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Support Jetson Nano SoC Depends on siderolabs/pkgs#380 Signed-off-by: Noel Georgi <[email protected]>
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88 changes: 88 additions & 0 deletions
88
internal/app/machined/pkg/runtime/v1alpha1/board/jetson_nano/jetson_nano.go
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| // This Source Code Form is subject to the terms of the Mozilla Public | ||
| // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| // file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
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| package jetsonnano | ||
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| import ( | ||
| "os" | ||
| "path/filepath" | ||
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| "github.com/talos-systems/go-procfs/procfs" | ||
| "golang.org/x/sys/unix" | ||
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| "github.com/talos-systems/talos/internal/app/machined/pkg/runtime" | ||
| "github.com/talos-systems/talos/pkg/copy" | ||
| "github.com/talos-systems/talos/pkg/machinery/constants" | ||
| ) | ||
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| // References | ||
| // - https://github.com/u-boot/u-boot/blob/v2021.10/configs/p3450-0000_defconfig#L8 | ||
| // - https://github.com/u-boot/u-boot/blob/v2021.10/include/configs/tegra-common.h#L53 | ||
| // - https://github.com/u-boot/u-boot/blob/v2021.10/include/configs/tegra210-common.h#L49 | ||
| var dtb = "/dtb/nvidia/tegra210-p3450-0000.dtb" | ||
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| // JetsonNano represents the JetsonNano board | ||
| // | ||
| // References: | ||
| // - https://developer.nvidia.com/embedded/jetson-nano-developer-kit | ||
| type JetsonNano struct{} | ||
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| // Name implements the runtime.Board. | ||
| func (b *JetsonNano) Name() string { | ||
| return constants.BoardJetsonNano | ||
| } | ||
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| // Install implements the runtime.Board. | ||
| func (b JetsonNano) Install(disk string) (err error) { | ||
| var f *os.File | ||
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| if f, err = os.OpenFile(disk, os.O_RDWR|unix.O_CLOEXEC, 0o666); err != nil { | ||
| return err | ||
| } | ||
| //nolint:errcheck | ||
| defer f.Close() | ||
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| // NB: In the case that the block device is a loopback device, we sync here | ||
| // to ensure that the file is written before the loopback device is | ||
| // unmounted. | ||
| err = f.Sync() | ||
| if err != nil { | ||
| return err | ||
| } | ||
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| src := "/usr/install/arm64" + dtb | ||
| dst := "/boot/EFI" + dtb | ||
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| err = os.MkdirAll(filepath.Dir(dst), 0o600) | ||
| if err != nil { | ||
| return err | ||
| } | ||
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| err = copy.File(src, dst) | ||
| if err != nil { | ||
| return err | ||
| } | ||
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| return nil | ||
| } | ||
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| // KernelArgs implements the runtime.Board. | ||
| // | ||
| // References: | ||
| // - https://elinux.org/Jetson/Nano/Upstream to enable early console | ||
| // - http://en.techinfodepot.shoutwiki.com/wiki/NVIDIA_Jetson_Nano_Developer_Kit for other chips on the SoC | ||
| func (b JetsonNano) KernelArgs() procfs.Parameters { | ||
| return []*procfs.Parameter{ | ||
| procfs.NewParameter("console").Append("tty0").Append("ttyS0,115200"), | ||
| // even though PSCI works perfectly on the Jetson Nano, the kernel is stuck | ||
| // trying to kexec. Seems the drivers state is not reset properly. | ||
| // disabling kexec until we have further knowledge on this | ||
| procfs.NewParameter("sysctl.kernel.kexec_load_disabled").Append("1"), | ||
| } | ||
| } | ||
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| // PartitionOptions implements the runtime.Board. | ||
| func (b JetsonNano) PartitionOptions() *runtime.PartitionOptions { | ||
| return nil | ||
| } |
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117 changes: 117 additions & 0 deletions
117
website/content/docs/v0.15/Single Board Computers/jetson_nano.md
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| --- | ||
| title: "Jetson Nano" | ||
| description: "Installing Talos on Jetson Nano SBC using raw disk image." | ||
| --- | ||
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| ## Prerequisites | ||
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| You will need | ||
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| - `talosctl` | ||
| - an SD card/USB drive | ||
| - [crane CLI](https://github.com/google/go-containerregistry/releases) | ||
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| Download the latest `talosctl`. | ||
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| ```bash | ||
| curl -Lo /usr/local/bin/talosctl https://github.com/talos-systems/talos/releases/latest/download/talosctl-$(uname -s | tr "[:upper:]" "[:lower:]")-amd64 | ||
| chmod +x /usr/local/bin/talosctl | ||
| ``` | ||
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| ## Flashing the firmware to on-board SPI flash | ||
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| > Flashing the firmware only needs to be done once. | ||
| We will use the [R32.6.1 release](https://developer.nvidia.com/embedded/l4t/r32_release_v6.1/t210/jetson-210_linux_r32.6.1_aarch64.tbz2) for the Jetson Nano. | ||
