NVIDIA Jetson Linux

https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide
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### Install and Start PulseAudio

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Commands to install and initialize the PulseAudio daemon if required by the environment.

```bash
$ sudo apt install pulseaudio
$ pulseaudio –start
```

--------------------------------

### Install UEFI Utilities

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/SecureBoot.html

Install the necessary tools for managing UEFI variables and keys.

```bash
$ apt update
$ apt install efitools
$ apt install efivar
```

--------------------------------

### Install and Verify GRUB

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/UEFI.html

Commands to install the GRUB bootloader for arm64-efi and verify the installation status.

```bash
$ sudo grub-install --bootloader-id=Ubuntu --efi-directory=/opt/nvidia/esp --target=arm64-efi
$ sudo grub-install --version
$ ls -R /opt/nvidia/esp
```

--------------------------------

### Example USB Instance Output

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/FlashingSupport.html

Example output showing the mapping of a USB device path to its product ID.

```text
/sys/bus/usb/devices/1-1.1/idProduct:7019
```

--------------------------------

### Create Default User Examples

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/FlashingSupport.html

Specific command examples for configuring default users, passwords, hostnames, and autologin settings.

```bash
$ l4t_create_default_user.sh -u nvidia -p NDZjMWM4
```

```bash
$ l4t_create_default_user.sh -u ubuntu -a
```

```bash
$ l4t_create_default_user.sh -n tegra
```

--------------------------------

### Install Cryptsetup Dependencies

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/DiskEncryption.html

Install the necessary packages required to build cryptsetup from source.

```bash
git gcc make autoconf automake autopoint pkg-config libtool gettext libssl-dev libdevmapper-dev
libpopt-dev uuid-dev libsepol1-dev libjson-c-dev libssh-dev libblkid-dev tar
```

--------------------------------

### Install Required Utilities

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Communications/PcieEndpointMode.html

Install busybox and pciutils on both the root port and endpoint systems.

```bash
# apt install busybox pciutils
```

--------------------------------

### Install oem-config packages

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/FlashingSupport.html

Install the required packages to enable oem-config on the source device.

```bash
$ sudo apt-get install --no-install-recommends ubiquity oem-config oem-config-gtk
```

--------------------------------

### Install Flash Prerequisites

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/FlashingSupport.html

Run this script to ensure all necessary dependencies for the flashing process are installed.

```bash
$ sudo tools/l4t_flash_prerequisites.sh
```

--------------------------------

### Example DTS Production Configuration File

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/ControllerProdConfig.html

A complete example of the new DTS format for QSPI and SDMMC controller configurations.

```DTS
/dts-v1/;
 / {
         deviceprod {
                 qspi-0 = <&qspi0>;
                 qspi-1 = <&qspi1>;
                 sdmmc-3 = <&sdmmc3>;

                 #prod-cells = <0x3>;

                 qspi0: qspi@3270000 {
                         default  {
                                 prod = <0x00000004 0x7C00 0x0>,
                                            <0x00000004 0xFF 0x10>;
                         };
                 };
                 qspi1: qspi@3300000 {
                         default {
                                 prod = <0x00000004 0x7C00 0x0>,
                                            <0x00000004 0xFF 0x10>;
                         };
                 };
                 sdmmc3: sdmmc@3460000 {
                         default {
                                 prod = <0x000001e4 0x00003FFF 0x0>;
                         };
                         hs400 {
                                 prod = <0x00000100 0x1FFF0000 0x14080000>,
                                            <0x0000010c 0x00003F00 0x00000028>;
                         };
                         ddr52 {
                                 prod = <0x00000100 0x1FFF0000 0x14080000>;
                         };
                 };
         };
};
```

--------------------------------

### Install Mesa utilities

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Install the required mesa-utils and mesa-utils-extra packages.

```bash
$ sudo apt-get install -y mesa-utils
$ sudo apt-get install –y mesa-utils-extra
```

--------------------------------

### Install Git

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Command to install the Git version control system on the host machine.

```bash
$ sudo apt install git-core
```

--------------------------------

### Launch Weston as root

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Start the Weston compositor with root privileges.

```bash
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston --tty="$WESTON_TTY" --idle-time=0 &
```

