### Install Build Dependencies

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Installs essential packages required for building the Framos drivers on the Jetson platform.

```bash
sudo apt install flex bison libssl-dev
```

--------------------------------

### Install Kernel Modules and Device Tree Overlays

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Installs the compiled nvidia-oot kernel modules and device tree overlays to their respective system locations.

```bash
install_all
```

--------------------------------

### Jetson Config Camera - Multiple Camera Connector Configuration Example

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Example showing the configuration of multiple camera connectors, specifically reconfiguring J5 and J7 on FPA-4.A/AGX.

```text
=================== Jetson Config Camera v2.0.0 ====================
|                                                                    |
|                                                                    |
|             Configure camera connector on FPA-4.A/AGX              |
|                                                                    |
|        Re-configure J5-IMX565-2Lanes-No GMSL on FPA-4.A/AGX        |
|                            Configure J6                            |
|         Re-configure J7-IMX662-4Lanes-GMSL on FPA-4.A/AGX          |
|                            Configure J8                            |
|                   Save and reboot to reconfigure                   |
|                  Save and exit without rebooting                   |
|                        Discard all changes                         |

```

--------------------------------

### Start Interactive Camera Configuration Tool

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Interactive-version

Execute this command to launch the interactive camera configuration utility on Jetson platforms. Use with sudo.

```bash
sudo jetson-config-camera.py
```

--------------------------------

### Install L4T Flash Prerequisites

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Cross‐Compile,-Install-and-flash-on-host-system(Ubuntu-22.04)

Installs the necessary packages required for flashing the Jetson platform using Nvidia's L4T tools.

```bash
sudo <install-path>/Linux_for_Tegra/tools/l4t_flash_prerequisites.sh
```

--------------------------------

### Timer Mode on Orin

Source: https://github.com/framosimaging/framos-jetson-drivers/blob/l4t-r36.4.4/source/nvidia-oot/Documentation/devicetree/bindings/nvpps/nvpps.txt

Example Device Tree configuration for timer mode on Orin platform using nvpps driver.

```devicetree
mgbe0: ethernet@6800000{
};

nvpps {
	status = "okay";
	compatible = "nvidia,tegra234-nvpps";
	primary-emac = <&mgbe0>;
	sec-emac = <&mgbe0>;
	reg = <0x0 0xc6a0000 0x0 0x1000>;
};
```

--------------------------------

### Timer Mode on Xavier

Source: https://github.com/framosimaging/framos-jetson-drivers/blob/l4t-r36.4.4/source/nvidia-oot/Documentation/devicetree/bindings/nvpps/nvpps.txt

Example Device Tree configuration for timer mode on Xavier platform using nvpps driver.

```devicetree
eqos: ethernet@2490000{
};

nvpps {
	status = "okay";
	compatible = "nvidia,tegra194-nvpps";
	primary-emac = <&eqos>;
	sec-emac = <&eqos>;
};
```

--------------------------------

### Install framos-drivers Debian Package

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Install-binaries‐debian-on-target-system(Jetson-platform)

Use this command to install the downloaded framos-drivers Debian package on the Jetson target system. Ensure the path to the .deb file is correct.

```bash
sudo apt install ./framos-drivers_*_arm64.deb
```

--------------------------------

### Run argus_camera with DOL mode

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-HDR-User-Guide

Use this command to start the argus_camera tool with a specified DOL mode for HDR streaming. Ensure the camera_overrides.isp file is in place.

```bash
/opt/framos/libsv/argus/argus_camera --sensormode=<DOL_MODE>
```

--------------------------------

### GPIO Mode on Orin

Source: https://github.com/framosimaging/framos-jetson-drivers/blob/l4t-r36.4.4/source/nvidia-oot/Documentation/devicetree/bindings/nvpps/nvpps.txt

Example Device Tree configuration for GPIO mode on Orin platform, specifying PPS input signal and timestamps.

```devicetree
mgbe0: ethernet@6800000{
};

nvpps {
	status = "okay";
	compatible = "nvidia,tegra234-nvpps";
	reg = <0x0 0xc6a0000 0x0 0x1000>;
	nvpps-gpios = <&gpio_aon TEGRA234_AON_GPIO(BB, 0) GPIO_ACTIVE_HIGH>;
	timestamps = <&hte_aon TEGRA234_AON_GPIO(BB, 0)>;
	timestamp-names = "nvpps_gpio";
};
```

--------------------------------

### Configure Single Sensor on Jetson Orin Nano

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Command-line-version

Example of configuring a Jetson Orin Nano with an IMX662 sensor on CAM0, streaming on 1 lane. The FPA device name and sensor configuration must be specified.

```bash
sudo jetson-config-camera-cli.py -n "Framos FPA-A/P22" "Framos IMX662-CAM0-2Lane"
```

--------------------------------

### Jetson AGX Orin Connector Configuration Menu

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Example interactive menu for configuring a camera connector (e.g., J5) on the selected FPA (FPA-4.A/AGX) for Jetson AGX Orin. Options are platform-specific.

```text
=================== Jetson Config Camera v2.0.0 ====================
|                                                                    |
|                                                                    |
|             Configure camera connector on FPA-4.A/AGX:             |
|                                                                    |
|                            Configure J5                            |
|                            Configure J6                            |
|                            Configure J7                            |
|                            Configure J8                            |
|                                None                                |
|                                                                    |
|                                Back                                |
|                                                                    |
|                                                                    |
|                                                                    |
   ====================================================================
```

--------------------------------

### Checkout Framos Driver Branch

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Checks out the appropriate branch for the Framos drivers based on the installed Nvidia JetPack (L4T) version.

```bash
cd ~/framos-jetson-drivers

git checkout l4t-r36.3
```

```bash
cd ~/framos-jetson-drivers

git checkout l4t-r36.4
```

--------------------------------

### Configure Multiple Camera Connectors on Jetson

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Interactive-version

Example showing configuration of two camera connectors, J5 and J7, on the FPA-4.A/AGX Jetson platform. This demonstrates setting up different sensors and lane configurations for multiple ports.

```text
=================== Jetson Config Camera v2.0.0 ====================
|
|
|             Configure camera connector on FPA-4.A/AGX              
|
|        Re-configure J5-IMX565-2Lanes-No GMSL on FPA-4.A/AGX        
|                            Configure J6                            
|         Re-configure J7-IMX662-4Lanes-GMSL on FPA-4.A/AGX          
|                            Configure J8                            
|                   Save and reboot to reconfigure                   
|                  Save and exit without rebooting                   
|                        Discard all changes                         

```

--------------------------------

### Timer Mode on Orin with Additional Properties

Source: https://github.com/framosimaging/framos-jetson-drivers/blob/l4t-r36.4.4/source/nvidia-oot/Documentation/devicetree/bindings/nvpps/nvpps.txt

Example Device Tree configuration for timer mode on Orin with additional properties like PTP TSC settings.

```devicetree
mgbe0: ethernet@6800000{
};

nvpps {
	status = "okay";
	compatible = "nvidia,tegra234-nvpps";
	primary-emac = <&mgbe0>;
	sec-emac = <&mgbe0>;
	reg = <0x0 0xc6a0000 0x0 0x1000>;
	ptp_tsc_k_int = /bits/ 8 <0x70>;
	ptp_tsc_lock_threshold = /bits/ 16 <0x26C>;
	ptp_tsc_sync_dis;
};
```

--------------------------------

### Configure CrossLink SRAM via I2C

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Example command to flash firmware to the CrossLink SRAM over the I2C bus. This command requires the I2C bus ID, GPIO chip name, CRESET_B GPIO number, and the firmware file path.

```bash
crosslink_configurator 11 gpiochip3 1 /opt/framos/firmware/lvds2mipi_8rx_4tx_RAW12/lvds2mipi_8rx_4tx_RAW12_594_fw_v{FW_VERSION}
```

--------------------------------

### Configure GMSL Sensors

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Command-line-version

Example of configuring sensors with GMSL interface. The '-GMSL' attribute is appended to the sensor configuration name for GMSL connections.

```bash
sudo jetson-config-camera-cli.py -n "Framos FPA-A/P22" "Framos IMX662-CAM0-2Lane-GMSL" "Framos IMX678-CAM1-2Lane-GMSL"
```

--------------------------------

### Jetson Orin Nano & NX FPA Selection Menu

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Example interactive menu for selecting an attached FPA (FRAMOS Processor Adaptor) on Jetson Orin Nano or Jetson Orin NX devices. Options are platform-specific.

```text
=================== Jetson Config Camera v2.0.0 ====================
|                                                                    |
|                                                                    |
|             Select attached FPA to your Jetson device:             |
|                                                                    |
|                             FPA-A/P22                              |
|                                Exit                                |
|                                                                    |
|                                                                    |
|                                                                    |
  ====================================================================
```

--------------------------------

### Checkout Framos Branch for JetPack/L4T

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Navigates into the cloned repository and checks out the specific Framos branch that corresponds to your installed Nvidia JetPack/L4T version. This ensures compatibility with your system.

```bash
cd ~/framos-jetson-drivers

git checkout l4t-r36.4.3
```

--------------------------------

### Configure Multiple Different Sensors

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Command-line-version

Configure a Jetson Orin Nano with two different types of sensors (IMX662 on CAM0 and IMX678 on CAM1). This shows flexibility in configuring mixed sensor setups.

```bash
sudo jetson-config-camera-cli.py -n "Framos FPA-A/P22" "Framos IMX662-CAM0-2Lane" "Framos IMX678-CAM1-2Lane"
```

--------------------------------

### Jetson AGX Orin FPA Selection Menu

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Example interactive menu for selecting an attached FPA (FRAMOS Processor Adaptor) on a Jetson AGX Orin device. Options are platform-specific.

```text
=================== Jetson Config Camera v2.0.0 ====================
|                                                                    |
|                                                                    |
|             Select attached FPA to your Jetson device:             |
|                                                                    |
|                            FPA-4.A/AGX                             |
|                            FPA-4.A/TXA                             |
|                                Exit                                |
|                                                                    |
|                                                                    |
|                                                                    |
  ====================================================================
```

--------------------------------

### General Usage of jetson-config-camera-cli.py

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Command-line-version

This is the general syntax for using the command-line version of the jetson-config-camera tool. Use this to understand the basic structure of commands.

```bash
sudo jetson-config-camera-cli.py <option> [arguments]
```

--------------------------------

### Copy CrossLink Firmware

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Creates a directory at /opt/framos/ and copies the firmware for CrossLink devices into it.

```bash
sudo mkdir /opt/framos
sudo cp -r ~/framos-jetson-drivers/firmware /opt/framos/.
```

--------------------------------

### List Available Overlays

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Command-line-version

Use the 'list' or '-l' option to retrieve a list of all available device tree overlays for your system. This is useful for identifying the correct overlay names.

```bash
sudo jetson-config-camera-cli.py -l
```

--------------------------------

### List Available I2C Buses

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Run this command to identify all available I2C buses on the system. The output lists each I2C adapter with its corresponding ID and description.

```bash
i2cdetect -l
```

--------------------------------

### MAC PHC Registers Memory Mapped on Orin

Source: https://github.com/framosimaging/framos-jetson-drivers/blob/l4t-r36.4.4/source/nvidia-oot/Documentation/devicetree/bindings/nvpps/nvpps.txt

Example Device Tree configuration for memory-mapped MAC PHC registers on Orin platform.

```devicetree
mgbe0: ethernet@6800000{
};

nvpps {
	status = "okay";
	compatible = "nvidia,tegra234-nvpps";
	primary-emac = <&mgbe0>
	sec-emac = <&mgbe0>;
	memmap_phc_regs;
	reg = <0x0 0xc6a0000 0x0 0x1000>;
};
```

--------------------------------

### Sync Nvidia Kernel Sources

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Cross‐Compile,-Install-and-flash-on-host-system(Ubuntu-22.04)

Syncs the Nvidia kernel sources to the specified tag. Use this to obtain the correct kernel version for your JetPack/L4T installation.

```bash
cd <install-path>/Linux_for_Tegra/source
./source_sync.sh -k -t <Nvidia tag>
```

```bash
./source_sync.sh -k -t jetson_36.4.3
```

--------------------------------

### Compile Kernel Modules and Device Tree Overlays

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Compiles the nvidia-oot kernel modules and device tree overlays. This step is performed within the build directory of the cloned repository.

```bash
cd ~/framos-jetson-drivers/build

source target_build.sh
build_all
```

--------------------------------

### Get Sensor Badge Property

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-ISP-override-User-Guide

Retrieves the badge property for a camera platform module. This property is used to name the ISP override file for specific sensors.

```bash
cat module0/badge
```

--------------------------------

### Copy ISP Override File for All Sensors

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-ISP-override-User-Guide

Copies the ISP override file to the default location for all image sensors. Ensure the source file path is correct.

```bash
sudo cp ~/framos-jetson-drivers/isp/IMX678_IRC650.isp /var/nvidia/nvcam/settings/camera_overrides.isp
```

--------------------------------

### Configure Camera Connector on Jetson

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Interactive-version

Main configuration menu for camera connectors on FPA-4.A/AGX Jetson platforms. Options include reconfiguring existing setups, configuring new ports, saving changes, and exiting.

```text
=================== Jetson Config Camera v2.0.0 ====================
|
|
|             Configure camera connector on FPA-4.A/AGX              
|
|        Re-configure J5-IMX565-2Lanes-No GMSL on FPA-4.A/AGX        
|                            Configure J6                            
|                            Configure J7                            
|                            Configure J8                            
|                   Save and reboot to reconfigure                   
|                  Save and exit without rebooting                   
|                        Discard all changes                         
|                                Exit                                
|
|
|
====================================================================
```

