CONNECT TECH CTIM-00077 NVIDIA Jetson AGX Xavier GMSL Camera Platform User Guide

: June 5, 2024
: Connect Tech

CONNECT TECH CTIM-00077 NVIDIA Jetson AGX Xavier GMSL Camera Platform User Guide

INTRODUCTION

Connect Tech’s GMSL camera platform is an expansion board that allows up to 8 cameras to be connected to the Jetson® AGX Xavier module. It was designed for the Connect Tech Rogue carrier but is also compatible with the Nvidia Xavier development kit. Since many different types of GMSL cameras are available, the JCB002 has user selectable options to interface with either GMSL1 or GMSL2 protocols at different operating frequencies. Power to the cameras is provided by PoC (Power over Coax) so all the data, control signals, and power are sent through a single 50 Ohm Coaxial cable. This allows for flexibility in cable routing and ease of installation in automotive applications.

The main power for the board comes from the Camera Expansion Header. The 12V power for the cameras is also available from the same header on the Rogue carrier. Nvidia’s development kit does not provide voltage here, so a hot pluggable external 12V connector is available on the JCB002. The circuit will always take the external voltage if both are connected.

Product Features and Specifications

Specifications

Size| 75mm x 57mm
Weight| 50g
NVIDIA Xavier Connection (Uplink)| 1x High Density Connector
Camera Board will mate to the NVIDIA Jetson “Camera Expansion Header”
(GMSL) Camera Inputs| 8x Total (GMSL2/GMSL1)
Deserializer| Maxim MAX9296A
MIPI Output| A single 4-lane MIPI CSI-2 v1.3 output from each Deserializer (16-lanes total)
Camera Input Connectors| 2x MATE-AX Quad Coax Connectors Breakout cables to FAKRA available
PoC (Power-Over-COAX)| All 8 cameras will be sourced 12V Power-Over-COAX from JCB002
Power| Can be directly powered from Camera Expansion Header or External +12V Input
Operating Temperature| -40°C to +85°C
Warranty and Support| 1 Year Warranty and Free Technical Support

Associated Part Number Ordering Information

Part Number

|

Description

---|---
JCB002| Xavier GMSL Camera Platform
CBG341| Mate-AX to 4x FAKRA cable
AGX101-50| Xavier Rogue + JCB002 + 1x CBG341 + 4x NileCAM30
AGX101-51| Xavier Rogue + JCB002 + 2x CBG341 + 8x NileCAM30

The following SKUs all include JCB002 boards. CBG341 and cameras are not included.

Sku| AGX Xavier™ Module Included| Heat Sink Options| WiFi Bluetooth Options| SSD Options
---|---|---|---|---
AGX101-61| Yes| None| None| None
AGX101-62| Yes| None| None| 1x 1TB SSD Installed
AGX101-63| Yes| None| None| 2x 1TB SSDs Installed
AGX101-64| Yes| None| WiFi/BT Module Installed| None
AGX101-65| Yes| None| WiFi/BT Module Installed| 1x 1TB SSD Installed
AGX101-66| Yes| None| WiFi/BT Module Installed| 2x 1TB SSDs Installed
AGX101-67| Yes| CTI Active Thermal Installed| None| None
AGX101-68| Yes| CTI Active Thermal Installed| None| 1x 1TB SSD Installed
AGX101-69| Yes| CTI Active Thermal Installed| None| 2x 1TB SSDs Installed
AGX101-70| Yes| CTI Active Thermal Installed| WiFi/BT Module Installed| None
AGX101-71| Yes| CTI Active Thermal Installed| WiFi/BT Module Installed| 1x 1TB SSD Installed
AGX101-72| Yes| CTI Active Thermal Installed| WiFi/BT Module Installed| 2x 1TB SSDs Installed
AGX101-73| Yes| CTI Passive Thermal Installed| None| None
AGX101-74| Yes| CTI Passive Thermal Installed| None| 1x 1TB SSD Installed
AGX101-75| Yes| CTI Passive Thermal Installed| None| 2x 1TB SSDs Installed
AGX101-76| Yes| CTI Passive Thermal Installed| WiFi/BT Module Installed| None
AGX101-77| Yes| CTI Passive Thermal Installed| WiFi/BT Module Installed| 1x 1TB SSD Installed
AGX101-78| Yes| CTI Passive Thermal Installed| WiFi/BT Module Installed| 2x 1TB SSDs Installed

PRODUCT OVERVIEW

Notes

I2C bus numbers refer to hardware locations (matching connector P1 pinout). These bus numbers do not necessarily correspond to what is listed in software.
The Power over Coax source is shared, but each GMSL line has its own filter which can handle up to 1.1A.

