realsenseai · ymodlin · Feb 19, 2026 · Dec 29, 2025 · Dec 30, 2025 · Dec 30, 2025
diff --git a/README_JP5.md b/README_JP5.md
@@ -95,6 +95,19 @@ The developers can set up the source code with NVIDIA's Jetson git repositories
 
 ./build_all.sh 5.1.2
 ```
+For Fangzhu FG12-16CH support (Currently only supported on 5.0.2):
+```
+./setup_workspace.sh 5.0.2
+
+- Single camera connected to cam0:
+./apply_patches.sh --fg12-16ch 5.0.2
+
+- Dual camera connected to cam0 and cam4:
+./apply_patches.sh --fg12-16ch-dual 5.0.2
+
+./build_all.sh 5.1.2
+```
+
 Note: dev_dbg() log support will not be enabled by default. If needed, run the `./build_all.sh` script with `--dev-dbg` option like below.
 ```
 ./build_all.sh --dev-dbg 5.1.2
@@ -111,6 +124,7 @@ The necessary files are:
 - kernel image `images/5.1.2/arch/arm64/boot/Image`
 - dtb `images/5.1.2/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb`
 - D457 driver `images/5.1.2/drivers/media/i2c/d4xx.ko`
+- MAX96712 driver `images/5.1.2/drivers/media/i2c/max96712.ko`
 - UVC Video driver `images/5.1.2/drivers/media/usb/uvc/uvcvideo.ko`
 - V4L2 Core Video driver `images/5.1.2/drivers/media/v4l2-core/videobuf-core.ko`
 - V4L2 VMalloc Video driver `images/5.1.2/drivers/media/v4l2-core/videobuf-vmalloc.ko`
@@ -120,6 +134,7 @@ Copy build results from Host to Jetson target `10.0.0.116` user `nvidia`
 scp ./images/5.1.2/arch/arm64/boot/Image nvidia@10.0.0.116:~/
 scp ./images/5.1.2/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb nvidia@10.0.0.116:~/
 scp ./images/5.1.2/drivers/media/i2c/d4xx.ko nvidia@10.0.0.116:~/
+scp ./images/5.1.2/drivers/media/i2c/max96712.ko nvidia@10.0.0.116:~/
 scp ./images/5.1.2/drivers/media/usb/uvc/uvcvideo.ko nvidia@10.0.0.116:~/
 scp ./images/5.1.2/drivers/media/v4l2-core/videobuf-core.ko nvidia@10.0.0.116:~/
 scp ./images/5.1.2/drivers/media/v4l2-core/videobuf-vmalloc.ko nvidia@10.0.0.116:~/
@@ -132,6 +147,7 @@ sudo mkdir /lib/modules/$(uname -r)/updates
 sudo cp Image /boot/d457/
 sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/d457/
 sudo cp d4xx.ko /lib/modules/$(uname -r)/updates/
+sudo cp max96712.ko /lib/modules/$(uname -r)/updates/
 sudo cp uvcvideo.ko /lib/modules/$(uname -r)/updates/
 sudo cp videobuf-core.ko /lib/modules/$(uname -r)/updates/
 sudo cp videobuf-vmalloc.ko /lib/modules/$(uname -r)/updates/

diff --git a/README_JP6.2.md b/README_JP6.2.md
@@ -104,6 +104,8 @@ Assuming 6.2 (or 6.1) build the kernel version is 5.15.148-tegra. For 6.0 the ke
 - dtb: `images/6.2/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb`
 - dtb overlay: `images/6.2/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
 - dtb dual camera overlay: `images/6.2/rootfs/boot/tegra234-camera-d4xx-overlay-dual.dtbo`
+- dtb fg12-16ch camera overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay-fg12-16ch.dtbo`
+- dtb fg12-16ch dual camera overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay-fg12-16ch-dual.dtbo`
 - kernel modules: `images/6.2/rootfs/lib/modules/5.15.148-tegra`
 
 ## Backup JetPack 6.2 boot configuration and drivers (optional)
@@ -176,6 +178,9 @@ LABEL dev
 ```
 sudo reboot
 ```
+
+For fg12-16ch/dual/quad, use `tegra234-camera-d4xx-overlay-fg12-16ch</dual/quad>.dtbo` 
+
 On Jetson target (user home folder) assuming backup step was followed:
 
 ### Verify driver loaded - on Jetson:

diff --git a/apply_patches.sh b/apply_patches.sh
@@ -18,6 +18,15 @@ if [[ "$1" == "--one-cam" ]]; then
 elif [[ "$1" == "--dual-cam" ]]; then
     JP5_D4XX_DTSI="tegra194-camera-d4xx-dual.dtsi"
     shift
+elif [[ "$1" == "--max96712-EV" ]]; then
+    JP5_D4XX_DTSI="tegra194-camera-d4xx-max96712-EV.dtsi"
+    shift
+elif [[ "$1" == "--fg12-16ch" ]]; then
+    JP5_D4XX_DTSI="tegra194-camera-d4xx-fg12-16ch.dtsi"
+    shift
+elif [[ "$1" == "--fg12-16ch-dual" ]]; then
+    JP5_D4XX_DTSI="tegra194-camera-d4xx-fg12-16ch-dual.dtsi"
+    shift
 fi
 
 . scripts/setup-common "$1"
@@ -109,8 +118,13 @@ if [[ "$ACTION" = "apply" ]]; then
     if [[ "$JETPACK_VERSION" == "6.x" ]]; then
         # jp6 overlay
         cp hardware/realsense/tegra234-camera-d4xx-overlay*.dts "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public/overlay/"
+        # max96712 header
+        cp nvidia-oot/max96712.h "sources_$SOURCES_VERSION/nvidia-oot/include/media/"
     else
+        # device tree
         cp "hardware/realsense/${JP5_D4XX_DTSI}" "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi"
+        # max96712 header
+        cp kernel/nvidia/max96712.h "sources_$SOURCES_VERSION/kernel/nvidia/include/media/"
     fi
 
     # Stage all modified files after patching

diff --git a/hardware/nvidia/t23x/nv-public/6.x/0001-overlay-enable-d4xx-camera-for-Orin-jp6.patch b/hardware/nvidia/t23x/nv-public/6.x/0001-overlay-enable-d4xx-camera-for-Orin-jp6.patch
@@ -1,26 +1,31 @@
-From 00f96bc253e0e35235b221af28bddf25d185d84d Mon Sep 17 00:00:00 2001
-From: Dmitry Perchanov <dmitry.perchanov@intel.com>
-Date: Mon, 20 May 2024 18:16:07 +0300
+From d28ebc27d32166b754b7483f76252f8ca14b2fb0 Mon Sep 17 00:00:00 2001
+From: ejgoldik <ehud.joseph.goldik@realsenseai.com>
+Date: Wed, 21 Jan 2026 15:55:54 +0200
 Subject: [PATCH] overlay: enable d4xx camera for Orin jp6
 
-Signed-off-by: Dmitry Perchanov <dmitry.perchanov@intel.com>
+Signed-off-by: ejgoldik <ehud.joseph.goldik@realsenseai.com>
 ---
- overlay/Makefile | 2 ++
- 1 file changed, 2 insertion(+)
+ overlay/Makefile | 7 +++++++
+ 1 file changed, 7 insertions(+)
 
 diff --git a/overlay/Makefile b/overlay/Makefile
-index c88bbe2..3f6354e 100644
+index c88bbe2..28e505a 100644
 --- a/overlay/Makefile
 +++ b/overlay/Makefile
-@@ -60,6 +60,8 @@ dtbo-y += tegra234-p3767-camera-p3768-imx219-A.dtbo
+@@ -60,6 +60,13 @@ dtbo-y += tegra234-p3767-camera-p3768-imx219-A.dtbo
  dtbo-y += tegra234-p3767-camera-p3768-imx219-imx477.dtbo
  dtbo-y += tegra234-p3767-camera-p3768-imx477-C.dtbo
  dtbo-y += tegra234-p3767-camera-p3768-imx477-A.dtbo
 +dtbo-y += tegra234-camera-d4xx-overlay.dtbo
 +dtbo-y += tegra234-camera-d4xx-overlay-dual.dtbo
++dtbo-y += tegra234-camera-d4xx-overlay-max96712-EV.dtbo
++dtbo-y += tegra234-camera-d4xx-overlay-fg12-16ch.dtbo
++dtbo-y += tegra234-camera-d4xx-overlay-fg12-16ch-dual.dtbo
++dtbo-y += tegra234-camera-d4xx-overlay-fg12-16ch-quad.dtbo
++
 
  ifneq ($(dtb-y),)
  dtb-y := $(addprefix $(makefile-path)/,$(dtb-y))
 -- 
-2.34.1
+2.43.0