--------------------------------

### Example SCR configuration file

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/SecurityConfig.html

A concrete example of the DTS-based SCR configuration format.

```dts
/dts-v1/;

/ {
   scr {
       reg@161 {
           exclusion-info = <7>;
           value = <0x3f008080>;
       };
       reg@162 {
           exclusion-info = <4>;
           value = <0x18000303>;
       };
       reg@163 {
          exclusion-info = <4>;
          value = <0x18000303>;
       };
       };
};
```

--------------------------------

### Install Kernel Build Utilities

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Install the necessary build-essential and bc packages required for kernel compilation.

```bash
$ sudo apt install build-essential bc
```

--------------------------------

### Miscellaneous Configuration DTS Example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/MiscConfig.html

Example of a Device Tree Source file used to configure miscellaneous bootloader settings.

```dts
 /dts-v1/;
 /{
    misc {
       disable_spe = <0>;
       enable_vpr_resize = <0>;
       disable_sc7 = <1>;
       disable_fuse_visibility = <0>;
       disable_mb2_glitch_protection = <0>;
       carveout_alloc_direction = <2>;

       //Specify i2c bus speed in KHz

       i2c_freqency = <4 918>;

       // Soft fuse configurations
```

--------------------------------

### Install Initrd Flash Prerequisites

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/FlashingSupport.html

Installs necessary dependencies for initrd flashing on Debian-based Linux systems.

```bash
$ sudo tools/l4t_flash_prerequisites.sh # For Debian-based Linux
```

--------------------------------

### Launch Weston Client Applications

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Start multiple client applications to test compositing behavior.

```bash
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston-simple-egl &
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston-simple-dmabuf-egldevice &
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston-simple-dmabuf-egldevice &
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston-simple-dmabuf-egldevice &
```

--------------------------------

### Example nvfancontrol.conf configuration

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/PlatformPowerAndPerformance/JetsonOrinNanoSeriesJetsonOrinNxSeriesAndJetsonAgxOrinSeries.html

A sample configuration file for the Jetson Orin fan controller.

```text
POLLING_INTERVAL 2
<FAN 1>
    TMARGIN ENABLED
    FAN_GOVERNOR pid {
            STEP_SIZE 10
    }
    FAN_GOVERNOR cont {
            STEP_SIZE 10
    }
    FAN_CONTROL close_loop {
            RPM_TOLERANCE 100
    }
    FAN_PROFILE cool {
            #TEMP   HYST    PWM     RPM
            0       0       255     2900
            10      0       255     2900
            11      0       215     2440
            30      0       215     2440
            60      0       66      750
            105     0       66      750
    }
    FAN_PROFILE quiet {
            #TEMP   HYST    PWM     RPM
            0       0       255     2900
            10      0       255     2900
            11      0       171     1940
            23      0       171     1940
            60      0       66      750
            105     0       66      750
    }
    THERMAL_GROUP 0 {
            GROUP_MAX_TEMP 105
            #Thermal-Zone Coeffs Max-Temp
            CPU-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
            GPU-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
            SOC0-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
            SOC1-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
            SOC2-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
    }
    FAN_DEFAULT_CONTROL close_loop
    FAN_DEFAULT_PROFILE cool
    FAN_DEFAULT_GOVERNOR cont
    KICKSRART_PWM 64
```

--------------------------------

### Example Buffer Activation Error

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Kernel/Bmi088ImuIioDriver.html

Example output showing a failure to enable the buffer when channels are already activated in sysfs.

```text
root@jetson:~# ./iio_generic_buffer -a -c 10 --device-name accelerometer -g -l 64
iio device number being used is 0
trigger-less mode selected
Auto-channels selected but some channels are already activated in sysfs
Proceeding without activating any channels
Failed to enable buffer: Invalid argument
```

--------------------------------

### Start Cross-Process EGLStream Applications

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/Egldevice.html

Commands to launch the helloconsumer and helloproducer applications on the target.

```text
rt helloconsumer Initial
```

```text
rt helloproducer Initial
```

--------------------------------

### Install OTA Tools

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Extract the OTA tool package into the target BSP directory.

```bash
$ cd ${TARGET_BSP}/../
$ sudo tar xpf ota_tools_<rel>_aarch64.tbz2
```

--------------------------------

### Launch Weston with Debugging

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Start the Weston compositor with the debug switch enabled.

```bash
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston --tty="$WESTON_TTY" --idle-time=0 --debug &
```

--------------------------------

### Export DISPLAY and start X server

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Required prerequisite for running X11 graphics applications.

```bash
$ export DISPLAY=:0
$ xinit &
```

