View source for Nvidia Jetson Orin NX with CTI Boson carrier board setup

=Nvidia Jetson Orin NX with CTI Boson carrier board setup=
''Keywords'': ''Orin NX/Nano, CTI Boson NGX007, FRAMOS IMX464, JetPack''
==Description==
This wiki pages shows how to get JetPack 6.2.1 (L4T R36.4.4) for an NVIDIA Jetson Orin NX SoM, download board support package (BSP) for CTI Boson Carrier board NGX007 and how to flash the board to enable 2 FRAMOS IMX464 cameras.

==Set up==
* x86/x64 based host machine running Ubuntu 20.04 or higher
* Jetson Orin NX SoM
* CTI Boson NGX007 carrier board
* USB Cable for flashing
* Two FRAMOS IMX464 cameras
* Keyboard
* Mouse
* Monitor

==Getting the sources==

=== JetPack 6.2.1 ===

1. Go to JetPack 6.2.1 release Page: [https://developer.nvidia.com/embedded/jetson-linux-r3644 NVIDIA Jetson Linux 36.4.4] and download “L4T Driver Package (BSP)”  and “Sample Root filesystem”.

2. You should see this two files:
* Jetson_Linux_R36.4.4_aarch64.tbz2
* Tegra_Linux_Sample-Root-Filesystem_R36.4.4_aarch64.tbz2

3. Create a directory for installing JetPack. Referred to as <INSTALL_DIR>. For example:
<syntaxhighlight lang="bash"> 
INSTALL_DIR = build
mkdir $INSTALL_DIR
cd $INSTALL_DIR
</syntaxhighlight>

4. Copy both files to <INSTALL_DIR>

<syntaxhighlight lang="bash"> 
cp $HOME/Downloads/Jetson_Linux_R36.4.4_aarch64.tbz2 .
cp $HOME/Downloads/Tegra_Linux_Sample-Root-Filesystem_R36.4.4_aarch64.tbz2 .
</syntaxhighlight>

5. Extract "L4T Driver Package" tarball: 
<syntaxhighlight lang="bash"> 
sudo tar -vjxf Jetson_Linux_R36.4.4_aarch64.tbz2
</syntaxhighlight>

You should see a new directory called Linux_for_tegra in <INSTALL_DIR> directory.

6. Extract  "Sample Root Filesystem" into Linux_for_tegra/rootfs

<syntaxhighlight lang="bash"> 
sudo tar -C Linux_for_Tegra/rootfs/ -vxjf Tegra_Linux_Sample-Root-Filesystem_R36.4.4_aarch64.tbz2
</syntaxhighlight>

=== CTI BSP ===
Go to <INSTALL_DIR> directory
<syntaxhighlight lang="bash"> 
cd <INSTALL_DIR>
</syntaxhighlight>

1. Download BSP for Jeton Orin NX/Nano from CTI official page: [https://connecttech.com/product/boson-for-framos-carrier-board-for-nvidia-jetson-orin-nx/ CTI Boson BSP]
and download: '''Orin Nx / Nano L4T r36.4.4 BSP'''.
Downloaded file named: '''CTI-L4T-ORIN-NX-NANO-36.4.4-V001.tgz'''.

2. Copy file to <INSTALL_DIR>/Linux_for_Tegra
<syntaxhighlight lang="bash"> 
cp $HOME/Downloads/CTI-L4T-ORIN-NX-NANO-36.4.4-V001.tgz Linux_for_Tegra
</syntaxhighlight>

3. Extract the BSP
<syntaxhighlight lang="bash"> 
cd <INSTALL_DIR>/Linux_for_Tegra 
sudo tar -vxzf CTI-L4T-ORIN-NX-NANO-36.4.4-V001.tgz
</syntaxhighlight>

4. Run install script to install BSP files.
<syntaxhighlight lang="bash"> 
cd CTI-L4T
sudo ./install.sh 
</syntaxhighlight>

6. Return to Linux_for_Tegra directory: 
<syntaxhighlight lang="bash">
cd ..
</syntaxhighlight>
7. Inside Linux_for_Tegra directory, create default user with: 
<syntaxhighlight lang="bash"> 
sudo ./tools/l4t_create_default_user.sh -u <username> -p <password> -n <hostname>
</syntaxhighlight>
for example: 
<syntaxhighlight lang="bash"> 
sudo ./tools/l4t_create_default_user.sh -u nvidia -p nvidia -n nvidia
</syntaxhighlight>

== Flashing the board ==
This section will specify how to flash the board to enable 2 FRAMOS IMX464 cameras. 
1. Connect NVMe m.2 card on one of the m.2 slots. Put the board in recovery mode. You can check if the board is in recovery mode with '''lsusb'''. Should see something like: 
<syntaxhighlight lang="bash">
Bus 001 Device 016: ID 0955:7323 NVIDIA Corp. APX
</syntaxhighlight>

2. Flash with CTI's automated script inside Linux_for_Tegra directory: 
<syntaxhighlight lang="bash">
sudo ./cti-flash
</syntaxhighlight>

3. After executing the command, select the board. Choose 2.  

<syntaxhighlight lang="bash">
~~~~~~~~~~~~~~~~~~~~~~~~~~~
         CTI FLASH         
~~~~~~~~~~~~~~~~~~~~~~~~~~~
1.  Photon (NGX002/NGX003)
2.  Boson (NGX007)
3.  Boson for Orin (NGX020)
4.  Boson22 for Orin (NGX021)
5.  Hadron (NGX012)
6.  Rudi NX (NGX006/NGX010)
7.  Polaris (NGX015)
8.  Hadron-GMSL (NGX018)
9.  Lepton (NGX022)
10. Hadron Dual MIPI (NGX024/NGX027)
11. Essential EdgeAI (NGX026)
12. Uses (NGX926)
x.  Exit
Enter choice: 2

</syntaxhighlight>

4. Select configuration. Choose 4.
<syntaxhighlight lang="bash">
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
============ Boson (NGX007) =============
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1.  Base
2.  Base + FSM IMX296 (3cam)
3.  Base + FSM IMX464 (3cam)
4.  Base + FSM IMX464 (2cam)
5.  Base + FSM IMX565 (3cam)
6.  Base + FSM IMX565 (2cam)
7.  Base + FSM IMX568 (2cam)
8.  Base + FSM IMX568 (3cam)
9.  Base + FSM IMX585 (3cam)
10. Base + FSM IMX585 (2cam)
11. Base + FSM IMX662 (3cam)
12. Base + FSM IMX662 (2cam)
13. Base + FSM IMX676 (3cam)
14. Base + FSM IMX676 (2cam)
15. Base + FSM IMX678 (3cam)
16. Base + FSM IMX678 (2cam)
17. Cancel (back to main menu)
Enter choice:  4
</syntaxhighlight>
5. Select module. Choose 1.
<syntaxhighlight lang="bash">
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
=============  Module Type ==============
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1. orin-nx
2. orin-nano
3. Cancel (back to main)
Enter choice:  1
</syntaxhighlight>
6. Select module mode. In this case, choose 1. 
<syntaxhighlight lang="bash">
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
=============  Module Mode ==============
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1. default
2. super-mode
3. Cancel (back to main)
Enter choice: 1
</syntaxhighlight>

7. Wait for flashing to be complete. 
8. Connect a mouse and keyboard with USB to the board, connect HDMI monitor. Reboot the board. You should see in your monitor Ubuntu login. 
9. Log in into the '''nvidia''' user created in the steps before. 

== Capturing with FRAMOS IMX464 cameras ==

1. Open a terminal. Verify cameras were bound correctly with: 
<syntaxhighlight lang="bash">
sudo dmesg | grep imx464
</syntaxhighlight>
Should see something like: 
<syntaxhighlight lang="bash">
[   11.756067] imx464 9-001a: probing v4l2 sensor
[   11.756129] imx464 9-001a: initializing mipi...
[   11.756418] imx464 9-001a: tegracam sensor driver:imx464_v2.0.6
[   11.790754] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx464 9-001a bound
[   11.830176] imx464 9-001a: Detected imx464 sensor
[   11.833758] imx464 10-001a: probing v4l2 sensor
[   11.833832] imx464 10-001a: initializing mipi...
[   11.834253] imx464 10-001a: tegracam sensor driver:imx464_v2.0.6
[   11.867769] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx464 10-001a bound
[   11.884400] imx464 10-001a: Detected imx464 sensor
</syntaxhighlight>

2. Check for devices in '''/dev/'''.
<syntaxhighlight lang="bash">
ls /dev/video*
</syntaxhighlight>
Should see something like: 
<syntaxhighlight lang="bash">
/dev/video0  /dev/video1
</syntaxhighlight>
2. Run the following pipeline to get a stream preview: 
<syntaxhighlight lang="bash">
gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! nvvidconv ! autovideosink
</syntaxhighlight>

Switch between 0 and 1 in '''sensor-id''' to choose the camera to capture.

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