Jetson Orin AGX Custom Board Bring up problem

[nzamani]

@WayneWWW Trying to modify the kernel, pinmux, and the DTB files for the custom board.

These are the setups that i followed:

1. Use the excel sheet and change the pinmux. I set many many of the unused pins (such as SPIs, I2Ss, etc.) to “not assigned”.
2. Download the public _source zip from nvidia for 35.3.1 for Jetpack 5.1.1
3. Modified the kernel dts files “tegra234-p3701-0004-p3737-0000.dts”, "tegra234-p3701-0000-as-pxxxx-p3737-0000.dts, “cvb/tegra234-p3737-0000-a04.dtsi” under .../t23x/concord/
4. Compiled the new kernel using ./nvbuild.sh
5. Copied the compiled DTB and Image files to the ..../kernel/boot/ and ..../kernal/ respectively
6. Copied the pinmux files to ..../bootloader/
7. Created another config file to point to the correct pinmux and DTB files for the custom board.
8. Run this command: sudo ./apply_binaries.sh
9. Run the flash command: sudo ./flash <newconfig> mmcblk0p1

I’ve attached the modified DTSI files, pinmux files:
Orin-jetson_agx_orin-pinmux (Modified).zip (5.0 KB)
concord (modified dts).zip (76.9 KB)

These are the custom board differences:

• No OTG USB
• The USB 2 and USB 3 companion mappings are different
• No PCIe
• No Wifi M.2
• No audio (no I2S etc.)
• No cameras (mipi lines etc.)
• No SPI
• No power button, forced recovery button, (but there is a reset button)
• No fan control PWM and tachometer

This is the error I get when using the original OR newly compiled kernel with the new DTB file

[   3.9757 ] Added binary blob_display-t234-dce_with_kernel_tegra234-p3701-0000-p3737-0000_sigheader.bin.encrypt of size 9303552
[   3.9787 ] Added binary blob_nvdec_t234_prod_sigheader.fw.encrypt of size 294912
[   3.9796 ] Added binary blob_bpmp_t234-TE990M-A1_prod_sigheader.bin.encrypt of size 1048000
[   3.9800 ] Added binary blob_tegra234-bpmp-3701-0000-3737-0000_with_odm_sigheader.dtb.encrypt of size 140416
[   3.9801 ] Added binary blob_camera-rtcpu-sce_sigheader.img.encrypt of size 166304
[   3.9802 ] Added binary blob_camera-rtcpu-t234-rce_sigheader.img.encrypt of size 537952
[   3.9804 ] Added binary blob_adsp-fw_sigheader.bin.encrypt of size 400960
[   3.9804 ] Added binary blob_spe_t234_sigheader.bin.encrypt of size 270336
[   3.9806 ] Added binary blob_tos-optee_t234_sigheader.img.encrypt of size 1064752
[   3.9807 ] Added binary blob_eks_t234_sigheader.img.encrypt of size 9232
[   3.9872 ] Sending membct and RCM blob
[   3.9882 ] tegrarcm_v2 --chip 0x23 0 --pollbl --download bct_mem mem_rcm_sigheader.bct.encrypt --download blob blob.bin
[   3.9889 ] BL: version 0.32.0.0-t234-54845784-57325615 last_boot_error: 0
[   4.1880 ] Sending bct_mem
[   4.4028 ] Sending blob
[   4.4418 ] ERROR: might be timeout in USB write.
Error: Return value 3
Command tegrarcm_v2 --chip 0x23 0 --pollbl --download bct_mem mem_rcm_sigheader.bct.encrypt --download blob blob.bin
Failed flashing t186ref.

Here are some questions I have:

1. If you change the DTS/DTB files do you have to recompile the entire kernel Image file? Or can i just get the DTB files and copy it while using the old Image file?
2. Does the Image file have to be signed?
3. Does removing the OTG USB service cause a flashing issue since it uses the same USB port for flashing on the dev board?

[WayneWWW]

1. If you change the DTS/DTB files do you have to recompile the entire kernel Image file? Or can i just get the DTB files and copy it while using the old Image file?

DTB only is sufficient.

Does the Image file have to be signed?

No need.

Does removing the OTG USB service cause a flashing issue since it uses the same USB port for flashing on the dev board?

If this is flash.sh script, then device tree does not matter.