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XPLORER CM5 - Software Guide - 🅰🆄🆂🆃🆁🅰🅻 Electronics

Xplorer CM5 – Waterproof Rugged Industrial Edge IoT/AIoT Controller & Embedded Mission Computer – Raspberry PI CM5 & Hailo AI Ecosystems

Xplorer CM5 are a familly of products. They can be used when reliability is not an option for IIoT, AIoT & Edge Gateways or Controllers for Smart, Connected Automation and Supervision but also as Embedded Mission Computers for Sea, Air & Land Intelligent Mobility in harsh environment.

image www.austral-eng.com - Intelligent Technologies for Marine, Industrial IoT and Unmanned Vehicles

📚 TABLE OF CONTENTS

Tip

Click on the "Table Of Contents" 📚 logo to go back to this list.

1 - INTRODUCTION 📚

Welcome to the software guide for the Xplorer CM5, a ruggedized industrial edge IoT / AIoT controller and mission computer designed for harsh environments based on the Raspberry Pi CM5 🍓🥧 module. The Xplorer CM5 series is engineered for reliability where failure is not an option. it's an ideal solution for smart automation, connected infrastructure, unmanned systems, and embedded intelligence projects.

In this guide, we will cover only software aspects of the Xplorer CM5:

  • 🏁 Getting started: installing tools, flashing firmware, booting up, and basic setup
  • 🔧 Configuration and connectivity testing : Networks, Serials, CANbus, DAQ, Expansion M.2 modules (SSD, AI accelerator, Cellular, GNSS), optional welded modules (LoRa, Zigbee, Matter over Thread)
  • 🔋 Energy consumption optimization
  • 🧪 Supported operating systems and frameworks.

Where to find more documentation :

How to get support :

  • One of the greatest strengths of this ecosystem is the reliability of the OS with its periodic updates that help you keep up if you want with the last software developments and its vibrant community that can help you solve problems that are difficult to overcome and ensure that your company does not need multiple specialists. Consider joining the official Raspberry Pi forums.
  • Check YouTube regularly to keep up to date with the latest news and find countless tutorials.
  • Austral Electronics is a design office, we can support you on your specific needs in electronics, embedded computing, marine protocols, specific Linux, sector specific certification... Contact our customer support at contact@austral-eng.com.

Whether you're integrating Xplorer CM5 into industrial systems, vehicle, marine or unmanned platforms, or deploying AI at the edge, this tutorial walks you step-by-step through the essential software setup and usage. Let’s get started! 🏁

2 - 💾 FLASH AN IMAGE 📚

Note

An image with Raspberry PI OS Trixie Lite (64-bit) with default settings is pre-installed in the product. To test it first for the first time, go directly to the chapter 3.

2.1 - Install the flashing tools on your computer

To change the factory version or OS, you must first install the required tools on your computer.

The Official Raspberry Pi CM5 flashing documentation on the Compute Module CM5 IO Board is 👉 here with a tutorial video 👉 here

Folow these tutorials to install rpiboot and Raspberry Pi Imager on your computer.

2.1.1 - Use RPIBOOT on Mac 📚

brew install libusb pkg-config

check pkg-config

pkg-config --version

check libusb is well installed

ls /opt/homebrew/include/libusb-1.0/libusb.h

git clone https://github.com/raspberrypi/usbboot

cd usbboot

From inside the usbboot folder, run:

make CFLAGS="-I/opt/homebrew/include/libusb-1.0"


sudo ./rpiboot

2.2 - 💾 Flash procedure 📚

Warning

Please note that with the Xplorer CM5 :

  • the J2 jumper of the Officiel I/O board is replace with a bootload switch under the right cap.
  • This switch must be flip for the entire duration of the download.
  • The Xplorer CM5 is not powered via USB-C; it must be powered via CAN1-PWR during the entire flashing process.
  • If your computer prompts you to format disks via pop-up windows during the flashing process, ignore and close them.

The flashing procedure is:

  • Disconnect the USB-C cable
  • Turn off the power via CAN1-PWR
  • Remove the cap on the right side of the enclosure
  • Flip the bootload switch under this cap toward the SMA connectors
  • Power up via CAN1-PWR
  • Launch rpiboot on your computer
RPIBOOT: build-date 2025/05/19 pkg-version local 402baf02

Please fit the EMMC_DISABLE / RPIBOOT jumper before connecting the power and USB cables to the target device.
If the device fails to connect then please see https://rpltd.co/rpiboot for debugging tips.
Waiting for BCM2835/6/7/2711/2712...
  • Hot plug the USB-C cable
  • In Windows, you should hear the USB driver notification sound
  • rpiboot should detect Xplorer CM5 and read several files
Directory not specified - trying default /usr/share/rpiboot/mass-storage-gadget64/
read_file: Failed to read "2712/bootcode5.bin" from "/usr/share/rpiboot/mass-storage-gadget64/bootfiles.bin" - No such f
ile or directory
Trying local path mass-storage-gadget64/
Sending bootcode.bin
Successful read 4 bytes
Waiting for BCM2835/6/7/2711/2712...
Second stage boot server
File read: mcb. bin
File read: memsys00.bin
File read: memsys01.bin
File read: memsys02.bin
File read: memsys03.bin
File read: bootmain
Loading: mass-storage-gadget64//config.txt
File read: config.txt
Loading: mass-storage-gadget64//boot.img
File read: boot.img
  • Launch Raspberry Pi Imager on your PC
  • Select a Raspberry PI5/CM5 model
  • Select your image :
    • RPI OS without desktop (Recommanded):
      • In raspberry Pi OS (Other) -> Raspberry PI OS Lite (64-bit) to select last Debian (Trixie factory delivery)
      • Or 👉 here to select an old LTS RPI OS image
    • RPI OS with desktop :
      • Last Debian Trixie 64 bits
      • Or 👉 here to select an old LTS RPI OS image
    • Or in Other general-purpose OS -> Ubuntu to select an Ubuntu desktop or server Image
  • Choose :
    • mmcblk0 for eMMC (recommanded for the OS)
    • nvme0n1 for the main NVMe SSD storage (you must change the boot order if you choose this drive)
  • Configure the settings, the default factory settings are :
    • host: xplorercm5
    • User : xplr
    • Password : changeme
    • Wifi : yes
    • SSID : ************ (put your WIFI hotspot name)
    • Password : ************ (put your WIFI password)
    • ssh : yes
  • Start flashing, it can last for several minutes 🥐☕
  • At the end of programming and verification
    • Hot disconnect the USB-C
    • Turn off the power via CAN1-PWR
    • Flip the switch back to the M12 connector direction
    • Put the cap back on
    • Power up via CAN1-PWR

3 - 🏁 GETTING STARTED 📚

3.1 - 🔐 Launch a SSH console 📚

Connect the Xplorer to your ethernet network, and verify the LEDs on your switch (Must indicate 1GbE).
To get a DHCP defined IP address, you have multiples solutions :

Solution 1 : With a ping

ping -c 3 xplorercm5.local

PING xplorercm5.local (10.10.10.191): 56 data bytes
64 bytes from 10.10.10.191: icmp_seq=0 ttl=64 time=0.451 ms

Solution 2 : With a network scanning with Angryip

...
10.10.10.191     18 ms    xplorercm5.ts.net lan    [n/a]
...

Solution 3 : Startup with a monitor connected to the Xplorer with a micro HDMI to HDMI (or mini HDMI) cable

...
You IP address is 10.10.10.191
...

Solution 4 : Open a putty console connected to COM1 at 115200 bauds

...
My IP address is 10.10.10.191
...

In our case our local Ethernet DHCP IP address is : 10.10.10.191

Open a ssh console using Ethernet with the IP address displayed :

ssh xplr@10.10.10.191

with the default password : changeme

Note

At the first connection you must accept the connection

Are you sure you want to continue connecting (yes/no/[fingerprint])? yes

Tip

After changing the hostname, you will have a message ending with Host key verification failed.. Remove the problematic IP or hostname with

ssh-keygen -R 10.10.10.191

and try to open a ssh console again.

Warning

If you use a Cellular M.2 module with a bad netplan the SSH IP address will be 127.0.0.1, you may have to wait one or two minutes to have access to the ssh console via ethernet with the good IP address.
In the worst case scenario, you may be blocked, retry a power-up or use ssh over WiFi, or a serial console on COM1, or a HDMI monitor + keyboard in order to Reset the Network Interfaces Configuration.

3.2 - 🗓️ Update the linux and eeprom 📚

Update the package list, distribution, eeprom:

sudo apt --yes update && sudo apt --yes full-upgrade
sudo rpi-eeprom-update -a

And reboot:

sudo reboot

Warning

  • If you have an unconfigured Cellular M.2 module in place, you may have to disable usb0 or ppp0 or wwan0 to have access to internet and make this update: sudo ip link set dev usb0 down
  • If you have an error Could not get lock /var/lib/apt/lists/lock you can remove the lock with sudo rm -rf /var/lib/apt/lists/lock

3.3 - ✏️ Patch the configuration file 📚

Note

If you have flashed a new image, you must configure the Xplorer CM5 peripherals. This step is not necessary with the factory image.

Edit config.txt :

sudo nano /boot/firmware/config.txt

Enable I2C and disable audio if you don't use it :

...
dtparam=i2c_arm=on
...
#dtparam=audio=on
...
[all]

And add at the end after [all] :

# Xplorer CM5 : TPM 2.0 (/dev/i2c-13)
dtoverlay=tpm-slb9673

# Xplorer CM5 : SPI1
dtoverlay=spi1-3cs

# Xplorer CM5 : SPI DAQ without device tree overlay or driver
# Nothing needed

# Xplorer CM5 : SPI DAQ not needed
#dtoverlay=spi1-3cs,cs0_spidev=off

# Xplorer CM5 : SPI DAQ with device tree overlay and driver
#dtoverlay=ad5592r-spi1-0

# Xplorer CM5 : SPI CAN1 (can1)
dtoverlay=mcp251xfd,spi1-1,oscillator=40000000,interrupt=7

# Xplorer CM5 : SPI Isolated CAN2 (can0)
dtoverlay=mcp251xfd,spi1-2,oscillator=40000000,interrupt=10

# Xplorer CM5 : Option LoRa or Option IMU - Internal UART (ttyS0)
dtparam=uart0_console=off
dtparam=uart0=off
#dtparam=uart0=on

# Xplorer CM5 : COM1 RS232 (ttyAMA1)
enable_uart=1
dtoverlay=uart1

# Xplorer CM5 : COM2 RS232, Optional CTS/PPS (ttyAMA2)
dtoverlay=uart2
#dtoverlay=uart2,cts

# Xplorer CM5 : COM3 - Isolated RS232 mode (ttyAMA3)
dtoverlay=uart3
gpio=11=op,dl
dtparam=pwr_led_trigger=none
dtparam=pwr_led_activelow=off

