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====== Jetson Orin NX Development ======

==== Jetson Linux 35.4.1 Source Download ====
[[https://developer.nvidia.com/embedded/jetson-linux-r3541|NVIDIA Jetson Linux 35.4.1]]

==== NVIDIA Jetson developer kit quick start guide ====
[[https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/IN/QuickStart.html|Quick Start Guide]]

==== Boot Architecture ====
[[https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/AR/BootArchitecture.html|Boot Architecture]]

==== Download SDKmanager in Host(X86 PC) ====
[[https://developer.nvidia.com/sdk-manager|SDK Manager]]

==== Jetson Orin NX and Nano Series Documents ====
[[https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/HR/JetsonModuleAdaptationAndBringUp/JetsonOrinNxNanoSeries.html#hr-jetsonmoduleadaptationandbringup-jetsonorinnxnanoseries|Jetson NX & Nano Document]]

==== Jetson Linux Toolchain ====
[[https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/AT/JetsonLinuxToolchain.html#at-jetsonlinuxtoolchain|Linux Compiler Toolchain]]

==== Jetson DP HDMI porting ====
[[https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/SD/Kernel/DisplayConfigurationAndBringUp.html|DP HDMI porting]]

==== Jetson Building UEFI ====
[[https://github.com/NVIDIA/edk2-nvidia/wiki/Build-with-docker|Build UEFI with Docker]] \\
[[https://github.com/NVIDIA/edk2-nvidia/wiki/Build-without-docker|Build UEFI without Docker]]
==== Build Environment ====
<code>
sudo apt update
sudo apt upgrade           --> Keep 20.04
sudo apt install make
sudo apt install build-essential bc
sudo apt install libncurses-dev 
sudo apt install flex
sudo apt install bison -y
sudo apt install libssl-dev
sudo apt install libelf-dev
sudo apt install qemu-user-static
</code>

==== Across Compiler ====
<code>
mkdir $HOME/l4t-gcc
cd $HOME/l4t-gcc
cp ../Download/aarch64--glibc--stable-final.tar.gz ~/l4t-gcc/.
tar xf aarch64--glibc--stable-final.tar.gz
</code>

==== Create BSP Method 1 ====
<code>
export L4T_RELEASE_PACKAGE=Jetson_Linux_R35.4.1_aarch64.tbz2
export SAMPLE_FS_PACKAGE=Tegra_Linux_Sample-Root-Filesystem_R35.4.1_aarch64.tbz2
export BOARD=jetson-orin-nano-devkit

tar xf ${L4T_RELEASE_PACKAGE}
sudo tar xpf ${SAMPLE_FS_PACKAGE} -C Linux_for_Tegra/rootfs/
tar xf public_sources.tbz2      --> decompress the file to Linux_for_Tegra/source/public
cd Linux_for_Tegra/
sudo ./apply_binaries.sh
sudo ./tools/l4t_flash_prerequisites.sh
cd source/public
tar -xjf kernel_src.tbz2
</code>

==== Create BSP Method 2 ====
<code>
tar xf Jetson_Linux_R35.4.1_aarch64.tbz2
sudo tar xpf Tegra_Linux_Sample-Root-Filesystem_R35.4.1_aarch64.tbz2 -C Linux_for_Tegra/rootfs/
cd Linux_for_Tegra/
sudo ./apply_binaries.sh
sudo ./tools/l4t_flash_prerequisites.sh       --> Installing the Flash Requirements
cd source/public
tar –xjf kernel_src.tbz2
</code>

==== Flashing the Target Device ====

1. Put the target device into Force Recovery Mode. 
    A. Power on the carrier board and hold down the RECOVERY button. 
    B. Press the RESET button. 

{{:jetson_orin_nx.png?400|}}
{{:jetson_som_configuration.png|}}

2. Using Standard flash

<code>
sudo ./flash.sh jetson-orin-nano-devkit-nvme internal
</code>

3. Jetson Orin Nano Developer Kit (NVMe):
<code>
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device nvme0n1p1 \
  -c tools/kernel_flash/flash_l4t_external.xml -p "-c bootloader/t186ref/cfg/flash_t234_qspi.xml" \
  --showlogs --network usb0 jetson-orin-nano-devkit internal
</code>
4. Jetson Orin Nano Developer Kit (USB):
<code>
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device sda1 \
  -c tools/kernel_flash/flash_l4t_external.xml -p "-c bootloader/t186ref/cfg/flash_t234_qspi.xml" \
  --showlogs --network usb0 jetson-orin-nano-devkit internal
</code>
5. Jetson Orin Nano Developer Kit (SD card):
<code>
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device mmcblk1p1 \
  -c tools/kernel_flash/flash_l4t_external.xml -p "-c bootloader/t186ref/cfg/flash_t234_qspi.xml" \
  --showlogs --network usb0 jetson-orin-nano-devkit internalls
</code>

==== Build Kernel ====
<code>
export CROSS_COMPILE_AARCH64_PATH=$HOME/l4t-gcc/
export CROSS_COMPILE_AARCH64=$HOME/l4t-gcc/bin/aarch64-buildroot-linux-gnu-
cd ~/workspace/NX/Linux_for_Tegra/source/public
mkdir kernel_out
./nvbuild.sh -o $PWD/kernel_out
</code> 

==== Config Kernel ====
<code>
~/workspace/NX/Linux_for_Tegra/source/public/kernel/kernel-5.10
make menuconfig
</code>


==== Vmware Tools =====
<code>
sudo apt update
sudo apt upgrade
sudo apt install open-vm-tools-desktop -y
sudo reboot 
</code>


==== VSCode install =====
[[https://code.visualstudio.com/download|Vscode download link]]


==== Nvidia Tegra Partition Layout - NVME ====
/home/ubuntu/workspace/DEV2715/Linux_for_Tegra/bootloader/t186ref/cfg/flash_t234_qspi_nvme.xml


==== Kernel Customization ====
[[https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/SD/Kernel/KernelCustomization.html|Kernel Customization]]\\

<color #00a2e8>After you compiled your kernel, please update below files!</color>\\
<code>
 source/public/kernel_out/drivers/gpu/nvgpu/nvgpu.ko -->
 Linux_for_Tegra/rootfs/usr/lib/modules/$(uname -r)/kernel/drivers/gpu/nvgpu/nvgpu.ko

 source/public/kernel_out/arch/arm64/boot/dts/nvidia/   -->
 Linux_for_Tegra/kernel/dtb/
 
 source/public/kernel_out/arch/arm64/boot/Image -->
 Linux_for_Tegra/kernel/Image
</code>

==== How to confirm which dts file is used ====
<code>
cat /proc/device-tree/nvidia,dtsfilename
</code> 

==== Flash DTB File ====
<code>
sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1
</code> 


==== Device Tree Documents ====
<code>
/home/ubuntu/workspace/DEV2715/Linux_for_Tegra/source/public/kernel/kernel-5.10/Documentation/devicetree/bindings
</code>


==== Flash definition ====
<code>
/home/ubuntu/workspace/DEV2715/Linux_for_Tegra/bootloader/t186ref/cfg/flash_t234_qspi_nvme.xml
</code>


==== DTB & DTS ====
<code>
(1)  dts to dtb
 
./dtc -I dts -O dtb -o output_name.dtb input_name.dts

(2)  dtb to dts
 
./dtc -I dtb -O dts -o output_name.dts input_name.dtb

</code>
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