NVIDIA Jetson Linux Developer Guide

https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/
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### Install and Start PulseAudio

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

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

```bash
$ sudo apt install pulseaudio
```

```bash
$ pulseaudio --start
```

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

### Install Kernel and Modules

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Install the built kernel and modules to the root filesystem.

```bash
$ export INSTALL_MOD_PATH=<install-path>/Linux_for_Tegra/rootfs/
$ sudo -E make install -C kernel
$ cp kernel/kernel-noble/arch/arm64/boot/Image \
  <install-path>/Linux_for_Tegra/kernel/Image
```

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

### Install and Verify Grub

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/UEFI.html

Install the Grub bootloader to the EFI directory and verify the installation version and file structure.

```bash
# Install Grub to system
$ sudo grub-install --bootloader-id=Ubuntu --efi-directory=/boot/efi --target=arm64-efi

# Check installed Grub version
$ sudo grub-install --version

# Check the installed files
$ ls -R /boot/efi
```

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

### Network Configuration Examples

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupportJetsonThor.html

Examples of network arguments for flashing through Ethernet protocol using initrd flash.

```bash
--network usb0
```

```bash
--network eth0:192.168.0.17/24:192.168.0.21
```

```bash
--network eth0:192.168.0.17/24:192.168.1.2:192.168.0.1
```

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

### Install Flashing Prerequisites

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupportJetsonThor.html

Run this script on a Debian-based host to install necessary dependencies before flashing.

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

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

### Example Jetson Firmware Version String

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/UEFI.html

A concrete example of the firmware version string as it appears during the boot process.

```text
Jetson System firmware version 36.3.0-gcid-36191598 date 2024-05-06T16:58:59+00:00
```

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

### Install Cryptsetup Dependencies

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/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
```

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

### Run nv_tcu_demuxer for AGX Orin and Orin Nano

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/AT/JetsonLinuxDevelopmentTools/TegraCombinedUART.html

Example command to start the demuxer and the resulting console mapping output.

```bash
$ cd Linux_for_Tegra/tools/demuxer
$ ./nv_tcu_demuxer -d /dev/ttyACM0 &
```

```text
/dev/pts/2   RCE
/dev/pts/3   FSI
/dev/pts/4   PSCFW
/dev/pts/5   DCE
/dev/pts/7   BPMP
/dev/pts/8   SCE
/dev/pts/9   SPE
/dev/pts/10  TZ
/dev/pts/11  CCPLEX: 0
```

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

### Install and Run iperf3

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Install iperf3 and perform bandwidth testing between a target device and a host machine.

```bash
$ sudo apt update
$ sudo apt install iperf3
```

```bash
$ iperf3 -s
```

```bash
$ iperf3 -c <target-ip-address> -P8 -t 60
```

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

### Start X Server

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Initializes the X server if it is not currently running.

```bash
$  xinit &
```

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

### Install Out-of-Tree Modules

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Install the built modules to the root filesystem.

```bash
$ export INSTALL_MOD_PATH=<install-path>/Linux_for_Tegra/rootfs/
$ sudo -E make modules_install
```

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

### Build CUDA Samples Natively

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Install dependencies and compile the samples on the target device.

```bash
sudo apt-get install libglfw3
sudo apt-get install libglfw3-dev
cd ${HOME}/cuda-samples
make clean
make -j$(nproc)
```

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

### Install Git

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

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

```bash
$ sudo apt install git
```

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

### DTS Prod Configuration Example

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/ControllerProdConfig.html

A complete example of a prod configuration file defining settings for QSPI and SDMMC controllers.

```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 oem-config Packages

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupport.html

Installs the necessary ubiquity and oem-config packages on the source device to trigger configuration on the next boot.

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

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

### Install WebRTC Dependencies

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Install the necessary development and GStreamer packages required to build the WebRTC sample application.

```bash
$ apt-get install -y --no-install-recommends \
g++ \
libjsoncpp-dev \
libssl-dev  \
uuid uuid-dev \
gstreamer1.0-plugins-base \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-ugly \
gstreamer1.0-plugins-bad \
libgstreamer1.0-0 \
libgstreamer-plugins-base1.0-dev \
```

