Skip to content

Latest commit

 

History

History
191 lines (148 loc) · 5.95 KB

Xavier_Setup.md

File metadata and controls

191 lines (148 loc) · 5.95 KB
Raw

Xavier Flashing

This will install...

L4T 32.4.3

Creating NVIDIA Jetson Xavier image

Driver Package: L4T Driver Package (BSP) Download required packages

mkdir -p $HOME/nvidia/docs
cd $HOME/nvidia
wget https://developer.nvidia.com/embedded/L4T/r32_Release_v4.3/t186ref_release_aarch64/Tegra186_Linux_R32.4.3_aarch64.tbz2
wget -O NV_Jetson_Linux_Driver_Package.tar https://developer.nvidia.com/nvidia-jetson-linux-driver-package
wget https://developer.nvidia.com/embedded/L4T/r32_Release_v4.3/t186ref_release_aarch64/Tegra_Linux_Sample-Root-Filesystem_R32.4.3_aarch64.tbz2

Unpack

tar -xf NV_Jetson_Linux_Driver_Package.tar -C $HOME/nvidia/docs
sudo tar -xf Tegra186_Linux_R32.4.3_aarch64.tbz2
# (3 min)
sudo tar -xf Tegra_Linux_Sample-Root-Filesystem_R32.4.3_aarch64.tbz2 -C $HOME/nvidia/Linux_for_Tegra/rootfs
cd $HOME/nvidia/Linux_for_Tegra
sudo ./apply_binaries.sh

Download dev tools

mkdir -p $HOME/nvidia_rt
cd $HOME/nvidia_rt
wget -O l4t-gcc-7-3-1-toolchain-64-bit.tar.xz https://developer.nvidia.com/embedded/dlc/l4t-gcc-7-3-1-toolchain-64-bit
wget https://developer.nvidia.com/embedded/L4T/r32_Release_v4.2/Sources/T186/public_sources.tbz2

Prepare build sources

cd $HOME/nvidia_rt
tar -xf l4t-gcc-7-3-1-toolchain-64-bit.tar.xz
tar -xf public_sources.tbz2
cd $HOME/nvidia_rt/Linux_for_Tegra/source/public
tar -xjf kernel_src.tbz2

Create an environment file for envvars

cd $HOME/nvidia_rt
vim $HOME/nvidia_rt/rubis_env_rt
#!/bin/sh
# toolchain flags
export BSPTOOLCHAIN=$HOME/nvidia_rt/install/bin
export PATH=${BSPTOOLCHAIN}:${PATH}
# kernel flags
export ARCH=arm64
export CROSS_COMPILE=$HOME/nvidia_rt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
export TEGRA_XAVIER_KERNEL_OUT=$HOME/nvidia_rt/tegra-jetson-xavier-kernel
export LOCALVERSION=-tegra

Export build variables and start compiling

Test kernel config with CONFIG_LOCALVERSION="-tegra" and CONFIG_PREEMPT_RT_FULL=y can be found here

cd $HOME/nvidia_rt
source rubis_env_rt
mkdir -p $TEGRA_XAVIER_KERNEL_OUT
cd $HOME/nvidia_rt/Linux_for_Tegra/source/public/kernel/kernel-4.9
# list and apply real-time patches
./scripts/rt-patch.sh apply-patches

# create default config
make O=$TEGRA_XAVIER_KERNEL_OUT ARCH=$ARCH tegra_defconfig

# compile rt kernel Image
make O=$TEGRA_XAVIER_KERNEL_OUT ARCH=$ARCH Image -j12
# copy the kernel Image and paste to the sample file system Image
cp $TEGRA_XAVIER_KERNEL_OUT/arch/arm64/boot/Image $HOME/nvidia/Linux_for_Tegra/kernel/Image

