ARK Jetson Carrier Setup

This repository contains instructions and scripts for flashing your Jetson Orin Nano or Orin NX on an ARK Jetson Carrier. Clone this repository on your Host PC and follow the instructions below.

Note: This has only been tested with Ubuntu 22.04

Installing the OS

Run the setup.sh script to download and build the Jetson Orin Nano / NX Jetpack 6 kernel.

The script will configure the default user, password, and hostname as jetson. The script will also add ARK_JETSON_KERNEL_DIR to your ~/.bashrc for ease of use later.

./setup.sh

Once the setup script is finished you can build the kernel.

./build_kernel.sh

You can optionally add your WiFi network:

./add_wifi_network.sh <SSID> <PASSWORD>

You can now flash the image.

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

./flash.sh

Once complete, SSH in via Micro USB or WiFi.

ssh jetson@jetson.local

Install ARK software

You can now optionally install the ARK software packages
https://github.com/ARK-Electronics/ARK-OS

Flashing the QSPI bootloader

You can flash just the QSPI bootloader and install a pre-flashed NVME afterwards (NVIDIA Docs). If you are upgrading from Jetpack5 to Jetpack6 you must reflash the QSPI bootloader.

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

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Building from source explained

The following steps have been automated for you in build_kernel.sh.

Building the kernel, modules, and dtbs

Navigate to the root of the kernel sources and build the kernel, modules, and dtbs

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
export INSTALL_MOD_PATH=$ARK_JETSON_KERNEL_DIR/prebuilt/Linux_for_Tegra/rootfs/
cd $ARK_JETSON_KERNEL_DIR/source_build/Linux_for_Tegra/source
make -C kernel && make modules && make dtbs

Install the kernel rootfs into the prebuilt directory

sudo -E make install -C kernel

And copy the kernel image to the prebuilt directory

cp kernel/kernel-jammy-src/arch/arm64/boot/Image ../../../prebuilt/Linux_for_Tegra/kernel/

And copy the dtbs if you've made changes to the device tree

$ARK_JETSON_KERNEL_DIR/copy_dtbs_to_prebuilt.sh

Navigate back to prebuilt workspace and 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

Building the camera overlay DTBS

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

export CROSS_COMPILE=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$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 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

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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 location in the source build.