the emulators and JTAG header parts listed below The JTAG footprint comes with solder on the pads to make it easy to solder the JTAG connector JTAG HEADER 1...

Страница 31: ...t X3 shown below interfaces the processor with a micro SD card The slot is connected to 4 bit wide MMC0 interface of the processor A micro SD card inserted in the slot can be used as a storage device...

Страница 32: ...are supported via the preloaded software image 1280 x 1024 1440 x 900 1024 x 768 1280 x 720 HDMI Framer TDA199988 Datasheet https media digikey com pdf Data 20Sheets NXP 20PDFs TDA19988_DS_21_july_20...

Страница 33: ...is capable of 10 100 1000 Mbps speeds and is connected to the RGMII port of the processor The Cloud9 IDE web server and the secure shell command prompt can be accessed by connecting an ethernet cable...

Страница 34: ...connect USB storage devices and other USB gadgets such as WiFi adapters and wireless wired keyboard and mouse The 4 ports can supply a combined current of 500mA to the devices that are connected to t...

Страница 35: ...low The MPU 9250 U23 sits on the I2C0 line of the processor It has a 3 Axis gyroscope a 3 Axis accelerometer and a 3 Axis magnetometer inside and functions as a 9 Axis motion tracking device More info...

Страница 36: ...lf More information on how to use it can be found in Section 5 3 Figure 33 Temperature sensor on board Temperature sensor TMP468 datasheet http www ti com lit ds symlink tmp468 pdf 3 14 Pressure senso...

Страница 37: ...ported by the TPM include secure cryptographic key generation secure boot authentication and random number generation The TPM sits on I2C0 interface of the processor While the board does not come with...

Страница 38: ...d to communicate with the Flash is multiplexed with the I2C1 and UART2 interfaces on header J6 When using the NOR Flash the 2 pins of the jumper J11 should be shorted together or the FLASH_EN signal c...

Страница 39: ...of OSD3358 SM RED The power system of the platform is comprised of 1 AC USB battery inputs 2 protection circuit on AC input 3 The PMIC TPS65217C and LDO TL5209 inside the OSD3358 512M BSM The PMIC is...

Страница 40: ...ows the voltage output levels of each of the voltage sources which can be measured on the respective test point Each of the output voltages can be changed dynamically using I2C commands when the PMIC...

Страница 41: ...eup event is detected and is connected to EXT_WAKEUP pin of the processor 3 The PMIC has an interrupt pin PMIC _NINT to signal an event or fault condition to the processor via EXTINT pin The pin is re...

Страница 42: ...input protection circuit shown in Figure 39 To power the board using a 1S Li Po battery the following hook up is required Table 3 OSD3358 SM RED battery connections Pin Function Hook up VIN_BAT TP5 Ba...

Страница 43: ...ltage requirements of the TL5209 LDO that supplies SYS_VDD1_3P3V of the OSD335x SM the voltage of the battery that will power the board needs to be greater than 3 7 V If the voltage of the battery fal...

Страница 44: ...PGOOD and PWRONRSTN operate on 1 8V logic WARMRSTN is 3 3V logic input Therefore an open drain buffer U3 is used to drive the WARMRSTN input WARMRSTN can also be pulled low using the reset switch S1 A...

Страница 45: ...heir default values Rails not controlled by the sequencer are shut down immediately After 1 sec of RESET state the board powers up again If the PMIC_IN_PB_IN pin is kept low for an extended amount of...

Страница 46: ...et requires that the voltage difference between the power rails VDDS 1 8V and VDDSHVx 1 6 3 3V of the AM335x processor be less than 2V during the entire power down sequence A detailed description of t...

Страница 47: ...V since this power output will come up as part of the boot sequence 4 6 Clock inputs to the processor OSD335x SM has 2 clock inputs OSC0 and OSC1 4 6 1 OSC0 This input is the main clock source for the...

Страница 48: ...M335x TRM http www ti com lit ug spruh73p spruh73p pdf AM335x datasheet http www ti com lit ds sprs717j sprs717j pdf and Reference Design Clock circuitry article https octavosystems com app_notes osd3...

Страница 49: ...ction SYSBOOT 15 0 0x401C SYSBOOT 15 14 01b Input crystal frequency of OSC0 input is 24MHz SYSBOOT 13 12 00b Reserved SYSBOOT 11 6 000000b Don t care for ROM code for the OSD3358 SM RED boot modes SYS...

Страница 50: ...50 OSD3358 SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 Figure 47 OSD3358 SM RED boot configuration...

Страница 51: ...rface Figure 48 shows UART0 interface of OSD3358 512M BSM connected to header J3 on the board through a dual buffer This port can be used for debug by monitoring boot messages the processor sends thro...

Страница 52: ...needed to boot Linux are stored in here The ROM code reads the second stage bootloader in the eMMC and passes control to it The ROM only supports 4 bit mode But after initial boot the eMMC can be int...

Страница 53: ...sh the on board eMMC or as a normal storage device Unlike MMC1 this is a 4 bit interface which can cause it to be slower than the eMMC interface Similar to the MMC1 interface the SD card interface als...

