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Lumen

Lumen, a cutting-edge carrier board, specifically designed to complement and enhance the capabilities of NVIDIA Jetson modules.

lumen

General​

  • The Lumen introduces a powerful, yet efficient and compact edge computing solution based on NVIDIA® Jetson modules.
  • Lumen introduces rich set of interfaces while maintain small footprint and minimal weight.
  • The board is especially designed for robots, UAVs and other space and volume constrained implementations.

Compatibility​

  • The Lumen introduces a powerful, yet efficient and compact edge computing solution based on NVIDIA® Jetson modules:

    • NVIDIA® Jetson Nano™
    • NVIDIA® Jetson Orin™ NX
    • NVIDIA® Jetson Orin™ Nano
    • NVIDIA® Jetson Xavier™ NX
    • NVIDIA® Jetson TX2™ NX

Resources​

Mechanical​

  • Weight

    • Empty weight (w/o Pixhawk and Nvidia Jetson): ~50 [g].
    • Nvidia Jetson weight (w/ heatsink): ~70 [g].
    • Total Weight: ~120 [g].

  • Dimensions

    • Board dimensions are defined in millimeters.
    • Mounting hole size is M2.5.

    lumen-dimentions

Electrical​

General​

  • For each connector specification, the pinout orientation is determined by an arrow pointing to pin 1.

Specifications​

  • Input voltage: 6-36 [V]

  • GPIO / Communication logic level: 3.3 [V]

    • Warning: do not operate at any other logic voltage level.

  • Top View lumen-top

  • Bottom View lumen-bottom

Electrical pinout​

  • Connector orientation

    • JST-GH cables shall be oriented according to the illustration lumen-main-connector

    • Molex PicoBlade cables shall be oriented according to the illustration lumen-fan-connector

FRC Button​

frc-button

  • To flash,back and restore the Nvidia Jetson module, use the FRC button according to the following steps:
    • Power off the board
    • hold the FRC button
    • Power up the board
    • release the FRC button
    • The Nvidia Jetson module is now in recovery mode

Fan​

fan-connector

  • Connector Definition

    TypePart NumberPart Name
    Board Connector530470410MOLEX PicoBlade Header
    Cable Connector510210400MOLEX PicoBlade Receptacle

  • Connector Pinout

    PinName
    1GND
    25V
    3FAN_TACH
    4FAN_PWM

Power​

GH-6P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM06B-GHS-TBTJST-GH
    Cable ConnectorGHR-06V-SJST-GH

  • Connector Pinout

    PinName
    1VIN
    2VIN
    3VIN
    4GND
    5GND
    6GND

USB0 (OTG)​

GH-4P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM04B-GHS-TBJST-GH
    Cable ConnectorGHR-04V-SJST-GH

  • Connector Pinout

    PinName
    1OTG_5V (input)
    2USB0_D-
    3USB0_D+
    4GND

UART2​

GH-4P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM04B-GHS-TBJST-GH
    Cable ConnectorGHR-04V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2UART2_RXD (logic 3.3v)
    3UART2_TXD (logic 3.3v)
    4GND

Ethernet​

GH-8P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM08B-GHS-TBJST-GH
    Cable ConnectorGHR-08V-SJST-GH

  • Connector Pinout

    PinName
    1ETH_MDI0_P
    2ETH_MDI0_N
    3ETH_MDI1_P
    4ETH_MDI1_N
    5ETH_MDI2_P
    6ETH_MDI2_N
    7ETH_MDI3_P
    8ETH_MDI3_N

CAN (not applicable when using Jetson Nano module) ​

GH-4P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM04B-GHS-TBJST-GH
    Cable ConnectorGHR-04V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2CAN_H (logic 3.3v)
    3CAN_L (logic 3.3v)
    4GND

UART0 / RS232​

GH-4P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM04B-GHS-TBJST-GH
    Cable ConnectorGHR-04V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2UART1_TXD (logic 3.3v) / RS232_TX
    3UART1_RXD (logic 3.3v) / RS232_RX
    4GND

UART1 / RS485​

GH-6P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM06B-GHS-TBTJST-GH
    Cable ConnectorGHR-06V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2UART1_TXD (logic 3.3v) / RS422_TX_P
    3UART1_RXD (logic 3.3v) / RS422_TX_N
    4RS422_RX_P
    5RS422_RX_N
    6GND

I2C0 / I2C1​

GH-6P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM06B-GHS-TBTJST-GH
    Cable ConnectorGHR-06V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2I2C0_SCL (logic 3.3v)
    3I2C0_SDA (logic 3.3v)
    4I2C1_SCL (logic 3.3v)
    5I2C1_SDA (logic 3.3v)
    6GND

SPI0 / SPI1​

GH-10P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM10B-GHS-TBTJST-GH
    Cable ConnectorGHR-10V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2SPI0_CS0 (logic 3.3v)
    3SPI0_MOSI (logic 3.3v)
    4SPI0_MISO (logic 3.3v)
    5SPI0_SCK (logic 3.3v)
    6SPI1_CS0 (logic 3.3v)
    7SPI1_MOSI (logic 3.3v)
    8SPI1_MISO (logic 3.3v)
    9SPI1_SCK (logic 3.3v)
    10GND

USB1​

GH-8P

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorSM08B-GHS-TBJST-GH
    Cable ConnectorGHR-08V-SJST-GH

  • Connector Pinout

    PinName
    15V
    2USB2_D_N
    3USB2_D_P
    4USBSS_TX_N
    5USBSS_TX_P
    6USBSS_RX_N
    7USBSS_RX_P
    8GND

MIPI-CSI​

CSI

  • Connector Definition

    TypePart NumberPart Name
    Board ConnectorAFA07-S15FCA-00 / 1-84952-5-
    Cable ConnectorFFC 15 PIN 1mm pitch-

  • Connector Pinout

    PinName
    1GND
    2CAM0_D0_N
    3CAM0_D0_P
    4GND
    5CAM0_D1_N
    6CAM0_D1_P
    7GND
    8CAM0_CLK_N
    9CAM0_CLK_P
    10GND
    11CAM0_PWDN
    12CAM0_MCLK
    13CAM0_SCL
    14CAM0_SDA
    153.3V

Software​

General​

  • The software installation for the Lumen board is simple and based on the same steps as the Dev Kit board.

Environment Setup​

Flashing Jetpack OS​

  • Step 1: Hold the FRC button and power up the Lumen board.
  • Step 2: Hold the FRC button for additional 3 seconds after power up and release.
  • Step 3: Connect a USB cable to USB0 port.
  • Step 4: Flash the module using the instructions in the following link: https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html
  • Step 5: When installation is complete, reboot the board.

First Headless Boot​

  • Step 1: Wait for the Jetpack to complete initial Linux configuration (~10 minutes).
  • Step 2: Connect a USB cable to USB0 port.
  • Step 3: open Terminal and write:
    • ssh nvidia@192.168.55.1
    • Note: in case different username was configured during the flashing process, replace “nvidia” with the correct username.
  • Step 4: When asked for password use the one configured in the flashing process.
  • Step 5: You should now have terminal access to the jetson.
  • Step 6 - Optional: Configure IP address and connect using ethernet cable.
  • Note: In case the steps above do not work, repeat the process using debug terminal on UART2

Enabling OTG on USB0 for Jetson Orin series​

  • On Jetson Orin series, the USB OTG needs to be enabled using a dedicated shell script. The script is available both for Pre-Flash and Post-Flash execution.
  • Click Here to download the installation package.
  • Use the instructions provided along with the shell script to complete the process.

Enabling /dev/THS1 serial port on Jetson Orin series​

  • On Jetson Orin series, the /dev/THS1 serial port needs to be enabled using a dedicated shell script. The script is available both for Pre-Flash and Post-Flash execution.
  • Click Here to download the installation package.
  • Use the instructions provided along with the shell script to complete the process.

Aligning MIPI Lanes for CSI Interfaces on Jetson Orin Devices​

  • On the Jetson Orin series, the CSI0 port has its lanes swapped by default in NVIDIA's BSP. The following fix realigns the MIPI lanes to match the hardware setup. A script for this adjustment is available for post-flash execution.
  • Click Here to download the installation package.
  • Use the instructions provided along with the shell script to complete the process.