diff --git a/.buildinfo b/.buildinfo new file mode 100644 index 0000000..54d756d --- /dev/null +++ b/.buildinfo @@ -0,0 +1,4 @@ +# Sphinx build info version 1 +# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. +config: 733cd5e2ee266d9caeaad9f6719a0d4b +tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/.nojekyll b/.nojekyll new file mode 100644 index 0000000..e69de29 diff --git a/_downloads/5347b5ca65e5c6ac1f72744b88bddd05/jetson-orin-baseboard-schematic.pdf b/_downloads/5347b5ca65e5c6ac1f72744b88bddd05/jetson-orin-baseboard-schematic.pdf new file mode 100644 index 0000000..a37c969 Binary files /dev/null and b/_downloads/5347b5ca65e5c6ac1f72744b88bddd05/jetson-orin-baseboard-schematic.pdf differ diff --git a/_images/job_io_map.png b/_images/job_io_map.png new file mode 100644 index 0000000..d086126 Binary files /dev/null and b/_images/job_io_map.png differ diff --git a/_images/job_power_connection.png b/_images/job_power_connection.png new file mode 100644 index 0000000..f5d7ec1 Binary files /dev/null and b/_images/job_power_connection.png differ diff --git a/_images/job_ready_for_flashing.png b/_images/job_ready_for_flashing.png new file mode 100644 index 0000000..fde0239 Binary files /dev/null and b/_images/job_ready_for_flashing.png differ diff --git a/_sources/board_overview.md.txt b/_sources/board_overview.md.txt new file mode 100644 index 0000000..32c7e72 --- /dev/null +++ b/_sources/board_overview.md.txt @@ -0,0 +1,60 @@ +# Board overview + +Jetson Orin Baseboard is an open hardware board design supporting NVIDIA Jetson Orin NX and Orin Nano family of SoMs. +The board design files were created in KiCad 7x. +The board is a versatile development kit which can be easily adopted in order to make it usable in commercial applications for autonomous vehicles, industry, agriculture, medicine or space. +You can find out more about the Jetson Orin Baseboard in this [blog article](https://antmicro.com/blog/2023/05/jetson-orin-baseboard-1-1-with-orin-nano/), or by visiting Antmicro's portals listed below: + +* [Open Hardware Portal](https://openhardware.antmicro.com/boards/jetson-orin-baseboard/) +* [System Designer](https://designer.antmicro.com/hardware/devices/jetson-orin-baseboard) +* [Open Source Portal](https://opensource.antmicro.com/projects/jetson-orin-baseboard/) + +They provide 3D renders and the board [stackup definition](https://openhardware.antmicro.com/boards/jetson-orin-baseboard/?view=top-ortho&tab=stackup), as well as [an interactive preview](https://openhardware.antmicro.com/boards/jetson-orin-baseboard/?view=top-ortho&tab=preview) of the board schematic. +A [PDF schematic](./jetson-orin-baseboard-schematic.pdf) of the board is also available. + +## IO map + +A map of on-board connectors, status LEDs, control buttons and I/O interfaces is provided below. + +:::{figure-md} +![](img/job_io_map.png) + +Jetson Orin Baseboard interface map +::: + +## Power Supply + +The board can be powered with the following sources: + +### 1. DC Connector + +Jetson Orin Baseboard can be powered with a stable DC voltage via the on-board locking DC connector (`J12`) with Molex Nano-Fit plug (see the [Power Supply](getting_started.md#power-supply) section for details related to Nano-Fit power harness assembly). +You can use an external DC adapter for powering the board or a battery pack with chargeable or non-rechargeable batteries, as long as the provided voltage fits within the accepted range (9-15VDC). +Please note that Jetson Orin Baseboard does not support battery recharging. + +### 2. Power over Ethernet + +Jetson Orin Baseboard supports PoE++ Type 3 (IEEE 802.3bt) and negotiates Power Delivery (PD) Class 5 with a maximum power budget of 40W. +The board includes an isolated PoE DC/DC converter. +You can power the board via the Gigabit Ethernet port (`J6`) using a PoE injector or a PoE-capable Ethernet switch. + +### 3. USB Power Delivery + +* USB Power Delivery PD, available on two USB-C ports: + * USB-C0 (`J4`) general purpose USB port + * USB-C3 (`J3`) debug console interface port + +Those ports are maintained by the on-board USB Power Delivery controller (Texas Instruments/[TPS65988](https://www.ti.com/product/TPS65988/part-details/TPS65988DHRSHR)). +This controller needs to be configured in order to make it implement one of the desired power source/sink negotiation scenarios. +Please refer to the [TPS65987DDH and TPS65988DH Host Interface Technical Reference Manual](https://www.ti.com/lit/ug/slvubh2b/slvubh2b.pdf) for details. +The configuration of the PD controller is possible via an external flash programmer connected to the debug connector (`J6`) or from the Jetson SoM via the I2C bus. +If you plan to power up the Jetson Orin Baseboard through the USB PD source, make sure it provides at least 30W of power for basic operation. + +## Mechanics + +The Jetson Orin Baseboard PCB is 120x60 millimeters (WxL) which translates into 4.72x2.36 inch. +The overall height of the set depends on the cooling module attached. +The base setup with a default cooling module is 37 mm or 1.45 inch tall. +The KiCad PCB design files include mechanical layers with dimensions specified for the fastening holes and notable components. +The board with the Jetson Module, M.2 storage and cooling module weighs 164g (5.78oz). + diff --git a/_sources/getting_started.md.txt b/_sources/getting_started.md.txt new file mode 100644 index 0000000..7edc6e0 --- /dev/null +++ b/_sources/getting_started.md.txt @@ -0,0 +1,282 @@ +# Getting started guide + +This manual will guide you through the initial setup of the open hardware [Jetson Orin Baseboard](https://github.com/antmicro/jetson-orin-baseboard). +It describes the basic steps required to assemble the board with required peripheral accessories, write a compiled Board Support Package (BSP) to the processing module and get it booted. +If you want to learn more about the Jetson Orin Baseboard itself, go to the [Board Overview](./board_overview.md) section. +That section also includes an [I/O map](./board_overview.md#io-map) that may come in handy when locating interface connectors mentioned in this guide. + +## Collect the hardware + +To get started with the Jetson Orin Baseboard, you'll need the following hardware: + +### 1. Jetson SoM + +The Jetson Orin Baseboard is electrically compatible with the NVIDIA Jetson Orin NX and Jetson Orin Nano [family of SoMs](https://developer.nvidia.com/embedded/jetson-modules). +The provided reference BSP has been developed for NVIDIA Jetson Orin NX 16GB (900-13767-0000-000) but it should work with other modules as well. + +### 2. Power supply + +The Jetson Orin Baseboard