Intel® RealSense™ camera driver for GMSL* interface

D457 MIPI on NVIDIA® Jetson AGX Xavier™ and AGX Orin™

The RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras. The system shall include:

• NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.2, 6.1, 6.0, 5.1.2, 5.0.2, 4.6.1)
• RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)
• NVIDIA® Jetson AGX Orin™ Passive adapter board from Leopard Imaging LI-JTX1-SUB-ADPT
• RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)

Note: This MIPI reference driver is based on RealSense de-serialize board. For other de-serialize boards, modification might be needed.

Documentation

• NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ JetPack 6.x setup guide
• NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ JetPack 5.x.2 setup guide
• NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ JetPack 4.6.1 setup guide
• Build Tools manual page Build Manual page
• Driver API manual page Driver API page

NVIDIA® Jetson AGX Xavier™ and AGX Orin™ board setup

Please follow the instruction to flash JetPack to the Jetson AGX Xavier with NVIDIA SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.

NOTE : On Jetsons with modified factory setup modifications to build and deploy steps should be made by developer.

JetPack build

• JetPack 6.x
• JetPack 5.x.2
• JetPack 4.6.1

Verify driver after installation

• Driver API manual page Driver API page

NOTE

• Each JetPack version's kernel may be different, the user needs to change the kernel version in file names and paths accordingly, for example for JetPack 4.6.1 the version is 4.9.253-d457 or 4.9.253-tegra, depending on the build method applied.
• For JetPack 4.6.1, the dtb file is not included in the deb package. User needs to manually copy images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb file to board and edit extlinux.conf to point to it.
• It's recommended to save the original kernel image as backup boot option in /boot/extlinux/extlinux.conf.

Available directives on max9295/max9296 register setting

• Dump registers

cat /sys/bus/i2c/drivers/max9295/30-0040/register_dump
cat /sys/bus/i2c/drivers/max9296/30-0048/register_dump

• Dump setting version

cat /sys/module/max9295/parameters/max9295_setting_verison
cat /sys/module/max9296/parameters/max9296_setting_verison

• Disable updating setting dynamically (updating setting manually by running script). 0 means disable updating setting dynamically, while 1 means enable updating setting dynamically.

echo 0 | sudo tee /sys/module/max9295/parameters/max9295_dynamic_update
echo 0 | sudo tee /sys/module/max9296/parameters/max9296_dynamic_update

• Refresh max9295/max9295 register values, this is used for forcely set serdes setting when necessary

echo 1 | sudo tee /sys/bus/i2c/drivers/max9295/30-0040/refresh_setting
echo 1 | sudo tee /sys/bus/i2c/drivers/max9296/30-0048/refresh_setting