--------------------------------

### Start EGLStream Consumer and Producer

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/Egldevice.html

Commands to initialize the consumer and producer tasks.

```text
rt nvm_eglstream_consumer Initial
```

```text
rt nvm_eglstream_producer Initial
```

--------------------------------

### Run sample application

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Execute a pre-built graphics demo from the appropriate graphics system directory.

```bash
$ cd /usr/src/nvidia/graphics_demos/prebuilts/bin/<graphics>
$ ./bubble
```

--------------------------------

### Prepare Root Filesystem

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/IN/QuickStart.html

Extract the release package and sample filesystem, then apply necessary binaries and prerequisites before flashing.

```bash
$ tar xf ${L4T_RELEASE_PACKAGE}
$ sudo tar xpf ${SAMPLE_FS_PACKAGE} -C Linux_for_Tegra/rootfs/
$ cd Linux_for_Tegra/
$ sudo ./apply_binaries.sh
$ sudo ./tools/l4t_flash_prerequisites.sh
```

--------------------------------

### Install GCC

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Kernel/GenericTimestampEngine.html

Install the GCC compiler on the Jetson device.

```bash
$ apt install -y gcc
```

--------------------------------

### Start nvfancontrol service

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/PlatformPowerAndPerformance/JetsonXavierNxSeriesAndJetsonAgxXavierSeries.html

Starts the systemd service for the fan control daemon.

```bash
sudo systemctl start nvfancontrol
```

--------------------------------

### Initialize Framework Context

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/CameraDevelopment/SensorSoftwareDriverProgramming.html

Sets up the I2C client, device name, regmap configuration, and operation structures for the camera device.

```c
// I2C client passed in to probe.
tc_dev->i2c_client = priv->i2c_client = client;

// Set the name for the tegra camera device (sensor name).
strncpy(tc_dev->name, "imx185", sizeof(tc_dev->name));

// Initialize regmap configuration.
tc_dev->dev_regmap_config = &sensor_regmap_config;

// Initialize sensor common ops and tegra camera control ops.
tc_dev->sensor_ops = &imx185_common_ops;
tc_dev->tcctrl_ops = &imx185_ctrl_ops;
```

--------------------------------

### Prepare BSP and Apply Binaries

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Unpack the Jetson Linux release, apply the sample root filesystem, and install necessary binaries.

```bash
$ tar xpf jetson_linux_<rel>_aarch64.tbz2
$ cd Linux_for_Tegra/rootfs/
$ sudo tar xpf ../../tegra_Linux_sample-root-filesystem_<rel>_aarch64.tbz2
$ cd ..
$ sudo ./apply_binaries.sh
```

--------------------------------

### Install GCC on DUT

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Kernel/Bmi088ImuIioDriver.html

Command to install the GCC compiler on the Device Under Test (DUT).

```bash
$ sudo apt install -y gcc
```

--------------------------------

### Run EGLStream Pipeline Example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/Eglstream.html

Commands to launch the consumer and producer applications to demonstrate the cross-process pipeline.

```bash
$ ./eglstreamcube -dispno 1 -layer 1 -windowoffset 1000 0 -socket /tmp/test &
```

```bash
$ ./bubble -eglstreamsocket /tmp/test &
```

--------------------------------

### Run vksc_01tri sample

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Graphics/VulkanSCSamples.html

Commands to generate pipeline cache, render to file, display via OpenWFD, or generate JSON configuration.

```bash
cd $VKSC_SAMPLES/build/bin/data/pipeline/vksc_01tri
pcc -chip [gv11b|ga10b] -path ./ -out pipeline_cache.bin
```

```bash
cd $VKSC_SAMPLES/build/bin
./vksc_01tri -o
```

```bash
cd $VKSC_SAMPLES/build/bin
./vksc_01tri -w
```

```bash
cd $VKSC_SAMPLES/build/bin
export VK_LAYER_PATH=/etc/vulkansc/icd.d
export VK_JSON_FILE_PATH=$PWD/data/pipeline/vksc_01tri/
./vk_01tri
```

--------------------------------

### Start Weston with test module

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Initializes the Weston compositor with the test module enabled for visual verification.

```bash
$ sudo XDG_RUNTIME_DIR=/tmp/xdg weston --tty="$WESTON_TTY" --idle-time=0 --modules=weston-test.so &
```

--------------------------------

### Install GStreamer using gst-install

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Commands to install and configure GStreamer using the provided script.

```bash
$ gst-install [--prefix=<install_path>] [--version=<version>]
```

```bash
$ export LD_LIBRARY_PATH=<install_path>/lib/aarch64-linux-gnu
$ export PATH=<install_path>/bin:$PATH
```

```bash
$ gst-install --prefix=/home/ubuntu/gst-1.16.2 --version=1.16.2
$ export LD_LIBRARY_PATH=/home/ubuntu/gst-1.16.2/lib/aarch64-linux-gnu
% export PATH=/home/ubuntu/gst-1.16.2/bin:$PATH
```

--------------------------------

### Configure UEFI Keys

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/SecureBoot.html

Configuration file setup for defining key and certificate file paths.

```bash
$ vim uefi_keys.conf
```

```text
UEFI_PK_KEY_FILE="PK.key";
UEFI_PK_CERT_FILE="PK.crt";
UEFI_KEK_KEY_FILE="KEK.key";
UEFI_KEK_CERT_FILE="KEK.crt";
UEFI_DB_1_KEY_FILE="db_1.key";
UEFI_DB_1_CERT_FILE="db_1.crt";
UEFI_DB_2_KEY_FILE="db_2.key";
UEFI_DB_2_CERT_FILE="db_2.crt";
```

--------------------------------

### Initialize Update Key Environment

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/SecureBoot.html

Set up the working directory and generate a unique GUID for the update keys.

```bash
$ cd to <LDK_DIR>/uefi_keys
$ GUID=$(uuidgen)
```

--------------------------------

### Install ffmpeg binary package

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Multimedia/AcceleratedDecodeWithFfmpg.html

Use this command to install the ffmpeg package on your Jetson device.

```bash
$ sudo apt install ffmpeg
```

--------------------------------

### View xrandr help documentation

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/WindowingSystems/XWindowSystem.html

Displays the full list of available options and usage guidance for the xrandr utility.

```bash
$ xrandr --help
```

--------------------------------

### Install GStreamer-1.0

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Commands to install GStreamer 1.0 tools, plugins, and development libraries on Jetson Linux.

```bash
$ sudo apt-get update
$ sudo apt-get install gstreamer1.0-tools gstreamer1.0-alsa \
     gstreamer1.0-plugins-base gstreamer1.0-plugins-good \
     gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly \
     gstreamer1.0-libav
$ sudo apt-get install libgstreamer1.0-dev \
     libgstreamer-plugins-base1.0-dev \
     libgstreamer-plugins-good1.0-dev \
     libgstreamer-plugins-bad1.0-dev
```

--------------------------------

### Fan profile syntax and example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/PlatformPowerAndPerformance/JetsonOrinNanoSeriesJetsonOrinNxSeriesAndJetsonAgxOrinSeries.html

Syntax definition and a concrete example of a fan profile configuration block.

```text
FAN_PROFILE <fan_profile_name> {
        <temp>  <hyst>  <pwm>   <rpm>
}

Where:
<fan_profile_name>: Fan Profile Name
<temp>: Temperation step in degree celcius
<hyst>: Hysteresis step
<pwm>:  Fan PWM value
<rpm>:  Fan RPM value
```

```text
FAN_PROFILE cool {
        #TEMP   HYST    PWM     RPM
        0       0       255     2900
        10      0       255     2900
        11      0       215     2440
        30      0       215     2440
        60      0       66      750
        105     0       66      750
}
```

--------------------------------

### Configure and Build Display Kernel Modules

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Environment setup and make command for compiling NVIDIA display kernel modules.

```bash
$ export LOCALVERSION="-tegra"
```

```bash
$ export IGNORE_PREEMPT_RT_PRESENCE=1
```

```bash
$ make \
      modules \
      SYSSRC=<KERNELSRC> \
      SYSOUT=<KERNEL_OUTDIR> \
      CC=${CROSS_COMPILE_AARCH64}gcc \
      LD=${CROSS_COMPILE_AARCH64}ld.bfd \
      AR=${CROSS_COMPILE_AARCH64}ar \
      CXX=${CROSS_COMPILE_AARCH64}g++ \
      OBJCOPY=${CROSS_COMPILE_AARCH64}objcopy \
      TARGET_ARCH=aarch64 \
      ARCH=arm64
```

