Welcome to DOFBOT-Ultra repository
3.Hardware interface description
Hardware interface description
Hardware interface description1. Interface OverviewPower InterfaceDebug Serial PortEthernet PortHDMI Display InterfaceUSB InterfacesConnecting USB Flash DrivesConnecting USB-to-Serial AdaptersConnecting USB CamerasMIPI Camera InterfaceLCD Display InterfaceMicro SD InterfaceWi-Fi Antenna InterfaceCAN FD Interface40-pin GPIO Interface
1. Interface Overview
| No. | Function | No. | Function | No. | Function |
| 1 | Power Interface (USB Type C) | 2 | RTC Battery Interface | 3 | Easy Connect Port (USB Type C) |
| 4 | Debug Serial Port (Micro USB) | 5 | Dual MIPI Camera Ports | 6 | Gigabit Ethernet Port with PoE |
| 7 | 4 USB 3.0 Type A Ports | 8 | High-Speed CAN FD Interface | 9 | 40-pin GPIO Interface |
| 10 | HDMI Display Interface | 11 | Multi-standard Headphone Jack | 12 | Onboard Wi-Fi Antenna |
| 13 | TF Card Interface (Bottom) | 14 | LCD Display Interface (MIPI DSI) |
Power Interface
The development board provides a USB Type C interface (No. 1) as the power interface. It requires a 5V/5A power adapter for supplying power to the board. Once the adapter is connected, the green power indicator and the orange indicator will light up, indicating normal power supply.
caution
Do not use a computer USB port to power the board. Insufficient power may cause abnormal shutdown or repeated reboots.
Debug Serial Port
The development board includes a debug serial port (No. 4) for serial login and debugging functions. Configure the parameters in the serial tool on your computer as follows:
- Baud rate: 115200
- Data bits: 8
- Parity: None
- Stop bits: 1
- Flow control: None
To connect, use a Micro USB cable to link the board's Interface 4 to your PC.
For first-time use, you may need to install the CH340 driver on your computer. Search for CH340 serial port driver to download and install it.
Ethernet Port
The development board features a Gigabit Ethernet port (No. 6) supporting 1000BASE-T and 100BASE-T standards. By default, it uses a static IP configuration with the address 192.168.127.10.
To verify the board's IP address, log in via the serial port and use the ifconfig command to check the configuration of the eth0 interface.
Additionally, this port supports PoE (Power over Ethernet), allowing simultaneous data and power transmission via a single Ethernet cable for easier installation.
HDMI Display Interface
The development board includes an HDMI display (Interface 10) that supports a maximum resolution of 1080p. Using the HDMI interface, the board can output the Ubuntu system desktop (on the Ubuntu Server version, it displays the logo). The HDMI interface also supports real-time display of camera and network stream images.
USB Interfaces
The development board supports multiple USB interface extensions to accommodate various USB devices. Details are as follows:
| Interface Type | Interface No. | Quantity | Description |
|---|---|---|---|
| USB 2.0 Type C | No. 3 | 1 port | USB Device mode for ADB, Fastboot, system flashing, etc. |
| USB 3.0 Type A | No. 7 | 4 ports | USB Host mode for connecting USB 3.0 peripherals, expanding 4 USB ports through a hub. |
Connecting USB Flash Drives
The USB Type A ports (Interface 7) support USB flash drives, which will be automatically detected and mounted. The default mount directory is /media/sda1.
Connecting USB-to-Serial Adapters
The USB Type A ports (Interface 7) support USB-to-serial adapters, which will be automatically detected and create device nodes such as /dev/ttyUSB* or /dev/ttyACM* (where the asterisk represents a number starting from 0). Refer to the 40-pin UART Usage section for details.
Connecting USB Cameras
The USB Type A ports support USB cameras, which will be automatically detected and create device nodes such as /dev/video0.
MIPI Camera Interface
The development board provides two MIPI CSI interfaces (No. 5) for connecting up to two MIPI cameras, including stereo cameras. Compatible camera modules and specifications are as follows:
| No. | Sensor | Resolution | FOV | I2C Device Address |
|---|---|---|---|---|
| 1 | IMX219 | 8 MP | ||
| 2 | OV5647 | 5 MP |
Connect the camera module to the board using an FFC (Flat Flex Cable) with the blue side facing upwards.
After installation, use the i2cdetect command to check if the I2C address of the module can be detected.
caution
Important: Do not connect or disconnect the camera while the board is powered on, as this may damage the camera module.
LCD Display Interface
The RDK X5 provides an LCD display interface (MIPI DSI, Interface 14) that supports LCD screens. This interface is 22-pin and can use DSI-Cable-12cm to directly connect to various LCD displays for Raspberry Pi.
Micro SD Interface
The development board includes a Micro SD card interface (Interface 13). It is recommended to use a card with at least 16GB of storage to meet the installation requirements of Ubuntu and related packages.
caution
Do not hot-swap the TF card during use, as it may cause system abnormalities or file system corruption.
Wi-Fi Antenna Interface
The board supports both onboard and external antennas for wireless networking. The onboard antenna is sufficient for most scenarios. If the board is enclosed in a metal casing, connect an external antenna to the port near Interface 12 to enhance signal strength.
CAN FD Interface
The RDK X5 provides a CAN FD interface for CAN and CAN FD communication. Refer to the [CAN Usage] section for details.
40-pin GPIO Interface
The development board provides a 40-pin standard interface for convenient peripheral expansion. The digital I/Os use a 3.3V voltage level. The pin definitions for the 40-pin interface are as follows: 
The development board has silk screen markings on the 40-pin interface to facilitate operation. The locations of PIN1 and PIN40 are as follows:
