NVIDIA JETSON CAMERA

MODULE

DG-08155-001_v05 | November 2017

Hardware Design Guide

 DOCUMENT CHANGE HISTORY

DG-08155-001_v05

Version Date Description of Change

01 July 25, 2016 Initial Release
02 November 16, 2016 •Updated figures throughout this design guide
•Updated Table 3-1 and Table 4-1
•Updated EEPROM (Section 6.1)
•Updated camera connector section (Section 6.3)
03 April 14, 2017 •General text fixes
•Updated Figure 2-1
•Updated Figure 2-4
•Updated power sources in Table 4-1
04 November 15, 2017 Added EEPROM structure table (Table 6-1)
05 November 28, 2017 •Added Jetson TX2
•Updated Figure 2-2, Figure 2-3, and Figure 9-2

NVIDIA Jetson Camera Module DG-08155-001_v05 | ii

 TABLE OF CONTENTS

Chapter 1. Introduction ....................................................................... 1

1.1 References ................................................................................. 1
1.2 Abbreviations and Definitions ........................................................... 2
Chapter 2. Jetson Camera Module .......................................................... 3
2.1 System Setup .............................................................................. 3
2.2 Camera Interposer Module .............................................................. 4
2.2.1 Single Camera Case ............................................................... 4
2.2.2 Multiple Camera Case ............................................................. 6
2.3 Camera Sensor Module ................................................................... 7
Chapter 3. Jetson Camera Connector Pinout Table...................................... 8
Chapter 4. Power .............................................................................. 11
Chapter 5. I2C Address ....................................................................... 12
Chapter 6. Components ...................................................................... 13
6.1 EEPROM.................................................................................... 13
6.2 I2C MUX ................................................................................... 14
6.3 Jetson Camera Connector .............................................................. 14
Chapter 7. Optional ........................................................................... 15
7.1 I2C GPIO Expander ....................................................................... 15
7.2 Clock Buffer and XTAL .................................................................. 15
Chapter 8. Mechanical ........................................................................ 16
Chapter 9. Example ........................................................................... 18

NVIDIA Jetson Camera Module DG-08155-001_v05 | iii

 LIST OF FIGURES

Figure 2-1.Jetson TX1/TX2 Developer Kit...................................................... 4

Figure 2-2.Single Camera Case Block Diagram ................................................ 5
Figure 2-3.Multiple Camera Case Block Diagram .............................................. 6
Figure 2-4.Camera Sensor Module Block Diagram............................................. 7
Figure 6-1.Jetson Camera Connector .......................................................... 14
Figure 8-1.Recommended Interposer Module Outline ....................................... 16
Figure 8-2.Mechanical Limits of Interposer Module Outline ................................ 17
Figure 9-1.I-PEX 30-pin Connector ............................................................. 19
Figure 9-2.Example Block Diagram............................................................. 20

LIST OF TABLES

Table 1-1. Abbreviations and Definitions ....................................................... 2

Table 3-1. Jetson Camera Connector (2 x 60) Pinout Table ................................. 8
Table 4-1. Power Sources ....................................................................... 11
Table 5-1. I2C Address .......................................................................... 12
Table 6-1. EEPROM Structure ................................................................... 13

NVIDIA Jetson Camera Module DG-08155-001_v05 | iv

Chapter 1.
INTRODUCTION

This design guide contains recommendations and guidelines for engineers to follow to
create a product that is optimized to achieve the best performance from the common
interfaces supported by the NVIDIA® Jetson™ TX1/TX2 Developer Kit carrier board.

1.1 REFERENCES
Refer to the following documents or models for more information. Use the latest
revision of all documents at all times.

 Jetson TX1/TX2 Developer Kit Carrier Board Specification

 Jetson TX1 OEM Product Design Guide
 Jetson TX2 OEM Product Design Guide

NVIDIA Jetson Camera Module DG-08155-001_v05| 1

 Introduction

1.2 ABBREVIATIONS AND DEFINITIONS

Table 1-1 lists abbreviations that may be used throughout this design guide and their
definitions.

Table 1-1. Abbreviations and Definitions

Abbreviation Definition
ADDR Address
AF Auto Focus
B2B Board-to-Board
CSI MIPI spec. Camera Serial Interface
EEPROM Electrically Erasable Programmable Read Only Memory
GPIO General Purpose Input/Output
FM Fast Mode of I2C (400 KHz)
I2C Inter IC
I2S Inter-IC Sound
MUX Multiplexer
LDO Low Dropout (voltage regulator)
XTAL Crystal Oscillator
SPI Serial Peripheral Interface
UART Universal Asynchronous Receiver Transmitter

NVIDIA Jetson Camera Module DG-08155-001_v05 | 2

Chapter 2.
JETSON CAMERA MODULE

This design guide is to be used when designing a camera module for use with the Jetson
TX1/TX2 Developer Kit carrier board.

Items to be checked:

 Power distribution and usage

 I2C addressing
 EEPROM selection and control
 Pinout table
 Mechanical (connector and board outline)

2.1 SYSTEM SETUP

 Jetson TX1/TX2 Developer Kit
 Camera Interposer Module (supports 1 to 6 cameras)
 Camera Sensor Module(s)

NVIDIA Jetson Camera Module DG-08155-001_v05| 3

 Jetson Camera Module

Figure 2-1. Jetson TX1/TX2 Developer Kit

2.2 CAMERA INTERPOSER MODULE

2.2.1 Single Camera Case

When using a single camera sensor, the camera interposer module will be a simple pass-
through to the camera sensor module, with no EEPROM or I2C MUX on the interposer.

NVIDIA Jetson Camera Module DG-08155-001_v05 | 4

 Jetson Camera Module

Camera Interposer Module

Jetson Jetson
TX1/TX2 Camera
Conn.
B2B con.

Sensor
Module
CAM_I2C
CAM_I2C
Conn.
To Camera
Sensor
CAM_I2C Module

CSI input
(6x2 lane/3x4 lane)
CSI_A 2x lane
CSI_B 2x lane CSI-camera CSI-camera
CSI_C 2x lane
CSI_D 2x lane
CSI_E 2x lane
CSI_F 2x lane

MCLK0 MCLK0
MCLK1 MCLK1

CAM0_RST CAM0_RST
CAM1_RST CAM1_RST

CAM0_PWDN CAM0_PWDN
CAM1_PWDN CAM1_PWDN

FLASH_EN FLASH_EN

2.8V 2.8V
2.8V
3.3V 3.3V
3.3V
1.2V 1.2V
1.2V
1.8V 1.8V
1.8V
*5.0V *5.0V *1.8V
5.0V LDO

* the interposer module is just a pass through

* 5.0V and *1.8V are 'always on' power sources

Figure 2-2. Single Camera Case Block Diagram

NVIDIA Jetson Camera Module DG-08155-001_v05 | 5

 Jetson Camera Module

2.2.2 Multiple Camera Case

When multiple camera sensors are used (up to 6), a camera interposer module with
EEPROM and I2C MUX is required to support the camera sensors.

Camera Interposer Module

Jetson Jetson
TX1/TX2 Camera
Conn.
B2B con.

Sensor
Module
CAM_I2C
CAM_I2C
Conn.
To Camera
Sensor
CAM_I2C Module

CSI input
(6x2 lane/3x4 lane)
CSI_A 2x lane
CSI_B 2x lane CSI-camera CSI-camera
CSI_C 2x lane
CSI_D 2x lane
CSI_E 2x lane
CSI_F 2x lane

MCLK0 MCLK0
MCLK1 MCLK1

CAM0_RST CAM0_RST
CAM1_RST CAM1_RST

CAM0_PWDN CAM0_PWDN
CAM1_PWDN CAM1_PWDN

FLASH_EN FLASH_EN

2.8V 2.8V
2.8V
3.3V 3.3V
3.3V
1.2V 1.2V
1.2V
1.8V 1.8V
1.8V
*5.0V *5.0V *1.8V
5.0V LDO

* the interposer module is just a pass through

* 5.0V and *1.8V are 'always on' power sources

Figure 2-3. Multiple Camera Case Block Diagram

NVIDIA Jetson Camera Module DG-08155-001_v05 | 6

 Jetson Camera Module

2.3 CAMERA SENSOR MODULE

Figure 2-4 is the block diagram for a camera sensor module when there are multiple
camera sensors.

CAM#1
EEPROM *1.8V
(7h57)
I2C_0
*FLASH
CAM_I2C *I2C I2C_1
MUX *AF driver
To interposer I2C_2

module
CSI

*1.8V is 'always on' power source from interposer module

*I2C MUX, FLASH & AF driver are optional

Figure 2-4. Camera Sensor Module Block Diagram

NVIDIA Jetson Camera Module DG-08155-001_v05 | 7

 Chapter 3.
JETSON CAMERA CONNECTOR PINOUT
TABLE

This chapter contains the pinout table which provides the camera’s connector pins
listing and description.

Table 3-1. Jetson Camera Connector (2 x 60) Pinout Table

Direction Signal Name Signal Name Direction Volt Description Pin

Pin Description Volt for Sensor for Sensor
1 CSI 1.2V Output CSI_A_D0_P CSI_B_D0_P Output 1.2V 2
CSI Controller B
Controller A
3 1.2V Output CSI_A_D0_N CSI_B_D0_N Output 1.2V Lane 0 4
Lane 0
5 - GND GND - 6
7 CSI 1.2V Output CSI_A_CLK_P CSI_B_CLK_P Output 1.2V 8
CSI Controller B
Controller A
9 1.2V Output CSI_A_CLK_N CSI_B_CLK_N Output 1.2V Clock 10
Clock
11 - GND GND - 12
13 CSI 1.2V Output CSI_A_D1_P CSI_B_D1_P Output 1.2V 14
CSI Controller B
Controller A
15 1.2V Output CSI_A_D1_N CSI_B_D1_N Output 1.2V Lane 1 16
Lane 1
17 - GND GND - 18
19 CSI 1.2V Output CSI_C_D0_P CSI_D_D0_P Output 1.2V 20
CSI Controller D
Controller C
21 1.2V Output CSI_C_D0_N CSI_D_D0_N Output 1.2V Lane 0 22
Lane 0
23 - GND GND - 24
25 CSI 1.2V Output CSI_C_CLK_P CSI_D_CLK_P Output 1.2V 26
CSI Controller D
Controller C
27 1.2V Output CSI_C_CLK_N CSI_D_CLK_N Output 1.2V Clock 28
Clock
29 - GND GND - 30
31 CSI 1.2V Output CSI_C_D1_P CSI_D_D1_P Output 1.2V 32
CSI Controller D
Controller C
33 1.2V Output CSI_C_D1_N CSI_D_D1_N Output 1.2V Lane 1 34
Lane 1

NVIDIA Jetson Camera Module DG-08155-001_v05| 8

 Jetson Camera Connector Pinout Table

Direction Signal Name Signal Name Direction Volt Description Pin

Pin Description Volt for Sensor for Sensor
35 - GND GND - 36
37 CSI 1.2V Output CSI_E_D0_P CSI_F_D0_P Output 1.2V 38
CSI Controller F
Controller E
39 1.2V Output CSI_E_D0_N CSI_F_D0_N Output 1.2V Lane 0 40
Lane 0
41 - GND GND - 42
43 CSI 1.2V Output CSI_E_CLK_P CSI_F_CLK_P Output 1.2V 44
CSI Controller F
Controller E
45 1.2V Output CSI_E_CLK_N CSI_F_CLK_N Output 1.2V Clock 46
Clock
47 - GND GND - 48
49 CSI 1.2V Output CSI_E_D1_P CSI_F_D1_P Output 1.2V 50
CSI Controller F
Controller E
51 1.2V Output CSI_E_D1_N CSI_F_D1_N Output 1.2V Lane 1 52
Lane 1
53 - GND GND - 54
55 56
- RSVD_DVDD RSVD_DVDD -
57 58
Camera UART
59 Output UART_PSNT_L NC 60
present
Camera UART
SPI clock
61 TXD 1.8V Input CAM_UART_TXD SPI_SCK Input 1.8V 62
Camera UART
SPI MISO
63 RXD 1.8V Output CAM_UART_RXD SPI_MISO Output 1.8V 64
Camera UART
SPI Chip Select
65 CTS 1.8V Output CAM_UART_CTS SPI_CS Input 1.8V 66
Camera UART
SPI MOSI
67 RTS 1.8V Input CAM_UART_RTS SPI_MOSI Input 1.8V 68
69 - GND GND - 70
DMIC input
I2S clock
71 clock 1.8V Input DMIC_IN_CLK I2S_CLK Input 1.8V 72
DMIC input
I2S frame
73 data 1.8V Input DMIC_IN_DAT I2S_LRCLK Input 1.8V 74
Camera I2C
I2S data input
75 clock 1.8V Input CAM_I2C_SCL I2S_SDIN Output 1.8V 76
Camera I2C
I2S data output
77 data 1.8V Bidirectional CAM_I2C_DAT I2S_SDOUT Input 1.8V 78
79 - GND GND - 80
AVDD camera
81 AVDD camera AVDD_CAM Power Input 2.8V power 82
2.8V Power Input AVDD_CAM
power DVDD sleep
83 VDD_3V3_SLP Power Input 3.3V power 84
Camera AF
Camera VSYNC
85 power down 1.8V Input CAM_AF_PWDN CAM_VSYNC Input 1.8V 86
87 Power 1.8V Input I2C_PM_CLK CAM1_MCLK Input 1.8V Camera1 clock 88

NVIDIA Jetson Camera Module DG-08155-001_v05 | 9

 Jetson Camera Connector Pinout Table

Direction Signal Name Signal Name Direction Volt Description Pin

Pin Description Volt for Sensor for Sensor
manage I2C input
Power Camera1 power
89 manage I2C 1.8V Bidirectional I2C_PM_DAT CAM1_PWDN Input 1.8V down 90
Camera0
Camera1 reset
91 clock input 1.8V Input CAM0_MCLK CAM1_RST_L Input 1.8V 92
Camera0
RSVD
93 power down 1.8V Input CAM0_PWDN - - - 94
Camera0
RSVD
95 reset 1.8V Input CAM0_RST_L - - - 96
Camera flash
RSVD
97 enable 1.8V Input FLASH_EN - - - 98
99 - GND GND - 100
DVDD camera DVDD IO camera
101 power 1.2V Power Input DVDD_1V2 DVDD_CAM_1V8 Power Input 1.8V power 102
103 Flash inhibit 1.8V Input FLASH_INHIBIT TORCH_EN Input 1.8V Torch enable 104
General Flash strobe
105 Purpose I2C 1.8V Input I2C_GP_CLK FLASH_STROBE Input 1.8V input 106
General
107 Purpose I2C 1.8V Bidirectional I2C_GP_DAT DVDD sleep 108
VDD_3V3_SLP Power Input 3.3V
5.0V system power
109 power 5.0V Power Input VDD_5V0 110
Motion/Gyro
- - -
111 RSVD_IR_READY MOTION_INT_L Output 1.8V interrupt 112
113 - - - RSVD_IR_TRIG RSVD_IR_EN - 114
115 - GND GND - 116
Camera FSIN
117 interrupt Output CAM_FSIN_INT 5.0V system 118
VDD_5V0 Power Input 5.0V
system power
119 enable input 1.8V Input VDD_SYS_EN 120

NVIDIA Jetson Camera Module DG-08155-001_v05 | 10

Chapter 4.
POWER

Power sources from the Jetson connector are listed in Table 4-1.

