FG96-8CH GMSL3/2 Manual
Zhuying Intelligent Robot (Shenzhen) Co., Ltd.
1. Product Introduction
FG96_8CH GMSL Camera Platform is an expansion board that allows up to 8 cameras to connect to Jetson® AGX Orin™/Xavier™ modules. It is fully compatible with NVIDIA Jetson® AGX Orin™/Xavier™ development kits. Working at different frequencies adaptively and supporting both GMSL1 and GMSL3 GMSL2 protocols through software configuration, it can use various types of GMSL cameras available in the market. The camera power is supplied via PoC (Power over Coax), so all data, control signals, and power are transmitted through a single 50-ohm coaxial cable, making camera cable routing flexible with strong EMI immunity. It is easy to install and use in applications such as Autonomous Mobile Robots (AMR), drones (UAV), and automotive.
Product Introduction
- FG96_8CH GMSL Board is an 8-channel GMSL capture board developed by Zhuying Intelligent Robot based on the ADI Deserializer chip MAX9296A, hereinafter referred to as the Capture Board.
- This capture board can connect up to 8 GMSL cameras simultaneously and output CSI signals to the NVIDIA® Jetson AGX Orin™ Development Kit (it can also be connected to the AGX Xavier Development Kit).
- Through software configuration, the MAX9296 can adaptively decode GMSL cameras with different rates of GMSL1 and GMSL3 GMSL2 (3G/6G). It can be replaced with the MAX96792 chip to support GMSL3 cameras.
- The 120-pin connector on the NVIDIA Jetson® AGX Orin™ Devkit cannot supply the power required by the cameras.
- Therefore, the capture board is equipped with a pluggable external DC power connector for 12V –24V input (the same power adapter as the kit can be used).
- Facilitating installation and use in applications such as Autonomous Mobile Robots (AMR), Unmanned Aerial Vehicles (UAV) and automotive systems.
1.1 Product Images
1.2 Product Features
| Feature | Description |
|---|---|
| Protocol Compatibility | GMSL3 GMSL2 and GMSL1 protocol compatible |
| Power Supply | Power over Coax |
| Voltage Output | Camera power supply supports wide voltage output |
| Protection | Built-in overvoltage and short-circuit protection |
| Power Control | Camera power can be controlled by software |
| Size | Compact size for AGX Orin/Xavier Devkit |
1.3 Product Specifications
| Item | Specification |
|---|---|
| Dimensions | 104mm × 74mm |
| Weight | 50g |
| Jetson Devkit Interface | 120Pin High Density Connector, NVIDIA Jetson "Camera Expansion Header" |
| Camera Inputs | 8-channel GMSL3 GMSL2 or GMSL1 cameras (RGB/RGBD compatible) |
| Deserializer | ADI MAX9296A, each deserializer connected to one 4-Lane MIPI |
| MIPI Output | CSI-2 v1.3 (16-Lanes total) |
| Camera Connector | Amphenol single-end vertical/horizontal coaxial FAKRA connector |
| PoC Power Supply | 8-channel camera power supplied by GMSL board, PoC 9.5V |
| Power Input | Supports external 12V~24V @ 4A MAX |
| Operating Temperature | -20°C ~ +65°C (-4°F ~ +149°F) |
| Warranty | One year warranty and technical support |
3. Safety Instructions
Before using the product, you must read this document carefully to gain a preliminary understanding of the product. Always comply with the safety instructions in this manual to ensure personal safety and avoid equipment damage. The manufacturer shall not be liable for any damage to equipment or personal life and property caused by incorrect operation.
3.1 Personal Safety
- Before operating the equipment, wear anti-static work clothes, anti-static gloves or wristbands, and remove jewelry, watches, and other conductive objects to avoid electric shock or burns.
- In case of fire, evacuate the building or equipment area and press the fire alarm bell, or call the fire department. Under no circumstances should you re-enter a burning building.
3.2 Power Supply Voltage
- FG96_8CH_GMSL carrier board supports input voltage range: 12V~24V, current: 2A or above
3.3 Environmental Requirements
- Operating temperature: -20°C ~ 65°C
- Ventilation: Good ventilation must be provided around the installed computing platform.
- Grounding: The power adapter must be properly grounded. In special scenarios, grounding screws may be required for earth connection.
