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BeagleBone AI-64 System Reference Manual BeagleBone AI-64 System Reference Manual Revision 0.0.3 th Last PDF conversion: June 9 , 2022 Maintaining editor: Deepak Khatri Contributors: • Deepak Khatri • James Anderson • Jason Kridner • Robert P J Day • Gerald Coley Supply comments and errors via: https://git.beagleboard.org/beagleboard/beaglebone-ai-64/-/ issues All information in this document is subject to change without notice. For an up to date version of this document refer to: https://git.beagleboard.org/beagleboard/ beaglebone-ai-64 For all the graphics from this document refer to: 1. SRM images. 2. SRM cover page. This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. 1 Preface BEAGLEBONE AI-64 DESIGN These design materials referred to in this document are NOT SUPPORTED and DO NOT constitute a reference design. Only “community” support is allowed via resources at BeagleBoard.org forum. THERE IS NO WARRANTY FOR THE DESIGN MATERIALS, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE DESIGN MATERIALS “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND THE PERFORMANCE OF THE DESIGN MATERIALS IS WITH YOU. SHOULD THE DESIGN MATERIALS PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIRING, OR CORRECTION. This board was designed as an evaluation and development tool. It was not designed with any other application in mind. As such, the design materials that are provided which include schematic, BOM, and PCB files, may or may not be suitable for any other purposes. If used, the design material becomes your responsibility as to whether or not it meets your specific needs or your specific applications and may require changes to meet your requirements. See the LICENSE file regarding the copyright of these materials. This LICENSE does not apply to BeagleBoard.org Foundation trademarks. BEAGLEBONE AI-64 ADDITIONAL TERMS BeagleBoard.org Foundation and logo-licensed manufacturers provide the board under the following conditions: The user assumes all responsibility and liability for proper and safe handling of the goods. Further, the user indemnifies the Supplier from all claims arising from the handling or use of the goods. Should the board not meet the specifications indicated in the System Reference Manual, the board may be returned within 90 days from the date of delivery to the distributor of purchase for a full refund. THE FOREGOING LIMITED WARRANTY IS THE EXCLUSIVE WARRANTY MADE BY SELLER TO BUYER AND IS IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. EXCEPT TO THE EXTENT OF THE INDEMNITY SET FORTH ABOVE, NEITHER PARTY SHALL BE LIABLE TO THE OTHER FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES. Please read the System Reference Manual and, specifically, the Warnings and Restrictions notice in the Systems Reference Manual prior to handling the product. This notice contains important safety information about temperatures and voltages. No license is granted under any patent right or other intellectual property right of Supplier covering or relating to any machine, process, or combination in which such Supplier products or services might be or are used. The Supplier currently deals with a variety of customers for 2 products, and therefore our arrangement with the user is not exclusive. The Supplier assumes no liability for applications assistance, customer product design, software performance, or infringement of patents or services described herein. UNITED STATES FCC AND CANADA IC REGULATORY COMPLIANCE INFORMATION The board is annotated to comply with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. This Class A or B digital apparatus complies with Canadian ICES-003. Changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. BOARD WARNINGS, RESTRICTIONS AND DISCLAIMERS For Feasibility Evaluation Only, in Laboratory/Development Environments. The board is not a complete product. It is intended solely for use for preliminary feasibility evaluation in laboratory/development environments by technically qualified electronics experts who are familiar with the dangers and application risks associated with handling electrical mechanical components, systems and subsystems. It should not be used as all or part of a finished end product. Your Sole Responsibility and Risk. You acknowledge, represent, and agree that: 1. You have unique knowledge concerning Federal, State, and local regulatory requirements (including but not limited to Food and Drug Administration regulations, if applicable) which relate to your products and which relate to your use (and/or that of your employees, affiliates, contractors or designees) of the board for evaluation, testing and other purposes. 2. You have full and exclusive responsibility to assure the safety and compliance of your products with all such laws and other applicable regulatory requirements, and also to assure the safety of any activities to be conducted by you and/or your employees, affiliates, contractors or designees, using the board. Further, you are responsible to assure that any interfaces (electronic and/or mechanical) between the board and any human body are designed with suitable isolation and means to safely limit accessible leakage currents to minimize the risk of electrical shock hazard. 