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Summary of Contents for Cherry JAGUAR SBC-RK3588-AMR
- Page 1 JAGUAR SBC-RK3588-AMR Single Board Computer for Autonmous Mobile Robots featuring the Rockchip RK3588 cutting-edge processor USER MANUAL Document revision: v1.0.1 Issue date: Dec 18, 2023...
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Page 3: Table Of Contents
How to flash Mule-ATtiny ........9 Serial Number 10 Revision History JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH... -
Page 4: Introduction
“mezzanine” connector because it adds a second floor. The JAGUAR SBC-RK3588-AMR operates from a single power input with a volt- age range of 12 to 24 V. While its consumption under load is a moderate 18 W, it provides up to 35 W for devices attached via PCIe and USB. -
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
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. Note: Be careful when connecting the power cable since all three terminal block connectors are of the same type. JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 3... -
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 After system boot-up with the Jaguar Debian development image, the login console appears on the terminal: jaguar login: You can log with one of the following credentials: Table 2.3: Default User Username Password root root user 123123 JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 5...
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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: • Reset triggers a board reset. • BOOT SW forces alternate boot sequence. 2.3.1 Boot Order The used boot order of the Jaguar board depends on the state of the BOOT SW switch. BOOT SW pressed Default eMMC storage... -
Page 10: Fan
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. JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH... -
Page 11: Rs-485
3.GND 2.CAN_N 1.CAN_P Fig. 2.6: CAN connector Table 2.6: 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 2.6 RS-485 Jaguar supports half-duplex RS-485. -
Page 12: Battery
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 PCIE20_0_CLK_P GPIO3_A6 GPIO3_D4 CAM3_MLCK PCIE20_0_CLK_N continues on next page JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 9... - Page 13 Table 2.9 – continued from previous page Function Function GPIO3_B1 GPIO3_D5 CAM3_RST GPIO3_B2 CAM2_D1_P VCC_1V8 GPIO3_B3 VCC_3V3 CAM2_D1_N VCC_1V8 GPIO3_B4 VCC_3V3 GPIO3_B5 CAM2_D0_P VCC_IN GPIO3_B6 VCC_5V0 CAM2_D0_N VCC_IN GPIO3_B7 VCC_5V0 Table 2.10: Mezzanine multiplex functions Pin Number GPIO Name SDIO GPIO3_A0 PWM10_M0 SDIO_D0_M1...
- Page 14 SPI1_MOSI_M1 GPIO3_C0 GMAC_PPSTRIG SPI1_MISO_M1 GPIO3_C1 GMAC1_PPSCLK SPI1_CLK_M1 GPIO3_C2 GMAC1_MDC SPI1_CS0_M1 GPIO3_C3 GMAC1_MDIO SPI1_CS1_M1 GPIO3_C4 SPI3_CS0_M3 GPIO3_C5 SPI3_CS1_M3 GPIO3_C6 SPI3_MISO_M3 GPIO3_C7 SPI3_MOSI_M3 GPIO3_D0 SPI3_CLK_M3 GPIO3_D1 continues on next page JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 11...
- Page 15 Table 2.12 – continued from previous page Pin Number GPIO Name MIPI_CAMERA_CLK GPIO3_D2 GPIO3_D3 GPIO3_D4 GPIO3_D5 Fig. 2.8: Mezzanine board dimensions (bottom view) v1.0.1 Page 12...
