Porting to JetPack 5.0.2

README.md

@@ -2,21 +2,36 @@
 
 ## Jetson AGX Xavier board setup
 
-Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html) to flash JetPack 4.6.1 to the Jetson AGX Xavier with NVIDIA SDK Manager. Currently SDK Manager requires the host to be Ubuntu 18.04 only.
+Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with-sdkm-jetson/index.html) to flash JetPack to the Jetson AGX Xavier with NVIDIA SDK Manager or other methods NVIDIA provides. Make sure the board is ready to use.
 
-Please make sure the board is ready to use.
+Currently Supported JetPack versions are:
+
+- 5.0.2 (default)
+- 4.6.1
 
 ## Build kernel, dtb and D457 driver
 
-In previous step to flash Jetson board with NVIDIA SDK Manager, the JetPack 4.6.1 folder should already be downloaded to your home directory at `~/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra`. Get JetPack kernel source code using existing script in JetPack 4.6.1, or download directly from [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2).
+The developers can set up the source code with NVIDIA's Jetson git repositories by using the provided setup script:
 
 ```
-# SDK Manager method, download kernel source code
-cd ~/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra
-./source_sync.sh -t tegra-l4t-r32.7.1
+# Using setup script, recommended for developers. If JetPack version is not given, default version will be chosen.
+./setup_workspace.sh [JetPack_version]
+```
 
-# direct download method
+Or download Jetson Linux source code tarball from [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2), [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2).
+
+```
+mkdir l4t-gcc
+cd ./l4t-gcc
+wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
+tar xf aarch64--glibc--stable-final.tar.gz
+cd ..
+
+# JetPack 5.0.2
+wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
+# or JetPack 4.6.1
 wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2
+
 tar xjf public_sources.tbz2
 cd Linux_for_Tegra/source/public
 tar xjf kernel_src.tbz2
@@ -25,30 +40,23 @@ tar xjf kernel_src.tbz2
 Apply D457 patches and build the kernel image, dtb and D457 driver.
 
 ```
-# NVIDIA SDK Manager method
-cd ~/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra/sources
-
-# direct download method
-cd Linux_for_Tegra/source/public
+# if using setup script
+./apply_patches.sh apply [JetPack_version]
 
-# get and apply our patches
-git clone https://github.com/IntelRealSense/perc_hw_ds5u_android-jetson_tx2.git
-cd perc_hw_ds5u_android-jetson_tx2
-./apply_patches.sh apply
 # or, if using direct download method
-# ./apply_patches_ext.sh ..
+# ./apply_patches_ext.sh ./Linux_for_tegra/source/public [JetPack_version]
 
 # build kernel, dtb and D457 driver
-sudo apt install gcc-aarch64-linux-gnu build-essential bc
-./build_all.sh
+sudo apt install build-essential bc
+./build_all.sh [JetPack_version] [JetPack_source_dir]
 
-# remove our patches from JetPack kernel source code if using NVIDIA SDK Manager method
-# ./apply_patches.sh reset
+# remove our patches from JetPack kernel source code if using setup script
+# ./apply_patches.sh reset [JetPack_version]
 ```
 
 Then the necessary files are at
 - kernel image `images/arch/arm64/boot/Image`
-- dtb `images/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb`
+- dtb `images/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb`, or `images/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb` for JetPack 4.6.1.
 - D457 driver `images/drivers/media/i2c/d4xx.ko`
 - UVC Video driver `images/drivers/media/usb/uvc/uvcvideo.ko`
 - V4L2 Core Video driver `images/drivers/media/v4l2-core/videobuf-core.ko`
@@ -72,14 +80,16 @@ Then move the images in place and enable driver autoload at kernel boot.
 ```
 sudo cp Image /boot
 sudo cp tegra194-p2888-0001-p2822-0000.dtb /boot/dtb
-sudo cp d4xx.ko /lib/modules/4.9.253-tegra/kernel/drivers/media/i2c/
+sudo cp d4xx.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/i2c/
 echo "d4xx" | sudo tee /etc/modules-load.d/d4xx.conf
-sudo cp uvcvideo.ko /lib/modules/4.9.253-tegra/kernel/drivers/media/usb/uvc/
-sudo cp videobuf-core.ko /lib/modules/4.9.253-tegra/kernel/drivers/media/v4l2-core/
-sudo cp videobuf-vmalloc.ko /lib/modules/4.9.253-tegra/kernel/drivers/media/v4l2-core/
+sudo cp uvcvideo.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/usb/uvc/
+sudo cp videobuf-core.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
+sudo cp videobuf-vmalloc.ko /lib/modules/5.10.104-tegra/kernel/drivers/media/v4l2-core/
 sudo depmod
 ```
 
+Please change the kernel version in path accordingly, for example for JetPack 4.6.1 the version is `4.9.253-tegra`.
+
 After rebooting Jetson, the D457 driver should work.
 
 ## Available directives on max9295/max9296 register setting
@@ -111,3 +121,39 @@ echo 0 | sudo tee /sys/module/max9296/parameters/max9296_dynamic_update
 echo 1 | sudo tee /sys/bus/i2c/drivers/max9295/30-0040/refresh_setting
 echo 1 | sudo tee /sys/bus/i2c/drivers/max9296/30-0048/refresh_setting
 ```
+
+## JetPack 5.0.2 updates
+
+* Script for syncing kernel sources can be obtained from [Linux_for_Tegra/source_sync.sh](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/release/jetson_linux_r35.1.0_aarch64.tbz2)
+
+> Note: there is a [glitch](https://forums.developer.nvidia.com/t/jetpack5-0-2-kernel-compile-error/224160/8) in the script that prevents part of kernel source to be downloaded, it must be fixed manually by changing the order of repos in the script.
+
+The tag is:
+```
+./source_sync.sh -t jetson_35.1
+```
+* Kernel source direct download method:
+```
+wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
+```
+* Follow [instructions](https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/AT/JetsonLinuxToolchain.html) to set up  Bootlin gcc 9.3.0 toolchain
+* Run `./apply_patches_jetpack5.0.2.sh` to apply/reset patches (or `./apply_patches_ext_jetpack5.0.2.sh ..` if using direct download method) The patch files are located under directories named `porting`
+
+* Run `./build_all_jetpack5.0.2.sh` to build kernel, dtb, and driver. Location of built artifacts remain same except the path for the dtb has changed from
+```
+images/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb
+```
+to
+```
+images/arch/arm64/boot/dts/nvidia/tegra194-p2888-0001-p2822-0000.dtb
+```
+* Default `/boot/extlinux/extlinux.conf` after flashing now contains
+a default FDT entry:
+```
+FDT /boot/dtb/kernel_tegra194-p2888-0001-p2822-0000.dtb
+```
+To use our dtb, whose name doesn't contain the `kernel_` prefix, modify this line to:
+```
+FDT /boot/dtb/tegra194-p2888-0001-p2822-0000.dtb
+```
+* Kernel version string has changed from 4.9.253-tegra to 5.10.104-tegra

apply_patches.sh

@@ -2,26 +2,32 @@
 
 set -e
 
-if [ $# != 1 ]; then
-    echo "1st arg should be 'apply' or 'reset'"
+if [[ $# < 1 ]]; then
+    echo "apply_patches.sh apply [JetPack_version]"
+    echo "apply_patches.sh reset [JetPack_version]"
     exit 1
 fi
 
+DEVDIR=$(cd `dirname $0` && pwd)
+
+. $DEVDIR/scripts/setup-common "$2"
+
+cd "$DEVDIR"
+
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
-if [ -d ../hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
-    mv ../hardware/nvidia/platform/t19x/galen-industrial-dts ../hardware/nvidia/platform/t19x/galen-industrial
+if [ -d sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
+    mv sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial
 fi
 
 apply_external_patches() {
     if [ $1 = 'apply' ]; then
-        git -C ../$2 am ${PWD}/$2/*
+        git -C sources_$JETPACK_VERSION/$2 am ${PWD}/$2/$JETPACK_VERSION/*
     elif [ $1 = 'reset' ]; then
-        git -C ../$2 reset --hard tegra-l4t-r32.7.1
+        git -C sources_$JETPACK_VERSION/$2 reset --hard $L4T_VERSION
     fi
 }
 
 apply_external_patches $1 kernel/nvidia
-apply_external_patches $1 kernel/kernel-4.9
+apply_external_patches $1 $KERNEL_DIR
 apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
-

apply_patches_ext.sh

@@ -1,6 +1,16 @@
 #!/bin/bash
 set -e
-set -x
+
+if [[ $# < 1 ]]; then
+    echo "apply_patches_ext.sh source_dir [JetPack_version]"
+    exit 1
+fi
+
+DEVDIR=$(cd `dirname $0` && pwd)
+
+. $DEVDIR/scripts/setup-common "$2"
+
+cd "$DEVDIR"
 
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
@@ -9,9 +19,9 @@ if [ -d $1/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
 fi
 
 apply_external_patches() {
-cat ${PWD}/$2/* | patch -p1 --directory=${PWD}/$1/$2/
+cat ${PWD}/$2/$JETPACK_VERSION/* | patch -p1 --directory=${PWD}/$1/$2/
 }
 
 apply_external_patches $1 kernel/nvidia
-apply_external_patches $1 kernel/kernel-4.9
+apply_external_patches $1 $KERNEL_DIR
 apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts

build_all.sh

@@ -2,14 +2,31 @@
 
 set -e
 
+if [[ "$1" == "-h" ]]; then
+    echo "build_all.sh [JetPack_version] [JetPack_Linux_source]"
+    echo "build_all.sh -h"
+    exit 1
+fi
+
 export DEVDIR=$(cd `dirname $0` && pwd)
 
-export CROSS_COMPILE=aarch64-linux-gnu-
+. $DEVDIR/scripts/setup-common "$1"
+
+if [[ -z "$2" ]]; then
+    SRCS="$DEVDIR/sources_$JETPACK_VERSION"
+fi
+
+export CROSS_COMPILE=$DEVDIR/l4t-gcc/bin/aarch64-buildroot-linux-gnu-
 export LOCALVERSION=-tegra
 export TEGRA_KERNEL_OUT=$DEVDIR/images
 mkdir -p $TEGRA_KERNEL_OUT
 export KERNEL_MODULES_OUT=$TEGRA_KERNEL_OUT/modules
-cd $DEVDIR/../kernel/kernel-4.9
+
+if [[ $JETPACK_VERSION =~ 5.* ]]; then
+    cp $DEVDIR/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/kernel/nvidia/drivers/media/i2c/
+fi
+cd $SRCS/$KERNEL_DIR
+
 make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig
 make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j`nproc`
 make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install INSTALL_MOD_PATH=$KERNEL_MODULES_OUT -j`nproc`