3. Since the board is not a completed product, it may not meet all applicable regulatory and safety compliance standards which may normally be associated with similar items. You assume full responsibility to determine and/or assure compliance with any such standards and related certifications as may be applicable. You will employ reasonable safeguards to ensure that your use of the board will not result in any property damage, injury, or death, even if the board should fail to perform as described or expected. Certain Instructions. It is important to operate the board within Supplier’s recommended specifications and environmental considerations per the user guidelines. Exceeding the specified the board ratings (including but not limited to input and output voltage, current, power, and environmental ranges) may cause property damage, personal injury, or death. If there are questions concerning these ratings please contact the Supplier representative before connecting interface 3 electronics including input power and intended loads. Any loads applied outside of the specified output range may result in unintended and/or inaccurate operation and/or possible permanent damage to the board and/or interface electronics. Please consult the System Reference Manual before connecting any load to the board output. If there is uncertainty as to the load specification, please contact the Supplier representative. During normal operation, some circuit components may have case temperatures greater than 60 C as long as the input and output are maintained at a normal ambient operating temperature. These components include but are not limited to linear regulators, switching transistors, pass transistors, and current sense _resistors which can be identified using the board schematic located at the link in the board System Reference Manual. When placing measurement probes near these devices during normal operation, please be aware that these devices may be very warm to the touch. As with all electronic evaluation tools, only qualified personnel knowledgeable in electronic measurement and diagnostics normally found in development environments should use the board. Agreement to Defend, Indemnify and Hold Harmless. You agree to defend, indemnify and hold the Suppliers, their licensors and their representatives harmless from and against any and all claims, damages, losses, expenses, costs and liabilities (collectively, "Claims") arising out of or in connection with any use of the board that is not in accordance with the terms of the agreement. This obligation shall apply whether Claims arise under the law of tort or contract or any other legal theory, and even if the board _fails to perform as described or expected. Safety-Critical or Life-Critical Applications. If you intend to evaluate the components for possible use in safety critical applications (such as life support) where a failure of the Supplier’s product would reasonably be expected to cause severe personal injury or death, such as devices which are classified as FDA Class III or similar classification, then you must specifically notify Suppliers of such intent and enter into a separate Assurance and Indemnity Agreement. Mailing Address: BeagleBoard.org Foundation 4467 Ascot Ct Oakland Twp, MI 48306 U.S.A. WARRANTY: The board assembly as purchased is warranted against defects in materials and workmanship for a period of 90 days from purchase. This warranty does not cover any problems occurring as a result of improper use, modifications, exposure to water, excessive voltages, abuse, or accidents. All boards will be returned via standard mail if an issue is found. If no issue is found or express return is needed, the customer will pay all shipping costs. Before returning the board, please visit BeagleBoard.org/support For up to date SW images and technical information refer to https://beagleboard.org/latest-images All support for this board is provided via community support at BeagleBoard.org forum To return a defective board for repair, please request an RMA at beagleboard.org/support/rma Please DO NOT return the board without approval from the RMA team first. 4 All boards received without RMA approval will not be worked on. 5 Glossary BeagleBoard.org A community of developers seeking to advance the state of open source software and hardware for embedded systems—and a registered trademark of the BeagleBoard.org Foundation. BeagleBoard.org Foundation A Michigan,USA based 501(c)(3) non-profit corporation. BeagleBone A family of BeagleBoard.org boards from the original mint-tin sized computer and registered trademark of the BeagleBoard.org Foundation. Board In this document, it refers to BeagleBone AI-64. 