APEX ORIN NANO GPIO Digital Output

Hardware Connection

PIN Definition

接口名称	DB9针脚序号	接口说明	设备节点
DI_0	1	GPIO IN	/dev/gpio/di0
DI_1	2	GPIO IN	/dev/gpio/di1
DO_0	3	GPIO OUT	/dev/gpio/do0
DO_1	4	GPIO OUT	/dev/gpio/do1
GND	6-9	地

DO Hardware Specification

	Description
Vref	Voltage to be supplied externally at the user side.
Passive Load	E.g. LED, Relay, Solenoid Valve.
Active Sourcing Input	Active Sourcing Input, DI of PLC, e.g.

	Specification
Vref	3.3~36V

DO Usage

The usage of GPIO is as below

sudo /opt/miivii/features/gpio/bin/miivii_set_do_level <DO number> <level: 0/1> <duration(seconds) of level>
#<DO number>: Represents the sequence number of the DO. 0 represents DO1, 1 represents DO1, and so on.
#<level: 0/1>: Represents the level to be set. 0 represents low level, and 1 represents high level.
#<duration(seconds) of level>: The duration of the level in seconds. During this period, the DO level will be in the state specified by <level: 0/1>. After the level duration is exceeded, the DO returns to its previous state.

#Please note that starting from Linux kernel version 4.8, the GPIO SYSFS interface is marked as deprecated and is no longer supported in Jetpack 6.0 and later versions. It is recommended to use libgpiod for GPIO operations. Therefore, setting the level without specifying a duration is not supported.
#Example: Set DO0 to high level with a duration of 20 seconds.
#sudo /opt/miivii/features/gpio/bin/miivii_set_do_level 0 1 20

Compile sample code

cp -r /opt/miivii/features ~/
cd ~/features/gpio
sudo make;