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Vision Components MIPI CSI-2 driver for NVIDIA Jetson Nano, Xavier NX, AGX Xavier, TX2 and Orin Nano, Orin NX

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Vision Components MIPI CSI-2 driver for NVIDIA Jetson Nano, Xavier NX, AGX Xavier, TX2, Orin Nano and Orin NX

VC MIPI camera

Version 0.17.1 (History)

Prerequisites for cross-compiling

Host PC

  • Recommended OS is Ubuntu 18.04 LTS or Ubuntu 20.04 LTS
  • You need git to clone this repository
  • All other packages are installed by the scripts contained in this repository

Quickstart

  1. Enter recovery mode by following the instructions in one of the guides:

    Quick Start Guide L4T 35.3.1 (NVIDIA Jetson Orin Nano, Orin NX, Xavier NX and AGX Xavier)

    Quick Start Guide L4T 32.7.3 (NVIDIA Jetson Nano, TX2, Xavier NX and AGX Xavier)

  2. Create a directory and clone the repository.

    cd <working_dir>
git clone https://github.com/VC-MIPI-modules/vc_mipi_nvidia

  3. Start the quickstart installation process and follow the instructions.

    cd vc_mipi_nvidia/bin
./quickstart.sh

    If you have changed your hardware setup simply execute this script again.

    During the setup process of the quickstart.sh script, there will be executed the l4t_create_default_user.sh script from NVIDIA, which will create a default user with the credentials given by the user.

    • After setting up the toolchain, the user is prompted to this credentials mask.
    • This script has been available since L4T 32.6.1 and will be applied accordingly.
    • For older version (L4T 32.3.1 - L4T 32.5.2), the user has to setup the default user by hand after the flashing process. This procedure is guided by the ubuntu setup dialogs immediately after the first boot.

  4. (Optional)

    Set up the target by executing one of the following commands on the host computer when the target device is already running:

    cd vc_mipi_nvidia/bin
./setup.sh --target

    or

    cd vc_mipi_nvidia/bin
./setup.sh -t

    This function will configure a connection with the running target. It will backup the users known_hosts file and copy the users public rsa key, so that every time when a ssh connection to the device is opened, the user don't need to enter the password again. It will also copy the demo.sh and max_speed.sh script into the /home/username/test/ folder on the device.

    For more information about the mentioned scripts, please run the appropriate script with the option "-h" in a shell on the running device.

    vc@nvidia $./test/demo.sh -h

    or

    vc@nvidia $ ./test/max_speed.sh -h

    When operating with the max_speed.sh script, it should be run as root.
    E.g. speeding up the clocks:

    vc@nvidia $ sudo ./test/max_speed.sh -m

Changing camera settings in the device tree

GStreamer Support

If you want to use GStreamer with nvarguscamerasrc it is essential to adjust some properties in the device tree. To do that follow the instructions in this section. For each camera there is a mode0 node in the device tree. There is an additional comment in this node to mark the properties that you need to customize. In the tables below you will find the specific values for each camera.

The value of the property pixel_t lists the supported pixel formats. Here you have to choose one out of the following table.

pixel_t value RAW08 value RAW10 value RAW12
RGGB bayer_rggb8 bayer_rggb bayer_rggb12
GBRG bayer_gbrg8 bayer_gbrg bayer_gbrg12

The property max_framerate is given for the number of lanes and the pixel format. For example, 4L10 stands for 4 lanes and the pixel format RAW10. Always set the def_framerate to the same value as max_framerate