6 Chapter 1. Introduction This document is the System Reference Manual for BeagleBone AI-64 and covers its use and design. The board will primarily be referred to in the remainder of this document simply as the board, although it may also be referred to as AI-64 or BeagleBone AI-64 as a reminder. This design is subject to change without notice as we will work to keep improving the design as the product matures based on feedback and experience. Software updates will be frequent and will be independent of the hardware revisions and as such not result in a change in the revision number. Make sure you frequently check the BeagleBone AI-64 git repository for the most up to date support documents. 7 Chapter 2. Change History This section describes the change history of this document and board. Document changes are not always a result of a board change. A board change will always result in a document change. 2.1. Document Change History This table seeks to keep track of major revision cycles in the documentation. Moving forward, we’ll seek to align these version numbers across all of the various documentation. Change History Rev Changes Date By 0.0.1 AI-64 initial prototype September 2021 James Anders on 0.0.2 AI-64 final prototype December 2021 James Anders on 0.0.3 AI-64 initial production release June 9, 2022 Deepak Khatri and Jason Kridner 2.2. Board Changes Be sure to check the board revision history in the schematic file in the BeagleBone AI-64 git repository. Also check the issues list. 2.2.1. Rev B We are starting with revision B based on this being an update to the original BeagleBone AI. However, because this board ended up being so different, we’ve decided to name it BeagleBone AI64, rather than simply a new revision. This refers to the Seeed release on 21 Dec 2021 of "BeagleBone AI-64_SCH_Rev B_211221". This is the initial production release. 8 Chapter 3. Connecting up your BeagleBone AI-64 This section provides instructions on how to hook up your board. This beagle requires a 5V ≥ 3A power supply to work properly via either USB Type-C power adapter or a barrel jack power adapter. Recommended adapters: • 5V @ 3A USB C power supply adaptor for SBCs. • 5V ≥ 3A laptop/mobile adaptor with USB-C cable. All the BeagleBone AI-64 conections ports we will use in this chapter are shown in the figure below. Figure 1. BeagleBone AI-64 conections ports. 3.1. Methods of operation 1. Tethered to a PC, or 2. As a standalone development platform in a desktop PC configuration with a Display Port Monitor, power supply, keyboard, and mouse 3.2. What’s In the Box In the box you will find three main items as shown in BeagleBone AI-64 box image. • BeagleBone AI-64. • Instruction card. 9 Get yourself a USB-A to USB-C and you have a setup for the tethered scenario and creates an out of box experience where the board can be used immediately with no other equipment needed. Figure 2. BeagleBone AI-64 box content 3.3. Main Connection Scenarios This section will describe how to connect the board for use. This section is basically a slightly more detailed description of the Quick Start Guide that came in the box. There is also a Quick Start Guide document on the board that should also be referred to. The intent here is that someone looking to purchase the board will be able to read this section and get a good idea as to what the initial set up will be like. The board can be configured in several different ways, but we will discuss the two most common scenarios as described in the Quick Start Guide card that comes in the box. • Tethered to a PC via the USB cable ◦ Board is accessed as a storage drive and ◦ a virtual Ethernet connection. • Standalone desktop ◦ Display ◦ Keyboard and mouse ◦ External 5V ≥ 3A power supply Each of these configurations is discussed in general terms in the following sections. 10 3.4. Tethered To A PC In this configuration, the board is powered by the PC via the provided USB cable—no other cables are required. The board is accessed either as a USB storage drive or via the browser on the PC. You need to use either Firefox or Chrome on the PC, Internet Explorer will not work properly. Tethered Configuration figure shows this configuration. Figure 3. Tethered Configuration At least 5V @ 3A is required to power the board, In most cases the PC may not be able to supply sufficient power for the board. You should always use an external 5V ≥ 3A DC power supply connected to the barrel jack. 3.4.1. Connect the Cable to the Board 1. Connect the type C USB cable to the board as shown in USB Connection to the Board figure. The connector is on the top side of the board near barrel jack. 11 Figure 4. USB Connection to the Board 2. Connect the USB-A end of thecable tp your PC or laptop USB port as shown in the USB Connection to the PC/Laptop figure below. Figure 5. USB Connection to the PC/Laptop 3. The board will power on and the power LED will be on as shown in Board Power LED figure below. 