Edge.Auto Hardware Reference
ManualTIER IV
Sep 20, 2024

iContents

1

2

3

1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9

C1 Camera Technical Reference Manual
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Lens speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Key components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Camera function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ISP function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quality/Environmental speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1
1
2
4
5
5
6
6
8
8

2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9

C2 Camera Technical Reference Manual
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Lens speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Key components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Camera function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ISP function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quality/Environmental speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10
10
11
14
14
15
16
16
18
19

3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8

GMSL2‑10GbE Conversion Module Hardware Reference Manual
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power and thermal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input / Output interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware & Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Camera control & data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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22
22
23
24
24
25
25

1

1

C1 Camera Technical Reference Manual

1.1 Overview
The C1 camera is a GMSL (Gigabit Multimedia Serial Link) camera speciﬁcally designed for automo‑
tive applications. It has a resolution of 2.5 MP at 1920 x 1280 px.
Featuring Sony Semiconductor Solutions’ ISX021 back‑side illumination stacked CMOS image sen‑sor SoC, this camera enables HDR imaging over 120dB, LED ﬂicker mitigation (LFM), and motion
artifact‑free image capturing at a frame rate of up to 30fps.
With a variety of lens options available, the C1 camera can be adapted to many applications. The
lens undergoes a 6‑axis active adjustment during installation, allowing it to achieve optimal sharp‑
ness even in harsh temperature environments.
The ISP (Image Signal Processor) built into the C1 camera’ s image sensor performs various image
processing tasks, including lens distortion correction, to achieve optimal image quality for automo‑
tive applications. The C1 camera also supports an external triggering mechanism, which is essential
to achieve capture synchronization with other sensor modalities such as LiDAR or RADAR, enabling
sensor fusion.

Edge.Auto Hardware Reference Manual
Designed for automotive mass production, the C1 camera is ready to use. All key components com‑
ply with AEC‑Q100 (Grade 2), Q101, and Q200 standards, and are designed to pass automotive‑gradereliability tests.

1.2 Mechanical speciﬁcations
1.2.1 Camera size
Model
Name

C1‑046

C1‑085

C1‑120C1‑198

Camerasize

38.5mm x 38.5mm
x 42.19mm

38.5mm x 38.5mm
x 43.21mm

38.5mm x 38.5mm
x 48.93mm

38.5mm x 38.5mm
x 40.44mm

1.2.2 Connector
Fakra Z code with metal shielding

1.2.3 Outline diagram

Fig. 1.1 C1‑046 (46°)

2

1 C1 Camera Technical Reference ManualEdge.Auto Hardware Reference ManualFig. 1.2 C1‑085 (85°)

Fig. 1.3 C1‑120 (120°)

1.2. Mechanical speciﬁcations

3

Edge.Auto Hardware Reference ManualFig. 1.4 C1‑198 (198°)

1.2.4 3‑dimensional CAD data
3‑dimensional CAD data can be downloaded. Refer to the download link

1.3 Lens speciﬁcations
Model Name

C1‑046

C1‑085

C1‑120C1‑198Field of View
(FoV) Horizon‑
tal / Vertical
F#
EFL
TTL
Image Circle
IRCF
Resolution(TV Line)

LDC oﬀ 46deg /32deg on 46deg /
32deg
2.2
6.72mm
14.9mm
φ 7.942mm
650±10nm
750TVL @ Center,
500TVL @ 70%
Image height
185cm ‑ Inﬁnity
Focus
peaking
distance: 400cm

LDC oﬀ 85deg /56deg on 78deg /
56deg
1.7
3.955mm18.59mm
φ 7.84mm
648±10nm
750TVL @ Center,
500TVL @ 70%
Image height
112cm ‑ Inﬁnity
Focus
peaking
distance: 400cm

LDC oﬀ 120deg /77deg on 111deg /
77deg
1.8
2.9mm
21.01mm> φ 7.2mm
650±15nm
750TVL @ Center,
500TVL @ 70% Im‑
age height106.7cm ‑ Inﬁnity
Focus
peaking
distance: 400cm

LDC oﬀ 198.6deg/ 128.2deg on
162deg / 125deg
2
1.723mm15.79mm
φ 5.9mm Max
650±10nm
750TVL @ Center,
500TVL @ 70%
Image height
33cm ‑ Inﬁnity Fo‑
cus peaking dis‑
tance: 100cm

Depth of Field

4

1 C1 Camera Technical Reference ManualEdge.Auto Hardware Reference Manual

1.3.1 Lens Mount
Glued, active alignment applied.
Attention: The lens cannot be exchanged.

1.4 Electrical speciﬁcations
1.4.1 Power supply method
Power over coax cable

1.4.2 Power consumption
1.7W (under room temperature)

1.4.3 Power supply level
9 ‑ 12 [V]

1.5 Key components
1.5.1 Image Sensor
Sony Semiconductor Solutions ISX021

1.5.2 Optical format
Diagonal 6.99mm, type 1/2.57

1.5.3 Pixel size
3.0um

1.5.4 High dynamic range
Available, 120dB equivalent

1.4. Electrical speciﬁcations

5

Edge.Auto Hardware Reference Manual

1.5.5 LED flicker mitigation
Available.
See also:
What is the LED Flicker Mitigation (LFM)?

1.5.6 Serializer
Analog Devices MAX9295A

1.5.7 ISP
Integrated on the image sensor

1.6 Block diagram

1.7 Camera function
1.7.1 Output interface
GMSL2

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1 C1 Camera Technical Reference ManualEdge.Auto Hardware Reference Manual

1.7.2 Output image format
YUV422 8bit. 16bit/pixel bit depth.

1.7.3 Output image size
1920 x 1280

1.7.4 Framerate
Up to 30fps

1.7.5 Shutter typeRolling Shutter
Note: Shutter type cannot changed

1.7.6 Drive mode
・ Master mode: The camera operates based on its framerate setting.
・ Shutter trigger mode: See below for the details.

1.7.7 Synchronization
C1 camera supports trigger‑based synchronization. The host (e.g., ECU) sends a synchroniza‑tion signal (FSYNC) via the GMSL interface to the image sensor. When the image sensor re‑ceives an FSYNC signal, the exposure starts. After the exposure time which is controlled by thecamera or user, the readout will start. Then, the MIPI packet is transmitted by the camera.

1.7. Camera function

7

Edge.Auto Hardware Reference Manual
In this mode, an FSYNC input is required to output an image frame. Without FSYNC input, the cam‑era will not output the image data.
The FSYNC pin of the image sensor is connected to the MFP3 GPIO of the serializer. The user needs
to conﬁgure the deserializer so the synchronization output pin on the ECU is mapped to this pin.

1.7.8 Embedded data output
Supported.
New in version camera: driver v1.4.1
Supports embedded data for C1

1.8 ISP function
ISP setting can be controlled by using T4cam‑ctrl software.
・ AE (Auto Exposure)
・ AWB (Auto White Balance)
・ Basic image‑tuning interfaces– Hue– Saturation– Contrast– Brightness– Sharpness

1.9 Quality/Environmental speciﬁcations
1.9.1 Operating temperature range
・ ‑40° ~ 85°

1.9.2 Storage temperature range
・ ‑40°C ~ 105°C

1.9.3 Product reliability
・ Please contact our authorized agency for the details.

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1 C1 Camera Technical Reference ManualEdge.Auto Hardware Reference Manual

1.9.4 Compliances
・ CE
・ RoHS・ FCC・ Can ICES‑3
・ UKCA
・ RCM

1.9.5 Safety
LVD compliant

1.9.6 Ingress protection
The camera has IP69K‑grade ingress protection.
Note:
To realize IP69K, the user needs to use a water‑resistant Fakra cable.
To
distinguish the water‑resistant and non‑water‑resistant cable, please refer below.

1.9. Quality/Environmental speciﬁcations

9

10

2

C2 Camera Technical Reference Manual

2.1 Overview
The C2 camera is a GMSL (Gigabit Multimedia Serial Link) camera speciﬁcally designed for automo‑
tive applications. It has a resolution of 5.4 MP at 2880 x 1860 px.
Featuring Sony Semiconductor Solutions’ IMX490 back‑side illumination stacked CMOS image sen‑sor SoC, this camera enables HDR imaging over 120dB, LED ﬂicker mitigation (LFM), and motion
artifact‑free image capturing at a frame rate of up to 30fps. The C2 camera is suitable for a variety
of applications, such as object recognition and signal recognition, thanks to its simultaneous highsensitivity and high resolution.
With a variety of lens options available, the C2 camera can be adapted to many applications. The
lens undergoes a 6‑axis active adjustment during installation, allowing it to achieve optimal sharp‑
ness even in harsh temperature environments.
Indie‑semiconductor’ s GW5300 ISP (Image Signal Processor) built into the C2 camera performs
various image processing tasks, including lens distortion correction, to achieve optimal image qual‑
ity for automotive applications. The C2 camera also supports an external triggering mechanism,

