{"id":20850623,"url":"https://github.com/intelrealsense/realsense_mipi_platform_driver","last_synced_at":"2025-07-28T05:34:18.784Z","repository":{"id":65787594,"uuid":"281976166","full_name":"IntelRealSense/realsense_mipi_platform_driver","owner":"IntelRealSense","description":"Intel® RealSense™ camera driver for GMSL* interface","archived":false,"fork":false,"pushed_at":"2025-07-24T13:24:11.000Z","size":2222,"stargazers_count":35,"open_issues_count":27,"forks_count":21,"subscribers_count":8,"default_branch":"master","last_synced_at":"2025-07-24T13:37:07.859Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/IntelRealSense.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":"Security.md","support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2020-07-23T14:36:38.000Z","updated_at":"2025-07-22T10:10:39.000Z","dependencies_parsed_at":"2023-02-22T17:30:41.993Z","dependency_job_id":"cdcd5594-14c9-4e7d-97df-63734a413095","html_url":"https://github.com/IntelRealSense/realsense_mipi_platform_driver","commit_stats":null,"previous_names":[],"tags_count":18,"template":false,"template_full_name":null,"purl":"pkg:github/IntelRealSense/realsense_mipi_platform_driver","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IntelRealSense%2Frealsense_mipi_platform_driver","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IntelRealSense%2Frealsense_mipi_platform_driver/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IntelRealSense%2Frealsense_mipi_platform_driver/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IntelRealSense%2Frealsense_mipi_platform_driver/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/IntelRealSense","download_url":"https://codeload.github.com/IntelRealSense/realsense_mipi_platform_driver/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IntelRealSense%2Frealsense_mipi_platform_driver/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":267468540,"owners_count":24092334,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-28T02:00:09.689Z","response_time":68,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-18T03:10:38.698Z","updated_at":"2025-07-28T05:34:18.763Z","avatar_url":"https://github.com/IntelRealSense.png","language":"C","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Intel® RealSense™ camera driver for GMSL* interface\n\n# D457 MIPI on Jetson AGX Xavier\nThe RealSense MIPI platform driver enables the user to control and stream RealSense 3D MIPI cameras.\nThe system shall include:\n* Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)\n* RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)\n* RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)\n\n\u003e Note: This MIPI reference driver is based on RealSense de-serialize board. For other de-serialize boards, modification might be needed. \n\n![image](https://user-images.githubusercontent.com/64067618/216807681-ed679a79-71d6-43ab-bfde-e0abb019b72d.png)\n\n\n## Jetson AGX Xavier board setup\n\nPlease follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html) to flash JetPack to the Jetson AGX Xavier with NVIDIA SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.\n\n## Build kernel, dtb and D457 driver\n\nThe developers can set up the source code with NVIDIA's Jetson git repositories by using the provided setup script:\n\n```\n# Using setup script, recommended for developers. If JetPack version is not given, default version will be chosen.\n./setup_workspace.sh [JetPack_version]\n```\n\nOr download Jetson Linux source code tarball from \n- [JetPack 6.0-DP BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2)\n- [JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2) \n- [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2) \n- [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2)\n\n```\n# JetPack 6.0\nmkdir -p l4t-gcc/6.0\ncd ./l4t-gcc/6.0\nwget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2 -O aarch64--glibc--stable-final.tar.bz2\ntar xf aarch64--glibc--stable-final.tar.bz2 --strip-components 1\ncd ../..