DIO

Pin Definition

Pin 1	PPS0_H
Pin 2	DI1_H
Pin 3	DI1_L
Pin 4	DO_COM
Pin 5	DO0
Pin 6	DO1
Pin 7	DO_COM
Pin 8	VDD
Pin 9	PPS0_L
Pin 10	DI2_H
Pin 11	DI3_H
Pin 12	DO_COM
Pin 13	DO2
Pin 14	DO3
Pin 15	DI2_L, DI3_L

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.
Sink Current (per Channel)	500 mA
Isolated Voltage	1500 Vrms
Operation Mode	Polling

Using GPIO in User Space (NRU-50+, Orin, JetPack 6.x)

	GPIO Number
DI0 (redefined as pps0 by default)	Default: N/A Config as DI: PA.05
DI1	PA.06
DI2	PA.07
DI3	PA.04
DO0	PI.00
DO1	PI.01
DO2	PI.02
DO3	PH.07

### Check NAME and GPIO Mapping by
sudo gpioinfo

### Example to Control DO

# DO0 _ PI.00 
# DO1 _ PI.01 
# DO2 _ PI.02 
# DO3 _ PH.07 

# Set DO0 to 0 
PIN=PI.00 
VAL=0
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &

# Set DO0 to 1
PIN=PI.00 
VAL=1
sudo pkill -f -- "$(sudo gpiofind $PIN)"
sudo gpioset -m signal $(sudo gpiofind $PIN)=$VAL &

#....contro DO1,DO2,DO3 with same method

### Example to Read DI

# DI1 _ PA.06
# DI2 _ PA.07 
# DI3 _ PA.04 

# DI1
PIN=PA.06
sudo gpioget $(sudo gpiofind $PIN)

#....read DI2,DI3 with same method

Using GPIO in User Space (NRU-50+, Orin, JetPack 5.x)

	GPIO Number	GPIO Name (Orin NX)
DI0 (redefined as pps0 by default)	Default: N/A Config as DI: PA.05	Default: /dev/pps0 Config as DI: 353
DI1	PA.06	354
DI2	PA.07	355
DI3	PA.04	352
DO0	PI.00	399
DO1	PI.01	400
DO2	PI.02	401
DO3	PH.07	398

sudo cat /sys/kernel/debug/gpio

####

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

sudo -s

DO0_NAME=PI.00
DO0_GPIO=399

DO1_NAME=PI.01
DO1_GPIO=400

DO2_NAME=PI.02
DO2_GPIO=401

DO3_NAME=PH.07
DO3_GPIO=398

DI1_NAME=PA.06
DI1_GPIO=354

DI2_NAME=PA.07
DI2_GPIO=355

DI3_NAME=PA.04
DI3_GPIO=352

### 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 $DI1_GPIO > /sys/class/gpio/export
echo in > /sys/class/gpio/$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 $DI1_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI2_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI3_NAME

Testing pps0

Assuming that we have put a DIO loopback from DO0 to DI0 (/dev/pps0).

# Terminal #1
sudo apt-get install pps-tools
sudo ppstest /dev/pps0



# Terminal #2 
sudo -s 

DO0_NAME=PI.00
DO0_GPIO=399
echo $DO0_GPIO > /sys/class/gpio/export 2>/dev/null
echo out > /sys/class/gpio/$DO0_NAME/direction

while true
do
    echo 1 > /sys/class/gpio/$DO0_NAME/value
    sleep 0.1
    echo 0 > /sys/class/gpio/$DO0_NAME/value
    sleep 0.9
done

Using GPIO in User Space (NRU-50, Xavier, JetPack 5.x)

	GPIO Number	GPIO Name (Xavier NX)
DI0 (redefined as pps0 by default)	Default: N/A Config as DI: PT.02	Default: /dev/pps0
DI1	PT.03	460
DI2	PT.04	461
DI3	PT.01	458
DO0	PT.06	463
DO1	PT.07	464
DO2	PU.00	465
DO3	PT.05	462

sudo cat /sys/kernel/debug/gpio

####

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

sudo -s

DO0_NAME=PT.06
DO0_GPIO=463

DO1_NAME=PT.07
DO1_GPIO=464

DO2_NAME=PU.00
DO2_GPIO=465

DO3_NAME=PT.05
DO3_GPIO=462

DI1_NAME=PT.03
DI1_GPIO=460

DI2_NAME=PT.04
DI2_GPIO=461

DI3_NAME=PT.01
DI3_GPIO=458

### 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 $DI1_GPIO > /sys/class/gpio/export
echo in > /sys/class/gpio/$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 $DI1_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI2_NAME
sudo cat /sys/kernel/debug/gpio | grep $DI3_NAME

Testing pps0

Assuming that we have put a DIO loopback from DO0 to DI0 (/dev/pps0).

# Terminal #1
sudo apt-get install pps-tools
sudo ppstest /dev/pps0

# Terminal #2 
sudo -s 

DO0_NAME=PT.06
DO0_GPIO=463
echo $DO0_GPIO > /sys/class/gpio/export 2>/dev/null
echo out > /sys/class/gpio/$DO0_NAME/direction

while true
do
    echo 1 > /sys/class/gpio/$DO0_NAME/value
    sleep 0.1
    echo 0 > /sys/class/gpio/$DO0_NAME/value
    sleep 0.9
done

Using GPIO in User Space (NRU-50, Xavier, JetPack 4.x)

	GPIO Number
DI0 (rediended as pps0 in device tree)	442 -> pps0
DI1	443
DI2	444
DI3	441
DO0	446
DO1	447
DO2	448
DO3	445

Initialization

sudo -s

echo 446 > /sys/class/gpio/export # SOM_GPO0
echo out > /sys/class/gpio/gpio446/direction
echo 0 > /sys/class/gpio/gpio446/value
echo 447 > /sys/class/gpio/export # SOM_GPO1
echo out > /sys/class/gpio/gpio447/direction
echo 0 > /sys/class/gpio/gpio447/value
echo 448 > /sys/class/gpio/export # SOM_GPO2
echo out > /sys/class/gpio/gpio448/direction
echo 0 > /sys/class/gpio/gpio448/value
echo 445 > /sys/class/gpio/export # SOM_GPO3
echo out > /sys/class/gpio/gpio445/direction
echo 0 > /sys/class/gpio/gpio445/value

echo 443 > /sys/class/gpio/export # SOM_GPI1
echo in > /sys/class/gpio/gpio443/direction
echo 444 > /sys/class/gpio/export # SOM_GPI2
echo in > /sys/class/gpio/gpio444/direction
echo 441 > /sys/class/gpio/export # SOM_GPI3
echo in > /sys/class/gpio/gpio441/direction

Set DO Value

The following example takes DO0 as an example. The GPIO number of DO0 is 446

sudo -s

# Set DO0 to 0
echo 446 > /sys/class/gpio/export # SOM_GPO0
echo out > /sys/class/gpio/gpio446/direction
echo 0 > /sys/class/gpio/gpio446/value

# Set DO0 to 1
echo 446 > /sys/class/gpio/export # SOM_GPO0
echo out > /sys/class/gpio/gpio446/direction
echo 1 > /sys/class/gpio/gpio446/value

Read DI Value

The following example takes DI3 as an example. The GPIO number of DI3 is 441

cat /sys/class/gpio/gpio441/value