Edge.Auto Hardware Reference Manual
which is essential to achieve capture synchronization with other sensor modalities such as LiDAR
or RADAR, enabling sensor fusion.
Designed for automotive mass production, the C2 camera is ready‑to‑use. All key components com‑
ply with AEC‑Q100 (Grade 2), Q101, and Q200 standards, and are designed to pass automotive‑gradereliability tests.

2.2 Mechanical speciﬁcations
2.2.1 Camera size
Model
Name

C2‑30

C2‑062C2‑120C2‑176

Camerasize

45mm x 45mm x
48.6mm

45mm x 45mm x
53.55mm

45mm x 45mm x
53.04mm

45mm x 45mm x
45.9mm

2.2.2 Connector
Fakra Z code with metal shielding

2.2.3 Outline diagram

Fig. 2.1 C2‑030 (30°)

2.2. Mechanical speciﬁcations

11

Edge.Auto Hardware Reference ManualFig. 2.2 C2‑062 (62°)

Fig. 2.3 C2‑120 (120°)

12

2 C2 Camera Technical Reference ManualEdge.Auto Hardware Reference ManualFig. 2.4 C2‑176 (176°)

2.2.4 3‑dimensional CAD data
3‑dimensional CAD data can be downloaded. Refer to the download link

2.2. Mechanical speciﬁcations

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Edge.Auto Hardware Reference Manual

2.3 Lens speciﬁcations
Model
Name

C2‑30

C2‑062C2‑120C2‑176

FieldofView (FoV)
Horizontal /Vertical

LDC oﬀ 30deg /19.5deg (no dis‑tortion correction
applied)LDC oﬀ 63.5deg/ 40deg on
63deg / 40deg

LDC oﬀ 120deg/ 73deg on
107deg / 73deg

F#
EFL
TTL
Image Circle
IRCF

1.6
16.3mm30.01mm
φ 10.5mm
650nm @ 50%
transmission
1000TVL @ Center,
700TVL @ 70% Im‑
age height

1.7
7.9mm
35mm
φ 10.66mm
650nm @ 50%
transmission
1000TVL@
Center, 700TVL@ 70% Image
height309cm ‑ Inﬁnity
Focus
peak‑
ing
distance:
620cm

1.6
4.63mm35mm
φ 10.6mm Max
650nm @ 50%
transmission
1000TVL@
Center, 600TVL@ 70% Image
height250cm ‑ Inﬁnity
Focus
peak‑
ing
distance:
400cm

LDC
oﬀ
176.4deg/
105.8degon 143deg /102deg1.8
3.1mm
27.86mm
φ 9.1mm Max
650nm @ 50%
transmission
900TVL @ Cen‑
ter,
500TVL@ 70% Image
height45cm ‑ Inﬁnity
Focus peaking
distance: 90cm

Resolution(TV Line)
Depth
Field

of

14m
‑
Inﬁnity
Focus
peaking
distance: 28m

2.3.1 Lens Mount
Glued, active alignment applied.
Attention: The lens cannot be exchanged.

2.4 Electrical speciﬁcations
2.4.1 Power supply method
Power over coax cable14

2 C2 Camera Technical Reference ManualEdge.Auto Hardware Reference Manual

2.4.2 Power consumption
4.6W (at 30fps operation, under room temperature)

2.4.3 Power supply level
9 ‑ 12 [V]

2.5 Key components
2.5.1 Image Sensor
Sony Semiconductor Solutions IMX490

2.5.2 Optical format
diagonal 10.36mm, type 1/1.55’ ’

2.5.3 Pixel size
3.0um

2.5.4 High dynamic range
Available, 120dB equivalent

2.5.5 LED flicker mitigation
Available.
See also:
What is the LED Flicker Mitigation (LFM)?

2.5.6 Serializer
Analog Devices MAX9295A

2.5.7 ISP
Indie semiconductor GW5300

2.5. Key components

15

Edge.Auto Hardware Reference Manual

2.6 Block diagram

Fig. 2.5 Block diagram of C2 camera

2.7 Camera function
2.7.1 Output interface
GMSL2

2.7.2 Output image format
YUV422 8bit. 16bit/pixel bit depth.

2.7.3 Output image size
2880 x 1860

2.7.4 Framerate
Up to 30fps

2.7.5 Shutter typeRolling Shutter
Note: Shutter type cannot changed

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2 C2 Camera Technical Reference ManualEdge.Auto Hardware Reference Manual

