ARK Jetson Carrier Setup

This repository contains instructions and scripts for flashing your Jetson Orin Nano or Orin NX on an ARK Jetson Carrier.

Note: This has only been tested with Ubuntu 22.04

Prebuilt Images (Recommended)

Prebuilt flash packages are available on the Releases page. No build tools or kernel source needed:

curl -LO https://github.com/ARK-Electronics/ark_jetson_kernel/releases/latest/download/flash_from_package.sh
chmod +x flash_from_package.sh
./flash_from_package.sh

The script downloads the latest release, reassembles if needed, and flashes. See packaging/ for more details.

Building from Source

If you need to customize the kernel or device tree, clone this repository and follow the steps below.

1. Setup

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

The script will configure the default user, password, and hostname as jetson.

./setup.sh

2. Build

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

./build_kernel.sh

3. Add WiFi (optional)

You can optionally add your WiFi network after building and before flashing:

./scripts/add_wifi_network.sh YourNetworkName YourPassword

If you didn't configure the WiFi network before flashing, you can ssh in over the micro USB and use network manager to add your network:

ssh jetson@jetson.local
sudo nmcli dev wifi connect YourNetworkName password YourPassword

4. Flash

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

Flash options

By default, flash.sh targets NVMe + Orin Super. For other configurations:

# Flash to SD card (NVIDIA dev kit modules)
./flash.sh --sdcard

# Flash to USB thumb drive
./flash.sh --usb

# Flash non-super module variant
./flash.sh --no-super

# Both
./flash.sh --sdcard --no-super

Once complete, SSH in via Micro USB or WiFi.

ssh jetson@jetson.local

5. Generate & Publish Flash Package (optional)

See packaging/ for how to generate distributable flash packages and publish them to GitHub Releases.

6. Install ARK Software (optional)

You can now optionally install the ARK software packages, which provide handy tools for working with the Jetson on an ARK carrier.

https://github.com/ARK-Electronics/ARK-OS

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Additional Documentation

The sections below cover advanced topics for reference. Most users will not need these for initial setup.

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

If the ./flash.sh command fails, try the l4t_initrd_flash.sh command:

sudo ./tools/kernel_flash/l4t_initrd_flash.sh -p "--no-systemimg -c bootloader/generic/cfg/flash_t234_qspi.xml" --network usb0 jetson-orin-nano-devkit-super nvme0n1p1

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Changing Jetson Clock Speeds

To show the current settings:

sudo jetson_clocks --show

To store the current settings:

sudo jetson_clocks --store

To maximize Jetson Orin performance:

sudo jetson_clocks

To restore the previous settings:

sudo jetson_clocks --restore

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Jetson Super Mode

After flashing or updating to JetPack 6.2, run the following command to start the newly available Super Mode.

MAXN SUPER mode on Jetson Orin Nano Modules:

sudo nvpmodel -m 2

MAXN SUPER mode on Jetson Orin NX Modules:

sudo nvpmodel -m 0

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Camera Support

See docs/cameras.md for tested cameras, overlays, and test commands (GStreamer, v4l2-ctl).

10GbE Ethernet (Auvidea M20E)

See docs/10gbe_ethernet.md for using the Auvidea M20E M.2 10GbE adapter with a USB boot drive.

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Building from Source

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=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$PWD/source_build/Linux_for_Tegra/source/kernel/kernel-jammy-src
export INSTALL_MOD_PATH=$PWD/prebuilt/Linux_for_Tegra/rootfs/
cd 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:

scripts/copy_dtbs_to_prebuilt.sh

Navigate back to prebuilt workspace and flash the image:

cd 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-super nvme0n1p1

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Building the Camera Overlay DTBs

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

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

Copy the overlay DTB to the Jetson via Micro-USB:

DTB_PATH="$PWD/source_build/Linux_for_Tegra/source/kernel-devicetree/generic-dts/dtbs/"
OVERLAY_DTB=<your_overlay>
scp $DTB_PATH/$OVERLAY_DTB jetson@192.168.55.1:~

Installing the overlay requires 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

You can check that LibArgus can find your camera sensor:

nvargus_nvraw --lps

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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 apply an overlay of modified files from the device_tree directory for both PAB and JaJ targets. If you want to modify the device tree you will need to modify the files there and and copy them into the correct location in the source_build.