Connect Tech NVIDIA Jetson AGX Xavier GMSL User manual

NVIDIA Jetson® AGX Xavier™ GMSL
Camera Platform
Connect Tech Inc. Tel: [phone]
42 Arrow Road Toll: 800-426-8979 (North America only)
Guelph, Ontario Fax: [phone]
N1K 1S6 Email: [e-mail]
www.connecttech.com [e-mail]
CTIM-00077 Revision 0.03 2020-03-02

NVIDIA Jetson® AGX Xavier™ GMSL Camera Platform
Users Guide
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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
Part Numbers / Ordering Information .............................................................................................................6
Product Overview..................................................................................................................................8
Block Diagram ................................................................................................................................................8
Connector Summary & Locations...................................................................................................................8
[P1] MIPI Camera Expansion Connector Pinout ............................................................................................9
[S1] GMSL Switch Summary & Locations...................................................................................................10
[J3] External Power Connector .....................................................................................................................10
[J1/J2] GMSL and Software Development ...................................................................................................10
Typical Installation..............................................................................................................................11
Software setup...............................................................................................................................................11
JCB002..........................................................................................................................................................11
JCB004..........................................................................................................................................................11
Software Configuration........................................................................................................................11
Power & Thermals...............................................................................................................................12
External Power connector .............................................................................................................................12
Mechanical Drawings & Models ..........................................................................................................13
Cables..................................................................................................................................................14
Verified Cameras.................................................................................................................................14

NVIDIA Jetson® AGX Xavier™ GMSL Camera Platform
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.
Our support section is available 24 hours a day, 7 days a week on our website 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
Mail/Courier
Connect Tech Inc.
Technical Support
42 Arrow Road
Guelph, Ontario
Canada N1K 1S6
Email/Internet
[e-mail]
[e-mail]
www.connecttech.com
Note:
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.
Telephone/Facsimile
Technical Support representatives are ready to answer your call Monday through Friday, from 8:30 a.m. to
5:00 p.m. Eastern Standard Time. Our numbers for calls are:
Toll Free: 800-426-8979 (North America only)
Telephone: [phone] (Live assistance available 8:30 a.m. to 5:00 p.m. EST,
Monday to Friday)
Facsimile: 519-836-4878 (on-line 24 hours)

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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
©
2020 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.

NVIDIA Jetson® AGX Xavier™ GMSL Camera Platform
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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

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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
Camer 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
Part Numbers / Ordering Information
Part Number
Description
JCB002
Xavier GMSL Camera Platform
JCB004
Xavier GMSL Camera Platform –Taller Height Variant for Xavier Dev Kit Support
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.
Connector Summary & Locations
Designator
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
The 12V pins are only available on
Rogue Rev C and higher, and not
available on the NVIDIA
development kit. To use the
JCB002/JCB004 with these carriers,
you must provide power to the
external camera power connector.
Pin #
Description
Pin #
1
CSI0_D0_P
CSI1_D0_P
2
3
CSI0_D0_N
CSI1_D0_N
4
5
GND
GND
6
7
CSI0_CLK_P
CSI1_CLK_P
8
9
CSI0_CLK_N
CSI1_CLK_N
10
11
GND
GND
12
13
CSI0_D1_P
CSI1_D1_P
14
15
CSI0_D1_N
CSI1_D1_N
16
17
GND
GND
18
19
CSI2_D0_P
CSI3_D0_P
20
21
CSI2_D0_N
CSI3_D0_N
22
23
GND
GND
24
25
CSI2_CLK_P
CSI3_CLK_P
26
27
CSI2_CLK_N
CSI3_CLK_N
28
29
GND
GND
30
31
CSI2_D1_P
CSI3_D1_P
32
33
CSI2_D1_N
CSI3_D1_N
34
35
GND
GND
36
37
CSI4_D0_P
CSI6_D0_P
38
39
CSI4_D0_N
CSI6_D0_N
40
41
GND
GND
42
43
CSI4_CLK_P
CSI6_CLK_P
44
45
CSI4_CLK_N
CSI6_CLK_N
46
47
GND
GND
48
49
CSI4_D1_P
CSI6_D1_P
50
51
CSI4_D1_N
CSI6_D1_N
52
53
GND
GND
54
55
+12V
+12V
56
57
+12V
+12V
58
59
CSI5_D0_P
CSI7_D0_P
60
61
CSI5_D0_N
CSI7_D0_N
62
63
GND
GND
64
65
CSI5_CLK_P
CSI7_CLK_P
66
67
CSI5_CLK_N
CSI7_CLK_N
68
69
GND
GND
70
71
CSI5_D1_P
CSI7_D1_P
72
73
CSI5_D1_N
CSI7_D1_N
74
75
I2C3_SCL
NC
76
77
I2C3_SDA
NC (PWM1)
78
79
GND
GND
80
81
+2.8V
+2.8V
82
83
+2.8V
NC
84
85
NC
NC (PWM2)
86
87
I2C2_SCL
CAM_MCLK3
88
89
I2C2_SDA
CAM1_PWDN
90
91
CAM_MCLK2
CAM1_RST#
92
93
CAM0_PWDN
CAM_MCLK4
94
95
CAM0_RST#
NC
96
97
NC
NC
98
99
GND
GND
100
101
NC
1.8V
102
103
NC
NC
104
105
I2C4_SCL
NC
106
107
I2C4_SDA
3.3V
108
109
NC
3.3V
110
111
NC
NC
112
113
NC
NC
114
115
GND
GND
116
117
NC
3.3V
118
119
CAM_AVDD_EN
3.3V
120

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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
Part number: Molex 87427-0202
Pin
Function
1 (Bottom)
GND
2 (Top)
+12V IN
[J1/J2] GMSL and Software Development
FAKRA
PIN
Deseri-
alizer
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
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
http://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.
JCB004
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. If using Nvidia Development Kit, you must externally power the JCB004.
6. Switch ON the Power Supply. DO NOT power up your system by plugging in live power.
Software Configuration
BSP Requirements
JCB004 + DevKit
JCB002 + Rogue
LI-IMX390 –GMSL2
Jetpack 4.3 ONLY
Jetpack 4.3+
NileCAM30 –GMSL1
Jetpack 4.3 ONLY
Jetpack 4.3+
Jetpack 4.3 only 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
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.

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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/