Astra S56x Stereo Camera

Overview

The S56x stereo camera is a module engineered specifically for embodied intelligence applications. It features dual 5MP Global Shutter image sensors and is developed with a high-reliability GMSL2 serial interface. The module is equipped with a 6-axis IMU and boasts a human-like 60mm baseline. It integrates wide-angle lenses that provide 130° and 140° Horizontal Fields of View (HFOV).

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Key Features and Applications

Features:
• GMSL2 Coaxial Long-distance Transmission
• Global Shutter Technology
• Stereo Trigger Synchronization
• Integrated 6-axis IMU

Applications:
• Humanoid Robots
• Depth Computing
• VLA
• Data Acquisition

Getting Started

Specifications

Parameter	Specification
QTY Of Sensor	2
Resolution	2560 (H) × 1984 (V)
Frame Rate	2560 × 1984 @30FPS
Shutter	Global shutter
Output Format	10-bit RAW
Baseline	60.00 ± 0.5 mm
Color / Mono	Color sensor
IMU	BMI088
Camera Interface	GMSL2
Power Supply	9 - 16 VDC
Current	< 200mA
Connector	Amphenol (Z Type Fakra)
Operating Temp	-30~+70°C
Storage Temp	-30~+70°C
Dimensions	W: 30mm, L:84mm, H:25.44mm
Ingress Protection	IP52
Weight	< 200g

Dimensions

Hardware Overview

Block Diagram

IMU Configuration Note

IMU： BMI088 (6-axis IMU)
The camera is equipped with a 6-axis IMU sensor, which provides accurate orientation and motion tracking information.

I2C Address Information

Component	Parameter	Value
Serializer	Model	MAX9295D
	I2C Address	0x80 (8bit address)
	GMSL Rate	GMSL2 (6G bps)
Sensor-1	I2C Address	0x20 (8bit address)
	Frame Sync	Controlled by MAX9295D MFP7
	Reset	Controlled by MAX9295D MFP3
	Data Type	RAW 10bit
Sensor-2	I2C Address	0x22 (8bit address)
	Frame Sync	Controlled by MAX9295D MFP7
	Reset	Controlled by MAX9295D MFP8
	Data Type	RAW 10bit

Lens Options

Model	HFOV	VFOV	F.No	EFL (mm)	DOF
S56 Stereo Camera	130°±3°	102°±3°	2.0	2.18mm	0.3~INF
S56C Stereo Camera	140°±3°	102°±3°	2.0	2.67mm	0.4~INF

Note

S56C is the NVIDIA-recommended stereo camera solution for robotics.

Employing Camera

1. Adaptation to NVIDIA® Jetson™ platform

NVIDIA Jetson AGX Orin

S56x Stereo Camera Connect to Nvidia Jetson AGX Orin

Step 1: Installation Steps

Quick Setup

Connect the S56x stereo camera to the SG10A-AGON-G2M-A1 board using the coaxial cable
Mount the SG10A-AGON-G2M-A1 board onto the Jetson AGX Orin module
S56x stereo camera Connect the power supply
SG10A-AGON-G2M-A1 board Connect the power supply
Power on the system

Step 2: Software Preparation

SDK Download

Select the appropriate driver package based on your camera type and JetPack version
Copy the full link address to DownGit to download

NO.	JetPack Version	Camera	NVIDIA Jetson Devices	Adapter Board	SDK Download Link
1	JP6.2	S56x stereo camera	Jetson AGX Orin Developer Kit	SG10A-AGON-G2M-A1	Download

JetPack Versions

NVIDIA JetPack (Jetpack 5.1.2 or Jetpack 6.0 ) 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.

NVIDIA Jetson AGX Thor

Step 1: Installation Steps

Quick Setup

Following the labels in the image, connect the S56x stereo camera to the corresponding TRD1 G2A port using a coaxial cable.
Connect CN7 to a DC 9-16V power supply.
Power on the Jetson AGX Thor system.

Step 2: Software Preparation

SDK Download

Select the appropriate driver package based on your camera type and JetPack version
Copy the full link address to DownGit to download

NO.	JetPack Version	Camera	NVIDIA Jetson Devices	SDK Download Link
1	JP7.0	S56x stereo camera	TRD1 G2A	Download

2. Camera Integration with Customer's Self-developed Platform

For customers with their own deserializer who want to adapt our camera (serializer) to their platform, detailed technical coordination is required.

The diagram illustrates the communication architecture between a camera and controller system. It shows how data flows from the Sensor/ISP through the Serializer on the Camera side, across to the Deserializer and SOC on the Controller side. The system utilizes Fsync signals for synchronization and MFP7 interfaces for control. This architecture is essential for proper integration of SENSING cameras with customer-developed platforms.

Step 1: Link Register initialization

SENSING will provide:

Serializer and Deserializer Configuration
- Register configuration for the camera module-Getting Camera Information
- I2C communication protocol details
Link Status Troubleshooting Guide
- Link training parameters
- Error detection settings

tip

Please refer to the software flow and demo code below to develop your driver code.

Software Development

Driver Development:

/* Example code for MAX9296 I2C initialization */
#define MAX9296_I2C_ADDR 0x90 // 8-bit address

int max9296_init() {
    // Initialize I2C bus
    i2c_init();
    
    // disable MIPI output
    i2c_write(MAX9296_I2C_ADDR, 0x0313, 0x00);
    delay_ms(100);
    // Configure link settings for GMSL2 (6Gbps)
    i2c_write(MAX9296_I2C_ADDR, 0x0001, 0x02);

    // Configure linkA and linkB settings for GMSL2 selection (default value)
    i2c_write(MAX9296_I2C_ADDR, 0x0006, 0xC0);
    
    // Configure MIPI rate 1200Mbps
    i2c_write(MAX9296_I2C_ADDR, 0x0320, 0x2C); 
    
    // enable MIPI output
    i2c_write(MAX9296_I2C_ADDR, 0x0313, 0x02);
    
    return 0;
}

Camera Configuration:

/* Example code for   initialization */

#define MAX9295_I2C_ADDR 0x80 // 8-bit address

int camera_init() {
    // Initialize deserializer first
    max9296_init();
    
    // Reset ISP through MAX9295A
    i2c_write(0x80, 0x02BE, 0x10); // MFP0 high
    // 
    i2c_write(0x80, 0x0057, 0x12); 
    i2c_write(0x80, 0x005B, 0x11); 
    //  Configure datatype  RAW10
    i2c_write(0x80, 0x0318, 0x6B); 

    //  camera trigger  MFP7  low to  high
    i2c_write(0x80, 0x02D3, 0x00); // MFP7 low
    delay_ms(300);
    i2c_write(0x80, 0x02D3, 0x10); // MFP7 high

    return 0;
}

Integration Steps

BSP Integration:
- Modify the device tree to include the CSI interface configuration
- Add camera driver to kernel build configuration
- Configure media controller pipeline for the camera
Application Development:

/* Example code for capturing camera frames */
#include "camera_api.h"

int main() {
    // Open camera device
    int fd = open("/dev/video0", O_RDWR);
    if (fd < 0) {
        perror("Failed to open camera device");
        return -1;
    }
    
    // Configure video capture format
    struct v4l2_format fmt = {0};
    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    fmt.fmt.pix.width = 1920;
    fmt.fmt.pix.height = 1536;
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RAW10;
    
    if (ioctl(fd, VIDIOC_S_FMT, &fmt) < 0) {
        perror("Failed to set format");
        close(fd);
        return -1;
    }
    
    // Request and map buffers
    // ... (buffer setup code) ...
    
    // Start streaming
    // ... (streaming code) ...
    
    // Capture and process frames
    // ... (frame processing code) ...
    
    // Cleanup
    close(fd);
    return 0;
}

Step 2: Data Processing

After receiving the module data through the MIPI CSI interface:

Data Reception
- MIPI CSI-2 protocol implementation
- Data rate configuration
Image Processing
- RAW10 data parsing
- Image format conversion
- Display configuration

Technical Support

Documentation
- Detailed register descriptions
Engineering Support
- Technical consultation
- Debug assistance
- Performance optimization

tip

SENSING Technology provides technical support for integration with most platforms. For detailed documentation, sample code, and technical assistance, please contact our support team.

Overview​

Key Features and Applications​

Getting Started​

Specifications​

Dimensions​

Hardware Overview​

Block Diagram​

I2C Address Information​

Lens Options​

Employing Camera​

1. Adaptation to NVIDIA® Jetson™ platform​

NVIDIA Jetson AGX Orin​

Step 1: Installation Steps​

Step 2: Software Preparation​

NVIDIA Jetson AGX Thor​

Step 1: Installation Steps​

Step 2: Software Preparation​

2. Camera Integration with Customer's Self-developed Platform​

Step 1: Link Register initialization​

Software Development​

Integration Steps​

Step 2: Data Processing​

Technical Support​

Overview

Key Features and Applications

Getting Started

Specifications

Dimensions

Hardware Overview

Block Diagram

I2C Address Information

Lens Options

Employing Camera

1. Adaptation to NVIDIA® Jetson™ platform

NVIDIA Jetson AGX Orin

Step 1: Installation Steps

Step 2: Software Preparation

NVIDIA Jetson AGX Thor

Step 1: Installation Steps

Step 2: Software Preparation

2. Camera Integration with Customer's Self-developed Platform

Step 1: Link Register initialization

Software Development

Integration Steps

Step 2: Data Processing

Technical Support