I2C application demonstrates how to access/manipulate Always On (AON) I2C from the SPE/AON processor. There are three I2C instances (2, 8 and 10) in AON domain, availability of the instance will be based on the Jetson platform being used.
- Note
- It is required to compile device tree and flash board to have them updated after making kernel device tree changes as described in following sections.
Hardware Configuration
The sample app uses I2C bus 8 and BMI160 sensor module, similar to https://hackspark.fr/en/electronics/1341-6dof-bosch-6-axis-acceleration-gyro-gravity-sensor-gy-bmi160.html for the demo purposes.
The I2C app accesses the 40 pin header J30 and expects I2C external module at the pin map shown below:
- Pin 1 - 3.3V
- Pin 3 - SDA
- Pin 5 - SCL
- Pin 34 - SAO
- Pin 39 - GND
The demo app reads BMI160 sensor ID. If the app successfully retrieves the correct ID, it prints the following message:
I2C test successful
- Note
- BMI160 is configured to have the I2C address 0x68 by connecting its SAO pin to Pin 34.
Software Configuration
Jetson AGX Orin and Orin Nano
- Make sure I2C bus 8 is disabled in linux kernel device tree and no other processors using it. In case of Orin Nano, it is disabled by default. For AGX Orin, the I2C bus 8 needs to be disabled. You must run source_sync.sh to get the dtsi file. After running source_sync.sh, the file is located at Linux_for_Tegra/sources/hardware/nvidia/t23x/nv-public/overlay/tegra234-p3737-0000+p3701-0000.dts. Disabling device node from the kernel makes that I2C controller and all the client devices attached to it unaccessible from the kernel.
i2c@c250000 {
status = "disabled";
};
- Compile the device tree and copy the dtb file to Linux_for_Tegra/dtb/ directory.
- Disable firewall setting in bootloader/tegra234-firewall-config-base.dtsi so that SPE can access I2C registers.
reg@2130 { /* CLK_RST_CONTROLLER_AON_SCR_I2C8_0 */
exclusion-info = <3>;
value = <0x30001610>;
};
- In
soc/t23x/target_specific.mk, set ENABLE_I2C_APP := 1 and rebuild the application. Copy the output to ${L4T}/bootloader/spe_t234.bin
- Reflash all the partitions, including new device tree and SPE binaries generated from the above steps by referencing the instructions in the Building the Kernel section of the Linux Developer Guide.
The demo app reads BMI160 sensor ID. If the app successfully retrieves the correct ID, it prints the following message:
I2C test successful
