Merge pull request #1006 from Gautham103/jetson-thor

add support for jetson thor

Author: makermelissa

src/adafruit_blinka/board/nvidia/jetson_thor.py

@@ -0,0 +1,41 @@
+# SPDX-FileCopyrightText: 2025 Gautham Srinivasan for NVIDIA
+#
+# SPDX-License-Identifier: MIT
+"""Pin definitions for Jetson Thor."""
+
+from adafruit_blinka.microcontroller.tegra.t264 import pin
+
+SDA = pin.SDA
+SCL = pin.SCL
+SDA_1 = pin.SDA_1
+SCL_1 = pin.SCL_1
+
+D4 = pin.L06
+D5 = pin.AD01
+D6 = pin.AD00
+D7 = pin.K03
+D8 = pin.K02
+D9 = pin.K00
+D10 = pin.K01
+D11 = pin.J07
+D12 = pin.DD04
+D13 = pin.AE00
+D16 = pin.M05
+D17 = pin.M04
+D18 = pin.V06
+D19 = pin.W01
+D20 = pin.W00
+D21 = pin.V07
+D22 = pin.F07
+D23 = pin.DD03
+D24 = pin.U07
+D25 = pin.U00
+D26 = pin.AE01
+D27 = pin.M00
+
+CE1 = D7
+CE0 = D8
+MISO = D9
+MOSI = D10
+SCLK = D11
+SCK = D11

src/adafruit_blinka/microcontroller/tegra/t264/__init__.py

@@ -0,0 +1,118 @@
+# SPDX-FileCopyrightText: 2025 Gautham Srinivasan for NVIDIA
+#
+# SPDX-License-Identifier: MIT
+
+"""Tegra T264 pin names"""
+import atexit
+from Jetson import GPIO
+
+GPIO.setmode(GPIO.TEGRA_SOC)
+GPIO.setwarnings(False)  # shh!
+
+
+class Pin:
+    """Pins dont exist in CPython so...lets make our own!"""
+
+    IN = 0
+    OUT = 1
+    LOW = 0
+    HIGH = 1
+    PULL_NONE = 0
+    PULL_UP = 1
+    PULL_DOWN = 2
+
+    id = None
+    _value = LOW
+    _mode = IN
+
+    def __init__(self, bcm_number):
+        self.id = bcm_number
+
+    def __repr__(self):
+        return str(self.id)
+
+    def __eq__(self, other):
+        return self.id == other
+
+    def init(self, mode=IN, pull=None):
+        """Initialize the Pin"""
+        if mode is not None:
+            if mode == self.IN:
+                self._mode = self.IN
+                GPIO.setup(self.id, GPIO.IN)
+            elif mode == self.OUT:
+                self._mode = self.OUT
+                GPIO.setup(self.id, GPIO.OUT)
+            else:
+                raise RuntimeError("Invalid mode for pin: %s" % self.id)
+        if pull is not None:
+            if self._mode != self.IN:
+                raise RuntimeError("Cannot set pull resistor on output")
+            if pull == self.PULL_UP:
+                GPIO.setup(self.id, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+            elif pull == self.PULL_DOWN:
+                GPIO.setup(self.id, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
+            else:
+                raise RuntimeError("Invalid pull for pin: %s" % self.id)
+
+    def value(self, val=None):
+        """Set or return the Pin Value"""
+        if val is not None:
+            if val == self.LOW:
+                self._value = val
+                GPIO.output(self.id, val)
+                return None
+            if val == self.HIGH:
+                self._value = val
+                GPIO.output(self.id, val)
+                return None
+            raise RuntimeError("Invalid value for pin")
+        return GPIO.input(self.id)
+
+    # pylint: disable=no-method-argument
+    @atexit.register
+    def cleanup():
+        """Clean up pins"""
+        print("Exiting... \nCleaning up pins")
+        GPIO.cleanup()
+
+    # pylint: enable=no-method-argument
+
+
+# Cannot be used as GPIO
+SDA = Pin("GP16_I2C8_DAT")  # I2C4
+SCL = Pin("GP81_I2C9_CLK")
+SDA_1 = Pin("GP14_I2C2_DAT")  # I2C2
+SCL_1 = Pin("GP13_I2C2_CLK")
+
+# Jetson Thor
+L06 = Pin("GP130")
+M04 = Pin("GP136_UART9_RTS_N")
+V06 = Pin("GP184_DAP2_CLK")
+M00 = Pin("GP132_PWM9")
+F07 = Pin("GP257_PWM2")
+DD03 = Pin("GP21")
+U07 = Pin("GP177")
+K01 = Pin("GP117_SPI1_MOSI")
+K00 = Pin("GP116_SPI1_MISO")
+U00 = Pin("GP170")
+J07 = Pin("GP115_SPI1_CLK")
+K02 = Pin("GP118_SPI1_CS0_N")
+K03 = Pin("GP119_SPI1_CS1_N")
+AD01 = Pin("GP211_CAN2_DIN")
+AD00 = Pin("GP210_CAN2_DOUT")
+DD04 = Pin("GGP22_SOCKET_ID_STRA")
+AE00 = Pin("GP215_CAN3_DOUT")
+W01 = Pin("GP187_DAP2_FS")
+M05 = Pin("GP137_UART9_CTS_N")
+AE01 = Pin("GP216_CAN3_DIN")
+W00 = Pin("GP186_DAP2_DIN")
+V07 = Pin("GP185_DAP2_DOUT")
+
+i2cPorts = (
+    (7, SCL, SDA),
+    (1, SCL_1, SDA_1),
+)
+
+# ordered as spiId, sckId, mosiId, misoId
+spiPorts = ((K02, J07, K01, K00),)

