Jetson-Nano-and-Jetson-Xavier-NX-Camera-Design-Guide-v1.1原版完整文件

DG-09729-001_v1.1|May2020

JetsonNanoandJetsonXavierNXCamera

DesignGuide

JetsonNanoandJetsonXavierNXCamera

DG-09729-001_v1.1|

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DocumentHistory

DG-09729-001_v1.1

Version

Date

DescriptionofChange

1.0

November8,2019

InitialRelease

1.1

May5,2020

AddedJetsonXavierNXcamerainformation

TableofContents

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Chapter1. Introduction 1

References 1

AbbreviationsandDefinitions 2

Chapter2. JetsonCameraModules 3

SystemSetup 3

CameraConnections 5

DeveloperKitCameraSensorModuleCase 5

CustomCarrierBoardMultipleCameraCase 7

CameraSensorModules 9

Chapter3. CameraInterfaceDetails 10

Chapter4. Power 14

Chapter5. I2CAddress 15

Chapter6. Components 16

I2CMUX 16

DeveloperKitCameraConnector(s) 16

Chapter7. Optional 17

I2CGPIOExpander 17

ClockBufferandXTAL 17

ListofFigures

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Figure2-1. JetsonNanoDeveloperKit(A02)CarrierBoard 4

Figure2-2. JetsonNanoDeveloperKit(B01)CarrierBoard 4

Figure2-3. JetsonXavierNXDeveloperKitCarrierBoard 5

Figure2-4. JetsonNanoDeveloperKitCarrierBoard(A02)CameraSensorConnector 6

Figure2-5. JetsonNanoDeveloperKitCarrierBoard(B01)CameraSensorConnectors 6

Figure2-6. JetsonXavierNXDeveloperKitCarrierBoardCameraSensorConnectors 7

Figure2-7. CustomCarrierBoardMultipleCameraConnections 8

Figure2-8. DeveloperKitCameraSensorModule 9

Figure2-9. CustomCarrierBoardCameraSensorModule 9

ListofTables

Table1-1. AbbreviationsandDefinitions 2

Table3-1. DeveloperKitCarrierBoardCameraConnector#1Pinout 10

Table3-2. DeveloperKitCarrierBoardCameraConnector#2Pinout 11

Table3-3. FullJetsonNanoandJetsonXavierNXModulePinDescriptions 11

Table5-1. I2CAddress 15

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Chapter1.Introduction

ThisdesignguidecontainsrecommendationsandguidelinesforengineerstofollowtocreateaproductthatisoptimizedtoachievethebestperformancefromthecameraconnectorsupportedontheNVIDIA?JetsonNano?orJetsonXavier?NXDeveloperKitcarrierboards,oronacustomcarrierboardthatbringsoutadditionalcamerainterfacepins.

References

Refertothefollowingdocumentsormodelsformoreinformation.Alwaysusethelatestrevisionofalldocuments.

?JetsonNanoDeveloperKitCarrierBoardSpecification

?JetsonXavierNXDeveloperKitCarrierBoardSpecification

?JetsonNanoProductDesignGuide

?JetsonXavierNXProductDesignGuide

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Introduction

AbbreviationsandDefinitions

Table1-1

listsabbreviationsthatmaybeusedthroughoutthisdesignguideandtheirdefinitions.

Table1-1. AbbreviationsandDefinitions

Abbreviation

Definition

ADDR

Address

AF

AutoFocus

B2B

Board-to-Board

CSI

MIPIspec.CameraSerialInterface

GPIO

GeneralPurposeInput/Output

FM

FastModeofI2C(400KHz)

I2C

InterIC

MUX

Multiplexer

LDO

LowDropout(voltageregulator)

XTAL

CrystalOscillator

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Chapter2.JetsonCameraModules

ThisdesignguideistobeusedwhendesigningacameramoduleforusewiththeJetsonNanoorJetsonXavierNXDeveloperKitcarrierboardsorwhendesigningacustomcarrierboardandcameramodule(s).

Itemstobechecked:

?Powerdistributionandusage

?I2Caddressing

?Cameraconnectorpinouttableandfullmodulecamerainterfacepindescriptions

?Mechanical(developerkitconnectordetails)

SystemSetup

?JetsonNanoorJetsonXavierNXDeveloperKitorcustomercarrierboard

?Compatiblecamerasensormodule(s)

JetsonCameraModules

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Figure2-1. JetsonNanoDeveloperKit(A02)CarrierBoard

CameraConnector

Figure2-2. JetsonNanoDeveloperKit(B01)CarrierBoard

CameraConnector#2

CameraConnector#1

Note:ThecameraconnectorJ13onboththeJetsonNanoA02andB01developerkitcarrierboardsreceivethesameCSI,clock,andpowerdownsignals.OnB01,theI2CinterfacepassesthroughanI2Cmultiplexor,whereonA02,CAM_I2Cconnectsdirectlytothecameraconnector.

Figure2-3. JetsonXavierNXDeveloperKitCarrierBoard

CameraConn.#1[J1]

CameraConn.#2[J9]

Note:Thepositionofcameraconnector#1(connectedtoCSI0)andcameraconnector#2(connectedtoCSI2)areswappedontheJetsonXavierNXDeveloperKitcomparedtotheJetsonNanoDeveloperKit(B01).

CameraConnections

Thefollowingsectionsgivesinformationregardingthecameraconnections.

DeveloperKitCameraSensorModuleCase

TheJetsonNanoorJetsonXavierNXDeveloperKitssupporta2-laneCSIinterfacewhichisroutedtooneflexconnectorontheJetsonNanoA02versionortwoflexconnectorsontheJetsonNanoB01versionorJetsonXavierNX.Acameramodulecouldbeconnecteddirectlyifitiscompatiblewiththepowerandcontrolprovided,otherwiseaninterposerboardofsometypewouldberequired.

Figure2-4. JetsonNanoDeveloperKitCarrierBoard(A02)CameraSensorConnector

CSIinput

CSI J13

2.8V

1.8V

1.2V

CAM_I2C

CAM0_MCLKCAM0_PWDNVDD_3V3_SYS

2.8V

1.8V

1.2V

CameraModule

(PlusCameraInterposerModuleifneeded)

SensorModuleConnector

JetsonNanoDeveloperKit

CarrierBoard(A02) DeveloperKit

CameraConnector

LDOs

CSI_0,2xlanew/CLK

Figure2-5. JetsonNanoDeveloperKitCarrierBoard(B01)CameraSensorConnectors

JetsonNano

DeveloperKitCarrierBoard(B01)

CSICSI

CAM#1

DeveloperKit

CameraConnectors

J13

1.2V2.8V

1.8V

MCLK

CAM0_MCLK

CAM0_PWDN

2.8V

1.8V

1.2V

CAM#2

1.2V2.8V

1.8V

J49

CAM_I2C

MCLK

CAM1_MCLK

CAM1_PWDNVDD_3V3_SYS

2.8V

1.8V

1.2V

LDOs

I2CMUX

Flash

*AF/

Flash

*AF/

LDOs

CSIinput

CSI_0,2xlanew/CLKCSI_2,2xlanew/CLK

*AF/FlashIsoptional

Figure2-6. JetsonXavierNXDeveloperKitCarrierBoardCameraSensorConnectors

JetsonXavierNX

DeveloperKitCarrierBoard

CSICSI

CAM#1

DeveloperKit

CameraConnectors

J1

1.2V2.8V

1.8V

MCLK

CAM0_MCLK

CAM0_PWDN

2.8V

1.8V

1.2V

CAM#2

1.2V2.8V

1.8V

CAM_I2C

I2C

MUX

J9

MCLK

CAM1_MCLK

CAM1_PWDNVDD_3V3_SYS

2.8V

1.8V

1.2V

LDOs

Flash

*AF/

Flash

*AF/

LDOs

CSIinput

CSI_0,2xlanew/CLKCSI_2,2xlanew/CLK

*AF/FlashIsoptional

CustomCarrierBoardMultipleCameraCase

TheJetsonNanomodulesupports12CSIlanesandcansupportthefollowingconfigurations:

?3x4lanecameras

?2x4lanecamerasplus2x2lanecameras

?1x4lanecameraplus3x2lanecameras

?4x2lanecameras

TheJetsonXavierNXmodulesupports14CSIlanes(12canbeusedinadesign)andcansupportthefollowingconfigurations:

?3x4lanecameras

?2x4lanecamerasplus2x2lanecameras

?1x4lanecameraplus4x2lanecameras

?6x2lanecameras

Anyofthex2laneinterfacescanbeusedtosupportasinglex1lanecameraaswell.TheCSIlanes,clock(s)andcontrolsignalscanbebroughttocameramoduleconnectorsonthecarrierboard,ortoamainconnectorthataninterposerboardconnectsto.Inthefollowingexample,3

x4lanecameramodulesconnecttoacustomcarrierboardorcarrierboard/interposerasrequired.BothJetsonNanoandJetsonXavierNXsupporttwoMCLKsandtwoGPIOsforpower-downorotherpurposes.TherearetwoadditionalpinsontheJetsonmodulesthatcanbeusedtosupporttwomorecameraMCLKs.TheseareGPIO01andGPIO11.Ifonlytwocameraconnectionsarerequired,theI2Cexpandershownmaynotberequired.Aclockbuffermaybeneededifmorethan4camerasaresupported,orifthiswillimproveroutingandsignalintegrity.AnI2CmuxwouldlikelyberequiredunlessthecameramoduleshaveuniqueI2CaddressesandtheroutingonasingleI2Cinterfacewouldnotadverselyaffectthesignalquality.

JetsonNanoorJetsonXavierNX

CustomCarrierBoard

(PlusCameraInterposerModuleifneeded)

CAM#1

1.2V2.8V

1.8V

MCLK

JetsonModule

I2C_CAM

CAM#2

CSIinput

CSI0CLK

CSI0Data[1:0]

CSI1Data[1:0]

SensorModuleConn.

1.2V2.8V

1.8V

MCLK

CAM#3

1.2V2.8V

1.8V

MCLK

CAM0_MCLK

CAM1_MCLK

GPIO01CAM0_PWDNCAM1_PWDN

VDD_5V_IN/VDD_3V3_SYS

Flash/AFdriverareoptional

I2CGPIOExpander,andI2CMUXrequirementsaredesigndependent

2.8V

1.8V

1.2V

LDO

LDO

LDO

Flash

*AF/

Flash

*AF/

*I2CGPIO

Expander

I2CMUX

Flash

*AF/

CSI4CLK

CSI4Data[3:0]

CSI2CLK

CSI2Data[1:0]

CSI3Data[1:0]

CTRL3CTRL2CTRL1

Figure2-7. CustomCarrierBoardMultipleCameraConnections

CameraSensorModules

Figure2-8

isahigh-levelblockdiagramforacamerasensormodulecompatiblewiththedeveloperkitcarrierboardcameraconnectors.

Figure2-8. DeveloperKitCameraSensorModule

CameraModule

(PlusCameraInterposerModuleifneeded)

15-posFlex

I2C

CSI(2-lane)

2.8V

1.8V

1.2V

MCLK

PDWN

3.3V 2.8V

1.8V

1.2V

LDO

LDO

LDO

Note:LDOsuppliesshownareforexampleonly-actualvoltagesrequiredoncameramoduledependonsensorandothercircuitryimplementedonthemodule.

Figure2-9

isthehigh-levelblockdiagramforacamerasensormoduleforuseonacustomcarrierboardwhentherearemultiplecamerasensors.

Figure2-9. CustomCarrierBoardCameraSensorModule

CAMx

I2CMCLK

1.2V2.8V

1.8V

PDWN,AF

CSI(1/2/4-lane)

Flash

*AF/

ToCarrierBoardorInterposerBoard

*Flash/AFdriverareoptional

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Chapter3.CameraInterfaceDetails

ThischaptercontainsthepinoutoftheJetsonNanoorJetsonXavierNXDeveloperKitcameraconnectorsaswellasthefullmodulecamerapindescriptions.

Note:In

Table3-1

through

Table3-3,

“Output”istothecameramoduleand“Input”isfromthecameramodule.

Table3-1. DeveloperKitCarrierBoardCameraConnector#1Pinout

Pin

Description

Volt

Type/Dir.

SignalName

Pin

Description

1

Ground

–

–

GND

2

Notused

3

CameraLane0

1.2

Input

CSI0_D0_N

4

Notused

5

1.2

Input

CSI0_D0_N

6

Notused

7

Ground

–

–

GND

8

Notused

9

CameraLane1

1.2

Input

CSI0_D1_N

10

Notused

11

1.2

Input

CSI0_D1_N

12

Notused

13

Ground

–

–

GND

14

Notused

15

Cameraclocklane

1.2

Input

CSI0_CLK_N

16

Notused

17

1.2

Input

CSI0_CLK_N

18

Notused

19

Ground

–

–

GND

20

Notused

21

CameraPower-downGPIO

1.8

Output

CAM0_PWDN

22

Notused

23

CameraMCLK

1.8

Output

CAM0_MCLK

24

Notused

25

CameraI2Cclock

3.3OD

Bidirectional

CAM_I2C_SCL

26

Notused

27

CameraI2Cdata

3.3OD

Bidirectional

CAM_I2C_SDA

28

Notused

29

3.3Vsupply

–

–

VDD_3V3_SYS

30

Notused

Note:CameraConnector#1isJ13onJetsonNanoandJ1JetsonXavierNX.