can be powered with a benchtop PSU or AC/DC wall adapter providing DC voltage in the 9-15 VDC range with at least 30W. +For starters, it is recommended to power the board via a DC locking connector (`J12`) which accepts a 2-wire Molex Nano-Fit plug. +You can use an off-the-shelf Nano-Fit Cable assembly (Molex/[451300203](https://www.molex.com/en-us/products/part-detail/451300203)) or build a custom one from a Nano-Fit receptacle (Molex/[1053071202](https://www.molex.com/en-us/products/part-detail/1053071202)) and pre-crimped wires (Molex/[797582130](https://www.molex.com/en-us/products/part-detail/797582130)). +You can also power the board via an RJ45 (`J6`) Ethernet connector using a PoE injector or a PoE-capable Ethernet switch compliant with the IEEE 802.3bt standard and offering at least 40W of power budget. + +### 3. Storage + +You should equip the Jetson Orin Baseboard with M.2 NVMe SSD storage with at least 64GB of capacity. +That will be the primary storage device from which the SoM will boot. + +### 4. Cooling module + +You can use the Jetson Orin compatible cooling fan (Waveshare/[24076](https://www.waveshare.com/orin-fan-pwm.htm)) as a primary cooling solution when working with the Jetson Orin Baseboard. +Using a SoM without any cooling solution attached will make it throttle and eventually reboot or crash the system due to overheating. + +### 5. Fastening bolts + +You will need at least one metric M2.5 (5mm long) bolt and a matching screwdriver to fasten the SSD to the baseboard. +You may want to use more bolts to fasten the SoM and the baseboard to the baseplate. +All mechanical fastening points located on the board support bolts with metric M2.5 thread (ISO 7045). + +### 6. Host PC + +You will need a computer running Linux for flashing the reference BSP image to the Jetson Orin SoM installed in the baseboard. +The BSP flashing instructions provided below were verified with Debian and Arch based systems. +You may need to introduce minor adjustments for other Linux distros. + +### 7. Cabling + +You will need two USB-C cables for connecting the SoM flashing port and the debug port located on the Jetson Orin Baseboard to your PC. +You should avoid using USB hubs for the flashing interface to get the optimal flashing speed/performance. + +## Build your setup + +To prepare the Jetson Orin Baseboard for initial usage, follow the steps described below: + +### 1. Install the cooling module + +Begin with installing the cooling fan on the Jetson Orin SoM. +Make sure the openings carved in the bottom side of the heatsink match the power inductors located on the Jetson Orin SoM. +Please refer to the Jetson Cooling Fan [product page](https://www.waveshare.com/orin-fan-pwm.htm) for details. + +### 2. Install the SoM + +Securely attach the NVIDIA Jetson Orin SoM to the `J15` connector of the Jetson Orin Baseboard. +Remember to connect the cooling fan plug into the `J10` fan receptacle. +Optionally, you can fasten the SoM to the baseboard with two metric M2.5 (5mm long) bolts. + +### 3. Install the storage + +Install the NVMe M.2 SSD storage in the `J2` M.2 (key-M) slot located on the bottom side (i.e opposite side to the SoM) of the Jetson Orin Baseboard. +You need to fasten the SSD with one metric M2.5 (5mm long) bolt to ensure reliable connection. + +### 4. Apply power supply + +Prepare a power cable assembly terminated with a Molex Nano Fit plug that fits the `J12` DC connector located on the Jetson Orin Baseboard. +Please verify the polarity and voltage you use for powering the board. +Apply power to the board. +That should cause the `D53` power indicator LED to light up. + +:::{figure-md} +![](img/job_power_connection.png) + +Jetson Orin Baseboard DC power connection with polarity marking (red: vcc, blue: gnd). This 3D render does not show the cooling module that should be attached to the Jetson SoM +::: + +### 5. Connect the debug console + +Connect the debug USB-C (`J3`) port (located on the bottom side, under the power connector) to your PC. +This should get a virtual USB/serial port registered in your system under ``/dev/ttyUSBx``. +You can check the ``lsusb`` or ``dmesg`` commands to verify if the serial bridge was enumerated properly. + +### 6. Connect the flashing interface + +Connect the flashing USB-C (`J5` which is the right-most port on the top side of the Jetson Orin Baseboard) to your PC. +This should cause the `D11` LED indicator located next to the USB port to light up. +Now you are ready to prepare the BSP flashing image and initialize the flashing process. + +:::{figure-md} +![](img/job_ready_for_flashing.png) + +Jetson Orin Baseboard with USB and power connections required for flashing. This 3D render does not show the cooling module that should be attached to the Jetson SoM +::: + +## Flash the BSP image + +Jetson Orin Baseboard comes with a reference BSP image of a Yocto-based system built on top of the [meta-antmicro](https://github.com/antmicro/meta-antmicro) layer. +This BSP will let you verify the basic functionality of the board. +The following steps will guide you through the process of downloading and flashing a precompiled Board Support Package (BSP) for the Jetson Orin Baseboard. + +### 1. Get the BSP image + +First, create a workspace directory that will contain all of the files you will need for flashing: + +```bash +export WORK="$HOME/antmicro-job-bsp" +mkdir -p $WORK +``` +Download the BSP image into the previously created workspace directory. +The image archive is around 283MB in size. + +```bash +cd $WORK +wget https://dl.antmicro.com/projects/nvidia-jetson-orin-baseboard-demo-p3509-a02-p3767-0000-20240723125144.tegraflash.tar.gz +``` +Next, unpack the BSP image: + +```bash +mkdir -p $WORK/bsp +cd $WORK/bsp +tar xvzf $WORK/nvidia-jetson-orin-baseboard-demo-p3509-a02-p3767-0000-20240723125144.tegraflash.tar.gz +``` + +### 2. Install dependencies + +You need to have a `device-tree-compiler` installed on your machine for the flash tool to work. +On a Debian-like system, you can install it via apt: + +```bash +sudo apt-get install device-tree-compiler +``` + +On an Arch-like system, you can install it via pacman: + +```bash +sudo pacman -S dtc +``` + +### 3. Disable auto-mounting + +When running a Debian-like operating system, you might encounter some difficulties with flashing the board, due to problems with disk auto-mounting. +A simple workaround for this issue is to disable auto-mounting for the time being: + +```bash +gsettings set org.gnome.desktop.media-handling automount false +gsettings set org.gnome.desktop.media-handling automount-open false +``` + +### 4. Enter recovery mode + +Make