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配線圖#

AutoSDV 平台的詳細電氣連接與電源分配。

⚠️ 警告：變更配線前務必中斷電池連接

電源分配總覽#

上層電源系統（22.2V 電池）#

Main Battery (22.2V) ──── DC-DC (12V) ──┬── Jetson AGX Orin
                                        ├── ZED Link Capture Card
                                        ├── LiDAR (optional)
                                        └── 5G Module (optional)

Jetson AGX Orin GPIO ──┬── 3.3V Pin 17 ──── MPU9250 (IMU)
                       ├── 5V Pin 2 ─────── KY-003 Hall Sensors
                       └── 5V Pin 4 ─────── PCA9685 PWM Driver

ZED Link ──────────── GMSL2 Cable ───────── ZED X Mini Camera

電機電源系統（7.4V 電池）#

Motor Battery (7.4V) ──┬── ESC ──────────── Brushless Motor
                       └── PCA9685 ──────── Steering Servo

NVIDIA Jetson AGX Orin 連接#

主要介面#

Jetson AGX Orin
├── Power Input
│   └── DC Jack: 12V from DC-DC Converter
│
├── Ethernet Port
│   └── LiDAR Connection (if equipped)
│
├── USB Ports
│   ├── USB Port: USB-to-Ethernet Adapter → 5G Module (if equipped)
│   └── USB Port: GPS Receiver (optional)
│
├── SAMTEC CSI Port (bottom mounted)
│   └── ZED Link Capture Card
│       ├── GMSL2 Ports → ZED X Mini Camera
│       └── DC Power Input (12V)
│
└── GPIO Header (40-pin) → See GPIO Connections section

GPIO 接頭連接#

I2C Bus 7 (PCA9685 PWM Driver)
├── Pin 3: I2C5_DAT (SDA)
├── Pin 4: 5V Power
├── Pin 5: I2C5_CLK (SCL)
└── Pin 6: Ground

I2C Bus 1 (MPU9250 IMU)
├── Pin 17: 3.3V Power
├── Pin 20: Ground
├── Pin 27: I2C2_DAT (SDA)
└── Pin 28: I2C2_CLK (SCL)

GPIO (KY-003 Hall Sensor)
├── Pin 2: 5V Power
├── Pin 14: Ground
└── Pin 15: GPIO27 Signal

感測器連接#

光達連接（依型號而異）#

Velodyne VLP-32C： 

VLP-32C
├── Power: 12V from DC-DC converter
├── Ethernet: Direct to Jetson
│   ├── IP: 192.168.1.201
│   └── Port: 2368 (data), 8308 (position)
└── GPS Sync: Optional PPS input

Seyond Robin-W： 

Robin-W
├── Power: 12V from DC-DC converter
├── Ethernet: Cat6 to Jetson
│   ├── IP: 192.168.1.10
│   └── Port: 2368
└── Sync: IEEE 1588 PTP

Blickfeld Cube1： 

Cube1
├── Power: 12V from DC-DC converter
├── Ethernet: RJ45 to Jetson
│   ├── IP: 192.168.1.21
│   └── Port: 8000
└── Status LED: RGB indicator

相機系統（ZED X Mini）#

ZED X Mini Camera
└── GMSL2 Fakra Cable ──── ZED Link Capture Card

注意：相機透過 ZED Link 的 GMSL2 連接接收電源。ZED Link 透過 SAMTEC CSI 埠連接至 Jetson AGX Orin 底部。

IMU（MPU9250）#

MPU9250 Module (I2C Bus 1)
├── VCC ────── 3.3V (Jetson Pin 17)
├── GND ────── GND (Jetson Pin 20)
├── SDA ────── I2C2_DAT (Jetson Pin 27)
└── SCL ────── I2C2_CLK (Jetson Pin 28)

霍爾感測器（KY-003）#

KY-003 Hall Sensor
├── VCC ────── 5V (Jetson Pin 2)
├── GND ────── GND (Jetson Pin 14)
└── Signal ── GPIO27 (Jetson Pin 15)

