JetPack on IGX#

Applies to NVIDIA IGX Thor Developer Kit Mini and IGX Thor T5000 module.

This guide provides instructions for using the Jetson Linux BSP with the IGX Thor T5000 module and IGX Thor Developer Kit Mini.

Overview#

The Jetson Linux BSP provides low-level system software for the IGX Thor T5000. For standard IGX OS installation, refer to the Installing Software on IGX Thor Developer Kit Mini guide.

Prerequisites#

To use the Jetson Linux BSP, you will need:

A host PC (x86 architecture) running Ubuntu 22.04.
A monitor connected to the DisplayPort (3) or HDMI port (4) of the Dev Kit.
Keyboard and mouse connected to the USB ports (1) of the devkit.
The Debug USB-C port (8) of the Dev Kit connected to the host PC.
The Force Recovery Mode USB-C port (5a) connected to the host PC.

Refer to the IGX Thor Developer Kit Mini System Overview page for the HW setup.

Flashing Procedure#

Follow these steps to check and update the Boot firmware (QSPI) and/or the Linux_for_Tegra BSP:

Download and configure the Jetson Linux BSP and root file-system on the host PC using the following commands:

L4T_RELEASE_PACKAGE=Jetson_Linux_R38.5.0_aarch64.tbz2
SAMPLE_FS_PACKAGE=Tegra_Linux_Sample-Root-Filesystem_R38.5.0_aarch64.tbz2

tar xf ${L4T_RELEASE_PACKAGE}
sudo tar xpf ${SAMPLE_FS_PACKAGE} -C Linux_for_Tegra/rootfs/
cd Linux_for_Tegra/
sudo ./tools/l4t_flash_prerequisites.sh
sudo ./apply_binaries.sh --openrm

Ensure that the Force Recovery Mode USB-C port (5a) of the Dev Kit is connected to the host.
Place the device in Force Recovery Mode. Refer to Force Recovery Mode in the IGX Thor Developer Kit Mini System Overview.
Confirm that the Dev Kit is in recovery mode. The following command on the host should show “NVIDIA Corp. APX”, when the Dev Kit is in recovery mode:
```
lsusb | grep -i NVIDIA

Bus 001 Device 081: ID 0955:7026 NVIDIA Corp. APX
```

Flash the device using the following commands:

# To flash only the Boot firmware (QSPI)
sudo ./l4t_initrd_flash.sh --qspi-only igx-thor-devkit-mini internal

# To flash the Jetson Linux BSP (Boot firmware and OS)
sudo ./l4t_initrd_flash.sh igx-thor-devkit-mini internal

When the flash has completed successfully, reset the board using the Reset button (13).
Make sure that the UEFI screen or the following command shows the firmware version matching with the installed version:
```
cat /sys/class/dmi/id/bios_version
cat /sys/class/dmi/id/bios_date
```

Build/Flash the IGX OS Kernel#

This section provides instructions on how to build and use the IGX OS (Canonical) kernel with Jetson Linux BSP on the IGX Thor T5000 module and IGX Thor Developer Kit Mini.

Use the following steps to build and install the IGX OS (Canonical) kernel in the Jetson Linux BSP.

Get the IGX OS kernel and out-of-tree (OOT) module sources from the Linux_for_Tegra/source/ directory.

To fetch the latest tags from the Canonical repositories:
```
cd Linux_for_Tegra/source/
./nv_build_igx_kernel.sh -g
```
Alternatively, to use specific kernel and OOT module tags:
```
cd Linux_for_Tegra/source/
./nv_build_igx_kernel.sh -g "Ubuntu-nvidia-tegra-6.8.0-1018.18" "v2.5.0-1_igx-2.0"
```
Configure the kernel:
```
./nv_build_igx_kernel.sh -c
```
Build the kernel and OOT modules:
```
./nv_build_igx_kernel.sh -b
```
Install the kernel and OOT modules:
```
./nv_build_igx_kernel.sh -i
```

Apply a fixup for nvidia-uvm module loading. Edit the file Linux_for_Tegra/rootfs/etc/modprobe.d/nvidia-unifiedgpudisp.conf and replace the following line:

softdep nvidia pre: governor_pod_scaling post: nvidia-uvm

With:

install nvidia /usr/sbin/modprobe governor_pod_scaling; /usr/sbin/modprobe --ignore-install nvidia; /usr/sbin/modprobe nvidia-uvm

Flash the target as described in the Flashing Procedure section above.