TRD1 F4B

Overview

TRD1 F4B extends the official NVIDIA Jetson AGX THOR Developer Kit with FPDLINK connectivity, enabling rapid integration of FPDLINK camera streams on the THOR platform. Supports up to eight FPDLINK cameras.

Key Features and Application

Features:
• Support NVIDIA JETSON THOR Platform
• Supported Camera Resolutions ：Max 3840*2160
• Supported Camera Output Formats : RAW / YUV422
• Dimensions：L:243.12mm x W:112.4mm x H:56.88mm
• Compatible Camera Types ：FPDLINK Ⅲ、FPDLINK Ⅳ
• Maximum Supported Cameras ：8 *FPDLINK
• SOC：NVIDlA Jetson T5000 Module
• Al Perfommance：2070 TFLOPS
• Memory：128 GB 256-bit LPDDR5X

Application:
• Robotics
• Industrial
• Medical
• Inspection

Getting Started

Hardware Overview

Block Diagram

Supported Camera List

Camera Compatibility

You may choose the following camera combinations to connect to the TRD1 F4B.

Camera Combination	Number of Supported Cameras	Jetpack 7.0
Comb. 1	4*8MP/30FPS	-
Comb. 2	8*3MP/30FPS	-
Comb. 3	2 8MP/30FPS+4 3MP/30FPS	-
Comb. 4	1 8MP/30FPS+2 2MP/30FPS+4 *3MP/30FPS	-

JetPack Versions

NVIDIA JetPack (Jetpack 7.0 ) is the official software development kit (SDK) for the Jetson series of development boards. It includes the operating system, drivers, CUDA, cuDNN, TensorRT, and other development tools and libraries. Each JetPack version typically corresponds to a specific Jetson Linux version (formerly known as L4T - Linux for Tegra).

36.4.3: L4T R36.4.3 (Jetpack 6.2)
36.4: L4T R36.4 (Jetpack 6.1)
36.3: L4T R36.3 (Jetpack 6.0)
35.4.1: L4T R35.4.1 (Jetpack 5.1.2)

For more information, visit NVIDIA's official Jetson Download Center.

Hardware Preparation

Parts List

Serial number	Product model	Quantity	Remark
1	945-14070-0080-000-MIPI	1	up to 8 cameras at most
2	T4JC-JC-ZZZZ-0500L (Female to Female 0.5m)	2	Standard configuration
3	Trigger Cable	1	Standard configuration
4	Power Conversion Cable	1	Standard configuration
5	Power adapter	1	Standard configuration
6	Multi-functional conversion socket	1	optional configuration

Kit Contents

Installation Steps

Quick Setup

Connect the GMSL camera to the TRD1 F4B using the coaxial cable(up to 8 cameras at most)
Connect the power supply(DC 9-16V)
Power on the system(Jetson Thor)

Software Preparation

SDK Download

Driver Packages

Select the appropriate driver package based on your camera type and JetPack version:

Camera Type	JetPack Version	Download Link
GMSL2 Camera (YUV)	JP7.0	Download

Download Method

Copy the full link address to DownGit to download

Quick Bring Up

System Update

We can use NVIDIA SDK Manager Linux Software or directly use the NVIDIA Linux Driver Package via Linux command line to flash JetPack OS into the NVIDIA Jetson device. For beginners, we highly recommend NVIDIA SDK Manager.

Jetpack version

Jetpack 7.0 L4TR38.2.1

Supported Camera Modules

SG2-AR0233C-5200-F3A-Hxxx
- support max 8 cameras to bring up at the same time
SG8S-AR0820C-5300-F4A-Hxxx
- support max 4 cameras to bring up at the same time
SG3S-ISX031C-F4A-Hxxx
- support max 8 cameras to bring up at the same time
SG3S-ISX031C-F3A-Hxxx
- support max 8 cameras to bring up at the same time

Quick Bring Up

Connect the Camera to the ports on the adapter board.