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

### Install Jetson Linux Support Components

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Install the required CUDA, VPI, and Nsight development packages on the host.

```bash
$ sudo apt-get install cuda-toolkit-12-2 cuda-cross-aarch64-12-2 nvsci 
libnvvpi3 vpi3-dev vpi3-cross-aarch64-l4t python3.10-vpi3 vpi3-samples vpi3-python-src nsight-systems-2023.4.3 nsight-graphics-for-embeddedlinux-2023.3.0.0
```

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

### Jetson Thor Flashing Examples

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupportJetsonThor.html

Specific command examples for preparing the workspace and flashing components like A_MB1_BCT, QSPI, or NVMe SSD on Jetson Thor.

```bash
$ sudo ./l4t_initrd_flash.sh --no-flash jetson-agx-thor-devkit mmcblk0p1
```

```bash
$ sudo ./l4t_initrd_flash.sh -k A_MB1_BCT jetson-agx-thor-devkit mmcblk0p1
```

```bash
$ sudo ./l4t_initrd_flash.sh --qspi-only jetson-agx-thor-devkit mmcblk0p1
```

```bash
$ sudo ./l4t_initrd_flash.sh --external-only --external-device nvme0n1 -c tools/kernel_flash/flash_l4t_t264_nvme.xml <board> <rootdev>
```

```bash
$ sudo ./l4t_initrd_flash.sh --external-only -k APP --external-device nvme0n1 -c tools/kernel_flash//flash_l4t_t234_nvme.xml <board> <rootdev>
```

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

### Install Flash Prerequisites

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupportJetsonThor.html

Run the prerequisite script to ensure the environment is ready for flashing.

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

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

### Launch the WebRTC Application

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Execute the launch script to start the streaming server.

```bash
launch_nvwebrtc
```

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

### GStreamer Chain Configuration Examples

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Examples of defining GStreamer element chains using the '!' separator and property settings with the '#' separator.

```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"
```

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

### Navigate to Build Directory

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Change to the source directory before starting the build process.

```bash
$ cd <install-path>/Linux_for_Tegra/source
```

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

### Build TensorRT samples

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Setup and compilation commands for TensorRT samples.

```bash
mkdir ${HOME}/tensorrt-samples
ln -s /opt/nvidia/tensorrt/data ${HOME}/tensorrt-samples/data
cp -a /opt/nvidia/tensorrt/samples ${HOME}/tensorrt-samples/
cd ${HOME}/tensorrt-samples/samples
make clean
make
```

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

### Create BSP Directory

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Security/FirmwareTPM.html

Initializes the top-level directory for the BSP installation.

```bash
mkdir ${BSP_TOP}
cd ${BSP_TOP}

```

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

### Install OTA Tools

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/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/r38.2.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Start the Weston compositor with the debug switch enabled.

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

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

### Build the WebRTC Sample Application

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Navigate to the source directory and compile the application using make.

```bash
$ cd webrtc_argus_camera_app_src
$ make
```

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

### Setup DeepStream Triton Environment

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Prepares the model repository and installs dependencies for Triton inference.

```bash
cd /opt/nvidia/deepstream/deepstream/samples
sudo ./prepare_ds_triton_model_repo.sh
sudo apt -y install ffmpeg
sudo ./prepare_classification_test_video.sh
sudo ./triton_backend_setup.sh
```

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

### Run Pre-built Graphics Sample

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Navigates to the binary directory and executes a sample application.

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

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

### Define an IReadWriteI2C Interface

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/CameraDevelopment/CoECameraDevelopment/SIPL-for-L4T/Guide-to-Write-UDDF-Drivers.html

