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Cherry theobroma JAGUAR SBC-RK3588-AMR User Manual

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USER MANUAL
JAGUAR SBC-RK3588-AMR
Single Board Computer for
Autonomous Mobile Robots
featuring the Rockchip RK3588 cutting-edge processor
Document revision:
v1.0
Issue date:
Nov 28, 2023

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Summary of Contents for Cherry theobroma JAGUAR SBC-RK3588-AMR

  • Page 1 USER MANUAL JAGUAR SBC-RK3588-AMR Single Board Computer for Autonomous Mobile Robots featuring the Rockchip RK3588 cutting-edge processor Document revision: v1.0 Issue date: Nov 28, 2023...

  • Page 3: Table Of Contents

    Contents 1 Introduction Device Overview ..........Precautions .

  • Page 4: Introduction

    1 Introduction Congratulations for acquiring our new product, combining best-in-class performance with a rich set of peripherals. Note: The latest version of this manual and related resources can always be found on our website at the following address: https://www.theobroma-systems.com/product/jaguar-sbc-rk3588/ 1.1 Device Overview Cutting-edge performance for Autonomous Mobile Robots (AMR) Due to its top performance CPU in parallel with GPU and NPU, algorithms can be based on rules, statistical methods, and neural learning.

  • Page 5: Precautions

    1.2 Precautions Warning: ESD Sensitive Device Electronic boards and their components are sensitive to static electricity. Therefore, care must be taken during all handling operations and inspections of this product, in order to ensure product integrity at all times. Do not handle this product out of its protective enclosure while it is not used for operational purposes unless it is otherwise protected.

  • Page 6: Interfaces

    2 Interfaces Jaguar provides a wide variety of interfaces. M.2 Key-E P2 USB Serial Console USB 2.0 HDMI USB 3.1 USB 3.1 FAN P13 Fig. 2.1: Jaguar interfaces overview 2.1 Power Supply In order to power the board, connect the appropriate cable to the highlighted connector shown in the figure below. The Jaguar power supply voltage is 12-24V.

  • Page 7: Usb Serial Console

    Power Supply 12-24V 3.GND 2.VCC 1.GND Fig. 2.2: Power connector Table 2.1: Compatible mating connectors Manufacturer Partnumber Description Würth 691361100003 Vertical Würth 691363110003 Horizontal with hook on wire Side Würth 691366110003 Horizontal with hook on back Side Würth 691304100003 Screwless Plug Vertical Entry Low Profile 2.2 USB Serial Console Jaguar contains an on-board Silicon Labs CP2102N USB-serial converter.
  • Page 8 USB Serial Console Fig. 2.3: USB UART For macOS and Windows, drivers are available from Silicon Labs: https://www.silabs.com/products/development-tools/ software/usb-to-uart-bridge-vcp-drivers A terminal emulation program is required to access the serial console. Table 2.2: Terminal emulators recommendations Operation Terminal Em- Example Commandline System ulator Microsoft...

  • Page 9: Buttons

    2.3 Buttons Boot Reset USB 3.1 Fig. 2.4: Buttons and Download USB Type-C port The control buttons provide the following functionality: • triggers a board reset. • forces alternate boot sequence. 2.3.1 Boot Order The used boot order of the Jaguar board depends on the state of the switch.

  • Page 10: Fan

    (continued from previous page) 2.4 FAN A PWM controlled fan with tacho signal can be connected. The supply voltage can be selected by changing a 0-Ohm resistor, the default supply is 12 V. Table 2.4: Fan supply (bold default) Resistor Fan supply R314 Main supply voltage...

  • Page 11: Can

    2.5 CAN Jaguar supports up to three CAN busses. CAN0 has an on-board transceiver and supports up to 1 MBaud data rate. CAN1 and CAN2 are available on the Mezzanine connector and require a transceiver on the Mezzanine board. 3.GND 2.CAN_N 1.CAN_P Fig.

  • Page 12: Battery

    RS-485 3.GND 2.RS-486_N 1.RS-486_P Fig. 2.7: RS-485 connector Table 2.7: Compatible mating connectors Manufacturer Partnumber Description Würth 691361100003 Vertical Würth 691363110003 Horizontal with hook on wire Side Würth 691366110003 Horizontal with hook on back Side Würth 691304100003 Screwless Plug Vertical Entry Low Profile 2.7 Battery A CR2032 coin cell can be used to supply the on-board real-time-clock.
  • Page 13 Table 2.9 – continued from previous page Function Function CAM1_STROBE GPIO3_C1 WDTRIG# CAM2_CLK0_N I2C1_SCL GPIO3_C2 I2C1_SDA GPIO3_C3 CAM3_D1_P CAM2_MCLK GPIO3_C4 CAM3_D1_N CAM2_RST GPIO3_C5 PCIE20_0_RX_P GPIO3_A0 GPIO3_C6 CAM3_D0_P PCIE20_0_RX_N GPIO3_A1 GPIO3_C7 CAM3_D0_N GPIO3_A2 GPIO3_D0 PCIE20_0_TX_P GPIO3_A3 GPIO3_D1 CAM3_CLK0_P PCIE20_0_TX_N GPIO3_A4 GPIO3_D2 CAM3_CLK0_N GPIO3_A5 GPIO3_D3...
  • Page 14 Table 2.10 – continued from previous page Pin Number GPIO Name SDIO GPIO3_B7 GPIO3_C0 GPIO3_C1 GPIO3_C2 PWM14_M0 GPIO3_C3 PWM15_IR_M0 GPIO3_C4 GPIO3_C5 GPIO3_C6 GPIO3_C7 GPIO3_D0 PWM8_M2 GPIO3_D1 PWM9_M2 GPIO3_D2 GPIO3_D3 PWM10_M2 GPIO3_D4 GPIO3_D5 PWM11_IR_M3 Table 2.11: Mezzanine multiplex functions (cont.) Pin Number GPIO Name PCIE UART...
  • Page 15 Table 2.12 – continued from previous page Pin Number GPIO Name MIPI_CAMERA_CLK GPIO3_A2 GMAC1_RXD2 SPI4_CLK_M1 GPIO3_A3 GMAC1_RXD3 SPI4_CS0_M1 GPIO3_A4 GMAC1_TXCLK SPI4_CS1_M1 GPIO3_A5 GMAC1_RXCLK GPIO3_A6 ETH1_REFCLKO_25M GPIO3_A7 GMAC1_RXD0 MIPI_CAMERA2_CLK_M1 GPIO3_B0 GMAC1_RXD1 MIPI_CAMERA3_CLK_M1 GPIO3_B1 GMAC1_RXDV_CRS MIPI_CAMERA4_CLK_M1 GPIO3_B2 GMAC1_TXER GPIO3_B3 GMAC1_TXD0 GPIO3_B4 GMAC1_TXD1 GPIO3_B5 GMAC1_TXEN GPIO3_B6...

  • Page 16: Mechanical Specification

    3 Mechanical Specification Fig. 3.1: Mechanical dimensions JAGUAR SBC-RK3588-AMR User Manual v1.0 © Theobroma Systems Design und Consulting GmbH Page 13...

  • Page 17: Software Overview

    4 Software Overview This chapter provides instructions for compiling and deploying the BSP (Board Support Package) software to the board. 4.1 Supported Distributions The following chapters describe how to build a disk image for: • Debian: Section 5 Debian image guide Support for Yocto is in progress.

  • Page 18: Debian Image Guide

    5 Debian image guide As opposed to Yocto, Debian does not provide a completely integrated build experience by itself. Linux kernel and U-Boot have to be compiled manually and copied to the appropriate directory to be picked up by Debian build system. This chapter will go through all neccessary steps, finally building a complete image using the debos Debian image builder.

  • Page 19: Compile U-Boot

    (continued from previous page) # Make the baudrate match our U-Boot This step should take under 1 minute total. 5.3 Compile U-Boot Note: Variables must be already set as described in Section 5.2 Get the ATF . Get the source code and compile the U-Boot bootloader as follows: # Set up cross-compilation # Download the source code # Load u-boot config...

  • Page 20: Compile The Linux Kernel

    5.4 Compile the Linux kernel Get the source code and compile the Linux kernel as follows: # Set up cross-compilation # Download the source code # Compile # Make the resulting files available to later steps The time required for this step heavily depends on your internet connection and CPU power. On a quad-core 2.9GHz machine with an 1Gb/s internet connection, it takes about 20 minutes total.
  • Page 21 Debian 12 Bookworm # Build the image using debos # Or: Build the image using podman (for host PCs not using Debian) # build_board=jaguar debos_variant=bookworm debos_host=podman ./build.sh # Make the resulting image available to later steps v1.0 Page 18...

  • Page 22: Deploy A Disk Image

    6 Deploy a disk image This chapter describes how to write a disk image of the Debian 12 bookworm variant as generated in the previous chapter. Note: The variable must be already set as described in respective chapter. Warning: Avoid having the disk image on both the SD Card and the internal eMMC of the module. As the Linux kernel on the module uses to identify partitions to mount, it will be unpredictable whether the SD Card or the internal eMMC is used.
  • Page 23 (continued from previous page) # Make the resulting files available to later steps This step should take about 1 minute total. 6.2.2 Enter USB flashing mode Connect a USB-C cable between the (see Fig. 2.4 Buttons and Download USB Type-C port) and a USB port of your host PC.

  • Page 24: Companion Controller Features

    7 Companion controller features This chapter describes the companion controller (Mule ATtiny) features. 7.1 How to flash Mule-ATtiny The ATtiny can be flashed through the UPDI lines, from the running system on Jaguar (No additional hardware required). 7.1.1 Requirements • avrdude tool 7.1.2 Install avrdude 7.1.3 Flashing Mule ATtiny Note: The above commands should be run with root privileges.

  • Page 25: Serial Number

    8 Serial Number Each Jaguar has a unique serial number that can be read by software. In U-Boot, the serial number is contained in the environment variable . You can print it using the command: Under Linux, it is represented by a simple text file in The serial number is fixed in hardware (derived from the SoC CPU ID) and cannot be modified.

  • Page 26: Revision History

    9 Revision History Date Revision Major changes Nov 27, 2023 v1.0.0 First release JAGUAR SBC-RK3588-AMR User Manual v1.0 © Theobroma Systems Design und Consulting GmbH Page 23...

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