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Table3-2. DeveloperKitCarrierBoardCameraConnector#2Pinout

Pin

Description

Volt

Type/Dir.

SignalName

Pin

Description

1

Ground

–

–

GND

2

Notused

3

CameraLane0

1.2

Input

CSI2_D0_N

4

Notused

5

1.2

Input

CSI2_D0_N

6

Notused

7

Ground

–

–

GND

8

Notused

9

CameraLane1

1.2

Input

CSI2_D1_N

10

Notused

11

1.2

Input

CSI2_D1_N

12

Notused

13

Ground

–

–

GND

14

Notused

15

CameraClockLane

1.2

Input

CSI2_CLK_N

16

Notused

17

1.2

Input

CSI2_CLK_N

18

Notused

19

Ground

–

–

GND

20

Notused

21

CameraPower-downGPIO

1.8

Output

CAM1_PWDN

22

Notused

23

CameraMCLK

1.8

Output

CAM1_MCLK

24

Notused

25

CameraI2Cclock

3.3OD

Bidirectional

CAM_I2C_SCL

26

Notused

27

CameraI2Cdata

3.3OD

Bidirectional

CAM_I2C_SDA

28

Notused

29

3.3Vsupply

–

–

VDD_3V3_SYS

30

Notused

Note:CameraConnector#2isJ449onJetsonNano(B01only)andJ9onJetsonXavierNX.

Table3-3. FullJetsonNanoandJetsonXavierNXModulePinDescriptions

ModulePin

Description

Volt

Direction

SignalName

10

Camera,CSI0Clock

1.2

Input

CSI_0_CLK_N

12

CSI_0_CLK_P

4

Camera,CSI0Data0

1.2

Input

CSI_0_D0_N

6

CSI_0_D0_P

16

Camera,CSI0Data1

1.2

Input

CSI_0_D1_N

18

CSI_0_D1_P

9

Camera,CSI1Clock(NXonly)

1.2

Input

CSI_1_CLK_N

11

CSI_1_CLK_P

3

Camera,CSI1Data0

1.2

Input

CSI_1_D0_N

5

CSI_1_D0_P

15

Camera,CSI1Data1

1.2

Input

CSI_1_D1_N

ModulePin

Description

Volt

Direction

SignalName

17

CSI_1_D1_P

28

Camera,CSI2Clock

1.2

Input

CSI_2_CLK_N

30

CSI_2_CLK_P

22

Camera,CSI2Data0

1.2

Input

CSI_2_D0_N

24

CSI_2_D0_P

34

Camera,CSI2Data1

1.2

Input

CSI_2_D1_N

36

CSI_2_D1_P

27

Camera,CSI3Clock

1.2

Input

CSI_3_CLK_N

29

CSI_3_CLK_P

21

Camera,CSI3Data0

1.2

Input

CSI_3_D0_N

23

CSI_3_D0_P

33

Camera,CSI3Data1

1.2

Input

CSI_3_D1_N

35

CSI_3_D1_P

52

Camera,CSI4Clock

1.2

Input

CSI_4_CLK_N

54

CSI_4_CLK_P

46

Camera,CSI4Data0

1.2

Input

CSI_4_D0_N

48

CSI_4_D0_P

58

Camera,CSI4Data1

1.2

Input

CSI_4_D1_N

60

CSI_4_D1_P

40

Camera,CSI4Data2

1.2

Input

CSI_4_D2_N

42

CSI_4_D2_P

64

Camera,CSI4Data3

1.2

Input

CSI_4_D3_N

66

CSI_4_D3_P

76

Camera,CSI5Clock(NXonly)

1.2

Input

DSI_CLK_N

78

DSI_CLK_P

70

Camera,CSI5Data0(NXonly)

1.2

Input

DSI_D0_N

72

DSI_D0_P

82

Camera,CSI5Data1(NXonly)

1.2

Input

DSI_D1_N

84

DSI_D1_P

213

CameraI2Cclock

3.3OD

Bidirectional

CAM_I2C_SCL

215

CameraI2CData

3.3OD

Output

CAM_I2C_SDA

116

Camera0MasterClock

1.8

Output

CAM0_MCLK

114

Camera0Power-downGPIO

1.8

Output

CAM0_PWDN

122

Camera1MasterClock

1.8

Output

CAM1_MCLK

120

Camera1Power-downGPIO

1.8

Output

CAM1_PWDN

118

GPIO/Camera2MasterClock

1.8

Output

GPIO01

ModulePin

Description

Volt

Direction

SignalName

216

GPIO/Camera3MasterClock

1.8

Output

GPIO11

Note:RowshighlightedaresupportedonJetsonXavierNXonly.

