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BeagleBoard BeagleY-AI Manual

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BeagleY-AI
Release 1.0.20240605
BeagleBoard.org Foundation
Jun 05, 2024

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  • Page 1 BeagleY-AI Release 1.0.20240605 BeagleBoard.org Foundation Jun 05, 2024...

  • Page 2: Table Of Contents

    ........2 BeagleY-AI Quick Start 2.1 What’s included in the box?
  • Page 3 5.1.10 Bonus - Turn all GPIOs ON/OFF ....... . 5.1.11 Going Further .
  • Page 4 BeagleY-AI, Release 1.0.20240605 Important: This is a work in progress, for latest documentation please visit https://docs.beagleboard.org/ latest/ BeagleY-AI is an open-source single board computer based on the Texas Instruments AM67A Arm-based vision processor. Table of contents...
  • Page 5 BeagleY-AI, Release 1.0.20240605 Table of contents...

  • Page 6: Introduction

    BeagleY-AI is an open-source single board computer designed for edge AI applications. 1.1 Detailed overview BeagleY-AI is based on the Texas Instruments AM67A Arm-based vision processor. It features a quad-core 64-bit Arm®Cortex®-A53 CPU subsystem at 1.4GHz, Dual general-purpose C7x DSP with Matrix Multiply Accelerator (MMA) capable of 4 TOPs each, Arm Cortex-R5 subsystem for low-latency I/O and control, a 50 GFlop GPU, video and vision accelerators, and other specialized processing capability.

  • Page 7: Am67A Soc

    BeagleY-AI, Release 1.0.20240605 Table 1.1: BeagleY-AI features Feature Description Processor Texas Instruments AM67A, Quad 64-bit Arm® Cortex®-A53 @1.4 GHz, multiple cores including Arm/GPU processors, DSP, and vision/deep learning accelerators 4GB LPDDR4 Wi-Fi Beagleboard BM3301, 802.11ax Wi-Fi Bluetooth Bluetooth Low Energy 5.4 (BLE) USB Ports 4 x USB 3.0 TypeA ports supporting simultaneous 5Gbps operation, 1 x USB 2.0 TypeC, supports USB 2.0 device...

  • Page 8: Back Components

    Table 1.2: BeagleY-AI board front components location Feature Description WiFi/BLE Beagleboard BM3301 with 802.11ax Wi-Fi & Bluetooth Low Energy 5.4 (BLE) 4GB LPDDR4 Expansion 40pin Expansion header compatible with HATs TI AM67A Arm®Cortex®-A53 4 TOPS vision SoC with RGB-IR ISP for 4 cameras, machine vision, robotics, and...
  • Page 9 BeagleY-AI, Release 1.0.20240605 Chapter 1. Introduction...

  • Page 10: Beagley-Ai Quick Start

    Chapter 2 BeagleY-AI Quick Start 2.1 What’s included in the box? When you purchase a BeagleY-AI, you’ll get the following in the box: BeagleY-AI 2. 2.4GHz antennas 3. Quick-start card Tip: For board files, 3D model, and more, you can checkout the BeagleY-AI repository on OpenBeagle.

  • Page 11: Power Supply

    BeagleY-AI, Release 1.0.20240605 Once flashed, you can insert the SD card into your BeagleY-AI as shown in the image below: 2.2.2 Power Supply To power the board you can either connect it to a dedicated power supply like a mobile charger or a wall adapter that can provide 5V ≥...

  • Page 12: Board Connection

    BeagleY-AI, Release 1.0.20240605 2.2.3 Board connection There is only one USB type-C port on board, if you choose to use a dedicated power supply for first time setup, you may access the board via one of the following methods: 1. Connection to HDMI display, Keyboard and Mouse 2.

