1. Introduction¶

D3 Embedded’s Jetson Modules support D3’s hardware on the NVIDIA Jetson platform, including our camera modules, carrier boards, and interface cards. This release specifically supports JetPack 6.2.1 (L4T 36.4.4). This documentation is your go-to guide for everything Jetson.

1.1. Supported Hardware¶

This release supports the following Jetson hardware developed by D3 Embedded:

DesignCore® NVIDIA® Jetson Orin™ Nano/NX 8-Camera GMSL2 Carrier Board (Super supported)
NVIDIA® Jetson AGX Orin Developer Kit
- DesignCore® NVIDIA® Jetson AGX Orin FPD-Link™ III Interface Card
- DesignCore® NVIDIA® Jetson AGX Orin GMSL2 Interface Card
- DesignCore® NVIDIA® Jetson SerDes Sensor Interface Card

In addition, this release supports the following Jetson hardware developed by our partners:

(NEW) Advantech REX-52N
Connect Tech Gauntlet
- (NEW) Connect Tech JCB022 GMSL Camera Platform
(NEW) Connect Tech Hadron GMSL Carrier for NVIDIA® Jetson Orin™ NX
Connect Tech Rogue Carrier for NVIDIA® Jetson AGX Orin™
- (NEW) Connect Tech JCB002 GMSL Camera Platform
(NEW) Connect Tech Rudi-NX Embedded System with NVIDIA® Jetson Orin™ NX
Forecr DSBOARD-AGX and DSBOARD-AGXMAX
- (NEW) Forecr GMSL2 Camera Board for AGX Orin (DSADDON-GMSL-AGX-4CH)
Forecr DSBOARD-ORNXS
- (NEW) Forecr GMSL2 Camera Board for Orin NX/Orin Nano (DSADDON-GMSL-NX)
NVIDIA® Jetson Orin Nano Super Developer Kit
Syslogic Rugged Computer RML A4AGX
(NEW) Syslogic Rugged Computer RML A4NX (GMSL)

The following cameras are supported in conjunction with the hardware listed above:

Camera	FPD-Link	GMSL	MIPI
DesignCore® Discovery IMX390	✓	✓
DesignCore® Discovery IMX678		✓	✓
DesignCore® Discovery IMX728		✓
DesignCore® Discovery ISX028		✓
DesignCore® Discovery ISX031	✓	✓	✓
DesignCore® RCM-IMX390-9295		✓
(NEW) DesignCore® RCM-IMX390-953	✓
DesignCore® Velocity AR0234	✓	✓	✓

1.2. Release Highlights¶

Drivers are now released as Dynamic Kernel Module Support (DKMS) packages instead of pre-compiled binary packages.
- Each driver’s source code is now included in its package and automatically compiled for the current JetPack kernel when installed (or whenever the kernel is updated) rather than being pre-compiled against a specific JetPack version.
- This change enables D3 Embedded to easily support JetPack 6 (Orin) and JetPack 7 (Thor) in the same release. While the drivers will likely compile successfully and may even work on a wide variety of JetPacks (4.x, 5.x, 6.x, 7.x), official support for this release is limited to JetPack 6.2.1 (for Orin) and JetPack 7.0 (for Thor).
- No action is required by users. There is no change to behavior besides some additional log messages when installing D3 Embedded’s packages.
Add support for new hardware:
- Advantech REX-52N
- Connect Tech Hadron GMSL Carrier for NVIDIA® Jetson Orin™ NX
- Connect Tech JCB002 GMSL Camera Platform
- Connect Tech JCB022 GMSL Camera Platform
- Connect Tech Rudi-NX Embedded System with NVIDIA® Jetson Orin™ NX
- DesignCore® RCM-IMX390-953
- Forecr GMSL2 Camera Board for AGX Orin (DSADDON-GMSL-AGX-4CH)
- Forecr GMSL2 Camera Board for Orin NX/Orin Nano (DSADDON-GMSL-NX)
- Syslogic Rugged Computer RML A4NX (GMSL)
Miscellaneous improvements.

See Historical Release Highlights for highlights from previous releases.

1.3. Known Issues¶

D3 Embedded is aware of the following issues with this release:

Argus
- #31691 - Argus fails to open new camera streams when a camera with a different pixel format is already streaming on the same deserializer. V4L2 is unaffected.
- #41087 - nvarguscamerasrc fails to open more than 7 simultaneous camera streams. Single-process applications like argus_camera in its ‘Multi-Session Mode’ are unaffected. For more information on this limitation, refer to NVIDIA’s FAQ Entry (the FAQ lists simultaneous encoding/decoding process limitations, but it applies to standard streaming use cases as well).
- #41480 - With 16 cameras streaming simultaneously, Argus’ autoexposure algorithm bottlenecks the video pipeline leading to significantly reduced framerate across all streams.
IMX728
- #34290 - IMX728 frame_rate control works in Argus but not V4L2.
- #34599 - IMX728 gain and exposure controls are not currently supported in HDR modes leading to suboptimal image quality. Linear modes are unaffected.
- #42692 - On the Connect Tech Hadron and Connect Tech Rudi-NX, the IMX728 driver will fail to probe due to the imager’s FSYNC pin being held LOW by a forwarded GPIO which causes the sensor to register at an unexpected address.

#41824, #42665 - At the time of release, Syslogic’s BSP for the RML A4AGX and RML A4NX has an issue which prevents DKMS drivers from building. The symptoms include presence of the log message “Module build for kernel 5.15.148-tegra was skipped” when installing and no cameras being detected on the system. To resolve the issue, run the following commands:

# Fix broken symlinks
sudo ln -sfn /usr/src/linux-headers-5.15.148-tegra-ubuntu22.04_aarch64/3rdparty/canonical/linux-jammy/kernel-source/ /lib/modules/5.15.148-tegra/source
sudo ln -sfn /usr/src/linux-headers-5.15.148-tegra-ubuntu22.04_aarch64/3rdparty/canonical/linux-jammy/kernel-source/ /lib/modules/5.15.148-tegra/build

# Re-install any affected D3 packages
## RML A4AGX
sudo apt install --reinstall ./syslogic-8x-gmsl_*.deb ./d3-jetson-util_*.deb ./d3-max9x_*.deb ./d3-ub9x_*.deb ./d3-regctl_*.deb
## RML A4NX
sudo apt install --reinstall ./syslogic-rmla4nx-8x-gmsl_*.deb ./d3-jetson-util_*.deb ./d3-max9x_*.deb ./d3-ub9x_*.deb ./d3-regctl_*.deb