How to Control GPIO on JetPack 5.1.2 - Jetson AGX Xavier

<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8"> <title>How to Control GPIO on JetPack 5.1.2 - Jetson AGX Xavier - NVIDIA Developer Forums</title> <meta name="description" content="Hello, I am trying to control GPIO on JetPack 5.1.2 to make an LED blink, but I can’t find how to enable the GPIO pins. I used opt/nvidia/jetson-io/jetson-io.py to enable PWM pins, and I was able to control a servo motor&hellip;"> <meta name="generator" content="Discourse 3.4.0.beta3-dev - https://github.com/discourse/discourse version d71016522e8d9bb21c20312388271f8f0dd53069"> <link rel="icon" type="image/png" href="https://global.discourse-cdn.com/nvidia/optimized/2X/0/0372ccc95874f71d7fbff64bbbff6f8c69dd850b_2_32x32.png"> <link rel="apple-touch-icon" type="image/png" href="https://global.discourse-cdn.com/nvidia/optimized/2X/8/819b2855e1f1f3249e77dc713405cf77d1eda57c_2_180x180.png"> <meta name="theme-color" media="all" content="#000000"> <meta name="viewport" content="width=device-width, initial-scale=1.0, minimum-scale=1.0, user-scalable=yes, viewport-fit=cover"> <link rel="canonical" href="https://forums.developer.nvidia.com/t/how-to-control-gpio-on-jetpack-5-1-2/312837" /> <link rel="search" type="application/opensearchdescription+xml" href="https://forums.developer.nvidia.com/opensearch.xml" 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JetPack 5.1.2" /> <meta name="twitter:title" content="How to Control GPIO on JetPack 5.1.2" /> <meta property="og:description" content="Hello, I am trying to control GPIO on JetPack 5.1.2 to make an LED blink, but I can’t find how to enable the GPIO pins. I used opt/nvidia/jetson-io/jetson-io.py to enable PWM pins, and I was able to control a servo motor with those pins. However, I am unable to use GPIO pins. I would appreciate any help." /> <meta name="twitter:description" content="Hello, I am trying to control GPIO on JetPack 5.1.2 to make an LED blink, but I can’t find how to enable the GPIO pins. I used opt/nvidia/jetson-io/jetson-io.py to enable PWM pins, and I was able to control a servo motor with those pins. However, I am unable to use GPIO pins. I would appreciate any help." /> <meta property="og:article:section" content="Autonomous Machines" /> <meta property="og:article:section:color" content="76B900" /> <meta property="og:article:section" content="Jetson & Embedded Systems" /> <meta property="og:article:section:color" content="76B900" /> <meta property="og:article:section" content="Jetson AGX Xavier" /> <meta property="og:article:section:color" content="76B900" /> <meta property="og:article:tag" content="gpio" /> <meta name="twitter:label1" value="Reading time" /> <meta name="twitter:data1" value="1 mins 🕑" /> <meta name="twitter:label2" value="Likes" /> <meta name="twitter:data2" value="1 ❤" /> <meta property="article:published_time" content="2024-11-11T11:06:32+00:00" /> <meta property="og:ignore_canonical" content="true" /> <script type="application/ld+json">{"@context":"http://schema.org","@type":"QAPage","name":"How to Control GPIO on JetPack 5.1.2","mainEntity":{"@type":"Question","name":"How to Control GPIO on JetPack 5.1.2","text":"Hello, I am trying to control GPIO on JetPack 5.1.2 to make an LED blink, but I can’t find how to enable the GPIO pins. I used opt/nvidia/jetson-io/jetson-io.py to enable PWM pins, and I was able to control a servo motor with those pins. However, I am unable to use GPIO pins. I would appreciate any …","upvoteCount":0,"answerCount":1,"datePublished":"2024-11-11T11:06:32.836Z","author":{"@type":"Person","name":"jangjy0105","url":"https://forums.developer.nvidia.com/u/jangjy0105"},"acceptedAnswer":{"@type":"Answer","text":"Hi,\n\nIt looks like you don’t have the system files. If you flash the system through SDKManager, you should have Linux_for_Tegra folder. Maybe you can manually download it from the webpage:\n\n<a href=\"https://developer.nvidia.com/embedded/jetson-linux-r3541\" class=\"inline-onebox\">Jetson Linux 35.4.1 | NVIDIA Developer<\/a>\n\nDriver Package (BSP)\n\nSample Root Filesystem\n\nPlease follow the step…","upvoteCount":0,"datePublished":"2024-11-14T01:57:16.573Z","url":"https://forums.developer.nvidia.com/t/how-to-control-gpio-on-jetpack-5-1-2/312837/9","author":{"@type":"Person","name":"DaneLLL","url":"https://forums.developer.nvidia.com/u/DaneLLL"}}}}</script> </head> <body class="crawler browser-update"> <header> <a href="/"> NVIDIA Developer Forums </a> </header> <div id="main-outlet" class="wrap" role="main"> <div id="topic-title"> <h1> <a