3.4 ESD Protection
Electronic components and circuits are sensitive to electrostatic discharge. Although our company designs anti-static protection for main interfaces on the board, it is difficult to protect all components and circuits. Therefore, when handling any circuit board components, please follow these ESD protection measures:
- During transportation and storage, keep the board in an anti-static bag until installation.
- Before touching the board, discharge static electricity from your body by wearing a grounding wristband.
- Only operate the board in an ESD-safe area.
- Avoid moving the board in carpeted areas.
4. Block Diagram
4.1 Diagram Description
Notes:
- I2C bus numbers correspond to hardware positions (matching connector J2 pins). Bus numbers may not correspond to those listed in software.
- Coaxial power is shared, but each GMSL line has its own PoC filter.
5. Component Placement Diagram
5.1 Placement Layout
6. External Interfaces
7.1 Interface Overview
| No. | Name | ID | Remarks |
|---|---|---|---|
| 1 | CAM0 | J3 | FAKRA coaxial connector, GMSL input |
| 2 | CAM1 | J7 | FAKRA coaxial connector, GMSL input |
| 3 | CAM2 | J6 | FAKRA coaxial connector, GMSL input |
| 4 | CAM3 | J8 | FAKRA coaxial connector, GMSL input |
| 5 | CAM4 | J9 | FAKRA coaxial connector, GMSL input |
| 6 | CAM5 | J10 | FAKRA coaxial connector, GMSL input |
| 7 | CAM6 | J11 | FAKRA coaxial connector, GMSL input |
| 8 | CAM7 | J12 | FAKRA coaxial connector, GMSL input |
| 9 | Power Input | J1 | Spec: HC-5557-2*2A |
| 10 | External Trigger | J5 | 2*3P connector |
| 11 | BTB Connector | J2 | BTB high-speed connector, 120Pin |
7. Interface Functions
7.1 J1 - Power Input Interface
Function: POWER input
ID: J1
Type/Model: HC-5557-2*2A
| Pin | Signal |
|---|---|
| 1 | 12V~24V |
| 2 | GND |
| 3 | 12V~24V |
| 4 | GND |
7.2 J5 - External Trigger Connector
Function: External trigger signal input
ID: J5
Type/Model: 2.54-2*3P
| Pin | Signal | Pin | Signal |
|---|---|---|---|
| 1 | GND | 4 | CAM0_7_SYNC3 |
| 2 | CAM0_7_SYNC1 | 5 | CAM0_7_SYNC4 |
| 3 | CAM0_7_SYNC2 | 6 | CAM0_7_SYNC5_CON |
7.2 J3/J6/J7/J8/J9/J10/J11/J12 - FAKRA Connectors
Function: GMSL camera interface
ID: J3, J6, J7, J8, J9, J10, J11, J12
Type/Model: Amphenol 2FA1-NZSP-PCBB6
Description: GMSL camera interface is based on V4L2 (Video for Linux), which provides a unified interface specification for drivers and applications, facilitating application development. If 8 standard YUV cameras are connected, after firmware upgrade, the following device mapping will be displayed.
8.3.1 FAKRA Connector Pin Definition
| Pin | Signal |
|---|---|
| 1 | MAXx_SIOA_P |
| 2 | GND |
| 3 | GND |
| 4 | GND |
| 5 | GND |
8.3.2 Physical Interface to Device Node Mapping
| Physical Interface | ID | Device Node |