sure that the Jetson Orin Baseboard is [connected to a power source](#apply-power-supply) and that you have connected the [debug console USB](#connect-the-debug-console) and the [flashing USB interface](#connect-the-flashing-interface) to your PC, as described in the [Build your setup](#build-your-setup) section. +As already mentioned in the [Cabling](#cabling) section, you should be entering the recovery mode with direct connection of the flashing USB interface to the PC (i.e. there should be no USB hubs in between). +In order to enter the recovery mode, execute the following procedure using buttons located on the top side of the Jetson Orin Baseboard, oriented as shown in the photo above. + +* Press and release the `POWER` button located on the top side, next to the DC power jack. + The cooling fan on top of the Jetson SoM should start spinning slowly. +* Press and hold the `RECOV` (FORCE_RECOVERY) button located on the top side between the HDMI port and the right-most USB-C connector. +* Press and release the `RESET` button located on the top side between the HDMI port and the left-most USB-C connector. +* Release the `RECOV` button. + The SoM cooling fan will now start spinning faster. + +On the host PC, you should now see the following new USB device being detected (e.g. via lsusb): +```bash +lsusb | grep -i nvidia +# Bus 001 Device 026: ID 0955:7523 NVIDIA Corp. APX +``` + +The Jetson SoM will stay in the recovery mode for ~45s and then it will make an attempt to boot up. +If needed, repeat the procedure to force the SoM back into recovery mode. + +### 5. Open debug console + +Whenever developing with the Jetson Orin Baseboard, it always makes sense to have a terminal hooked to the Debug UART on your host PC. +You can use any serial port terminal emulator for that, but we’ll use ``picocom`` in this guide. +Make sure that the [debug console USB](#connect-the-debug-console) is connected to your host PC and the USB-serial converter is enumerated: +```bash +lsusb -d 0403: +# Bus 001 Device 118: ID 0403:6015 Future Technology Devices International, Ltd Bridge(I2C/SPI/UART/FIFO) +sudo dmesg | grep FTDI +# [1740634.745814] usb 1-4: FTDI USB Serial Device converter now attached to ttyUSB0 +``` + +Run the terminal: +```bash +sudo picocom -b 115200 /dev/ttyUSB0 +``` + +You should keep the ``picocom`` terminal open in a separate window/tab throughout board flashing. +That will give you an insight into the progress and debug log messages displayed during the process. + +### 6. Flash the board + +Open another terminal instance on your PC and navigate to the directory which holds the downloaded and unpacked BSP, as described in the [Get the BSP image](#get-the-bsp-image) section. + +```bash +cd $HOME/antmicro-job-bsp/bsp +``` + +Make sure your SoM remains in the recovery mode. +Then, execute the flashing script from the same directory: + +```bash +sudo ./initrd-flash +``` +Be patient, as flashing might take a while (up to 30min). +When the flashing succeeds, you should see a log similar to the one below: + +```bash +Starting at 2024-07-05T11:43:56+00:00 +Machine: p3509-a02-p3767-0000 +Rootfs device: nvme0n1p1 +Found Jetson device in recovery mode at USB 1-8 +== Step 1: Signing binaries at 2024-07-05T11:43:56+00:00 == +== Step 2: Boot Jetson via RCM at 2024-07-05T11:44:09+00:00 == +Found Jetson device in recovery mode at USB 1-8 +== Step 3: Sending flash sequence commands at 2024-07-05T11:44:12+00:00 == +Waiting for USB storage device flashpkg from e3340a08...........[/dev/sdc] +Device size in blocks: 262144 +== Step 4: Writing partitions on external storage device at 2024-07-05T11:44:57+00:00 == +Waiting for USB storage device nvme0n1 from e3340a08...[/dev/sdc] +Creating partitions + [02] name=kernel start=0 size=131072 sectors + [03] name=kernel-dtb start=0 size=896 sectors + [04] name=reserved_for_chain_A_user start=0 size=65536 sectors + [05] name=kernel_b start=0 size=131072 sectors + [06] name=kernel-dtb_b start=0 size=896 sectors + [07] name=reserved_for_chain_B_user start=0 size=65536 sectors + [08] name=recovery start=0 size=163840 sectors + [09] name=recovery-dtb start=0 size=1024 sectors + [10] name=RECROOTFS start=0 size=614400 sectors + [11] name=esp start=0 size=131072 sectors + [12] name=recovery_alt start=0 size=163840 sectors + [13] name=recovery-dtb_alt start=0 size=1024 sectors + [14] name=esp_alt start=0 size=131072 sectors + [01] name=APP (fills to end) +Writing partitions + Writing boot.img (size=37214208) to /dev/sdc2 (size=67108864)... + Writing kernel_tegra234-p3767-0000-antmicro-job.dtb (size=333342) to /dev/sdc3 (size=458752)... + Writing boot.img (size=37214208) to /dev/sdc5 (size=67108864)... + Writing kernel_tegra234-p3767-0000-antmicro-job.dtb (size=333342) to /dev/sdc6 (size=458752)... + Writing esp.img (size=67108864) to /dev/sdc11 (size=67108864)... + Writing nvidia-jetson-orin-baseboard-demo.ext4 (size=59055800320) to /dev/sdc1 (size=255237365248)... +[OK: /dev/sdc] +== Step 5: Waiting for final status from device at 2024-07-05T12:13:37+00:00 == +Waiting for USB storage device flashpkg from e3340a08...[/dev/sdc] +Final status: SUCCESS +Successfully finished at 2024-07-05T12:13:41+00:00 +Host-side log: log.initrd-flash.2024-07-05-11.43.56 +Device-side logs stored in: device-logs-2024-07-05-11.43.56 +``` + +Common Issue: +When a device is connected through a USB hub, the initrd-flash script may not recognize it, and it can get stuck displaying "Waiting for Jetson to appear on USB.......". +To verify whether the baseboard is directly connected to a root hub, use the `lsusb -vt` command. +Note that some USB ports on your PC motherboard USB may also be internally connected through a hub. + +### 7. Login + +After successful flashing, the SoM should reboot and you should see the booting log in the [debug console](#open-debug-console). +The SoM should boot up to the login screen visible in the debug console. +The reference BSP comes with a preconfigured root account. +To log in to the console, connect to the board via UART, turn on the power, and wait for the board to boot. +When it successfully boots, you will be asked for login and password: + +``` +p3509-a02-p3767-0000 login: +``` + +Use the following login credentials to get access to the system: + +``` +login: root +password: root +``` diff --git a/_sources/index.md.txt b/_sources/index.md.txt new file mode 100644 index 0000000..69a0e72 --- /dev/null +++ b/_sources/index.md.txt @@ -0,0 +1,8 @@ +# {{project}} + +```{toctree} +:maxdepth: 2 + +getting_started +board_overview +``` diff --git a/_static/basic.css b/_static/basic.css new file mode 100644 index 0000000..f316efc --- /dev/null +++ b/_static/basic.css @@ -0,0 +1,925 @@ 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script contains the language-specific data used by searchtools.js, + * namely the list of stopwords, stemmer, scorer and splitter. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"]; + + +/* Non-minified version is copied as a separate JS file, if available */ + +/** + * Porter Stemmer + */ +var Stemmer = function() { + + var step2list = { + ational: 'ate', + tional: 'tion', + enci: 'ence', + anci: 'ance', + izer: 'ize', + bli: 'ble', + alli: 'al', + entli: 'ent', + eli: 'e', + ousli: 'ous', + ization: 'ize', + ation: 'ate', + ator: 'ate', + alism: 'al', + iveness: 'ive', + fulness: 'ful', + ousness: 'ous', + aliti: 'al', + iviti: 'ive', + biliti: 'ble', + logi: 'log' + }; + + var step3list = { + icate: 'ic', + ative: '', + alize: 'al', + iciti: 'ic', + ical: 'ic', + ful: '', + ness: '' + }; + + var c = "[^aeiou]"; // consonant + var v = "[aeiouy]"; // vowel + var C = c + "[^aeiouy]*"; // consonant sequence + var V = v + "[aeiou]*"; // vowel sequence + + var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0 + var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1 + var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1 + var s_v = "^(" + C + ")?" + v; // vowel in stem + + this.stemWord = function (w) { + var stem; + var suffix; + var firstch; + var origword = w; + + if (w.length < 3) + return w; + + var re; + var re2; + var re3; + var re4; + + firstch = w.substr(0,1); + if (firstch == "y") + w = firstch.toUpperCase() + w.substr(1); + + // Step 1a + re = /^(.+?)(ss|i)es$/; + re2 = /^(.+?)([^s])s$/; + + if (re.test(w)) + w = w.replace(re,"$1$2"); + else if (re2.test(w)) + w = w.replace(re2,"$1$2"); + + // Step 1b + re = /^(.+?)eed$/; + re2 = /^(.+?)(ed|ing)$/; + if (re.test(w)) { + var fp = re.exec(w); + re = new RegExp(mgr0); + if (re.test(fp[1])) { + re = /.$/; + w = w.replace(re,""); + } + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1]; + re2 = new RegExp(s_v); + if (re2.test(stem)) { + w = stem; + re2 = /(at|bl|iz)$/; + re3 = new RegExp("([^aeiouylsz])\\1$"); + re4 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re2.test(w)) + w = w + "e"; + else if (re3.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + else if (re4.test(w)) + w = w + "e"; + } + } + + // Step 1c + re = /^(.+?)y$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(s_v); + if (re.test(stem)) + w = stem + "i"; + } + + // Step 2 + re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step2list[suffix]; + } + + // Step 3 + re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step3list[suffix]; + } + + // Step 4 + re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/; + re2 = /^(.+?)(s|t)(ion)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + if (re.test(stem)) + w = stem; + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1] + fp[2]; + re2 = new RegExp(mgr1); + if (re2.test(stem)) + w = stem; + } + + // Step 5 + re = /^(.+?)e$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + re2 = new RegExp(meq1); + re3 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) + w = stem; + } + re = /ll$/; + re2 = new RegExp(mgr1); + if 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U(t=>{new cn.default("[data-clipboard-target], [data-clipboard-text]",{text:r=>r.getAttribute("data-clipboard-text")||Vs(B(r.getAttribute("data-clipboard-target")))}).on("success",r=>t.next(r))}).pipe(M(t=>{t.trigger.focus()}),d(()=>ae("clipboard.copied"))).subscribe(e)}function Ns(e){if(e.length<2)return[""];let[t,r]=[...e].sort((o,i)=>o.length-i.length).map(o=>o.replace(/[^/]+$/,"")),n=0;if(t===r)n=t.length;else for(;t.charCodeAt(n)===r.charCodeAt(n);)n++;return e.map(o=>o.replace(t.slice(0,n),""))}function hr(e){let t=__md_get("__sitemap",sessionStorage,e);if(t)return C(t);{let r=ce();return zo(new URL("sitemap.xml",e||r.base)).pipe(d(n=>Ns(D("loc",n).map(o=>o.textContent))),le(()=>k),De([]),M(n=>__md_set("__sitemap",n,sessionStorage,e)))}}function Pi({document$:e,location$:t,viewport$:r}){let n=ce();if(location.protocol==="file:")return;"scrollRestoration"in history&&(history.scrollRestoration="manual",x(window,"beforeunload").subscribe(()=>{history.scrollRestoration="auto"}));let o=ie("link[rel=icon]");typeof o!="undefined"&&(o.href=o.href);let i=hr().pipe(d(l=>l.map(p=>`${new URL(p,n.base)}`)),_(l=>x(document.body,"click").pipe(A(p=>!p.metaKey&&!p.ctrlKey),_(p=>{if(p.target instanceof Element){let m=p.target.closest("a");if(m&&!m.target){let h=new URL(m.href);if(h.search="",h.hash="",h.pathname!==location.pathname&&l.includes(h.toString()))return p.preventDefault(),C({url:new URL(m.href)})}}return je}))),pe()),a=x(window,"popstate").pipe(A(l=>l.state!==null),d(l=>({url:new URL(location.href),offset:l.state})),pe());P(i,a).pipe(Q((l,p)=>l.url.href===p.url.href),d(({url:l})=>l)).subscribe(t);let c=t.pipe(J("pathname"),_(l=>pr(l.href).pipe(le(()=>(lr(l),je)))),pe());i.pipe(rr(c)).subscribe(({url:l})=>{history.pushState({},"",`${l}`)});let s=new DOMParser;c.pipe(_(l=>l.text()),d(l=>s.parseFromString(l,"text/html"))).subscribe(e);let f=new Set,u=new Set;for(let l of D("script",document))l.src?f.add(new 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h=m.outerHTML;if(!u.has(h)){let b=document.createElement("script");for(let w of m.getAttributeNames())b.setAttribute(w,m.getAttribute(w));b.textContent=m.textContent,document.body.appendChild(b),u.add(h)}}}))).subscribe(),e.pipe(Pe(1),d(()=>_e("container")),_(l=>D("script",l)),mt(l=>{let p=O("script");if(l.src){for(let m of l.getAttributeNames())p.setAttribute(m,l.getAttribute(m));return l.replaceWith(p),new U(m=>{p.onload=()=>m.complete()})}else return p.textContent=l.textContent,l.replaceWith(p),k})).subscribe(),P(i,a).pipe(rr(e)).subscribe(({url:l,offset:p})=>{l.hash&&!p?No(l.hash):window.scrollTo(0,(p==null?void 0:p.y)||0)}),r.pipe(Wr(i),He(250),J("offset")).subscribe(({offset:l})=>{history.replaceState(l,"")}),P(i,a).pipe(Ne(2,1),A(([l,p])=>l.url.pathname===p.url.pathname),d(([,l])=>l)).subscribe(({offset:l})=>{window.scrollTo(0,(l==null?void 0:l.y)||0)})}var $i=Je(rn());function Ii(e,t){let r=new RegExp(e.separator,"img"),n=(o,i,a)=>`${i}${a}`;return o=>{o=o.replace(/[\s*+\-:~^]+/g," ").trim();let i=new RegExp(`(^|${e.separator})(${o.replace(/[|\\{}()[\]^$+*?.-]/g,"\\$&").replace(r,"|")})`,"img");return a=>(t?(0,$i.default)(a):a).replace(i,n).replace(/<\/mark>(\s+)]*>/img,"$1")}}function ji({document$:e}){var a;let t=ce(),r=t.version.staticVersions?C(t.version.staticVersions):Ge(new URL((a=t.version.versionPath)!