ARK Jetson Carrier Setup

This repository contains instructions and helper scripts for flashing a Jetson Orin Nano or NX installed on an ARK Jetson Carrier. It is reccomended that you install via pre-built binaries. The ARK Jetson Carrier compiled device tree binaries will be downloaded and added into the prebuilt directory.

Installing the OS from binaries

A single setup script is provided for your convenience. It will download the prebuilt Jetpack 6 release (36.3.0) and apply the precompiled ARK device tree binaries. The script will also configure the default user, password, and hostname as "jetson".

./setup_prebuilt.sh

Alternatively you can visit NVIDIA's official documentation for flashing the release.

Flashing

Connect a micro USB cable to the port adjacent to the mini HDMI. Power on with the Force Recovery button held. You can verify the Jetson is in recovery mode by checking lsusb.

Bus 001 Device 012: ID 0955:7523 NVIDIA Corp. APX

Flash the image

cd $ARK_JETSON_KERNEL_DIR/prebuilt/Linux_for_Tegra/
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device nvme0n1p1 -p "-c ./bootloader/generic/cfg/flash_t234_qspi.xml" -c ./tools/kernel_flash/flash_l4t_t234_nvme.xml --erase-all --showlogs --network usb0 jetson-orin-nano-devkit nvme0n1p1

Install Jetpack and missing WiFi driver

sudo apt update && sudo apt install -y nvidia-jetpack backport-iwlwifi-dkms

Flashing only the QSPI

You can also just flash the QSPI bootloader and install a pre-flashed NVME afterwards.

cd $ARK_JETSON_KERNEL_DIR/prebuilt/Linux_for_Tegra/
sudo /flash.sh --no-systemimg -c bootloader/generic/cfg/flash_t234_qspi.xml jetson-orin-nano-devkit nvme0n1p1

https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/SD/FlashingSupport.html#examples

Setting up WiFi (headless)

After flashing is complete you can use the USB connection to configure the wifi network connection.

picocom /dev/ttyUSB0 -b 115200

Check that the wifi interface exists

nmcli device

Check that your wifi network is visible

nmcli device wifi list

Connect to your network

sudo nmcli device wifi connect <MY_WIFI_AP> password <MY_WIFI_PASSWORD>

Known issues

• The first time a newly flashed NVME is booted the kernel will panic if a WiFi card is installed. Install the WiFi card after the NVME has been booted at least once.

• The Intel 9260 AC WiFi driver is not supported. You must connect via ethernet and install the backport driver.

  sudo apt-get install -y backport-iwlwifi-dkms
  

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Building from source

If you want to further modify the device tree, you will need to build the kernel from source. A helper script is provided that will download the kernel source, toolchain, and ARK customized device tree files. Run the setup_prebuilt.sh script first.

./setup_source_build.sh

Alternatively you can visit NVIDIA's official documentation for kernel customization and building from source.

Notes on building the kernel and modifying the device tree

To make changes to the kernel device tree you must build the kernel from source. After building from source you will copy over the new tegra234-p3768-0000+p3767--nv.dtb device tree binary to the corresponding location in the prebuilt directory and flash using the same method.

Note that there are different device tree binaries depending on the module and RAM.
https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/HR/JetsonModuleAdaptationAndBringUp/JetsonOrinNxNanoSeries.html#porting-the-linux-kernel-device-tree
Orin NX 16GB-DRAM : tegra234-p3768-0000+p3767-0000-nv.dtb
Orin NX 8GB-DRAM : tegra234-p3768-0000+p3767-0001-nv.dtb
Orin Nano 8GB-DRAM : tegra234-p3768-0000+p3767-0003-nv.dtb
Orin Nano 4GB-DRAM : tegra234-p3768-0000+p3767-0004-nv.dtb

The device tree files for Jetson Orin Nano/NX can be found in the kernel source directory at Linux_for_Tegra/source/hardware/nvidia/t23x/nv-public. We maintain a repository with these files which is cloned into $ARK_JETSON_KERNEL_DIR/source_build in the source build setup script. If you want to modify the device tree you will need to modify the files in this repo and and copy them into the correct locaiton in the source build.

cd $ARK_JETSON_KERNEL_DIR/source_build
cp -r ark_jetson_orin_nano_nx_device_tree/* Linux_for_Tegra/source/hardware/nvidia/t23x/nv-public/

Building the kernel and overlay DTBs

Once setup is complete you can build the kernel device tree:

export CROSS_COMPILE=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$ARK_JETSON_KERNEL_DIR/source_build/Linux_for_Tegra/source/kernel/kernel-jammy-src
cd $ARK_JETSON_KERNEL_DIR/source_build/Linux_for_Tegra/source/
make -C kernel
make modules
make dtbs

And copy over the newly built device tree binaries to the prebuilt directory

$ARK_JETSON_KERNEL_DIR/copy_dtbs_to_prebuilt.sh

Flash the image (required for updating kernel device tree)

cd $ARK_JETSON_KERNEL_DIR/prebuilt/Linux_for_Tegra/
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device nvme0n1p1 -p "-c ./bootloader/generic/cfg/flash_t234_qspi.xml" -c ./tools/kernel_flash/flash_l4t_t234_nvme.xml --erase-all --showlogs --network usb0 jetson-orin-nano-devkit nvme0n1p1

Building the camera overlay DTBS

The camera overlays can be built and installed onto the Jetson without needing to reflash.

export CROSS_COMPILE=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=/home/jake/code/ark/ark_jetson_kernel/source_build/Linux_for_Tegra/source/kernel/kernel-jammy-src
cd $ARK_JETSON_KERNEL_DIR/source_build/Linux_for_Tegra/source/
make dtbs

Copy the overlay DTB to the Jetson via Micro-USB

DTB_PATH="$ARK_JETSON_KERNEL_DIR/source_build/Linux_for_Tegra/source/kernel_out/nvidia-oot/device-tree/platform/generic-dts/dtbs/"
OVERLAY_DTB=<your_overlay>
scp $DTB_PATH/$OVERLAY_DTB jetson@192.168.55.1:~

Installing the overlay require sudo so you will then need to SSH into the Jetson and move the overlay into /boot.

ssh jetson@192.168.55.1
sudo mv <your_overlay> /boot

You can then select your overlay using the Jetson-IO tool. List the available overlays to ensure yours is available.

sudo /opt/nvidia/jetson-io/config-by-hardware.py -l

For example

 Header 1 [default]: Jetson 40pin Header
   Available hardware modules:
   1. Adafruit SPH0645LM4H
   2. Adafruit UDA1334A
   3. FE-PI Audio V1 and Z V2
   4. ReSpeaker 4 Mic Array
   5. ReSpeaker 4 Mic Linear Array
 Header 2: Jetson 24pin CSI Connector
   Available hardware modules:
   1. Camera ARK IMX219 Quad
   2. Camera ARK IMX477 Single

Apply your overlay, for example

sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Camera ARK IMX477 Single"

Reboot and your new device tree will be active.

sudo reboot