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Merged
ejgoldik merged 10 commits into from
Jan 8, 2026
Merged

Fangzhu support dev #334

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42367f4
Removed dead ds5_regmap code
ejgoldik Jan 2, 2026
d009e97
d4xx.c dual desr support refactor
ejgoldik Jan 4, 2026
b7dcbee
Orin fg12-16ch support
ejgoldik Jan 6, 2026
c02539f
Add fg12-16ch to jp6 README
ejgoldik Jan 6, 2026
a23ba35
cp max96712.h manually
ejgoldik Jan 7, 2026
555a4b5
Fix orin 12v regulator
ejgoldik Jan 7, 2026
6bba402
Orin fg12-16ch dual camera support
ejgoldik Jan 7, 2026
dc3e331
Updated Readme + remove unneeded d4xx_max96712.c file
ejgoldik Jan 8, 2026
91f33ea
Removed unnecessary apply_patches.sh change
ejgoldik Jan 8, 2026
d2ba92f
Remove explicit max9296 references
ejgoldik Jan 8, 2026
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3 changes: 3 additions & 0 deletions README_JP5.md
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +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`
Expand All @@ -133,6 +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:~/
Expand All @@ -145,6 +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/
Expand Down
14 changes: 9 additions & 5 deletions README_JP6.md
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Expand Up @@ -102,6 +102,8 @@ 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)
Expand All @@ -119,11 +121,13 @@ Following steps required:
1. Copy entire directory `images/6.2/rootfs/lib/modules/5.15.148-tegra` from host to `/lib/modules/` on Orin target
2. Copy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin target
3. For dual camera, copy `tegra234-camera-d4xx-overlay-dual.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay-dual.dtbo` on Orin target
4. Copy `tegra234-p3737-0000+p3701-0000-nv.dtb` from host to `/boot/` on Orin
5. Copy `Image` from host to `/boot/` on Orin
6. Enable and run depmod scan for "extra" & "kernel" modules
7. Update initrd
8. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py`, to exit choose save & reboot:
4. For fg12-16ch, copy `tegra234-camera-d4xx-overlay-fg12-16ch.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay-fg12-16ch.dtbo` on Orin target
5. For fg12-16ch dual camera, copy `tegra234-camera-d4xx-overlay-fg12-16ch-dual.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay-fg12-16ch-dual.dtbo` on Orin target
6. Copy `tegra234-p3737-0000+p3701-0000-nv.dtb` from host to `/boot/` on Orin
7. Copy `Image` from host to `/boot/` on Orin
8. Enable and run depmod scan for "extra" & "kernel" modules
9. Update initrd
10. Run $ `sudo /opt/nvidia/jetson-io/jetson-io.py`, to exit choose save & reboot:
1. Configure Jetson AGX CSI Connector
2. Configure for compatible hardware
3. Choose appropriate configuration:
Expand Down
11 changes: 6 additions & 5 deletions apply_patches.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@ fi
# single - jp5 [default] single cam GMSL board
# dual - dual cam GMSL board SC20220126
JP5_D4XX_DTSI="tegra194-camera-d4xx-single.dtsi"
D4XX_SRC="d4xx.c"
if [[ "$1" == "--one-cam" ]]; then
JP5_D4XX_DTSI="tegra194-camera-d4xx-single.dtsi"
shift
Expand All @@ -21,11 +20,9 @@ elif [[ "$1" == "--dual-cam" ]]; then
shift
elif [[ "$1" == "--fg12-16ch" ]]; then
JP5_D4XX_DTSI="tegra194-camera-d4xx-fg12-16ch.dtsi"
D4XX_SRC="d4xx_max96712.c"
shift
elif [[ "$1" == "--fg12-16ch-dual" ]]; then
JP5_D4XX_DTSI="tegra194-camera-d4xx-fg12-16ch-dual.dtsi"
D4XX_SRC="d4xx_max96712.c"
shift
fi

Expand Down Expand Up @@ -70,7 +67,6 @@ apply_external_patches() {
fi
echo -n "$(ls -d "sources_$JETPACK_VERSION/$3"): "
git -C "sources_$JETPACK_VERSION/$3" reset --hard $4
git -C "sources_$JETPACK_VERSION/$3" clean -dfx
fi
}

Expand All @@ -85,11 +81,16 @@ else
fi

if [[ "$ACTION" = "apply" ]]; then
cp -i kernel/realsense/${D4XX_SRC} "sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/d4xx.c"
cp -i kernel/realsense/d4xx.c "sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/"
if [[ "$JETPACK_VERSION" == "6.x" ]]; then
# jp6 overlay
cp hardware/realsense/tegra234-camera-d4xx-overlay*.dts "sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/"
# max96712 header
cp nvidia-oot/max96712.h "sources_$JETPACK_VERSION/nvidia-oot/include/media/"
else
# device tree
cp "hardware/realsense/${JP5_D4XX_DTSI}" "sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi"
# max96712 header
cp kernel/nvidia/max96712.h "sources_$JETPACK_VERSION/kernel/nvidia/include/media/"
fi
fi
21 changes: 12 additions & 9 deletions hardware/nvidia/t23x/nv-public/6.x/0001-overlay-enable-d4xx-camera-for-Orin-jp6.patch
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Original file line number Diff line number Diff line change
@@ -1,26 +1,29 @@
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 b9fe99a161c68ecd596479c6e859f39d728c96a0 Mon Sep 17 00:00:00 2001
From: ejgoldik <ehud.joseph.goldik@realsenseai.com>
Date: Wed, 7 Jan 2026 12:03:58 +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 | 5 +++++
1 file changed, 5 insertions(+)

diff --git a/overlay/Makefile b/overlay/Makefile
index c88bbe2..3f6354e 100644
index c88bbe2..717d6f3 100644
--- a/overlay/Makefile
+++ b/overlay/Makefile
@@ -60,6 +60,8 @@ dtbo-y += tegra234-p3767-camera-p3768-imx219-A.dtbo
@@ -60,6 +60,11 @@ 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-fg12-16ch.dtbo
+dtbo-y += tegra234-camera-d4xx-overlay-fg12-16ch-dual.dtbo
+

ifneq ($(dtb-y),)
dtb-y := $(addprefix $(makefile-path)/,$(dtb-y))
--
2.34.1
2.43.0

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