# compile and install kernel modules
make -j12 O=$TEGRA_XAVIER_KERNEL_OUT ARCH=$ARCH modules
make O=$TEGRA_XAVIER_KERNEL_OUT ARCH=$ARCH modules_install INSTALL_MOD_PATH=$TEGRA_XAVIER_KERNEL_OUT/modules

# copy the kernel modules and paste to the sample file system modules
cd $TEGRA_XAVIER_KERNEL_OUT/modules/lib/modules
sudo cp -r 4.9.140-rt93-tegra/ $HOME/nvidia/Linux_for_Tegra/rootfs/lib/modules/

Force Recovery Mode for NVIDIA AGX XAVIER

  1. Power down the device. If connected, remove the AC adapter from the device. The device must be powered OFF, and not in a suspend or sleep state.
  2. Connect the Type-C plug on the USB cable to the Recovery (USB Type-C) Port on the device and the other end to an available USB port on the host PC.
  3. Connect the power adapter to the device.
  4. Press and release the POWER button to power on device.
  5. Press and hold the FORCE RECOVERY button(중간버튼): while pressing the FORCE RECOVERY button, press and release the RESET button(맨 왼쪽 버튼); wait two seconds and release the FORCE RECOVERY button.
  6. When the device is in recovery mode, lsusb command on HOST will list a line of Nvidia Corp

Flashing NVIDIA AGX XAVIER internal eMMC

# run flash command (5 min)
cd $HOME/nvidia/Linux_for_Tegra
sudo ./flash.sh jetson-xavier mmcblk0p1

[Xavier] Check Kernel Parameters after Reboot

zcat /proc/config.gz |grep CONFIG_HZ

# CONFIG_HZ_PERIODIC is not set
# CONFIG_HZ_100 is not set
CONFIG_HZ_250=y
# CONFIG_HZ_300 is not set
# CONFIG_HZ_1000 is not set
CONFIG_HZ=250

zcat /proc/config.gz |grep CONFIG_PREEMPT

CONFIG_PREEMPT_RCU=y
CONFIG_PREEMPT=y
CONFIG_PREEMPT_RT_BASE=y
CONFIG_PREEMPT_LAZY=y
# CONFIG_PREEMPT_NONE is not set
# CONFIG_PREEMPT_VOLUNTARY is not set
# CONFIG_PREEMPT__LL is not set
# CONFIG_PREEMPT_RTB is not set
CONFIG_PREEMPT_RT_FULL=y
CONFIG_PREEMPT_COUNT=y
# CONFIG_PREEMPTIRQ_EVENTS is not set
# CONFIG_PREEMPT_TRACER is not set

nvidia@tegra-ubuntu:~/devel/nvidia-jetson-rt$ uname -a
Linux nvidia 4.9.140-rt93-rt #1 SMP PREEMPT RT Thu Aug 19 17:17:52 KST 2020 aarch64 aarch64 aarch64 GNU/Linux

#check L4T version
cat /etc/nv_tegra_release

Migrate rootfs to SSD

https://medium.com/@ramin.nabati/installing-an-nvme-ssd-drive-on-nvidia-jetson-xavier-37183c948978

⇒위 링크 참고해서 파티션으로 설정 후

파티션은 /mnt에 마운트 해야함. ⇒ 위의 링크에서 /xavier_ssd를 /mnt라고 생각하면 됨.

sudo mount /dev/nvme0n1p1 /mnt
sudo cp /etc/fstab /etc/fstab.bkup
sudo gedit /etc/fstab

In fstab

UUID=<uuid>  /mnt  ext4  defaults  0  2

UUID는 disks에서 확인할 수 있음

sudo umount /mnt
sudo mount -a
git clone https://github.com/jetsonhacks/rootOnNVMe.git
cd rootOnNVMe
./copy-rootfs-ssd.sh
./setup-service.sh
sudo reboot

Install cuda

sudo apt-get install libopencv libopencv-python \
cuda-toolkit-10-2 libopencv-dev opencv-licenses

Cuda Library path

In .bashrc

export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH