Vertex Top Bridge - Software Integration

Introduction

Vertex Top Bridge offers multiple connectivity options. In this section we explain how to use these to communicate with a connected add-on (e.g. additional sensor).

Connectivity Overview (External)

Connectivity Overview (Internal)

GPIO Connector

GNSS Pin

The GNSS module in the Vertex One outputs a synchronised timepulse on the GNSS pin. This timepulse is always active. Once a GNSS fix is available, it will be synchronised with GNSS.

GPIO Pin

The GPIO pin on the Bridge is Jetson GPIO07. See below a Python example code can be used to drive the pin:

import RPi.GPIO as GPIO
import time

# Pin Definitions
output_pin = 12  # BCM pin 18, BOARD pin 12

def main():
    # Pin Setup:
    GPIO.setmode(GPIO.BCM)  # BCM pin-numbering scheme from Raspberry Pi
    # set pin as an output pin with optional initial state of HIGH
    GPIO.setup(output_pin, GPIO.OUT, initial=GPIO.HIGH)

    print("Starting demo now! Press CTRL+C to exit")
    curr_value = GPIO.HIGH
    try:
        while True:
            time.sleep(1)
            # Toggle the output every second
            print("Outputting {} to pin {}".format(curr_value, output_pin))
            GPIO.output(output_pin, curr_value)
            curr_value ^= GPIO.HIGH
    finally:
        GPIO.cleanup()

if __name__ == '__main__':
    main()

UART FC Connector

To send messages to this UART use /dev/serial-top

UART Connector

This UART port is by default the Debug port of the Jetson. This will show the debug output and eventually opens a shell for the user. See this video on how to use it:

How to use Jetson Debug port (External Link)

I2C Connector

The I2C port is connected to bus 8. Some examples of how to use the I2C port are:

Servo (External Link)

BME280 (External Link)

To test if your I2C device is properly connected execute i2cdetect -y 8. If it shows the address of your device then the connection is working.

CAN Connector

To use the CAN bus the python-can is an easy to use library. More info here:

Python-CAN (External Link)

USB-C 3.2 Connector

The USB-C connector allowed you to connect a peripheral to the Vertex One through the USB 10 Gbit/s interface

Ethernet (RJ45) Connector

The ethernet connector is connected to the onboard switch. It provides a 1 Gbit/s connection to the Vertex One.