orin-nano-env-setup/docs/BOM.md

type

type
reference

Bill of Materials

PEAK-System PCAN-USB

Field	Value
Manufacturer	PEAK-System Technik GmbH
Model	PCAN-USB
USB ID	0c72:000c
Purpose	USB-to-CAN adapter for reading car CAN bus traffic
Interface	SocketCAN netdev
Bitrate	500 kbps, measured on the Z27AG OBD port (listen-only by default; see CAN bitrate plan)
Driver	PEAK proprietary driver 9.2.0 (netdev build) — out-of-tree module, must be rebuilt after kernel updates

Notes

• The mainline kernel driver peak_usb is not compiled into the NVIDIA Tegra kernel (JetPack r36.4), so PEAK's proprietary driver is required.
• Must be built with NET=NETDEV_SUPPORT for standard SocketCAN tools (candump, ip link, etc.).
• The module lives at /lib/modules/$(uname -r)/misc/pcan.ko and is loaded via modprobe pcan.
• Jetson Orin Nano has a built-in CAN controller (exposed by GPIO pins). Kernel canN order is not stable, so both are pinned by udev: onboard → can_onboard, PCAN-USB → can_pcan (device naming).

Waveshare SIM7600G-H-M.2

hat module

Field	Value
Manufacturer	Waveshare (SIMCom SIM7600G-H-M.2 module)
Form factor	M.2 B KEY
Purpose	LTE Cat 4 cellular + multi-constellation GNSS (GPS, Beidou, GLONASS, GALILEO, QZSS)
Interface	USB (ttyUSB* for AT commands/NMEA, QMI cdc-wdm0 + wwan0 for data)
Power	3V – 4.2V (board rail)
Antennas	3× IPEX (LTE main + LTE diversity + GNSS)
Max data rate	150 Mbps DL / 50 Mbps UL (LTE Cat 4)

Required software

Package	Purpose
gpsd	Decode NMEA from the GNSS ttyUSB port
ModemManager + NetworkManager	Manage the modem and the LTE data connection (QMI)
qmi_wwan + cdc-wdm kernel modules	Not in the Tegra kernel; built out of tree in ~/infra/qmi_wwan/
minicom (or picocom)	AT command terminal for module configuration

Notes

• The module presents multiple USB serial ports (/dev/ttyUSB0–/dev/ttyUSB4) — ttyUSB2/3 for AT commands, ttyUSB1 for NMEA GPS data (symlinked as /dev/sim7600-gps).
• Default USB composition (PID 9001) is used with QMI; no PID switch needed. PPP dial-up does not work with the povo SIM (network detaches).
• Setup details: SIM7600 setup report.
• M.2 B KEY is not mechanically compatible with Mini-PCIe.
• Supply voltage should be ~4.0 V for reliable operation.
• DO NOT hot-plug while powered.

Waveshare UPS Power Module (C)

wiki

Field	Value
Purpose	Keep the Orin running through cranking and short power losses, and give time for a clean shutdown at ignition off
Input	15–19 V DC (Waveshare recommends a 19 V / 2.37 A adapter). ⚠ A PD trigger at the standard 20 V level is above the rated maximum
Output	Input voltage when powered (pass-through); battery voltage (9–12.6 V) when not
Battery	3 × 21700 Li-ion in series (not included); charging stops when full and resumes below 12 V
Monitoring	INA219 on I²C. On the car unit it is bus 7 (40-pin header), address 0x41
Holdover (bench, 2026-10-09)	≥ 20 s across a supply swap, enough to ride through cranking

Notes

• First read-only check (2026-10-09, on input power, charged): bus 12.34 V, shunt ≈ 0 mV (idle). Chip at power-on defaults (config 0x399f, calibration unprogrammed), so read current from the shunt-voltage register (0x01, 10 µV/LSB) rather than the current register.
• Fed from the ignition-switched cigarette socket via a 15 V PD trigger (15 V / 3 A, inside the 15–19 V rating). Plan: car power.
• Ignition-off shutdown (not built yet): on input loss the battery current turns clearly negative (discharging). A small service watches the INA219, waits out a grace period longer than a crank (30–60 s), then runs systemctl poweroff, with low battery voltage as a hard backstop. The shunt value is unconfirmed; check the schematic before converting shunt mV to amps.
• No GPIO or shutdown signal on the module; the BOOT button may be needed to wake a battery that stopped outputting (FAQ).

