Building Pinmux + Device Tree + Kernel for NRU-220S

Reference

• NVIDIA - Adaption and Bringup for Jetson AGX Orin [link]

• NVIDIA - Jetson Developer Guide - JetPack 5.0.2 (Jetson Linux 35.1) [link]

• NVIDIA - Jetson Package Introduction - JetPack 5.0.2 (Jetson Linux 35.1) [link]

• NVIDIA - Release Notes - JetPack 5.0.2 (Jetson Linux 35.1) [link]

• NVIDIA - Developer Forum - Jetpack5.0.2 kernel compile error [link]

• RidgeRun - Kernel Compile Guide [link]

Preparation

Testing Environment

• Host Machine

  • JetPack 5.0.2

  • Ubuntu 20.04.5 LTS (Ubuntu 18.04 not working?)

• Please update all the parameter paths regarding your environment

Download L4T via NVIDIA SDKManager

• Follow this link to install NVIDIA SDKManager

• Follow the NVIDIA SDKManger, and install AGX Orin + JetPack 5.0.2

Download Device Tree and Kernel Sources

• NVIDIA released an updated source_sync.sh as below in the developer forum [link], please download it to replace the original one in L4T folder.

11KB

source_sync.sh

Open

• Assumed you have the L4T folder downloaded by NVIDIA SDK Manager, you can further download kernel sources and device tree sources via the following commands

L4T=/home/nvidia/nvidia/nvidia_sdk/JetPack_5.0.2_Linux_JETSON_AGX_ORIN_TARGETS/Linux_for_Tegra
cd $L4T
sudo ./source_sync.sh -k jetson_35.1

Download Toolchain

cd $HOME
wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93

# Try to make a different folder name to distinguish from JetPack 4.x requirement
mkdir $HOME/l4t-gcc-93
cd $HOME/l4t-gcc-93

mv ../bootlin-toolchain-gcc-93 bootlin-toolchain-gcc-93.tar.gz
tar xf bootlin-toolchain-gcc-93.tar.gz

#/home/nvidia/l4t-gcc-93
export CROSS_COMPILE=$HOME/l4t-gcc-93/bin/aarch64-buildroot-linux-gnu-

Download Related Packages for Device Tree / Kernel Compile

sudo apt install build-essential bc
sudo apt-get install graphviz dvipng python3-venv latexmk librsvg2-bin texlive-lang-chinese texlive-xetex
sudo apt-get install python3-sphinx bison flex
sudo apt-get install libgmp-dev libssl-dev libmpc-dev

Prepare NRU-220S files from Dev Kits file

Let's try to have the NRU-220S files from dev kit.

L4T=/home/nvidia/nvidia/nvidia_sdk/JetPack_5.0.2_Linux_JETSON_AGX_ORIN_TARGETS/Linux_for_Tegra
cd $L4T

cp p3737-0000+p3701-0000-maxn.conf nru220.conf 
cp p3701.conf.common nru220.conf.common

# Device tree related source
cd $L4T/sources/hardware/nvidia/platform/t23x/concord/kernel-dts/
cp tegra234-p3701-0000-p3737-0000.dts nru220.dts
cp tegra234-power-tree-p3701-0000-p3737-0000.dtsi nru220-power-tree.dtsi
cp cvm/tegra234-p3701-0000.dtsi cvm/nru220-orin.dtsi
cp cvb/tegra234-p3737-0000-a00.dtsi cvb/nru220-a00.dtsi
cp cvb/tegra234-ethernet-3737-0000.dtsi cvb/nru220-ethernet.dtsi
cp cvb/tegra234-p3737-pcie.dtsi cvb/nru220-pcie.dtsi
cp cvb/tegra234-p3737-fixed-regulator.dtsi cvb/nru220-fixed-regulator.dtsi

"sources/hardware/nvidia/soc/t23x/kernel-dts/tegra234-soc/tegra234-soc-eqos.dtsi" modification

+#include <t234-common-cvb/tegra234-p3711-ethernet.dtsi>
+#include <t234-common-cvb/tegra234-p3737-eqos-pinmux.dtsi>

/ {
 	pinmux@2430000 {
 		eqos_mii_rx_input_state_disable: eqos_rx_disable {
@@ -108,7 +111,7 @@
 		nvidia,tx-queue-prio = <0x0 0x7 0x2 0x3 0x0 0x0 0x0 0x0>;
 		nvidia,rxq_enable_ctrl = <2 2 2 2 2 2 2 2>;
 		nvidia,vm-irq-config = <&eqos_vm_irq_config>;
-		status = "disabled";
+		status = "okay";
 		nvidia,dcs-enable = <0x1>;
 		nvidia,pad_calibration = <0x1>;
 		nvidia,rx_riwt = <512>;

"bootloader/tegra234-mb2-bct-common.dtsi" Modification

// cvb_eeprom_read_size = <0x100>;
cvb_eeprom_read_size = <0x0>;

"nru220.conf" Modification

#source "${LDK_DIR}/p3701.conf.common";
source "${LDK_DIR}/nru220.conf.common";

# Replace every
# DTB_FILE="" with
DTB_FILE="nru220.dtb";

# Replace every
# TBCDTB_FILE="" with
TBCDTB_FILE="nru220.dtb";

"nru220.conf.common" Modification

#ODMDATA="gbe-uphy-config-22,hsstp-lane-map-3,nvhs-uphy-config-0,hsio-uphy-config-0,gbe0-enable-10g";
ODMDATA="gbe-uphy-config-0,hsstp-lane-map-3,hsio-uphy-config-16,nvhs-uphy-config-0";


# Replace every 
# PINMUX_CONFIG="xxxxx"; with
PINMUX_CONFIG="Orin-nru220-pinmux.dtsi";


# Replace every 
# PMC_CONFIG="xxxxx"; with
PMC_CONFIG="Orin-nru220-padvoltage-default.dtsi"

# Replace every
# DTB_FILE="" with
DTB_FILE="nru220.dtb";

# Replace every
# TBCDTB_FILE="" with
TBCDTB_FILE="nru220.dtb";

"sources/hardware/nvidia/platform/t23x/concord/kernel-dts/Makefile" Modification

# Add the following line
dtb-$(BUILD_ENABLE) += nru220.dtb

"sources/hardware/nvidia/platform/t23x/concord/kernel-dts/nru220.dts" Modification

// Use our modified dtsi instead
// #include "cvm/tegra234-p3701-0000.dtsi"
#include "cvm/nru220-orin.dtsi"
// #include "cvb/tegra234-p3737-0000-a00.dtsi"
#include "cvb/nru220-a00.dtsi"

"sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvm/nru220-orin.dtsi" Modification

Add a new .dcb to "sources/hardware/nvidia/platform/t23x/concord/kernel-dts/"

26KB

nru220-dcb-1DP-4Lane-ga5.0.2.dtsi

Open

"sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvb/nru220-a00.dtsi" Modification

// #include "tegra234-ethernet-3737-0000.dtsi"
#include "nru220-ethernet.dtsi"
// #include "tegra234-p3737-pcie.dtsi"
#include "nru220-pcie.dtsi"

Prepare Pinmux Files

• The required Pinmux files of Jetson AGX Orin are different from Jetson AGX Xavier or Xavier NX

• The default file name for pinmux files is nru220. In other words, you will get the following files after exporting the Pinmux template Excel file.

  • Orin-nru220-gpio-default.dtsi

  • Orin-nru220-padvoltage-default.dtsi

  • Orin-nru220-pinmux.dtsi

• Then copy the files to different folder

L4T=/home/nvidia/nvidia/nvidia_sdk/JetPack_5.0.2_Linux_JETSON_AGX_ORIN_TARGETS/Linux_for_Tegra

# Put Orin-nru220-gpio-default.dtsi into
cd $L4T/bootloader/

# Put Orin-nru220-padvoltage-default.dtsi, Orin-nru220-pinmux.dtsi into
cd $L4T/bootloader/t186ref/BCT/

Create Default Users

cd $L4T
sudo ./tools/l4t_create_default_user.sh -u nvidia -p nvidia -a

Build

Please put the following under L4T

Build Clean and Default Config

#!/bin/bash

if [ "$EUID" -ne 0 ]
  then echo "Please run with sudo"
  exit
fi

NRU220_dtb_name=nru220
boardName=Orin-nru220
L4T=$(pwd)
timestamp=$(date +%Y-%m-%d_%H%M)
version=1.0

echo "> make clean + mrproper + tegra_deconfig for sources"

KERNEL_SOURCES=$L4T/sources

cd $KERNEL_SOURCES
TOOLCHAIN_PREFIX=$HOME/l4t-gcc-93/bin/aarch64-buildroot-linux-gnu-
TEGRA_KERNEL_OUT=$L4T/build
KERNEL_MODULES_OUT=$KERNEL_SOURCES/modules

make -C kernel/kernel-5.10 clean 1>/dev/null 
make -C kernel/kernel-5.10 mrproper 1>/dev/null 
make -C kernel/kernel-5.10 ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig

echo "> "
echo "> .config is ready under $TEGRA_KERNEL_OUT for further customization"

cd $L4T

Build Device Tree

#!/bin/bash

if [ "$EUID" -ne 0 ]
  then echo "Please run with sudo"
  exit
fi

NRU220_dtb_name=nru220
boardName=Orin-nru220
L4T=$(pwd)
timestamp=$(date +%Y-%m-%d_%H%M)
version=1.0

printf "> Generating nru220s.dtb under $L4T\n"
KERNEL_SOURCES=$L4T/sources

cd $KERNEL_SOURCES
TOOLCHAIN_PREFIX=$HOME/l4t-gcc-93/bin/aarch64-buildroot-linux-gnu-
TEGRA_KERNEL_OUT=$L4T/build
KERNEL_MODULES_OUT=$KERNEL_SOURCES/modules

make -C kernel/kernel-5.10/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j$(nproc) dtbs 



cd $L4T

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia/$NRU220_dtb_name.dtb .
cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia/$NRU220_dtb_name.dtb $L4T/kernel/dtb/

echo "> Copied generated $NRU220_dtb_name to kernel/dtb"

sudo dtc -I dtb -O dts -o ${NRU220_dtb_name}_decompiled.dts $NRU220_dtb_name.dtb 2>/dev/null
echo "> Decompiled ${NRU220_dtb_name}_decompiled.dts"

Build Kernel

#!/bin/bash

if [ "$EUID" -ne 0 ]
  then echo "Please run with sudo"
  exit
fi

NRU220_dtb_name=nru220
boardName=Orin-nru220
L4T=$(pwd)
timestamp=$(date +%Y-%m-%d_%H%M)
version=1.0

printf "> Building Kernel Image \n"
KERNEL_SOURCES=$L4T/sources

cd $KERNEL_SOURCES
TOOLCHAIN_PREFIX=$HOME/l4t-gcc-93/bin/aarch64-buildroot-linux-gnu-
TEGRA_KERNEL_OUT=$L4T/build
KERNEL_MODULES_OUT=$KERNEL_SOURCES/modules

make -C kernel/kernel-5.10/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j$(nproc)

cd $L4

echo "Compiled Kernel Image"
echo "$TEGRA_KERNEL_OUT/arch/arm64/boot/Image"

Pack Files

#!/bin/bash

if [ "$EUID" -ne 0 ]
  then echo "Please run with sudo"
  exit
fi

NRU220_dtb_name=nru220
boardName=Orin-nru220
L4T=$(pwd)
timestamp=$(date +%Y-%m-%d_%H%M)
version=1.0


cd $L4T

tar -zcf ${NRU220_dtb_name}_${timestamp}.tar.gz \
nru220.conf.common \
nru220.conf \
nru220.dtb \
nru220_decompiled.dts \
bootloader/tegra234-mb2-bct-common.dtsi \
bootloader/$boardName-gpio-default.dtsi \
bootloader/t186ref/BCT/$boardName-padvoltage-default.dtsi \
bootloader/t186ref/BCT/$boardName-pinmux.dtsi \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/Makefile \
sources/hardware/nvidia/soc/t23x/kernel-dts/tegra234-soc/tegra234-soc-eqos.dtsi \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/nru220.dts \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvm/nru220-orin.dtsi \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvb/nru220-a00.dtsi \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvb/nru220-ethernet.dtsi \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvb/nru220-pcie.dtsi \
sources/hardware/nvidia/platform/t23x/concord/kernel-dts/cvb/nru220-fixed-regulator.dtsi



echo "> Packed Relates Files to ${NRU220_dtb_name}_${timestamp}.tar.gz"

Flash Commands

1st Flash & Full Flash Or Pinmux Change

time sudo ./flash.sh -d nru220.dtb nru220 mmcblk0p1

It's very important to have a clean and full flash once with nru220.dtb to inject the nru220.dtb into the $L4T/rootfs/boot/extlinux/extlinux.conf.

TIMEOUT 30
DEFAULT primary

MENU TITLE L4T boot options

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      FDT /boot/dtb/kernel_nru220.dtb
      INITRD /boot/initrd
      APPEND ${cbootargs}

Full Flash without Rebuilding System Image

time sudo ./flash.sh -r -d nru220.dtb nru220 mmcblk0p1

Only Flash Device Tree

# To flash the device tree successfully, please remember to remove the 
# FDT xxxxxx.dtb inside /boot/extlinux/extlinux.conf
sudo ./flash.sh -r -k A_kernel-dtb -d nru220.dtb nru220 mmcblk0p1
sudo ./flash.sh -r -k B_kernel-dtb -d nru220.dtb nru220 mmcblk0p1

Memo

Remember to disable flow control while using debug UART