TS-9370 GPIO
| Note: | This section is incomplete at this time. |
The i.MX93 CPU and FPGA GPIOs are exposed using a kernel character device. This interface provides a set of files and directories for interacting with GPIO which can be used from any language that interact with special files in linux using ioctl() or similar. For our platforms, we pre-install the "libgpiod" library and binaries. Documentation on these tools can be found here. This section only covers using these userspace tools and does not provide guidance on using the libgpiod library in end applications. Please see the libgpiod documentation for this purpose.
A user with suitable permissions to read and write /dev/gpiochip* files can immediately interact with GPIO pins. For example, to see if input power has failed:
gpioget $(gpiofind PUSH_SW_N)
Multiple pins in the same chip can be read simultaneously by passing multiple pin numbers separated by spaces.
To write to a pin, the gpioset command is used. For example, to set MIKRO_RESET#:
gpioset $(gpiofind MIKRO_RESET_N)=1
Multiple pins in the same chip can be set simultaneously by passing multiple pin=value pairs separated by spaces.
If a call with gpioset or gpioget fails with "Device or resource busy," that means that specific GPIO is claimed by another device. The command cat /sys/kernel/debug/gpio can be used to get a list of all of the system GPIO and what has claimed them.
The gpiomon tool can be used to monitor pins for changes to GPIOs that generate interrupts (i.e., CPU GPIOs).
| Schematic Net Name | Bank | Line | Direction [1] | Reset Output Value [2] | Location |
|---|---|---|---|---|---|
| EN_GREEN_LED# | 4 | 0 | DO | 1 | Green LED |
| EN_YEL_LED# | 4 | 1 | DO | 1 | Yellow LED |
| EN_RED_LED# | 4 | 2 | DO | 1 | Red LED |
| EN_BLUE_LED | 4 | 3 | DO | 0 | Blue LED |
| NIM_RESET# | 4 | 4 | DIO | 0 | CN16 pin 5 |
| NIM_CTS# | 4 | 5 | DI | N/A | CN16 pin 12 |
| NIM_PWR_ON# | 4 | 6 | DIO | 0 | CN16 pin 20 |
| EN_NIM_USB# | 4 | 7 | DO | 1 | Onboard |
| EN_NIM_4V [3] | 4 | 8 | DO | 0 | CN16 pin 20 |
| EN_NIM_3P3V [3] | 4 | 9 | DO | 0 | CN16 pin 20 |
| NIM_TXD | 4 | 10 | DIO | 0 | CN16 pin 3 |
| NIM_RXD | 4 | 11 | DIO | 0 | CN16 pin 2 |
| EN_USB_HOST1_VBUS | 4 | 12 | DO | 0 | Onboard |
| EN_USB_HOST2_VBUS | 4 | 13 | DO | 0 | Onboard |
| MIKRO_TXD | 4 | 14 | DIO | 0 | CN17 pin 13 |
| MIKRO_RXD | 4 | 15 | DIO | 0 | CN17 pin 14 |
| MIKRO_SPI_CLK | 4 | 16 | DIO | 0 | CN17 pin 4 |
| MIKRO_SPI_CS# | 4 | 17 | DIO | 0 | CN17 pin 3 |
| MIKRO_SPI_MISO | 0 | 18 | DIO | 0 | CN17 pin 5 |
| MIKRO_SPI_MOSI | 4 | 19 | DIO | 0 | CN17 pin 6 |
| MIKRO_RESET# | 4 | 20 | DIO | 0 | CN17 pin 2 |
| MIKRO_AN | 4 | 21 | DIO | 0 | CN17 pin 1 |
| MIKRO_PWM | 4 | 22 | DIO | 0 | CN17 pin 16 |
| MIKRO_INT | 4 | 23 | DIO | 0 | CN17 pin 15 |
| NIM_STATUS | 4 | 30 | DIO | 0 | CN16 pin 13 |
| EN_2ND_PORT_232 | 5 | 0 | Output | 0 | Onboard |
| EN_CAN_1 | 5 | 1 | Output | 0 | Onboard |
| EN_CAN_2 | 5 | 2 | Output | 0 | Onboard |
| USB_HUB_RESET# | 5 | 4 | DO | 0 | Onboard |
| PUSH_SW# | 5 | 5 | DI | N/A | SW1 |
| EN_ADC_3_12V | 5 | 21 | DO | 0 | #FPGA ADC Controller |
| EN_ADC_1_2_12V | 5 | 22 | DO | 0 | #FPGA ADC Controller |
| AN_SEL_0 | 5 | 23 | DO | 0 | #FPGA ADC Controller |
| AN_SEL_1 | 5 | 24 | DO | 0 | #FPGA ADC Controller |
| EN_CL_1_2 | 5 | 25 | DO | 0 | #FPGA ADC Controller |
| EN_CL_3 | 5 | 26 | DO | 0 | #FPGA ADC Controller |
| DP_RESET# | 5 | 27 | DO | 0 | Onboard |
| NO_SCAP_CHRG# | 5 | 28 | DI | N/A | #Jumpers (HD4) |
EN_SPKR_AMP
|
5 | 29 | DO | 0 | Onboard |
| BT_EN | 5 | 30 | DO | 0 | Onboard |
| WIFI_EN | 5 | 31 | DO | 0 | Onboard |
| MAGNET_IRQ | 6 | 0 | DI | N/A | Onboard |
| GYRO_IRQ | 6 | 1 | DI | N/A | Onboard |
| clear_fault | 6 | 15 | DO | 0 | Ciruit Breaker |
| EN_HS_SW | 6 | 16 | DO | 0 | Terminal Block pin 2 |
| EN_LS_OUT_1 | 6 | 17 | DO | 0 | Terminal Block pin 6 |
| EN_LS_OUT_2 | 6 | 18 | DO | 0 | Terminal Block pin 5 |
| EN_LS_OUT_3 | 6 | 19 | DO | 0 | Terminal Block pin 4 |
| EN_LS_OUT_4 | 6 | 20 | DO | 0 | Terminal Block pin 3 |
| circuit_breaker_fault | 6 | 21 | DO | 0 | Ciruit Breaker |
| DIO_FAULT# | 6 | 22 | DO | 0 | Direct DIO Fault [4] |
| DIO_1_IN | 6 | 23 | DI | N/A | Terminal Block pin 6 |
| DIO_2_IN | 6 | 24 | DI | N/A | Terminal Block pin 5 |
| DIO_3_IN | 6 | 25 | DI | N/A | Terminal Block pin 4 |
| DIO_4_IN | 6 | 26 | DI | N/A | Terminal Block pin 3 |
| DC_1 | 6 | 27 | DIO | 0 | HD10 pin 1 |
| DC_3 | 6 | 28 | DIO | 0 | HD10 pin 3 |
| DC_5 | 6 | 29 | DIO | 0 | HD10 pin 5 |
| DC_7 | 6 | 30 | DIO | 0 | HD10 pin 7 |
| DC_9 | 6 | 31 | DIO | 0 | HD10 pin 9 |
- ↑ Pins may be "DIO", supporting both input/output, "DI", supporting only input, or "DO", supporting only output.
- ↑ All DIO pins are tristated inputs by default.
- ↑ 3.0 3.1 EN_NIM_4V and EN_NIM_3P3V cannot both be 1 at the same time, or both will turn off. Only 1 bit should be set
- ↑ In most cases "circuit_breaker_fault" should be sampled instead. This is the live sample, not the latched fault