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Cherry JAGUAR SBC-RK3588-AMR User Manual

For autonomous mobile robots featuring the rockchip rk3588 cutting-edge processor
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JAGUAR SBC-RK3588-AMR
Single Board Computer for Autonomous Mobile Robots
featuring the Rockchip RK3588 cutting-edge processor
USER MANUAL
Document revision:
Issue date:
v2.1.0
Jun 27, 2025

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Summary of Contents for Cherry JAGUAR SBC-RK3588-AMR

  • Page 1 JAGUAR SBC-RK3588-AMR Single Board Computer for Autonomous Mobile Robots featuring the Rockchip RK3588 cutting-edge processor USER MANUAL Document revision: v2.1.0 Issue date: Jun 27, 2025...

  • Page 3: Table Of Contents

    10.4 Scanning Bluetooth devices ........36 11 Serial Number JAGUAR SBC-RK3588-AMR User Manual v2.1.0 ©...
  • Page 4 12 Contact 13 Revision History v2.1.0 Page ii...

  • Page 5: Introduction

    “mezzanine” connector because it adds a second floor. The JAGUAR SBC-RK3588-AMR operates from a single power input with a voltage 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 6: Precautions

    1.2 Precautions Warning Exclamat ESD Sensitive Device Electronic boards and their components are sensitive to static electricity. Therefore, care must be taken dur- ing 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 7: 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 INFO-CIR Be careful when connecting the power cable since all three terminal block connectors are of the same type. JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 3...

  • Page 8: 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 9 Make sure to disable software flow-control (XON/XOFF). Otherwise, serial input may not be recognized. After system boot-up with the Jaguar Debian development image, the login console appears on the terminal: jaguar-debos login: You can log with one of the following credentials: JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 5...

  • Page 10: Buttons

    Table 2.3: Default User Username Password root root user 123123 2.3 Buttons BIOS 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. BIOS 2.3.1 Boot Order The used boot order of the Jaguar board depends on the state of the...

  • Page 11: Fan

    Table 2.4: Fan supply (bold default) Resistor Fan supply R314 Main supply voltage R315 12 V R316 Table 2.5: Fan mating connector Manufacturer Partnumber PHR-4 Fig. 2.5: FAN connection JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 7...

  • Page 12: 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 13: Battery

    Partnumber Description Hirose ER8-80P-0.8SV-2H 2mm height plug Hirose ER8-80P-0.8SV-5H 5mm height plug Table 2.9: Mezzanine connector pinout Function Function CP2102_POWER_EN CAM0_STROBE GPIO3_C0 ADC_IN2 CAM2_CLK0_P continues on next page JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 9...
  • Page 14 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 15 UART9_CTSN_M2 GPIO3_D4 PCIE30X2_PERSTN_M2 UART9_RX_M2 GPIO3_D5 PCIE30X4_BUTTON_RSTN UART9_TX_M2 Table 2.12: Mezzanine multiplex functions (cont.) Pin Number GPIO Name MIPI_CAMERA_CLK GPIO3_A0 GMAC1_TXD2 SPI4_MISO_M1 GPIO3_A1 GMAC1_TXD3 SPI4_MOSI_M1 continues on next page JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 11...
  • Page 16 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 17: Gigabit Ethernet

    Section 10 Wireless support describes how to use this module. 2.12 USB-C P11 and P12 are full-featured USB-C jacks. They provide USB 3.0 SuperSpeed up to 5Gbps and support DisplayPort 1.4a output up to 8Gbps. JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 13...

  • Page 18: Usb-C Displayport Alternate Mode

    2.13 USB-C DisplayPort Alternate Mode Connecting a USB-C to DisplayPort cable automatically switches the USB-C port to DisplayPort output mode. Once display output is enabled will show a message block prefixed with dmesg -w rockchip-vop2 dw-dp rockchip-vop2 fdd90000.vop: [drm:vop2_crtc_atomic_enable] Update mode to 1920x1080p60, type:‿...
  • Page 19 If you see a different value, upgrade your kernel, or add to the line in loglevel=6 APPEND /boot/extlinux/ and reboot. extlinux.conf JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 15...

