| name | rdk-hardware |
| description | The hardware-facts base for RDK boards — the 6-board spec table (X3 / X5 / Ultra / S100 / S100P / S600) plus 40PIN/GPIO, buses (I2C/SPI/UART/PWM), power & LED meaning, display, network/IP, and CAN. Use WHENEVER a question is about a board hardware fact: are the pins the same across boards, how the 40PIN is wired, IO voltage, default username/password, model dir location, which interfaces exist, TOPS/RAM differences, cooling, OS-version line, or system paths. Answer from here — do not guess from memory, the per-board numbers really do differ. 触发词:各板引脚一样吗、40PIN怎么接、IO电平、1.8V还是3.3V、默认用户名密码、root/sunrise、模型目录在哪、有没有CAN口、ip link can0、网口默认IP、192.168.127.10、连不上板子、算力多少TOPS、内存多大、要不要散热、供电几V、电源灯什么颜色、HDMI分辨率、Ubuntu几、TROS路径、板型怎么查。Routing — error-code / boot-failure → rdk-board-knowledge; driving a peripheral (blink LED, spin motor, read I2C, send CAN frames) → rdk-peripheral-cookbook; model deploy / toolchain / camera bringup → rdk-device; which board to buy → rdk-ecosystem. |
RDK Hardware & System Facts
The single most important rule: per-board hardware facts are NOT uniform — confirm the board first, then read its row. Pin voltage, power-LED color, default IP, CAN type, and model format all differ across the six boards. Reciting a "typical RDK board" from memory is how wrong answers happen.
Sources: official D-Robotics hardware-introduction docs — rdk_x_doc (X3/X5), rdk_doc (Ultra), rdk_s_doc (S100/S600). Re-verified against those pages. Per-board numbers are pinned in board-specs.md; deterministic lookup in scripts/board_specs.py.
Confirm the board first
cat /sys/class/socinfo/board_id
cat /proc/device-tree/model
cat /etc/version
Never assume the board. An X3 pinout handed to an X5 user, or a SocketCAN command on an S100, is a real and common failure.
The 6-board hardware cheat-sheet
| Board | BPU arch | INT8 TOPS | RAM | Model | OS / TROS | Power & LED | 40PIN IO | CAN | Default eth IP |
|---|
| X3 | Bernoulli2 | 5 | 2 GB | .bin | 22.04 / Humble | 5V/3A USB-C, red LED | 3.3V | none | 192.168.1.10 (.127.10 on 2.1.0+) |
| X5 | Bayes-e | 10 | 4/8 GB | .bin | 22.04 / Humble | 5V/5A USB-C, green+orange | 3.3V | SocketCAN can0 (TCAN4550) | 192.168.127.10 |
| Ultra | Bayes | 96 | 8 GB | .bin | 22.04 / Humble | ≥12V/5A DC, red LED | 3.3V | none | 192.168.1.10 |
| S100 | Nash-e | 80 | 12 GB | .hbm | 22.04 / Humble | 12–20V DC, green+orange | 3.3V | MCU CANHAL (CAN5–9) | eth1 fixed 192.168.127.10 |
| S100P | Nash-m | 128 | 24 GB | .hbm | 22.04 / Humble | 12–20V DC, green+orange | 3.3V | MCU CANHAL (CAN5–9) | eth1 fixed 192.168.127.10 |
| S600 | Nash | 560 | 32/64 GB | .hbm | 24.04 / Jazzy | 12–28V DC, green+orange | 1.8V, NO 40PIN | MCU CANHAL (MCU×5 + Main×4) | eth1 fixed 192.168.127.10 |
Five facts people get wrong — verified against official docs:
- Power LED color is not uniform. X3 and Ultra = RED. X5 and S-series = green power + orange status/Main-running.
- Only X5 is Linux SocketCAN (
can0). X3/Ultra have no CAN. S100/S100P/S600 CAN is MCU-domain via CANHAL — no can0, ip link does not apply.
- S600 has no 40PIN header and its digital IO is 1.8V (every other board's 40-pin is 3.3V) on self-locking connectors (2×10 + 1×12 + 1×14-pin).
- S600 runs Ubuntu 24.04 + TROS Jazzy (
/opt/tros/jazzy/, tros-jazzy-*); S100/X-series run 22.04 + Humble. Don't copy paths/package names.
- Default IP differs by board AND firmware. X3 ≤2.0.0 / Ultra =
192.168.1.10; everything else = 192.168.127.10 (S-series on the fixed eth1).
Model artifacts never cross BPU architectures: X3/X5/Ultra → .bin, S100/S100P/S600 → .hbm. Recompile per board. (The conversion toolchain itself is the rdk-device skill.)
Workflows
Workflow 1 — Answer a per-board hardware fact
- Confirm the board (
cat /sys/class/socinfo/board_id) or take it from the user's words.
- Look up the row — run
python3 scripts/board_specs.py <board> (or --field can|power|io_level|default_ip|...) for a deterministic answer; full detail in board-specs.md.
- Quote the exact number for THAT board — never average across boards or assume a "typical" value.
- Flag a cross-board trap if the user is mixing boards (X3 pinout ≠ X5; S600 IO is 1.8V; S600 path is
jazzy not humble).
Workflow 2 — 40PIN / GPIO / bus wiring
- Confirm the board and its IO voltage — 3.3V on X3/X5/Ultra/S100/S100P; 1.8V on S600 (and S600 has no 40-pin, use its self-locking connectors).