href="/t/how-to-control-gpio-on-jetpack-5-1-2/312837">How to Control GPIO on JetPack 5.1.2</a> </h1> <div class="topic-category" itemscope itemtype="http://schema.org/BreadcrumbList"> <span itemprop="itemListElement" itemscope itemtype="http://schema.org/ListItem"> <a href="/c/agx-autonomous-machines/jetson-embedded-systems/jetson-agx-xavier/75" class="badge-wrapper bullet" itemprop="item"> <span class='badge-category-bg' style='background-color: #76B900'></span> <span class='badge-category clear-badge'> <span class='category-name' itemprop='name'>Autonomous Machines</span> </span> </a> <meta itemprop="position" content="1" /> </span> <span itemprop="itemListElement" itemscope itemtype="http://schema.org/ListItem"> <a href="/c/agx-autonomous-machines/jetson-embedded-systems/jetson-agx-xavier/75" class="badge-wrapper bullet" itemprop="item"> <span class='badge-category-bg' style='background-color: #76B900'></span> <span class='badge-category clear-badge'> <span class='category-name' itemprop='name'>Jetson & Embedded Systems</span> </span> </a> <meta itemprop="position" content="2" /> </span> <span itemprop="itemListElement" itemscope itemtype="http://schema.org/ListItem"> <a href="/c/agx-autonomous-machines/jetson-embedded-systems/jetson-agx-xavier/75" class="badge-wrapper bullet" itemprop="item"> <span class='badge-category-bg' style='background-color: #76B900'></span> <span class='badge-category clear-badge'> <span class='category-name' itemprop='name'>Jetson AGX Xavier</span> </span> </a> <meta itemprop="position" content="3" /> </span> </div> <div class="topic-category"> <div class='discourse-tags list-tags'> <a href='https://forums.developer.nvidia.com/tag/gpio' class='discourse-tag' rel="tag">gpio</a> </div> </div> </div> <div itemscope itemtype='http://schema.org/DiscussionForumPosting'> <meta itemprop='headline' content='How to Control GPIO on JetPack 5.1.2'> <link itemprop='url' href='https://forums.developer.nvidia.com/t/how-to-control-gpio-on-jetpack-5-1-2/312837'> <meta itemprop='datePublished' content='2024-11-11T11:06:32Z'> <meta itemprop='articleSection' content='Jetson AGX Xavier'> <meta itemprop='keywords' content='gpio'> <div itemprop='publisher' itemscope itemtype="http://schema.org/Organization"> <meta itemprop='name' content='NVIDIA'> <div itemprop='logo' itemscope itemtype="http://schema.org/ImageObject"> <meta itemprop='url' content='https://global.discourse-cdn.com/nvidia/original/3X/a/1/a1ef6e0c1fbd3fad5bf82538b78dfaa9c5fa1a61.png'> </div> </div> <div id='post_1' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/jangjy0105'><span itemprop='name'>jangjy0105</span></a> </span> <link itemprop="mainEntityOfPage" href="https://forums.developer.nvidia.com/t/how-to-control-gpio-on-jetpack-5-1-2/312837"> <span class="crawler-post-infos"> <time datetime='2024-11-11T11:06:32Z' class='post-time'> November 11, 2024, 11:06am </time> <meta itemprop='dateModified' content='2024-11-11T23:24:54Z'> <span itemprop='position'>1</span> </span> </div> <div class='post' itemprop='text'> <p>Hello, I am trying to control GPIO on JetPack 5.1.2 to make an LED blink, but I can’t find how to enable the GPIO pins. I used <code>opt/nvidia/jetson-io/jetson-io.py</code> to enable PWM pins, and I was able to control a servo motor with those pins. However, I am unable to use GPIO pins. I would appreciate any help.</p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> <div id='post_3' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/DaneLLL'><span itemprop='name'>DaneLLL</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-12T01:45:59Z' class='post-time'> November 12, 2024, 1:45am </time> <meta itemprop='dateModified' content='2024-11-12T01:45:59Z'> <span itemprop='position'>3</span> </span> </div> <div class='post' itemprop='text'> <p>Hi,<br> You can use <em>libgpiod</em> commands to control GPIO pins. If you use custom board, you would need to configure the pins to GPIO in pinmux spreadsheet to generate the device tree and flash the dtb to the custom board. So that you can control it in userspace.</p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> <div id='post_4' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/jangjy0105'><span itemprop='name'>jangjy0105</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-12T01:58:02Z' class='post-time'> November 12, 2024, 1:58am </time> <meta itemprop='dateModified' content='2024-11-12T01:58:02Z'> <span itemprop='position'>4</span> </span> </div> <div class='post' itemprop='text'> <p>I managed to create the <code>.dtsi</code> file using a spreadsheet, but I’m not sure how to flash this <code>.dtsi</code> file.