  • Page 13: Using Beagley-Ai

    BeagleY-AI, Release 1.0.20240605 2.2.5 Using BeagleY-AI To setup your BeagleY-AI for normal usage, connect the following: 1. 5V ≥ 3A power supply 2. HDMI monitor using micro HDMI to full-size HDMI cable 3. Ethernet cable from the board to your router 4.
  • Page 14 BeagleY-AI, Release 1.0.20240605 When prompted, log in using the updated login credentials you updated during the USB tethering step. Note: You can not update login credentials at this step, you must update them during USB tethering step! Once logged in you should see the splash screen shown in the image below:...
  • Page 15 BeagleY-AI, Release 1.0.20240605 Test network connection by running ping 8.8.8.8 Explore and build with your new BeagleY-AI board! Chapter 2. BeagleY-AI Quick Start...

  • Page 16: Connecting To Wifi

    BeagleY-AI, Release 1.0.20240605 2.2.6 Connecting to WiFi Connect 2x antennas to your BeagleY-AI board if not pre-attached. After successfully attaching the antenna, power up the board. Once booted you can follow the commands below to connect to any WiFi access point, •...

  • Page 17: Demos And Tutorials

    BeagleY-AI, Release 1.0.20240605 2.3 Demos and Tutorials • Booting from NVMe Drives Chapter 2. BeagleY-AI Quick Start...

  • Page 18: Design And Specifications

    Work in progress If you want to know how BeagleY-AI is designed and the detailed specifications, then this chapter is for you. We are going to attept to provide you a short and crisp overview followed by discussing each hardware design element in detail.
  • Page 19 BeagleY-AI, Release 1.0.20240605 Fig. 3.1: BeagleY-AI block diagram Chapter 3. Design and specifications...