12 Figure 6. Board Power LED 4. When the board starts to the booting process started by the process of applying power, the LEDs will come on in sequence as shown in Board Boot Status figure below. It will take a few seconds for the status LEDs to come on, so be patient. The LEDs will be flashing in an erratic manner as it begins to boot the Linux kernel. Figure 7. Board Boot Status 3.4.2. Accessing the Board as a Storage Drive The board will appear around a USB Storage drive on your PC after the kernel has booted, which will take a round 10 seconds. The kernel on the board needs to boot before the port gets 13 enumerated. Once the board appears as a storage drive, do the following: 1. Open the USB Drive folder. 2. Click on the file named start.htm 3. The file will be opened by your browser on the PC and you should get a display showing the Quick Start Guide. 4. Your board is now operational! Follow the instructions on your PC screen. 3.5. Standalone w/Display and Keyboard/Mouse In this configuration, the board works more like a PC, totally free from any connection to a PC as shown in Desktop Configuration figure. It allows you to create your code to make the board do whatever you need it to do. It will however require certain common PC accessories. These accessories and instructions are described in the following section. Figure 8. Desktop Configuration Ethernet cable and M.2 WiFi + Bluetooth card are optional. They can be used if network access required. 3.5.1. Required Accessories In order to use the board in this configuration, you will need the following accessories: • 5VDC ≥ 3A power supply. • Display Port or HDMI monitor. • miniDP-DP or active miniDP-HDMI cable (or a recommended miniDP-DP or active miniDPHDMI adapter https://www.amazon.com/dp/B089GF8M87 has been tested and worked beautifully.). 14 • USB wired/wireless keyboard and mouse. • powered USB HUB (OPTIONAL). The board has only two USB Type-A host ports, so you may need to use a powered USB Hub if you wish to add additional USB devices, such as a USB WiFi adapter. • M.2 Bluetooth & WiFi module (OPTIONAL). For wireless connections, a USB WiFi adapter or a recommended M.2 WiFi module can provide wireless networking. 3.5.2. Connecting Up the Board 1. Connect the miniDP to DP or active miniDP to HDMI cable from your BeagleBone AI-64 to your monitor. Figure 9. Connect miniDP-DP or active miniDP-HDMI cable to BeagleBone AI-64 2. If you have an Display Port or HDMI monitor with HDMI-HDMI or DP-DP cable you can use adapters as shown in. Display adaptors figure. 15 Figure 10. Display adaptors 3. If you have wired/wireless USB keyboard and mouse such as seen in Keyboard and Mouse figure below, you need to plug the receiver in the USB host port of the board as shown in Keyboard and Mouse figure. Figure 11. Keyboard and Mouse 4. Connect the Ethernet Cable If you decide you want to connect to your local area network, an Ethernet cable can be used. Connect the Ethernet Cable to the Ethernet port as shown in 3A) PCB 4” x 3.1” 21 Feature Indicators 1-Power, 5-User Controllable LEDs USB-3.0 Client Port Access to USB0, SuperSpeed, dual-role mode via USB-C (no power output) USB-3.0 Host Port TUSB8041 4-port SuperSpeed hub on USB1, 2xType A Socket, up-to 2.8A total, depending on power input Ethernet Gigabit, RJ45, link indicator, speed indicator SD/MMC Connector microSD , 1.8/3.3V User Input 1. Reset Button 2. Boot Button 3. Power Button Video Out miniDP Audio via miniDP (stereo) Weight 192gm (with heatsink) Power Refer to [main-board-power] section 4.3. Board Component Locations This section describes the key components on the board. It provides information on their location and function. Familiarize yourself with the various components on the board. 4.3.1. Board components BeagleBone AI-64 board components figure below shows the locations of the connectors, LEDs, and switches on the PCB layout of the board. 22 Figure 17. BeagleBone AI-64 board components • DC Power is the main DC input that accepts 5V power. • Power Button alerts the processor to initiate the power down sequence and is used to power down the board. • GigaBit Ethernet is the connection to the LAN. • Serial Debug ports WKUP_UART0 for early boot from the management MCU and UART0 is for the main processor. • USB Client is a USB-C connection to a PC that can also power the board. • BOOT switch can be used to force a boot from the microSD card if the power is cycled on the board, removing power and reapplying the power to the board.. • There are five green LEDs that can be used by the user. • Reset Button allows the user to reset the processor. • microSD slot is where a microSD card can be installed. • miniDP connector is where the display is connected to. • USB Host can be connected different USB interfaces such as Wi-Fi, Bluetooth, Keyboard, etc. On bottom side we have, 23 • TI TDA4VM processor. • 4GB LPDDR4 Dual Data Rate RAM memory. • Ethernet PHY physical interface to the network. • eMMC onboard MMC chip that holds up to 16GB of data. 24 Chapter 5. BeagleBone AI-64 High Level Specification BeagleBone AI-64 Key Components figure below shows the high level block diagram of BeagleBone AI-64 board surrounding TDA4VM SoC. BeagleBone AI -64 USB TYPE C 5V 3A Only USB3.0 Power MUX TPS2121 4.5A MAX 5V Boot Mode Configuration Pull-Up Pull-Down Resistor VSYS_5V0 USB3.0 Type A USB_HS USB_SS USB0 5V 3.3V PMIC Supply WKUP_I2C0 EEPROM 4Kbit 24FC04HT-I/ OT USB_HS USB_SS PCIe 1(2L) PCIe M.2 Conn (Key E) AS0BC27-S40BE-7H DP0(4L) 3VM11201-D730-7H eMMC (16GB) Tag-Connect 10Pin Buffer SN74LVC2G241 Debug UART Pin Header 8b MCASP oo USB1 UART SERDES2 (1L) SERDES1 (2L) MMC2 UART1 MCASP10 I2C0 TDA4VM SoC SERDES4_TX DP0_AUX 1x RJ45 w/ Magnetics UART0 PWM USB2.0_HS_3 EMMC16G-TB29-PZ90 JTAG Timer USB2.0_HS_4 Mini DP Conn Ethernet PHY DP83867CR Debug UART Pin Header USB3.0_SS_2 USB3.0 HUB TUSB8041 1 to 4 MCU_RGMII Buffer SN74LVC2G241 USB2.0_HS_2 ExpansionHeader P9 Boot Mode Button WKUP_UART0 USB2.0_HS_1 USB3.0_SS_1 Dual USB3.0 Type A SYS_BOOTMODE6 SYS_BOOTMODE MCU_BOOTMODE SERDES3(2L) BUCK REG (3.3V) LM5141RGET MCU_BOOTMODE03 IIC SPI MCU_ADC0 GPIO MCU_ADC1 MCU_SPI1 MCU_TIMER_IO1 MCU_UART0 MCU_I2C1 Power Expansion Header(BBB P8 P9) 2x 46Pin Power Input 2 DC Jack & BBB P9 5V Only MCU mikroBUS Header 2x 8 Pin 1.27mm Power Input 1 CSIRX0 CSI0 Conn (RPi) 22Pin CSIRX1 CSI1 Conn (RPi) 22Pin 4 Lane MMC0 4 Lane LPDDR4 (4GB) Q3222PM1WDGTK-U 32b DDR0 DSI-TX Micro SD YL004-030-001 Crystal 19.2MHz Crystal 22.5792MHz 4b DSI Conn (RPi) 22Pin 4 Lane MMC1 GPIOs WKUP_OSCO OSC1 5x LEDs MCU_PORz Reset Button GPIO Power Button Figure 18. BeagleBone AI-64 Key Components 5.1. Processor BeagleBone AI-64 uses TI J721E-family TDA4VM system-on-chip (SoC) which is part of the K3 25 Multicore SoC architecture platform and it is targeted for the reliability and low-latency needs of the automotive market provide for a great general purpose platform suitable for industrial automation, mobile robotics, building automation and numerous hobby projects. The SoC designed as a low power, high performance and highly integrated device architecture, adding significant enhancement on processing power, graphics capability, video and imaging processing, virtualization and coherent memory support. In addition, these SoCs support state of the art security and functional safety features. For the remaining of this section device, SoC, and processor will be used interchangeably. Some of the main distinguished characteristics of the device are: • 64-bit architecture with virtualization and coherent memory support, which leverages full processing capability of 64-bit Arm® Cortex®-A72 • Fully programmable industrial communication subsystems to enable future-proof designs for customers that need to adopt the new Gigabit Time-sensitive Networks (TSN) standards, but still need full support on legacy protocols and continuous system optimization over the product deployment • Integration of vision hardware processing accelerators to facilitate extensive processing requirements in low power budget for automotive ADAS and machine vision applications • Integration of a general-purpose microcontroller unit (MCU) with a dual Arm® Cortex®-R5F MCU subsystem, available for general purpose use as two cores or in lockstep, intended to help customers achieve functional safety goals for their end products • Integration of a next-generation fixed and floating-point C71x Digital Signal Processor (DSP) that significantly boosts power over a broad range of general signal processing tasks for both general applications and automotive functions which also incorporates advanced techniques to improve control code efficiency and ease of programming such as branch prediction, protected pipeline, precise exception and virtual memory management • Tightly coupled Matrix Multiplication Accelerator (MMA) that extends the C71x DSP architecture’s scalar and vector facilities enabling deep learning and enhance vision, analytics and wide range of general applications. The achieved total TOPS (Tera Operations Per Second) performance significantly differentiates the device for single board computer in machine vision and deep learning applications • Key display features including flexibility to interface with different panel types (eDP, DSI, DPI) with multi-layer hardware composition • Integration of hardware features that help applications to achieve functional safety mechanisms • Robust security architecture with sandboxed DMSC controller managing all secure configurations with high performance client-server messaging scheme between secure DMSC and all cores • Simplified solution for power supply management, enabling lower cost system solution (on-die bias LDOs and power good comparators for minimal power sequencing requirements consistent with low cost supply design) The device is composed of the following main subsystems, across different domains of the 26 SoC, among others: • One dual-core 64-bit Arm Cortex-A72 microprocessor subsystem at up to 2.0 GHz and up to 24K DMIPS (Dhrystone Million Instructions per Second) • Up to three Microcontroller Units (MCU), based on dual-core Arm Cortex-R5F processor running at up to 1.0 GHz, up to 12K DMIPS • Up to two TMS320C66x DSP CorePac