src/adafruit_blinka/microcontroller/tegra/t264/pin.py

@@ -209,6 +209,9 @@
 elif board_id in (ap_board.JETSON_ORIN_NX, ap_board.JETSON_ORIN_NANO):
     from adafruit_blinka.board.nvidia.jetson_orin_nx import *
 
+elif board_id == ap_board.JETSON_THOR:
+    from adafruit_blinka.board.nvidia.jetson_thor import *
+
 elif board_id == ap_board.CLARA_AGX_XAVIER:
     from adafruit_blinka.board.nvidia.clara_agx_xavier import *
 

src/board.py

@@ -47,6 +47,8 @@
     from adafruit_blinka.microcontroller.tegra.t194.pin import Pin
 elif detector.chip.T234:
     from adafruit_blinka.microcontroller.tegra.t234.pin import Pin
+elif detector.chip.T264:
+    from adafruit_blinka.microcontroller.tegra.t264.pin import Pin
 elif detector.chip.S905:
     from adafruit_blinka.microcontroller.amlogic.s905.pin import Pin
 elif detector.chip.S905X:

src/digitalio.py

@@ -77,6 +77,8 @@ def delay_us(delay):
     from adafruit_blinka.microcontroller.tegra.t194 import *
 elif chip_id == ap_chip.T234:
     from adafruit_blinka.microcontroller.tegra.t234 import *
+elif chip_id == ap_chip.T264:
+    from adafruit_blinka.microcontroller.tegra.t264 import *
 elif chip_id == ap_chip.S905:
     from adafruit_blinka.microcontroller.amlogic.s905 import *
 elif chip_id == ap_chip.S905X:

src/microcontroller/__init__.py

@@ -66,6 +66,8 @@
     from adafruit_blinka.microcontroller.tegra.t194.pin import *
 elif chip_id == ap_chip.T234:
     from adafruit_blinka.microcontroller.tegra.t234.pin import *
+elif chip_id == ap_chip.T264:
+    from adafruit_blinka.microcontroller.tegra.t264.pin import *
 elif chip_id == ap_chip.S905:
     from adafruit_blinka.microcontroller.amlogic.s905.pin import *
 elif chip_id == ap_chip.S905X: