RTimes RTSO-6002 User manual

RTSO-6002
Product Manual
Realtimes Beijing Technology Co., LTD.
Fax：[phone]
Email: [e-mail]
Web Page: https://www.realtimesai.com
Address: 11th Floor, Block B, 20th Heping Xiyuan, Pingxi Street, Chaoyang District,
Beijing 100013,P.R.China

RTSO-6002 Product Manual V1.3
1
Product manual update history
Revision
Date
Reason for change
Applicable
hardware version
Creator
V1.2
2021-01-25
Initial release
V1.2
RT0086
V1.3
2021-06-08
Mini PCIe base increase
V1.2
RT0086
V1.4
2021-08-24
Modify the content of the document
V1.2
RT0086

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RTSO-6002 Product Manual V1.3
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Electronic components and circuits are very sensitive to electrostatic discharge. Although our
company designs anti-static protection for the main interfaces on the card when designing circuit
board products, it is difficult to achieve anti-static safety protection for all components and circuits.
Therefore, it is recommended to observe anti-static safety precautions when handling any circuit
board component (including RTS0-6002). Anti-static safety protection measures include, but are not
limited to the following:
a) The smart box should be placed in an anti-static bag during transportation and storage, and then
the board should not be taken out during installation and deployment.
b) Before touching the smart box, discharge the static electricity stored in the body: wear a
discharge grounding wrist strap.
c) Operate the smart box only within the safe area of the electrostatic discharge point.
d) Avoid moving smart boxes in carpeted areas.
Precautions and after-sales maintenance
matters needing attention
Before using the product, please read this manual carefully and keep it for future reference;
⚫Please pay attention to and follow all warning and guidance information marked on the product;
⚫Please use matching power adapter to ensure the stability of voltage and current;
⚫Please use this product in a cool, dry and clean place;
⚫Do not use this product in cold and hot alternate environment to avoid condensation damage
components;
⚫Do not splash any liquid on the product. Do not use organic solvent or corrosive liquid to clean
the product;
⚫Do not use the product in dusty and messy environment. If it is not used for a long time, please
pack the product;
⚫Do not use in the environment with excessive vibration, any dropping or knocking may damage
the circuit and components;
⚫Do not plug and unplug the core board and peripheral modules when power is on;
⚫Please do not repair or disassemble the product by yourself. In case of any fault, please contact

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RTSO-6002 Product Manual V2.0
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our company in time for maintenance;
⚫Do not modify or use unauthorized accessories by yourself, and the damage caused will not be
warranted;
After sales maintenance
1) Warranty period
⚫Base plate, core plate : 3 year (non-human damage)
⚫Other peripherals sold by the company:1year(non-human damage)
2) Warranty description
⚫Within 7 days: the product (base plate, core module) is not damaged by human, our company
will replace / repair it free of charge, and bear the return freight; (because the core module needs
NVIDIA to confirm that it can meet the requirements of repair, it will take a long time, we will
coordinate as soon as possible, please forgive for the inconvenience)
⚫From 7 days to 36 months: the product (base plate, core module) is not damaged by human, our
company will repair it free of charge, and bear the return freight; (because the core module needs
NVIDIA to confirm that it can meet the requirements of repair, it will take a long time, we will
coordinate as soon as possible, please forgive for the inconvenience)
⚫Artificial damage in more than 3 year or 3 year: the product (carrier plate) shall be tested after it
is sent to the customer, and the customer shall be informed of whether it can be repaired and the
maintenance cost in detail. After reaching an agreement, the product shall be repaired and returned to
the customer, and the company shall bear the return freight;
⚫The starting time shall be subject to the date of express delivery receipt;
3) Contact information
Official website: www.realtimesai.com
Taobao website: https://shop340963258.taobao.com/
Address: 11, block B, Heping Xiyuan, Heping West Street, Chaoyang District, Beijing
Attention: RMA
Tel: [phone]
Mailing notice: contact with the company's sales department in advance, arrange technical support
personnel to check and eliminate errors caused by misoperation as soon as possible, fill in the product
after-sale return to factory maintenance form after verification, and send it to [e-mail] Mail
box, please attach the list of items to facilitate verification, so as to avoid loss and loss in the process
of express delivery. The company does not receive any delivery
Technical support and development customization
1. Scope of technical support
1) The company releases the electrical characteristics and use of industrial carrier boards and
modules;
2) Physical dimension of hardware, relevant structure diagram and line sequence definition of
specific interface;
3) Burn in verification of all BSP support packages provided by the company;
4) The company released burn environment construction, entry-level use. ;
5) Various peripheral module drivers released by the company;
6) The company's product fault diagnosis and after-sales maintenance services;
2. Scope of technical discussion