--------------------------------

### Install Required Host Packages

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/DiskEncryption.html

Install necessary dependencies on the host machine to support disk encryption tools.

```bash
$ sudo apt-get install python3-cryptography python3-cffi-backend libxml2-utils
$ sudo apt-get install cryptsetup python3-pycryptodome python3-crypto
```

--------------------------------

### Sign and Flash Secured Images in Separate Steps

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/SecureBoot.html

Commands to sign boot files first and then flash the generated images.

```bash
$ sudo ./flash.sh --no-flash -u <pkc_keyfile> [-v <sbk_keyfile>] <target_config> mmcblk0p1
```

```bash
$ cd bootloader
$ sudo bash ./flashcmd.txt
```

--------------------------------

### Install Grub Debian Package

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/UEFI.html

Commands to update package lists and install the Grub EFI binary for ARM64.

```bash
$ sudo apt-get update
$ sudo apt-get install grub-efi-arm64-bin
```

--------------------------------

### Legacy Prod Configuration CFG Format

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/CommonProdConfig.html

Example of the previous configuration file format used for prod settings.

```text
prod.major = 1;
prod.minor = 0;

prod.0x0c302030.0x0000100 = 0x00000000;
prod.0x0c302040.0x0000100 = 0x00000000;
prod.0x0244100c.0xff1ff000 = 0x0a00a000;
prod.0x02441004.0xff1ff000 = 0x0a00a000;
```

--------------------------------

### Install PulseAudio Bluetooth Module

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Communications/EnablingBluetoothAudio.html

Update package lists and install the necessary PulseAudio module for Bluetooth support.

```bash
$ sudo apt-get update
$ sudo apt-get install pulseaudio-module-bluetooth
```

--------------------------------

### Start X Server Manually

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/WindowingSystems/XWindowSystem.html

Command to launch the X server with specific flags for display and device management.

```bash
$ sudo -b X -ac -noreset -nolisten tcp
```

--------------------------------

### Install mokutil on Target Device

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/SecureBoot.html

Installs the mokutil utility to manage UEFI Secure Boot keys on the target device.

```bash
$ sudo dhclient eth0      # If the ethernet has not yet been enabled, enable it now.
$ sudo apt-get update
$ sudo apt-get install mokutil
```

--------------------------------

### Install Jetson Linux Support Packages

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Installs the required development and cross-compilation tools for Ubuntu 18.04 or 20.04 hosts.

```bash
$ sudo apt-get install cuda-cross-aarch64-11-4 cuda-toolkit-11-4 \
      cuda-cupti-cross-aarch64-11-7 cuda-sanitizer-11-7 \
      libnvvpi2 python3.8-vpi2 vpi2-demos vpi2-cross-aarch64-l4t \
      vpi2-dev vpi2-samples nsight-systems-2022.3.3 nvsci \
      nsight-compute-2022.2.1 nsight-compute-addon-l4t-2022.2.1 \
      nsight-graphics-for-embeddedlinux-2022.3.0.0
```

```bash
$ sudo apt-get install cuda-cross-aarch64-11-4 cuda-toolkit-11-4 \
      cuda-cupti-cross-aarch64-11-7 cuda-sanitizer-11-7 \
      libnvvpi2 python3.8-vpi2 python3.9-vpi2 vpi2-demos \
      vpi2-dev vpi2-samples vpi2-cross-aarch64-l4t \
      nsight-compute-2022.2.1 nsight-compute-addon-l4t-2022.2.1 \
      nsight-graphics-for-embeddedlinux-2022.3.0.0 \
      nsight-systems-2022.3.3 nvsci
```

--------------------------------

### Start Peer Connection Clients

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Connects two client instances to the server, with the second instance automatically initiating a call.

```bash
$ ./peerconnection_client --autoconnect --server <Server.IP>
$ ./peerconnection_client --server <Server.IP> --autoconnect --autocall
```

--------------------------------

### Install NVIDIA Public Key

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Fetches the public key for the NVIDIA APT repository to allow secure package installation.

```bash
$ sudo apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
```

--------------------------------

### Build Cryptsetup

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/DiskEncryption.html

Configure and compile the cryptsetup package.

```bash
$ ./autogen.sh && ./configure && make
```

--------------------------------

### Run Video Loopback Application

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Executes the video loopback sample to test hardware-accelerated H.264 encoding with specified resolution and capture device.

```bash
$ ./video_loopback --codec H264 --width 1280 --height 720 --capture_device_index 0
```