  • Page 20: Mechanical Specifications

    BeagleY-AI, Release 1.0.20240605 Fig. 3.2: BeagleY-AI power distribution network 3.13 Mechanical Specifications 3.13.1 Dimensions & Weight Table 3.1: Dimensions & weight Parameter Value Size 85 x 56 x 20 mm Max heigh 20mm PCB Size 85 x 56 mm PCB Layers...
  • Page 21 BeagleY-AI, Release 1.0.20240605 Fig. 3.3: BeagleY-AI I2C tree Chapter 3. Design and specifications...
  • Page 22 BeagleY-AI, Release 1.0.20240605 Fig. 3.4: BeagleY-AI SoC CSI1, CSI2, and CSI3 3.13. Mechanical Specifications...
  • Page 23 BeagleY-AI, Release 1.0.20240605 Fig. 3.5: BeagleY-AI SoC DDR0 connections Fig. 3.6: BeagleY-AI SoC DSI0 TX connections Chapter 3. Design and specifications...
  • Page 24 BeagleY-AI, Release 1.0.20240605 Fig. 3.7: BeagleY-AI SoC eFUSE, VMON, Debug, and RSVD 3.13. Mechanical Specifications...
  • Page 25 BeagleY-AI, Release 1.0.20240605 Fig. 3.8: BeagleY-AI SoC GPMC0 Chapter 3. Design and specifications...
  • Page 26 BeagleY-AI, Release 1.0.20240605 Fig. 3.9: BeagleY-AI SoC ground connections 3.13. Mechanical Specifications...
  • Page 27 BeagleY-AI, Release 1.0.20240605 Fig. 3.10: BeagleY-AI SoC MMC0, MMC1, and MMC2 Fig. 3.11: BeagleY-AI SoC OLDI Chapter 3. Design and specifications...
  • Page 28 BeagleY-AI, Release 1.0.20240605 Fig. 3.12: BeagleY-AI SoC OSPI0 Fig. 3.13: BeagleY-AI SoC RGMII 3.13. Mechanical Specifications...
  • Page 29 BeagleY-AI, Release 1.0.20240605 Fig. 3.14: BeagleY-AI SoC SERDES0 Fig. 3.15: BeagleY-AI SoC SERDES1 Fig. 3.16: BeagleY-AI SoC supply noise kelvin sensing Fig. 3.17: BeagleY-AI SoC USB0 and USB1 Chapter 3. Design and specifications...
  • Page 30 BeagleY-AI, Release 1.0.20240605 Fig. 3.18: BeagleY-AI SoC VOUT Fig. 3.19: BeagleY-AI SoC analog power1 3.13. Mechanical Specifications...
  • Page 31 BeagleY-AI, Release 1.0.20240605 Fig. 3.20: BeagleY-AI AI SoC IO and DDR power2 Chapter 3. Design and specifications...
  • Page 32 BeagleY-AI, Release 1.0.20240605 Fig. 3.21: BeagleY-AI SoC digital power3 3.13. Mechanical Specifications...
  • Page 33 BeagleY-AI, Release 1.0.20240605 Fig. 3.22: BeagleY-AI SoC Reset, Cntrls, and Clk Fig. 3.23: BeagleY-AI SoC RGMII1 RST Fig. 3.24: BeagleY-AI VDD core hcps Chapter 3. Design and specifications...
  • Page 34 BeagleY-AI, Release 1.0.20240605 Fig. 3.25: BeagleY-AI wkup reset cntrls osc Fig. 3.26: BeagleY-AI boot modes Fig. 3.27: BeagleY-AI VSYS 3V3 3.13. Mechanical Specifications...
  • Page 35 BeagleY-AI, Release 1.0.20240605 Fig. 3.28: BeagleY-AI 3V3/V5 to 1V1 LDO Fig. 3.29: BeagleY-AI PMIC Fig. 3.30: BeagleY-AI PMIC NVM programming interface Chapter 3. Design and specifications...
  • Page 36 BeagleY-AI, Release 1.0.20240605 Fig. 3.31: BeagleY-AI user expansion connector Fig. 3.32: BeagleY-AI RPI CSI 3.13. Mechanical Specifications...
  • Page 37 BeagleY-AI, Release 1.0.20240605 Fig. 3.33: BeagleY-AI RPI DSI/CSI Fig. 3.34: BeagleY-AI dual USB1 Chapter 3. Design and specifications...
  • Page 38 BeagleY-AI, Release 1.0.20240605 Fig. 3.35: BeagleY-AI dual USB2 Fig. 3.36: BeagleY-AI dual USB current limiter 3.13. Mechanical Specifications...
  • Page 39 BeagleY-AI, Release 1.0.20240605 Fig. 3.37: BeagleY-AI fan connector Fig. 3.38: BeagleY-AI general IO Chapter 3. Design and specifications...
  • Page 40 BeagleY-AI, Release 1.0.20240605 Fig. 3.39: BeagleY-AI MCU general IO Fig. 3.40: BeagleY-AI USB3 hub 3.13. Mechanical Specifications...
  • Page 41 BeagleY-AI, Release 1.0.20240605 Fig. 3.41: BeagleY-AI USB-C Fig. 3.42: BeagleY-AI USB hub config Chapter 3. Design and specifications...
  • Page 42 BeagleY-AI, Release 1.0.20240605 Fig. 3.43: BeagleY-AI USB VBUS resistor divider circuit Fig. 3.44: BeagleY-AI I2C2 pull-up resistors 3.13. Mechanical Specifications...
  • Page 43 BeagleY-AI, Release 1.0.20240605 Fig. 3.45: BeagleY-AI I2C ext RTC Fig. 3.46: BeagleY-AI voltage level translator Chapter 3. Design and specifications...
  • Page 44 BeagleY-AI, Release 1.0.20240605 Fig. 3.47: BeagleY-AI LEDs 3.13. Mechanical Specifications...
  • Page 45 BeagleY-AI, Release 1.0.20240605 Fig. 3.48: BeagleY-AI WiFi module Chapter 3. Design and specifications...
  • Page 46 BeagleY-AI, Release 1.0.20240605 Fig. 3.49: BeagleY-AI ethernet connector 3.13. Mechanical Specifications...
  • Page 47 BeagleY-AI, Release 1.0.20240605 Fig. 3.50: BeagleY-AI ethernet DP83867 Fig. 3.51: BeagleY-AI ethernet phy caps Fig. 3.52: BeagleY-AI ethernet phy misc Chapter 3. Design and specifications...
  • Page 48 BeagleY-AI, Release 1.0.20240605 Fig. 3.53: BeagleY-AI ethernet phy protection Fig. 3.54: BeagleY-AI ethernet power 3V3 to 2V5 Fig. 3.55: BeagleY-AI PoE header 3.13. Mechanical Specifications...
  • Page 49 BeagleY-AI, Release 1.0.20240605 Fig. 3.56: BeagleY-AI board id eeprom Fig. 3.57: BeagleY-AI DDR caps Chapter 3. Design and specifications...
  • Page 50 BeagleY-AI, Release 1.0.20240605 Fig. 3.58: BeagleY-AI DDR Fig. 3.59: BeagleY-AI DDR power 3.13. Mechanical Specifications...
  • Page 51 BeagleY-AI, Release 1.0.20240605 Fig. 3.60: BeagleY-AI microSD card interface Fig. 3.61: BeagleY-AI PCIE connector Fig. 3.62: BeagleY-AI HDMI addr protection Chapter 3. Design and specifications...
  • Page 52 BeagleY-AI, Release 1.0.20240605 Fig. 3.63: BeagleY-AI HDMI power Fig. 3.64: BeagleY-AI HDMI reset Fig. 3.65: BeagleY-AI RGB888 to HDMI 3.13. Mechanical Specifications...
  • Page 53 BeagleY-AI, Release 1.0.20240605 Fig. 3.66: BeagleY-AI Tag-Connect Fig. 3.67: BeagleY-AI debug UART port Chapter 3. Design and specifications...

