ADLINK Technology ROScube Pico BSP User manual

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP
Quick Start Guide
Document Generated Date : 2021-03-18
Document Released for: copyright
More information are available at ADLINK Technology Inc. Advanced Robotic Platform Group

ADLINK Technology Inc. Condential.
2021-03-18
Preface
Copyright
Copyright © 2021ADLINK Technology, Inc. This document contains proprietary information
protected by copyright. All rights are reserved. No part of this manual may be reproduced by
any mechanical, electronic, or other means in any form without prior written permission of
the manufacturer.
Disclaimer
The information in this document is subject to change without prior notice in order to
improve reliability, design, and function and does not represent a commitment on the part of
the manufacturer. In no event will the manufacturer be liable for direct, indirect, special,
incidental, or consequential damages arising out of the use or inability to use the product or
documentation, even if advised of the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulll its social responsibility to global environmental preservation
through compliance with the European Union's Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental
protection is a top priority for ADLINK. We have enforced measures to ensure that our
products, manufacturing processes, components, and raw materials have as little impact on
the environment as possible. When products are at their end of life, our customers are
encouraged to dispose of them in accordance with the product disposal and/or recovery
programs prescribed by their nation or company.
Trademarks
Product names mentioned herein are used for identication purposes only and may be trade-
marks and/or registered trademarks of their respective companies.

ADLINK Technology Inc. Condential.
2021-03-18
TABLE OF CONTENTS
1 Revisions 1
1.1 BSP MFI Image Naming Rule ............................... 1
1.1.1 Model Name ................................... 1
1.1.2 FileSystem Type .................................. 1
1.1.3 L4T Version .................................... 2
1.1.4 Kernel Version .................................. 2
1.2 Release Note ....................................... 2
1.2.1 v1.0.0 ........................................ 2
1.2.2 v1.0.1 ........................................ 2
1.2.3 v1.0.2 ........................................ 2
1.2.4 v1.0.3 ........................................ 3
1.2.5 v1.0.4 ........................................ 3
1.2.6 v1.0.5 ........................................ 3
1.2.7 v1.0.6 ........................................ 3
1.2.8 L4T-32.4.3-Kernel-v1.0.7 ............................. 3
1.2.9 L4T-32.4.4-Kernel-v1.0.7 ............................. 4
2 Flashing ROScube Pico image 5
2.1 Prerequisite ........................................ 5
2.2 Board Level ROScube Pico Flashing Image ....................... 5
2.2.1 1. Set ROScube Pico into recovery mode ................... 5
2.2.2 2. Connect Host PC and ROScube Pico with micro usb cable. ........ 10
2.2.3 3. Prepare released image on Host PC .................... 11
2.3 System Level ROScube Pico Flashing Image ...................... 12
2.3.1 1. Set ROScube Pico into recovery mode ................... 12
2.3.2 2. Connect Host PC and ROScube Pico with micro usb cable. ........ 15
2.3.3 3. Prepare released image on Host PC .................... 16
2.4 Massive Flashing ...................................... 17
3 ROScube-Pico BSP Quick Start 18
3.1 Default User and Password ............................... 18
3.2 Check BSP Version .................................... 18
3.3 Hardware Monitor .................................... 18
4 Driver Package Usage 21
4.1 Customize System FileSystem .............................. 21

ADLINK Technology Inc. Condential.
2021-03-18
4.1.1 Prepare Filesystem ................................ 21
4.1.2 Modify Filesystem under Chroot ........................ 22
4.2 Flash System Image to Target Machine ......................... 23
4.3 Prepare a Bootable Disk ................................. 23
4.4 Boot from the Bootable Disk .............................. 24
5 Nvidia Jetson Software Stack 25
5.1 Version Table ....................................... 25
5.2 JetPack SDK Installation ................................. 25
5.3 JetPack SDK Example Usage ............................... 26
5.3.1 YOLO Object Detection ............................. 26
5.4 DeepStream SDK Installation .............................. 27
5.5 DeepStream SDK Example Usage ............................ 27
5.5.1 DeepStream Sample App ............................ 27

ADLINK Technology Inc. Condential.
2021-03-18
CHAPTER
ONE
REVISIONS
Document version: l4t-32.4.4-kernel-1.0.7
Compatible with ROScube Pico BSP version:
• L4T-32.4.3-Kernel-1.0.7
• L4T-32.4.4-Kernel-1.0.7
Author Revision
Chester Tseng L4T-32.4.3-Kernel-1.0.7
Chester Tseng L4T-32.4.4-Kernel-1.0.7
1.1 BSP MFI Image Naming Rule
ROScube-Pico BSP MFI le follows the nameing rule.
mfi_<model name>_<filesystem and distro type>_<L4T version>-Kernel-<kernel version>.
tbz2
For example: mfi_npn2_nvidia-ubuntu-rootfs-bionic_L4T-32-4-4-Kernel-1-0-7.tbz2.
1.1.1 Model Name
•npn1 - ROScube Pico with Nvidia Nano module.
•npn2 - ROScube Pico with Nvidia NX module.
1.1.2 FileSystem Type
•nvidia-sample-rootfs - Nvidia provided sample lesystem. It is based on Ubuntu 18.04
•custom-slim-rootfs-bionic - Custom rootfs build from Ubuntu base image 18.04.5. This
le type is much smaller.
•custom-slim-rootfs-focal - Custom rootfs build from Ubuntu base image 20.04.1. This
le type is much smaller.
1

