nxs-jetson

Kernel modules and device tree overlays for the NXS Hub's camera ports on NVIDIA Jetson. One branch per Jetson Linux release: l4t-r36.4.4 (JetPack 6.2.1, kernel 5.15) and l4t-r39.2.1 (JetPack 7.2.1, kernel 6.8). GPL-2.0.

Install

Take the package for the booted release from the release page and install it:

sudo apt install ./nxs-jetson_39.2.1_arm64.deb

It installs universal_aliensense.ko, nxs-csi2-core.ko, nxs-csi2-tegra.ko and aliensense_generic_des.ko under /lib/modules/<kernel>/updates/drivers/media/i2c/, the overlays under /boot/camera-dtbos/, and its source under /usr/src/nxs-jetson-<l4t>/. The boot entry that loads them is written by the nxs host tool (nxs switch).

Build

The builder applies source/ onto the pristine Jetson Linux sources named in MANIFEST.md and builds inside the container from docker/:

docker volume create jetson-build-vol
docker build -t jetson-build docker/
docker run --rm -v jetson-build-vol:/build -v "$PWD":/repo jetson-build /repo/build/builder.sh -P -m -d -t -c -b
ls output/

output/nxs-jetson_<l4t>_arm64.deb is the package. builder.sh -h lists the stages.

Layout

• source/nvidia-oot/drivers/media/i2c/: the four modules. universal_aliensense.c is the tegracam sensor driver of a head without a unit, its controls formulas over the control table the device tree carries; nxs-csi2-core.c is the NXS camera map's client, shared with the mainline nxs-csi2 driver of the nxs-drivers repository, with its generated constants nxs-csi2-map.h; nxs-csi2-tegra.c is the tegracam driver over it; aliensense_generic_des.c is a probe-only deserializer driver.
• source/hardware/nvidia/t23x/nv-public/overlay/: the fixed overlays, the camera mux and the two GMSL patches. The per-port overlays are generated by the host tool.
• docs/dt-bindings/aliensense,nxs-csi2.md: the binding of the camera map node.
• .github/workflows/build.yml: the release build. A tag named after the Jetson Linux release (39.2.1) builds the package on this repository's runners and publishes it with the source tarball and SHA256SUMS.txt.
• MANIFEST.md: the Jetson Linux sources, by URL and checksum, and the kernel each branch builds for.