Hardware ASU update

Author: natashadsouza

docs/specs/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md

@@ -35,4 +35,100 @@ In addition, the ASU system integrates Wi-Fi module and LTE module for LAN and W
 
 ### Purchase Channels
 
-The Apollo Sensor Unit is currently only provided to our Partners and certain developers.
+The Apollo Sensor Unit is currently only provided to our Partners and certain developers. Questions regarding the availability and access to ASU should be directed to our Apollo official channel.
+
+### Installation
+
+1. Power Cable
+
+   The main power is from vehicle battery, 9V ~ 36V, 120W. 
+
+   ![conn-DTF13-2P](images/conn-DTF13-2P.jpeg)
+
+   |MFR|MPN|Description|
+   |---------------|--------|-----------|
+   |TE Connectivity|DTF13-2P|DT RECP ASM|
+
+   | PIN # | NAME | I/O  | Description        |
+   | ----- | ---- | ---- | ------------------ |
+   | 1     | 12V  | PWR  | 12V (9V~36V, 120W) |
+   | 2     | GND  | PWR  | GROUND             |
+
+2. FPD-Link III cameras. 
+
+   There are 5 FAKRA connectors for FPD Link III cameras in ASU Front Panel labeled with 1~5, respectively, from right to left. The ASU can support up to 5 cameras by enabling Camera 1 ~ 4 and 5 whose deserializers (TI, DS90UB914ATRHSTQ1) convert FPD Link III signals into parallel data signals.
+
+   |Camera #| I2C Address | Deserializer|
+   | -------- | ----------- | ------------------------- |
+   | 1        | 0x60        | DS90UB914ATRHSTQ1         |
+   | 2        | 0x61        | DS90UB914ATRHSTQ1         |
+   | 3        | 0x62        | DS90UB914ATRHSTQ1         |
+   | 4        | 0x63        | DS90UB914ATRHSTQ1         |
+   | 5       | 0x64        | DS90UB914ATRHSTQ1         |
+
+3. GPS synchronization input channel
+
+   GPS synchronization input channel is using 1565749-1 from TE Connectivity as the connector. The connector information and the pinout are shown in the tables below.
+
+   ![conn_1565749-1](images/conn_1565749-1.png)
+
+   | MFR             | MPN       | Description                               |
+   | :-------------- | --------- | ----------------------------------------- |
+   | TE Connectivity | 1565749-1 | Automotive Connectors 025 CAP ASSY, 4 Pin |
+
+   | PIN # | NAME  | I/O   | Description                                                  |
+   | ----- | ----- | ----- | ------------------------------------------------------------ |
+   | 1     | NC    | NC    | NO CIRCUIT                                                   |
+   | 2     | GPRMC | INPUT | GPS Specific information contains time, date, position, track made good and speed data provided by GPS navigation receiver.  RS-232 Signal level. |
+   | 3     | GND   | PWR   | GROUND (the ground for PPS and GPRMC should be shorted on ground) |
+   | 4     | PPS   | INPUT | Pulse per Second from GPS transceiver, 3.3V CMOS Signal      |
+
+4. GPS synchronization output channels
+
+   The forwards the duplicated GPS PPS/GPRMC from external GPS to the customized 8 Pin connector. This connector provides 3 sets of PPS/GPRMC output for sensors need synchronized, such as Lidars, Stereo Cameras, etc. 
+
+   ![1376350-2](/Users/hanyang07/baidu/personal-code/Apollo_30_hw_documents/Apollo Sensor Unit/images/1376350-2.jpeg)
+
+   |MFR| MPN| Description|
+   | --------------- | --------- | ------------------------------------------------- |
+   | TE Connectivity | 1376350-2 | Automotive Connectors 025 I/O CAP HSG ASSY, 8 Pin |
+
+   | PIN # | NAME   | I/O    | Description                                             |
+   | ----- | ------ | ------ | ------------------------------------------------------- |
+   | 1     | GPRMC0 | OUTPUT | Channel 0, GPRMC OUTPUT, RS-232 Signal                  |
+   | 2     | PPS0   | OUTPUT | Pulse per Second from GPS transceiver, 3.3V CMOS Signal |
+   | 3     | GPRMC1 | OUTPUT | Channel 1, GPRMC OUTPUT, RS-232 Signal                  |
+   | 4     | PPS1   | OUTPUT | Pulse per Second from GPS transceiver, 3.3V CMOS Signal |
+   | 5     | GPRMC2 | OUTPUT | Channel 2, GPRMC OUTPUT, RS-232 Signal                  |
+   | 6     | GND    | PWR    | GROUND                                                  |
+   | 7     | GND    | PWR    | GROUND                                                  |
+   | 8     | PPS2   | OUTPUT | Pulse per Second from GPS transceiver, 3.3V CMOS Signal |
+
+5. CAN interface
+
+   The ASU provides 4 CAN Bus ports, the datapath is :
+
+   ![CAN_datapath](images/CAN_datapath.png)
+
+   | MFR             | MPN       | Description                                        |
+   | --------------- | --------- | -------------------------------------------------- |
+   | TE Connectivity | 1318772-2 | Automotive Connectors 025 I/O CAP HSG ASSY, 12 Pin |
+
+   | PIN # | NAME   | I/O   | Description     |
+   | ----- | ------ | ----- | --------------- |
+   | 1     | CANH-0 | INOUT | Channel 0, CANH |
+   | 2     | CANL-0 | INOUT | Channel 0, CANL |
+   | 3     | GND    | PWR   | Ground          |
+   | 4     | CANH-1 | INOUT | Channel 1, CANH |
+   | 5    | CANL-1 | INOUT | Channel 1, CANL |
+   | 6    | GND    | PWR   | Ground          |
+   | 7    | CANH-1 | INOUT | Channel 2, CANH |
+   | 8    | CANL-1 | INOUT | Channel 2, CANL |
+   | 9    | GND    | PWR   | Ground          |
+   | 10   | CANH-2 | INOUT | Channel 3, CANH |
+   | 11   | CANL-2 | INOUT | Channel 3, CANL |
+   | 12   | GND    | PWR   | Ground          |
+
+   
+
+   ​    

docs/specs/Apollo_Sensor_Unit/images/1376350-2.jpeg

@@ -1,6 +1,6 @@
 #Apollo Cameras
 
-You could integrate 3 types of Camera's with Apollo. Refer to their individual Installation guides for more information. 
+You could integrate 3 types of Camera's with Apollo. Refer to their individual Installation guides for more information. If you currently use the ASU, you could integrate any of the camera's below, if not, only the Leopard Camera would work with Apollo.
 
 1. [Leopard Imaging Inc's Camera - LI-USB30-AZ023WDRB](Leopard_Camera_LI-USB30-AZ023WDR__Installation_Guide.md)
 2. [Truly Camera](Truly_Argus_Camera_Installation_Guide.md)

docs/specs/Apollo_Sensor_Unit/images/CAN_datapath.png

@@ -4,7 +4,10 @@
 - [Apollo 2.0 Software Architecture](Apollo_2.0_Software_Architecture.md)
 - [Class Architecture Planning](Class_Architecture_Planning.md)
 
-## Hardware
+## Apollo Hardware Development Platform
+
+We highly recommend that you read through our [Disclaimer](Disclaimer_Hardware.pdf) before reading through our Hardware platform documents.
+
 - [Apollo Sensor Unit](Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md)
 - [Camera](Camera/README.md)
 - [LiDAR](Lidar/README.md)