Seeed Studio's AGX Orin H01 support

[imed-twosix]

Has anyone been able to build yocto for Seeed Studio's custom carrier board H01 that is based on the AGX Orin Devkit?
Seeed's instructions for flashing their H01 boards are basically just overwriting a AGX Orin Devkit image with some dtsi files, a couple of systemd services and a kernel Image file. I can easily add recipes for the systemd services and device tree overlays, but without access to their source code, I don't think I can produce their kernel Image file. How would overwriting the yocto produced image with Seeed's version (same kernel version) affect my build. Would my enabled in-kernel drivers and configs be changed or do those live only in the rootfs (lib/modules/ and such)?

[imed-twosix]

I will probably have to modify one of shell scripts to replace "Image" with the one from Seeed

[ichergui]

Hi @imed-twosix
They should provide the BSP that you can use to support the custom carrier board.

[imed-twosix]

Thanks Ilies. I did use those files to overwrite and install jetpack on my target. But they only provide the compiled kernel Image file. I am not sure how to use that in Yocto, or how to include it post-Yocto in my tegraflash artifacts.

[imed-twosix]

So looking at that zip file from their Sharepoint:

imed@ubuntu:~/Documents/jetson$ tree 605_jetpack6.1
605_jetpack6.1
└── Linux_for_Tegra
    ├── bootloader
    │   ├── generic
    │   │   └── BCT
    │   │       ├── tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi
    │   │       └── tegra234-mb1-bct-pinmux-p3767-dp-a03.dtsi
    │   ├── tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi
    │   ├── tegra234-mb1-bct-gpio-p3767-dp-a03.dtsi
    │   └── tegra234-mb2-bct-common.dtsi
    ├── kernel
    │   ├── dtb
    │   │   ├── tegra234-p3737-0000+p3701-0000-dynamic.dtbo
    │   │   ├── tegra234-p3737-0000+p3701-0000-nv.dtb
    │   │   ├── tegra234-p3737-0000+p3701-0004-nv.dtb
    │   │   ├── tegra234-p3737-0000+p3701-0005-nv.dtb
    │   │   └── tegra234-p3737-0000+p3701-0008-nv.dtb
    │   └── Image
    ├── p3737-0000-p3701-0000.conf
    └── rootfs
        ├── etc
        │   └── systemd
        │       └── system
        │           ├── multi-user.target.wants
        │           │   └── startup.service -> ../startup.service
        │           └── startup.service
        ├── leetop
        │   ├── code_spkmic.sh
        │   ├── quectel
        │   │   ├── quectel-CM
        │   │   └── quectel.sh
        │   └── startup.sh
        └── usr
            └── lib
                └── modules
                    └── 5.15.148-tegra
                        ├── kernel
                        │   └── drivers
                        │       ├── net
                        │       │   ├── usb
                        │       │   │   ├── cdc_mbim.ko
                        │       │   │   └── cdc_ncm.ko
                        │       │   └── wireless
                        │       │       └── intel
                        │       │           └── iwlwifi
                        │       │               ├── dvm
                        │       │               │   └── iwldvm.ko
                        │       │               ├── iwlwifi.ko
                        │       │               └── mvm
                        │       │                   └── iwlmvm.ko
                        │       └── usb
                        │           ├── class
                        │           │   └── cdc-wdm.ko
                        │           └── serial
                        │               ├── option.ko
                        │               └── usb_wwan.ko
                        └── updates
                            └── drivers
                                └── media
                                    ├── i2c
                                    │   ├── imx390yuv.ko
                                    │   ├── max9295_yuv.ko
                                    │   └── max9296_yuv.ko
                                    └── platform
                                        └── tegra
                                            └── camera
                                                └── tegra-camera.ko

36 directories, 30 files

How do I apply these to my yocto setup or to my tegraflash artifact?

[imed-twosix]

I was able to overwrite the bootloader dtsi files with a tegra-binaries_36.4.0.bbappend file.

# cat meta-mylayer/recipes-bsp/seeed-studio-h01/tegra-binaries_36.4.0.bbappend
FILESEXTRAPATHS:prepend := "${THISDIR}/files:"

SRC_URI:append = " file://605_jetpack6.1/"

do_preconfigure:append() {
    cp -rf ${WORKDIR}/605_jetpack6.1/Linux_for_Tegra/bootloader/* ${S}/bootloader/
    cp -rf ${WORKDIR}/605_jetpack6.1/Linux_for_Tegra/kernel/* ${S}/kernel/
}

I can verify the produced image contains the Seeed Studio bootloader dtsi file, but the kernel dtb files are unchanged.
Any clue how to overwrite them?

[imed-twosix]

I figured it out. For anyone else who is trying to add the custom BSP to yocto, you will want to copy the bootloader and kernel folders from the A605_jetpack6.1.tar to your custom yocto layer. Here is how I did it:

pokyuser@36916de4cb79:~$ tree meta-mylayer
meta-mylayer
└── recipes-bsp
    └── seeed-studio-h01
        ├── files
        │   ├── bootloader
        │   │   ├── generic
        │   │   │   └── BCT
        │   │   │       ├── tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi
        │   │   │       └── tegra234-mb1-bct-pinmux-p3767-dp-a03.dtsi
        │   │   ├── tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi
        │   │   ├── tegra234-mb1-bct-gpio-p3767-dp-a03.dtsi
        │   │   └── tegra234-mb2-bct-common.dtsi
        │   └── kernel
        │       ├── tegra234-p3737-0000+p3701-0000-dynamic.dtbo
        │       ├── tegra234-p3737-0000+p3701-0000-nv.dtb
        │       ├── tegra234-p3737-0000+p3701-0004-nv.dtb
        │       ├── tegra234-p3737-0000+p3701-0005-nv.dtb
        │       └── tegra234-p3737-0000+p3701-0008-nv.dtb
        ├── nvidia-kernel-oot-dtb_36.4.0.bbappend
        └── tegra-binaries_36.4.0.bbappend
7 directories, 12 files

pokyuser@36916de4cb79:~$ cat meta-mylayer/recipes-bsp/seeed-studio-h01/nvidia-kernel-oot_36.4.0.bbappend 
FILESEXTRAPATHS:prepend := "${THISDIR}/files:"
SRC_URI:append = " file://kernel/"
do_install:append() {
    cp -f ${WORKDIR}/kernel/* ${D}/boot/devicetree/
}

pokyuser@36916de4cb79:~$ cat meta-mylayer/recipes-bsp/seeed-studio-h01/tegra-binaries_36.4.0.bbappend 
FILESEXTRAPATHS:prepend := "${THISDIR}/files:"
SRC_URI:append = " file://bootloader/"
do_preconfigure:append() {
    cp -rf ${WORKDIR}/bootloader/* ${S}/bootloader/
}