  • Page 20: Mechanical Specification

    3 Mechanical Specification Fig. 3.1: Mechanical dimensions With the PCB mounted to a flat heatsink, the gap between the CPU and the heatsink is 0 to 0.3mm, with a typical value of 0.1mm. A high-compliance thermal pad with a thickness of 0.5mm is recommended. As an example, RS 915-6039 works well.

  • Page 21: Software Overview

    The second option is to cross-compile your applications on a host PC. The compiler that is installed in Section 5.1 Prepare the host PC is suitable. JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH...

  • Page 22: 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 23: Get The Tf-A

    # Load u-boot config make jaguar-rk3588_defconfig # Build U-Boot make -j"$(nproc)" # Make the resulting file available to later steps export JAGUAR_UBOOT_DIR="$PWD/jaguar-u-boot" This step should take about 1 minute total. JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 19...

  • Page 24: Compile The Linux Kernel

    Get the source code and compile the Linux kernel 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-linux.git jaguar-linux return # Compile make jaguar-rk3588_defconfig make -j"$(nproc)" ^## Make sure there are no modules from older builds, otherwise may pollute rootfs ^## if using debos-recipes instructions.
  • Page 25 /dev/kvm: no such file or directory In this case, use the example as given at the beginning of the section. debos_host=chroot mode uses internally as it requires root permissions. debos_host=chroot sudo JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 21...

  • Page 26: Building A Yocto Image

    This user guide does not aim at getting the user familiar with development with the Yocto Project but rather help them setup their build environment to create a basic Yocto image that can be used on one of CHERRY Embedded Solutions modules.
  • Page 27 6.2.1 Initial setup Clone the meta-cherry-es repository and the BSP layer dependencies from a new directory called yocto mkdir yocto yocto return git clone https:^//git.embedded.cherry.de/yocto-layers/meta-cherry-es.git -b scarthgap git clone https:^//git.yoctoproject.org/poky -b scarthgap-5.0.8 git clone https:^//git.yoctoproject.org/meta-arm -b yocto-5.0 git clone https:^//git.yoctoproject.org/meta-rockchip -b scarthgap git clone https:^//git.openembedded.org/meta-openembedded -b scarthgap...
  • Page 28 MACHINE build/conf/local.conf possible, CHERRY recommends passing the variable explicitly in the command directly as this makes it more visible to the user and also allows to easily build for multiple machines without modifying a file in-between. The build process can take several hours depending on the capabilities of the build machine and the user’ s Internet connection.

  • Page 29: Extended Meta Layer

    6.3 Extended meta layer The Yocto Project extended meta layer can be found at https://git.embedded.cherry.de/yocto-layers/ meta-cherry-es.git/ in the meta-extended directory. In addition to the minimal features, this layer includes the network manager, and many more features will be added soon.
  • Page 30 6.3.1 Initial setup Clone the meta-cherry-es repository and the extended layer dependencies from a new directory called yocto mkdir yocto yocto return git clone https:^//git.embedded.cherry.de/yocto-layers/meta-cherry-es.git -b scarthgap git clone https:^//git.yoctoproject.org/poky -b scarthgap-5.0.8 git clone https:^//git.yoctoproject.org/meta-arm -b yocto-5.0 git clone https:^//git.yoctoproject.org/meta-rockchip -b scarthgap git clone https:^//git.openembedded.org/meta-openembedded -b scarthgap...
  • Page 31 MACHINE build/conf/local.conf possible, CHERRY recommends passing the variable explicitly in the command directly as this makes it more visible to the user and also allows to easily build for multiple machines without modifying a file in-between. The build process can take several hours depending on the capabilities of the build machine and the user’ s Internet connection.
  • Page 32 The Section 6.3.1 Initial setup and Section 6.3.2 Initializing build environment can then be replaced by the following two commands: mkdir yocto yocto return git clone https:^//git.embedded.cherry.de/yocto-layers/meta-cherry-es.git -b scarthgap kas checkout meta-cherry-es/meta-extended/kas-cherry-es.yml The Section 6.3.3 Building an image can now be replaced with: KAS_MACHINE="jaguar" kas build meta-cherry-es/meta-extended/kas-cherry-es.yml...