Example of a Device Driver Interface (DDI) definition for I2C communication, inheriting from IInterface and including a unique GUID.

```cpp
/** The unique identifier for the IReadWriteI2C interface type. */
inline UUID IREADWRITEI2C_INTERFACE_ID = UUID(0xacc5ff36, 0x22a0, 0x4d8a, 0x8271, 0xab, 0x97, 0x5b, 0xa8, 0x84, 0xeb);

class IReadWriteI2C: public IInterface {   // Note the inheritance from the IInterface class!

public:

    static constexpr UUID id { IREADWRITEI2C_INTERFACE_ID };  // The GUID for this interface

    /** Return values from read and write operations. */
    enum I2CResult {
        RWI2C_SUCCESS,              ///< Success
        RWI2C_ERROR_NACK,           ///< NACK received
        RWI2C_ERROR_BUS_TIMEOUT,    ///< Bus timeout
        RWI2C_ERROR_ARBLOST,        ///< Arbitration lost
        RWI2C_OUT_OF_RANGE,         ///< Address, offset, or length is out of range
        RWI2C_ERROR_UNKNOWN,        ///< Unknown error
    };

    /**
     * Read from the I2C bus.
     *
     * @param[in]  sensorIndex  The index of the sensor to read from.
     * @param[in]  address      The address of the device to read from.
     * @param[in]  offset       The starting offset to read from.
     * @param[out] data         The data read from the I2C bus.
     * @param[in]  length       The number of bytes to read.
     */
    virtual I2CResult ReadI2C(uint8_t sensorIndex, uint16_t address, uint16_t offset,
                              uint8_t* data, uint16_t length) = 0;

    /**
     * Write to the I2C bus.
     *
     * @param[in]  sensorIndex  The index of the sensor to write to.
     * @param[in]  address      The address of the device to write to.
     * @param[in]  offset       The starting offset to write to.
     * @param[in]  data         The data to write to the I2C bus.
     * @param[in]  length       The number of bytes to write.
     */
    virtual I2CResult WriteI2C(uint8_t sensorIndex, uint16_t address, uint16_t offset,
                               uint8_t const* data, uint16_t length) = 0;
};
```

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

### Reference Camera Overlay File

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/UEFI.html

Path to the example camera overlay DTS file.

```text
<top>/hardware/nvidia/t23x/nv-public/overlay/tegra234-p3737-camera-dual-imx274-overlay.dts
```

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

### Configure APT Repository URLs

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Example configuration lines for the APT source list file, showing the format for specifying release versions.

```text
deb https://repo.download.nvidia.com/jetson/common <release> main
deb https://repo.download.nvidia.com/jetson/som <release> main
```

```text
deb https://repo.download.nvidia.com/jetson/common r36.3 main
deb https://repo.download.nvidia.com/jetson/som r36.3 main
```

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

### Prepare fTPM Provisioning Folder

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Security/FirmwareTPM.html

Create a local directory and transfer the provisioning script to the target device.

```bash
mkdir -p ftpm_prov

scp optee/samples/ftpm-helper/host/tool/ftpm_device_provision.sh ${REMOTE_DEVICE}:${DEST_PROV_DIR}/ftpm_prov
```

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

### Start GDM Service

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Command to start the GDM service after configuration.

```bash
$ sudo systemctl start gdm
```

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

### Verify VPI Installation

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Checks for installed VPI packages using dpkg.

```bash
ubuntu@tegra-ubuntu:~$ dpkg -l | grep -i vpi
ii  libnvvpi3                                  3.2.4                                      amd64        NVIDIA Vision Programming Interface library
ii  python3.10-vpi3                            3.2.4                                      amd64        NVIDIA VPI python 3.10 bindings
ii  vpi3-dev                                   3.2.4                                      amd64        NVIDIA VPI C/C++ development library and headers
ii  vpi3-samples                               3.2.4                                      amd64        NVIDIA VPI command-line sample applications
```

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

### Install GCC on DUT

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/Bmi088ImuIioDriver.html

Command to install the GCC compiler on the Device Under Test.

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

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

### Run KLT Bounding Box Tracker Sample

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Commands to build and execute the KLT tracker sample.

```bash
cd  /opt/nvidia/vpi3/samples/06-klt_tracker
```

```bash
sudo cmake .
sudo make
```

```bash
sudo ./vpi_sample_06_klt_tracker cuda ../assets/dashcam.mp4 ../assets/dashcam_bboxes.txt
```

```bash
sudo python3 main.py cuda ../assets/dashcam.mp4 ../assets/dashcam_bboxes.txt
```

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

### Upgrade Jetson Linux Packages

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Installs the latest available versions of the installed packages.

```bash
$ sudo apt upgrade
```

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

### Locate Installed Application

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/CameraDevelopment/CoECameraDevelopment/SIPL-for-L4T/SIPL-App-Development-Guide.html

Path to the installed SIPL CoE camera application binary.

```text
/usr/bin/nvsipl_coe_camera
```

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

### Configure camera using built-in platform configurations

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/CameraDevelopment/CoECameraDevelopment/SIPL-for-L4T/SIPL-App-Development-Guide.html

Use predefined platform configurations from the SIPL database or list available options.

```bash
./nvsipl_coe_camera -c VB1940_Camera
```

```bash
./nvsipl_coe_camera -h
```

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

### Initialize SIPL Camera and Query Instances

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/CameraDevelopment/CoECameraDevelopment/SIPL-for-L4T/SIPL-App-Development-Guide.html

Retrieves SIPL instances and parses configuration databases or JSON files to prepare the camera system.

```cpp
// Get SIPL Camera and Query instances
m_upCamera = INvSIPLCamera::GetInstance();
m_upQuery = INvSIPLCameraQuery::GetInstance();

// Parse database and configuration
status = m_upQuery->ParseDatabase();
if (m_cmdline.sTestConfigFile != "") {
    status = m_upQuery->ParseJsonFile(m_cmdline.sTestConfigFile);
} else if (m_cmdline.sConfigName != "") {
    status = m_upQuery->GetCameraSystemConfig(m_cmdline.sConfigName, camSysConfig);
}
```

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

### Install mesa-utils packages

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Install the required mesa-utils and mesa-utils-extra packages for graphics testing.

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

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

### Compile and Run Argus SDK Samples

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Standard sequence of commands to prepare the environment, build, and install Argus SDK samples.

```bash
cd /usr/src/jetson_multimedia_api/argus
```

```bash
sudo apt-get install cmake; sudo apt-get install build-essential; sudo apt-get install pkg-config; sudo apt-get install libx11-dev; sudo apt-get install libgtk-3-dev; sudo apt-get install libexpat1-dev; sudo apt-get install libjpeg-dev; sudo apt-get install libgstreamer1.0-dev
```

```bash
sudo mkdir build
```

```bash
cd build
```

```bash
sudo cmake ..
```

```bash
cd samples/cudaHistogram
```

```bash
cd samples/gstVideoEncode
```

```bash
cd samples/multiSensor
```

```bash
sudo make
```

```bash
sudo make install
```

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

### Install Python Dependencies for fTPM

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Security/FirmwareTPM.html

Installs the required Python modules for fTPM production scripts.

```bash
sudo apt-get update
sudo apt-get install python3-pip
sudo apt-get remove python3-cryptography
sudo pip3 install asn1crypto
sudo pip3 install cryptography
sudo pip3 install ecdsa
sudo pip3 install numpy
sudo pip3 install oscrypto
sudo pip3 install pyaes
sudo pip3 install pycryptodome
sudo pip3 install pycryptodomex
```

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

### Connect to Wi-Fi via CLI

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Scan for networks, install wpasupplicant, and establish a connection using wpa_supplicant and dhclient.

```bash
$ sudo iwlist wlan0 scan | grep ESSID
$ sudo apt install wpasupplicant
$ wpa_passphrase YOUR_AP_NAME PASSWORD | sudo tee /etc/wpa_supplicant.conf
$ sudo wpa_supplicant -c /etc/wpa_supplicant.conf -i wlan0
8. Open another terminal: $ sudo systemctl stop NetworkManager
$ iwconfig
$ ifconfig wlan0
$ sudo ifconfig wlan0 up
$ sudo dhclient wlan0
$ ifconfig wlan0
$ ifconfig -a
```

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

### Install Build Tools

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/CameraDevelopment/CoECameraDevelopment/SIPL-for-L4T/SIPL-App-Development-Guide.html

Commands to install essential build-essential and cmake packages on the Jetson device.

```bash
ubuntu@jetson:~$ sudo apt-get update && sudo apt-get install build-essential
ubuntu@jetson:~$ sudo apt-get install cmake
```

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

### Prepare BSP and Root Filesystem

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html

Unpack the Jetson Linux release, apply the sample root filesystem, and install 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 the DTBs

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Copy the generated DTB files to the kernel directory of the Linux for Tegra installation.

```bash
$ cp kernel-devicetree/generic-dts/dtbs/* <install-path>/Linux_for_Tegra/kernel/dtb/
```

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

### Build and Install jetson-inference

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Commands to clone, build, and install the jetson-inference repository for deep learning tasks.

```bash
$ sudo apt-get update
$ sudo apt-get install git cmake libpython3-dev python3-numpy
$ git clone --recursive https://github.com/dusty-nv/jetson-inference
$ cd jetson-inference
$ mkdir build
$ cd build
$ cmake ../
$ make
$ sudo make install
$ sudo ldconfig
```

```bash
$ cd $HOME
$ sudo apt-get update
$ sudo apt-get install git cmake libpython3-dev python3-numpy
$ git clone --recursive https://github.com/dusty-nv/jetson-inference
$ cd jetson-inference
$ mkdir build
$ cd build
$ cmake ../
$ make
$ sudo make install
$ sudo ldconfig
```

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

### Export DISPLAY and Start X Server

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Graphics/SampleApplications.html

Commands to configure the display environment and initialize the X server for X11 applications.