GStreamer properties for IMX296, IMX297, OV7251 (cameras with 1 lane support only)
Property IMX296 IMX297 OV7251
physical_w 4.968 4.968 1.920
physical_h 3.726 3.726 1.440
active_w 1440 720 640
active_h 1080 540 480
pixel_t RG 10 RG 10 RG 8,10
max_gain_val 48 48 18
step_gain_val 0.100 0.100 0.018
max_framerate (1L08) - - 104.0
max_framerate (1L10) 60.3 60.3 104.0
max_framerate (1L12) - - -
GStreamer properties for IMX264, IMX265, OV9281 (cameras with 2 lanes support only)
Property IMX264 IMX265 OV9281
physical_w 8.390 7.065 3.840
physical_h 7.066 5.299 2.400
active_w 2432 2048 1280
active_h 2048 1536 800
pixel_t RG 8,10,12 RG 8,10,12 RG 8,10
max_gain_val 48 48 12
step_gain_val 0.100 0.100 0.050
max_framerate (2L08) 35.5 55.3 120.6
max_framerate (2L10) 35.5 55.3 120.6
max_framerate (2L12) 35.5 55.3 -
GStreamer properties for IMX178, IMX183, IMX226 (cameras with 2 and 4 lanes support)
Property IMX178 IMX183 IMX226
physical_w 7.373 13.056 7.222
physical_h 4.915 8.755 5.550
active_w 3072 5440 3904
active_h 2048 3648 3000
pixel_t RG 8,10,12 RG 8,10,12 GB 8,10,12
max_gain_val 48 27 27
step_gain_val 0.100 0.026 0.014
max_framerate (2L08) 51.3 13.4 21.8
max_framerate (2L10) 41.6 13.4 21.8
max_framerate (2L12) 35.4 11.2 18.1
max_framerate (4L08) 58.2 26.8 43.6
max_framerate (4L10) 58.2 26.8 43.6
max_framerate (4L12) 51.3 22.4 36.3
GStreamer properties for IMX250, IMX252, IMX273, IMX392 (cameras with 2 and 4 lanes support)
Property IMX250 IMX252 IMX273 IMX392
physical_w 8.390 7.066 4.968 6.624
physical_h 7.066 5.299 3.726 4.140
active_w 2432 2048 1440 1920
active_h 2048 1536 1080 1200
pixel_t RG 8,10,12 RG 8,10,12 RG 8,10,12 RG 8,10,12
max_gain_val 48 48 48 48
step_gain_val 0.100 0.100 0.100 0.100
max_framerate (2L08) 65.7 102.0 195.6 132.4
max_framerate (2L10) 53.7 83.8 156.5 111.9
max_framerate (2L12) 45.5 69.8 136.9 95.0
max_framerate (4L08) 101.3 151.4 276.0 201.7
max_framerate (4L10) 82.5 123.5 226.5 167.0
max_framerate (4L12) 69.5 105.7 165.9 134.4
GStreamer properties for IMX290, IMX327, IMX335, IMX412, IMX415 and IMX462 (cameras with 2 and 4 lanes support)
Property IMX290/327 IMX335 IMX412 IMX415 IMX462
physical_w 5.568 5.184 6.250 5.568 5.568
physical_h 3.132 3.888 4.712 3.132 3.132
active_w 1920 2592 4032 3840 1920
active_h 1080 1944 3040 2160 1080
pixel_t RG 10 RG 10,12 RG 10 GB 10 RG 10
max_gain_val 71 72 51 72 71
step_gain_val 0.300 0.300 0.050 0.300 0.300
max_framerate (2L08) - - - - -
max_framerate (2L10) 60.0 15.0 20.0 31.7 60.0
max_framerate (2L12) - 15.0 - - -
max_framerate (4L08) - - - - -
max_framerate (4L10) 60.0 22.3 40.0 59.9 120.0
max_framerate (4L12) - 22.3 - - -
GStreamer properties for IMX565, IMX566, IMX567 and IMX568 (cameras with 2 and 4 lanes support)
Property IMX565 IMX566 IMX567/568
physical_w 11.311 7.804 6.752
physical_h 8.220 7.804 5.655
active_w 4128 2848 2464
active_h 3000 2848 2064
pixel_t RG 8,10,12 RG 8,10,12 RG 8,10,12
max_gain_val 48 48 48
step_gain_val 0.100 0.100 0.100
max_framerate (2L08) 21.1 33.3 49.8
max_framerate (2L10) 17.0 26.9 41.3
max_framerate (2L12) 14.2 22.6 34.6
max_framerate (4L08) 40.7 68.2 96.2
max_framerate (4L10) 18.8* 51.6 78.8
max_framerate (4L12) 27.8 43.6 66.7

*) max_framerate (4L10) will be increased with next sensor revision

Example

As an example the device tree for the IMX226 with 4 lanes and pixel format RAW10 is shown on the code snippet. Be aware of that the property values for gain are given in mdB [:)] and the frame rate in mHz. So, you have to multiply the values from the table with 1000.

  ...
  // ----------------------------------------------------
  // If you want to use GStreamer with nvarguscamerasrc
  // you have to adjust this settings
  physical_w              = "7.533";
  physical_h              = "5.635";
  // ----------------------------------------------------

  // This node is needed by the Tegra framework.
  // You don't have to change any settings if just want to use the V4L API.
  mode0 {
      ...