Table 4-1. Power Sources

Net Name Specification Note

VDD_5V0 5.0V This is ‘always on’ power and to be used
as the source of ‘always on 1.8V’ for
EEPROM and I2C MUX, so it is not
recommended to use it as a power source
requiring power sequence
VDD_3V3_SLP 3.3V, 4A (maximum) 3.3V system power
AVDD_CAM 2.8V, 3A (maximum) 2.8V analog power
DVDD_CAM_1V8 1.8V, 2A (maximum) 1.8V digital IO power
DVDD_1V2 1.2V, 300mA (maximum) 1.2V digital circuit power

Proper power sequence is required in order not to damage the Jetson TX1/TX2 module.

 All camera powers except 1.8V for EEPROM should be ‘Off’ by default
 Powers should be controlled by Jetson TX1/TX2

NVIDIA Jetson Camera Module DG-08155-001_v05| 11

Chapter 5.
I2C ADDRESS

This chapter provides the I2C address description for the camera interposer module and
camera sensor module.

Table 5-1. I2C Address

Jetson TX1/TX2 Camera Interposer Module Each Camera Sensor Module

EEPROM, AT24C02D 7’h54 EEPROM, AT24C02D 7’h57
CAM_I2C I2CMUX, TCA9546A 7’h70 *Flash driver IC (optional)
*I2C GPIO Expander (optional) *Auto focus driver (optional)

NVIDIA Jetson Camera Module DG-08155-001_v05| 12

 Chapter 6.
COMPONENTS

6.1 EEPROM
 Camera interposer module EEPROM power rail should be ‘ON’ by default
 The EEPROM in all camera sensor modules can have the same I2C address
 Features:
● 2-Kbit (256 × 8)
● I2C-compatible up to 400 KHz (FM) at 1.8V
● AT24C02D from Atmel is recommended
 The EEPROMs allow Jetson to dynamically detect the interposer board and the
camera module(s) connected to it, and to load the corresponding device tree files
 The mentioned recommendation and configuration for EEPROM is required when
multiple camera sensors are used, but is not required for a single camera module

Table 6-1. EEPROM Structure

EEPROM Byte
Absolute Address Description Data Comments
Major Version of BoardID Contents (Integer) -
Byte - 0 Version - Major 0x00
increments on backwards-incompatible changes
Minor Version of BoardID Contents (Integer) -
Byte - 1 Version - Minor 0x02 increments on backwards-compatible changes within
Major Version
Byte - 2 thru 19 RESERVED 0xFF
Asset Tracker for Customer board design: Byte-20 =
Product Part
Byte - 20 Thru 49 0xCC, Bytes 21-49: Customer assigned unique string with
Number
zero-termination. Eg: Company Name/Stock Ticker

NVIDIA Jetson Camera Module DG-08155-001_v05| 13

 Components

followed by design/rev. This field should contain

characters A-Z, a-z, 0-9 and dash ONLY (Eg: NVDA-12345)
Byte - 50 Thru 88 RESERVED 0xFF
User Data Section
Byte - 89 0x70 I2C MUX-1 7-bit Address
Camera Interposer
Board I2C MUX-1 I2C MUX Type (Refer to table below in this tab for Type
Byte - 90 0x01
Code Vs Part# Mapping)
Byte - 91 thru 254 RESERVED 0xFF
Byte - 255 CRC CRC-8 Computed for Bytes 0 thru 254.

I2C MUX Type Code Vs Part# Mapping

MUX Type Code Part# Description
1 TCA9548A 8 Channel I2C MUX

6.2 I2C MUX

 I2C MUX must be used to isolate all camera sensor modules
 Features:
● 4-Channel outputs
● I2C-compatible up to 400 KHz (FM) at 1.8V
● TCA9548PWR from TI is recommended

6.3 JETSON CAMERA CONNECTOR

B2B connector on Jetson TX1/TX2: Samtec’s QSH-060-01-H-D-A-K-TR

Figure 6-1. Jetson Camera Connector

Mating terminal connector to be used:

 For recommended board outline: QTH-060-01-F(H)-D-A-x

For extended board outline which overhangs the display module: QTH-060-04-F(H)-D-
A-x

