NanoPC-based Onboard Computer

Revision History

Revision

Date (DD/MM/YYYY)

Author

Changes

1

18/4/2024

Ruixiang Du

Initial release

2

16/5/2024

Ruixiang Du

Added information about the RS232-2 port reconfiguration

This onboard computer is based on NanoPC-T6. We extended the board with industrial ports for easy and reliable interfacing with commonly used sensors and robot bases. Drivers to the ports are pre-configured under Ubuntu 22.04.

../../../_images/nanopc_sbc.jpg

Key Specifications

  • SoC: Rockchip RK3588

  • RAM: 64-bit 8GB/16GB LPDDR4X at 2133MHz

  • Storage: 128GB/256GB eMMC

  • MicroSD: support up to SDR104 mode (microSD card not included)

  • Ethernet: 2x PCIe 2.5G Ethernet

  • USB-A: 1x USB 3.0 Type-A

  • USB-C: 1x Full function USB Type‑C port, support DP display up to 4Kp60, USB 3.0

  • Video: 1x Standard HDMI input port, up to 4Kp60, 2x Standard HDMI output ports

  • Audio 1x 3.5mm jack for stereo headphone output, 1x 2.0mm PH-2A connector for analog microphone input

  • Industrial ports

    • 3x CAN interfaces (with transceivers)

    • 2x RS485 interfaces

    • 2x RS232 interfaces

  • Active Cooling: 1x 5V Fan

  • Power supply: 5.5*2.1mm DC Jack, 5V~20V, 12V is recommended.

  • Ambient Operating Temperature: 0℃ to 70℃

  • OS: Ubuntu 22.04 (Linux kernel 5.10)

You can find more information about the NanoPC-T6 base board (not including the extensions made by Weston Robot) from its official wiki page.

Industrial Ports

../../../_images/nanopc_industrial_ports.png

You can follow the silk screen on the board to connect your devices to the industrial ports.

The RS232 and RS485 ports can be access at:

  • RS232-1: /dev/ttyS0

  • RS232-2: /dev/ttyS7

  • RS485-1: /dev/ttyS6

  • RS485-2: /dev/ttyS4

Note

The RS232-2 port can be configured as a TTL UART port by re-configure the jumper solder pads (JP1 and JP2). If you bridge the pad in the middle and the side marked as “TTL”, the port will be configured as a TTL UART port. If you bridge the pad in the middle and the other side, the port will be configured as an RS232 port. Both TTL and RS232 UART port is accessed at /dev/ttyS7.If no bridge is made, the port only provides power and no signal is transmitted.

You need to bring up the CAN interfaces before you can access them. Here is an example to bring up the CAN0 interface (you may adjust the bitrate according to your CAN devices):

$ sudo ip link set can0 up type can bitrate 500000
$ sudo ip link set can0 txqueuelen 1000

You can also add the following configuration to /etc/network/interfaces to make the CAN interface persistent:

auto can0
    iface can0 inet manual
    pre-up /sbin/ip link set can0 type can bitrate 500000
    up /sbin/ifconfig can0 up
    post-up /sbin/ip link set can0 txqueuelen 10000
    down /sbin/ifconfig can0 down

auto can1
    iface can1 inet manual
    pre-up /sbin/ip link set can1 type can bitrate 500000
    up /sbin/ifconfig can1 up
    post-up /sbin/ip link set can1 txqueuelen 10000
    down /sbin/ifconfig can1 down

auto can2
    iface can2 inet manual
    pre-up /sbin/ip link set can2 type can bitrate 500000
    up /sbin/ifconfig can2 up
    post-up /sbin/ip link set can2 txqueuelen 10000
    down /sbin/ifconfig can2 down

Note

You may toggle the dip switches to enable the termination resistors for the CAN and RS485 interfaces. The termination resistors are disabled by default.

Warning

Please note that the 5V output is limited by a resettable fuse rated at 300mA. So please make sure the total current consumption of all devices connected to the 5V outputs does not exceed 300mA.