CN1 (CAM4/CAM5/CAM6/CAM7)
CN2 (CAM0/CAM1/CAM2/CAM3)

The correspondence between CAM ports and device nodes is as follows:

PORT                    DeviceTree Node            DEV NODE                    
CN1(COAX0)               cam_4                    /dev/video4                
CN1(COAX1)               cam_5                    /dev/video5                 
CN1(COAX2)               cam_6                    /dev/video6                 
CN1(COAX3)               cam_7                    /dev/video7                 
CN2(COAX4)               cam_0                    /dev/video0                 
CN2(COAX5)               cam_1                    /dev/video1                 
CN2(COAX6)               cam_2                    /dev/video2 
CN2(COAX7)               cam_3                    /dev/video3                 

Power Supply

SG8-AGX-Thor-9724 adapt board need to be powered by 12V.

Enter the driver directory,

cd TRD1_F4B_AGX_THOR_FPDx8_YUV_JP7.0_L4TR38.2.1
chmod a+x ./install.sh
./install.sh

Use the "sudo /opt/nvidia/jetson-io/jetson-io.py" command to select the corresponding device

sudo /opt/nvidia/jetson-io/jetson-io.py

select "Configure Jetson AGX CSI Connector"
select "Configure for compatible hardware"
select "Jetson Sensing SG8_AGX_F4_A1 YUV FPD4x8"
select "Save pin changes"
select "Save and reboot to reconfigure pins"

After the device reboot,modify the "load_module.sh" script .

4.1 Modify the script "load_modules.sh"

4.1.1 Modify the video device configuration command lines.

The following commands are used to configure the cameras recognized as video0 to video7 in the system. It is necessary to adjust the command parameters sensor_mode, trig_mode, and trig_pin in accordance with the camera model and the connection employed.
```
v4l2-ctl -d /dev/video0 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
v4l2-ctl -d /dev/video1 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
v4l2-ctl -d /dev/video2 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
v4l2-ctl -d /dev/video3 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
v4l2-ctl -d /dev/video4 -c sensor_mode=0,trig_mode=0,trig_pin=0x00020000
v4l2-ctl -d /dev/video5 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
v4l2-ctl -d /dev/video6 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
v4l2-ctl -d /dev/video7 -c sensor_mode=0,trig_mode=0,trig_pin=0x00000000
```
Regarding the sensor_mode parameter, its value is related to the camera model and is presented as follows:
```
SG2-AR0233C-5200-F3A-Hxxx(1920X1080): sensor_mode=0;
SG3S-ISX031C-F4A-Hxxx(1920X1536): sensor_mode=1;
SG3S-ISX031C-F3A-Hxxx(1920X1536): sensor_mode=1; 
SG8S-AR0820C-5300-F4A-Hxxx(3840X2160): sensor_mode=3.
```
The "trig_mode" and "trig_pin" parameters denote the trigger mode and the corresponding trigger pin to be utilized.
```
For Auto-trigger Mode (The cameras are triggered automatically upon camera activation. However, the cameras are not synchronized):trig_mode=0;trig_pin=0x00000000

For Jetson Orin Trigger Mode (The cameras are triggered and synchronized through the trigger signal generated from the Jetson Orin):trig_mode=1;trig_pin=0x00000000

For External-Trigger mode (The cameras are synchronously triggered via the trigger signal generated by the external signal generator that is connected to the trigger Pin of the Kit):trig_mode=1;trig_pin=0x00020000
```
4.1.2 Modify the driver module parameter :

If you desire to utilize a combination of FPD3 (with F3 identifier: XXX - F3A - XXX) cameras and FPD4 (with F4 identifier: XXX - F4A - XXX) cameras, the following methods have been provided for your utilization.

a.Determine the corresponding camera type for each camera channel

b.Modify the enable_fpd4_0 and enable_fpd4_1 parameter of the following driver loading command , where X for FPD4 is represented by (1) and FPD3 is represented by (0).