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Chapter4.Power

TheJetsonNanoandJetsonXavierNXDeveloperKitcameraconnectorsprovideasinglepowersource(VDD_3V3_SYS).Thispowersourceissharedbyotherdevicesonthecarrierboardorconnectedtothedeveloperkitsuchas:

?Levelshiftersoncarrierboard

?VESA?DisplayPort?outputdisplay

?M.2KeyEmodules

?Peripheralsconnectedto40-pinexpansionheader

TheVDD_3V3_SYSsupplyis“alwayson”soitshouldnotbeuseddirectlyifitmustbesequencedwithothersuppliesgeneratedontheconnectedcamerasensormodule.

Whetherthedeveloperkitoracustomcarrierboardisused,properpowersequencingisrequiredinordernottodamagetheJetsonmodule.Thesequencingshouldbecontrolledbythemodule.

Chapter5.I2CAddress

ThischapterprovidestheI2Caddressdescriptionforthecamerainterposermoduleandcamerasensormodule.TheJetsonNano(B01)andJetsonXavierNXDeveloperKitsuseamuxtodirectCAM_I2Ctoeitherofthetwocameraconnectors.ThismuxdoesnothaveanI2CaddressandselectsbetweenthetwoconnectorsusingaGPIO.AnI2Cmux(orI2Cexpander)mayberequiredforamultiplesensordesignandarecommendeddeviceisincludedinthefollowingtable.

Table5-1. I2CAddress

JetsonCarrierBoard

CameraInterposer

EachCameraSensorModule

CAM_I2C

I2CMUXforcustomcarrierboard-TCA9546A

7’h70

*FlashdriverIC(optional)

*I2CGPIOExpander(optional)

*Autofocusdriver(optional)

Note:TheCAM_I2CinterfaceisconnectedtothepowermonitordeviceonthemodulewhichusesI2Caddress7’h40

Chapter6.Components

I2CMUX

AnI2CMUXmayberequiredtoisolatethedifferentcamerasensormodules,especiallyifthecamerashavethesameI2Caddress.Asmentionedpreviously,theJetsonNano(B01)andJetsonXavierNXDeveloperKitsuseaMUXtodirectCAM_I2CtoeitherofthetwocameraconnectorsthatdoesnothaveanI2CaddressandselectsbetweenthetwoconnectorsusingaGPIO.IfanI2CMUX(orI2Cexpander)isrequiredforamultiplesensordesign,arecommendeddeviceisdescribedwiththefollowingfeatures.

?4-Channeloutputs

?I2C-compatibleupto400KHz(FM)at1.8V

?TCA9548PWRfromTIisrecommended

DeveloperKitCameraConnector(s)

TheJetsonNanocarrierboardincludesoneofthefollowing:

?One(P3449_A02)

?Two(P3449_B01)15-positionflexconnectors(1.0mmpitch)-J13andJ49[B01only]TheJetsonXavierNXcarrierboard(P3509)includes:

?Two15positionflexconnectors(1.0mmpitch)–J1andJ9

TheconnectorsusedonthecarrierboardareTEConnectivityPartNumber:1-734248-5.Theseconnectorsmatewithflexcablesfromthecameraboardandmodules.

Chapter7.Optional

I2CGPIOExpander

?AnI2CGPIOexpandercanbeusedtoexpandcontrolsignalsforcamerasensormodule(s)

?Features:

8-bitbi-directionalGPIOexpansion

I2C-compatibleupto400KHz(FM)at1.8V

ClockBufferandXTAL

?ThereareuptofourclockoutputsfromtheJetsonmodule:

CAM0_MCLK

CAM1_MCLK

GPIO01(MCLK#2)

GPIO11(MCLK#3)

?ItisrecommendedtousetheclocksfromJetson,butaclockbuffercanbeusedtodrivemultipleclocksfromasinglesource

?ACrystalcanbeusedifdynamicfrequencyswitchingfromtheSoCisnotneededforthesensor

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