Connect Tech NVIDIA Jetson AGX Xavier GMSL Camera... User manual

NVIDIA Jetson® AGX Xavier™
GMSL Camera Platform
CTIM-00077 Revision 0.04 2021-06-18

NVIDIA Jetson® AGX Xavier™ GMSL Camera Platform
Users Guide
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Document: CTIM-00077
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TABLE OF CONTENTS
Table of Contents .......................................................................................................................................... 2
Preface.......................................................................................................................................................... 3
Disclaimer........................................................................................................................................................3
Customer Support Overview ...........................................................................................................................3
Contact Information ........................................................................................................................................3
Limited Product Warranty...............................................................................................................................4
Copyright Notice..............................................................................................................................................4
Trademark Acknowledgment ..........................................................................................................................4
ESD Warning....................................................................................................................................................5
Revision History ............................................................................................................................................ 5
Introduction .................................................................................................................................................. 6
Product Features and Specifications ...............................................................................................................6
Associated Part Number Ordering Information ..............................................................................................7
Product Overview ......................................................................................................................................... 9
Block Diagram..................................................................................................................................................9
Connector Summary & Locations..................................................................................................................10
[P1] MIPI Camera Expansion Connector Pinout ............................................................................................11
[S1] GMSL Switch Summary & Locations.......................................................................................................13
[J3] External Power Connector......................................................................................................................13
[J1/J2] GMSL and Software Development.....................................................................................................14
Typical Installation and Usage..................................................................................................................... 15
Software setup ..............................................................................................................................................15
JCB002 ...........................................................................................................................................................15
Software Configuration ............................................................................................................................... 15
Power & Thermals....................................................................................................................................... 16
External Power Connector ............................................................................................................................16
Mechanical Drawings & Models .................................................................................................................. 17
Cables ......................................................................................................................................................... 18
Verified Cameras......................................................................................................................................... 18

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Users Guide
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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
Contact Information
Mail/Courier
Connect Tech Inc.
Technical Support
489 Clair Rd. W.
Guelph, Ontario
Canada N1L 0H7
Contact Information
[e-mail]
[e-mail]
www.connecttech.com
Toll Free: 800-426-8979 (North America only)
Telephone: [phone]
Facsimile: 519-836-4878 (on-line 24 hours)
Support
Please go to the Connect Tech Resource Center for product manuals,
installation guides, device drivers, BSPs and technical tips.
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.

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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.
The above warranty is the only warranty authorized by Connect Tech Inc. Under no circumstances will
Connect Tech Inc. be liable in any way for any damages, including any lost profits, lost savings or other
incidental or consequential damages arising out of the use of, or inability to use, such product.
Copyright Notice
The information contained in this document is subject to change without notice. Connect Tech Inc. shall
not be liable for errors contained herein or for incidental consequential damages in connection with the
furnishing, performance, or use of this material. This document contains proprietary information that is
protected by copyright. All rights are reserved. No part of this document may be photocopied,
reproduced, or translated to another language without the prior written consent of Connect Tech, Inc.
Copyright 2021 by Connect Tech, Inc.
Trademark Acknowledgment
Connect Tech, Inc. acknowledges all trademarks, registered trademarks and/or copyrights referred to in
this document as the property of their respective owners. Not listing all possible trademarks or
copyright acknowledgments does not constitute a lack of acknowledgment to the rightful owners of the
trademarks and copyrights mentioned in this document.

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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:
•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

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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

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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

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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

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

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Connector Summary & Locations
Designator
Connector Description
J1, J2
TE – Mate-AX 4pos miniCoax
J3
External power input
P1
MIPI Camera Expansion Connector
S1
GMSL Mode switch

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[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

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Pin
Description
Pin
Description
57
+12V
58
+12V
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.
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

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[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

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[J1/J2] GMSL and 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

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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
1. Ensure all external system power supplies are off.
2. Install Xavier GMSL Camera Platform on the Rogue Carrier’s MIPI CSI Camera Expansion
Connector.
3. Install 3x 8mm M2.5 screws (provided).
4. Make sure S1 is set to the correct GMSL mode for the cameras connected.
5. Connect camera(s) to miniCoax connector(s).
a. Optionally connect an external 12V DC power supply to J3.
b. The external power connector provides unregulated power to the cameras. Do not
exceed 14V on this input.
6. 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/

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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

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Note:
1. 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.
2. 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

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CABLES
CBG341 – 4pos. Mate-AX to 4x FAKRA Z-code 50Ω 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/