--------------------------------

### UPHY Lane DTS Configuration Example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/UphyLaneConfig.html

A concrete example of the current DTS format for mapping HSIO lanes to owners.

```dts
/dts-v1/;

/ {
   uphy-lane {
      hsio  {
           lane-owner-map = <10 2>,
                            <11 1>;
      };
   };
};
```

--------------------------------

### Deploy Cryptsetup Binaries

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/DiskEncryption.html

Copy the compiled cryptsetup binary and library to the target file system.

```bash
$ cd Linux_for_Tegra
$ sudo cp cryptsetup rootfs/usr/sbin/
$ sudo cp libcryptsetup.so.12 rootfs/lib/aarch64-linux-gnu/
```

--------------------------------

### Define Start and Stop Stream Register Tables

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/CameraDevelopment/SensorSoftwareDriverProgramming.html

Use these structures to define the register sequences for starting and stopping the sensor stream.

```c
static imx185_reg imx185_start[] = {
    {0x3000, 0x00 },
    {IMX185_TABLE_WAIT_MS, IMX185_WAIT_MS_START},
    {0x3002, 0x00},
    {0x3049, 0x02},
    {IMX185_TABLE_WAIT_MS, IMX185_WAIT_MS_STREAM},
    {IMX185_TABLE_END, 0x00 }
};
static imx185_reg imx185_stop[] = {
    {0x3000, 0x01 },
    {IMX185_TABLE_WAIT_MS, IMX185_WAIT_MS_STOP},
    {IMX185_TABLE_END, 0x00 }
};
```

--------------------------------

### GRUB Configuration for PXE Boot

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/FlashingSupport.html

Example GRUB configuration to load the kernel and initrd from a TFTP server and mount the root filesystem via NFS.

```text
set timeout_style=menu
set timeout=5

menuentry "Jetson" {
      linux /Image root=/dev/nfs rw netdevwait ip=:::::eth0:on nfsroot=192.168.42.1:/volume1/nfs_root fbcon=map:0 net.ifnames=0  console=ttyTCU0,115200 firmware_class.path=/etc/firmware fbcon=map:0 net.ifnames=0
      initrd /initrd
}
```

--------------------------------

### Storage Device Configuration in CFG Format

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/StorageDeviceConfig.html

Example of the legacy configuration file format for defining storage device parameters.

```text
// QSPI flash 0
device.qspiflash.0.clock-source-id = 6;
device.qspiflash.0.clock-source-frequency = 13000000; device.qspiflash.0.interface-frequency = 13000000; device.qspiflash.0.enable-ddr-mode = 0;
device.qspiflash.0.maximum-bus-width = 2;
device.qspiflash.0.fifo-access-mode = 1;
device.qspiflash.0.read-dummy-cycle = 8;
device.qspiflash.0.trimmer1-val = 0;
device.qspiflash.0.trimmer2-val = 0;

// Sdmmc 3
device.sdmmc.3.clock-source-id = 3; //PLLP_OUT0 device.sdmmc.3.clock-source-frequency = 52000000; device.sdmmc.3.best-mode = 3; //1=DDR52, 3=HS400 device.sdmmc.3.pd-offset = 0;
device.sdmmc.3.pu-offset = 0;
device.sdmmc.3.enable-strobe-hs400 = 0;
device.sdmmc.3.dqs-trim-hs400 = 0;

// Ufs 0
device.ufs.0.max-hs-mode = 3;
device.ufs.0.max-pwm-mode = 4;
device.ufs.0.max-active-lanes = 2;
device.ufs.0.page-align-size = 4096;
device.ufs.0.enable-hs-mode = 1;
device.ufs.0.enable-fast-auto-mode = 0;
device.ufs.0.enable-hs-rate-b = 1;
device.ufs.0.enable-hs-rate-a = 0;
device.ufs.0.init-state = 0;
```

--------------------------------

### Fuse Configuration XML Example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Security/SecureBoot.html

Example of a genericfuse XML configuration file containing public key hashes and security settings.

```xml
<genericfuse MagicId="0x45535546" version="1.0.0">
   <fuse name="SecureBootKey" size="32" value="0x123456789abcdef0fedcba987654321023456789abcdef01edcba9876543210f"/>
   <fuse name="PublicKeyHash" size="64" value="0xad2474627c14e3f7f4944a832bd15d0640938a3dc162f558692458f3d12f9453e11bea2ec75df3f83e8b29c47fc3d2483d528d3e94a5469c4ba1ec61f1584b23"/>
   <fuse name="PkcPubkeyHash1" size="64" value="0xd87796fb510d79738f8509c98511be0bb79dcc17d204a2f0f0bea9680b91bd1273ee2ae7a8a6bdb8b95deb0f421e72404939ae20d12c82649712283027201f39"/>
   <fuse name="PkcPubkeyHash2" size="64" value="0x99a5b6eac64dfb29698cb684165529e5d8650c1aab0e18b677c5d5f0998af53f8a8a1f09ad1d79368bc500e57eb199e9108fc7b1499995d869b028fec3f367db"/>
   <fuse name="OptInEnable" size="4" value="0x1"/>
   <fuse name="BootSecurityInfo" size="4" value="0x9"/>
   <fuse name="SecurityMode" size="4" value="0x1"/>
</genericfuse>
```

--------------------------------

### Custom Power Mode Definition Example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/PlatformPowerAndPerformance/JetsonXavierNxSeriesAndJetsonAgxXavierSeries.html

An example entry for defining a 15W power mode within the nvpmodel configuration file.

```text
< POWER_MODEL ID=2 NAME=MODE_15W >
CPU_ONLINE CORE_0 1
CPU_ONLINE CORE_1 1
CPU_ONLINE CORE_2 1
CPU_ONLINE CORE_3 1
CPU_ONLINE CORE_4 0
CPU_ONLINE CORE_5 0
CPU_ONLINE CORE_6 0
CPU_ONLINE CORE_7 0
CPU_DENVER_0 MIN_FREQ 1200000
CPU_DENVER_0 MAX_FREQ 1200000
CPU_DENVER_1 MIN_FREQ 1200000
CPU_DENVER_1 MAX_FREQ 1200000
GPU MIN_FREQ 0
GPU MAX_FREQ 670000000
EMC MAX_FREQ 1331200000
DLA_CORE MAX_FREQ 750000000
DLA_FALCON MAX_FREQ 450000000
PVA_VPS MAX_FREQ 550000000
PVA_CORE MAX_FREQ 385000000
```

--------------------------------

### Example DTS Ratchet Configuration

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Bootloader/OemFwRachetConfig.html

A concrete example of the DTS format for defining ratchet levels for MB1 and MB2 boot stages.

```DTS
 /dts-v1/;
 /{
   ratchet {
           mb1 {
         mb1bct = <1 3>;
                 spefw = <2 0>;
           };
           mb2 {
               cpubl = <11 5>;
           };
       };

};
```

--------------------------------

### T194 Platform Tegrastats Output Example

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/AT/JetsonLinuxDevelopmentTools/TegrastatsUtility.html

Example output format for Jetson AGX Xavier and Jetson Xavier NX series devices.

```text
RAM 1545/31919MB (lfb 7400x4MB) SWAP 0/15959MB (cached 0MB) CPU
[0%@1190,0%@1190,0%@1190,0%@1190,0%@1190,0%@1190,0%@1190,0%@1190]
EMC_FREQ 1%@408 GR3D_FREQ 0%@318 VIC_FREQ 0%@115 APE 150 MTS fg 0% bg 0%
AO@38C GPU@39.5C Tdiode@43.25C PMIC@100C AUX@38.5C CPU@39.5C
thermal@38.8C Tboard@39C GPU 0/0 CPU 468/468 SOC 937/937 CV 0/0 VDDRQ
312/234 SYS5V 1458/1458
```

--------------------------------

### gst-v4l2 Chain Configuration Examples

Source: https://docs.nvidia.com/jetson/archives/r35.6.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Examples of defining GStreamer element chains for various decoding, processing, and rendering tasks using the --s* flags.

```bash
--svd="avdec_h264# skip-frame=1# output-corrupt=false"
```

```bash
--sad="aacparse ! faad# min-latency=4000000"
```

```bash
--svc="videoconvert# qos=0 ! videoscale"
```

```bash
--sac="audioconvert ! audioresample"
```

```bash
--svs="videoconvert ! videoscale ! ximagesink# sync=0"
```

```bash
--sas="audioconvert ! osssink# device=/dev/dsp1# latency-time=20000"
```
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