--------------------------------

### Display GPIO Information

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Use this command from the gpiod library to list all available GPIO chips and their associated lines. This helps in identifying the correct GPIO chip and line number for CRESET_B.

```bash
gpioinfo
```

--------------------------------

### Configure Permissions for All Sensors Override

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-ISP-override-User-Guide

Sets read and write permissions for the owner and group, and read for others on the globally applied ISP override file. Ensure this matches system requirements.

```bash
sudo chmod 664 /var/nvidia/nvcam/settings/camera_overrides.isp
```

--------------------------------

### Flash Jetson Orin Nano/NX (NVMe)

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Cross‐Compile,-Install-and-flash-on-host-system(Ubuntu-22.04)

Flashes the Jetson Orin Nano Developer Kit or Orin NX SOM with an Orin Nano carrier board, specifically for NVMe storage. This command is for NVMe boot configurations.

```bash
cd $L4T_DIR

sudo ./flash.sh jetson-orin-nano-devkit-nvme internal
```

--------------------------------

### Device Tree Parameters for Exposure Time Bounds

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-HDR-User-Guide

These parameters in the device tree define the minimum and maximum exposure times. They are computed dynamically in the driver and should satisfy the given conditions.

```bash
min_exp_time = 16 * min_short_exposure;
max_exp_time =  16 * max_short_exposure;
```

--------------------------------

### Flash Jetson Orin Nano Developer Kit (microSD)

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Cross‐Compile,-Install-and-flash-on-host-system(Ubuntu-22.04)

Flashes the Jetson Orin Nano Developer Kit using a microSD card. This command is specific to the microSD boot configuration.

```bash
cd $L4T_DIR

sudo ./flash.sh jetson-orin-nano-devkit internal
```

--------------------------------

### List Platform Devices Modules

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-ISP-override-User-Guide

Lists the available modules within the tegra camera platform devices. This helps in navigating to find the correct module matching the sensor's v4l2 driver name.

```bash
cd /sys/bus/platform/devices/tegra-camera-platform/of_node/modules/
ls
```

--------------------------------

### Configure Multiple Identical Sensors

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Command-line-version

Configure a Jetson Orin Nano with two IMX662 sensors on different camera connectors (CAM0 and CAM1). This demonstrates how to specify multiple sensor configurations in a single command.

```bash
sudo jetson-config-camera-cli.py -n "Framos FPA-A/P22" "Framos IMX662-CAM0-2Lane" "Framos IMX662-CAM1-2Lane"
```

--------------------------------

### Copy Image Sensor Configuration Scripts

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Copies Python scripts used for configuring Image Sensors to the /usr/bin/ directory.

```bash
sudo cp ~/framos-jetson-drivers/tools/jetson-config-camera*.py /usr/bin/.
```

--------------------------------

### Copy CrossLink Configuration Script

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Copies the CrossLink configuration script to the /usr/bin/ directory.

```bash
sudo cp ~/framos-jetson-drivers/tools/crosslink_configurator /usr/bin/.
```

--------------------------------

### Cross-Compile Kernel and Modules

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Cross‐Compile,-Install-and-flash-on-host-system(Ubuntu-22.04)

Initiates the cross-compilation process for the kernel image, nvidia-oot modules, and device tree overlays using the provided script.

```bash
cd $L4T_DIR

source cross-compile_build.sh
build_all
```

--------------------------------

### Copy CrossLink Firmware

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Cross‐Compile,-Install-and-flash-on-host-system(Ubuntu-22.04)

Copies the firmware files for CrossLink devices to the /opt/framos/ directory on the target system's L4T rootfs.

```bash
sudo mkdir $L4T_DIR/rootfs/opt/framos
sudo cp -r ~/framos-jetson-drivers/firmware $L4T_DIR/rootfs/opt/framos/.
```

--------------------------------

### Checkout L4T 36.3 Branch

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/FRAMOS-Sensor-Module-Ecosystem-‐-Driver-User-Guide

Checks out the specific git branch for L4T 36.3 compatibility within the Framos driver repository.

```bash
cd ~/framos-jetson-drivers

git checkout l4t-r36.3
```

--------------------------------

### Clone Framos Jetson Drivers Repository

Source: https://github.com/framosimaging/framos-jetson-drivers/wiki/Clone,-Compile-and-Install-on-target-system(Jetson-platform)

Clones the Framos Jetson drivers repository to the home directory on the Jetson platform.

```bash
cd ~

git clone https://github.com/framosimaging/framos-jetson-drivers.git
```