2.7.6 Drive mode
・ Master mode: The camera operates based on its framerate setting.
・ Trigger mode: See below for the details.

2.7.7 Synchronization
Attention: Please note that the trigger speciﬁcation diﬀers between the C1 and C2 cameras
due to the diﬀerent speciﬁcations of their image sensors. When developing a synchronization
system using both C1 and C2 cameras, please take this diﬀerence into account. Refer to the thespeciﬁcation of C1 camera for the details.
C2 camera supports trigger‑based synchronization. The host (e.g., ECU) sends a synchronization
signal (FSYNC) via the GMSL interface to the image sensor. When the image sensor receives an
FSYNC signal, the readout starts.

Fig. 2.6 FSYNC adjusts frame output timing

More precisely, the camera will adjust its start timing of readout by measuring the time diﬀerence
between the internal synchronization timing and FSYNC reception timing. This adjustment occurs
2 frames after the FSYNC reception.
The exposure will start before the exposure time which is controlled by the camera or user.
In trigger mode, in case no FSYNC is inputted to the camera, the camera will output the image data
based on its original frame rate setting.
The FSYNC pin of the image sensor is connected to the MFP3 GPIO of the serializer. The user needs
to conﬁgure the deserializer so the synchronization output pin on the ECU is mapped to this pin.

2.7. Camera function

17

Edge.Auto Hardware Reference ManualFig. 2.7 Timing adjustment frame

2.7.8 Embedded data output
Not supported yet. To be supported in future driver/FW version.

2.8 ISP function
ISP setting can be controlled by using T4cam‑ctrl software.
・ AE (Auto Exposure)
・ AWB (Auto White Balance)
・ Basic image tuning interfaces– Hue– Saturation– Contrast– Brightness– Sharpness18

2 C2 Camera Technical Reference ManualEdge.Auto Hardware Reference Manual

2.9 Quality/Environmental speciﬁcations
2.9.1 Operating temperature range
・ ‑40° ~ 85°

2.9.2 Storage temperature range
・ ‑40°C ~ 105°C

2.9.3 Product reliability
・ Please contact our authorized agency for the details.

2.9.4 Compliances
・ CE
・ RoHS・ FCC・ Can ICES‑3
・ UKCA
・ RCM

2.9.5 Safety
LVD compliant

2.9. Quality/Environmental speciﬁcations

19

Edge.Auto Hardware Reference Manual

2.9.6 Ingress protection
The camera has IP69K‑grade ingress protection.
Note:
To realize IP69K, the user needs to use a water‑resistant Fakra cable.
To
distinguish the water‑resistant and non‑water‑resistant cable, please refer below.

20

2 C2 Camera Technical Reference Manual

21

3

GMSL2‑10GbE Conversion Module Hardware Reference Manual

3.1 Overview
The GMSL2‑10GbE conversion module is an edge compute platform enabling low‑latency datatransfer from up to eight Gigabit Multimedia Serial Link™ (GMSL) interfaces to a host system via
a 10Gb Ethernet link.
The system includes two MAX96724 Quad Tunneling GMSL2/1 to CSI‑2 Deserializers, enabling con‑nectivity of up to eight GMSL cameras. The video data from the cameras is fed via the MAX96724
MIPI‑CSI2 interfaces to an AMD KV26 System‑on‑Module which implements the logic to aggregate
the video data into a 10Gb Ethernet link to be sent to a central processing unit.
The IEEE1588 Precision Time Protocol (PTP) with hardware timestamping is supported, en‑abling accurate synchronization with host systems and other edge devices. The AD9545 Dual
DPLL/IEEE1588, 1pps Synchronizer and Jitter Cleaner is used to generate the required clocks forthe 10Gb Ethernet interface and the PTP logic.
16 general purpose I/O pins are available with software conﬁgurable functionality, operating at 3.3V
voltage level.
A RS232 dedicated interface can be used to connect UART peripherals such as GNSS devices.

