Yup. Title. I’m gonna have to learn how to use confluence.

Communication with Jetson vs SPI/CAN/ETC/WHATEVER WE WANT

needs much more research.
need to confirm what data is being transferred. Is the camera module being handled by the jetson entirely? are we just getting position from cv? what’s the plan……

There is a tool called Jetson_IO that can be used to make configuring GPIO pins easier.

I/O	Notes
SPI
I2C
UART
CAN	built in CAN interfacing is only available to the more expensive Jetson device modules. CAN controller is not available in Jetson Nano, but you can use an MCP251x chip (SPI to CAN interface), which works with the SPI interface on Jetson Nano.
I2S
USB?	Could be a viable alternative. Need to consider how many datalines for USB our chip has.

Some quick links

RTOS (zp) on Jetson?

Concurrent Redhawk Linux is supported on Jetson TX1/TX2, Nano, and Jetson AGX Xavier. This is an RTOS version of Linux.
Seems like there is already a FreeRTOS too.
zephyr doesn't seem to have any board support for ARM Cortex-A57, or Carmel ARMv8.2.

CV on RTOS?

might have issues ← come back to this.

RPi vs Jetson

Below we find our comparisons between our different device considerations. These are the specs for the device module, not the developer kit.

Benchmark	RPI	Jetson Nano	Jetson Xavier	JEtson TX2

Physical specifications	RPI (RPI4 Model B )	Jetson Nano	Jetson AGX Xavier	Jetson TX2
Power consumption	Can range between 2.56W to 7.30W	Between 5W to 10W	Between 10W to 30W	Between 7.5W to 15W
CPU	Broadcom BCM2711B0 quad-core A72 (ARMv8-A) 64-bit @ 1.5GHz	Quad-core ARM Cortex-A57 MPCore processor @ 1.43 GHz	8-core Carmel ARM v8.2 64-bit CPU, 8MB L2 + 4MB L3	4-core ARM Cortex-A57 @ 2 GHz and 2-core Denver2 @ 2 GHz
RAM (volatile memory) and Memory storage	2GB, 4GB or 8GB LPDDR4-3200 SDRAM	Uses a 4 GB LPDDR4 (Low-Power Double Data Rate) RAM that offers 25.6 GB/s Apparently microSD for the developer kit. 16 GB eMMC 5.1 for the actual module	32GB 256-Bit LPDDR4x \| 136.5GB/s 32GB eMMC 5.1	Uses a 8 GB 128-bit LPDDR4 RAM that offers 58.3 - 59.7 GB/s 32 GB eMMC 5.1 Flash Storage
GPU	Broadcom VideoCore VI	NVIDIA Maxwell architecture with 128 NVIDIA CUDA® cores 0.5 TFLOPS (FP16) in terms of AI performance	512-core Volta @ 1.37 GHz 11 TFLOPS (FP16) 22 TOPS (INT8) Has tensor cores (64)	NVIDIA Pascal^™ architecture with 256 NVIDIA CUDA cores 1.3 TFLOPS (FP16) in terms of AI performance
Networking and Display (USB, ethernet, etc.)	2.4 GHz and 5.0 GHz IEEE 802.11ac wireless, Bluetooth 5.0, BLE Gigabit Ethernet 2 USB 3.0 ports; 2 USB 2.0 ports. 2 × micro-HDMI ports (up to 4kp60 supported)	Gigabit Ethernet and M.2 Key E HDMI 2.0 and eDP 1.4 (1 HDMI, 1 display port) 4 USB 3.0, 1 USB 2.0 Micro-B	Gigabit Ethernet 3 multi-mode DP 1.2/eDP USB 2.0 (4?), 3 USB 3.1 1.4/HDMI 2.0 a/b no wireless - can use usb wifi adapter though	USB 3.0 Type A and USB 2.0 Micro AB Has wifi (Connectivity to 802.11ac Wi-Fi and Bluetooth-Enabled Devices) Gigabit Ethernet and M.2 Key E 2 multi-mode DP 1.2/eDP 1.4/HDMI 2.0 2 x4 DSI (1.5Gbps/lane)
Supported communication interfaces	GPIOs	Supports GPIO, I²C, I²S, SPI, UART	Supports UART, SPI, CAN, I2C, I2S, DMIC & DSPK, GPIOs	Supports GPIOs, I2C, I2S, SPI, CAN, and TTL UART with flow control
Cost	Starting from $35 (increases depending on RAM)	$149	$999	Starting at $299 Jetson TX2 NX is $199 but is smaller and has less RAM.

Notes:

Between RPI4 and Jetson Nano, RPI4 is slightly better in terms of Display and CPU. RPI also has built-in wifi (which is nice). The general computing performance between both devices is relatively similar; however, when it comes to machine learning, 3D graphics, or very complex algorithms, Jetson Nano is better thanks to its GPU.

Nvidia Jetson Research Page

Communication with Jetson vs SPI/CAN/ETC/WHATEVER WE WANT

RTOS (zp) on Jetson?

CV on RTOS?

RPi vs Jetson

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