modules running at up to 1.35 GHz, up to 40 GFLOPS • One C71x floating point, vector DSP running at up to up to 1.0 GHz, up to 80 GFLOPS • One deep-learning MMA, up to 8 TOPS (8b) at 1.0 GHz • Up to two gigabit dual-core Programmable Real-Time Unit and Industrial Communication Subsystems (PRU_ICSSG) • Two Navigator Subsystems (NAVSS) for data movement and control • One multi-pipeline Display Subsystem (DSS) with one MIPI® Display Serial Interface Controller (DSI) and shared MIPI D-PHY Transmitter (DPHY_TX), one Embedded DisplayPort Transmitter (EDP) with shared Serializer/Deserializer (SERDES), and two MIPI Display Pixel Interface (DPI) ports • Two Camera Streaming Interface Receivers (CSI_RX_IF) with dedicated MIPI D-PHYs (DPHY_RX) • One Camera Streaming Interface Transmitter (CSI_TX_IF) with MIPI D-PHY Transmitter (DPHY_TX) shared with DSI • One Vision Processing Accelerator (VPAC) with image signal processor • One Depth and Motion Processing Accelerator (DMPAC) • One dual-core multi-standard HD Video Decoder (DECODER) • One dual-core multi-standard HD Video Encoder (ENCODER) • One Graphics Processing Unit (GPU) • One Device Management and Security Controller (DMSC) The device provides a rich set of peripherals such as: • General connectivity peripherals, including: ◦ Two 12-bit general purpose Analog-to-Digital Converters (ADC) ◦ Ten Inter-Integrated Circuit (I2C) interfaces ◦ Three Improved Inter-Integrated Circuit (I3C) controllers ◦ Eleven master/slave Multichannel Serial Peripheral Interfaces (MCSPI) ◦ Twelve configurable Universal Asynchronous Receiver/Transmitter (UART) interfaces ◦ Ten General-Purpose Input/Output (GPIO) modules • High-speed interfaces, including: ◦ Two Gigabit Ethernet Switch (CPSW) modules ◦ Two Dual-Role-Device (DRD) Universal Serial Bus Subsystems (USBSS) with integrated PHY ◦ Four Peripheral Component Interconnect express (PCIe) Gen3 subsystems 27 • Flash memory interfaces, including: ◦ One Octal SPI (OSPI) interface and one Quad SPI (QSPI) or one QSPI and one HyperBus TM ◦ One General Purpose Memory Controller (GPMC) with Error Location Module (ELM) and 8or 16- bit-wide data bus width (supports parallel NOR or NAND FLASH devices) ◦ Three Multimedia Card/Secure Digital (MMCSD) controllers ◦ One Universal Flash Storage (UFS) interface • Industrial and control interfaces, including: ◦ Sixteen Controller Area Network (MCAN) interfaces with flexible data rate support ◦ Three Enhanced Capture (ECAP) modules ◦ Six Enhanced Pulse-Width Modulation (EPWM) subsystems ◦ Three Enhanced Quadrature Encoder Pulse (EQEP) modules • Audio peripherals, including: ◦ One Audio Tracking Logic (ATL) ◦ Twelve Multichannel Audio Serial Port (MCASP) modules supporting up to 16 channels with independent TX/RX clock/sync domain • One Video Processing Front End (VPFE) interface module The device also integrates: • Power distribution, reset controls and clock management components • Power-management techniques for device power consumption minimization: ◦ Adaptive Voltage Scaling (AVS) ◦ Dynamic Frequency Scaling (DFS) ◦ Gated clocks ◦ Multiple voltage domains ◦ Independently controlled power domains for major modules ◦ Voltage and Temperature Management (VTM) module ◦ Power-on Reset Generators (PRG) ◦ Power Sleep Controllers (PSC) • Optimized interconnect (CBASS) architecture to enable latency-critical real time network and IO applications • Control modules (CTRL_MMRs) mainly associated with device top-level configurations such as: ◦ IO Pad and pin multiplexing configuration ◦ PLL control and associated High-Speed Dividers (HSDIV) ◦ Clock selection ◦ Analog function controls • Multicore Shared Memory Controller (MSMC) 28 • DDR Subsystem (DDRSS) with Error Correcting Code (ECC), supporting LPDDR4 • 1KB RAM with ECC support for C71x boot vectors • 2KB RAM with ECC support for A72 and R5F boot vectors • 512KB On-Chip SRAM protected by ECC • One Global Time Counter (GTC) module • Thirty 32-bit counter timers with compare and capture modes • Debug and trace capabilities The device includes different modules for functional safety requirements support: • MCU island with dual lock step Arm Cortex-R5F • Safety enabled interconnect with implemented features to help with Freedom From Interference (FFI) • Twelve Real Time Interrupt (RTI) modules with Windowed Watchdog Timer (WWDT) functionality to monitor processor cores • Sixteen Dual-Clock Comparators (DCC) to monitor clocking sources during run-time • Three Error Signaling Modules (ESM) to enable error monitoring • Temperature monitoring sensors • ECC on all critical memories • Dedicated hardware Memory Cyclic Redundancy Check (MCRC) blocks The device supports the following main security functionalities among others: • Secure Boot Management • Public Key Accelerator (PKA) for large vector math operation • Cryptographic acceleration (AES, 3DES, MD5, SHA1, SHA2-224, 256, 512 operation) • Trusted Execution Environment (TEE) • Secure storage support • On-the-fly encryption and authentication support for OSPI interface The