# Xplorer CM5 : COM3 - XOR Isolated RS485 mode (ttyAMA3)
#dtoverlay=uart3,rts
#dtparam=pwr_led_trigger=none
#dtparam=pwr_led_activelow=on

# Xplorer CM5 : COM4 - Isolated Autodir RS485 (ttyAMA2)
dtoverlay=uart4

# Xplorer CM5 : micro SD Card
dtoverlay=sdio        

# Xplorer CM5 : External WiFi/BT Antenna
dtparam=ant2

# Xplorer CM5 : Charge the RTC Battery  
dtparam=rtc_bbat_vchg=3000000

# Xplorer CM5 : Activity LED to 1Hz blink or Heartbeat
#dtparam=act_led_trigger=timer
dtparam=act_led_trigger=heartbeat
dtparam=act_led_activelow=off

# Xplorer CM5 : Enable the watchdog
#dtparam=watchdog=on

# Xplorer CM5 with option MGM240PA32 : GPIO39 Control NRST, GPIO45 Control NBOOT (0->NBOOT=1)
gpio=39=op,dh
gpio=45=op,dl

#========================================================
# Xplorer CM5 : Reduce the power consumption down to 2.8W
#========================================================

#--- No fan
#dtparam=cooling_fan=off

#--- Headless: Disable video outputs, reduce GPU RAM, Disable HDMI audio, GPU freq to mini
#hdmi_blanking=2
#display_default_lcd=0
#gpu_mem=4
#dtparam=audio=off
#gpu_freq=200
#dtoverlay=vc4-kms-v3d,noaudio
#dtoverlay=vc4-kms-v3d,nohdmi
#dtparam=hdmi=off

#--- Reduce Ethernet speed to 100MB (-0.25W)
#dtparam=eth_max_speed=100

#--- Disable unused RTC
#dtparam=rtc=off

#--- Disable unused Wireless
#dtoverlay=disable-wifi
#dtoverlay=disable-bt

#--- Disable Activity LEDs
#dtparam=act_led_trigger=none
#dtparam=act_led_activelow=off

#--- Disable SD card
#dtoverlay=disable-sdcard

#--- Underclocking & small undervolting (<=1.2Ghz)
#arm_freq=1200
#arm_freq_min=600
#gpu_freq=250
#over_voltage=-2

#--- Aggressive Underclocking & undervolting (<=1Ghz)
#arm_freq=1000
#arm_freq_min=400
#gpu_freq=200
#over_voltage=-5

#--- For low power SSD -> activate ASPM L0s/L1/L1.2
#pcie_aspm=force

#--- No PCIe M.2 modules -> Desactivate the PCIe switch (-1.3W)
#dtparam=pciex1=off

Usefull documentations to configure config.txt:

3.4 - 💻 Option : Activate a RS232 console 📚

To activate a console on the COM1 port to view the boot sequence and debug the network configuration. You need to replace console=serial0,115200 with console=ttyAMA1,115200 in /boot/firmware/cmdline.txt. Note that console=tty1 is for HDMI.

You can do it with :

sudo sed -i 's/serial0/ttyAMA1/g' /boot/firmware/cmdline.txt

And reboot if needed to apply now.

Tip

To follow the log trace with date and time on a console, wired COM1 to a RS232 to USB Cable, open a putty terminal at 115200 Bauds on your computer, log and launch dmesg -Tw

3.5 - Option : Static IP configuration 📚

Open the NetworkManager Configuration :

sudo nmcli connection show

Modify the Connection to Set a Static IP :

sudo nmcli connection modify "Wired connection 1" ipv4.addresses 192.168.1.100/24
sudo nmcli connection modify "Wired connection 1" ipv4.gateway 192.168.1.1
sudo nmcli connection modify "Wired connection 1" ipv4.dns "8.8.8.8 8.8.4.4"
sudo nmcli connection modify "Wired connection 1" ipv4.method manual

Replace 192.168.1.100 with your desired IP, and adjust the gateway and DNS settings as needed. Save and Apply the Configuration :

sudo nmcli connection up "Wired connection 1"

Verify the Static IP:

ip addr show eth0

3.6 - Change Password 📚

The default password is "changeme", to change it :

sudo passwd xplr

3.7 - 🛠️ Installation of usefull tools 📚

Install usefull tools to follow this tutorial and reboot :

sudo apt --yes install ethtool i2c-tools libtss2-* tpm-udev tpm2-abrmd tpm2-tools can-utils minicom
sudo usermod --append --groups tss $(whoami)
echo "i2c-dev" | sudo tee -a /etc/modules
sudo reboot

Warning

  • If you have an unconfigured Cellular M.2 module in place, you may have to disable usb0 or ppp0 to have access to internet: sudo ip link set dev usb0 down or sudo ip link set dev ppp0 down
  • Even with I2C enable in config.txt, sudo i2cdetect -l is not working without activating I2C in raspi-config or without adding i2c-dev in /etc/modules.

4 - 🎓 TEST THE PERIPHERALS 📚

4.1 - 💻 Linux configuration 📚

Linux version :

uname -a

Linux xplorercm5 6.12.47+rpt-rpi-2712 #1 SMP PREEMPT Debian 1:6.12.47-1+rpt1 (2025-09-16) aarch64 GNU/Linux

OS version :

cat /etc/os-release

PRETTY_NAME="Debian GNU/Linux 13 (trixie)"
...

Debian version :

cat /etc/debian_version

13.2

4.2 - Ethernet 📚

4.2.1 - GbE over M12 📚

sudo apt install ethtool
ethtool eth0

You should see:

...
Speed: 1000Mb/s
Duplex: Full
...

4.2.2 - 5 GbE over USB-C 📚

You can have an additional 5 GbE port with an external USB-C to 5Gbps Ethernet adapter.
But you can have also a very high speed Vitual Network over USB-C with only a USB-C Cable, if you need only a P2P use :

Follow this USB Ethernet Gadget Setup tutorial to set up a USB Ethernet Gadget.

4.3 - WiFi/BT 📚

External antenna , config.txt

# Switch to external antenna.
dtparam=ant2

Params:

  • ant1 : Select antenna 1 = internal (default)
  • ant2 : Select antenna 2 = external
  • noant: Disable both antennas

TBC

4.4 - Serials 📚

List all the ports:

ls /dev/ttyA*

You should see 5 ports:

/dev/ttyAMA0  /dev/ttyAMA10  /dev/ttyAMA3
/dev/ttyAMA1  /dev/ttyAMA2   /dev/ttyAMA4

And:

ls -l /dev/ttyUSB*

You should see at least 4 ports:

/dev/ttyUSB0  /dev/ttyUSB1  /dev/ttyUSB2  /dev/ttyUSB3

ttyUSB0 to ttyUSB4 correspond to RXD_A to RXD_D Note: You can see more ttyUSB depending of M.2 modules options (Cellular, GNSS...)

4.4.1 - UART0 📚

This UART is used internaly by the options : LoRa/Sigfox xor IMU

⚠️ By default this port is in linux console mode, to deactivate the console and use as an UART, config.txt must contain :

dtparam=uart0_console=off
dtparam=uart0=on

Configure Baudrate:

stty -F /dev/ttyAMA0 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyAMA0

Write Test :

echo -e "TX UART0 is Working\x0D\x0A" > /dev/ttyAMA0

4.4.2 - COM1 📚

Configure Baudrate:

stty -F /dev/ttyAMA1 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyAMA1

Write Test :

echo -e "TX COM1 Working \x0D\x0A" > /dev/ttyAMA1

4.4.3 - COM2 📚

Configure Baudrate:

stty -F /dev/ttyAMA2 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyAMA2

Write Test :

echo -e "TX COM2 Working \x0D\x0A" > /dev/ttyAMA2

4.4.4 - COM3 in RS232 Mode 📚

This port is an isolated dual-mode RS232 or RS485 port. By default, this port is in 3 wires RS232 mode (TXD, RXD, RTS).
The power LED is used to select the mode RS232 or RS485.
RTS/GPIO11 is used for the RS485 low impedance.

In RS232 mode the config.txt must contain :

dtoverlay=uart3
gpio=11=op,dl
dtparam=pwr_led_trigger=none
dtparam=pwr_led_activelow=off

Configure Baudrate:

stty -F /dev/ttyAMA3 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyAMA3

Write Test :

echo -e "TX COM3 is Working in RS232\x0D\x0A" > /dev/ttyAMA3

4.4.5 - COM3 in RS485 Mode 📚

In RS485 mode config.txt must contain :

dtoverlay=uart3,rts
dtparam=pwr_led_trigger=none
dtparam=pwr_led_activelow=on

To send a sentence using RTS controlling DE, test with a basic python script :

import serial
from serial.rs485 import RS485Settings

ser = serial.Serial('/dev/ttyAMA3', baudrate=19200, timeout=0.1)
ser.rs485_mode = RS485Settings(
    rts_level_for_tx=True,
    rts_level_for_rx=False,
    rts_before_send=0.0005,
    rts_after_send=0.0005
)
ser.write(b'TX COM3 is Working in RS485\x0D\x0A')
ser.flush()

4.4.6 - COM4 📚

COM4 is an half duplex RS485 port with AutoDirection Control (No DE via RTS to command Transmit low impedance). Configure Baudrate:

stty -F /dev/ttyAMA4 speed 19200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyAMA4

Write Test :

echo -e "TX COM4 Working \x0D\x0A" > /dev/ttyAMA4

4.4.7 - RXDA 📚

stty -F /dev/ttyUSB0 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyUSB0

4.4.8 - RXDB 📚

⚠️ IN1_RXDB is not functional with the Matter hardware option

stty -F /dev/ttyUSB1 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyUSB1

4.4.9 - RXDC 📚

stty -F /dev/ttyUSB2 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyUSB2

4.4.10 - RXDD 📚

stty -F /dev/ttyUSB3 speed 115200 cs8 -cstopb -parenb

Read Test :

cat /dev/ttyUSB3

4.5 - CAN-FD 📚

4.5.1 - SPI 📚

dmesg | grep -i -E "(mcp|spi)"

...
[    5.936984] mcp251xfd spi1.2 can0: MCP2518FD rev0.0 (-RX_INT -PLL -MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD o:40.00MHz c:40.00MHz m:20.00MHz rs:17.00MHz es:16.66MHz rf:17.00MHz ef:16.66MHz) successfully initialized.
[    5.946398] mcp251xfd spi1.1 can1: MCP2518FD rev0.0 (-RX_INT -PLL -MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD o:40.00MHz c:40.00MHz m:20.00MHz rs:17.00MHz es:16.66MHz rf:17.00MHz ef:16.66MHz) successfully initialized.
...

You must see can0 and can1 usign MCP2518FD chipset on SPI1

ifconfig -a

can0: flags=128<NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 197  

can1: flags=128<NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 198 
...

You must see can0 and can1

4.5.2 - CAN1 📚

To configure the main CANBus 'can1' on CAN1/PWR connector (NMEA2000 compatible):

sudo apt-get install can-utils
sudo ip link set can1 up type can bitrate 250000

Test the reception with :

candump can1

Send a sentence with :

cansend can1 7DF#0201050000000000

4.5.3 - CAN2 📚

To configure the secondary CANbus 'can0' on DAQ/CAN2 connector:

sudo apt-get install can-utils
sudo ip link set can0 up type can bitrate 250000

Test the reception with :

candump can0

Send a sentence with :

cansend can0 7DF#0201050000000000

4.6 - CyberSecurity 📚

4.6.1 - I2C 📚

Enable I2C (raspi-config -> Interface options -> I2C -> Enable):

sudo raspi-config

If needed valid also the I2C in config.txt :

echo "dtparam=i2c_arm=on" | sudo tee -a /boot/firmware/config.txt
sudo reboot

Warning

In the Raspberry Pi documentation, the raspi-config I2C enable has the same effect as enabling I2C in config.txt and reboot. But experimentally, you need to enable I2C with raspi-config to list I2C devices with i2c-tools.

and:

sudo apt-get install i2c-tools

List I2C & TPM devices and I2C pilot :

sudo i2cdetect -l|sort && i2cdetect -y -r 13 && ls -l /dev/tpm* && lsmod | grep i2c

Shows this:

i2c-13	i2c       	i2c-gpio@1                      	I2C adapter
i2c-14	i2c       	107d508200.i2c                  	I2C adapter
i2c-15	i2c       	107d508280.i2c                  	I2C adapter
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:                         -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- UU -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
70: -- -- -- -- -- -- -- --                         
crw-rw---- 1 tss root  10,   224 Jan 12 15:41 /dev/tpm0
crw-rw---- 1 tss tss  510, 65536 Jan 12 15:41 /dev/tpmrm0
tpm_tis_i2c            49152  0
crc_ccitt              49152  1 tpm_tis_i2c
tpm_tis_core           65536  1 tpm_tis_i2c
tpm                    98304  4 tpm_tis_i2c,tpm_tis_core
i2c_brcmstb            49152  0
i2c_gpio               49152  0
i2c_algo_bit           49152  1 i2c_gpio
i2c_dev                49152  0

TPM2.0 with the SLB9673AU20FW2610XTMA1 : Adr 2E -> 0x2E or UU Option CryptoAuthentication with the ATECC608A-MAHDA : Adr 0x60 -> 0x60 or UU

I2C Tools Tutorial

4.6.2 - TPM2.0 📚

This feature uses the Infineon OPTIGA SLB9673AU20FW2610XTMA1 TPM2.0 I2C Chip with 51KB of NV memory.

Documentation :

If needed, add this line in config.txt and reboot

sudo nano /boot/firmware/config.txt

Verify this settings:

dtoverlay=tpm-slb9673

Then check the driver :

ls -l /dev/tpm*

shows:

crw------- 1 root root  10,   224 Aug  4 15:02 /dev/tpm0
crw------- 1 root root 509, 65536 Aug  4 15:02 /dev/tpmrm0

If needed, install the TPM libraries and tools and reboot:

sudo apt --yes install libtss2-* tpm-udev tpm2-abrmd tpm2-tools
sudo usermod --append --groups tss $(whoami)
sudo reboot

Check the TPM2.0 Interface with :

tpm2 getcap properties-fixed

Displays TPM status:

TPM2_PT_FAMILY_INDICATOR:
  raw: 0x322E3000
  value: "2.0"
TPM2_PT_LEVEL:
  raw: 0
...

4.6.3 - CrytoAuthentication Co-Processor 📚

This option uses the Microchip ATECC608A-MAHDA I2C Chip with 16 keys storage, Asymmetric & Symmetric Algorithms, Networking Key Management, Secure boot, 72 bits Unique ID...

Documentations :

sudo apt-get install git debhelper
git clone https://github.com/contactless/atecc-util
cd atecc-util
git submodule init
git submodule update
make
dpkg-buildpackage

Check the CrytoAutentification interface getting the unique ID on /dev/i2c-13

~/atecc-util/atecc -b 13 -c 'serial'

Displays a Unique ID:

0123ceb0b0dbc3d2ee

4.7 - Storages 📚

4.7.1 - PCIe peripherals 📚

The 'lspci' command must discover the ASM1184e PCIe switch and equiped M.2 modules (below with one KIOXIA SSDs and one Hailo-8 AI module).

lspci

0001:00:00.0 PCI bridge: Broadcom Inc. and subsidiaries BCM2712 PCIe Bridge (rev 30)
0001:01:00.0 PCI bridge: ASMedia Technology Inc. ASM1184e 4-Port PCIe x1 Gen2 Packet Switch
0001:02:01.0 PCI bridge: ASMedia Technology Inc. ASM1184e 4-Port PCIe x1 Gen2 Packet Switch
0001:02:03.0 PCI bridge: ASMedia Technology Inc. ASM1184e 4-Port PCIe x1 Gen2 Packet Switch
0001:02:05.0 PCI bridge: ASMedia Technology Inc. ASM1184e 4-Port PCIe x1 Gen2 Packet Switch
0001:02:07.0 PCI bridge: ASMedia Technology Inc. ASM1184e 4-Port PCIe x1 Gen2 Packet Switch
0001:03:00.0 Non-Volatile memory controller: KIOXIA Corporation NVMe SSD Controller BG4
0001:06:00.0 Co-processor: Hailo Technologies Ltd. Hailo-8 AI Processor (rev 01)
0002:00:00.0 PCI bridge: Broadcom Inc. and subsidiaries BCM2712 PCIe Bridge (rev 30)
0002:01:00.0 Ethernet controller: Raspberry Pi Ltd RP1 PCIe 2.0 South Bridge

4.7.2 - USB peripherals 📚

The 'lsusb' command must discover the FT4232H (USB2<->4x UART chip), equiped M.2 type B modules (below a 5G Qualcomm M.2 module) and external USB-C device if connected.

lsusb

Bus 001 Device 002: ID 1e0e:9001 Qualcomm / Option SimTech, Incorporated
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 005 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 004 Device 002: ID 0403:6011 Future Technology Devices International, Ltd FT4232H Quad HS USB-UART/FIFO IC
Bus 004 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

4.7.3 - Drives 📚

lsblk

NAME         MAJ:MIN RM   SIZE RO TYPE MOUNTPOINTS
mmcblk0      179:0    0  29.1G  0 disk 
├─mmcblk0p1  179:1    0   512M  0 part /boot/firmware
└─mmcblk0p2  179:2    0  28.6G  0 part /
mmcblk0boot0 179:32   0     4M  1 disk 
mmcblk0boot1 179:64   0     4M  1 disk 
mmcblk2      179:96   0  29.7G  0 disk 
├─mmcblk2p1  179:97   0   256M  0 part /media/xxxx/boot
└─mmcblk2p2  179:98   0  29.5G  0 part /media/xxxx/rootfs
nvme0n1      259:0    0 119.2G  0 disk
nvme1n1      259:1    0 931.5G  0 disk
  • mmcblk0 is the CM5 eMMC, here with 2 partitions
  • mmcblk2 is the optional uSD card, here with 2 partitions
  • nvme0n1 is the optional main NVMe SSD
  • nvme1n1 is the optional secondary NVMe SSD
  • sda1 would have been an optional USB-C flash drive

4.7.4 - Type-C External Flash Drive 📚

This test show you how to test a USB3 peripheral, it is made with a small USB-C key connected to the USB-C, it uses the Samsung MUF-64DA/PAC (64GB, USB3.1, <300MB/S read speed, reversible ports, formated in FAT, Waterproof)

lsusb

...
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 005 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 004 Device 002: ID 0403:6011 Future Technology Devices International, Ltd FT4232H Quad HS USB-UART/FIFO IC
Bus 004 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 002: ID 04e8:6300 Samsung Electronics Co., Ltd Type-C
Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
...

⚠️ You must see the "Samsung Electronics Co., Ltd Type-C" device and "Linux Foundation 3.0" for USB 3.0 peripherals

lsusb -t | grep xhci

/:  Bus 05.Port 1: Dev 1, Class=root_hub, Driver=xhci-hcd/1p, 5000M
/:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=xhci-hcd/2p, 480M
/:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=xhci-hcd/1p, 5000M
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci-hcd/2p, 480M

⚠️ Idem, you must see "5000M" for USB3.0 Peripherals.

To check USB version of your disk, here 3.10 :

sudo lsusb -v 2>/dev/null | grep -e "^Bus\|bcdUSB"

...
Bus 003 Device 002: ID 04e8:6300 Samsung Electronics Co., Ltd Type-C
  bcdUSB               3.10
...

Get disk size and name :

lsblk -D

NAME         DISC-ALN DISC-GRAN DISC-MAX DISC-ZERO
sda                 0      512B       0B         0
└─sda1              0      512B       0B         0
mmcblk0             0        4M     2.2G         0
├─mmcblk0p1         0        4M     2.2G         0
└─mmcblk0p2         0        4M     2.2G         0
mmcblk0boot0        0        4M     2.2G         0

Get mounting status:

sudo cat /proc/mounts

...
/dev/sda1 /media/xplr/Samsung\ USB vfat rw,nosuid,nodev,relatime,uid=1000,gid=1000,fmask=0022,dmask=0022,codepage=437,iocharset=ascii,shortname=mixed,showexec,utf8,flush,errors=remount-ro 0 0
...

cd /media/xplr/Samsung\ USB/
ls -l

ls -l /dev/disk/by-uuid

total 0
lrwxrwxrwx 1 root root 10 Aug  1 14:20 3FFA-6704 -> ../../sda1
lrwxrwxrwx 1 root root 15 Jul 26 16:17 d6ecfcd5-2703-41bf-9301-10c403b6fb0c -> ../../mmcblk0p2
lrwxrwxrwx 1 root root 15 Jul 26 16:17 F737-8E10 -> ../../mmcblk0p1

df -h

...
/dev/sda1        60G  3.5M   60G   1% /media/xplr/Samsung USB
...

sudo fdisk -l

...
Disk /dev/sda: 59.75 GiB, 64160400896 bytes, 125313283 sectors
Disk model: Type-C          
Units: sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disklabel type: dos
Disk identifier: 0x00000000
Device     Boot Start       End   Sectors  Size Id Type

sudo blkid /dev/sda1

/dev/sda1: LABEL="Samsung USB" UUID="3FFA-6704" BLOCK_SIZE="512" TYPE="vfat"

Benchmark the Type-C USB Flash Drive read speed:

sudo apt-get install hdparm
sudo hdparm -tT --direct /dev/sda1

/dev/sda1:
 Timing O_DIRECT cached reads:   494 MB in  2.01 seconds = 246.22 MB/sec
 Timing O_DIRECT disk reads: 546 MB in  3.00 seconds = 181.89 MB/sec

sudo dd bs=10M count=500 if=/dev/sda1 of=/home/xplr/test.bin

...
5242880000 bytes (5.2 GB, 4.9 GiB) copied, 42.4844 s, 123 MB/s

Benchmark the Type-C USB Flash Drive write speed:

sudo dd bs=2M count=500 if=/dev/sda1 of=/media/xplr/Samsung\ USB/test.bin

...
1048576000 bytes (1.0 GB, 1000 MiB) copied, 34.7954 s, 30.1 MB/s

4.7.5 - Internal NVMe SSD(s) 📚

  • The main SSD is a 2232 Key M, M.2 module installed on the J15 slot (CM5 / Front side).
  • To make a Raid 0 or 1 NAS, another 2232/2242 Key M, M.2 SSD can be installed on the J4 slot (Bottom plate side).
  • A third 2232/2242 Key B, M.2 SSD can also be used if needed.

To list all the drives :

lsblk

NAME         MAJ:MIN RM   SIZE RO TYPE MOUNTPOINTS
loop0          7:0    0     2G  0 loop 
mmcblk0      179:0    0  29.1G  0 disk 
├─mmcblk0p1  179:1    0   512M  0 part /boot/firmware
└─mmcblk0p2  179:2    0  28.6G  0 part /
mmcblk0boot0 179:32   0     4M  1 disk 
mmcblk0boot1 179:64   0     4M  1 disk 
zram0        254:0    0     2G  0 disk [SWAP]
nvme0n1      259:0    0 238.5G  0 disk        <---- Main SSD here
nvme1n1      259:1    0 931.5G  0 disk        <---- secondary SSD here

Benchmark the main SSD, here a Samsung P991a 256GB SSD :

sudo apt-get install hdparm
sudo hdparm -tT --direct /dev/nvme0n1

/dev/nvme0n1:
 Timing O_DIRECT cached reads:   822 MB in  2.00 seconds = 410.07 MB/sec
 Timing O_DIRECT disk reads: 1254 MB in  3.00 seconds = 417.77 MB/sec

sudo dd bs=10M count=500 if=/dev/nvme0n1 of=/home/xplr/test.bin

500+0 records in
500+0 records out
5242880000 bytes (5.2 GB, 4.9 GiB) copied, 35.8162 s, 146 MB/s

Benchmark the secondary SSD, here a Crucial P310 1TB SSD :

sudo hdparm -tT --direct /dev/nvme1n1

/dev/nvme1n1:
 Timing O_DIRECT cached reads:   838 MB in  2.00 seconds = 418.61 MB/sec
 Timing O_DIRECT disk reads: 1250 MB in  3.00 seconds = 416.10 MB/sec

sudo dd bs=10M count=500 if=/dev/nvme1n1 of=/home/xplr/test.bin

500+0 records in
500+0 records out
5242880000 bytes (5.2 GB, 4.9 GiB) copied, 47.4714 s, 110 MB/s

4.7.6 - Micro SD Card 📚

An internal micro SD card holder is connected to GPIO22 to GPIO27. An optional SD card may be use for non-critical storage or but it is rather intended for cybersecurity (Secure Acces Key, Hidden partition, Write Once Read Many). To physically access to the push pull holder, you must remove the cap on the right side of the enclosure (the bootload switch side). The side of the SD with the electrical contacts must be on the side of the PCB, here it's the side of the bottom plate, so the printed side of the SD is facing the front.

Caution

It is possible to insert the SD card next to the holder and lose it inside the enclosure. The card must be inserted using small pliers, with the power turned off and easy access so you can see what you are doing. The cap must be lightly greased with vaseline after each opening to ensure a good seal.

To access it in software, you must have in config.txt :

dtoverlay=sdio

To list the drives :

$ lsblk
...
mmcblk2      179:96   0  29.7G  0 disk 
├─mmcblk2p1  179:97   0   256M  0 part /media/xplr/boot
└─mmcblk2p2  179:98   0  29.5G  0 part /media/xplr/rootfs
...

mmcblk2 is the uSD, here with 2 partitions

Tip

To backup the eMMC on SD:

sudo dd if=/dev/mmcblk0 of=/dev/mmcblk2 bs=4M status=progress

To clone the SD to the main SSD:

sudo dd if=/dev/mmcblk2 of=/dev/nvme0n1 bs=4M status=progress

4.8 - DAQ 📚

The DAQ uses the chip Analog Device AD5592R, a 8-Channel (IO1 to IO7), 12-Bit, configurable ADC/DAC/GPIO with On-Chip 20 ppm/°C reference and a SPI interface connected to the SPI1.0
It has a total throughput rate of 400 kSPS and an integrated temperature indicator.

4.8.1 - Solution 1 : DAQ controlled directly by your application 📚

The ad5592r chip can be addressed directly without the need for a device tree overlay or a driver. You only need dtoverlay=spi1-3cs in config.txt in order to have SPI1.0 valid and using the default GPIO18 as Chip Select.
List SPI devices with :

ls /dev/spidev*

It gives :

/dev/spidev1.0  /dev/spidev10.0

You must have /dev/spidev1.0 corresponding to the SPI1.0 of the RP1 chip.

4.8.1.1 - Command the DAQ in Python without driver

Edit the test file :

sudo nano test_daq.py

With :

import spidev
import time

# ================= INIT SPI =================
spi = spidev.SpiDev()
spi.open(1, 0)
spi.max_speed_hz = 10000000
spi.mode = 0b10

# ============== REGISTER ==============
REG_NOP            = 0x00
REG_DAC_RD         = 0x01
REG_ADC_SEQ        = 0x02
REG_GEN_CTRL       = 0x03
REG_ADC_CONFIG     = 0x04
REG_DAC_CONFIG     = 0x05
REG_PD_CONFIG      = 0x06
REG_CONFIG_RD_LDAC = 0x07
REG_GPIO_CONFIG    = 0x08
REG_GPIO_OUTPUT    = 0x09
REG_GPIO_INPUT     = 0x0A
REG_PD_REF_CTRL    = 0x0B
REG_GPIO_OD_CONFIG = 0x0C
REG_IO_TS_CONFIG   = 0x0D
REG_SW_RESET       = 0x0E

# ============== MASK ==============
ADC_MASK  = 0b00001111   # IO0–IO3
DAC_MASK  = 0b00110000   # IO4–IO5
GPIO_MASK = 0b11000000   # IO6–IO7

# ================= SPI HELPERS =================
def write_reg(reg, value):
    msg = ((reg & 0x0F) << 11) | (value & 0x07FF)
    spi.xfer2([(msg >> 8) & 0xFF, msg & 0xFF])

def write_dac(channel, value):
    msg = (1 << 15) | ((channel & 0x07) << 12) | (value & 0x0FFF)
    spi.xfer2([(msg >> 8) & 0xFF, msg & 0xFF])

def read_adc(channel):
    write_reg(REG_ADC_SEQ, 1 << channel)
    reply = spi.xfer2([0x00, 0x00])
    return ((reply[0] << 8) | reply[1]) & 0x0FFF

# ================= INIT DAQ =================
def init_ad5592r():
    print("=== Init AD5592R ===")

    # Software Reset
    write_reg(REG_SW_RESET, 0x5AC)

    # Activate 2.5V Internal Reference
    write_reg(REG_PD_REF_CTRL, 0x200)

    # ADC & DAC range 0V to 2xVref (5V)
    write_reg(REG_GEN_CTRL, 0b110000)

    # IO0–IO3 in ADC
    write_reg(REG_ADC_CONFIG, ADC_MASK)

    # IO4–IO5 in DAC
    write_reg(REG_DAC_CONFIG, DAC_MASK)

    # IO6–IO7 in Digital Output
    write_reg(REG_GPIO_CONFIG, GPIO_MASK)

    print("IO0–3 ADC 0–5V | IO4–5 DAC 0–5V | IO6–7 GPIO push-pull")

# ================= TEST LOOP =================
try:
    init_ad5592r()
    toggle = False

    while True:
        toggle = not toggle

        # Square on digital outputs
        gpio_val = GPIO_MASK if toggle else 0x000
        write_reg(REG_GPIO_OUTPUT, gpio_val)

        # DAC
        write_dac(4, 0xFFF if toggle else 0x000)  # Square 0V-5V
        write_dac(5, 0x800 if toggle else 0x000)  # Square 0V-2.5V

        time.sleep(0.5)

        # ADC
        adc_vals = []
        for ch in range(4):
            raw = read_adc(ch)
            volt = raw * 5.0 / 4095.0
            adc_vals.append(f"IO{ch}:{volt:4.2f}V")

        print(
            " | ".join(adc_vals)
            + f" | DAC4:{'5V' if toggle else '0V'}"
            + f" | DAC5:{'2.5V' if toggle else '0V'}"
            + f" | GPIO:{'HIGH' if toggle else 'LOW'}"
        )

except KeyboardInterrupt:
    print("\nStop.")
    write_reg(REG_GPIO_OUT, 0)
    write_dac(4, 0)
    write_dac(5, 0)
finally:
    spi.close()

And launch with :

python test_daq.py

4.8.1.2 - Control the DAQ in C without driver

C libraries :

Integrate this C library into your application and initialize with :

  • Use of /dev/spidev1.0
  • Clock 20Mhz max
  • SPI mode = 2
  • Valid internal 2.5V reference
  • IO0 to IO3 in ADC 0-5V (or 0-2.5V)
  • IO4 and IO5 in DAC 0-5V (or 0-2.5V)
  • IO6 and IO7 in push-pull GPIO output (0 = Mosfet in high impedance)

4.8.2 - Solution 2 : DAQ integrated into the OS 📚

Usefull documentation:

Compile and Install the ad5592r Driver

The driver is not installed by default in Debian Trixie. If you have another distribution, check if you have already this driver :

modinfo ad5592r

modinfo: ERROR: Module ad5592r not found.