| Most of the instructions is similar to this [doc](https://nullr0ute.com/2020/11/installing-fedora-on-the-nvidia-jetson-nano/) except that we'd be using a patched version of `u-boot` so that USB boot also works. | ||
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| Before flashing we need the following: | ||
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| - A USB-A to micro USB cable | ||
| - A jumper wire to enable recovery mode | ||
| - A HDMI monitor to view the logs if the USB serial adapter is not available | ||
| - A USB to Serial adapter with 3.3V TTL (optional) | ||
| - A 5V DC barrel jack | ||
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| If you're planning to use the serial console follow the docuementation [here](https://www.jetsonhacks.com/2019/04/19/jetson-nano-serial-console/) | ||
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| First start by downloading the Jetson Nano L4T release. | ||
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| ```bash | ||
| curl -SLO https://developer.nvidia.com/embedded/l4t/r32_release_v6.1/t210/jetson-210_linux_r32.6.1_aarch64.tbz2 | ||
| ``` | ||
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| Next we will extract the L4T release and replace the `u-boot` binary with the patched version. | ||
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| ```bash | ||
| tar xf jetson-210_linux_r32.6.1_aarch64.tbz2 | ||
| cd Linux_for_Tegra | ||
| crane --platform=linux/arm64 export ghcr.io/talos-systems/u-boot:v0.10.0-alpha.0-11-g5dd08a7 - | tar xf - --strip-components=1 -C bootloader/t210ref/p3450-0000/ jetson_nano/u-boot.bin | ||
| ``` | ||
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| Next we will flash the firmware to the Jetson Nano SPI flash. | ||
| In order to do that we need to put the Jetson Nano into Force Recovery Mode (FRC). | ||
| We will use the instructions from [here](https://developer.download.nvidia.com/embedded/L4T/r32_Release_v4.4/r32_Release_v4.4-GMC3/T210/l4t_quick_start_guide.txt) | ||
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| - Ensure that the Jetson Nano is powered off. | ||
| There is no need for the SD card/USB storage/network cable to be connected | ||
| - Connect the micro USB cable to the micro USB port on the Jetson Nano, don't plug the other end to the PC yet | ||
| - Enable Force Recovery Mode (FRC) by placing a jumper across the FRC pins on the Jetson Nano | ||
| - For board revision *A02*, these are pins `3` and `4` of header `J40` | ||
| - For board revision *B01*, these are pins `9` and `10` of header `J50` | ||
| - Place another jumper across `J48` to enable power from the DC jack and connect the Jetson Nano to the DC jack `J25` | ||
| - Now connect the other end of the micro USB cable to the PC and remove the jumper wire from the FRC pins | ||
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| Now the Jetson Nano is in Force Recovery Mode (FRC) and can be confirmed by running the following command | ||
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| ```bash | ||
| lsusb | grep -i "nvidia" | ||
| ``` | ||
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| Now we can move on the flashing the firmware. | ||
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| ```bash | ||
| sudo ./flash p3448-0000-max-spi external | ||
| ``` | ||
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| This will flash the firmware to the Jetson Nano SPI flash and you'll see a lot of output. | ||
| If you've connected the serial console you'll also see the progress there. | ||
| Once the flashing is done you can disconnect the USB cable and power off the Jetson Nano. | ||
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| ## Download the Image | ||
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| Download the image and decompress it: | ||
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| ```bash | ||
| curl -LO https://github.com/talos-systems/talos/releases/latest/download/metal-jetson_nano-arm64.img.xz | ||
| xz -d metal-jetson_nano-arm64.img.xz | ||
| ``` | ||
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| ## Writing the Image | ||
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| Now `dd` the image to your SD card/USB storage: | ||
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| ```bash | ||
| sudo dd if=metal-jetson_nano-arm64.img of=/dev/mmcblk0 conv=fsync bs=4M status=progress | ||
| ``` | ||
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| | Replace `/dev/mmcblk0` with the name of your SD card/USB storage. | ||
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| ## Bootstrapping the Node | ||
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| Insert the SD card/USB storage to your board, turn it on and wait for the console to show you the instructions for bootstrapping the node. | ||
| Following the instructions in the console output to connect to the interactive installer: | ||
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| ```bash | ||
| talosctl apply-config --insecure --mode=interactive --nodes <node IP or DNS name> | ||
| ``` | ||
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| Once the interactive installation is applied, the cluster will form and you can then use `kubectl`. | ||
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| ## Retrieve the `kubeconfig` | ||
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| Retrieve the admin `kubeconfig` by running: | ||
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| ```bash | ||
| talosctl kubeconfig | ||
| ``` |
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