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RTSO-6002 Product Manual V2.0
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Due to the wide range of embedded system knowledge and various types of involvement, we can not
guarantee that all kinds of questions can be answered one by one. The following content is not
available for technical support, only suggestions can be provided.
1) Knowledge beyond the course published by our company;
2) Specific software program design;
3) Technical support for industrial carrier not issued by the company;
4) All kinds of driving support for industrial carrier board not issued by the company;
5) Hardware principle and drive design of peripheral module not issued by our company;
3. Technical support mode
1)Official website or email questions (recommended):https://www.realtimesai.com/cn/download.html
[e-mail]
2) Official Taobao through Alibaba Wangwang consultation: https://shop340963258.taobao.com/
3) Wechat group consultation (wechat Group No. consults Taobao customer service or sales, and
Taobao purchase order No. needs to be provided for verification);
4) Technical support email: [e-mail]
5) Tel: [phone]
4. Technical support time
Monday to Friday; 8:30-12:00 am; 1:00-17:30 PM;
The company arranges the rest according to the national legal holidays, during which it may not be
able to provide technical support, please send the problem to the technical support email. We will
reply to you as soon as possible on weekdays.
5. Complaints and suggestions
If you are not satisfied with us or have suggestions, you can send an email to yu.qin @ realtimes.cn
For feedback, please call 010-84284669 for further improvement.
6. Customized development services
The company provides the embedded operating system driver based on NVIDIA Jetson series and the
paid customized development service of hardware carrier board to shorten your product development
cycle.
Please email the request to [e-mail]
Data acquisition and subsequent update
1. Access to information
Download on our website
The company's website contains supporting information of its products, including product user
manual, NVIDIA Jetson series module data manual, BSP driver support package for carrier
board, supporting peripheral driver files, interface test verification method, FAQ, system burning
guide, etc. get into www.realtimesai.com , select "data download" in the
navigation bar, find the data you need, and click download.
2. . Subsequent updates
Updates of subsequent documents, BSP, driver files and other official account will be updated in
time. We will pay close attention to our developments in order to ensure that your information is up to
date. We will push through WeChat public.

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RTSO-6002 Product Manual V2.0
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Table of Contents
1 ABSTRACT................................................................................................................................................................... 6
1.1 FEATURES..............................................................................................................................................................6
1.2 ORDERING INFORMATION........................................................................................................................................ 7
2 CONNECTOR LOCATIONS............................................................................................................................................8
2.1 COMPONENT LOCATION DIAGRAM............................................................................................................................... 9
2.2 FUNCTIONAL CONNECTORS.......................................................................................................................................10
2.3 THE KEYS...............................................................................................................................................................10
2.4 INDICATOR LIGHT.................................................................................................................................................... 10
3 INSTALLATION AND USE........................................................................................................................................... 11
3.1 PICTURE OF PRODUCTS.......................................................................................................................................... 11
3.2DRIVE.................................................................................................................................................................11
3.3 USAGE................................................................................................................................................................ 12
3.4 RECOVERY MODE................................................................................................................................................12
4 CONNECTORS DESCRIPTION.....................................................................................................................................13
4.1 MODULE INTERFACE.............................................................................................................................................. 13
4.2 FAN INTERFACE.................................................................................................................................................... 13
4.3 MICRO SD & MICRO SIM CARD SLOT..................................................................................................................... 14
4.4 MIPI CAMERA INTERFACE.......................................................................................................................................14
4.5 RTC BATTERY INTERFACE........................................................................................................................................15
4.6 MINI PCIE SLOT...................................................................................................................................................15
4.7 POWER INTERFACE................................................................................................................................................16
4.8 MINI HDMI........................................................................................................................................................16
4.9 GIGABIT ETHERNET...............................................................................................................................................16
4.10 USB...................................................................................................................................................................17
4.11 OTG-USB2.0..................................................................................................................................................... 17
4.12 FUNCTION PIN......................................................................................................................................................18
4.13 UART & I2C.......................................................................................................................................................18
4.14 SERIAL PORT........................................................................................................................................................ 19
4.15 SPI.................................................................................................................................................................... 19
4.16 DIP SWITCH.........................................................................................................................................................20
5 HARDWARE UPDATE HISTORY................................................................................................................................. 20
6 PRODUCT SIZE.......................................................................................................................................................... 21
TERMS OF WARRANTY................................................................................................................................................ 22

