CAN/IMU/Cameras with Jetson Orin

The Jetson Orin is a development board from Nvidia.

CAN Bus

See here for notes on configuring the CAN bus for the Jetson.

Install dependencies:

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt update
sudo apt upgrade
sudo apt install g++ python3.11-dev

Initialize the CAN bus on startup:

#!/bin/bash

# Set pinmux.
busybox devmem 0x0c303000 32 0x0000C400
busybox devmem 0x0c303008 32 0x0000C458
busybox devmem 0x0c303010 32 0x0000C400
busybox devmem 0x0c303018 32 0x0000C458

# Install modules.
modprobe can
modprobe can_raw
modprobe mttcan

# Turn off CAN.
ip link set down can0
ip link set down can1

# Set parameters.
ip link set can0 type can bitrate 1000000 dbitrate 1000000 berr-reporting on fd on loopback off
ip link set can1 type can bitrate 1000000 dbitrate 1000000 berr-reporting on fd on loopback off

# Turn on CAN.
ip link set up can0
ip link set up can1

You can run this script automatically on startup by writing a service configuration to (for example) /etc/systemd/system/can_setup.service

[Unit]
Description=Initialize CAN Interfaces
After=network.target

[Service]
Type=oneshot
ExecStart=/opt/kscale/enable_can.sh
RemainAfterExit=true

[Install]
WantedBy=multi-user.target

To enable this, run:

sudo systemctl enable can_setup
sudo systemctl start can_setup

Cameras

Arducam IMX 219

• Product Page
  • Shipping was pretty fast
  • Order a couple backup cameras because a couple of the cameras that they shipped came busted
• Quick start guide

Run the installation script:

wget https://github.com/ArduCAM/MIPI_Camera/releases/download/v0.0.3/install_full.sh
chmod u+x install_full.sh
./install_full.sh -m imx219

Supported kernel versions (see releases here):

• 5.10.104-tegra-35.3.1
• 5.10.120-tegra-35.4.1

Install an older kernel from here. This required downgrading to Ubuntu 20.04 (only changing /etc/os-version).

Install dependencies:

sudo apt update
sudo apt install \
  gstreamer1.0-tools \
  gstreamer1.0-alsa \
  gstreamer1.0-plugins-base \
  gstreamer1.0-plugins-good \
  gstreamer1.0-plugins-bad \
  gstreamer1.0-plugins-ugly \
  gstreamer1.0-libav
sudo apt install
  libgstreamer1.0-dev \
  libgstreamer-plugins-base1.0-dev \
  libgstreamer-plugins-good1.0-dev \
  libgstreamer-plugins-bad1.0-dev
sudo apt install \
  v4l-utils \
  ffmpeg

Make sure the camera shows up:

v4l2-ctl --list-formats-ext

Capture a frame from the camera:

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM), width=1280, height=720, framerate=60/1" ! nvvidconv ! jpegenc snapshot=TRUE ! filesink location=test.jpg

Alternatively, use the following Python code:

import cv2

gst_str = (
    'nvarguscamerasrc sensor-id=0 ! '
    'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)60/1 ! '
    'nvvidconv flip-method=0 ! '
    'video/x-raw, width=(int)1280, height=(int)720, format=(string)BGRx ! '
    'videoconvert ! '
    'video/x-raw, format=(string)BGR ! '
    'appsink'
)

cap = cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER)

while True:
    ret, frame = cap.read()
    if ret:
        print(frame)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
    else:
        break

cap.release()
cv2.destroyAllWindows()

IMU

We're using the BerryIMU v3. To use it, connect pin 3 on the Jetson to SDA and pin 5 to SCL for I2C bus 7. You can verify the connection is successful if the following command matches:

$ sudo i2cdetect -y -r 7
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- 1c -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- 6a -- -- -- -- --
70: -- -- -- -- -- -- -- 77

The equivalent command on the Raspberry Pi should use bus 1:

sudo i2cdetect -y -r 1

The default addresses are:

• 0x6A: Gyroscope and accelerometer
• 0x1C: Magnetometer
• 0x77: Barometer