USB camera (IMX662, Sunplus UVC bridge)

Field	Value
Sensor	Sony IMX662 per the seller (1/2.8", STARVIS 2, low-light); the USB bridge does not report it
USB ID	1bcf:2d4f (Sunplus Innovation Technology, "USB Camera 1080P"), USB 2.0 high-speed
Purpose	Camera for the Orin: recording, live view on the tablet, later inference (roles open; see project-yukart roadmap, Phase 5)
Interface	UVC (uvcvideo, /dev/video0) + UAC microphone (ALSA card U1080P, 48 kHz stereo). In-tree drivers, no setup
Formats	MJPEG up to 1920×1080 at 60 fps nominal; YUYV only at low rates (5 fps at 1080p). No H.264
Documentation	None beyond the seller's listing; facts from the device: USB camera report

Notes

• Delivered frame rate follows the light: 17–20 fps indoors with auto exposure, full rate with a short fixed exposure.
• MJPEG is ~245 KB per 1080p frame, ~7.3 MB/s at 30 fps; too much for the tablet link (~5 MB/s) or for recording. The Orin Nano has no hardware video encoder; software H.264 (x264enc ultrafast) costs ~1.3 cores at 19 fps, ~2 at 30.
• Shares the carrier board's internal USB 2.0 hub with the SIM7600; headroom is ample.
• UVC controls (exposure, white balance, power-line frequency) reset on re-enumeration; set them when opening the device.

WitMotion WT61 IMU

Status: planned. Moving from the smart-serow motorcycle unit, where an Arduino reads it; not fitted yet.

Field	Value
Manufacturer	WitMotion
Model	WT61: 6-axis accelerometer + gyroscope, with onboard angle fusion (roll, pitch, yaw)
Purpose	Motion data for the recordings: longitudinal and lateral g, yaw rate, road grade
Interface	TTL UART on the 40-pin header: UART1, /dev/ttyTHS1 (free: no console or getty on it). The header I²C stays free for other sensors
Protocol	11-byte packets, 0x55 header: accel 0x51, gyro 0x52, angle 0x53, each three int16 values + temperature + checksum. Reference: smart-serow arduino/IMU.md
Rate	Planned 115200 baud / 100 Hz (factory default)
Power	3.3 V from header pin 1; the module accepts 3.3–5 V

Wiring (40-pin header)

WT61	Header pin
VCC	1 (3.3 V)
GND	6
TX	10 (UART1 RX)
RX	8 (UART1 TX), needed only to send config commands

Notes

• The header is 3.3 V logic and not 5 V tolerant. Powering the module at 3.3 V keeps every signal at 3.3 V. If it is ever fed 5 V, first check that its idle TX reads ~3.3 V.
• Power comes from the header's 3.3 V supply pin (1 or 17), a regulated rail on the carrier board. Not from a GPIO: a GPIO pin is a signal and is not meant to power anything.
• The module stores its baud rate and output rate in flash. Leaving smart-serow it is set to 9600 baud / 20 Hz. The reader opens at 9600, sends FF AA 63 (115200 / 100 Hz), and reopens at 115200. Commands at the wrong baud are ignored, so configuring on every start is safe.
• Mounting mode: FF AA 65 flat, FF AA 66 upright. Set it once the car mounting is known.
• Do not zero the accelerometer at startup the way smart-serow's imu_calibrate() does: that removes gravity, which tilt and grade need.
• The user needs the dialout group to open /dev/ttyTHS1.
• The temperature field is the chip's own temperature, not the air's.

RTC backup battery

Status: optional, low priority. Battery choice settled (CR2032); footprint/R560 still to verify against NVIDIA's schematic.

Field	Value
Purpose	Keep the RTC (rtc0, nvvrs-pseq-rtc) running while the board is unpowered, so the clock is correct at boot without network or GPS
Carrier board	P3768 (Orin Nano Developer Kit): pads present, connector not populated (needs soldering)
Connector (per NVIDIA docs, as quoted on the forum)	Wieson AC2651-0011-003-HH, 2-pin, 1.25 mm pitch. A community-used substitute is Molex 53398-0271 header + 51021-0200 housing
Battery	CR2032 (primary 3 V lithium) in a holder with leads. Not ML2032 or other rechargeables: the module datasheet says the backup pin (PMIC_BBAT) does not support charging, so a rechargeable just drains, and it has ~⅓ of the capacity
Expected life	RTC draws 12–50 µA while unpowered (~15 µA measured on the forum) → CR2032 (~220 mAh) lasts ~1.5–2 years typical, ~6 months worst case. Drains only while the board has no power
Extra parts	Forum reports also populating R560 (0.56 Ω, e.g. Panasonic ERJ2BQFR56X); confirm in the P3768 schematic

Notes

• Without it the clock boots at a stale date (seen 2026-10-08: June 4) until NTP syncs. See the time sync report.
• Forum sources: RTC battery on Orin Nano DevKit, How to add RTC battery.
• A reported side effect: the battery lead and socket make the case cover sit unevenly.
• Polarity: one forum post says the positive pad is marked with a white triangle. Confirm with a meter before connecting.
• Test after fitting: power off fully, wait a few minutes, boot with no network, and check cat /sys/class/rtc/rtc0/date (should be today, not a reset date).
• Low priority: online almost always means NTP within a minute; the gap only matters for offline drives (see the time sync report).