Install kernel headers and building tools

sudo apt update
sudo apt install linux-headers-$(uname -r)
sudo apt install build-essential bc bison flex libssl-dev libncurses-dev git

Install industrial modules

sudo modprobe industrialio
sudo modprobe industrialio-configfs
sudo modprobe iio-trig-sysfs

Create the build directory

mkdir -p ~/ad5592r-driver
cd ~/ad5592r-driver

Upload driver source code for Linux 6.12

wget -O ad5592r-base.c "https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git/plain/drivers/iio/dac/ad5592r-base.c?h=v6.12"
wget -O ad5592r-base.h "https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git/plain/drivers/iio/dac/ad5592r-base.h?h=v6.12"
wget -O ad5592r.c "https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git/plain/drivers/iio/dac/ad5592r.c?h=v6.12"

Create the Makefile

cat > Makefile << 'EOF'
obj-m += ad5592r-base.o
obj-m += ad5592r.o

KDIR := /lib/modules/$(shell uname -r)/build
PWD := $(shell pwd)

all:
	$(MAKE) -C $(KDIR) M=$(PWD) modules

clean:
	$(MAKE) -C $(KDIR) M=$(PWD) clean

install:
	$(MAKE) -C $(KDIR) M=$(PWD) modules_install
	depmod -a
EOF

Compile and install the driver

make
sudo make install

Charge the ad5592r modules

sudo modprobe ad5592r-base
sudo modprobe ad5592r

Verify the ad5592r module

lsmod | grep ad5592

Must gives :

ad5592r                49152  0
ad5592r_base           49152  1 ad5592r
industrialio          131072  2 iio_trig_sysfs,ad5592r_base

And

modinfo ad5592r

Must gives :

filename:       /lib/modules/6.12.62+rpt-rpi-2712/updates/ad5592r.ko.xz
import_ns:      IIO_AD5592R
license:        GPL v2
description:    Analog Devices AD5592R multi-channel converters
author:         Paul Cercueil <paul.cercueil@analog.com>
srcversion:     FE903F6324006824D01780D
alias:          spi:ad5592r
alias:          of:N*T*Cadi,ad5592rC*
alias:          of:N*T*Cadi,ad5592r
alias:          acpi*:ADS5592:*
depends:        ad5592r-base
name:           ad5592r
vermagic:       6.12.62+rpt-rpi-2712 SMP preempt mod_unload modversions aarch64

Charge the module at startup

echo "ad5592r-base" | sudo tee -a /etc/modules
echo "ad5592r" | sudo tee -a /etc/modules

Reboot

sudo reboot

Verify the ad5592r after startup

lsmod | grep ad5592

gives:

ad5592r                49152  0
ad5592r_base           49152  1 ad5592r
industrialio          131072  1 ad5592r_base

Compile and Install the ad5592r Device Tree Overlay

You will needed to install the 'dtc' (Device Tree Compiler):

sudo apt update
sudo apt install device-tree-compiler

Create the device tree overlay :

sudo nano /boot/firmware/overlays/ad5592r-spi1-0.dts

with

/dts-v1/;
/plugin/;

/ {
	compatible = "brcm,bcm2712";

	fragment@0 {
		target = <&spidev1>;
		__overlay__ {
			status = "disabled";
		};
	};

	fragment@1 {
		target = <&spi1>;
		__overlay__ {
			#address-cells = <1>;
			#size-cells = <0>;
			status = "okay";

			ad5592r: ad5592r@0 {
				compatible = "adi,ad5592r";
				reg = <0>;
				spi-max-frequency = <10000000>;
				spi-cpol;
				
				#address-cells = <1>;
				#size-cells = <0>;
				
				/* Activate internal 2.5V reference */
				adi,int-vref-2v5;
				
				/* IO0 à IO3: ADC 0-5V */
				channel@0 {
					reg = <0>;
					adi,mode = <1>;  /* CH_MODE_ADC */
				};
				
				channel@1 {
					reg = <1>;
					adi,mode = <1>;  /* CH_MODE_ADC */
				};
				
				channel@2 {
					reg = <2>;
					adi,mode = <1>;  /* CH_MODE_ADC */
				};
				
				channel@3 {
					reg = <3>;
					adi,mode = <1>;  /* CH_MODE_ADC */
				};
				
				/* IO4 et IO5: DAC 0-5V */
				channel@4 {
					reg = <4>;
					adi,mode = <2>;  /* CH_MODE_DAC */
				};
				
				channel@5 {
					reg = <5>;
					adi,mode = <2>;  /* CH_MODE_DAC */
				};
				
				/* IO6 et IO7: In digital output */
				channel@6 {
					reg = <6>;
					adi,mode = <6>;  /* CH_MODE_DIGITAL_OUT */
					adi,off-state = <0>;  /* CH_OFFSTATE_OUT_LOW */
				};
				
				channel@7 {
					reg = <7>;
					adi,mode = <6>;  /* CH_MODE_DIGITAL_OUT */
					adi,off-state = <0>;  /* CH_OFFSTATE_OUT_LOW */
				};
			};
		};
	};
	
	/* CS on GPIO18 */
	__overrides__ {
		cs_pin = <18>,"reg:0";
	};
};

Example : ADALM2000/AD5592R Device tree

Channel configuration (adi,mode)

Possible values for adi,mode :

Value Name Description
0x01 CH_MODE_ADC Analog input only
0x02 CH_MODE_DAC Analog output only
0x03 CH_MODE_DAC_AND_ADC DAC + ADC
0x05 CH_MODE_GPI Digital input
0x06 CH_MODE_GPIO Digital output
0x08 CH_MODE_GPIO GPIO (bidirectional)

Power-off state (adi,off-state) :

Value Description
0x00 CH_OFFSTATE_PULLDOWN (high impedance with pull-down)
0x01 CH_OFFSTATE_OUT_LOW (output at 0V)
0x02 CH_OFFSTATE_OUT_HIGH (output at Vcc)
0x03 CH_OFFSTATE_OUT_TRISTATE (high impedance)

Compile the device tree

sudo dtc -@ -I dts -O dtb -o /boot/firmware/overlays/ad5592r-spi1-0.dtbo /boot/firmware/overlays/ad5592r-spi1-0.dts

Configure config.txt

sudo nano /boot/firmware/config.txt

Verify this 2 lines:

...
dtoverlay=spi1-3cs
...
...
dtoverlay=ad5592r-spi1-0
...

and reboot

Verify the DAQ integration in the OS

Verify the SPI communication with the driver

dmesg | grep -i -E "(mcp|spi|ad5592)"

[    5.526838] ad5592r_base: loading out-of-tree module taints kernel.

Verify the overlay loading

dtoverlay -l

Must display : ad5592r-spi1-0
Verify the SPI

ls -l /dev/spi*

Must display /dev/spidev1.0
Verify the device tree

dtc -I fs /sys/firmware/devicetree/base | grep -A 20 ad5592r

Verifiy IIO channels

ls /sys/bus/iio/devices/

Must display iio:device0 (or device1, etc.)

ls /sys/bus/iio/devices/iio:device0/

Must display channels : in_voltage0_raw, ... out_voltage4_raw, etc.

Use the DAQ in command line

Read ADC (IO0 to IO3)

# Read the raw value (0-4095 for 12 bits)
cat /sys/bus/iio/devices/iio:device0/in_voltage0_raw

# Read the scale (in mV)
cat /sys/bus/iio/devices/iio:device0/in_voltage_scale

Write to the DAC (IO4 or IO5)

# Value : 0-4095
echo 2048 > /sys/bus/iio/devices/iio:device0/out_voltage4_raw

Write to Digital output (IO6 or IO7)

echo 0 > /sys/bus/iio/devices/iio:device0/out_voltage6_raw  # Low
echo 1 > /sys/bus/iio/devices/iio:device0/out_voltage6_raw  # High

4.9 - Cellular and Direct-To-Cell 📚

4.9.1 - Nano SIM 📚

The left cap provides access to a Push Pull holder for a nano SIM card or a 4FF Plastic eSIM card.

Caution

It is possible to insert the SIM card next to the holder and lose it inside the enclosure. The card is inserted using small pliers, with the power turned off and easy access so you can see what you are doing. The cap must be lightly greased with vaseline after each opening to ensure a good seal.

4.9.2 - 4FF eSIM 📚

An eSIM card can be integrated into production, and plugs can be removed for mass-produced products.
Kigen SGP.22+ Tri-cut eUICC eSIM
How to use an eSIM in Linux?

4.9.3 - 4G LTE-A 📚

QUECTEL EM060K-GL Documentation
QUECTEL EM060K-GL Tutorial

4.9.4 - 🛰 5G RedCap/Direct-To-Cell 📚

SIM8230G Documentation
SIM8230G Tutorial

4.9.5 - Speed Test 📚

Install the OOKLA speed test tool with :

sudo apt update
sudo apt install -y curl gnupg
curl -fsSL https://packagecloud.io/ookla/speedtest-cli/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/ookla.gpg
echo "deb [signed-by=/usr/share/keyrings/ookla.gpg] https://packagecloud.io/ookla/speedtest-cli/debian/ trixie main" | sudo tee /etc/apt/sources.list.d/ookla.list
sudo apt install -y speedtest

And launch:

speedtest --interface usb0

We get with a 4G plan SIM card:

Server:          ORANGE FRANCE - Paris (id: 62493)
ISP:             Bouygues Telecom
Idle Latency:    39.99 ms   (jitter: 7.99ms, low: 32.02ms, high: 47.98ms)
Download:        17.45 Mbps (data used: 29.6 MB)                                                   
                 247.88 ms  (jitter: 67.64ms, low: 51.55ms, high: 1166.13ms)
Upload:          8.77 Mbps  (data used: 14.7 MB)                                                   
                 861.83 ms  (jitter: 91.22ms, low: 49.22ms, high: 1839.04ms)
Packet Loss:     0.0%

4.10 - Matter-Over-Thead/Zigbee/BLE Mesh Co-Processor 📚

This Multi-Protocol Wireless Network co-processor (NCP) option gives automation and IoT connectivity with various protocols (Matter-Over-Thread, Zigbee, BLE Mesh, Open Thread...).
It's the perfect interface for :

  • Zigbee2MQTT Hub
  • Home Assistant ZHA (Zigbee Home Automation) Hub
  • Open Thread Border Router
  • Matter or Zigbee Custom Device
  • BLE Mesh Custom communication

This option add to the BOM a MGM240PA32VNN3 module connected the LPWAN SMA connector for a 2.4 Ghz Antenna.
Note that this option removes one RS232 input (See harwdare datasheet).
The MGM240PA32VNN3 module includes a Silicon Lab EFR32MG24 Chip, the same as various USB dongles like Home Assistant Connect ZBT-2, SONOFF Dongle Plus MG24 or smlight SLZB-07Mg24.

4.10.1 - Software development 📚

For more information about the EFR32MG24 : EFR32MG24 Website, EFR32MG24 Datasheet, EFR32xG24 Reference Manual

The Xplorer CM5 hardware as no embbeded J-LINK OB Debugger but as an embedded UART Xmodem bootloader.
To debug your software you can use a external dev kit connected to the USB-C, like the Sparkfun Thing Plus Matter Kit, the EFR32xG24 Explorer Kit, the XIAO MG24, or the Silicon LabsXGM240-RB4317A. We recommend the Sparkfun solution, which has a very similar nomenclature. Only the name of the USB port will be changed for production.