  • Page 33: Deploy A Disk Image

    # Compile rkdeveloptool autoreconf -i CPPFLAGS=-Wno-format-truncation ./configure make # Download miniloaders used for flashing git clone https:^//github.com/rockchip-linux/rkbin.git tools/rk_tools # Build miniloader binaries (continues on next page) JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 29...
  • Page 34 (continued from previous page) tools/rk_tools/ return # Tag linux-5.10-gen-rkr4.1 git checkout "1356c978" ./tools/boot_merger RKBOOT/RK3588MINIALL.ini # Make the resulting files available to later steps export RKDEVELOPTOOL_DIR="$PWD" This step should take about 1 minute total. 7.2.2 Enter USB flashing mode Connect a USB-C cable between the (see Fig.

  • Page 35: Network Boot

    ^--extract ^--directory /srv/nfsroot ^--file /tmp/sdcard-jaguar-debos-bookworm.tar.gz If you want to load the Linux kernel from the network (Section 8.2.1 Variant 1: Linux and Rootfs from Network), a pxelinux configuration file must be created: JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH...

  • Page 36: Jaguar Setup

    mkdir /srv/nfsroot/pxelinux.cfg ^&& ^<<EOF > /srv/nfsroot/pxelinux.cfg/default-arm-rk3588-jaguar_rk3588 LABEL rk3588-jaguar-nfsroot LINUX /boot/Image FDT /boot/rk3588-jaguar.dtb APPEND root=/dev/nfs rw ip=dhcp nfsroot=\${serverip}:/srv/nfsroot,v4,tcp,soft 8.2 Jaguar Setup Deploy a disk image to SD card or eMMC as described in Section 7 Deploy a disk image. Power up the board and wait for this line one the serial console: Hit any key to stop autoboot Hit any key to get to the U-Boot prompt.

  • Page 37: Troubleshooting

    "stdout=serial,vidconsole" into hash table himport_r: can't insert "stderr=serial,vidconsole" into hash table ^=> env save Saving Environment to MMC^^... Writing to MMC(0)^^... OK ^=> reset resetting ^^... JAGUAR SBC-RK3588-AMR User Manual v2.1.0 © Cherry Embedded Solutions GmbH Page 33...

  • Page 38: Companion Controller Features

    The ATtiny can be flashed through the UPDI lines, from the running system on Jaguar (No additional hardware required). For convenience, tool is available for flashing the Mule ATtiny microcontroller. The mule-attiny.sh tool is available here: https://git.embedded.cherry.de/som-tools.git/tree/mule-attiny. 9.1.1 Requirements • avrdude tool (minimum v7.1) 9.1.2 Install avrdude apt-get install avrdude 9.1.3 Flashing Mule ATtiny...

  • Page 39: Wireless Support

    10 Wireless support JAGUAR SBC-RK3588-AMR features an M.2 Key-E socket (Fig. 2.1 Jaguar interfaces overview) which can be used for adding WiFi and Bluetooth support. This chapter shows how to connect to an existing WiFi network and how to scan Bluetooth devices.

  • Page 40: Installing Software Dependencies

    You can show the available wifi networks using: nmcli dev wifi Connect to a network using the following command (replace the network name and password as appropriate): nmcli dev wifi connect "CHERRY Example Wifi" password "hello-jaguar" You should get a message like: Device 'wlan0' successfully activated with '79ef39fc-8f49-4719-a8d9-4d6d789bb815'.

  • Page 41: 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 v2.1.0 © Cherry Embedded Solutions GmbH Page 37...
  • Page 42 12 Contact Cherry Embedded Solutions GmbH Seestadtstraße 27 1220 Vienna Austria Inquiries: sales-es@cherry.de Technical Support: support-es@cherry.de v2.1.0 Page 38...

  • Page 43: Revision History

    Apr 02, 2024 v1.1.0 Add instructions on how to use kernel modules in debos Changed shell code snippets to pass shellcheck Theobroma Systems is now CHERRY Embedded Solutions Jul 19, 2024 v1.2.0 Update instructions for Yocto Scarthgap (5.0) Fix incorrect path for rkdeveloptool...

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