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RTSO-6002 Product Manual V2.0
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1 Abstract
Nvidia Jetson Xavier NX/TX2 NX module is a deep machine learning processor launched by Nvidia,
powerful computing power, module area is only the size of a credit card. It is mainly aimed at the rapid
development of artificial intelligence market in recent years, such as unmanned aerial vehicle, automatic
driving system, etc., which has a broad application prospect. RTSO-6002 is an industrial-grade board for
Xavier NX/TX2 NX, with working temperature from -40℃to +80℃, low power consumption and high safety
level, which can meet all kinds of harsh conditions.
1.1 Features
Type Distinction:
Interface comparison:
Difference
6002
6002E
Onboard eMMC
Without
Have
Type
Interface
6002
6002E
Adaptation
core
Xavier NX/TX2 NX
USB
1 x USB Type A interface，Support usb2.0、usb3.0 signal，provides 1A output current;
1 x USB Type A interface，Supports USB2.0 signal only, provides 1A output current;
1 x Micro USB interface，Support usb host and usb device mode，provides 1A output
current.
HDMI
1 x Mini HDMI 2.0 interface(Max 6Gbps，24bpp，4096x2160@60Hz)
Network Port
1 x GbE （10/100/1000 BASE-T）
UART&I2C
2 x 3.3V UART，1 x Debug UART, 2 x I2C, 1 x SPI and GPIO multiplexing
CAN
2 x CAN 2.0
Camera
Interface
2 x MIPI interface
PCIe Interface
1 x Mini-PCIe interface
RTC Interface
1 x RTC interface
SD/EMMC
1 x Micro SD
1 x 128G eMMC
SIM Interface
1 x Micro SIM interface
FAN Interface
1 x Fan control interface
Dimensions
87mm*57mm*26.37mm
Power
Requirements
+12V
Operating
Temperature
-40℃~+80℃
Weight
About 56g

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RTSO-6002 Product Manual V2.0
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1.2 Ordering Information
Model Options
Description
RTSO-6002
Support Jetson Xavier NX/TX2 NX module, 1 x GbE, 1 x mini-PCIe, 1 x
mini-HDMI, 2 x MIPI CSI-2/2 Lane, 1 x USB OTG, 1 x USB 2.0, 1 x USB
3.1, 2 x CAN, 2 x I2C, 1 x SPI, 1xDebug UART, 2 x UART, 12 x
GPIOs(optional), 4G LTE(optional), 1xMicro SIM, 1 x microSD, RoHS
Compliant, provide Realtimes Linux 4Tegra software support Bag
RTSO-6002E
Support Jetson Xavier NX module/TX2 NX module, 1 x GbE, 1 x mini-PCIe, 1
x mini-HDMI,2 x MIPI CSI-2/2 Lane, 1 x USB OTG, 1 x USB 2.0, 1 x USB
3.1,2 x CAN, 2 x I2C, 1 x SPI, 1xDebug UART, 2 x UART, 12 x GPIOs
(optional), 4G LTE (optional), 1xMicro SIM, 1 x eMMC (128GB), provide
Realtimes Linux4Tegra software support package
RTSO-6002-Cables
(optional)
RTSO-6002 Cable kits
RTS-Xavier NX/TX2
NX-HS02(optional)
Dedicated active Radiator for Xavier NX/TX2 NX Module (fan stack type)
RPI Camera V2(optional)
Matching MIPI camera
RTS-RPV2-Cables(option
al)
MIPI camera cables
RTSV-6911i (optional)
RTSV-6901 (optional)
RTSV-6941 (optional)
Mini-PCIe interface video capture card,RTSV-6911i (8-channel D1 NTSC/PAL
video input), RTSV-6901 (single-channel SDI video input), RTSV-6941
(single-channel HDMI Video Input)
RTSO-M.2 (optional)
mini-PCIe To M.2 interface card
RTSV-6902 (optional)
RTSV-6904 (optional)
M.2 interface video capture card,RTSV-6902 (dual-channel SDI video input),
RTSV-6904 (four-channel SDI Video input)
ME909S-821(optional)
mini-PCIe full Netcom 4G module
Order online
https://shop340963258.taobao.com
https://mall.jd.com/index-824786.html