\nwget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2\ntar xjf public_sources.tbz2\ncd Linux_for_Tegra/source\ntar xjf kernel_src.tbz2\ntar xjf kernel_oot_modules_src.tbz2\ntar xjf nvidia_kernel_display_driver_source.tbz2\n\n# JetPack 5.1.2\nmkdir -p l4t-gcc/5.1.2\ncd ./l4t-gcc/5.1.2\nwget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz\ntar xf aarch64--glibc--stable-final.tar.gz\ncd ../..\nwget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2\ntar xjf public_sources.tbz2\ncd Linux_for_Tegra/source/public\ntar xjf kernel_src.tbz2\n\n# JetPack 5.0.2\nmkdir -p l4t-gcc/5.0.2\ncd ./l4t-gcc/5.0.2\nwget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz\ntar xf aarch64--glibc--stable-final.tar.gz --strip-components 1\ncd ../..\nwget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2\ntar xjf public_sources.tbz2\ncd Linux_for_Tegra/source/public\ntar xjf kernel_src.tbz2\n\n# JetPack 4.6.1\nmkdir -p l4t-gcc/4.6.1\ncd ./l4t-gcc/4.6.1\nwget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz\ntar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz --strip-components 1\ncd ../..\nwget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2\ntar xjf public_sources.tbz2\ncd Linux_for_Tegra/source/public\ntar xjf kernel_src.tbz2\n```\n\nApply D457 patches and build the kernel image, dtb and D457 driver.\n\n```\n# if using setup script\n./apply_patches.sh [--one-cam | --dual-cam] apply [JetPack_version]\n\n# or, if using direct download method\n# ./apply_patches_ext.sh [--one-cam | --dual-cam] ./Linux_for_tegra/source/public [JetPack_version]\n# for JP6.0, source path is ./Linux_for_tegra/source :\n# ./apply_patches_ext.sh ./Linux_for_tegra/source 6.0\n\nNote: The `--one-cam` and `--dual-cam` option applies only for JetPack 5.0.2,\ncompatible with adapter: https://store.intelrealsense.com/buy-intel-realsense-des457.html.\nBy setting the `--one-cam` option it builds DT with only camera on GMSL link A (default).\nBy setting the `--dual-cam` option it builds DT with dual cameras on GMSL link A and B.\nThe default is to single camera configuration for JetPack 5.0.2.\n\n# build kernel, dtb and D457 driver\n# install dependencies\nsudo apt install build-essential bc flex bison\n# method 1: build kernel Debian packages\n./build_all_deb.sh [--no-dbg-pkg] [JetPack_version] [JetPack_source_dir]\n# method 2: build kernel and modules only\n./build_all.sh [JetPack_version] [JetPack_source_dir]\n\n# remove our patches from JetPack kernel source code if using setup script\n# ./apply_patches.sh reset [JetPack_version]\n```\n\nDebian packages will be generated in `images` folder.\n\n## Install kernel and D457 driver to Jetson Orin\n\u003cdetails\u003e\n\u003csummary\u003eJP6.0 build results\u003c/summary\u003e\n\n- kernel image (not modified): `images/6.0/rootfs/boot/Image`\n- dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`\n- oot modules: `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra`\n\nFollowing steps required:\n\n1.\tCopy entire directory `images/6.0/rootfs/lib/modules/5.15.122-tegra/extra/` from host to `/lib/modules/5.15.122-tegra/extra/` on Orin\n2.\tCopy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin\n3.\tRun  $ `sudo /opt/nvidia/jetson-io/jetson-io.py`\n    1.\tConfigure Jetson AGX CSI Connector\n    2.\tConfigure for compatible hardware\n    3.\tJetson RealSense Camera D457\n    4.\t$ `sudo depmod`\n    5.\t$ `echo \"d4xx\" | sudo tee /etc/modules-load.d/d4xx.conf`\n4.\tReboot\n\nCopy them to the right places:\n\n```\nscp -r images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo nvidia@10.0.0.116:~/\nscp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/extra nvidia@10.0.0.116:~/\n# RealSense metadata patched kernel modules\nscp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/kernel/drivers/media/v4l2-core/videodev.ko nvidia@10.0.0.116:~/\nscp -r images/6.0/rootfs/lib/modules/5.15.122-tegra/kernel/drivers/media/usb/uvc/uvcvideo.ko nvidia@10.0.0.116:~/\n# Kernel Image with SENSOR_HID support for RealSense USB cameras with IMU\nscp -r images/6.0/rootfs/boot/Image nvidia@10.0.0.116:~/\n```\n\non target:\n\n```\nsudo cp ~/tegra234-camera-d4xx-overlay.dtbo /boot/\n# backup:\nsudo tar -cjf /lib/modules/$(uname -r)/modules_$(uname -r)_extra.tar.bz2 /lib/modules/$(uname -r)/extra\nsudo cp -r ~/extra /lib/modules/$(uname -r)/\n# enable RealSense metadata:\nsudo cp uvcvideo.ko /lib/modules/5.15.122-tegra/kernel/drivers/media/usb/uvc/uvcvideo.ko\nsudo cp videodev.ko /lib/modules/5.15.122-tegra/kernel/drivers/media/v4l2-core/videodev.ko\n# backup kernel (better to have additional boot entry in extlinux.conf)\nsudo cp /boot/Image /boot/Image.orig\nsudo cp Image /boot/Image\n```\n\nEnable d4xx overlay:\n\nWith Jetson-IO tool:\n`sudo /opt/nvidia/jetson-io/jetson-io.py`\n\n1.\tConfigure Jetson AGX CSI Connector\n2.\tConfigure for compatible hardware\n3.\tJetson RealSense Camera D457\n\nWith command line\n\n`sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2=\"Jetson RealSense Camera D457\"`\n\nExpected:\n```\nnvidia@ubuntu:~$ sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2=\"Jetson RealSense Camera D457\"\nConfiguration saved to /boot/tegra234-camera-d4xx-overlay.dtbo.\nReboot system to reconfigure.\n```\nEnable d4xx autoload:\n\n`echo \"d4xx\" | sudo tee /etc/modules-load.d/d4xx.conf`\n\n`sudo depmod`\n\n---\n\n\u003c/details\u003e\n\n## Install kernel and D457 driver to Jetson AGX Xavier\n\n1. Install the kernel and modules\n\n1.1 If building with `build_all_deb.sh`\n\nCopy the Debian package `linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb` to the Jetson AGX Xavier board and install with `sudo dpkg -i linux-image-5.10.104-d457_5.10.104-d457-1_arm64.deb`. The header, libc-dev, dbg and firmware packages are optional.\n\n1.2 If building with `build_all.sh`\n\nThe necessary files are:\n\n- kernel image `images/\u003cJetPack_version\u003e/arch/arm64/boot/Image`\n- dtb `images/\u003cJetPack_version\u003e/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb`, or `images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` for JetPack 4.6.1.\n- D457 driver `images/\u003cJetPack_version\u003e/drivers/media/i2c/d4xx.ko`\n- UVC Video driver `images/\u003cJetPack_version\u003e/drivers/media/usb/uvc/uvcvideo.ko`\n- V4L2 Core Video driver `images/\u003cJetPack_version\u003e/drivers/media/v4l2-core/videobuf-core.ko`\n- V4L2 VMalloc Video driver `images/\u003cJetPack_version\u003e/drivers/media/v4l2-core/videobuf-vmalloc.ko`\n\nAnd copy them to the right places:\n```\nsudo cp Image /boot\nsudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/dtb\nsudo cp d4xx.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/i2c/\nsudo cp uvcvideo.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/usb/uvc/\nsudo cp videobuf-core.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/\nsudo cp videobuf-vmalloc.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/\nsudo depmod\n```\n\n2. Edit `/boot/extlinux/extlinux.conf` primary boot option's LINUX/FDT lines to use built kernel image and dtb file:\n\n```\nLINUX /boot/Image-5.10.104-d457\nFDT /usr/lib/linux-image-5.10.104-d457/tegra194-p2888-0001-p2822-0000.dtb\n```\n\n3. Make D457 I2C module autoload at boot time: `echo \"d4xx\" | sudo tee /etc/modules-load.d/d4xx.conf`\n\nAfter rebooting Jetson, the D457 driver should work.\n\n**NOTE**\n\n- Each JetPack version's kernel may be different, the user needs to change the kernel version in file names and paths accordingly, for example for JetPack 4.6.1 the version is `4.9.253-d457` or `4.9.253-tegra`, depending on the build method applied.\n- For JetPack 4.6.1, the dtb file is not included in the deb package. User needs to manually copy `images/4.6.1/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` file to board and edit `extlinux.conf` to point to it.\n- It's recommended to save the original kernel image as backup boot option in `/boot/extlinux/extlinux.conf`.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fintelrealsense%2Frealsense_mipi_platform_driver","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fintelrealsense%2Frealsense_mipi_platform_driver","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fintelrealsense%2Frealsense_mipi_platform_driver/lists"}