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

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

### Prepare Device for Weston

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Stop the X server and set up the XDG runtime directory before launching Weston.

```bash
$ sudo service gdm stop; sudo pkill -9 Xorg
$ unset DISPLAY
$ mkdir /tmp/xdg
$ chmod 700 /tmp/xdg
```

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

### Install Kernel Build Utilities

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/KernelCustomization.html

Command to install essential packages required for compiling the Linux kernel.

```bash
$ sudo apt install build-essential bc flex bison libssl-dev zstd
```

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

### Install Grub Debian Package

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/UEFI.html

Update package lists and install the EFI-compatible Grub package for ARM64.

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

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

### Run fTPM Provisioning Script

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Security/FirmwareTPM.html

Execute the provisioning script to store EK certificates and set authorization.

```bash
cd ftpm_prov
sudo ./ftpm_device_provision.sh -r ek_cert_rsa.der -e ek_cert_ec.der -p owner
```

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

### Device Tree Path Example

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Communications/AudioSetupAndDevelopment.html

Path to the device tree source file for Jetson AGX Orin.

```text
hardware/nvidia/t23x/nv-public/tegra234-p3701.dtsi
```

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

### Install GStreamer-1.0 Packages

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Installs the core GStreamer tools, plugins, and development headers required for multimedia processing.

```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
```

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

### Compile and Run Backend Sample

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/TestPlanValidation.html

Compiles and executes the backend sample application for TensorRT-accelerated video processing.

```bash
$ cd /usr/src/jetson_multimedia_api/samples/backend
$ sudo make
```

```bash
$ sudo ./backend 1 ../../data/Video/sample_outdoor_car_1080p_10fps.h264 H264 \
--trt-deployfile ../../data/Model/GoogleNet_one_class/GoogleNet_modified_oneClass_halfHD.prototxt \
--trt-modelfile ../../data/Model/GoogleNet_one_class/GoogleNet_modified_oneClass_halfHD.caffemodel \
--trt-mode 0 --trt-proc-interval 1 -fps 10
```

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

### Install RT Kernel packages

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Kernel/RealTimeKernel.html

Install the required RT kernel packages for specific Jetson hardware platforms.

```bash
$ sudo apt install nvidia-l4t-rt-kernel nvidia-l4t-rt-kernel-headers nvidia-l4t-rt-kernel-oot-modules nvidia-l4t-display-rt-kernel nvidia-l4t-rt-kernel-openrm
```

```bash
$ sudo apt install nvidia-l4t-rt-kernel nvidia-l4t-rt-kernel-headers nvidia-l4t-rt-kernel-oot-modules nvidia-l4t-display-rt-kernel nvidia-l4t-rt-kernel-nvgpu
```

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

### Install PulseAudio Bluetooth Module

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Communications/EnablingBluetoothAudio.html

Update package repositories and install the necessary PulseAudio Bluetooth support package.

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

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

### Start X Server Manually

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/WindowingSystems/XWindowSystem.html

Starts the X server in the background with specific access control and reset parameters.

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

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

### Launch Weston Client Applications

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/WindowingSystems/WestonWayland.html

Start multiple client applications to test mixed-mode compositing.

```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 &
```

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

### Fan Governor Profile Example

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/PlatformPowerAndPerformance/JetsonThor.html

Example profile configuration enabling TMARGIN and open-loop control for the fan governor.

```text
TMARGIN ENABLED
FAN_PROFILE cool {
        #TEMP   HYST    PWM     RPM
        0       0       255     5371
        15      0       255     5371
        24      0       192     4170
        29      0       140     2900
        35      0       102     2300
        45      0       77      1750
        115     0       77      1750
}
```

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

### Configure Display Environment

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Initialize the X server and set the display environment variable for the application.

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

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

### Run Video Loopback Application

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/HardwareAccelerationInTheWebrtcFramework.html

Executes the video loopback sample with specified codec, resolution, and capture device index.