=null?a:"../versions.json",t.base)),n=new URL("..",t.base),o=c=>new URL(c,n).toString().replace(/\/*$/,""),i=r.pipe(d(c=>{let s=t.base.toString().replace(/\/*$/,"");return c.find(({version:f,aliases:u})=>o(f)===s||u.find(l=>o(l)===s))||c[0]}));r.pipe(d(c=>new Map(c.map(s=>[`${new URL(`../${s.version}/`,t.base)}`,s]))),_(c=>x(document.body,"click").pipe(A(s=>!s.metaKey&&!s.ctrlKey),me(i),_(([s,f])=>{if(s.target instanceof Element){let u=s.target.closest("a");if(u&&!u.target&&c.has(u.href)){let l=u.href;return!s.target.closest(".md-version")&&c.get(l)===f?k:(s.preventDefault(),C(l))}}return k}),_(s=>{let{version:f}=c.get(s);return hr(new URL(s)).pipe(d(u=>{let p=Oe().href.replace(t.base,"");return u.includes(p.split("#")[0])?new URL(`../${f}/${p}`,t.base):new URL(s)}))})))).subscribe(c=>lr(c)),G([r,i]).subscribe(([c,s])=>{B(".md-header__topic").appendChild(oi(c,s))}),e.pipe(_(()=>i)).subscribe(c=>{var f;let s=__md_get("__outdated",sessionStorage);if(s===null){let u=((f=t.version)==null?void 0:f.default)||"latest";s=!c.aliases.includes(u),__md_set("__outdated",s,sessionStorage)}if(s)for(let u of ee("outdated"))u.hidden=!1})}function Fi(e,{location$:t}){let r={lang:[],separator:"\\s+"};return G([t.pipe(z(Oe()),A(n=>!!n.searchParams.get("h")))]).pipe(d(([n])=>Ii(r,!0)(n.searchParams.get("h"))),d(n=>{var a;let o=new Map,i=document.createNodeIterator(e,NodeFilter.SHOW_TEXT);for(let c=i.nextNode();c;c=i.nextNode())if((a=c.parentElement)!=null&&a.offsetHeight){let s=c.textContent,f=n(s);f.length>s.length&&o.set(c,f)}for(let[c,s]of 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r=`https://api.github.com/repos/${e}/${t}`;return Ir(Ge(`${r}/releases/latest`).pipe(le(()=>k),d(n=>({version:n.tag_name})),De({})),Ge(r).pipe(le(()=>k),d(n=>({stars:n.stargazers_count,forks:n.forks_count})),De({}))).pipe(d(([n,o])=>V(V({},n),o)))}else{let r=`https://api.github.com/users/${e}`;return Ge(r).pipe(d(n=>({repositories:n.public_repos})),De({}))}}function Vi(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return Ge(r).pipe(le(()=>k),d(({star_count:n,forks_count:o})=>({stars:n,forks:o})),De({}))}function Ni(e){let[t]=e.match(/(git(?:hub|lab))/i)||[];switch(t.toLowerCase()){case"github":let[,r,n]=e.match(/^.+github\.com\/([^/]+)\/?([^/]+)?/i);return Ui(r,n);case"gitlab":let[,o,i]=e.match(/^.+?([^/]*gitlab[^/]+)\/(.+?)\/?$/i);return Vi(o,i);default:return k}}var Ws;function zs(e){return Ws||(Ws=I(()=>{let t=__md_get("__source",sessionStorage);if(t)return C(t);if(ee("consent").length){let n=__md_get("__consent");if(!(n&&n.github))return k}return Ni(e.href).pipe(M(n=>__md_set("__source",n,sessionStorage)))}).pipe(le(()=>k),A(t=>Object.keys(t).length>0),d(t=>({facts:t})),X(1)))}function Di(e){let t=B(":scope > :last-child",e);return I(()=>{let r=new L;return r.subscribe(({facts:n})=>{t.appendChild(ri(n)),t.classList.add("md-source__repository--active")}),zs(e).pipe(M(n=>r.next(n)),R(()=>r.complete()),d(n=>V({ref:e},n)))})}function qs(e,{viewport$:t,header$:r}){return de(document.body).pipe(_(()=>mr(e,{header$:r,viewport$:t})),d(({offset:{y:n}})=>({hidden:n>=10})),J("hidden"))}function Wi(e,t){return I(()=>{let r=new L;return r.subscribe({next({hidden:n}){e.hidden=n},complete(){e.hidden=!1}}),(Z("navigation.tabs.sticky")?C({hidden:!1}):qs(e,t)).pipe(M(n=>r.next(n)),R(()=>r.complete()),d(n=>V({ref:e},n)))})}function Ks(e,{viewport$:t,header$:r,excludedLinks:n}){let o=new Map,i=D("a[href]",e);for(let s of i){if(n!=null&&n.has(s))continue;let f=s.getAttribute("href"),u;if(f.startsWith("#")){let l=decodeURIComponent(s.hash.substring(1));u=ie(`[id="${l}"]`)}else u=ie(`a.pseudo-toc-entry[href=${CSS.escape(f)}]`);if(typeof u!="undefined"){let l=s.closest(".md-nav__link");l!==null&&o.set(l,u)}}let a=r.pipe(J("height"),d(({height:s})=>{let f=_e("main"),u=B(":scope > :first-child",f);return s+.8*(u.offsetTop-f.offsetTop)}),pe());return de(document.body).pipe(J("height"),_(s=>I(()=>{let f=[];return C([...o].reduce((u,[l,p])=>{for(;f.length&&o.get(f[f.length-1]).tagName>=p.tagName;)f.pop();let m=p.offsetTop;for(;!m&&p.parentElement;)p=p.parentElement,m=p.offsetTop;return u.set([...f=[...f,l]].reverse(),m)},new Map))}).pipe(d(f=>new Map([...f].sort(([,u],[,l])=>u-l))),St(a),_(([f,u])=>t.pipe(Nr(([l,p],{offset:{y:m},size:h})=>{let b=m+h.height>=Math.floor(s.height);for(;p.length;){let[,w]=p[0];if(w-u=m&&!b)p=[l.pop(),...p];else 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h=u.getBoundingClientRect(),b=l.getBoundingClientRect();l.scrollTo({top:l.scrollTop+(h.y-b.height/2-b.y)})}})}o&&Z("navigation.tracking")&&t.pipe(te(i.pipe(ue(1))),J("offset"),He(250),Pe(1),te(n.pipe(Pe(1))),Ot({delay:250}),me(i)).subscribe(([,{prev:s}])=>{let f=Oe(),u=s[s.length-1];if(u&&u.length){let[l]=u,{hash:p}=new URL(l.href);f.hash!==p&&(f.hash=p,history.replaceState({},"",`${f}`))}else f.hash="",history.replaceState({},"",`${f}`)}),Z("toc.sticky")&&de(document.body).pipe(J("width"),He(0)).subscribe(()=>{let s=new Map,f="--md-nav__header-height";for(let u of D(".md-nav__link",e)){let l=u.nextElementSibling;if(!(l instanceof HTMLElement)||l.tagName!=="NAV")continue;let p="",m=NaN,h=l.parentElement.closest("nav");if(h!==null){let b=s.get(h);b!==void 0&&(p=`${b.height} + `,m=b.zindex-1)}isNaN(m)&&(m=100),p+=`${u.offsetHeight}px + 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i.subscribe({next({hidden:c}){e.hidden=c,c?(e.setAttribute("tabindex","-1"),e.blur()):e.removeAttribute("tabindex")},complete(){e.style.top="",e.hidden=!0,e.removeAttribute("tabindex")}}),r.pipe(te(a),J("height")).subscribe(({height:c})=>{e.style.top=`${c+16}px`}),Bs(e,{viewport$:t,main$:n,target$:o}).pipe(M(c=>i.next(c)),R(()=>i.complete()),d(c=>V({ref:e},c)))}function qi({document$:e,tablet$:t}){e.pipe(_(()=>D(".md-toggle--indeterminate, [data-md-state=indeterminate]")),M(r=>{r.indeterminate=!0,r.checked=!1}),oe(r=>x(r,"change").pipe(zr(()=>r.classList.contains("md-toggle--indeterminate")),d(()=>r))),me(t)).subscribe(([r,n])=>{r.classList.remove("md-toggle--indeterminate"),n&&(r.checked=!1)})}function Ys(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function Ki({document$:e}){e.pipe(_(()=>D("[data-md-scrollfix]")),M(t=>t.removeAttribute("data-md-scrollfix")),A(Ys),oe(t=>x(t,"touchstart").pipe(d(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function Bi({viewport$:e,tablet$:t}){G([ht("search"),t]).pipe(d(([r,n])=>r&&!n),_(r=>C(r).pipe(ke(r?400:100))),me(e)).subscribe(([r,{offset:{y:n}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${n}px`;else{let o=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",o&&window.scrollTo(0,o)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let 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Board overview