Connector Summary & Locations

Connector Locations

Designator

| Connector Description
---|---
J1, J2|

TE – Mate-AX 4pos miniCoax

J3

| External power input
P1|

MIPI Camera Expansion Connector

S1

|

GMSL Mode switch

[P1] MIPI Camera Expansion Connector Pinout

Function| 8 MIPI CSI-2 Camera Interface|
---|---|---
Location| P1| The 12V pins are only available on Rogue-X and Rogue Revision C or higher, and not available on the NVIDIA development kit. To use the JCB002 with these carriers, you must provide power to the external camera power connector.

Pin| Description| Pin| Description
1| CSI0_D0_P| 2| CSI1_D0_P
3| CSI0_D0_N| 4| CSI1_D0_N
5| GND| 6| GND
7| CSI0_CLK_P| 8| CSI1_CLK_P
9| CSI0_CLK_N| 10| CSI1_CLK_N
11| GND| 12| GND
13| CSI0_D1_P| 14| CSI1_D1_P
15| CSI0_D1_N| 16| CSI1_D1_N
17| GND| 18| GND
19| CSI2_D0_P| 20| CSI3_D0_P
21| CSI2_D0_N| 22| CSI3_D0_N
23| GND| 24| GND
25| CSI2_CLK_P| 26| CSI3_CLK_P
27| CSI2_CLK_N| 28| CSI3_CLK_N
29| GND| 30| GND
31| CSI2_D1_P| 32| CSI3_D1_P
33| CSI2_D1_N| 33| CSI3_D1_N
35| GND| 36| GND
37| CSI4_D0_P| 38| CSI6_D0_P
39| CSI4_D0_N| 40| CSI6_D0_N
41| GND| 42| GND
43| CSI4_CLK_P| 44| CSI6_CLK_P
45| CSI4_CLK_N| 46| CSI6_CLK_N
47| GND| 48| GND
49| CSI4_D1_P| 50| CSI6_D1_P
51| CSI4_D1_N| 52| CSI6_D1_N
53| GND| 54| GND
55| +12V| 56| +12V
57| +12V| 58| +12V|
---|---|---|---|---
59| CSI5_D0_P| 60| CSI7_D0_P
61| CSI5_D0_N| 62| CSI7_D0_N
63| GND| 64| GND
65| CSI5_CLK_P| 66| CSI7_CLK_P
67| CSI5_CLK_N| 68| CSI7_CLK_N
69| GND| 70| GND
71| CSI5_D1_P| 72| CSI7_D1_P
73| CSI5_D1_N| 74| CSI7_D1_N
5| I2C3_SCL| 76| NC
77| I2C3_SDA| 78| NC (PWM1)
79| GND| 80| GND
81| +2.8V| 82| +2.8V
83| +2.8V| 84| NC
85| NC| 86| PWM2
87| I2C2_SCL| 88| CAM_MCLK3
89| I2C2_SDA| 90| CAM1_PWDN
91| CAM_MCLK2| 92| CAM1_RST#
93| CAM0_PWDN| 94| CAM_MCLK4
95| CAM0_RST#| 96| NC
97| NC| 98| NC
99| GND| 100| GND
101| NC| 102| 1.8V
103| NC| 104| NC
105| I2C4_SCL| 106| NC
107| I2C4_SDA| 108| 3.3V
109| NC| 110| 3.3V
111| NC| 112| NC
113| NC| 114| NC
115| GND| 116| GND
117| NC| 118| 3.3V
119| CAM_AVDD_EN| 120| 3.3V

[S1] GMSL Switch Summary & Locations

This must be set correctly at power up! This signal is sampled once at boot up and cannot be changed on-the-fly. The GMSL mode cannot be changed in software. The setting applies to all 8 channels, so you cannot mix GMSL1 and GMSL2 cameras on the same board.

