tpbarron / jetsonhardware

Library interface for sensor access on the NVidia Jetson TK1 via I2C

jetsonhardware

Library interface for sensor access on the NVidia Jetson TK1 via I2C and SPI

Library todo:

• Add error handling
  • File already in use

Setting up .so linking from Eclipse CDT:

• http://linuxtortures.blogspot.com/2012/02/shared-libraries-with-eclipse.html

SPI Interface

• Basic mode where only receive data and no transmission
• Advanced mode where sending and receiving data
• Designate slave pins and MOSI / MISO pins
• I suspect the devices will be returning little-endian binary data. Create structure to add device handlers for difference devices that permit processing that binary data into a nicer form before passing it off to the user of the library
• For a good SPI tutorial - https://learn.sparkfun.com/tutorials/serial-peripheral-interface-spi
• https://learn.sparkfun.com/tutorials/programming-the-pcduino/spi-communications

I2C Interface

• Tutorials https://learn.sparkfun.com/tutorials/i2c#introduction, http://www.robot-electronics.co.uk/acatalog/I2C_Tutorial.html
• Library example https://www.kernel.org/doc/Documentation/i2c/dev-interface
• https://learn.sparkfun.com/tutorials/programming-the-pcduino/i2c-communications

Shared Library notes:

• Versioning - http://stackoverflow.com/questions/15264693/how-to-version-shared-object-file-created-using-gcc-for-linux

Filter notes:

• Kalman - http://stackoverflow.com/questions/18152524/kalman-filter-with-acceleration

Attaching IMU and GPS to JetsonTK1 via I2C and SPI.

• Ground pins: On J3A1 pin 2, 8, 9, 14, 15, 26, 47
• +12V pins: On J3A1 pin 25
• +5V pins: On J3A1 pin 1
• +3.3V pins: On J3A1 pin 16, 22
• +1.8V pins: On J3A1 pin 3, 19
• IMU via I2C through /dev/i2c-1 VDD -- +3.3V (pin 16 J3A1) GND -- GND (pin 15 J3A1) SDA -- GEN1_I2C_SDA_3.3V (pin 20 J3A1) SCL -- GEN1_I2C_SCL_3.3V (pin 18 J3A1) See http://elinux.org/Jetson/I2C
• GPS via SPI Attach each lead to a GPIO pin?