</p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> <div id='post_5' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/EduardoSalazar96'><span itemprop='name'>EduardoSalazar96</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-12T15:55:22Z' class='post-time'> November 12, 2024, 3:55pm </time> <meta itemprop='dateModified' content='2024-11-13T14:33:57Z'> <span itemprop='position'>5</span> </span> </div> <div class='post' itemprop='text'> <p>Hi <a class="mention" href="/u/jangjy0105">@jangjy0105</a></p> <p>You can follow these instructions: <a href="https://docs.nvidia.com/jetson/archives/r35.6.0/DeveloperGuide/HR/JetsonModuleAdaptationAndBringUp/JetsonAgxXavierSeries.html?highlight=pinmux#pinmux-changes" class="inline-onebox" rel="noopener nofollow ugc">Jetson Module Adaptation and Bring-Up: Jetson AGX Xavier Series — NVIDIA Jetson Linux Developer Guide 1 documentation</a>.</p> <p>Basically, after creating the <code>.dtsi</code> files using the pinmux spreadsheet, you have to do something similar to the following:</p> <pre><code class="lang-auto"># pinmux-dts2cfg.py script usage cd JetPack_5.1.4_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra/kernel/pinmux/t19x/ python pinmux-dts2cfg.py --pinmux addr_info.txt gpio_addr_info.txt por_val.txt --mandatory_pinmux_file mandatory_pinmux.txt $PINMUX_DTSIFILE $GPIO_DTSIFILE 1.0 > $PINMUX_CFGFILE python pinmux-dts2cfg.py --pad pad_info.txt $PADVOLTAGE_DTSIFILE 1.0 > $PADVOLTAGE_CFGFILE </code></pre> <p>The parameters in capital letters are how your <code>.dtsi</code> files are called.</p> <p>Once the files are created, move them to the <code>JetPack_5.1.4_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra/bootloader/t186ref/BCT</code> directory, where the <code>.conf</code> file will search them.</p> <p>Your <code>.config</code> file should be <code>jetson-agx-xavier-devkit.con</code> that is in the <code>Linux_for_tegra</code> directory and it is pointing to the <code>tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg</code> file as you can check:</p> <pre><code class="lang-auto">PINMUX_CONFIG="tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg"; </code></pre> <p>You can edit the above <code>.cfg</code> contents (please make a backup before doing so) or edit the file where <code>PINMUX_CONFIG</code> points to with your custom <code>.cfg</code> file.</p> <p>Hope this helps!</p> <p>Regards!<br> Eduardo Salazar<br> Embedded SW Engineer at RidgeRun</p> <p>Contact us: <a href="mailto:support@ridgerun.com">support@ridgerun.com</a><br> Developers wiki: <a href="https://developer.ridgerun.com/" rel="noopener nofollow ugc">https://developer.ridgerun.com/</a><br> Website: <a href="http://www.ridgerun.com" rel="noopener nofollow ugc">www.ridgerun.com</a></p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="1" /> <span class='post-likes'>1 Like</span> </div> </div> <div id='post_6' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/jangjy0105'><span itemprop='name'>jangjy0105</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-13T08:35:10Z' class='post-time'> November 13, 2024, 8:35am </time> <meta itemprop='dateModified' content='2024-11-13T08:35:10Z'> <span itemprop='position'>6</span> </span> </div> <div class='post' itemprop='text'> <p>Hello, thank you for your help.</p> <p>However, I can’t find the <code>pinmux/t19x</code> directory.</p> <pre><code class="lang-auto">root@ubuntu:/# find / -name pinmux -type d /usr/src/linux-headers-5.10.120-tegra-ubuntu20.04_aarch64/kernel-5.10/include/config/generic/pinmux </code></pre> <p>I found <code>pinmux</code> at this path, but only the <code>functions.h</code> file is present in that location.</p> <pre><code class="lang-auto">root@ubuntu:/# find / -name t19x -type d /usr/src/linux-headers-5.10.120-tegra-ubuntu20.04_aarch64/nvlink/include/nvlink/hw/t19x /usr/src/linux-headers-5.10.120-tegra-ubuntu20.04_aarch64/kernel-5.10/include/config/tegra/t19x </code></pre> <p>I also searched for <code>t19x</code>, but I couldn’t find any Python files related to pinmux in the directories I located.</p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> <div id='post_7' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/EduardoSalazar96'><span itemprop='name'>EduardoSalazar96</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-13T14:32:16Z' class='post-time'> November 13, 2024, 2:32pm </time> <meta itemprop='dateModified' content='2024-11-13T14:32:16Z'> <span itemprop='position'>7</span> </span> </div> <div class='post' itemprop='text'> <p>Hi,</p> <aside class="quote no-group" data-username="jangjy0105" data-post="6" data-topic="312837"> <div class="title"> <div class="quote-controls"></div> <img loading="lazy" alt="" width="24" height="24" class="avatar" src="https://global.discourse-cdn.com/nvidia/original/3X/d/2/d2a387bcc59afb6f6fc9281deb01d412675e26e6.png" data-dominant-color="DADBDA"> jangjy0105:</div> <blockquote> <p>However, I can’t find the <code>pinmux/t19x</code> directory.