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
1.1.3 L4T Version
The L4T version, for example 32.4.3 or 32.3.4
1.1.4 Kernel Version
ROScube-Pico BSP version, which is aect by kernel and device tree from ADLINK’s internal
engineering development.
1.2 Release Note
Version is based on BSP version (e.g: 1.0.x)
1.2.1 v1.0.0
• NPN2 (ROScube Pico NX)
–Bring up ROScube Pico Pinmux, generial I/Os.
–Add FAN and GPIO TachoMeter driver and device tree.
–Add CanBus device tree.
–Add Tegra GPIO device tree.
–Set up Tegra internal ethernet device tree.
–Set up USB lanes device tree settings.
1.2.2 v1.0.1
• NPN2 (ROScube Pico NX)
–Add board SD card device tree.
–Set up pinmux AUX to I2C on HDMI port.
–Add SX1509 PinCtrl Driver and device tree on 40 pin external header.
–Add USB OTG device tree and enable USB Gadget Linux Driver.
1.2.3 v1.0.2
• NPN2 (ROScube Pico NX)
–Fix LAN7800 LAN chip driver interrupt.
–Use Ubuntu Base as base image.
–Add extra LXDE desktop environment from Ubuntu base image.
2

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
1.2.4 v1.0.3
• NPN2 (ROScube Pico NX)
–Add ethtools, i2c-tools and pci-utils to custom slim rootfs.
–Lock kernel version, to provent from upgrading to Nvidia’ kernel.
1.2.5 v1.0.4
• NPN2 (ROScube Pico NX)
–Bring up audio subsystem.
1.2.6 v1.0.5
• NPN2 (ROscube Pico NX)
–Fix SPI channel number.
1.2.7 v1.0.6
• NPN1 (ROScube Pico Nano)
–First release ROScube Pico Nano
• NPN2 (ROScube Pico NX)
–Add OTA server for future use.
1.2.8 L4T-32.4.3-Kernel-v1.0.7
• NPN1 (ROScube Pico Nano)
–Drive all external GPIO and PWM pins to 0.
–Enable audio subsystem.
–Enable SD card. Set SD card detection pin into pull up when boot up.
–Add OTA server for future use.
–Add Intel AC9260 install script in BSP.
• NPN2 (ROScube Pico NX)
–Apply thermal table from thermal team suggested.
–Add alsa sound setting (Audio out + MIC in)
–Cong SD card detect pin default state to pull up.
–Drive all GPIO to 0 when boot up.
–Load mttcan kernel module when boot up.
–Add Intel AC9260 install script in BSP.
3

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
1.2.9 L4T-32.4.4-Kernel-v1.0.7
• NPN1 (ROScube Pico Nano)
–Upgrade to Nvidia L4T 32.4.4
• NPN2 (ROScube Pico AGX NX)
–Upgrade to Nvidia L4T 32.4.4
4

ADLINK Technology Inc. Condential.
2021-03-18
CHAPTER
TWO
FLASHING ROSCUBE PICO IMAGE
ROScube Pico provides 2 skus, which are
1. Board level ROScube Pico (Without chassis.)
2. System level ROScube Pico (With chassis.)
2.1 Prerequisite
Before ashing image to ROScube Pico, you should prepare the following items:
•Host PC with Ubuntu 18.04 or 20.04 operating system.
• A good quality micro-usb for connecting to ROScube Pico.
2.2 Board Level ROScube Pico Flashing Image
2.2.1 1. Set ROScube Pico into recovery mode
1. Connect power cable to ROScube Pico.
5

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
2. Power on ROScube Pico. (Press power button)
6

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
3. Short Pin 09 and Pin 10 and hold short status.
7

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
4. Hold Pin 09 and Pin 10 short status and press Reset button.
8

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
5. Release Short pins and pull out short pins!!.
Now ROScube Pico is in recovery mode.
9

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
2.2.2 2. Connect Host PC and ROScube Pico with micro usb cable.
10

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
2.2.3 3. Prepare released image on Host PC
Assuming image’s le name is mfi_npn2_nvidia-sample-rootfs_L4T-32-4-3-Kernel-1-0-6.
tbz2. Un-archive this le rst.
$> tar xvf mfi_npn2_nvidia-sample-rootfs_L4T-32-4-3-Kernel-1-0-6.tbz2
Then, use BSP internal tool, nvmflash.sh to run the ashing procedure. Please make sure your
Host PC has attached to ROScube Pico.
$> cd mfi_rqp_nx
$> sudo ./nvmflash.sh
Note: You may need to input your host PC’s root password when ashing the image.
Note: The ashing procedure might take 8 ~ 10 minutes.
11

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
2.3 System Level ROScube Pico Flashing Image
2.3.1 1. Set ROScube Pico into recovery mode
1. Connect power cable to ROScube Pico.
3. Short Pin 03 and Pin 04 and hold short status.
4. Keep Pin 03 and Pin 04 short status and press Reset button.
12

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
5. Release Short pins and pull out cable !!.
13

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
Now ROScube Pico is in recovery mode.
14

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
2.3.2 2. Connect Host PC and ROScube Pico with micro usb cable.
15

ADLINK Technology Inc. Condential.
2021-03-18
ROScube Pico BSP, version Release l4t-32.4.4-kernel-1.0.7
2.3.3 3. Prepare released image on Host PC
Assuming image’s le name is mfi_npn2_nvidia-sample-rootfs_L4T-32-4-3-Kernel-1-0-6.
tbz2. Un-archive this le rst.
$> tar xvf mfi_npn2_nvidia-sample-rootfs_L4T-32-4-3-Kernel-1-0-6.tbz2
Then, use BSP internal tool, nvmflash.sh to run the ashing procedure. Please make sure your
Host PC has attached to ROScube Pico.
$> cd mfi_rqp_nx
$> sudo ./nvmflash.sh
Note: You may need to input your host PC’s root password when ashing the image.
Note: The ashing procedure might take 8 ~ 10 minutes.
16