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Jetson Orin Baseboard is an open hardware board design supporting NVIDIA Jetson Orin NX and Orin Nano family of SoMs. +The board design files were created in KiCad 7x. +The board is a versatile development kit which can be easily adopted in order to make it usable in commercial applications for autonomous vehicles, industry, agriculture, medicine or space. +You can find out more about the Jetson Orin Baseboard in this blog article, or by visiting Antmicro’s portals listed below:

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They provide 3D renders and the board stackup definition, as well as an interactive preview of the board schematic. +A PDF schematic of the board is also available.

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IO map

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A map of on-board connectors, status LEDs, control buttons and I/O interfaces is provided below.

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Figure 3 +Jetson Orin Baseboard interface map

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Power Supply

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The board can be powered with the following sources:

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1. DC Connector

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Jetson Orin Baseboard can be powered with a stable DC voltage via the on-board locking DC connector (J12) with Molex Nano-Fit plug (see the Power Supply section for details related to Nano-Fit power harness assembly). +You can use an external DC adapter for powering the board or a battery pack with chargeable or non-rechargeable batteries, as long as the provided voltage fits within the accepted range (9-15VDC). +Please note that Jetson Orin Baseboard does not support battery recharging.

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2. Power over Ethernet

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Jetson Orin Baseboard supports PoE++ Type 3 (IEEE 802.3bt) and negotiates Power Delivery (PD) Class 5 with a maximum power budget of 40W. +The board includes an isolated PoE DC/DC converter. +You can power the board via the Gigabit Ethernet port (J6) using a PoE injector or a PoE-capable Ethernet switch.

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3. USB Power Delivery

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  • USB Power Delivery PD, available on two USB-C ports:

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    • USB-C0 (J4) general purpose USB port

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    • USB-C3 (J3) debug console interface port

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Those ports are maintained by the on-board USB Power Delivery controller (Texas Instruments/TPS65988). +This controller needs to be configured in order to make it implement one of the desired power source/sink negotiation scenarios. +Please refer to the TPS65987DDH and TPS65988DH Host Interface Technical Reference Manual for details. +The configuration of the PD controller is possible via an external flash programmer connected to the debug connector (J6) or from the Jetson SoM via the I2C bus. +If you plan to power up the Jetson Orin Baseboard through the USB PD source, make sure it provides at least 30W of power for basic operation.

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Mechanics

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The Jetson Orin Baseboard PCB is 120x60 millimeters (WxL) which translates into 4.72x2.36 inch. +The overall height of the set depends on the cooling module attached. +The base setup with a default cooling module is 37 mm or 1.45 inch tall. +The KiCad PCB design files include mechanical layers with dimensions specified for the fastening holes and notable components. +The board with the Jetson Module, M.2 storage and cooling module weighs 164g (5.78oz).