4.10.2 - Pre-build Firmware 📚

The EFR32 Multiprotocol image comes in four flavors:

  • Multi-PAN 802-15.4 RCP (Radio Co-Processor)
    Protocols Run: Openthread + Zigbee
    Project Name: rcp-uart-802154.slcp and rcp-spi-802154.slcp
    Description: The multipan RCP is based on the OpenThread 802.15.4 RCP with added multi-PAN and CPC support. It has a small flash footprint (~150K) and uses the Spinel protocol to serialize commands. The Spinel messages are further encapsulated by the CPC protocol before being sent over the physical link. Both UART and SPI links are supported. This is illustrated in system-architecture for the Multiprotocol RCP (ignoring the Bluetooth components).
  • Multiprotocol RCP
    Protocols Run: Openthread + Zigbee + Bluetooth
    Project Name: rcp-uart-802154-blehci.slcp and rcp-spi-802154-blehci.slcp
    Description: The multiprotocol RCP adds the Bluetooth Controller and FreeRTOS to the above 802.15.4 RCP. It has a larger flash footprint (~250k). HCI is used to serialize Bluetooth commands over CPC. Both UART and SPI links are supported. See system-architecture for the Multiprotocol RCP.
  • Zigbee NCP (Network Co-Processor) with OpenThread RCP
    Protocols Run: Zigbee + Openthread
    Project Name: zigbee_ncp-ot_rcp-uart.slcp and zigbee_ncp-ot_rcp-spi.slcp
    Description: This configuration runs the Zigbee Networking stack on the EFR32 alongside the OpenThread RCP. The Zigbee application still runs on the host and uses EZSP to send commands to the Zigbee NCP over CPC. Note that this solution does not make use of Zigbeed, because the Zigbee networking stack is running on the EFR32, not on the host. OpenThread runs on the host as in the other cases and uses Spinel over CPC to communicate with the OpenThread RCP. Both UART and SPI links are supported. See system-architecture for the Zigbee NCP + OpenThread RCP. Due to a larger application footprint, it is recommended to choose parts with sufficient RAM (>64kB).
  • Zigbee NCP with BLE NCP
    Protocols Run: Zigbee + BLE
    Project Name: zigbee_ncp-ble_ncp-uart.slcp zigbee_ncp-ble_ncp-spi.slcp
    Description: The Zigbee application (Z3GatewayCPC) runs on the Linux host and communicates with the NCP using EZSP over CPC (SPI and UART are both available options). The Bluetooth host app bt_host_empty is compiled with CPC=1 option to enable communication with the DMP NCP over CPC. See system-architecture for the Zigbee NCP + BLE NCP. Due to a larger application footprint, it is recommended to choose parts with sufficient RAM (>64kB).

Firmware Builds for various dongles

Firmware Builds for MGM240P

4.10.3 - UART Xmodem Bootload 📚

Your Linux application can manage the update of the MG24 firmware using an embedded UART Xmodem bootloader.
The interface with the CM5 is achieved via a USB to UART converter and 2 pins on the CM5 to control the reset and bootload pins.
The pinout is compliant with the Network Co-Processor (NCP) Application with UART in order to make a Matter or Zigbee Hub, see page 34 of the MGM240PA32VNN3.

SMLIGHT SLZB-07MG24 pinout :

Xplorer CM5 Rev3.1 Pinout :

MGM240 Pin MG24 I/O Connected to GPIO Name Name Description
5 PB01 TP22 TP22 TP22 Test Point (Reserved for CTS in future PCB Revision)
6 PB00 CM5 Pin 19 FAN_PWM /GPIO45 NBOOT_MP_RAD MG24 Factory-programmed bootload pin (Will be connected to RTS in future PCB Revision)
11 PA04 TP21 TP21 TP21 Test Point (Reserved for a LED activated at low level in future PCB Revision)
12 PA05 FT432H-56Q Pin 23 BDBUS1 RXD_B MG24 USART1.TX (Xmodem & NCP Compliant)
13 PA06 FT432H-56Q Pin 21 BDBUS0 TXD_B MG24 USART1.RX (Xmodem & NCP Compliant)
16 PA07 FT432H-56Q Pin 25 BDBUS3 CTS_B MG24 (NCP Compliant)
17 PA08 FT432H-56Q Pin 24 BDBUS2 RTS_B MG24 (NCP Compliant)
31 #RESET CM5 Pin 80 SCL0 / GPIO39 NRST_MP_RAD MG24 Reset (Will be connected to DTR in future PCB Revision)

4.10.3.1 - Define the bootloader activation pin 📚

A bootloader is already installed at the factory, you can download another bootloader. The bootloader entry pin is user-defined and configured inside the Gecko Bootloader project.

Caution

If you flash another bootloader, verify that PB00 is the bootload pin and Active at Low level.
Otherwise, booting will be impossible and repair will be very complicated.

If you flash another bootloader, verify :

In Simplicity Studio:
Software Components
→ Bootloader Core
→ GPIO Activation (or Bootloader Button)

Configure the NBOOT GPIO to PB00 :

  • Port (gpioPortA, gpioPortB, …)
  • Pin number
  • Active level (HIGH or LOW)
  • Pull configuration
Port        : gpioPortB
Pin         : 0
Active when : LOW
Pull        : Pull-up

Simplicity Studio auto-generates this (You don't need to write this manually):

#define BTL_BUTTON_PORT gpioPortB
#define BTL_BUTTON_PIN  0
#define BTL_BUTTON_PRESSED 0  // active low

if (GPIO_PinInGet(BTL_BUTTON_PORT, BTL_BUTTON_PIN)
    == BTL_BUTTON_PRESSED) {
    enterBootloader();
}

4.10.3.2 - Command NRST and NBOOT 📚

To control NRST and NBOOT, config.txt must contain :

# Xplorer CM5 with option MGM240PA32 : GPIO39 Control NRST, GPIO45 Control NBOOT (0->NBOOT=1)
gpio=39=op,dh
gpio=45=op,dl

Warning

Something is currently putting FAN_PWM into bootload state at power-up regardless of the GPIO45 configuration in config.txt.
You currently need to reset and run the MG24 Firmware at Linux starts up.

You can Reset and Run the MG24 Firmware with :

pinctrl set 45 op pn dl
pinctrl set 39 op pn dl
sleep .1
pinctrl set 39 op pn dh

You cant put the EFR32MG24 in bootload mode with the sequence :

  • NBOOT=0 -> GPIO45=1
  • NRST=0 -> GPIO39=0
  • Wait 100ms to reset the EFR32MG24
  • NRST=1 -> GPIO39=1
  • Wait 200ms to enter in bootload mode
  • NBOOT=1-> GPIO45=0

The MG24 boot sequence can be made in command line with :

pinctrl set 45 op pn dh
pinctrl set 39 op pn dl
sleep .1
pinctrl set 39 op pn dh
sleep .2
pinctrl set 45 op pn dl

4.10.3.3 - Flash manually using Minicom 📚

Install and minicom :

sudo apt-get install minicom

Get a compatible .gbl file to flash in the current directory (here a Zigbee NCP for Sparkfun Things Matter MGM240P or SMLIGHT slzb06Mg24/slzb07Mg24 compatible with the default 115KB bootloader)

wget https://github.com/darkxst/silabs-firmware-builder/releases/download/20250220/mgm240p_zigbee_ncp_8.0.2.0_sw_flow_115200.gbl

or

wget https://github.com/darkxst/silabs-firmware-builder/releases/download/20250627/slzb07Mg24_zigbee_router_8.0.3.0_115200.gbl

Open a console on ttyUSB1 (RXD_B) at 115Kbps with :

sudo minicom -D /dev/ttyUSB1 -b 115200

Send the boot sequence above. After this sequence, the EFR32MG24 bootloader must send this menu to the minicom terminal :

Gecko Bootloader v2.00.00
1. upload gbl
2. run
3. ebl info
BL >

Press 1 to begin the upload

begin upload                                                                    
CCCC

Press Ctrl + A an then S to select the minicom upload mode in the pop up menu :

+-[Upload]--+                                      
| zmodem    |                                      
| ymodem    |                                      
| xmodem    |                                      
| kermit    |                                      
| ascii     |                                      
+-----------+

Select 'xmodem'.
Select your .gbl firmware to flash with the arrows, space and enter. You will see a blue pop up window :

+----------------[xmodem upload - Press CTRL-C to quit]----------------+    
|Sending mgm240p_zigbee_ncp_8.0.2.0_sw_flow_115200.gbl, 2117 blocks: Gi|    
|ve your local XMODEM receive command now.                             |    
|Xmodem sectors/kbytes sent: 808/101k                                  |
+----------------------------------------------------------------------+

And after flashing 🥐☕, this blue pop up window ends with:

...
|Transfert completed                                                   |
+----------------------------------------------------------------------+

and :

begin upload                                                                    
CCCCCCCCCCCCCCCCCCCCCCCCCCCl                                                    
2. run                                                                          
3. ebl info                                                                     
BL >

Press 2 or launch a Reset sequence to run this firmware

4.10.3.4 - Firmware update with the NabuCasa Universal Silicon Labs Flasher 📚

Universal Silicon Labs Flasher Links :

Install :

sudo apt install python3 python3-pip
sudo pip install universal-silabs-flasher

Get a compatible .gbl firmware. Send the boot sequence above. Flash the MG24 :

universal-silabs-flasher --device /dev/ttyUSB1 flash --firmware xxxxx-115200.gbl

4.10.3.5 - Firmware/Bootloader update with Silicon Labs Commander 📚

https://siliconlabs.github.io/matter/2.3.0-1.3-alpha.2/general/FLASH_SILABS_DEVICE.html https://community.silabs.com/s/article/setting-up-raspberry-pi-for-development-with-silicon-labs-emberznet-stack

Install :

wget https://www.silabs.com/documents/public/software/SimplicityCommander-Linux.zip
unzip SimplicityCommander-Linux.zip
cd SimplicityCommander-Linux/
tar -xvf Commander_linux_aarch64_1v22p1b1957.tar.bz
cd commander./

Simplicity Commander requires that the SEGGER J-Link software pack is installed

Verify:

./commander --version

Send the boot sequence above. Check if the communication with the bootloader

./commander device info --serialport /dev/ttyUSB1 --baudrate 115200

Send the boot sequence above. Flash an Hex file:

./commander flash firmware.hex --serialport /dev/ttyUSB1 --baudrate 115200

Flash a bin file:

./commander flash firmware.bin --serialport /dev/ttyUSB1 --baudrate 115200 --address 0x08000000

Reset and Run the MG24 Firmware:

./commander reset --serialport /dev/ttyUSB1

4.10.4 - Usefull Links 📚

https://www.silabs.com/support/training/developing-with-matter-on-the-mg24 https://wiki.seeedstudio.com/xiao_mg24_matter/ https://tutoduino.fr/en/tutorials/matter-xiao-mg24/ https://wiki.seeedstudio.com/xiao_mg24_getting_started/ https://community.silabs.com/s/question/0D5Vm00000vUohmKAC/flashing-the-xiao-mg24-sense?language=fr https://docs.zephyrproject.org/latest/boards/seeed/xiao_mg24/doc/index.html https://siliconlabs.github.io/matter/2.3.0-1.3-alpha.2/OVERVIEW.html

4.11 - LoRa/Sigfox 📚

LSM100A Datasheet
LSM100A Tutorial (In French)

4.12 - RTC 📚

For ML2032 rechargeable battery, add this line to config.txt and reboot :

dtparam=rtc_bbat_vchg=3000000

Verify charging voltage :

cat /sys/class/rtc/rtc0/charging_voltage
cat /sys/class/rtc/rtc0/charging_voltage_max
cat /sys/class/rtc/rtc0/charging_voltage_min

Read vbat voltage on the PMIC

watch -n 1 vcgencmd pmic_read_adc

5 - TIPS 📚

5.1 - Benchmark 💪🏻 📚

Config : Raspberry PI OS Desktop on EMMc + Samsung 64GB USB-C Drive

Pi Benchmark script

sudo curl https://raw.githubusercontent.com/TheRemote/PiBenchmarks/master/     

Category                  Test                      Result     
HDParm                    Disk Read                 308.40 MB/sec            
HDParm                    Cached Disk Read          212.31 MB/sec            
DD                        Disk Write                110 MB/s                 
FIO                       4k random read            23621 IOPS (94486 KB/s)  
FIO                       4k random write           25252 IOPS (101011 KB/s) 
IOZone                    4k read                   44281 KB/s               
IOZone                    4k write                  67744 KB/s               
IOZone                    4k random read            44411 KB/s               
IOZone                    4k random write           55907 KB/s               
                          Score: 13083

GeekBench6

cd ~/Downloads
wget https://cdn.geekbench.com/Geekbench-6.4.0-LinuxARMPreview.tar.gz
tar xf Geekbench-6.4.0-LinuxARMPreview.tar.gz
rm Geekbench-6.4.0-LinuxARMPreview.tar.gz
cd Geekbench-6.4.0-LinuxARMPreview
./geekbench6

890 Single core
1936 Multi-core

sysbench

sudo apt -y install sysbench
sysbench --test=cpu --cpu-max-prime=20000 --num-threads=4 run

CPU speed:
    events per second:  4036.34

5.2 - Shrink a pi image 📚

https://github.com/Drewsif/PiShrink

5.3 - Manage Energy 📚

https://forums.raspberrypi.com/viewtopic.php?t=361542 https://forums.raspberrypi.com/viewtopic.php?t=360658

Underclocking

100% CPU : 10.4W@2.4Ghz, 8.4W@1.5Ghz, 5W@600Mhz, 4.6W@300Mhz sudo nano /boot/firmware/config.txt

arm_freq=1500
arm_freq_min=600
gpu_freq=400

To get the actual clock :

vcgencmd measure_clock arm

Links : https://www.jeffgeerling.com/blog/2023/overclocking-and-underclocking-raspberry-pi-5 https://ohyaan.github.io/tips/power_saving_on_raspberry_pi_os__complete_optimization_guide/#display-and-interface-optimizations

Disable PCIE switch

You can gain more than 1W if you don't need any SSD or TPU M.2 PCIe Module (Cellular used USB). In Config.txt

#--- No PCIe M.2 modules -> Desactivate the PCIe switch (-1.3W)
dtparam=pciex1=off

Reduce Ethernet to 100 MB

https://raspberrypi.stackexchange.com/questions/116677/force-wired-ethernet-speed-to-100-full ethtool eth0 sudo ethtool -s eth0 advertise 0x008

Disable Wireless

In config.txt :

dtoverlay=disable-wifi
dtoverlay=disable-bt

Disable HDMI

https://lowendbox.com/blog/how-to-turn-off-the-hdmi-monitor-on-your-raspberry-pi-5-its-not-as-easy-as-you-might-think/ https://forums.raspberrypi.com/viewtopic.php?t=374678 https://www.raspberrypi.com/documentation/computers/os.html#vcgencmd

vcgencmd display_power 0 7

Disable audio

In config.txt :

#dtparam=audio=on

View cpu-freq governors statistics

https://www.kernel.org/doc/Documentation/cpu-freq/governors.txt

cat /sys/devices/system/cpu/cpufreq/policy0/stats/time_in_state

Halt mode with periodic RTC Wake Up

https://raspberrypi.stackexchange.com/questions/147353/can-i-use-raspberry-pi-5-into-low-power-mode-programmatically https://www.jeffgeerling.com/blog/2023/reducing-raspberry-pi-5s-power-consumption-140x

sudo rpi-eeprom-config -e

[all]
BOOT_UART=1
WAKE_ON_GPIO=0
POWER_OFF_ON_HALT=1

# Default BOOT_ORDER for provisioning
# SD -> NVMe -> USB -> Network
BOOT_ORDER=0xf2461

The Halt mode power is 278mW, you can test it with the shutdown command:

sudo shutdown now

5.4 - Watchdog 📚

https://diode.io/blog/running-forever-with-the-raspberry-pi-hardware-watchdog

Enable the hardware watchdog and reboot:

sudo su
echo 'dtparam=watchdog=on' >> /boot/config.txt
reboot

Install the watchdog system service:

sudo su
echo 'watchdog-device = /dev/watchdog' >> /etc/watchdog.conf
echo 'watchdog-timeout = 15' >> /etc/watchdog.conf
echo 'max-load-1 = 24' >> /etc/watchdog.conf

Enable the service:

sudo systemctl enable watchdog
sudo systemctl start watchdog
sudo systemctl status watchdog

Now next time your Xplorer freezes, the hardware watchdog will restart it automatically after 15 seconds.

If you want to test this you can try running a fork bomb on your shell:

sudo bash -c ':(){ :|:& };:'

5.5 - NAS Setup 📚

The Xplorer can be setup with 2 NVMe SSD to make an embedded RAID NAS. https://ohyaan.github.io/tips/network_attached_storage__nas__setup_guide/

5.6 - Reduce boot time 📚

Get the boot time

$ systemd-analyze
Startup finished in 1.342s (kernel) + 4.842s (userspace) = 6.184s 
graphical.target reached after 4.830s in userspace.

To reduce boot time

https://ohyaan.github.io/tips/raspberry_pi_boot_time_optimization__complete_performance_guide/#understanding-the-boot-process

5.7 - CPU Isolation and Task Affinity for Multicore Optimization 📚

https://ohyaan.github.io/tips/cpu_isolation_and_task_affinity_for_multicore_optimization/

5.8 - Security Hardening 📚

https://ohyaan.github.io/tips/raspberry_pi_security_hardening_complete_guide/#network-security

6 - GPIO CONFIGURATION 📚

pinctrl

 0: a2    pn | hi // ID_SDA/GPIO0 = TXD1
 1: a2    pu | hi // ID_SCL/GPIO1 = RXD1
 2: ip    pu | hi // GPIO2 = input
 3: ip    pu | hi // GPIO3 = input
 4: a2    pn | hi // GPIO4 = TXD2
 5: a2    pu | hi // GPIO5 = RXD2
 6: no    pu | -- // GPIO6 = none
 7: ip    pu | hi // GPIO7 = input
 8: a2    pn | hi // GPIO8 = TXD3
 9: a2    pu | hi // GPIO9 = RXD3
10: ip    pd | hi // GPIO10 = input
11: op dl pd | lo // GPIO11 = output
12: a2    pn | hi // GPIO12 = TXD4
13: a2    pu | hi // GPIO13 = RXD4
14: a4    pn | hi // GPIO14 = TXD0
15: a4    pu | hi // GPIO15 = RXD0
16: op dh pd | hi // GPIO16 = output
17: op dh pd | hi // GPIO17 = output
18: op dh pd | hi // GPIO18 = output
19: a0    pd | lo // GPIO19 = SPI1_MISO
20: a0    pd | lo // GPIO20 = SPI1_MOSI
21: a0    pd | lo // GPIO21 = SPI1_SCLK
22: a0    pn | lo // GPIO22 = SD0_CLK
23: a0    pu | lo // GPIO23 = SD0_CMD
24: a0    pu | lo // GPIO24 = SD0_DAT0
25: a0    pu | lo // GPIO25 = SD0_DAT1
26: a0    pu | lo // GPIO26 = SD0_DAT2
27: a0    pu | lo // GPIO27 = SD0_DAT3
28: op dh pd | hi // PCIE_PWR_EN/GPIO28 = output
29: no    pu | hi // FAN_TACH/GPIO29 = none
30: no    pu | -- // HOST_SDA/GPIO30 = none
31: no    pu | -- // HOST_SCL/GPIO31 = none
32: op dh pd | hi // ETH_RST_N/GPIO32 = output
33: ip    pu | hi // PCIE_DET_WAKE/GPIO33 = input
34: op dl pd | lo // CD0_IO0_MICCLK/GPIO34 = output
35: ip    pn | hi // CD0_IO0_MICDAT0/GPIO35 = input
36: no    pd | lo // RP1_PCIE_CLKREQ_N/GPIO36 = none
37: ip    pu | hi // ETH_IRQ_N/GPIO37 = input
38: no    pd | hi // SDA0/GPIO38 = none
39: op dh pd | hi // SCL0/GPIO39 = output
40: no    pd | lo // GPIO40 = none
41: no    pd | lo // GPIO41 = none
42: a2    pd | hi // USB_VBUS_EN/GPIO42 = VBUS_EN1
43: a2    pu | hi // GPIO43 = VBUS_OC1
44: op dl pd | lo // RP1_STAT_LED/GPIO44 = output
45: op dh pd | hi // FAN_PWM/GPIO45 = output
46: op dh pd | hi // GPIO46 = output
47: no    pd | lo // 2712_WAKE/GPIO47 = none
48: op dh pd | hi // GPIO48 = output
49: op dh pd | hi // GPIO49 = output
50: no    pd | -- // GPIO50 = none
51: no    pd | -- // GPIO51 = none
52: no    pu | -- // GPIO52 = none
53: no    pu | hi // GPIO53 = none
101: op dh pu | hi // 2712_BOOT_CS_N/GPIO1 = output
102: a7    pn | hi // 2712_BOOT_MISO/GPIO2 = VC_SPI0_MISO
103: a6    pn | hi // 2712_BOOT_MOSI/GPIO3 = VC_SPI0_MOSI
104: a6    pn | lo // 2712_BOOT_SCLK/GPIO4 = VC_SPI0_SCLK
110: ip    pd | lo // GPIO10 = input
111: ip    pd | lo // GPIO11 = input
112: ip    pd | lo // GPIO12 = input
113: ip    pd | lo // GPIO13 = input
114: a1    pd | lo // GPIO14 = SPI_S_MOSI_OR_BSC_S_SDA
115: a1    pd | lo // GPIO15 = SPI_S_SCK_OR_BSC_S_SCL
118: ip    pd | lo // GPIO18 = input
119: ip    pd | lo // GPIO19 = input
120: ip    pu | hi // PWR_GPIO/GPIO20 = input
121: ip    pd | lo // 2712_G21_FS/GPIO21 = input
122: ip    pu | hi // GPIO22 = input
123: ip    pd | lo // GPIO23 = input
124: a4    pn | lo // BT_RTS/GPIO24 = UART_RTS_0
125: a4    pu | lo // BT_CTS/GPIO25 = UART_CTS_0
126: a4    pn | hi // BT_TXD/GPIO26 = UART_TXD_0
127: a4    pu | hi // BT_RXD/GPIO27 = UART_RXD_0
128: op dh pd | hi // WL_ON/GPIO28 = output
129: op dh pd | hi // BT_ON/GPIO29 = output
130: a1    pn | hi // WIFI_SDIO_CLK/GPIO30 = SD2_CLK
131: a1    pu | hi // WIFI_SDIO_CMD/GPIO31 = SD2_CMD
132: a1    pu | hi // WIFI_SDIO_D0/GPIO32 = SD2_DAT0
133: a1    pu | hi // WIFI_SDIO_D1/GPIO33 = SD2_DAT1
134: a1    pu | hi // WIFI_SDIO_D2/GPIO34 = SD2_DAT2
135: a1    pu | hi // WIFI_SDIO_D3/GPIO35 = SD2_DAT3
200: a6    pd | hi // RP1_SDA/AON_GPIO0 = VC_SDA0
201: a7    pd | hi // RP1_SCL/AON_GPIO1 = VC_SCL0
202: op dh pd | hi // RP1_RUN/AON_GPIO2 = output
203: op dl pd | lo // SD_IOVDD_SEL/AON_GPIO3 = output
204: op dh pd | hi // SD_PWR_ON/AON_GPIO4 = output
205: op dl pd | lo // ANT1/AON_GPIO5 = output
206: op dh pd | hi // ANT2/AON_GPIO6 = output
208: ip    pd | lo // 2712_WAKE/AON_GPIO8 = input
209: op dl pd | lo // 2712_STAT_LED/AON_GPIO9 = output
212: ip    pd | lo // PMIC_INT/AON_GPIO12 = input
213: a2    pu | hi // UART_TX_FS/AON_GPIO13 = VC_TXD0
214: a3    pu | hi // UART_RX_FS/AON_GPIO14 = VC_RXD0
232: a1    -- | hi // HDMI0_SCL/AON_SGPIO0 = HDMI_TX0_BSC_SCL
233: a1    -- | hi // HDMI0_SDA/AON_SGPIO1 = HDMI_TX0_BSC_SDA
234: a1    -- | hi // HDMI1_SCL/AON_SGPIO2 = HDMI_TX1_BSC_SCL
235: a1    -- | hi // HDMI1_SDA/AON_SGPIO3 = HDMI_TX1_BSC_SDA
236: a2    -- | hi // PMIC_SCL/AON_SGPIO4 = BSC_M2_SCL
237: a2    -- | hi // PMIC_SDA/AON_SGPIO5 = BSC_M2_SDA