  • Page 54: Expansion

    Chapter 4 Expansion 4.1 PCIe For software reference, you can see how PCIe is used on NVMe HATs. • Booting from NVMe Drives • Using IMX219 CSI Cameras • Using the on-board Real Time Clock (RTC)
  • Page 55 BeagleY-AI, Release 1.0.20240605 Chapter 4. Expansion...

  • Page 56: Demos And Tutorials

    A great resource for understanding pin numbering can be found at pinout.beagley.ai Note: WARNING - BeagleY-AI GPIOs are 3.3V tolerant, using higher voltages WILL damage the processor! 5.1.1 Pin Numbering You will see pins referenced in several ways. While this is confusing at first, in reality, we can pick our favorite way and stick to it.
  • Page 57 BeagleY-AI, Release 1.0.20240605 Fig. 5.1: BeagleY-AI pinout Chapter 5. Demos and tutorials...

  • Page 58: Blink An Led

    BeagleY-AI, Release 1.0.20240605 To set HAT Pin 8 to ON: gpioset hat-08-gpio 0=1 To set HAT Pin 8 to OFF: gpioset hat-08-gpio 0=0 5.1.4 Blink an LED Let’s write a script called blinky.sh that contains the following: #!/bin/bash while gpioset hat-08-gpio...

  • Page 59: Gpio Read

    BeagleY-AI, Release 1.0.20240605 Ctrl + c You can exit by pressing on your keyboard. 5.1.5 GPIO Read gpioget Reading GPIOs can be done using the command gpioget hat-08-gpio 0 Results in 1 if the Input is held HIGH or 0 if the Input is held LOW 5.1.6 Read a Button...

  • Page 60: Understanding Internal Pull Resistors

    BeagleY-AI, Release 1.0.20240605 (continued from previous page) gpioset hat-08-gpio done This means when we see HAT Pin 12 go LOW, we know the button is pressed, so we set HAT Pin 8 (our LED) to ON, otherwise, we turn it OFF.

  • Page 61: Troubleshooting

    BeagleY-AI, Release 1.0.20240605 5.1.9 Troubleshooting • My script won’t run! Make sure you gave the script execute permissions first and that you’re executing it with a ./ before To make it executable: chmod +X scriptName.sh To run it: ./scriptName.sh 5.1.10 Bonus - Turn all GPIOs ON/OFF Copy and paste this with the button on the right to turn all pins ON.

  • Page 62: Pulse Width Modulation (Pwm)

    BeagleY-AI, Release 1.0.20240605 5.2 Pulse Width Modulation (PWM) 5.2.1 What is it PWM, or Pulse Width Modulation, is a technique used to control the amount of power delivered to an electronic device by breaking up the power signal into discrete ON and OFF periods. The amount of time the signal spends ON during each cycle determines the output power level (brightness of the LED).

  • Page 63: Troubleshooting

    Without an RTC, a computer must rely on something called Network Time Protocol (NTP) to obtain the current time from a network source. There are many cases however where an SBC such as BeagleY-AI may not have a constant or reliable network connection. In situations such as these, an RTC allows the board to keep time even if the network connection is severed or the board loses power for an extended period of time.

  • Page 64: Uses For An Rtc

    Note: If you have not connected your BeagleY-AI to a network so it can get time from an NTP server, you must set the time before being able to read it. If you don’t do this first, you’ll see errors.

  • Page 65: Diving Deeper

    BeagleY-AI, Release 1.0.20240605 hwclock --set --date ”10/05/2024 21:01:05” 5.3.5 Diving Deeper There are actually two different “times” that your Linux system keeps track of. • System time, which can be read using the date or timedatectl commands • RTC (hardware) time which can be read using the hwclock command shown above.

  • Page 66: Going Further

    BeagleY-AI, Release 1.0.20240605 Fig. 5.2: https://youtu.be/BAo5C2qbLq8 sudo hwclock --systohc debian@BeagleBone:~$ debian@BeagleBone:~$ sudo hwclock 2024-05-10 21:06:56.692874+00:00 5.3.7 Going Further Consider learning about topics such as time keeping over GPS and Atomic Clocks! There are some good YouTube videos below to provide sources for inspiration.
  • Page 67 BeagleY-AI, Release 1.0.20240605 Fig. 5.3: https://youtu.be/RvnG-ywF6_s Fig. 5.4: https://youtu.be/7aTZ66ZL6Dk Chapter 5. Demos and tutorials...

  • Page 68: Operating Principle

    BeagleY-AI, Release 1.0.20240605 5.4.1 Operating Principle NXP PCA9685 is a simple 16-channel, 12-bit PWM controller that communicates over I2C. While originally designed as an LED driver, it’s ability to output PWM also makes it suitable as a Servo Motor driver.

  • Page 69: Using Adafruit Servokit

    BeagleY-AI, Release 1.0.20240605 Thus, we can use the decoder table above to infer that to drive motor channel A at 50% speed clockwise, we would set the PCA9685 to output INA1 High, INA2 Low and PWM1 at a 50% duty cycle.

  • Page 70: Python User-Space Driver

    BeagleY-AI, Release 1.0.20240605 (continued from previous page) ServoKit(channels=16) kit.servo[0].angle kit.continuous_servo[1].throttle time.sleep(1) kit.continuous_servo[1].throttle time.sleep(1) kit.servo[0].angle kit.continuous_servo[1].throttle To explore ServoKit further, check out the ServoKit Github Page and Examples 5.4.3 Python User-space Driver As mentioned before, the PCA9685 is a rather simple I2C device, so the driver for it is equally simple: PCA9685.py...
  • Page 71 BeagleY-AI, Release 1.0.20240605 Photo Credit - Xicoolee Looking at the schematic for the Xicoolee HAT, we see that we need to define our DC motor pins as follows: #Xicoolee TB6612FNG self.PWMA self.AIN1 self.AIN2 self.PWMB self.BIN1 self.BIN2 We can then run some simple example code as shown below:...

  • Page 72: Adafruit Dc & Stepper Motor Hat

    BeagleY-AI, Release 1.0.20240605 (continued from previous page) pwm.setDutycycle(self.PWMA, 0) else pwm.setDutycycle(self.PWMB, 0) print(”this is a motor driver test code”) Motor MotorDriver() print(”forward 2 s”) Motor.MotorRun(0, 'forward', 100) Motor.MotorRun(1, 'forward', 100) time.sleep(2) print(”backward 2 s”) Motor.MotorRun(0, 'backward', 100) Motor.MotorRun(1, 'backward', 100) time.sleep(2)

  • Page 73: Booting From Nvme Drives

    5.5 Booting from NVMe Drives Note: This page is a work in progress. Further drive testing and images will be added soon BeagleY-AI supports a PCI-Express x1 interface which enables data rates of up to 1GB/s for high speed expan- sion.