GPS 模組（選配）#

u-blox GPS (if equipped)
├── VCC ────── 5V (USB powered)
├── GND ────── Ground
├── TX ─────── UART RX (Jetson Pin 10)
├── RX ─────── UART TX (Jetson Pin 8)
└── PPS ────── GPIO (Optional timing)

電機控制系統#

PWM 驅動器（PCA9685）#

PCA9685 Board (I2C Bus 7)
├── Power
│   ├── VCC: 5V (Jetson Pin 4)
│   ├── GND: Ground (Jetson Pin 6)
│   └── V+: 7.4V Motor Battery
│
├── I2C Interface
│   ├── SDA ── I2C5_DAT (Jetson Pin 3)
│   ├── SCL ── I2C5_CLK (Jetson Pin 5)
│   └── Addr: 0x40 (default)
│
└── PWM Outputs
    ├── Channel 0: Steering Servo
    ├── Channel 1: ESC Throttle
    └── Channel 2-15: Available

電機與 ESC#

Brushless Motor System
├── ESC (Electronic Speed Controller)
│   ├── Input: PWM from PCA9685 Ch1
│   ├── Power: 7.4V from battery
│   └── Output: 3-phase to motor
│
└── Motor (4274/1500kv)
    ├── Phase A,B,C from ESC
    └── Hall sensors (optional)

5G 模組（選配）#

MOXA OnCell G4302 (or similar)
├── Power
│   ├── Input: 12V @ 2A
│   └── Ground: Common ground
│
├── Data Connection
│   └── Ethernet → USB-to-Ethernet Adapter → Jetson USB
│
└── SIM Slots
    ├── SIM1: Primary carrier
    └── SIM2: Backup carrier

電池管理#

電池監控#

6S Battery (22.2V) - Upper Power
├── Cell 1-6 Balance Leads
└── JST-XH to Battery Monitor/Alarm

2S Battery (7.4V) - Motor Power
├── Cell 1-2 Balance Leads
└── JST-XH to Battery Monitor/Alarm

注意：每個電池都有自己的獨立監控器與內建警報。

GPIO 40 針接頭參考#

詳細的接腳規格可在 JetsonHacks 上找到。

實體配置注意事項： 從上方查看 Jetson 時，Pin 1-2 實際位於接頭的最右側。Pin 39-40 位於最左側。

裝置 標籤 Pin No. (上排) Pin No. (下排) 標籤 裝置
3.3 VDC Power, 1A max 1 2 5.0 VDC Power, 1A max KY-003
PCA9685 I2C5_DAT General I2C5 Data I2C Bus 7 3 4 5.0 VDC Power, 1A max PCA9685
PCA9685 I2C5_CLK General I2C #5 Clock I2C Bus 7 5 6 GND PCA9685
MCLK05 Audio Master Clock 7 8 UART1_TX UART #1 Transmit
GND 9 10 UART1_RX UART #1 Receive
UART1_RTS UART #1 Request to Send 11 12 I2S2_CLK Audio I2S #2 Clock
GPIO32 GPIO #32 13 14 GND KY-003
KY-003 GPIO27 (PWM) 15 16 GPIO8
MPU9250 3.3 VDC Power, 1A max 17 18 GPIO35 (PWM)
SPI1_MOSI SPI #1 Master Out/Slave In 19 20 GND MPU9250
SPI1_MISO SPI #1 Master In/Slave Out 21 22 GPIO17 GPIO
SPI1_SCK SPI #1 Shift Clock 23 24 SPI1_CS0_N SPI #1 Chip Select #0
GND 25 26 SPI1_CS1_N SPI #1 Chip Select #1
MPU9250 I2C2_DAT General I2C #2 Data I2C Bus 1 27 28 I2C2_CLK General I2C #2 Clock I2C Bus 1 MPU9250
Reserved 29 30 GND
Reserved 31 32 GPIO9
Reserved 33 34 GND
I2S_FS AUDIO I2S #2 Left/Right Clock 35 36 UART1_CTS UART #1 Clear to Send
Reserved 37 38 I2S_SDIN Audio I2S #2 Data In
GND 39 40 I2S_SDOUT Audio I2S #2 Data Out

下一步#