Hi waldman,
The Capsule update is support from r35.2.1.
Please flash the latest JetPack-5.1 on your AGX Orin first.
List detail steps for you reference:
[Host-r35.2.1]
$ sudo ./l4t_generate_soc_bup.sh t23x
$ ./generate_capsule/l4t_generate_soc_capsule.sh -i bootloader/payloads_t23x/bl_only_payload -o ./TEGRA_BL.Cap t234
$ scp TEGRA_BL.Cap nvidia@<IP address>:/home/nvidia/.
[Target-Orin]
$ ll /dev/disk/by-partlabel/esp
$ sudo mount /dev/mmcblk0p10 /mnt/
$ cd /mnt/EFI
# mkdir UpdateCapsule
# cd UpdateCapsule/
# cp /home/nvidia/TEGRA_BL.Cap .
With QSPI flash:
# cd /sys/firmware/efi/efivars/
# printf "\x07\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00" > /tmp/var_tmp.bin
# sudo dd if=/tmp/var_tmp.bin of=OsIndications-8be4df61-93ca-11d2-aa0d-00e098032b8c bs=12
# reboot
[Result]
$ sudo nvbootctrl dump-slots-info
Current version: 35.2.1
Capsule update status: 1
Current bootloader slot: B
Active bootloader slot: B
num_slots: 2
slot: 0, status: normal
slot: 1, status: normal
If you want switch back to slot A, run target command again.
Please reference detail from: Update and Redundancy — Jetson Linux Developer Guide documentation