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Page 16: Mechanical Specification
3 Mechanical Specification Fig. 3.1: Mechanical dimensions JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 13... -
Page 17: Software Overview
5.1 Prepare the host PC is suitable. 4.3 Known issues 1. The SD card cannot currently be automatically detected at runtime, so please insert it before booting the JAGUAR SBC-RK3588-AMR. It is however possible to force a detection at runtime by running the following commands: echo "fe2c0000.mmc"... -
Page 18: Debian Image Guide
This chapter will go through all neccessary steps, finally building a complete image using the debos Debian image builder. The result will be a fully-functional Debian system. Alternatively, prebuilt images can be downloaded from https://downloads.embedded.cherry.de/jaguar . At the time of writing this document, the following Debian image variants are available for Jaguar: •... -
Page 19: Compile U-Boot
Get the source code and compile the U-Boot bootloader as follows: # Set up cross-compilation export ARCH=arm64 export CROSS_COMPILE=aarch64-linux-gnu- # Download the source code git clone https://git.embedded.cherry.de/jaguar-u-boot.git jaguar-u-boot # Load u-boot config make jaguar-rk3588_defconfig # Build idbloader.img make spl/u-boot-spl.bin -j$(nproc) ./tools/mkimage -n rk3588 -T rksd -d "$TPL":spl/u-boot-spl.bin idbloader.img... -
Page 20: Building The Debos Image
# 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 export SDCARD_IMG=$PWD/sdcard-jaguar-debos-bookworm.img JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 17... -
Page 21: Building A Yocto Image
6 Building a Yocto image The Yocto Project is an open-source project that helps building Linux-based distributions, mainly for embe- dedded products. Theobroma Systems provides a minimal BSP layer to allow building Yocto images for the company’s modules. An extended layer is also provided for a less bare experience, see instructions in Section 6.3 Extended meta layer. - Page 22 The Yocto Project then needs to be configured to include layers to find new recipes or configuration files, which is essential to build new pieces of software or compile for a specific hardware target system. This can be done with the bitbake-layers tool: JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH...
- Page 23 bitbake-layers add-layer ../meta-arm/meta-arm-toolchain bitbake-layers add-layer ../meta-arm/meta-arm bitbake-layers add-layer ../meta-rockchip bitbake-layers add-layer ../meta-openembedded/meta-oe bitbake-layers add-layer ../meta-openembedded/meta-python bitbake-layers add-layer ../meta-theobroma-systems-bsp 6.2.3 Building a minimal image To build a bootable artifact, BitBake will be called with the specified machine and target image: MACHINE="jaguar" bitbake core-image-minimal Note: Technically speaking, the MACHINE variable could be set in build/conf/local.conf file once and for all.
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Page 24: Extended Meta Layer
One can check if a branch supports a release by looking into conf/layer.conf and look for the LAYERSERIES_COMPAT_* variable. All layers should have the same one in common, here “kirkstone”. JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH... - Page 25 6.3.2 Initializing build environment Once the layers have been properly cloned in their appropriate branch, the build environment needs to be initialized. This can be done by running the following command: source poky/oe-init-build-env build This will initialize the build environment by making the bitbake build tool available in the current shell and creating a build directory where temporary and final build artifacts will be stored.
- Page 26 E.g. to replace the last command to build an image with kas one can call this instead: python3 -m venv venv source venv/bin/activate python3 -m pip install kas==4.0 KAS_IMAGE_VERSION="4.0" KAS_MACHINE="jaguar" kas-container build meta-theobroma-systems-extended/kas- theobroma.yml JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 23...
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Page 27: Deploy A Disk Image
7 Deploy a disk image This chapter describes how to write a disk image of the Debian 12 bookworm variant as generated in the pre- vious chapter. Note: The variable SDCARD_IMG 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. - Page 28 $RKDEVELOPTOOL_DIR sudo ./rkdeveloptool db tools/rk_tools/rk3588_spl_loader_v* && sleep 1 sudo ./rkdeveloptool wl 0 $SDCARD_IMG sudo ./rkdeveloptool rd This step should take about 1 minute for the Debian image. JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH Page 25...
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Page 29: Companion Controller Features
The ATtiny can be flashed through the UPDI lines, from the running system on Jaguar (No additional hardware required). For convenience, mule-attiny.sh tool is available for flashing the Mule ATtiny microcontroller. The tool is available here: https://git.embedded.cherry.de/som-tools.git/tree/mule-attiny. 8.1.1 Requirements • avrdude tool (minimum v7.1) 8.1.2 Install avrdude... -
Page 30: Serial Number
Under Linux, it is represented by a simple text file in /sys: cat /sys/firmware/devicetree/base/serial-number The serial number is fixed in hardware (derived from the SoC CPU ID) and cannot be modified. JAGUAR SBC-RK3588-AMR User Manual v1.0.1 © Cherry Embedded Solutions GmbH... -
Page 31: Revision History
Updated flashing instructions for companion microcontroller to use wrapper shell script Replaced dd flashing instructions with bmaptool Updated pip instructions for Bookworm Added yocto directory creation Updated kas container instructions Rephrased layer version requirement Switch to Cherry Corporate Identity v1.0.1 Page 28...