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RTSO-6002 Product Manual V2.0
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2 Connector Locations
RTSO-6002-TOP SIDE
RTSO-6002-BOTTON SIDE

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RTSO-6002 Product Manual V2.0
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2.1 Component location diagram
Positioning of front components
Location of components on the back

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2.2 Functional Connectors
Marking
Function
U1
260 Pin, connected to NVIDIA Jetson Xavier NX/TX2 NX core
module
J14
Connect the external cooling fan
J4
Micro SIM&Micro SD card slot
J8/J21
MiPi camera interface
J16
RTC battery pin
J6
Mini PCIE slot
J18
Power input terminal
J13
Ethernet network connector
J2
USB connector
J7
Mini HDMI interface
J1
OTG-USB 2.0 MicroType-B interface
J20
Function button pin
J11
UART && I2C
J12
Serial port pin
J10
SPI pin
J3
Dial switch
U27
EMMC（128G）（6002E）
2.3 The keys
Marking
Function
K1
POWER button, Used for system shutdown and boot after soft shutdown
K2
RECOVERY button，Used to make the core module enter recovery mode
K3
RESET button，Used to restart the core module
2.4 Indicator light
Marking
Function
D23、D33
Power indicator light, on when plugged in

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3 Installation and use
3.1 picture of products
3.2 Drive
The RTSO-6002 carrier board works on a system burned with the official original version of NVIDIA
Linux For Tegra (L4T). HDMI, Gigabit Ethernet, USB2.0, serial port, GPIO, SD card, I2C bus can all be
supported. But Mini-PCIe, USB3.0, fan interface, etc. cannot work normally.
RTSO-6002 carrier board interface is fully supported, and the supporting driver patch needs to be loaded.
The original NVIDIA LT4 software package (for system programming) can be downloaded from the link
below:
https://developer.nvidia.com/embedded/linux-tegra
RTSO-6002 driver patch support package (for system programming) download link:
http:// www.realtimes.cn/download/
System burning method (help document):
https://www.realtimes.cn/cn/help.html
Note: The account password of Ruitai Cloud Space must be obtained by contacting
technical support.

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3.3 usage
a) Ensure all external system voltages are turned off
b) Install the Xavier NX/TX2 NX core module on the 260 PIN SO-DIMM connector. During the
installation process, please pay attention to the alignment between the connectors, apply uniform
force, and install the fixing screws.
c) Install the necessary external cables. (e.g. : the display cable that connects to the HDMI monitor, the
power input cable that supplies power to the system, the USB cable that connects the keyboard
and mouse...)
d) Connect the power cord to the power supply.
e) RTSO-6002 adopts automatic/manual power-on design, turn on the power, and the system starts to
work.
f) For the system without protective shell, please avoid moving the whole system after the system is
powered on, and it is strictly forbidden to touch the circuit board and its electronic components
with your body.
3.4 Recovery MODE
Jetson Xavier NX/TX2 NX core module can work in normal mode and Recovery mode, in which
file system update, kernel update, boot loader update, BCT update and other operations can be
performed.
Procedure to place system in Force USB Recovery Mode:
a) Power down the device.
b) Use USB cable to connect RTSO-6002 OTG-USB port (P4) with Jetson to develop host USB port.
c) Press the Recovery button and do not release it. Power supply to the system will be maintained for
more than 3 seconds, and then release the Recovery button
d) The system enters the Recovery mode, and subsequent operations can be carried out at this time.

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4 Connectors Description
4.1 module interface
Function
Connect NVIDIA Jetson Xavier NX/TX2 NX core module
Type
260 Pin DDR4 SO-DIMM
Pin define
Refer to the pin definition instructions in the NVIDIA Jetson Xavier
NX/TX2 NX core module data book.
4.2 Fan interface
Function
Connect external cooling fan
Type
Molex PicoBlade Header
Pin define
Pin
Signal
Pin
Signal
1
GND
2
+5V
3
TACH
4
PWM

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4.3 Micro SD & Micro SIM card slot
Function
Micro SIM & Micro SDcard slot
Marking
J4
Type
Micro SIM & Micro SD
Pin define
Micro SIM Card slot (lower)
Micro SD Card slot (upper)
SIM card facing: notch facing inward
Pin
Signal
Pin
Signal
1
SDIO_DATA2
2
SDIO_DATA3
3
SDIO_CMD
4
SDIO_VCC
5
SDIO_CLK
6
GND
7
SDIO_DATA0
8
SDIO_DATA1
9
GND
10
SDIO_CD
Pin
Signal
Pin
Signal
T1
SDIO_DATA2
T2
SDIO_DATA3
T3
SDIO_CMD
T4
SDIO_VCC
T5
SDIO_CLK
T6
GND
T7
SDIO_DATA0
T8
SDIO_DATA1
T9
SDIO_CD
4.4 MiPi camera interface
Function
MiPi camera
Type
FPC connector
Pin define
Pin
Signal
Pin
Signal
1
GND
2
CON_CSI_A_D0_N
3
CON_CSI_A_D0_P
4
GND
5
CON_CSI_A_D1_N
6
CON_CSI_A_D1_P
7
GND
8
CON_CSI_A_CLK_N
9
CON_CSI_A_CLK_P
10
GND
11
CON_CAM1_PWDN
12
CON_CAMA_MCLK
13
CAM_I2C_SCL
14
CAM_I2C_SDA
15
VDD_3V3
16

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4.5 RTC battery interface
Function
RTC battery
Type
1.0mm Pitch 1x3Pin SIP
Pin define
Pin-1：The green box on the right .
Pin
Signal
Pin
Signal
1
GND
2
NC
3
+3V
4
4.6 Mini PCIE slot
Function
Mini PCIE slot
Type
Mini PCIE
Pin define
Pin
Signal
Pin
Signal
1
WAKE
2
3.3V
3
NC
4
GND
5
NC
6
1.5V
7
PCIE_CLKREQ
8
UIM_PWR
9
GND
10
UIM_DATA
11
PCIE_REFCLK-
12
UIM_CLK
13
PCIE_REFCLK+
14
UIM_RESET
15
GND
16
UIM_VPP
17
NC
18
GND
19
NC
20
W_DISABLE
21
GND
22
PCIE_REST
23
PCIE_RX-
24
3.3V
25
PCIE_RX+
26
GND
27
GND
28
1.5V
29
GND
30
SMB_CLK
31
PCIE_TX-
32
SMB_DAT
33
PCIE_TX+
34
GND
35
GND
36
CON_USB2_D-
37
GND
38
CON_USB2_D+
39
VCC_3V3_PCIE
40
GND
41
VCC_3V3_PCIE
42
NC
43
GND
44
NC
45
NC
46
NC

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RTSO-6002 Product Manual V2.0
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47
NC
48
1.5V
49
NC
50
GND
51
NC
52
3.3V
4.7 Power interface
Function
Power IN
Type
3.5mm
Pin define
Pin-1：The green box on the right .
Max in：single +12V
Pin
Signal
Pin
Signal
1
VCC (+)
2
GND (-)
4.8 Mini HDMI
Function
HDMI
Type
Mini HDMI
Pin define
Pin
Signal
Pin
Signal
1
TMDS Data2+
2
TMDS Data2 GND
3
TMDS Data2-
4
TMDS Data1+
5
TMDS Data1 GND
6
TMDS Data1-
7
TMDS Data0+
8
TMDS Data0 GND
9
TMDS Data0-
10
TMDS Clock+
11
TMDS Clock GND
12
TMDS Clock-
13
CEC
14
No Connect
15
DDC clock
16
DDC data
17
DDC GND
18
+5V Power
19
Hot Plug Detect
4.9 Gigabit Ethernet
Function
Gigabit Ethernet
Type
RJ45
Pin define
Pin
Signal
Pin
Signal
1
TP0+
2
TP0-
3
TP1+
4
TP2+
5
TP2-
6
TP1-
7
TP3+
8
TP3-

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4.10 USB
Function
USB
Type
Double USB Type-A
Pin define
USB2.0 enable depends on the dialing switch 1 located at the OFF
position
layer
top
Type
USB 3.0
Pin
Signal
Pin
Signal
1
VBUS
2
USB 2.0 D-
3
USB 2.0 D+
4
GND
5
SSRX-
6
SSRX+
7
GND
8
SSTX-
9
SSTX+
layer
bottom
Type
USB 2.0
Pin
Signal
Pin
Signal
1
VBUS
2
USB 2.0 D-
3
USB 2.0 D+
4
GND
5
SSRX-
6
SSRX+
7
GND
8
SSTX-
9
SSTX+
4.11 OTG-USB2.0
Function
USB2.0
Type
USB 2.0 MicroType-B
Pin define
When usb-otg is in host mode, the USB ID Pin needs to float.
When usb-otg is slave mode, USB ID Pin needs to be grounded.
Pin
Signal
Pin
Signal
1
VBUS
2
USB 2.0 D-
3
USB 2.0 D+
4
USB ID
5
GND

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4.12 Function pin
Function
Function pin
Type
2.0mm pitch 2x5Pin Dip
Pin define
Pin
Signal
Pin
Signal
1
DEV_3V3
2
GND
3
DEV_3V3
4
GND
5
BUTTON_PWR_ON
6
GND
7
FORCE_RECOVERY
8
GND
9
PMIC_SYS_RST
10
GND
Pin-1: the mark in the red box on the right side of the picture.
Pin-2: the mark in the green box of the picture on the right.
Pin location: marked by the blue box on the right.
4.13 UART & I2C
Function
UART & I2C
Type
2.0mm pitch 2x5Pin Dip
Pin define
Pin
Signal
Pin
Signal
1
GEN1_I2C_SCL
2
GEN2_I2C_SCL
3
GEN1_I2C_SDA
4
GEN2_I2C_SDA
5
DEV_3V3
6
DEV_3V3
7
UART1_TXD_DBG
8
UART1_RXD_DBG
9
GND
10
GND
Pin-1: the mark in the red box on the right side of the picture.
Pin-2: the mark in the green box of the picture on the right.
Pin location: marked by the blue box on the right.
UART1 Debug serial port, 3.3V TTL logic level
The mapping file on the Linux system is ttyS0 in the /dev directory.
The derived GEN1_I2C and GEN2_I2C buses correspond to the
iic-1 and iic-0 buses in the Linux system.

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4.14 Serial port
Function
Serial port
Type
2.0mm pitch 2x5Pin Dip
Pin define
Pin
Signal
Pin
Signal
1
UART2_RXD
2
UART2_TXD
3
UART2_CTS
4
UART2_RTS
5
UART3_RXD
6
UART3_TXD
7
UART3_CTS
8
UART3_RTS
9
DEV_3V3
10
GND
Pin-1: the mark in the red box on the right side of the picture.
Pin-2: the mark in the green box of the picture on the right.
Pin location: marked by the blue box on the right.
The two serial ports, UART2~ UART3, are both 3.3v TTL logic
level.
The mapping files for UART2 and UART3 on the Linux system are
ttyTHS1 and ttyTHS2 in the /dev directory.
4.15 SPI
Function
SPI
Type
2.0mm pitch 2x5Pin Dip
Pin define
Pin
Signal
Pin
Signal
1
SPI1_SCK
2
SPI1_MISO
3
SPI1_MOSI
4
SPI1_CS0
5
SPI2_SCK
6
SPI2_MISO
7
SPI2_MOSI
8
SPI2_CS0
9
DEV_3V3
10
GND
Pin-1: the mark in the red box on the right side of the picture.
Pin-2: the mark in the green box of the picture on the right.
Pin location: marked by the blue box on the right.
The mapping files for SPI1 and SPI2 on Linux systems are spi0.0
and spi1.0 in the /dev directory.