device is partitioned into three functional domains as shown in Device Top-level Block Diagram, each containing specific processing cores and peripherals: • Wake-up (WKUP) domain • Microcontroller (MCU) domain with one of the dual Cortex-R5 cluster • MAIN domain 29 H.264/5 Decoder D5520MP2 H.264 Encoder VXE384MP2 C TRL_MMR DebugS S A72S S C 71S S 2× R5FS S C 66S S 2× Arm C ortex-A72 1× C 71x DS P+MMA 4× Arm C ortex-R5F 2× C 66x DS P 1MB L2 512KB L2 TC M 64KB 32KB S RAM + max 256KB L2 20× PLL 20× Timer DMS C M3 INTA S EC MGR AES ROM 160K WKUP_VTM WKUP Interconnect WKUP Domain MAIN Domain WKUP_C TRL_MMR WKUP_PS C WKUP_PLLC TRL 2× WKUP_GPIO WKUP_I2C WKUP_UART WKUP_ES M 10× WWDT MC U Domain NAVS S To C S I S pinlock To C PS W C hannelized FW 3× INTA Mailbox S MMU To DMPAC 2× TIMER_MGR Proxy C PTS 5× PAT UDMA-P MC RC RINGAC C 3× PVU D-PHY (4L) GTC PDMA 14× MC AN 3× eQEP 12× MC AS P MMC S D0 - 8-bit MC U_ES M MC U NAVS S C hannelized FW INTA RINGAC C INTR UDMA-P Proxy MC RC PS I-L MC U_C PS W To NAVS S MC U_PDMA 2× MC U_I2C VPFE D-PHY (4L) ATL S ERDES 4 (4L) 3× eC AP S ERDES 0 S ERDES 1 S ERDES 2 S ERDES 3 (2L) (2L) (2L) (2L) 3x MC U_DC C 3× MC U_MC S PI 6× EPWM MIPI D-PHY TX UFS MIPI D-PHY RX GPMC /ELM mux per IF TC M 64KB MC U Internal Diagnostics 2× I3C 2× MC U_C AN-FD 8× MC S PI S ERDES TC M 64KB R5F I-cache 16KB D-cache 16KB MC U_UART 7× I2C S ERDES mux per IF MMC S D1/2 - 4-bit 10× UART MIPI DS I 8× GPIO DS S 1× MIPI C S I-2 4L TX eDP/DP 2× MIPI C S I-2 4L RX C PS W (9-port switch) US B1 (US B3.0 DualRole) US B0 (US B3.0 DualRole) PC IE3 (Gen 3.0) PC IE1 (Gen 3.0) PC IE2 (Gen 3.0) PC IE0 (Gen 3.0) I3C Interconnect 512KB S RAM R5FS S R5F I-cache 16KB D-cache 16KB MC U Interconnect Local Interconnect C LEC PS C VPAC DMPAC PLLC TRL PS I-L VIRTS S 2× MIPI DPI/BT.656/BT.1120 To VPAC To MC U NAVS S 1024KB L3 RAM S cratchpad RAM 512B Local Interconnect 13× DC C S A2_ UL MC U_ S A2_ UL 10× Timers 2× MC U_WWDT Region based FW ES M 3× MC U_PLL Internal Diagnostics 8MB S RAM with EC C DRU GIC 500 DDRS S 32b+in-line EC C MC U_C TRL_MMR GPU 8XE GE8430 Dual/ LockS tep MS MC D-PHY (4L) FS S 1× OS PI or 1× HBMC QS PI 2× MC U_ADC (12b/4MS PS ) Figure 19. Device Top-level Block Diagram 5.2. Memory Described in the following sections are the three memory devices found on the board. 5.2.1. 4GB LPDDR4 A single (1024M x 16bits x 2channels) LPDDR4 4Gb memory device is used. The memory used is is: • Kingston Q3222PM1WDGTK-U 5.2.2. 4Kb EEPROM A single 4Kb EEPROM (24FC04HT-I/OT) is provided on I2C0 that holds the board information. This information includes board name, serial number, and revision information. 5.2.3. 16GB Embedded MMC A single 16GB embedded MMC (eMMC) device is on the board. The device connects to the MMC1 port of the processor, allowing for 8bit wide access. Default boot mode for the board will be MMC1 with an option to change it to MMC0, the SD card slot, for booting from the SD card as a result of removing and reapplying the power to the board. Simply pressing the reset button will not change 30 the boot mode. MMC0 cannot be used in 8Bit mode because the lower data pins are located on the pins used by the Ethernet port. This does not interfere with SD card operation but it does make it unsuitable for use as an eMMC port if the 8 bit feature is needed. 5.2.4. MicroSD Connector The board is equipped with a single microSD connector to act as the secondary boot source for the board and, if selected as such, can be the primary boot source. The connector will support larger capacity microSD cards. The microSD card is not provided with the board. Booting from MMC0 will be used to flash the eMMC in the production environment or can be used by the user to update the SW as needed. 5.2.5. Boot Modes As mentioned earlier, there are two boot modes: • eMMC Boot…This is the default boot mode and will allow for the fastest boot time and will enable the board to boot out of the box using the pre-flashed OS image without having to purchase an microSD card or an microSD card writer. • SD Boot…This mode will boot from the microSD slot. This mode can be used to override what is on the eMMC device and can be used to program the eMMC when used in the manufacturing process or for field updates. TODO: This section needs more work and references to greater detail. Other boot  modes are possible. Software to support USB and serial boot modes is not provided by beagleboard.org. Please contact TI for support of this feature. A switch is provided to allow switching between the modes. • Holding the boot switch down during a removal and reapplication of power without a microSD card inserted will force the boot source to be the USB port and if nothing is detected on the USB client port, it will go to the serial port for download. • Without holding the switch, the board will boot try to boot from the eMMC. If it is empty, then it will try booting from the microSD slot, followed by the serial port, and then the USB port. • If you hold the boot switch down during the removal and reapplication of power to the board, and you have a microSD card inserted with a bootable image, the board will boot from the microSD card. NOTE: Pressing the RESET button on the board will NOT result in a change of the boot mode. You MUST remove power and reapply power to change the boot mode. The boot pins are sampled during power on reset from the PMIC to the processor. The reset button on the board is a warm reset only and will not force a boot mode change. 31 5.3. Power Management The TPS65941213 and TPS65941111 power management device is used along with a separate LDO to provide power to the system. TheTPS65941213 and TPS65941111 version provides for the proper voltages required for the LPDDR4. This is the same device as used on the original BeagleBone with the exception of the power rail configuration settings which will be changed in the internal EEPROM to the TPS65941213 and TPS65941111 to support the new voltages. 5.4. PC USB Interface The board has a USB type-C connector that connects the USB0 port to the processor. This is the same connector as used on the original BeagleBone. 5.5. Serial Debug Ports Two serial debug ports are provided on board via 3pin micro headers, 1. WKUP_UART0: Wake-up domain serial port 2. UART0: Main domain serial port In order to use the interfaces a 3pin micro to 6pin dupont adaptor header is required with a 6 pin USB to TTL adapter. The header is compatible with the one provided by FTDI and canbe purchased for about 12 to 20 from various sources. Signals supported are TX and RX. None of the handshake signals are supported. 5.6. USB1 Host Port On the board is a single USB Type A female connector with full LS/FS/HS Host support that connects to USB1 on the processor. The port can provide power on/off control and up to 1.5A of current at 5V. Under USB power, the board will not be able to supply the full 1.5A, but should be sufficient to supply enough current for a lower power USB device supplying power between 50 to 100mA. 5.7. Power Sources The board can be powered from two different sources: • A 5V ≥ 3A power supply plugged into the barrel jack. • A wall adaptor with 5V ≥ 3A output power. The power supply is not provided with the board but can be easily obtained from numerous sources. A 5V ≥ 3A supply is mandatory to have with the board, but if there is a cape plugged into the board or you have a power hungry device or hub plugged into the host port, then more current may needed from the DC supply. 32 5.8. Reset Button When pressed and released, causes a reset of the board. 5.9. Power Button This button takes advantage of the input to the PMIC for power down features. 5.10. Indicators There are a total of six green LEDs on the board. • One green power LED indicates that power is applied and the power management IC is up. • Five blue LEDs that can be controlled via the SW by setting GPIO pins. 33 Chapter 6. BeagleBone AI-64 Mechanical 6.1. Dimensions and Weight Size: 102.5 x 80 (4" x 3.15") Max height: TODO PCB Layers: TODO PCB thickness: 2mm (0.08") RoHS Compliant: Yes Weight: 192gm 6.2. Silkscreen and Component Locations Figure 20. Board Dimensions 34 Figure 21. Top silkscreen 35 Figure 22. Bottom silkscreen 36 Chapter 7. Pictures Figure 23. BeagleBone AI-64 front Figure 24. BeagleBone AI-64 back 37 Figure 25. BeagleBone AI-64 back with heatsink Figure 26. BeagleBone AI-64 front at 45° angle 38 Figure 27. BeagleBone AI-64 back at 45° angle Figure 28. BeagleBone AI-64 back with heatsink at 45° angle 39 Figure 29. BeagleBone AI-64 ports 40 Chapter 8. Support Information All support for this design is through BeagleBoard.org community at: BeagleBoard.org fourm. 8.1. Hardware Design You can find all BeagleBone AI-64 hardware files here. 8.2. Software Updates You can download and flash the supported image onto your BeagleBone AI-64 from this source. To see what SW revision is loaded into the eMMC check /etc/dogtag. It should look something like as shown below, root@BeagleBone:~# cat /etc/dogtag BeagleBoard.org Debian Bullseye Xfce Image 2022-01-14 8.3. RMA Support If you feel your board is defective or has issues, request an Return Merchandise Application (RMA) by filling out the form at http://beagleboard.org/support/rma . You will need the serial number and revision of the board. The serial numbers and revisions keep moving. Different boards can have different locations depending on when they were made. The following figures show the three locations of the serial and revision number. 8.4. Troubleshooting video output issues  When connecting to an HDMI monitor, make sure your miniDP adapter is active. A passive adapter will not work. See Display adaptors figure. 8.4.1. Getting Help If you need some up to date troubleshooting techniques, you can post your queries on BeagleBoard.org fourm. 41 Bibliography Datasheets ▪ TDA4VM Jacinto™ Processors for ADAS and Autonomous Vehicles Silicon Revisions 1.0 and 1.1 datasheet (Rev. J) ▪ DRA829/TDA4VM Technical Reference Manual (Rev. C) Books ▪ BeagleBone Cookbook ▪ Bad to the Bone ▪ Exploring BeagleBone 42 Index 43