A	B	Mode
0	0	GMSL1 High Immunity mode on
0	1	GMSL2 6Gbps
1	0	GMSL2 3Gbps
1	1	GMSL1 High Immunity mode off

[J3] External Power Connector

Pin

| Connector Description
---|---
1 (Bottom)|

GND

2 (Top)

|

+12V IN

[J1/J2] GMSL and Software Development

Software Development

| FAKRA PIN| Deserializer| Deserializer Channel| Jetson MIPI Source| Jetson I2C MUX Source| Jetson I2C GPIO Source| Deserializer MFP8 (RST)| Deserializer MFP9 (BOOT)
---|---|---|---|---|---|---|---|---
J2| 1| U1A| B| CSI 6/7| I2C4-0| I2C3| TCA9539-0| TCA9539-1
J2| 2| U1A| A| CSI 6/7| I2C4-0| I2C3| TCA9539-0| TCA9539-1
J2| 3| U1B| B| CSI 4/5| I2C4-1| I2C3| TCA9539-2| TCA9539-3
J2| 4| U1B| A| CSI 4/5| I2C4-1| I2C3| TCA9539-2| TCA9539-3
J1| 1| U1C| B| CSI 2/3| I2C4-2| I2C3| TCA9539-4| TCA9539-5
J1| 2| U1C| A| CSI 2/3| I2C4-2| I2C3| TCA9539-4| TCA9539-5
J1| 3| U1D| B| CSI 0/1| I2C4-3| I2C3| TCA9539-6| TCA9539-7
J1| 4| U1D| A| CSI 0/1| I2C4-3| I2C3| TCA9539-6| TCA9539-7

TYPICAL INSTALLATION AND USAGE

Software setup

Prior to hardware installation, make sure you have the correct software installed on the Xavier Module. CTI supports ECON NileCam30 and Leopard IMX390 with our BSP. Installation instructions can be found at https://connecttech.com/resource-center/kdb373/. All other GMSL and GMSL2 (MIPI) cameras should work with proper software and firmware configuration as long as the power requirements match what JCB002 provides. Power to the cameras can be disabled by setting CAM0_PWDN (UART4_CTS) low. There is a 100k external pull up resistor on this pin, so it is not necessary to configure the pin for always on operation. If using the NVIDIA Development Kit carrier, GPIO 36 MUST be set as an output and driven high. This enables the 2.8V power rail which powers the logic levels on the deserializers

JCB002

Ensure all external system power supplies are off.
Install Xavier GMSL Camera Platform on the Rogue Carrier’s MIPI CSI Camera Expansion Connector.
Install 3x 8mm M2.5 screws (provided).
Make sure S1 is set to the correct GMSL mode for the cameras connected.
Connect camera(s) to miniCoax connector(s).
Optionally connect an external 12V DC power supply to J3.
The external power connector provides unregulated power to the cameras. Do not exceed 14V on this input.
Switch ON the Power Supply. DO NOT power up your system by plugging in live power.

Note: 10mm M3 extension standoffs are recommended to be added to the 18mm standoffs provided with the Rogue carrier for clearance.

SOFTWARE CONFIGURATION

BSP Requirements	JCB002 + Rogue
LI-IMX390 – GMSL2	Jetpack 4.3+
NileCAM30 – GMSL1	Jetpack 4.3+

JetPack files can be found here:
http://www.connecttech.com/resource-center/l4t-board-support-packages/

POWER & THERMALS

External Power Connector

Although +12V is available on the Rogue Carrier (Rev. C and higher), the JCB002 allows for external power to be provided to the cameras. The voltage is unregulated and could potentially damage cameras if they cannot handle the input voltage.

Test setup:

Rogue AGX minimal setup carrier powered at +13V/XXXA
Up to 8 ECON NileCAM30 connected.

Parameter

| Min| Typ.| Max|

Units

---|---|---|---|---
Power Over Coax
External Supply Voltage (unregulated)| 10.45| 12| 14.6| V
External Supply Current (per channel)| –| –| 1.1| A
No Cameras Connected
Internal current consumption (From Rogue)| –| 0.395| 1.6| A
1 Camera Connected
Internal current consumption only| 0.26| 0.46| –| A
Internal current consumption| 0.118| 0.32| –| A
External current consumption| 0.154| 0.154| 0.3
Temperature Rise (Above Ambient)| –| –| 19| °C
2 Cameras, Same Deserializer
Internal current consumption only| 0.4| 0.753| –| A
Internal current consumption| 0.115| 0.458| –|

A

External current consumption| 0.303| 0.303| 0.6
Temperature Rise (Above Ambient)| | | 20| °C
2 Cameras, Different Deserializers
Internal current consumption only| 0.408| 0.765| –| A
Internal current consumption| 0.125| 0.471| –|