NVIDIA Jetson Camera Module DG-08155-001_v05 | 14

Chapter 7.
OPTIONAL

7.1 I2C GPIO EXPANDER

 An I2C GPIO expander can be used to expand control signals for camera sensor
module(s)
 Features:
● 8-bit bi-directional GPIO expansion
● I2C-compatible up to 400 KHz (FM) at 1.8V

7.2 CLOCK BUFFER AND XTAL

 There are two clock outputs from Jetson TX1/TX2: MCLK0, and MCLK1
 It is recommended to use the clocks from Jetson, but a clock buffer can be used to
drive multiple clocks from single source
 XTAL can be used if dynamic frequency switching from AP is not needed for the
sensor

NVIDIA Jetson Camera Module DG-08155-001_v05| 15

Chapter 8.
MECHANICAL

Recommended outline for interposer module.

Figure 8-1. Recommended Interposer Module Outline

NVIDIA Jetson Camera Module DG-08155-001_v05| 16

 Mechanical

These mechanical limits will ensure fit on Jetson TX1/TX2 Developer Kit carrier board.

Figure 8-2. Mechanical Limits of Interposer Module Outline

 Note: Minimum mating height should be over 16 mm when overhangs display module.

NVIDIA Jetson Camera Module DG-08155-001_v05 | 17

Chapter 9.
EXAMPLE

 Example setup with up to 3 cameras with 4 CSI lane cameras

 Three cables with plug are also needed to connect interposer module to sensor
modules
 Each connector needs to accommodate the following signals
● Powers:
― VDD_3V3_SLP
― AVDD_CAM
― DVDD_CAM_1V8
― DVDD_1V2
● CSI_CLK and CSI_DAT : 1 × 4 lanes or 2 × 2 lanes
● MCLK or clock from local XTAL on interposer module
● CAM_I2C (CLK, DAT)
● CAM_RST
● CAM_PWDN
● FLASH_EN (*optional)
● Other control signals as needed
 Ex) I-PEX connector
● Ex. 20525-030-02C

NVIDIA Jetson Camera Module DG-08155-001_v05| 18

 Example

Figure 9-1 is an example connector between the camera sensor module and the camera
interposer module.

Figure 9-1. I-PEX 30-pin Connector

NVIDIA Jetson Camera Module DG-08155-001_v05 | 19

 Example

Jetson
TX1/TX2 Camera Interposer Module

EEPROM
B2B con. *1.8V
(AT24C02D, 7h54) CAM#1
EEPROM *1.8V
(7h57)
*I2C GPIO
I2C MUX Expander
CAM_I2C *FLASH
CAM_I2C CAM_I2C_1 *I2C
(TCA9548A MUX *AF driver
, 7h70) Sensor
Module
CSI input Con.
(6x2 lane/3x4 lane)
CSI lane-1
CSI lane-2 CSI_1:4 CSI_1:4
CSI lane-3
CSI lane-4
CAM#2
CSI lane-5 CAM_I2C_2 EEPROM *1.8V
CSI lane-6 CSI_5:8
CSI lane-7 (7h57)
CSI lane-8 CSI_5:8
CSI lane-9 *FLASH
*I2C
CSI lane-10 CSI_9:12 *AF driver
MUX
CSI lane-11
CSI lane-12

MCLK0 MCLK0
MCLK1 MCLK1

CAM#3
CAM0_RST CAM0_RST
CAM1_RST CAM1_RST EEPROM *1.8V
CAM_I2C_3 (7h57)

CAM0_PWDN CAM0_PWDN
CAM1_PWDN CAM1_PWDN *FLASH
*I2C
MUX *AF driver
FLASH_EN FLASH_EN
CSI_9:12
2.8V 2.8V
2.8V *Clock buffer
3.3V 3.3V
3.3V
1.2V 1.2V * XTAL
1.2V *I2C GPIO Expander, *clock buffer, *XTAL,
1.8V *Flash, *AF driver, and *I2C MUX are optional
1.8V
1.8V *5.0V and *1.8V are 'always on' power
*5.0V *5.0V LDO *1.8V sources
5.0V

Figure 9-2. Example Block Diagram

NVIDIA Jetson Camera Module DG-08155-001_v05 | 20

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