Kernel updates for XavierA/B

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX General
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#1

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.7.0.8846
other

Host Machine Version
native Ubuntu 18.04
other

For the procedure mentioned in drive-oss-src/Kernel, in order to upgrade the default “Linux tegra-ubuntu 4.14.193” to the new rebuild Kernel on XavierA/B of the DriveAGX target unit, our understanding is steps 7/8/9 can be used to replace both Kernel and modules, and then we need to use SDK manager to flash Xavier, is it right? Is it possible to copy the Kernel & modules files from Host to Target for this upgrade without using SDK manager?

For the default Kernel on XavierA/B, executing htop/top command to sort by priority, we notice the Core & IRQ tasks with priority RT & -51 (which are normal real-time threads included in most Kernels) on one Xavier as shown left, but cannot find these real-time tasks on the other Xavier as shown on the right. What is the difference for the Kernel on XavierA vs. XavierB, and what is the reason for this design?

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#3

For kernel compilation, please see if /lib/modules/4.14.102-rt53-tegra/build: No such file or directory helps.

For the default XavierA/B problem, I didn’t see it on my side. Below are the top outputs:
XavierA
image

XavierB
image

#4

How about those IRQ tasks as shown PR -51 in the posted htop diagram, do you see them on both XavierA/B as well?

Btw, our current Kernel is: Linux tegra-ubuntu 4.14.193-rt92-tegra #1 SMP PREEMPT RT Mon Apr 19 02:11:35 PDT 2021 aarch64 aarch64 aarch64 GNU/Linux updated from DriveOS 526.

#5

Yes, I saw PR -51 on both and below are the information.

nvidia@tegra-ubuntu:~$ uname -a
Linux tegra-ubuntu 4.14.193-rt92-tegra #1 SMP PREEMPT RT Mon Apr 19 02:11:35 PDT 2021 aarch64 aarch64 aarch64 GNU/Linux
nvidia@tegra-ubuntu:~$ cat /sys/firmware/devicetree/base/model
e3550_t194a

nvidia@tegra-ubuntu:~$ uname -a
Linux tegra-ubuntu 4.14.193-rt92-tegra #1 SMP PREEMPT RT Mon Apr 19 02:11:35 PDT 2021 aarch64 aarch64 aarch64 GNU/Linux
nvidia@tegra-ubuntu:~$ cat /sys/firmware/devicetree/base/model
e3550_t194b

#6

Same Kernel and e3550_t194a/e3550_t194b, it seems sth else was triggered to disable the Core/IRQ tasks on one Xavier.

Regarding “For kernel compilation, please see if /lib/modules/4.14.102-rt53-tegra/build: No such file or directory helps.”, in order to upgrade Kernel, after steps 7/8/9 listed here, we do need to use SDK manager to flash XavierA/B again, is it right?

#7

Yes.

#8

SDK manager flash takes 30+ minutes for XavierA/B, is there another faster way to update Kernel and modules?

#9

Please create another opic for it. Thanks.

#10

One of the major goal for this ticket is to find a way to quickly flash XavierA/B, so appreciate it if we can continue this discussion here, thanks for your understanding.

#11

Sure. in this case, could you help to update the topic title and make it more specific.

Please refer to Easier way to flash Xavier B? and see if it helps.

#12

For Xavier Kernel, besides the default “drive-oss-src/kernel” comes inside the DriveOS, is there any github/gitlab repo available to public? If yes, could you please post a link?

btw, we tried to update the topic title, but cannot find any option to change it.

#13

AFAIK, there is no code hosted on such public platforms.

Let me know what title you want to change it to. I can help with it.

#14

How about “Kernel updates for XavierA/B”, thanks for the help.

#15

updated it. Thanks.