Jetson Nano / OKDO C100 unstable at 921600 baud with Waveshare DTOF LiDAR STL27L

Robotics & Edge Computing Jetson Systems Jetson Nano
1

I am trying to use a Waveshare DTOF LiDAR STL27L with a Jetson Nano / OKDO C100 over the GPIO UART. The LiDAR uses UART at 921600 baud, 8N1, no flow control.

I am connecting the LiDAR UART TX to the Jetson UART RX on /dev/ttyTHS1. I configured the port with:

sudo stty -F /dev/ttyTHS1 921600 cs8 -parenb -cstopb -crtscts raw -echo -ixon -ixoff

I also tried:

sudo stty -F /dev/ttyTHS1 921600 cs8 -parenb -cstopb -crtscts -ixon -ixoff raw -echo clocal -hupcl

However, the LiDAR data appears unstable/corrupted. The STL27L protocol should produce fixed binary frames. I connected the lidar data line to UART_2_RX /dev/ttyTHS1, 5v to 5v and the rest to ground. The jetson nano is powered over a lipo battery.
On my Rpi4B the setup is working over uart with the same high baud rate.

3

Hi 0flush0,

Are you using the devkit or custom board for Jetson Nano?
What’s the Jetpack version in use?

Have you used scope or LA to check from signal?
Is it working as expected with 115200 as baud rate?

Please share the full dmesg and device tree to check if there’s any error.

4

Hi,
thanks for your response. We are using the Radxa Nano C100 carrier board. For anyone in the future with a simular issue, we just used an esp32 as an intermediary and it worked over usb-uart. The loopback test we conducted worked, but probably the connection was too unstable at that high of a baud rate.