GPIO / DIO

Jetson AGX Orin has different GPIO approach from Jetson AGX Xavier .

Jetpack 6.x

Software Mapping of DI & DO

### Check NAME and GPIO Mapping by
sudo gpioinfo

### Control DO

# DO0 _ J55 _ GPIO3_PP.06 
# DO1 _ C54 _ GPIO3_PM.07 
# DO2 _ A55 _ GPIO3_PR.01 
# DO3 _ B55 _ GPIO3_PEE.02 


# Set DO0 to 0 
PIN=PP.06
VAL=0
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &

# Set DO0 to 1
PIN=PP.06
VAL=1
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &


# Set DO1 to 0 
PIN=PM.07
VAL=0
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &

# Set DO1 to 1
PIN=PM.07
VAL=1
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &


# Set DO2 to 0 
PIN=PR.01
VAL=0
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &

# Set DO2 to 1
PIN=PR.01
VAL=1
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &


# Set DO3 to 0 
PIN=PEE.02
VAL=0
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &

# Set DO3 to 1
PIN=PEE.02
VAL=1
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &


### Read DI

# DI0 _ J54 _ GPIO3_PP.00 
# DI1 _ H53 _ GPIO3_PP.01 
# DI2 _ H55 _ GPIO3_PQ.05 
# DI3 _ L57 _ GPIO3_PQ.06 

# DI0
PIN=PP.00
sudo gpioget $(sudo gpiofind $PIN)

# DI1
PIN=PP.01
sudo gpioget $(sudo gpiofind $PIN)

# DI2
PIN=PQ.05
sudo gpioget $(sudo gpiofind $PIN)

# DI3
PIN=PQ.06
sudo gpioget $(sudo gpiofind $PIN)

JetPack 5.x

Software Mapping of DI & DO

### Check NAME and GPIO Mapping by
# sudo cat /sys/kernel/debug/gpio

sudo -s

# DO0 _ J55 _ GPIO3_PP.06 _ gpio-446
# DO1 _ C54 _ GPIO3_PM.07 _ gpio-431
# DO2 _ A55 _ GPIO3_PR.01 _ gpio-457
# DO3 _ B55 _ GPIO3_PEE.02 _ gpio-341

DO0_NAME=PP.06
DO0_GPIO=446

DO1_NAME=PM.07
DO1_GPIO=431

DO2_NAME=PR.01
DO2_GPIO=457

DO3_NAME=PEE.02
DO3_GPIO=341


# DI0 _ J54 _ GPIO3_PP.00 _ gpio-440
# DI1 _ H53 _ GPIO3_PP.01 _ gpio-441
# DI2 _ H55 _ GPIO3_PQ.05 _ gpio-453
# DI3 _ L57 _ GPIO3_PQ.06 _ gpio-454

DI0_NAME=PP.00
DI0_GPIO=440

DI1_NAME=PP.01
DI1_GPIO=441

DI2_NAME=PQ.05
DI2_GPIO=453

DI3_NAME=PQ.06
DI3_GPIO=454

### initDO
echo $DO0_GPIO > /sys/class/gpio/export
echo out > /sys/class/gpio/$DO0_NAME/direction

echo $DO1_GPIO > /sys/class/gpio/export
echo out > /sys/class/gpio/$DO1_NAME/direction

echo $DO2_GPIO > /sys/class/gpio/export
echo out > /sys/class/gpio/$DO2_NAME/direction

echo $DO3_GPIO > /sys/class/gpio/export
echo out > /sys/class/gpio/$DO3_NAME/direction

### Make DO HIGH 
echo 1 > /sys/class/gpio/$DO0_NAME/value
echo 1 > /sys/class/gpio/$DO1_NAME/value
echo 1 > /sys/class/gpio/$DO2_NAME/value
echo 1 > /sys/class/gpio/$DO3_NAME/value

### Make DO LOW
echo 0 > /sys/class/gpio/$DO0_NAME/value
echo 0 > /sys/class/gpio/$DO1_NAME/value
echo 0 > /sys/class/gpio/$DO2_NAME/value
echo 0 > /sys/class/gpio/$DO3_NAME/value

# Check DO Values
sudo cat /sys/kernel/debug/gpio | grep $DO0_NAME
sudo cat /sys/kernel/debug/gpio | grep $DO1_NAME
sudo cat /sys/kernel/debug/gpio | grep $DO2_NAME
sudo cat /sys/kernel/debug/gpio | grep $DO3_NAME


### initDI
echo $DI0_GPIO > /sys/class/gpio/export
echo in > /sys/class/gpio/$DI0_NAME/direction

echo $DI1_GPIO > /sys/class/gpio/export
echo in > /sys/class/gpio/$DI1_NAME/direction

echo $DI2_GPIO > /sys/class/gpio/export
echo in > /sys/class/gpio/$DI2_NAME/direction

echo $DI3_GPIO > /sys/class/gpio/export
echo in > /sys/class/gpio/$DI3_NAME/direction

### Read DI Value

sudo cat /sys/kernel/debug/gpio | grep $DI0_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI1_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI2_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI3_NAME

Hardware Specification

Isolated Digital Input

Logic Level	High 5V to 24V Low 0 to 1.5V
Isolated Voltage	2500 Vrms
Input Resistance	1kΩ
Operation Mode	Polling

Isolated Digital Output

Logic Level	The digital output is implemented as an open-drained sink type to max out the flexibility to control external devices requiring various voltage control signals. The logic level high depends on the external power source of the open-drained circuit. The DO voltage ranging from 0V to 24V
Sink Current (per Channel)	400 mA (sustained loading)
Isolated Voltage	1500 Vrms
Operation Mode	Polling
Output Type	PhotoMOS (Panasonic AQY212S)