GMSL

This guide covers connecting and configuring a GMSL camera using the AAEON CEXD-INTRBL FAKRA ports. Use of this interface requires software setup, including installing the Robotics AI Suite. Make sure you’ve followed the Getting Started guide.

Physical Connection

The AAEON CEXD-INTRBL development kit includes a built-in GMSL connector board. You can see two FAKRA connectors exposed on the external housing. These support up to 8 connections, split between both ports.

For RealSense D457 GMSL cameras, connect a maximum of 2 cameras to each GMSL 4-in-1 FAKRA port. This optimizes bandwidth for the multi-sensor devices. Additional connections for this camera is not currently supported by Robotics AI Suites, and may not be supported by the manufacturer.

BIOS Configuration

You can access the ACPI GMSL settings under the System IO menu.

Select Camera1 and select Enabled.

This will expose an additional menu called Link options. Enter Link options to update the ACPI GMSL settings for your sensor.

Modify these values according to the information below. Your settings may vary depending on sensor manufacturer.

RealSense D457

This table is a validated example of ACPI GMSL settings for the RealSense D457

Here, 4 individual cameras are setup, split across both FAKRA connectors. This enables the maximum bandwidth and compatibility for the multi-sensor devices. Additional D457 GMSL connections are not currently supported. For simplicity, the top two GMSL ports (rotation 90 and 180) are used.

	Camera 1	Camera 2	Camera 3	Camera 4
Sensor Model	User Custom	User Custom	User Custom	User Custom
Custom HID	INTC10CD	INTC10CD	INTC10CD	INTC10CD
Lanes Clock division	4 4 2 2	4 4 2 2	4 4 2 2	4 4 2 2
CRD Version	CRD-D	CRD-D	CRD-D	CRD-D
GPIO control	No Control Logic	No Control Logic	No Control Logic	No Control Logic
Camera position	Back	Back	Front	Front
Flash Support	Disabled	Disabled	Disabled	Disabled
Privacy LED	Disabled	Disabled	Disabled	Disabled
Rotation	90	180	90	180
PhyConfiguration	CPHY	CPHY	CPHY	CPHY
PPR Value	2	2	2	2
PPR Unit	1	1	1	1
Camera module name	d4xx	d4xx	d4xx	d4xx
MIPI port	0	0	2	2
LaneUsed	x2	x2	x2	x2
MCLK	19200000	19200000	19200000	19200000
EEPROM Type	ROM_NONE	ROM_NONE	ROM_NONE	ROM_NONE
VCM Type	VCM_NONE	VCM_NONE	VCM_NONE	VCM_NONE
Number of I2C Components	3	3	3	3
I2C Channel	I2C0	I2C0	I2C1	I2C1
Device0 I2C Address	12	14	12	14
Device1 I2C Address	42	44	42	44
Device2 I2C Address	27	27	27	27

D3CMCXXX-106-084

This table is a validated configuration of ACPI GMSL settings for the D3 Embedded Discovery GMSL2 camera module.

When using the D3 GMSL2 series camera, set the ACPI GMSL settings according to the port being used. Camera1 below sets up all D3 GMSL2 cameras on the left GMSL port. You only need the settings for a single sensor to enable all connected sensors. Camera2 does the same for the right port. In this case, the rotation value is ignored.

UEFI Custom Sensor	Camera1	Camera2
Custom HID	INTC031M	INTC031M
Lanes Clock Division	4 4 2 2	4 4 2 2
CRD Version	CRD-D	CRD-D
GPIO Control	No Control Logic	No Control Logic
Camera Position	Back	Front
Flash Support	Disabled	Disabled
Privacy LED	Disabled	Disabled
Rotation	0	0
Voltage Rail	3	3
PhyConfiguration	CPHY	CPHY
PPR Value	2	2
PPR Unit	4	4
Camera module label	MAX92764	MAX92764
MIPI Port (Index)	0	2
LaneUsed	x4	x4
MCLK	19200000	19200000
EEPROM	ROM_NONE	ROM_NONE
VCM TYPE	VCM_NONE	VCM_NONE
Number of I2C	3	3
I2C Channel	I2C0	I2C1
Device0 I2C Address	27	27
Device1 I2C Address	44	44
Device2 I2C Address	54	54

The active mini-FAKRA port is determined by the rotation value. Below is a table showing the default rotation per port location.

Rotation	Port
270	Lower-left
90	Upper-left
180	Upper-right
0	Lower-right

Here is an image overlaid with the correct rotation values, MIPI port, and I2C bus for reference:

Next steps

Once you’ve setup your ACPI GMSL settings for your camera, continue with Step 2: GMSL Software Driver