</p> </blockquote> </aside> <p>I have a couple of questions here:</p> <ol> <li>Where did you execute that command?</li> <li>How did you flash the board? By using SDKmanager?</li> </ol> <p>Normally, when you flash the board, it is better to use the SDKmanager the first time. It will download the flash sources and they will be located, for example, in:</p> <pre><code class="lang-auto">~/nvidia/nvidia_sdk/JetPack_5.1.2_Linux_JETSON_AGX_XAVIER_TARGETS </code></pre> <p>on your host Linux PC.</p> <p>Regards!</p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> <div id='post_8' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/jangjy0105'><span itemprop='name'>jangjy0105</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-14T01:40:38Z' class='post-time'> November 14, 2024, 1:40am </time> <meta itemprop='dateModified' content='2024-11-14T01:40:38Z'> <span itemprop='position'>8</span> </span> </div> <div class='post' itemprop='text'> <p>Hello.</p> <ol> <li>I ran this command in the root directory that contains the boot, bin, etc, and opt directories.</li> <li>Yes, I used SDK Manager when flashing this board.</li> </ol> <p>thank you.</p> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> <div id='post_9' itemprop='comment' itemscope itemtype='http://schema.org/Comment' class='topic-body crawler-post'> <div class='crawler-post-meta'> <span class="creator" itemprop="author" itemscope itemtype="http://schema.org/Person"> <a itemprop="url" href='https://forums.developer.nvidia.com/u/DaneLLL'><span itemprop='name'>DaneLLL</span></a> </span> <span class="crawler-post-infos"> <time itemprop='datePublished' datetime='2024-11-14T01:57:16Z' class='post-time'> November 14, 2024, 1:57am </time> <meta itemprop='dateModified' content='2024-11-14T01:57:16Z'> <span itemprop='position'>9</span> </span> </div> <div class='post' itemprop='text'> <p>Hi,<br> It looks like you don’t have the system files. If you flash the system through SDKManager, you should have <code>Linux_for_Tegra</code> folder. Maybe you can manually download it from the webpage:</p> <blockquote> <p><a href="https://developer.nvidia.com/embedded/jetson-linux-r3541" class="inline-onebox">Jetson Linux 35.4.1 | NVIDIA Developer</a><br> Driver Package (BSP)<br> Sample Root Filesystem</p> </blockquote> <p>Please follow the steps to extract the system files:</p> <blockquote> <p><a href="https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/IN/QuickStart.html#to-flash-the-jetson-developer-kit-operating-software" class="inline-onebox">Quick Start — Jetson Linux Developer Guide documentation</a></p> </blockquote> </div> <div itemprop="interactionStatistic" itemscope itemtype="http://schema.org/InteractionCounter"> <meta itemprop="interactionType" content="http://schema.org/LikeAction"/> <meta itemprop="userInteractionCount" content="0" /> <span class='post-likes'></span> </div> </div> </div> <div id="related-topics" class="more-topics__list " role="complementary" aria-labelledby="related-topics-title"> 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<div class="link-bottom-line"> <a href='/c/agx-autonomous-machines/jetson-embedded-systems/jetson-xavier-nx/258' class='badge-wrapper bullet'> <span class='badge-category-bg' style='background-color: #76B900'></span> <span class='badge-category clear-badge'> <span class='category-name'>Jetson Xavier NX</span> </span> </a> <div class="discourse-tags"> <a href='https://forums.developer.nvidia.com/tag/gpio' class='discourse-tag'>gpio</a> </div> </div> </td> <td class="replies"> <span class='posts' title='posts'>7</span> </td> <td class="views"> <span class='views' title='views'>2999</span> </td> <td> October 18, 2021 </td> </tr> </tbody> </table> </div> </div> </div> <footer class="container wrap"> <nav class='crawler-nav'> <ul> <li itemscope itemtype='http://schema.org/SiteNavigationElement'> <span itemprop='name'> <a href='/' itemprop="url">Home </a> </span> </li> <li itemscope itemtype='http://schema.org/SiteNavigationElement'> <span itemprop='name'> <a href='/categories' 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How to Control GPIO on JetPack 5.1.2 - Jetson AGX Xavier - NVIDIA Developer Forums