7 - SELF-TEST 📚

1 & 2 - Peripherals detection and COM & CANbus in reception:

stty -F /dev/ttyAMA2 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyAMA3 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyAMA4 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyUSB0 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyUSB1 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyUSB2 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyUSB3 speed 115200 cs8 -cstopb -parenb
sudo ip link set can0 up type can bitrate 250000
sudo ip link set can1 up type can bitrate 250000

echo -e "\n1️⃣  Peripherals self-test"
uname -a | grep -q "Debian 1:6.12.47-1+rpt1~bookworm (2025-09-16) aarch64" && echo "✅ Bookworm Headless Detected" || echo "⚠️ Bookworm Headless NOT Detected"
uname -a | grep -q "Debian 1:6.12.62-1+rpt1 (2025-12-18) aarch64" && echo "✅ Trixie Headless Detected" || echo "⚠️ Trixie Headless NOT Detected"
ethtool eth0 | grep -q "Speed: 1000Mb/s" && echo "✅ Ethernet GbE OK" || echo "❌ Ethernet NOT GbE"
sudo i2cdetect -l | grep -q "i2c-13" && echo "✅ I2C OK" || echo "❌ I2C not detected"
ls -l /dev/tpm* | grep -q "/dev/tpm0" && echo "✅ TPM Driver OK" || echo "❌ TPM driver not detected"
tpm2 getcap properties-fixed | grep -q "TPM2_PT_FAMILY_INDICATOR:" && echo "✅ TPM Chip OK" || echo "❌ TPM Chip KO"
dmesg | grep -i -E "(mcp|spi)" | grep -q "mcp251xfd spi1.2 can0: MCP2518FD" && dmesg | grep -i -E "(mcp|spi)" | grep -q "mcp251xfd spi1.1 can1: MCP2518FD" && echo "✅ can0 and can1 detected" || echo "❌ can0 and/or can1 missing"
ifconfig -a | grep -q can0 && ifconfig -a | grep -q can1 && echo "✅ Interfaces can0 and can1 are present" || echo "❌Interfaces can0 and/or can1 are missing"
lsusb | grep -q "FT4232H" && echo "✅ FT4232H detected" || echo "❌ FT4232H NOT detected"
ls /dev/ttyAMA1 | grep -q "/dev/ttyAMA1" && echo "✅ COM1 detected" || echo "❌ COM1 NOT detected"
ls /dev/ttyAMA2 | grep -q "/dev/ttyAMA2" && echo "✅ COM2 detected" || echo "❌ COM2 NOT detected"
ls /dev/ttyAMA3 | grep -q "/dev/ttyAMA3" && echo "✅ COM3 detected" || echo "❌ COM1 NOT detected"
ls /dev/ttyAMA4 | grep -q "/dev/ttyAMA4" && echo "✅ COM4 detected" || echo "❌ COM2 NOT detected"
ls /dev/ttyUSB0 | grep -q "/dev/ttyUSB0" && echo "✅ RXDA detected" || echo "❌ RXDA NOT detected"
ls /dev/ttyUSB1 | grep -q "/dev/ttyUSB1" && echo "✅ RXDB detected" || echo "❌ RXDA NOT detected"
ls /dev/ttyUSB2 | grep -q "/dev/ttyUSB2" && echo "✅ RXDC detected" || echo "❌ RXDA NOT detected"
ls /dev/ttyUSB3 | grep -q "/dev/ttyUSB3" && echo "✅ RXDD detected" || echo "❌ RXDA NOT detected"
lspci | grep -q "ASM1184e" && echo "✅ ASM1184e detected" || echo "❌  ASM1184e  NOT detected"
lspci | grep -q "Samsung" && echo "✅ Samsung SSD module detected" || echo "⚠️  Samsung SSD module NOT detected"
lsblk| grep -q "nvme0n1" && echo "✅ Main SSD mounted" || echo "⚠️  Main SSD NOT mounted"
lsusb | grep -q "EM060K-GL" && echo "✅ 4G LTE module detected" || echo "⚠️  4G LTE module NOT detected"
lsusb | grep -q "Qualcomm / Option SDXBAAGHA-IDP" && echo "✅ 5G RedCap module detected" || echo "⚠️  5G RedCap module NOT detected"
ifconfig | grep -q "usb0:" && echo "✅ Cellular network Detected" || echo "⚠️  Cellular network not Detected"
ping -q -c1 -I usb0 google.com &>/dev/null && echo "✅ Ping Cellular OK" || echo "⚠️  Ping Cellular NOT Working"
lsblk| grep -q "mmcblk2" && echo "✅ uSD mounted" || echo "⚠️  uSD NOT mounted"
lsusb | grep -q "Flash Drive" && echo "✅ External Flash drive detected on USB-C" || echo "⚠️  External Flash drive NOT detected on USB-C"
printf "💾 eMMC: " && lsblk -dn -o SIZE /dev/mmcblk0
printf  "💾 SDRAM: " && grep MemTotal /proc/meminfo
printf  "💾 SSD: " && lsblk -dn -o SIZE /dev/nvme0n1

echo -e "\nPress a key..."
read -n 1 -s
echo -e "\n2️⃣  Test COM ports in Reception at 115200 Bauds and CANbuses in Reception at 250KB, CTRL-C to exit"
cat /dev/ttyAMA1 | sed 's/^/[COM1] /' &
cat /dev/ttyAMA2 | sed 's/^/[COM2] /' &
cat /dev/ttyAMA3 | sed 's/^/[COM3] /' &
cat /dev/ttyAMA4 | sed 's/^/[COM4] /' &
cat /dev/ttyUSB0 | sed 's/^/[RXDA] /' &
cat /dev/ttyUSB1 | sed 's/^/[RXDB] /' &
cat /dev/ttyUSB2 | sed 's/^/[RXDC] /' &
cat /dev/ttyUSB3 | sed 's/^/[RXDD] /' &
candump can1 | sed 's/^/[CAN1] /' &
candump can0 | sed 's/^/[CAN2] /' &
wait

3 - Test all the COMs and CANbuses ports in transmit :

Note: COM1 is tested with the RS232 Console

echo -e "\n3️⃣  Test COM ports in Transmit at 115200 Bauds and CANbuses Transmit at 250KB"
stty -F /dev/ttyAMA0 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyAMA2 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyAMA3 speed 115200 cs8 -cstopb -parenb
stty -F /dev/ttyAMA4 speed 115200 cs8 -cstopb -parenb
sudo ip link set can1 up type can bitrate 250000
sudo ip link set can0 up type can bitrate 250000
while true; do
  printf "TX COM2 OK\r\n" | tee /dev/ttyAMA2 > /dev/null
  printf "TX COM3 OK\r\n" | tee /dev/ttyAMA3 > /dev/null
  printf "TX COM4 OK\r\n" | tee /dev/ttyAMA4 > /dev/null
  cansend can1 7DF#0201050000000000
  cansend can0 7DF#0201050000000000 
  sleep 1
done

About

Xplorer Series – Rugged Industrial & Marine Edge IoT/AIoT Controller & Embedded Mission Computers – Raspberry PI CM5 & Hailo AI Ecosystems

austral-eng.com/en/xplorer-cm5/

Topics

matter raspberry-pi ai raspberrypi thread home-assistant gnss zigbee nmea nmea2000 4g-lte hailo zigbee2mqtt n8n frigate gnss-rtk rpi5 cm5 compute-module-5 openclaw

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