|---|---|---|
| GMSL1 (CAM0) | J3 | /dev/video0 |
| GMSL2 (CAM1) | J7 | /dev/video1 |
| GMSL3 (CAM2) | J6 | /dev/video2 |
| GMSL4 (CAM3) | J8 | /dev/video3 |
| GMSL5 (CAM4) | J9 | /dev/video4 |
| GMSL6 (CAM5) | J10 | /dev/video5 |
| GMSL7 (CAM6) | J11 | /dev/video6 |
| GMSL8 (CAM7) | J12 | /dev/video7 |
7.2 J2 - BTB Connector
Function: Module connection interface
ID: J2
Type/Model: 120PIN Height 16mm QTH-060-04-F-D-A-K-TR
7.3.1 J2 Connector Pin Definition (120Pin)
| Pin | Signal | Pin | Signal | Pin | Signal | Pin | Signal |
|---|---|---|---|---|---|---|---|
| 1 | MAX1_CSI0_DATA0_P | 31 | MAX2_CSI2_DATA1_P | 61 | MAX3_CSI5_DATA0_N | 91 | NC |
| 2 | MAX1_CSI1_DATA0_P | 32 | MAX2_CSI3_DATA1_P | 62 | MAX4_CSI7_DATA0_N | 92 | MAX4_PWDNB |
| 3 | MAX1_CSI0_DATA0_N | 33 | MAX2_CSI2_DATA1_N | 63 | GND | 93 | MAX1_PWDNB |
| 4 | MAX1_CSI1_DATA0_N | 34 | MAX2_CSI3_DATA1_N | 64 | GND | 94 | NC |
| 5 | GND | 35 | GND | 65 | NC | 95 | MAX2_PWDNB |
| 6 | GND | 36 | GND | 66 | NC | 96 | CAM0_7_SYNC2 |
| 7 | MAX1_CSI0_CK_P | 37 | MAX3_CSI4_DATA0_P | 67 | NC | 97 | CAM0_7_SYNC4 |
| 8 | NC | 38 | MAX4_CSI6_DATA0_P | 68 | NC | 98 | CAM0_7_SYNC3 |
| 9 | MAX1_CSI0_CK_N | 39 | MAX3_CSI4_DATA0_N | 69 | GND | 99 | GND |
| 10 | NC | 40 | MAX4_CSI6_DATA0_N | 70 | GND | 100 | GND |
| 11 | GND | 41 | GND | 71 | MAX3_CSI5_DATA1_P | 101 | NC |
| 12 | GND | 42 | GND | 72 | MAX4_CSI7_DATA1_P | 102 | NC |
| 13 | MAX1_CSI0_DATA1_P | 43 | MAX3_CSI4_CK_P | 73 | MAX3_CSI5_DATA1_N | 103 | NC |
| 14 | MAX1_CSI1_DATA1_P | 44 | MAX4_CSI6_CK_P | 74 | MAX4_CSI7_DATA1_N | 104 | NC |
| 15 | MAX1_CSI0_DATA1_N | 45 | MAX3_CSI4_CK_N | 75 | I2C_HUB_SCL_R | 105 | NC |
| 16 | MAX1_CSI1_DATA1_N | 46 | MAX4_CSI6_CK_N | 76 | NC | 106 | NC |
| 17 | GND | 47 | GND | 77 | I2C_HUB_SDA_R | 107 | NC |
| 18 | GND | 48 | GND | 78 | NC | 108 | VCC_3V3 |
| 19 | MAX2_CSI2_DATA0_P | 49 | MAX3_CSI4_DATA1_P | 79 | GND | 109 | NC |
| 20 | MAX2_CSI3_DATA0_P | 50 | MAX4_CSI6_DATA1_P | 80 | GND | 110 | VCC_3V3 |
| 21 | MAX2_CSI2_DATA0_N | 51 | MAX3_CSI4_DATA1_N | 81 | NC | 111 | NC |
| 22 | MAX2_CSI3_DATA0_N | 52 | MAX4_CSI6_DATA1_N | 82 | AVDD_CAM_2V8 | 112 | NC |
| 23 | GND | 53 | GND | 83 | NC | 113 | NC |
| 24 | GND | 54 | GND | 84 | NC | 114 | NC |
| 25 | MAX2_CSI2_CK_P | 55 | NC | 85 | CAM0_7_SYNC1 | 115 | GND |
| 26 | NC | 56 | NC | 86 | NC | 116 | GND |
| 27 | MAX2_CSI2_CK_N | 57 | NC | 87 | NC | 117 | CAM0_7_SYNC5 |
| 28 | NC | 58 | NC | 88 | NC | 118 | VCC_3V3 |
| 29 | GND | 59 | MAX3_CSI5_DATA0_P | 89 | NC | 119 | POC_PWR_EN |
| 30 | GND | 60 | MAX4_CSI7_DATA0_P | 90 | MAX3_PWDNB | 120 | VCC_3V3 |
8. Camera Testing
8.1 Camera Configuration
Supports dynamic camera detection and loading. Run sudo fzcam_ui to configure CAM1~8, then select different camera brands and sensor models.
