System Monitoring _ Jetson to MCU

By default, when the NRU-230V-AWP/NRU-240S-AWP boots into the operating system, the System Monitoring starts working.

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Startup Script

You can enable or disable the default System Monitoring mechanism by changing the following line in /etc/init.d/nru230_startup_script.sh.

# /etc/init.d/nru230_startup_script.sh
sudo /home/nvidia/System_Monitoring/UART/./runStatus.sh

runStatus.sh

This script is executed by nru230_startup_script.sh. It also leverages jetson_clocks to ensure a stable heartbeat protocol between the Jetson and the automotive MCU.

sudo jetson_clocks
sudo ./UARTSend &

#jetson_clocks          : Set the jetson clocks to 2.2GHz.

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System Monitoring Sample Code

On NRU-230V-AWP, it's located at the following path. The System Monitoring sample code could be found at github.

/home/nvidia/System_Monitoring/UART/

CANDataFormat.ini         ; Modify MCU send data format via CAN BUS
GetPCStatus.sh            ; Get Jetson OS status data & analyze
GetPCStatus_Simple.sh     ; Get Jetson CPU & GPU temperature & analyze
runStatus.sh              ; nru230_startup_script.sh execute this script
UARTSend                  ; Main application, runStatus.sh would execute this APP

CANDataFormat.ini

This CANDataFormat.ini offers 3 different System Monitoring modes.

Is_Simple=0
; Mode 0: Send Heartbeat only. (default)
; Mode 1: Send Heartbeat + CPU/GPU temperature. 
; Mode 2: Send Heartbeat + CPU/GPU temperature + CPU/GPU   

Heartbeat_Period=15 
; The unit is milliseconds (ms).

; If the MCU does not receive a sufficient heartbeat from the Jetson 
; via the internal UART within the specified "Heartbeat_Period," 
; the MCU will assume that the Jetson is not functioning properly.

; The minimum value for Heartbeat_Period is 10 ms.
; The maximum value for Heartbeat_Period is 1000 ms.


Host_Period=5 
; The unit is milliseconds (ms).

; On the Jetson side, the Jetson will send a heartbeat every "Host_Period" ms.
; To ensure that the MCU can receive a heartbeat within the "Heartbeat_Period",
; it is recommended to set the "Host_Period" to less than 50% of the "Heartbeat_Period."od".

; For example:
; Heartbeat_Period = 15ms
; Host_Period < 7ms;            DO HIGH
; 7ms <= Host_Period < 15ms;    DO HIGH or LOW
; Host_Period >= 15ms;          DO LOW for 7ms (ROUNDDOWN(Heartbeat_Period/2,0))

Jetson Status

The CPU and GPU information is based on tegrastats, so it is important to ensure that tegrastats is working properly on your machine.