I receive bad input from uart in jetpack 6

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
1

I upgraded my jetson to jetpack 6 R36.4.0 and i have Xses IMU connected to my jetson.
when reading raw data from the port /dev/THS4, on Jetpack 6 i get only zeros (000000…) and from Jetpack 5 i received normal input.
can anyone help debug and understand the issue?
thanks in advance

2

Hi,
On Jetson platforms, we support using peripherals like CAN, SPI, I2C, UART… etc. for the user.
For CAN usage:
https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/HR/ControllerAreaNetworkCan.html
For the connection of peripheral on the devkit, please refer to expansion-headers guide and carrier board specification:
https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/HR/ConfiguringTheJetsonExpansionHeaders.html

For pin configuration, please refer to pinmux spreadsheet:
https://developer.nvidia.com/embedded/secure/jetson/agx_orin/jetson_agx_orin_pinmux_config_template.xlsm

By default, the configuration is used for the devkit. If you are using the custom carrier board, please configure it according to your custom board design.

There are also several examples which have been verified from us, please check
https://elinux.org/Jetson/L4T/peripheral/
Please share the full dmesg and device tree for us to check your status in detail.

Thanks!

3

thanks for the quick reply!
both dmesg and device tree are attached to this comment.
dmesg_log.txt (67.4 KB)
extracted_device_tree.dts.txt (388.5 KB)

6

Hi roey070500,

Are you using the devkit or custom board for AGX Orin?

[    8.969193] 3140000.serial: ttyTHS4 at MMIO 0x3140000 (irq = 147, base_baud = 0) is a TEGRA_UART

Do you mean that you are using above/dev/ttyTHS4 (serial@3140000)?

Please share the block diagram of your connections for IMU.

7

I encountered the same issue as the author of this post. However, deleting the DMA property from the device tree resolved the issue for me.

@@ -2767,13 +2767,13 @@
                };
 
                uarte: serial@3140000 {
-                       compatible = "nvidia,tegra234-uart", "nvidia,tegra20-uart";
+                       compatible = "nvidia,tegra194-hsuart";
                        reg = <0x0 0x03140000 0x0 0x10000>;
                        interrupts = <GIC_SPI 116 IRQ_TYPE_LEVEL_HIGH>;
                        clocks = <&bpmp TEGRA234_CLK_UARTE>;
                        resets = <&bpmp TEGRA234_RESET_UARTE>;
-                       dmas = <&gpcdma 20>, <&gpcdma 20>;
-                       dma-names = "rx", "tx";
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9

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