Operation Steps:
- Select "GMSL Position" for camera node
- Select "Manufacturer"
- Select "Model"
- Save configuration
- Run configuration
8.2 Camera Configuration Interface
8.3 RGB Camera Quick Verification and Reference Code
The device supports video output using Gstreamer. Image capture and display methods are as follows:
8.3.1 8MP Camera (3840×2160)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)3840, height=(int)2160" ! videoconvert ! fpsdisplaysink video-sink=xvimagesink sync=false
8.3.2 5MP Camera (2880×1860)
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)2880, height=(int)1860" ! videoconvert ! fpsdisplaysink video-sink=xvimagesink sync=false
8.3.3 2MP Camera (1920×1080)
gst-launch-1.0 -ev v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)1920, height=(int)1080" ! fpsdisplaysink text-overlay=0 video-sink=fakesink sync=0
8.3.4 1MP Camera (1280×720)
gst-launch-1.0 -ev v4l2src device=/dev/video0 ! "video/x-raw, format=(string)UYVY, width=(int)1280, height=(int)720" ! fpsdisplaysink text-overlay=0 video-sink=fakesink sync=0
Note: For cameras with other resolutions, configure according to specific camera parameters. Please contact our sales team or visit our website for the camera support list.
9. Warranty Terms
9.1 Important Notice
Zhuying Intelligent Robot (Shenzhen) Co., Ltd. warrants that all products provided are free from defects in materials and workmanship to the best of its knowledge, and fully conform to the specifications of the original factory shipment.
Zhuying Intelligent Robot (Shenzhen) Co., Ltd.'s warranty covers all original products. For failures of accessories configured by distributors, please contact the distributor for resolution. All products provided by the company are covered by a one-year warranty (lifetime repair service is provided beyond the warranty period). The warranty period starts from the date of manufacture. For products repaired within the warranty period, the repaired parts enjoy an extended 12-month warranty. Unless otherwise notified by Zhuying Intelligent Robot (Shenzhen) Co., Ltd., the date on your original delivery note is the date of manufacture.
9.2 How to Obtain Warranty Service
If your product fails to operate properly within the warranty period, please contact Zhuying Intelligent Robot (Shenzhen) Co., Ltd. for warranty service. When claiming warranty, please present your purchase invoice (this is your proof of entitlement to warranty service).
9.3 Warranty Resolution Procedures
When requesting warranty service, you need to follow the problem determination and resolution procedures specified by Zhuying Intelligent Robot (Shenzhen) Co., Ltd. You need to accept the initial diagnosis by technical personnel via phone, WeChat, or email. You will be required to complete all questions on the repair form we provide to ensure we accurately determine the cause of the failure and the location of damage (for out-of-warranty products, we will also provide a fee estimate for your confirmation).
Zhuying Intelligent Robot (Shenzhen) Co., Ltd. reserves the right to "repair" or "replace" the claimed product. If the product is "replaced" or "repaired", the replaced "faulty" product or the "faulty" parts after repair will be returned to Zhuying Intelligent Robot (Shenzhen) Co., Ltd.
Since some repaired products need to be sent to the original factory, to avoid accidental losses, Zhuying Intelligent Robot (Shenzhen) Co., Ltd. recommends that you purchase transportation insurance. If you waive insurance, Zhuying Intelligent Robot (Shenzhen) Co., Ltd. shall not be liable for damage or loss of the shipped items during transportation.
For products within the warranty period:
- The user bears the shipping cost for returning the product to the factory
- Zhuying Intelligent Robot (Shenzhen) Co., Ltd. bears the shipping cost for returning the repaired product to the user
9.4 The Following Cases Are Not Covered by Warranty
- Improper installation, misuse, or abuse (such as exceeding working load, etc.)
- Faults or damage caused by improper maintenance (such as fire, explosion, etc.) or natural disasters (such as lightning, earthquake, typhoon, etc.)
- Alterations to the product (such as circuit characteristics, mechanical characteristics, software characteristics, anti-corrosion treatment, etc.)
- Other faults obviously caused by improper use (such as overvoltage, undervoltage, reverse polarity, bent or broken pins, wrong bus connection, component falling off, electrostatic breakdown, external force extrusion, drop damage, excessive temperature, excessive humidity, poor transportation, etc.)
- The marks and part numbers on the product have been deleted or removed
- The product is beyond the warranty period
9.5 Special Note
If multiple products experience the same fault or the same fault occurs repeatedly on the same equipment, to find the cause and confirm responsibility, our company reserves the right to request the user to provide physical or technical information of peripheral equipment, such as monitors, external devices, cables, power supplies, connection diagrams, system structure diagrams, etc. Otherwise, we reserve the right to refuse warranty service. Repairs will be charged at market prices, and a repair deposit will be required.
Document Version: V2
Company Name: Zhuying Intelligent Robot (Shenzhen) Co., Ltd.