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

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

### Skip Frames Option Example

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/CameraDevelopment/ArgusNvrawTool.html

Example usage of the skipframes option to define the number of frames to skip before saving.

```bash
--skipframes 40
```

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

### Execute Initrd Flash Script

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupportJetsonThor.html

Use this syntax to initiate the flashing process for a specific board and root device configuration.

```bash
$ sudo ./l4t_initrd_flash.sh [<options>] <board> <rootdev>
```

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

### Example UPHY Lane DTS Configuration

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/UphyLaneConfig.html

A concrete example of a UPHY lane configuration file for HSIO instances.

```DTS
/dts-v1/;

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

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

### Initiate Rootfs Cloning

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/FlashingSupport.html

Run the initrd flash script with the --initrd flag on the host to prepare for cloning.

```bash
$ cd Linux_for_Tegra
$ sudo ./tools/kernel_flash/l4t_initrd_flash.sh --initrd <board-name> <rootdev>
```

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

### Install ffmpeg binary package

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Multimedia/AcceleratedDecodeWithFfmpg.html

Use these commands to update the package list and install the ffmpeg binary on Jetson Linux.

```bash
$ sudo apt update
$ sudo apt install -y ffmpeg
```

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

### nvgstipctestapp Execution Commands

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Multimedia/AcceleratedGstreamer.html

Example commands for running the nvgstipctestapp sample application in server and client modes.

```bash
$ export DISPLAY=:0
$ nvgstipctestapp server rtsp://127.0.0.1/video1 /tmp/test1
```

```bash
$ export DISPLAY=:0
$ nvgstipctestapp client /tmp/test1
```

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

### Start Peer Connection Clients

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/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
```

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

### BootROM Reset Configuration DTS Example

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Bootloader/BootROMResetPMICConfig.html

Example configuration for reset paths and AO blocks using DTS syntax.

```dts
/dts-v1/;
/ {

reset {
    // Each reset path can point to up to three Ao blocks
    // This is a map of reset paths to Ao blocks
    // <reset-path>-<index-pointer> = <aoblock-id>
    // index-number must be 0, 1, or 2
    // aoblock-id is the ID of the one of the blocks mentioned above sensor-aotag-1 = <&aoblock0>;
    sc7-1 = <&aoblock2>;

    aoblock0: aoblock@0 {
        command-retries-count = <1>;
        delay-between-commands-us = <1>;
        wait-before-start-bus-clear-us = <1>;

        block@0 {
             i2c-controller;
             slave-add = <0x3c>; // 7BIt:0x3c
             reg-data-size = <8>;
             reg-add-size = <8>;
             commands {
                 command@0 {
                     reg-addr = <0x42>;
                     value = <0xda>;
                 };
                 command@1 {
                     reg-addr = <0x41>;
                     value = <0xf8>;
                 };
               };
             };
    };
    // Shutdown: Set MAX77620
    // Register ONOFFCNFG2, bit SFT_RST_WK = <0>
    // Register ONOFFCNFG1, bit SFT_RST = <1> aoblock1: aoblock@1 {
         // Shutdown: Set MAX77620
                     // Register ONOFFCNFG2, bit SFT_RST_WK = <0>
                     // Register ONOFFCNFG1, bit SFT_RST = <1>
                     command-retries-count = <1>;
                     delay-between-commands-us = <1>;
                     wait-before-start-bus-clear-us = <1>;
                     block@0 {
                             i2c-controller;
                             slave-add = <0x3c>; // 7BIt:0x3c reg-data-size = <8>;
                             reg-add-size = <8>;
                             commands {
                                     command@0 {
                                             reg-addr = <0x42>;
                                             value = <0x5a>;
                             }       ;
                             command@1 {
                                     reg-addr = <0x41>;
                                     value = <0xf8>;
                                     };
                             };
                     };
             };
             // SC7 exit
             // Clear PMC_IMPL_DPD_ENABLE_0[ON]=0 during SC7 exit aoblock2: aoblock@2 {
                     command-retries-count = <1>;
                     delay-between-commands-us = <256>;
                     wait-before-start-bus-clear-us = <1>; block@0 {
                             mmio;
                             commands {
                                     command@0 {
                                             reg-addr = <0x0c360010>;
                                             value = <0x0>;
                                     };
                             };
                     };

```

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

### Build Cryptsetup

Source: https://docs.nvidia.com/jetson/archives/r38.2.1/DeveloperGuide/SD/Security/DiskEncryption.html

Configure and compile the cryptsetup package.

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