- The header is RPi-compatible in shape only — GPIO numbering differs, never reuse RPi pin numbers. Python uses
Hobot.GPIO, C uses libwiringpi.
- Check what the 40-pin actually exposes — on S100/S100P only a subset (I2C5 / UART2-muxed / SPI0 / 2×LPWM / 10×GPIO on J24); the rest of the SoC's buses are on the MCU/Camera 100-pin connectors. Details in hardware-notes.md §1, §3.
- For actually driving the pin (toggle GPIO, PWM a servo, read an I2C sensor) → route to
rdk-peripheral-cookbook. This skill states the facts; that one does the wiring.
Workflow 3 — CAN bus
- Determine CAN type by board (cheat-sheet column):
- X5 only is Linux SocketCAN:
ip link set can0 type can bitrate 500000 [dbitrate ... fd on] && ip link set can0 up (TCAN4550, up to 8 Mbps; close the 120Ω termination switch for long/fast runs).
- X3 / Ultra have no CAN.
- S100/S100P/S600 CAN is in the MCU domain via CANHAL — there is no
can0 netdev and ip link does NOT work. Frames go through CAN2IPC → IPC → A-core CANHAL.
- If the user tries
ip link on an S-series board — stop them: explain it's MCU-domain CANHAL, then route the actual send/receive to rdk-peripheral-cookbook.
Workflow 4 — Power, cooling, and the indicator LED
- Match the supply (cheat-sheet): X3 5V/3A USB-C, X5 5V/5A USB-C, Ultra ≥12V/5A DC, S100/S100P 12–20V DC (150W), S600 12–28V DC (16A). Never power from a laptop USB port — under-supply causes brown-outs / reboot loops.
- Read the LED correctly — X3/Ultra: a red LED means power OK. X5/S-series: green = power OK, orange = status/Main running (orange blink on X5 needs firmware 3.1.0+).
- Cooling — Ultra requires active cooling (ships a fan); S-series (especially S600 @560 TOPS) needs a fan + heatsink under load. Monitor with
hrut_somstatus.
Worked Examples
Example 1 — "RDK 各个板子的引脚都一样吗?能直接套树莓派的接线吗?"
No on both counts. The 40-pin is RPi-compatible in shape but GPIO numbering differs (use Hobot.GPIO, not RPi numbers). Across RDK boards the pinout differs too — X5 has more UART/PWM/I2C than X3. And S600 has no 40-pin at all: it uses self-locking connectors at 1.8V IO (not 3.3V), so wiring 3.3V peripherals straight in is wrong. Confirm the board first, then read its row in board-specs.md.
Example 2 — "S100 上怎么用 CAN?我 ip link set can0 up 报错没有这个设备。"
That's expected — S100's CAN is not Linux SocketCAN. The CAN controllers (CAN5–CAN9) are in the MCU domain and reached through the CANHAL library, so there is no can0 netdev and ip link doesn't apply. (Only X5 has SocketCAN can0, via TCAN4550.) For sending/receiving frames on S100, route to rdk-peripheral-cookbook.
Example 3 — "板子默认用户名密码是什么?网口连不上。"
Depends on the board. X5/Ultra: root/root (and sunrise/sunrise). S100/S100P/S600: the wizard sets both sunrise/sunrise and root/root. X3: sunrise/sunrise primary, root/root usually present. For "won't connect" on an S-series board, the outer port eth1 is a fixed static 192.168.127.10 — set your PC to the same subnet (e.g. 192.168.127.100) and try ssh root@192.168.127.10.
Example 4 — "S600 和 S100 是不是一样的,文档能照搬吗?"
No — re-confirm before copying. S600 is the new flagship: 18× A78AE + 6× R52+ + 4× Nash BPU (560 TOPS), and it runs Ubuntu 24.04 + TROS Jazzy (/opt/tros/jazzy/, packages tros-jazzy-*), whereas S100 is 22.04 + Humble. S600 also has no 40-pin and 1.8V IO. Same .hbm model family and hbm_runtime, but paths, package names, and the IO interface differ — don't copy S100 commands verbatim.
Common Pitfalls
| ❌ Don't | ✅ Do |
|---|
| Assume one "typical RDK board" spec | Confirm the board, read its row in board-specs.md |
| Reuse RPi GPIO numbers on the 40-pin | Use Hobot.GPIO / libwiringpi; numbering differs |
| Wire a 3.3V peripheral to S600 IO | S600 IO is 1.8V on self-locking connectors (no 40-pin) |
ip link set can0 ... on S100/S600 | Only X5 is SocketCAN; S-series CAN is MCU-domain CANHAL |
| Expect a green "power OK" LED everywhere | X3/Ultra power LED is red; X5/S-series green+orange |
Copy S100's /opt/tros/humble to S600 | S600 is Ubuntu 24.04 + Jazzy → /opt/tros/jazzy/ |
| Power any board from a laptop USB port | Use the official supply; under-power = reboot loops |
Assume 192.168.1.10 for every board | X5/S-series = 192.168.127.10; only X3≤2.0.0/Ultra = .1.10 |
Reference Map
| Read this | When |
|---|
| board-specs.md | Need an exact per-board number — RAM / TOPS / interface counts / power / LED / IO level / default IP / probe IDs |
| hardware-notes.md | Board confirmed, need a subsystem deep-dive — 40PIN, camera, buses, CAN, power, display, network, BPU monitoring, paths, thermals, OS/user differences |
scripts/board_specs.py | Deterministic board → spec lookup (board_specs.py s600, or --field can) |