A

External current consumption| 0.303| 0.303| 0.6
Temperature Rise (Above Ambient)| –| –| 20.5| °C
8 Cameras
Internal current consumption only| 1.285| 1.755| –| A
Internal current consumption| 0.155| 0.615| –|

A

External current consumption| 1.172| 1.172| 2.3
Temperature Rise (Above Ambient)| –| –| 24| °C

Note:

Since the Rogue carrier can be populated in many different configurations, the current consumption is listed excluding power needed to run the Rogue (and Xavier Module) itself, i.e. the value in the No Cameras Connected section.
Minimum current is defined as when the cameras are not streaming, maximum is the peak surge current and typical is current consumption during streaming.

MECHANICAL DRAWINGS & MODELS

DRAWINGS & MODELS

CABLES

CBG341 – 4pos. Mate-AX to 4x FAKRA Z-code 50Ω Cable
CABLE

VERIFIED CAMERAS

Any GMSL camera should work with some software development, however, these are the ones that Connect Tech has tested and verified.

GMSL1 – NileCAM30
https://www.e-consystems.com/gmsl-camera-ar0330-lowlight-cameramodule.asp

GMSL2 – IMX390
https://leopardimaging.com/product/autonomous-camera/maxim-gmsl2-cameras/li- imx390-gmsl2/

www.connecttech.com

PREFACE

Disclaimer

The information contained within this user’s guide, including but not limited to any product specification, is subject to change without notice.

Connect Tech assumes no liability for any damages incurred directly or indirectly from any technical or typographical errors or omissions contained herein or for discrepancies between the product and the user’s guide.

Customer Support Overview

If you experience difficulties after reading the manual and/or using the product, contact the Connect Tech reseller from which you purchased the product. In most cases the reseller can help you with product installation and difficulties.

In the event that the reseller is unable to resolve your problem, our highly qualified support staff can assist you at: http://connecttech.com/support /resource-center/. See the contact information section below for more information on how to contact us directly. Our technical support is always free.

Contact Information

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Submit your technical support questions to our support engineers. Technical Support representatives are available Monday through Friday, from 8:30 a.m. to 5:00 p.m. Eastern Standard Time.

Limited Product Warranty

Connect Tech Inc. provides a one year warranty for this product. Should this product, in Connect Tech Inc.’s opinion, fail to be in good working order during the warranty period, Connect Tech Inc. will, at its option, repair or replace this product at no charge, provided that the product has not been subjected to abuse, misuse, accident, disaster or non-Connect Tech Inc. authorized modification or repair.

You may obtain warranty service by delivering this product to an authorized Connect Tech Inc. business partner or to Connect Tech Inc. along with proof of purchase. Product returned to Connect Tech Inc. must be pre-authorized by Connect Tech Inc. with an RMA (Return Material Authorization) number marked on the outside of the package and sent prepaid, insured and packaged for safe shipment. Connect Tech Inc. will return this product by prepaid ground shipment service.

The Connect Tech Inc. Limited Warranty is only valid over the serviceable life of the product. This is defined as the period during which all components are available. Should the product prove to be irreparable, Connect Tech Inc. reserves the right to substitute an equivalent product if available or to retract the Warranty if no replacement is available.

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ESD Warning

Electronic components and circuits are sensitive to ElectroStatic Discharge (ESD). When handling any circuit board assemblies including Connect Tech COM Express carrier assemblies, it is recommended that ESD safety precautions be observed. ESD safe best practices include, but are not limited to:
ESD Warning

Leaving circuit boards in their antistatic packaging until they are ready to be installed.
Using a grounded wrist strap when handling circuit boards, at a minimum you should touch a grounded metal object to dissipate any static charge that may be present on you.
Only handling circuit boards in ESD safe areas, which may include ESD floor and table mats, wrist strap stations and ESD safe lab coats.
Avoiding handling circuit boards in carpeted areas.
Try to handle the board by the edges, avoiding contact with components.

REVISION HISTORY

Revision

| Date|

Changes

---|---|---
0.00| 2019-07-11| Preliminary Release
0.01| 2019-10-17| Added connector pinout
0.02| 2019-12-11| Added verified cameras and updated cable description
0.03| 2020-03-02| Added Rogue assembly part numbers Added power/thermals information Updated pinout section
Updated I2C table for software development Added Power information
0.04| 2021-06-18| Updated manual template, updated ordering information
| |