  • Page 74: Step By Step

    BeagleY-AI Debian XFCE 12.5 2024-03-25 image. Step 1. Boot from SD Normally Grab the latest BeagleY-AI SD Image from (BeagleBoard.org/distros.) Once logged in and at the terminal, make sure your system is up to date (a reboot is also recommended after updating) sudo apt-get update &&...

  • Page 75: Troubleshooting

    SD boot or other modes if something happens. Note: This will copy the entire contents of your SD card to the NVMe drive, so expect it to take upwards of 15 minutes. This only needs to be run one time sudo cp -v /opt/u-boot/bb-u-boot-beagley-ai/beagley-ai-microsd-to-nvme-w- swap /etc/default/beagle-flasher →...

  • Page 76: Using Imx219 Csi Cameras

    BeagleY-AI, Release 1.0.20240605 debian@BeagleY:~$ dmesg | grep ”PCI” 0.005276] PCI/MSI: /bus@f0000/interrupt-controller@1800000/msi- controller@1820000 domain created → 0.158546] PCI: CLS 0 bytes, default 64 3.674209] j721e-pcie-host f102000.pcie: PCI host bridge to bus 0000:00 3.742406] pci 0000:01:00.0: 7.876 Gb/s available PCIe bandwidth,␣ limited by 8.0 GT/s PCIe x1 link at 0000:00:00.0 (capable of 31.504 Gb/s␣...

  • Page 77: Using Csi Port 1

    BeagleY-AI, Release 1.0.20240605 5.6.2 Using CSI Port 1 5.6.3 Troubleshooting Found /extlinux/extlinux.conf Retrieving file: /extlinux/extlinux.conf beagley-ai microSD (extlinux.conf) microSD Recovery microSD (RPI 7inch panel) microSD (lincolntech-185lcd panel) microSD (csi0 imx219) microSD (csi1 imx219) microSD (csi0 ov5640) microSD (default) Enter choice: 4 microSD (csi0 imx219) 5.7 Using the Arducam Dual V3Link Camera Kit...

  • Page 78: Initial Hardware Connection

    BeagleY-AI, Release 1.0.20240605 Note: Unlike the larger quad-camera kit, the dual camera kit aims to simplify the software stack and improve interoperability with the Raspberry Pi and other non-TI SBCs by forgoing the ability to support multi-stream CSI inputs. This means that it is limited to “switching” between the two FPDLink inputs but has the benefit of not requiring additional drivers beyond support for the base CSI camera driver (IMX219 in this case) 5.7.1 Initial Hardware Connection...

  • Page 79: Switching Csi Channels

    BeagleY-AI, Release 1.0.20240605 sudo i2cdetect -r -y 1 To verify actual communication with the FPDlink device, we issue the following command: sudo i2ctransfer -f -y 4 w3@0x0c 0xff 0x55 0x01 r1 5.7.3 Switching CSI Channels The channel numbering for FPDLink goes from 1 to 2 (as opposed to counting from 0 as is the case for CSI)

  • Page 80: Support

    Chapter 6 Support All support for BeagleY-AI design is through BeagleBoard.org community at BeagleBoard.org forum. 6.1 Production board boot media 6.2 Certifications and export control 6.2.1 Export designations • HS: 8471504090 • US HS: 8543708800 • UPC: 640265311062 • EU HS: 8471707000 •...

  • Page 81: Support Forum

    This section describes the change history of this document and board. Document changes are not always a result of a board change. A board change will always result in a document change. 6.4.1 Board Changes For all changes, see https://openbeagle.org/beagley-ai/beagley-ai. Versions released into production are noted below. Table 6.1: BeagleY-AI board change history...

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