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JonasFrey96 edited this page Sep 11, 2024 · 20 revisions

We are using the Jetson Orin 32 GB.

For the Jetson the HDMI cable display needs to be attached before starting the PC to work.

Hardware

  • NVIDIA Jetson AGX Orin Modul 32 GB
  • Rogue Carrier for NVIDIA® Jetson AGX Orin
  • Intel Wi-Fi 6E AX210 - Network adapter - M.2 2230
  • Samsung 980 Pro
  • 2X 10GBASE-T
  • 3x USB 3.2
  • 2x M.2 Key M Slots
  • 1x M.2 Key E Slot

Responsibilities

  • ZED 2i Driver
  • Optional Timemaster

Connections

  • ZED 2i via USB
  • 3x Tier IV C1 Cameras via GSML2 6GB

Software

TODO store BSP o google drive

Documents and Links

Flashing the Jetson

  • Follow chapters 4.1.2 and 4.2 in the Board Support Package Document.
  • Check that after running ./install.sh, there is no error 'qemu-user-static missing'. If this is the case, install qemu-user-static
  • Connect Jetson to Host Linux machine using the OTG USB-C port
  • Check the power supply while it is not plugged in:
  • Check that it supplies 12V
  • Check that allows for up to 5A to be used (If Jetson cannot get enough ampere, then it can get stuck in a loop, constantly rebooting)
  • Turn the power supply off
  • Put Jetson into recovery mode:
  • Jetson has to be powered down completely
  • Locate the Force Recovery Button (directly next to the OTG USB port, labelled FR)
  • Hold down the Force Recovery Button
  • Turn on power (Switch on powersupply, DO NOT plug in live power)
  • After three (3) seconds, release the Force Recovery Button
  • Check if Jetson is actually in Force Recovery Mode
  • Open Terminal in Linux Host computer
  • Run command 'lsusb'
  • If you see the following, then the Jetson is in Force Recovery Mode Bus Device : ID 0955: Nvidia Corp.
  • Start flashing:
  • 'cd BSP_ROOT/Linux_for_Tegra'
  • 'sudo ./cti-flash.sh'
  • Select: (2) Rogue Orin
  • Select: (8) ISX021 C1
  • Select: (1) AGX
  • There are selections available for the jbc0002 GMSL board with ZED X Camera and Trier C1 / C2 cameras!
  • Wait for it to be done (ca. 10min)

Wifi module AX210

  • Wifi did not work and the bluetooth settings were flickering
  • As recommended in https://nanmu.me/en/posts/2022/get-ax210-working-on-linux/ , I ran:
  • 'sudo mv /usr/lib/firmware/iwlwifi-ty-a0-gf-a0.pnvm /usr/lib/firmware/iwlwifi-ty-a0-gf-a0.bak'
  • And then it worked, the bluetooth still did not

Real Time Clock (RTC):

  • Time kept resetting on reboot (RTC reset to 1970, system clock to wrong month)
  • Changed lines in '/lib/udev/rules.d/50-udev-default.rules' to this:
  • 'SUBSYSTEM==“rtc”, ATTR{hctosys}==“0” , SYMLINK+=“rtc”'
  • 'SUBSYSTEM==“rtc”, KERNEL=="rtc0 ", SYMLINK+=“rtc”, OPTIONS+=“link_priority=-100”'
  • Issue rtc-clock-battery-for-the-orin-dev-kit
  • Now RTC time stayed, but system time did not automatically sync to RTC time
  • Add a system service, which runs 'hwclock -s' on startup

Power Mode

  • Modify /etc/nvpmodel.conf and set power mode to index = 0
  • Also allows to change while running with: sudo /usr/sbin/nvpmodel -m
  • Use jtop to see number of cores and clock speed.

System Services

Unexpected Errors

  • Only few pins allow for hardware triggering - Added Raspberry PI to take care of this.
  • 4 TB SSD does not fit, due to collision with (multiple) Caps below the M2 Key slot.
  • Connect Tech GMSL2 board did not support C1 cameras when we tried to use: https://connecttech.com/product/xavier-gmsl-camera-platform/
  • Therefore, we added the Zed2i instead of ZedX

Presented by RSL.

Software

General

Compute

Sensors

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