Страница 54: ...ystems LLC Copyright 2017 4 11 JTAG Figure 51 OSD3358 SM RED JTAG circuit A JTAG header footprint J4 is provided on the board to facilitate software development and debug using JTAG emulators More inf...

Страница 55: ...lter the noise on the reference voltages Of the total 8 analog inputs AIN0 AIN7 seven AIN0 AIN6 are brought out to expansion headers on the board and can be used AIN7 is connected to PMIC_MUX_OUT to m...

Страница 56: ...gure 53 shows USB client port X1 connected to USB0 interface of the processor in the OSD3358 SM RED Board schematic As described in Section 2 this port can be used to power the board through a laptop...

Страница 57: ...1 interface of the processor into 4 independent USB connection ports each of which have ESD protection and can be used to connect USB peripherals simultaneously The hub chip has UART and I2C interface...

Страница 58: ...of 4 data lines for transmission and reception along with clock and control lines for each MDIO interface is used by the processor for instruction configuration of the PHY A 25MHz crystal oscillator...

Страница 59: ...e able to drive an HDMI monitor with on board TDA1998 HDMI framer U10 and micro HDMI connector X6 The framer converts the processor 16 bit LCD interface to drive HDMI monitors The framer is powered by...

Страница 60: ...I2C0 interface This sensor sits on the horizontal axis of the board that cuts the board in half The chip is located at coordinates 3485 mil 1075 mil from the bottom left of the board oriented in the...

Страница 61: ...hub The hub is powered by SYS_VDD1_3P3V and can be used to monitor thermal behavior across multiple locations of the system More information setting up remote measurements can be found in the temp se...

Страница 62: ...tform Module TPM is present on I2C0 interface of the processor It is powered by SYS_VDD1_3P3V and can be used to develop security applications for the processor Coupled with the NOR Flash device on SP...

Страница 63: ...scription Size bytes Contents Header Header Value designates section is valid 9 0xAA 0x55 0x33 0xEE Board Name Board name 8 Name in ASCII A335BNLT The device specific information and its format can be...

Страница 64: ...s header P8 of the Beaglebone Black J6 Same pin map as header P9 of the Beaglebone Black J7 Populating this jumper disables the 12MHz external HDMI clock from Y3 J8 Function I2C communication port for...

Страница 65: ...P3 VDD_MPU TP4 VDDS_PLL TP5 VIN_BAT VIN_BAT PMIC Battery voltage input TP6 BAT_SENSE BAT_SENSE PMIC Battery sense input TP7 TEMP_SENSE TEMP_SENSE PMIC Temperature sense input TP8 GND TP9 TPM_GPIO1 TP1...

Страница 66: ...ntrol to the next stage bootloader 2 MLO This stage sets up pin muxing initializes the clocks and memory and loads the next stage bootloader 3 U boot This is the primary Linux bootloader It looks for...

Страница 67: ...onal cape specific setup for Linux is done using Device Tree Overlays BeagleBone Black compatible expansion capes also normally include an I2C EEPROM must be on I2C2 in the address range of 0x54 to 0x...

Страница 68: ...w to use the peripherals onboard libraries Contains libraries necessary to exercise the peripherals onboard o bmp280 Contains functions and definitions to interface with the pressure sensor o gpio Con...

Страница 69: ...ions d use default matrix size s size specify matrix size h Display help message Result 2 rc_calibrate_gyro Function This command performs calibration of the gyro sensor in the IMU Options None Result...

Страница 70: ...for the next 15 seconds Rotate the cape around in the air through as many orientations as possible to collect sufficient data for calibration Press ENTER to continue or anything else to quit spin spi...

Страница 71: ...the ADC module Options None Results 7 rc_test_barometer Function This command runs a test on the barometer and returns the temperature pressure altitude and filtered altitude sensor values Options No...

Страница 72: ...peripheral library Options None Results 10 rc_test_tmp Function This command tests the temperature sensor and returns the temperature value on channel 8 Options None Results root beaglebone rc_test_i...

Страница 73: ...folder The Makefile will compile a single shared object robotics_cape so and install it to usr lib It will also move all the header files to usr include To use the so it is enough to put in include r...

Страница 74: ...74 OSD3358 SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 7 Mechanicals Figure 64 show the dimensions of the board Figure 64 Dimensions of RED board...

Страница 75: ...75 OSD3358 SM RED User Guide Rev 1 0 9 19 2017 Octavo Systems LLC Copyright 2017 Figure 65 RED board top view Figure 66 RED board bottom view...

Страница 76: ...335x sm datasheet 2 AM335x datasheet http www ti com lit ds sprs717j sprs717j pdf 3 AM335x Technical Reference Manual http www ti com lit ds sprs717j sprs717j pdf 4 TPS65217C Datasheet http www ti com...

Страница 77: ...eference design lesson 1 power circuitry part 4 clamping circuit 23 Reference Design Tutorial series Clock circuitry article https octavosystems com app_notes osd335x design tutorial bare minimum boot...

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