      // ----------------------------------------------------
      // If you want to use GStreamer with nvarguscamerasrc
      // you have to adjust this settings. 
      active_l                 = "0";
      active_t                 = "0";
      active_w                 = "3904";
      active_h                 = "3000";
#if LINUX_VERSION < 500
      pixel_t                  = "bayer_rggb";
#else
      mode_type                = "bayer";
      pixel_phase              = "rggb";
      csi_pixel_bit_depth      = "10";
#endif

      min_gain_val             = "0";         //     0.0 dB
      max_gain_val             = "27000";     //    27.0 dB
      step_gain_val            = "14";        //   0.014 dB
      default_gain             = "0";         //     0.0 dB
      
      min_exp_time             = "1";         //       1 us
      max_exp_time             = "1000000";   // 1000000 us
      step_exp_time            = "1";         //       1 us
      default_exp_time         = "10000";     //   10000 us

      min_framerate            = "0";         //       0 Hz
      max_framerate            = "43600";     //    43.6 Hz
      step_framerate           = "100";       //     0.1 Hz
      default_framerate        = "43600";     //    43.6 Hz
      // ----------------------------------------------------
      ...

Device Tree File

If you want to change some settings of a camera in the device tree, please follow these steps.

  1. Edit the device tree file for your hardware setup.

    system on module carrier board device tree file
    NVIDIA Jetson Nano NVIDIA Jetson Nano Developer Kit src/devicetree/NV_DevKit_Nano/tegra210-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Nano Auvidea JNX30 src/devicetree/Auvidea_JNX30_Nano/tegra210-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Nano Auvidea JNX42 src/devicetree/Auvidea_JNX42_Nano/tegra210-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Xavier NX NVIDIA Jetson Xavier NX Developer Kit src/devicetree/NV_DevKit_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Xavier NX Auvidea JNX30 src/devicetree/Auvidea_JNX30_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Xavier NX Auvidea JNX42 src/devicetree/Auvidea_JNX42_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson AGX Xavier Auvidea J20 on DevKit src/devicetree/Auvidea_J20_AGXXavier/tegra194-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson TX2 Auvidea J20 on DevKit src/devicetree/Auvidea_J20_TX2/tegra186-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson TX2 NX Auvidea JNX30D src/devicetree/Auvidea_JNX30D_TX2NX/tegra186-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Orin Nano NVIDIA Jetson Orin Nano Developer Kit src/devicetree/NV_DevKit_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Orin Nano Auvidea JNX42 src/devicetree/Auvidea_JNX42_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
    NVIDIA Jetson Orin NX Auvidea JNX42 src/devicetree/Auvidea_JNX42_OrinNX/tegra234-camera-vc-mipi-cam.dtsi

    To edit the correct device tree file you can simply use the setup script. It will open the correct device tree file in the nano editor.

      ./setup.sh --camera

  2. Enter recovery mode by following the instructions in one of the guides:
    Quick Start Guide L4T 35.3.1 (NVIDIA Jetson Orin Nano, Orin NX, Xavier NX and AGX Xavier)
    Quick Start Guide L4T 32.7.3 (NVIDIA Jetson Nano, TX2, Xavier NX and AGX Xavier)

  3. Build and flash the device tree files to the target.

      ./build.sh --dt
  ./flash.sh --dt

    Regarding to Jetpack5 and higher, please have a look at the section Annotations.

Using long exposure times or external trigger mode with long waiting times (> 5 seconds)

If you want to use your camera in an application with long exposure times or external trigger and the time between two consecutively triggers is potentially long (> 5 seconds) it is necessary to adjust the timeout of the csi receiver. In this case please change following line of code.

system on module line in file
NVIDIA Jetson Nano 232 /kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi2_fops.c
NVIDIA Jetson Xavier NX 36 /kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c
NVIDIA Jetson AGX Xavier 36 /kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi5_fops.c
NVIDIA Jetson TX2 1097 /kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi4_fops.c
NVIDIA Jetson TX2 NX 1097 /kernel/nvidia/drivers/media/platform/tegra/camera/vi/vi4_fops.c

Tested with VC MIPI Camera Module Revision

  • IMX178 (Rev.02), IMX183 (Rev.15), IMX226 (Rev.16),
  • IMX250 (Rev.09), IMX252 (Rev.12), IMX264 (Rev.05), IMX265 (Rev.05), IMX273 (Rev.16), IMX392 (Rev.08)
  • IMX290 (Rev.02), IMX327 (Rev.02), IMX462 (Rev.01)
  • IMX296 (Rev.43), IMX297 (Rev.43)
  • IMX335 (Rev.02)
  • IMX412 (Rev.05)
  • IMX415 (Rev.02)
  • IMX565 (Rev.03), IMX566 (Rev.03), IMX567 (Rev.03), IMX568 (Rev.04)
  • OV7251 (Rev.01), OV9281 (Rev.02)

You can find the revision of the camera module in the dmesg log.

dmesg | grep 'i2c'
[...] i2c 6-0010: +--- VC MIPI Camera -----------------------------------+
[...] i2c 6-0010: | MANUF. | Vision Components               MID: 0x0427 |
[...] i2c 6-0010: | MODULE | ID:  0x0183                     REV:   0012 |
[...] i2c 6-0010: | SENSOR | SONY IMX183                                 |
...

Integrate the driver in your own BSP

If you have your own BSP, you have to integrate the driver into it. Please follow these steps.

  1. Apply all patches in the folder kernel_common_32.3.1+ and the patches listed in the following table that match your hardware setup

    system on module carrier board BSP all patches in folder patch/...
    NVIDIA Jetson Nano NVIDIA DevKit 32.5.0 - 32.5.2 kernel_Nano_32.5.0+
    32.6.1 - 32.7.3 kernel_Nano_32.6.1+
    32.7.4 kernel_Nano_32.6.1+
    kernel_Nano_32.7.4
    Auvidea JNX30 32.5.0 - 32.5.2 kernel_Nano_32.5.0+
    dt_Auvidea_JNX30_Nano_32.5.0+
    32.6.1 - 32.7.3 kernel_Nano_32.6.1+
    dt_Auvidea_JNX30_Nano_32.5.0+
    32.7.4 kernel_Nano_32.6.1+
    kernel_Nano_32.7.4
    dt_Auvidea_JNX30_Nano_32.5.0+
    Auvidea JNX42 32.5.0 - 32.5.2 kernel_Nano_32.5.0+
    dt_Auvidea_JNX30_Nano_32.5.0+
    32.6.1 - 32.7.3 kernel_Nano_32.6.1+
    dt_Auvidea_JNX30_Nano_32.5.0+
    32.7.4 kernel_Nano_32.6.1+
    kernel_Nano_32.7.4
    dt_Auvidea_JNX30_Nano_32.5.0+
    NVIDIA Jetson Xavier NX NVIDIA DevKit 32.5.0 kernel_Xavier_32.5.0+
    32.5.1 - 32.5.2 kernel_Xavier_32.5.1+
    32.6.1 - 32.7.2 kernel_Xavier_32.6.1+
    32.7.3 kernel_Xavier_32.7.3+
    35.1.0 kernel_Xavier_35.1.0+
    35.2.1 kernel_Xavier_35.2.1+
    35.3.1 kernel_Xavier_35.3.1+
    Auvidea JNX30 32.5.0 kernel_Xavier_32.5.0+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    32.5.1 - 32.5.2 kernel_Xavier_32.5.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    32.6.1 - 32.7.2 kernel_Xavier_32.6.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    32.7.3 kernel_Xavier_32.7.3+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    35.1.0 kernel_Xavier_35.1.0+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    35.2.1 kernel_Xavier_35.2.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    35.3.1 kernel_Xavier_35.3.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    Auvidea JNX42 32.5.0 kernel_Xavier_32.5.0+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    32.5.1 - 32.5.2 kernel_Xavier_32.5.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    32.6.1 - 32.7.2 kernel_Xavier_32.6.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    32.7.3 kernel_Xavier_32.7.3+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    35.1.0 kernel_Xavier_35.1.0+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    35.2.1 kernel_Xavier_35.2.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    35.3.1 kernel_Xavier_35.3.1+
    dt_Auvidea_JNX30_XavierNX_32.5.0+
    NVIDIA Jetson AGX Xavier DevKit + J20 32.5.0 kernel_Xavier_32.5.0+
    32.5.1 - 32.5.2 kernel_Xavier_32.5.1+
    32.6.1 - 32.7.2 kernel_Xavier_32.6.1+
    32.7.3 kernel_Xavier_32.7.3+
    35.1.0 kernel_Xavier_35.1.0+
    35.2.1 kernel_Xavier_35.2.1+
    35.3.1 kernel_Xavier_35.3.1+
    NVIDIA Jetson TX2 DevKit + J20 32.5.0 kernel_Xavier_32.5.0+
    32.5.1 - 32.5.2 kernel_Xavier_32.5.1+
    32.6.1 - 32.7.2 kernel_Xavier_32.6.1+
    32.7.3 kernel_Xavier_32.7.3+
    NVIDIA Jetson TX2 NX Auvidea JNX30D 32.5.1 - 32.5.2 kernel_Xavier_32.5.1+
    32.6.1 - 32.7.2 kernel_Xavier_32.6.1+
    32.7.3 kernel_Xavier_32.7.3+
    NVIDIA Jetson Orin Nano NVIDIA DevKit 35.3.1 kernel_Xavier_35.3.1+
    Auvidea JNX42 35.3.1 kernel_Xavier_35.3.1+
    NVIDIA Jetson Orin NX Auvidea JNX42 35.2.1 kernel_Xavier_35.2.1+
    35.3.1 kernel_Xavier_35.3.1+