sudo insmod ko/sgx-yuv-fpd4.ko enable_fpd4_0=X,X,X,X enable_fpd4_1=X,X,X,X

In the following example:
```
sudo insmod ko/sgx-yuv-fpd4.ko enable_fpd4_0=1,1,0,0 enable_fpd4_1=0,0,1,1
```
enable_fpd4_0 represents the first input channel. The value 1,1,0,0 indicates that the cam_0 and cam_1 cameras operate in FPD4 mode, while the cam_2 and cam_3 cameras operate in FPD3 mode.

enable_fpd4_1 represents the second input channel. The value 0,0,1,1 indicates that the cam_4 and cam_5 cameras operate in FPD3 mode, while the cam_6 and cam_7 cameras operate in FPD4 mode.

Bring up the camera

5.1 run the script "load_module.sh".

sudo ./load_modules.sh

After the module is loaded, the device nodes /dev/video0~video7 will be generated.

5.2 run the gst - launch - 1.0 in a terminal.

## COAX4
gst-launch-1.0 v4l2src device=/dev/video0 ! xvimagesink -ev

## COAX5
gst-launch-1.0 v4l2src device=/dev/video1 ! xvimagesink -ev

## COAX6
gst-launch-1.0 v4l2src device=/dev/video2 ! xvimagesink -ev

## COAX7
gst-launch-1.0 v4l2src device=/dev/video3 ! xvimagesink -ev

## COAX0
gst-launch-1.0 v4l2src device=/dev/video4 ! xvimagesink -ev

## COAX1
gst-launch-1.0 v4l2src device=/dev/video5 ! xvimagesink -ev

## COAX2
gst-launch-1.0 v4l2src device=/dev/video6 ! xvimagesink -ev

## COAX3
gst-launch-1.0 v4l2src device=/dev/video7 ! xvimagesink -ev

If the above steps are properly completed, the next time you reboot the device, you need only run the "sudo ./load_modules.sh" command to load the drivers, and then run the gst - launch - 1.0 in a terminal.

Provide Trigger Sync signal

Modify load_modules.sh script and re-run it.

v4l2-ctl -d /dev/video0 -c sensor_mode=0,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video1 -c sensor_mode=1,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video2 -c sensor_mode=1,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video3 -c sensor_mode=1,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video4 -c sensor_mode=1,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video5 -c sensor_mode=1,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video6 -c sensor_mode=3,trig_pin=0x00000000,trig_mode=1
v4l2-ctl -d /dev/video7 -c sensor_mode=3,trig_pin=0x00000000,trig_mode=1

6.1 External Trigger Mode

When utilize a external trigger singanl generator to provide external trigger signal ,the trigger source should be connect to the CN4 6-PIN connector: PIN2 (CAM-FSYNC2) corresponds to the external trigger signal for cameras of CN1, PIN4 (CAM-FSYNC4) corresponds to the external trigger signal for cameras of CN2, PIN6 is the Ground pin. Connect the positive pole of the trigger signal source to PIN2 and PIN4 to synchronize all cameras. Connect the Negative pole of the tirgger signal source to PIN6 .

6.2 Jetson Orin Trigger Mode

When utilize Jetson Orin Trigger Mode,it is required to configurate the trigger signal generated from the Jetson Orin via the following steps.

a.load the driver 
sudo insmod ko/pwm-gpios.ko

b.Export PWM channel 0 (pwmchip4 is a newly generated node after loading the driver)
echo 0 > /sys/class/pwm/pwmchip4/export

c.Set the period to 33333333 (corresponding to 30 Hz)
echo 33333333 > /sys/class/pwm/pwmchip4/pwm0/period

d.Set the duty cycle
echo 30000000 > /sys/class/pwm/pwmchip4/pwm0/duty_cycle

e.Enable PWM output
echo 1 > /sys/class/pwm/pwmchip4/pwm0/enable

Integration with SENSING Driver Source Code

Compile Image & dtb Refer to the following command to integrate Dtb and Kernel source code to your kernel

cp camera-driver-package/source/hardware Linux_for_Tegra/source/hardware -r
cp camera-driver-package/source/kernel Linux_for_Tegra/source/kernel -r
cp camera-driver-package/source/nvidia-oot Linux_for_Tegra/source/nvidia-oot -r

Go to the root directory of your source code and recompile

cd <install-path>/Linux_for_Tegra/source
export CROSS_COMPILE_AARCH64=toolchain-path/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$PWD/kernel/kernel-noble
export INSTALL_MOD_PATH=<install-path>/Linux_for_Tegra/rootfs/
make -C kernel
make modules
make dtbs
sudo -E make install -C kernel

cp kernel/kernel-noble/arch/arm64/boot/Image <install-path>/Linux_for_Tegra/kernel/Image
cp nvidia-oot/device-tree/platform/generic-dts/dtbs/* <install-path>/Linux_for_Tegra/kernel/dtb/

Install the newly generated Image and dtb to your nvidia device and reboot to let them take effect

dtb:nvidia-oot/device-tree/platform/generic-dts/dtbs/
Image: kernel/kernel-noble/arch/arm64/boot/

tegra-camera.ko:nvidia-oot/drivers/media/platform/tegra/camera/
nvhost-nvcsi.ko:nvidia-oot/drivers/video/tegra/host/nvcsi/

Copy the image,dtb,ko generated by the above compilation to the corresponding location of jetson

sudo cp *.dtbo /boot/
sudo cp Image /boot/Image
sudo cp tegra-camera.ko /lib/modules/6.8.12-tegra/updates/drivers/media/platform/tegra/camera/
sudo cp nvhost-nvcsi.ko /lib/modules/6.8.12-tegra/updates/drivers/video/tegra/host/nvcsi/

Select the device tree you installed

sudo /opt/nvidia/jetson-io/jetson-io.py

select "Configure Jetson AGX CSI Connector"
select "Configure for compatible hardware"
select "Jetson Sensing SG8_AGX_F4_A1 YUV FPD4x8"
select "Save pin changes"
select "Save and reboot to reconfigure pins"

Install camera driver

sudo insmod ./ko/ti9724.ko
sudo insmod ./ko/sgx-yuv-fpd4.ko

Bring up the camera

## COAX4
 v4l2-ctl -d /dev/video0 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video0 ! xvimagesink -ev

## COAX5
 v4l2-ctl -d /dev/video1 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video1 ! xvimagesink -ev

## COAX6
 v4l2-ctl -d /dev/video2 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video2 ! xvimagesink -ev

## COAX7
 v4l2-ctl -d /dev/video3 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video3 ! xvimagesink -ev

## COAX0
 v4l2-ctl -d /dev/video4 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video4 ! xvimagesink -ev

## COAX1
 v4l2-ctl -d /dev/video0 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video5 ! xvimagesink -ev

## COAX2
 v4l2-ctl -d /dev/video0 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video6 ! xvimagesink -ev

## COAX3
 v4l2-ctl -d /dev/video0 -c sensor_mode=?,trig_pin=?
 gst-launch-1.0 v4l2src device=/dev/video7 ! xvimagesink -ev

Overview​

Key Features and Application​

Getting Started​

Hardware Overview​

Block Diagram​

Supported Camera List​

Hardware Preparation​

Parts List​

Kit Contents​

Installation Steps​

Software Preparation​

SDK Download​

Quick Bring Up​

Jetpack version​

Supported Camera Modules​

Quick Bring Up​

Integration with SENSING Driver Source Code​

Overview

Key Features and Application

Getting Started

Hardware Overview

Block Diagram

Supported Camera List

Hardware Preparation

Parts List

Kit Contents

Installation Steps

Software Preparation

SDK Download

Quick Bring Up

Jetpack version

Supported Camera Modules

Quick Bring Up

Integration with SENSING Driver Source Code