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Getting started guide

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This manual will guide you through the initial setup of the open hardware Jetson Orin Baseboard. +It describes the basic steps required to assemble the board with required peripheral accessories, write a compiled Board Support Package (BSP) to the processing module and get it booted. +If you want to learn more about the Jetson Orin Baseboard itself, go to the Board Overview section. +That section also includes an I/O map that may come in handy when locating interface connectors mentioned in this guide.

+

Collect the hardware

+

To get started with the Jetson Orin Baseboard, you’ll need the following hardware:

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1. Jetson SoM

+

The Jetson Orin Baseboard is electrically compatible with the NVIDIA Jetson Orin NX and Jetson Orin Nano family of SoMs. +The provided reference BSP has been developed for NVIDIA Jetson Orin NX 16GB (900-13767-0000-000) but it should work with other modules as well.

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2. Power supply

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The Jetson Orin Baseboard can be powered with a benchtop PSU or AC/DC wall adapter providing DC voltage in the 9-15 VDC range with at least 30W. +For starters, it is recommended to power the board via a DC locking connector (J12) which accepts a 2-wire Molex Nano-Fit plug. +You can use an off-the-shelf Nano-Fit Cable assembly (Molex/451300203) or build a custom one from a Nano-Fit receptacle (Molex/1053071202) and pre-crimped wires (Molex/797582130). +You can also power the board via an RJ45 (J6) Ethernet connector using a PoE injector or a PoE-capable Ethernet switch compliant with the IEEE 802.3bt standard and offering at least 40W of power budget.

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3. Storage

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You should equip the Jetson Orin Baseboard with M.2 NVMe SSD storage with at least 64GB of capacity. +That will be the primary storage device from which the SoM will boot.

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4. Cooling module

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You can use the Jetson Orin compatible cooling fan (Waveshare/24076) as a primary cooling solution when working with the Jetson Orin Baseboard. +Using a SoM without any cooling solution attached will make it throttle and eventually reboot or crash the system due to overheating.

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5. Fastening bolts

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You will need at least one metric M2.5 (5mm long) bolt and a matching screwdriver to fasten the SSD to the baseboard. +You may want to use more bolts to fasten the SoM and the baseboard to the baseplate. +All mechanical fastening points located on the board support bolts with metric M2.5 thread (ISO 7045).

+

6. Host PC

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You will need a computer running Linux for flashing the reference BSP image to the Jetson Orin SoM installed in the baseboard. +The BSP flashing instructions provided below were verified with Debian and Arch based systems. +You may need to introduce minor adjustments for other Linux distros.

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7. Cabling

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You will need two USB-C cables for connecting the SoM flashing port and the debug port located on the Jetson Orin Baseboard to your PC. +You should avoid using USB hubs for the flashing interface to get the optimal flashing speed/performance.

+

Build your setup

+

To prepare the Jetson Orin Baseboard for initial usage, follow the steps described below:

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1. Install the cooling module

+

Begin with installing the cooling fan on the Jetson Orin SoM. +Make sure the openings carved in the bottom side of the heatsink match the power inductors located on the Jetson Orin SoM. +Please refer to the Jetson Cooling Fan product page for details.

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2. Install the SoM

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Securely attach the NVIDIA Jetson Orin SoM to the J15 connector of the Jetson Orin Baseboard. +Remember to connect the cooling fan plug into the J10 fan receptacle. +Optionally, you can fasten the SoM to the baseboard with two metric M2.5 (5mm long) bolts.

+

3. Install the storage

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Install the NVMe M.2 SSD storage in the J2 M.2 (key-M) slot located on the bottom side (i.e opposite side to the SoM) of the Jetson Orin Baseboard. +You need to fasten the SSD with one metric M2.5 (5mm long) bolt to ensure reliable connection.

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4. Apply power supply

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Prepare a power cable assembly terminated with a Molex Nano Fit plug that fits the J12 DC connector located on the Jetson Orin Baseboard. +Please verify the polarity and voltage you use for powering the board. +Apply power to the board. +That should cause the D53 power indicator LED to light up.

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Figure 1 +Jetson Orin Baseboard DC power connection with polarity marking (red: vcc, blue: gnd). This 3D render does not show the cooling module that should be attached to the Jetson SoM

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5. Connect the debug console

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Connect the debug USB-C (J3) port (located on the bottom side, under the power connector) to your PC. +This should get a virtual USB/serial port registered in your system under /dev/ttyUSBx. +You can check the lsusb or dmesg commands to verify if the serial bridge was enumerated properly.

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6. Connect the flashing interface

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Connect the flashing USB-C (J5 which is the right-most port on the top side of the Jetson Orin Baseboard) to your PC. +This should cause the D11 LED indicator located next to the USB port to light up. +Now you are ready to prepare the BSP flashing image and initialize the flashing process.

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Figure 2 +Jetson Orin Baseboard with USB and power connections required for flashing. This 3D render does not show the cooling module that should be attached to the Jetson SoM

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Flash the BSP image

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Jetson Orin Baseboard comes with a reference BSP image of a Yocto-based system built on top of the meta-antmicro layer. +This BSP will let you verify the basic functionality of the board. +The following steps will guide you through the process of downloading and flashing a precompiled Board Support Package (BSP) for the Jetson Orin Baseboard.

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1. Get the BSP image

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First, create a workspace directory that will contain all of the files you will need for flashing:

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export WORK="$HOME/antmicro-job-bsp"
+mkdir -p $WORK
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+
+

Download the BSP image into the previously created workspace directory. +The image archive is around 283MB in size.

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cd $WORK
+wget https://dl.antmicro.com/projects/nvidia-jetson-orin-baseboard-demo-p3509-a02-p3767-0000-20240723125144.tegraflash.tar.gz
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+
+

Next, unpack the BSP image:

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mkdir -p $WORK/bsp
+cd $WORK/bsp
+tar xvzf $WORK/nvidia-jetson-orin-baseboard-demo-p3509-a02-p3767-0000-20240723125144.tegraflash.tar.gz
+
+
+

2. Install dependencies

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You need to have a device-tree-compiler installed on your machine for the flash tool to work. +On a Debian-like system, you can install it via apt:

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sudo apt-get install device-tree-compiler
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+
+

On an Arch-like system, you can install it via pacman:

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sudo pacman -S dtc
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+
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3. Disable auto-mounting

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When running a Debian-like operating system, you might encounter some difficulties with flashing the board, due to problems with disk auto-mounting. +A simple workaround for this issue is to disable auto-mounting for the time being:

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gsettings set org.gnome.desktop.media-handling automount false
+gsettings set org.gnome.desktop.media-handling automount-open false
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+
+

4. Enter recovery mode

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Make sure that the Jetson Orin Baseboard is connected to a power source and that you have connected the debug console USB and the flashing USB interface to your PC, as described in the Build your setup section. +As already mentioned in the Cabling section, you should be entering the recovery mode with direct connection of the flashing USB interface to the PC (i.e. there should be no USB hubs in between). +In order to enter the recovery mode, execute the following procedure using buttons located on the top side of the Jetson Orin Baseboard, oriented as shown in the photo above.

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  • Press and release the POWER button located on the top side, next to the DC power jack. +The cooling fan on top of the Jetson SoM should start spinning slowly.

    • +

  • Press and hold the RECOV (FORCE_RECOVERY) button located on the top side between the HDMI port and the right-most USB-C connector.

    • +

  • Press and release the RESET button located on the top side between the HDMI port and the left-most USB-C connector.

    • +

  • Release the RECOV button. +The SoM cooling fan will now start spinning faster.

    • +
+

On the host PC, you should now see the following new USB device being detected (e.g. via lsusb):

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lsusb | grep -i nvidia
+# Bus 001 Device 026: ID 0955:7523 NVIDIA Corp. APX
+
+
+

The Jetson SoM will stay in the recovery mode for ~45s and then it will make an attempt to boot up. +If needed, repeat the procedure to force the SoM back into recovery mode.

+

5. Open debug console

+

Whenever developing with the Jetson Orin Baseboard, it always makes sense to have a terminal hooked to the Debug UART on your host PC. +You can use any serial port terminal emulator for that, but we’ll use picocom in this guide. +Make sure that the debug console USB is connected to your host PC and the USB-serial converter is enumerated:

+
lsusb -d 0403:
+# Bus 001 Device 118: ID 0403:6015 Future Technology Devices International, Ltd Bridge(I2C/SPI/UART/FIFO)
+sudo dmesg | grep FTDI
+# [1740634.745814] usb 1-4: FTDI USB Serial Device converter now attached to ttyUSB0
+
+
+

Run the terminal:

+
sudo picocom -b 115200 /dev/ttyUSB0
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+
+

You should keep the picocom terminal open in a separate window/tab throughout board flashing. +That will give you an insight into the progress and debug log messages displayed during the process.

+

6. Flash the board

+

Open another terminal instance on your PC and navigate to the directory which holds the downloaded and unpacked BSP, as described in the Get the BSP image section.

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cd $HOME/antmicro-job-bsp/bsp
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+
+

Make sure your SoM remains in the recovery mode. +Then, execute the flashing script from the same directory:

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sudo ./initrd-flash
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+
+

Be patient, as flashing might take a while (up to 30min). +When the flashing succeeds, you should see a log similar to the one below:

+
Starting at 2024-07-05T11:43:56+00:00
+Machine:       p3509-a02-p3767-0000
+Rootfs device: nvme0n1p1
+Found Jetson device in recovery mode at USB 1-8
+== Step 1: Signing binaries at 2024-07-05T11:43:56+00:00 ==
+== Step 2: Boot Jetson via RCM at 2024-07-05T11:44:09+00:00 ==
+Found Jetson device in recovery mode at USB 1-8
+== Step 3: Sending flash sequence commands at 2024-07-05T11:44:12+00:00 ==
+Waiting for USB storage device flashpkg from e3340a08...........[/dev/sdc]
+Device size in blocks: 262144
+== Step 4: Writing partitions on external storage device at 2024-07-05T11:44:57+00:00 ==
+Waiting for USB storage device nvme0n1 from e3340a08...[/dev/sdc]
+Creating partitions
+  [02] name=kernel start=0 size=131072 sectors
+  [03] name=kernel-dtb start=0 size=896 sectors
+  [04] name=reserved_for_chain_A_user start=0 size=65536 sectors
+  [05] name=kernel_b start=0 size=131072 sectors
+  [06] name=kernel-dtb_b start=0 size=896 sectors
+  [07] name=reserved_for_chain_B_user start=0 size=65536 sectors
+  [08] name=recovery start=0 size=163840 sectors
+  [09] name=recovery-dtb start=0 size=1024 sectors
+  [10] name=RECROOTFS start=0 size=614400 sectors
+  [11] name=esp start=0 size=131072 sectors
+  [12] name=recovery_alt start=0 size=163840 sectors
+  [13] name=recovery-dtb_alt start=0 size=1024 sectors
+  [14] name=esp_alt start=0 size=131072 sectors
+  [01] name=APP (fills to end)
+Writing partitions
+  Writing boot.img (size=37214208) to /dev/sdc2 (size=67108864)...
+  Writing kernel_tegra234-p3767-0000-antmicro-job.dtb (size=333342) to /dev/sdc3 (size=458752)...
+  Writing boot.img (size=37214208) to /dev/sdc5 (size=67108864)...
+  Writing kernel_tegra234-p3767-0000-antmicro-job.dtb (size=333342) to /dev/sdc6 (size=458752)...
+  Writing esp.img (size=67108864) to /dev/sdc11 (size=67108864)...
+  Writing nvidia-jetson-orin-baseboard-demo.ext4 (size=59055800320) to /dev/sdc1 (size=255237365248)...
+[OK: /dev/sdc]
+== Step 5: Waiting for final status from device at 2024-07-05T12:13:37+00:00 ==
+Waiting for USB storage device flashpkg from e3340a08...[/dev/sdc]
+Final status: SUCCESS
+Successfully finished at 2024-07-05T12:13:41+00:00
+Host-side log:              log.initrd-flash.2024-07-05-11.43.56
+Device-side logs stored in: device-logs-2024-07-05-11.43.56
+
+
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Common Issue: +When a device is connected through a USB hub, the initrd-flash script may not recognize it, and it can get stuck displaying “Waiting for Jetson to appear on USB…….”. +To verify whether the baseboard is directly connected to a root hub, use the lsusb -vt command. +Note that some USB ports on your PC motherboard USB may also be internally connected through a hub.

+

7. Login

+

After successful flashing, the SoM should reboot and you should see the booting log in the debug console. +The SoM should boot up to the login screen visible in the debug console. +The reference BSP comes with a preconfigured root account. +To log in to the console, connect to the board via UART, turn on the power, and wait for the board to boot. +When it successfully boots, you will be asked for login and password:

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p3509-a02-p3767-0000 login:
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Use the following login credentials to get access to the system:

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login: root
+password: root
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