  2. Copy the camera device tree to the folder listed in the following table

    system on module carrier board copy from src/devicetree/... to folder
    NVIDIA Jetson Nano NVIDIA DevKit NV_DevKit_Nano/tegra210-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t210/porg/kernel-dts/porg-platforms
    Auvidea JNX30 Auvidea_JNX30_Nano/tegra210-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t210/porg/kernel-dts/porg-platforms
    Auvidea JNX42 Auvidea_JNX42_Nano/tegra210-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t210/porg/kernel-dts/porg-platforms
    NVIDIA Jetson Xavier NX NVIDIA DevKit NV_DevKit_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t19x/jakku/kernel-dts/common
    Auvidea JNX30 Auvidea_JNX30_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t19x/jakku/kernel-dts/common
    Auvidea JNX42 Auvidea_JNX42_XavierNX/tegra194-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t19x/jakku/kernel-dts/common
    NVIDIA Jetson AGX Xavier DevKit + J20 Auvidea_J20_AGXXavier/tegra194-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t19x/common/kernel-dts/t19x-common-modules
    NVIDIA Jetson TX2 DevKit + J20 Auvidea_J20_TX2/tegra186-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-modules
    NVIDIA Jetson TX2 NX Auvidea JNX30D Auvidea_JNX30D_TX2NX/tegra186-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t18x/lanai/kernel-dts/common
    NVIDIA Jetson Orin Nano NVIDIA DevKit NV_DevKit_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t23x/p3768/kernel-dts/cvb
    Auvidea JNX42 Auvidea_JNX42_OrinNano/tegra234-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t23x/p3768/kernel-dts/cvb
    NVIDIA Jetson Orin NX Auvidea JNX42 Auvidea_JNX42_OrinNX/tegra234-camera-vc-mipi-cam.dtsi
    => /hardware/nvidia/platform/t23x/p3768/kernel-dts/cvb

  3. Copy all driver files from folder src/driver to /kernel/nvidia/drivers/media/i2c

Testing the camera

To test the camera you can use v4l2-test

Annotations

For Jetpack 5 (L4T 35.1.0, 35.2.1, 35.3.1):

  • When the system has booted successfully, it is necessary to run the script max_speed.sh from the /target folder as superuser. It will read out the maximum frequencies and set them as the current ones. This is a recommendation from nvidia.

    sudo ./max_speed.sh -m

  • For changing device trees only (./build.sh -d and ./flash.sh -d) there must be a differentiation between Orin and Non-Orin Targets:

    • For targets like Xavier NX and AGX Xavier, you will have to modify your /boot/extlinux/extlinux.conf on your target machine by removing the FDT entry or by commenting out with '#'. Otherwise you will have to flash your complete linux image for every device tree change to take effect.

      # FDT /boot/dtb/kernel_tegra194-p3668-0000-p3509-0000.dtb

      When calling the flash script with the option -d (flash the device tree only), the device must be in force recovery mode!

    • For OrinNano and Orin NX the FDT entry must be present in the /boot/extlinux/extlinux.conf file. The ./flash -d command will copy the proper file (e.g. tegra234-p3767-0003-p3768-0000-a0.dtb for OrinNano 8GB on NVIDIA DevKit) into the /boot/dtb/ directory.

      Therefore, the extlinux.conf FDT entry must be renamed e.g.:
      from

      FDT /boot/dtb/<b>kernel_</b>tegra234-p3767-0003-p3768-0000-a0.dtb

      to

      FDT /boot/dtb/tegra234-p3767-0003-p3768-0000-a0.dtb

      When calling the flash script with the option -d (flash the device tree only), the device must be running. It must not be in force recovery mode!

For NVIDIA Jetson TX2 NX

  • Currently the following camera modules do not work with the TX2 NX
    • IMX178, IMX183
    • IMX250, IMX252, IMX264, IMX265, IMX273, IMX392

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Vision Components MIPI CSI-2 driver for NVIDIA Jetson Nano, Xavier NX, AGX Xavier, TX2 and Orin Nano, Orin NX

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