Edge.Auto Hardware Reference ManualFig. 3.1 Mechanical drawings

3.2 Mechanical speciﬁcations
3.3 Power and thermal
Parame‑ter
SupplyvoltageMin

Typ

Max Unit Comments

10

12

48

V

Power
ratingOper‑
ating
temper‑
ature

5

24

W

‑40

60

degC Measured at carrier PCB level. Proper cooling must be im‑
plemented to ensure operating temperature range

22

Main power connector combined with I/O connector. 1 x
Barrel jack power connector, can be used for main power
or for the auxiliary power
Depends on system processing load

3 GMSL2‑10GbE Conversion Module Hardware Reference ManualEdge.Auto Hardware Reference Manual

3.4 Input / Output interface
3.4.1 SFP+ Optical 10Gb Ethernet
・ 10Gb Ethernet MAC & PHY in FPGA・ IEEE 1588 with hardware timestamping
・ SFP+ cage P/N : 2007194‑1
・ SFP+ connector P/N : 1888247‑1

3.4.2 UART (RS232)
3.3V voltage level with current limit and overvoltage protection.
Functionalities:
・ Camera trigger / Flash signal x8
・ PPS output x1
・ PPS input x1
・ PWM output x1
・ I2C Connector P/N: 430452023

3.4.3 GPIO
16 port, 3.3V voltage level with current limit and overvoltage protection Functionalities.
・ Camera trigger / Flash signal x8
・ PPS output x1
・ PPS input x1
・ PWM output x1
・ I2C
Connector P/N: 430452023

3.4.4 GMSL
・ 2 x HFM quad type mini‑Fakra connector
・ Conector P/N: 2304168‑9

3.4.5 SD Card
・ Micro SD card holder, push to eject3.4. Input / Output interface

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Edge.Auto Hardware Reference Manual

3.4.6 USB2.0
・ Console interface for Linux OS

3.4.7 JTAG
・ Kria SoC PL Debug interface

3.5 Processing
3.5.1 AMD Kria K26 SoM
Industrial grade SoM (P/N: SM‑K26‑XCL2GI). Cooling solution not included

3.6 Firmware & Software
3.6.1 Firmware
・ Custom Linux image without desktop UI
・ Linux image update over Ethernet
・ Linux image stored in the Xilinx Kria SoM eMMC or on SD card

3.6.2 HTML User interface for system conﬁguration and status
・ Accessible over conﬁgurable IP address and port
・ Provides remote control for system conﬁguration and status– RTP Control– Camera Trigger Settings– Streaming Settings– PTP Settings– Camera Settings

3.6.3 Remote system conﬁguration and status via ssh
・ ssh access into the system via the Ethernet interface
・ Provides access to all the system’ s functions via the Linux standard drivers interfaces and
tools

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3 GMSL2‑10GbE Conversion Module Hardware Reference ManualEdge.Auto Hardware Reference Manual

3.7 Synchronization
3.7.1 IEEE1588
・ Hardware timestamping
・ Conﬁgurable as slave or master3.8 Camera control & data format
3.8.1 Camera trigger control
・ Each camera independently triggerable internally.
– Using FSYNC + GPIO of deserializers for independent triggering of all four cameras on one
deserializer
・ Internal triggering relative to system ToS– Each internal trigger conﬁgurable for frequency, phase, and duty cycle: 1Hz to 200Hz
・ External GPIO conﬁgured as output can be controlled in the same way as internal camera
triggers
・ External GPIO conﬁgured as input can trigger the individual cameras directly
・ Trigger jitter at sub ms level
・ Trigger delay can also be conﬁgured (phase setting + delay to compensate for diﬀerent cam‑era triggering and exposure peculiarities)

3.8.2 Data timestamping
・ Video packets packets timestamped with PTP‑synchronized system time. Timestamp format
options:– 32bit NTP– 96bit PTP
・ Images timestamps generated at trigger (FSYNC), end of frame or start of frame, using FPGA
timestamping (PTP ‑synchronized system time)・ Conﬁgurable timestamp oﬀset

3.8.3 Video data format
・ UDP data output
・ RTP compliant as per RFC3550 & RFC4175

3.7. Synchronization

25