How to Upgrade Your Camera to NVIDIA® JetPack 6.1 and Why it matters?

Then, follow the below commands for applying e-con patch files instead of following steps 5 to 10 in the developer guide manual.

a. Run the following command to apply the module patch.

mkdir -p sensor_driver
patch -d sensor_driver -p1 -i $RELEASE_PACK_DIR/Kernel/<module patch file name>

Figure 5: Applying Module Patch File

b. Remove the vcc-supply using the following command.

sed -i 's/vcc-supply/\/\/vcc-supply/g' $RELEASE_PACK_DIR/Kernel/<device tree overlay blob patch file name>

Apply the device tree blob overlay patch file using the following command.

patch -p1 -i $RELEASE_PACK_DIR/Kernel/<device tree overlay blob patch file name>

You can view the screen similar to the screen shown below.

Figure 6: Applying Device Tree Blob Overlay Patch File

While applying the device tree blob overlay patch file, there’s no need to alter the default SOC file. If you see “Reversed (or previously applied) patch detected! Assume -R? [n] n and Apply anyway? [n] n”, simply choose no. If you don’t see this message, you can skip this step and proceed with the next step.

You can view the output message on the Linux-based System as below.

patching file hardware/nvidia/t23x/nv-public/nv-soc/tegra234-soc-camera.dtsi
Reversed (or previously applied) patch detected! Assume -R? [n] n
Apply anyway? [n] n
Skipping patch.
5 out of 5 hunks ignored -- saving rejects to file hardware/nvidia/t23x/nv-public/nv-soc/tegra234-soc-camera.dtsi.rej
patching file hardware/nvidia/t23x/nv-public/overlay/Makefile
Hunk #1 succeeded at 65 (offset 5 lines).
patching file hardware/nvidia/t23x/nv-public/overlay/<camera_modes>.dtsi
patching file hardware/nvidia/t23x/nv-public/overlay/<camera_overlay_filename>.dts

C. Run the following command to apply the nvidia-oot patch file.

patch -p1 -i $RELEASE_PACK_DIR/Kernel/<nvidia-oot patch file name>

While applying the Nvidia-oot patch, the Makefile will not get updated automatically, as you can view on the screen below.

Figure 7: Applying Nvidia-oot Patch File

In this case, manually add the nvidia-oot Makefile by inserting the sensor-driver block provided below into the kernel source Makefile

sensor-driver:

@if [ ! -d "$(MAKEFILE_DIR)/sensor_driver/$(SENSOR_DRIVER)" ]; then \

echo "Directory sensor_driver is not found, exiting.."; \

false; \

fi

@echo "================================================================================"

@echo "make $(MAKECMDGOALS) - sensor driver ..."

@echo "================================================================================"

@if [ -d "$(MAKEFILE_DIR)/sensor_driver/PWM_MCU" ] && \

[ -d "$(MAKEFILE_DIR)/sensor_driver/$(SENSOR_DRIVER)" ]; then \

$(MAKE) -j $(NPROC) ARCH=arm64 \

CROSS_COMPILE=$(CROSS_COMPILE) \

-C $(NVIDIA_HEADERS) \

M=$(MAKEFILE_DIR)/sensor_driver/PWM_MCU \

srctree.nvconftest=$(NVIDIA_CONFTEST) \

$(MAKECMDGOALS); \

$(MAKE) -j $(NPROC) ARCH=arm64 \

CROSS_COMPILE=$(CROSS_COMPILE) \

-C $(NVIDIA_HEADERS) \

M=$(MAKEFILE_DIR)/sensor_driver/$(SENSOR_DRIVER) \

KBUILD_EXTRA_SYMBOLS=$(MAKEFILE_DIR)/sensor_driver/PWM_MCU/Module.symvers \

srctree.nvconftest=$(NVIDIA_CONFTEST) \

$(MAKECMDGOALS); \

else \

$(MAKE) -j $(NPROC) ARCH=arm64 \

CROSS_COMPILE=$(CROSS_COMPILE) \

-C $(NVIDIA_HEADERS) \

M=$(MAKEFILE_DIR)/sensor_driver/$(SENSOR_DRIVER) \

srctree.nvconftest=$(NVIDIA_CONFTEST) \

$(MAKECMDGOALS); \

fi

If you face any issues when you build using the above Makefile, you can refer to the below image for a proper Makefile that should look like.

Figure 8: Copying Sensor-Driver Block into Kernel Source Makefile

Before building the modules, run the below command to remove Nvidia’s error Recovery.

For MIPI products (e-CAM50_CUONX, e-CAM80_CUONX, e-CAM81_CUONX, e-CAM200_CUONX, e-CAM80_CUOAGX, e-CAM200_CUOAGX),

sed '238,238d' $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c > tempfile && mv tempfile $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c
sed '228i#endif' $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c > tempfile && mv tempfile $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c

For e-CAM_YUV_GMSL products (NileCAM20_CUOAGX, NileCAM21_CUOAGX, NileCAM25_CUOAGX, NileCAM81_CUOAGX, STURDeCAM20_CUOAGX, STURDeCAM21_CUOAGX),

sed '236,236d' $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c > tempfile && mv tempfile $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c
sed '226i#endif' $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c > tempfile && mv tempfile $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c

For e-CAM_OCTA_YUV_GMSL products (STURDeCAM25_CUOAGX, STURDeCAM31_CUOAGX & STURDeCAM81_CUOAGX) and STURDeCAM34_CUOAGX,

sed '240,240d' $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c > tempfile && mv tempfile $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c
sed '230i#endif' $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c > tempfile && mv tempfile $NVIDIA_SRC/nvidia-oot/drivers/media/platform/tegra/camera/vi/vi5_fops.c

With the kernel properly configured, we can proceed to the building and installation step.

6. Building and Installing the Kernel

This stage involves compiling the kernel with your custom configurations. The process requires careful attention to detail as any errors during compilation can lead to compatibility issues. The installation process will integrate your custom kernel with the Jetson system.

This process involves building and installing the kernel image, modules, sensor driver, and Device Tree Blob Overlay (DTBO) on the Linux Based System.

Run the following commands to build the binaries.

make -C kernel
make modules
sudo -E make modules_install
make dtbs


Following successful kernel installation, you’ll need to flash the development kit with our custom build binaries.

7. Flashing Jetson Development Kit

There are two available approaches to flash the Jetson Development Kit using the build binaries. This process involves transferring the customized build binaries, which include the modified kernel, drivers, and configuration files, to the Jetson device.

Let’s explore the two available approaches to flashing support in the following section briefly:

7.1 Using Developer Guide Procedure

To flash the Jetson SoM, run the commands provided in the “Flashing Jetson Development kit” section of the developer guide manual.

Important Notes: Please download your product developer guide manual from e-con’s Developer Resources to flash the Jetson Platform.

7.2 Flashing the Developer Kit Using SDK Manager

The NVIDIA® SDK Manager simplifies the flashing process by providing a pre-built installation of JetPack 6.1.

Here’s a quick overview of the flashing kit using SDK Manager

1. Download the SDK Manager from NVIDIA’s official website.
2. Launch the SDK Manager and log in with your NVIDIA Developer account.
3. Select your target Jetson device and JetPack 6.1 version, then follow the on-screen instructions to install JetPack 6.1 on your Jetson platform.

With the Jetson Development Kit now flashed and ready, the next critical task is to transfer the required binaries to the device. This step ensures that all essential components, including the customized modules, DTBO files, firmware, and miscellaneous files, are correctly placed in their respective paths. Proper placement of these files is key to enabling the full functionality of your camera integration on the NVIDIA® Jetson platform. Let’s explore the steps to accomplish this.

7.2.1 Copying the Binaries to Jetson Platforms

This involves navigating to the appropriate path within the L4T directory on your Linux Based System and executing the required commands to copy the built modules, DTBO, firmware, and miscellaneous files to their respective paths on the Jetson platform.

Below are the specific steps:

1. Navigate to the path shown below in your L4T directory of the Linux Based System.

cd $NVIDIA_SRC/kernel-devicetree/generic-dts/dtbs/

2. Connect the Type-C USB cable to the Jetson platforms and host PC.
3. Copy the Device Tree Blob Overlay to the Jetson platforms using the following secure copy command.

scp tegra234-p3767-camera-p3768-eimx568-4lane.dtbo nvidia@192.168.55.1:

Important Note: Please follow the DTBO File name as mentioned in the Developer Guide Manual.

4. Compress and copy all the Kernel modules to the Jetson Platform using the following commands.

cd $LDK_ROOTFS_DIR/lib/
sudo tar -cjmpf kernel_supplements.tar.bz2 modules/

5. Copy all the Kernel modules to the Jetson Platform using the following commands.

scp kernel_supplements.tar.bz2 nvidia@192.168.55.1:

6. Copy the firmware file to Jetson platforms using the following command.

cd $TOP_DIR
scp -r $RELEASE_PACK_DIR/<Firmware directory name> nvidia@192.168.55.1:

Important Note: If firmware directory is not in e-con’s Release Package skip the above skip.

If you are using an NVIDIA ISP camera, you need to copy the tuning files—fine-tuned by e-con Systems in collaboration with NVIDIA—from the release package to your Jetson platform. Use the following command to apply these settings and achieve the best image quality.

cd $TOP_DIR
scp $RELEASE_PACK_DIR/misc/<camera overrides file name> nvidia@192.168.55.1:

Important Note: If camera_overrides.isp file is not in e-con’s Release Package skip the above step.

7. Update the Nvidia-provided v4l2-compliance binary using the following commands.

cd $TOP_DIR
scp $RELEASE_PACK_DIR/misc/v4l2-compliance nvidia@192.168.55.1:

7.2.2 Copying Binaries from the Home Folder to Root in Jetson Platform

1. Copy the firmware to their specific path in the Jetson Platform using the following commands.

sudo cp <firmware directory name>/* /lib/firmware

Important Note: If firmware directory is not in e-con’s Release Package skip the above command.

2. Copy the Device Tree Blob Overlay to their specific path in the Jetson Platform using the following commands.

sudo cp tegra234-p3767-camera-p3768-eimx568-4lane.dtbo /boot/

3. Copy the kernel supplements to their specific path in the Jetson Platform using the following commands.

sudo tar -xjmpf kernel_supplements.tar.bz2 -C /usr/lib/

4. Copy the ISP Turning File to their specific path in the Jetson Platform using the following commands.

sudo cp <camera overrides file name> /var/nvidia/nvcam/settings/camera_overrides.isp

Important Note: If camera_overrides.isp file is not in e-con’s Release Package skip the above step.

After flashing the Developer Kit using any of the flashing methods mentioned above, the next step is to load the necessary overlay and drivers.

8. Loading Overlay and Drivers

The final step in integrating the camera on your Jetson platform involves loading the necessary overlays and camera drivers. This process ensures the hardware and software configurations are fully aligned to support your camera system.

To load the overlay file for your modules, execute the following command

sudo /opt/nvidia/jetson-io/config-by-hardware.py -n2="<Overlay_name>"

Note: Use the overlay name provided in the developer guide manual

An output message similar to the one below will appear.

Modified /boot/extlinux/extlinux.conf to add following
DTBO entries:
/boot/<dtbo_name>
Reboot system to reconfigure.

The Jetson kit will reboot automatically.

The Jetson kit will automatically reboot after this step to apply the configuration changes. Once the system restarts, the necessary overlays and drivers will be fully loaded, enabling the camera and the platform to integrate.

Important Note:

For e-CAM_OCTA_YUV_GMSL products (STURDeCAM25_CUOAGX, STURDeCAM31_CUOAGX and STURDeCAM81_CUOAGX), specify the module loading order using following commands.

sudo bash -c 'echo "tegra_camera" >> /etc/modules'
sudo bash -c 'echo "capture_ivc" >> /etc/modules'
sudo bash -c 'echo "max96712" >> /etc/modules'
sudo bash -c 'echo "mcu_pwm" >> /etc/modules'
sudo bash -c 'echo "ecam_gmsl_yuv_common" >> /etc/modules'

For STURDeCAM34_CUOAGX product, specify the module loading order using following commands.

sudo bash -c 'echo "tegra_camera" >> /etc/modules'
sudo bash -c 'echo "capture_ivc" >> /etc/modules'
sudo bash -c 'echo "max96712" >> /etc/modules'
sudo bash -c 'echo "mcu_pwm" >> /etc/modules'
sudo bash -c 'echo "ar0341_camera" >> /etc/modules'

9. Verify Camera Initialization

After completing all the setup steps, you can easily confirm that your camera is properly initialized and ready for your application using the dmesg command. With the camera successfully detected, you can start streaming using V4L2 or GStreamer—depending on your specific application needs.

Stay tuned for part 2, where we’ll explore upgrading your camera to NVIDIA® JetPack 6.2 and discuss the latest updates and features!

e-con Systems Offers Next-Gen Vision with Cameras Based on NVIDIA

Since 2003, e-con Systems® has been designing, developing, and manufacturing OEM cameras. As an NVIDIA Elite partner, our offerings cater to the entire NVIDIA Jetson lineup, including Jetson AGX Orin™, NVIDIA® Jetson Orin NX/Nano™, Jetson Xavier™ NX/Nano/TX2 NX, and Jetson AGX Xavier™.

Below is the list of cameras you can upgrade to NVIDIA® JetPack 6.1.

• STURDeCAM20_CUOAGX – IP67 Full HD GMSL2 HDR camera for Jetson AGX Orin™ / AGX Xavier™
• STURDeCAM21_CUOAGX – IP67 Full HD GMSL2 HDR Camera for Jetson AGX Orin™ / AGX Xavier™
• STURDeCAM25_CUOAGX – FHD AR0234 IP67 Global Shutter GMSL2 Multi Camera for NVIDIA Jetson AGX ORIN™ / AGX Xavier™
• STURDeCAM31_CUOAGX – 3MP 120dB HDR NVIDIA® Jetson Orin™ Camera for Autonomous Mobility
• STURDeCAM34_CUOAGX – 3MP 140dB HDR GMSL2 Camera for NVIDIA® Jetson AGX Orin™
• STURDeCAM81_CUOAGX – IP67 4K GMSL2 Camera for NVIDIA® Jetson AGX Orin™/ AGX Xavier™
• NileCAM20_CUOAGX – Full HD GMSL2 HDR camera for Jetson AGX Orin™ / AGX Xavier™
• NileCAM21_CUOAGX – HDR GMSL2 Multi-Camera Solution for NVIDIA® Jetson AGX Orin™ / AGX Xavier™
• NileCAM25_CUOAGX – Full HD GMSL2 Global Shutter camera for NVIDIA® Jetson™ AGX Orin™ / AGX Xavier™
• NileCAM81_CUOAGX – AR0821 4K HDR GMSL2 Camera for NVIDIA® Jetson AGX Orin™/ AGX Xavier™
• e-CAM200_CUOAGX – 20MP(5K) AR2020 High Resolution Multi-camera Solution for NVIDIA® Jetson AGX Orin™
• e-CAM80_CUOAGX – 4K camera based on SONY IMX415 for NVIDIA® Jetson AGX Orin™/ AGX Xavier™
• e-CAM50_CUONX – 5MP AR0521 Color Camera for NVIDIA® Jetson Orin NX / Orin Nano
• e-CAM80_CUONX – 4K Sony Starvis IMX415 Ultra Low Light Camera for NVIDIA® Jetson Orin NX / Orin Nano
• e-CAM81_CUONX – 4K HDR Camera for NVIDIA® Jetson Orin NX / Orin Nano
• e-CAM200_CUONX – 20MP (5K) AR2020 High Resolution Camera for NVIDIA® Jetson Orin NX / Orin Nano

Our camera solutions feature ISP tuning, support for up to 8 cameras, superior low-light imaging, resolutions up to 20 MP, global shutter, LFM, and more.

See all our NVIDIA® Jetson cameras

Use our Camera Selector to browse our complete portfolio.

If you need expert help to find and integrate the ideal camera into your applications, please write to camerasolutions@e-consystems.com