Merge pull request #119 from danielfullmer/r35.4.1

Update to Jetpack 5.1.2 / L4T 35.4.1

LICENSE

@@ -1,4 +1,4 @@
-Copyright 2022-2023 Anduril Industries
+Copyright 2022-2024 Anduril Industries
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 

UPGRADE_CHECKLIST.md

@@ -1,15 +1,15 @@
 ### Updating
-- [ ] Update `l4tVersion`, `bspVersion`, and `cudaVersion` in default.nix
+- [ ] Update `l4tVersion`, `jetpackVersion`, and `cudaVersion` in default.nix
 - [ ] Update branch/revision/sha256s in:
+    - [ ] `default.nix`
     - [ ] `kernel/default.nix`
-    - [ ] `kernel/display-driver.nix`
     - [ ] `uefi-firmware.nix`
-    - [ ] `optee.nix`
     - [ ] Grep for "sha256 = ", see if there is anything else not covered
-- [ ] Grep for the previous version strings e.g. "35.3.1"
+- [ ] Update the kernel version in `kernel/default.nix` if it chaged.
+- [ ] Grep for the previous version strings e.g. "35.4.1"
 - [ ] Compare files from `unpackedDebs` before and after
-- [ ] Ensure the soc variants in `modules/flash-script.nix` match those in jetson_board_spec.cfg from BSP
-- [ ] Ensure logic in ota-utils/ota_helpers.func matches nvidia-l4t-init/opt/nvidia/nv-l4t-bootloader-config.sh
+- [ ] Ensure the soc variants in `modules/flash-script.nix` match those in `jetson_board_spec.cfg` from BSP
+- [ ] Ensure logic in `ota-utils/ota_helpers.func` matches `nvidia-l4t-init/opt/nvidia/nv-l4t-bootloader-config.sh`
 - [ ] Run `nix build .#genL4tJson` and copy output to `pkgs/containers/l4t.json`
 
 ### Testing

default.nix

@@ -5,6 +5,7 @@
 , lib
 , runCommand
 , fetchurl
+, fetchgit
 , bzip2_1_1
 , dpkg
 , pkgs
@@ -20,19 +21,20 @@ let
 
   pkgsAarch64 = if pkgs.stdenv.buildPlatform.isAarch64 then pkgs else pkgs.pkgsCross.aarch64-multiplatform;
 
+  jetpackVersion = "5.1.2";
+  l4tVersion = "35.4.1";
+  cudaVersion = "11.4";
+
   # https://developer.nvidia.com/embedded/jetson-linux-archive
   # https://repo.download.nvidia.com/jetson/
 
   src = fetchurl {
-    url = "https://developer.download.nvidia.com/embedded/L4T/r35_Release_v3.1/release/Jetson_Linux_R35.3.1_aarch64.tbz2";
-    sha256 = "sha256-gKVVBKLOnNwKMo7bb9BpBhXE/96cKzL05k4KGjQyouI=";
+    url = with lib.versions; "https://developer.download.nvidia.com/embedded/L4T/r${major l4tVersion}_Release_v${minor l4tVersion}.${patch l4tVersion}/release/Jetson_Linux_R${l4tVersion}_aarch64.tbz2";
+    sha256 = "sha256-crdaDH+jv270GuBmNLtnw4qSaCFV0SBgJtvuSmuaAW8=";
   };
 
-  debs = import ./debs { inherit lib fetchurl; };
-
-  jetpackVersion = "5.1.1";
-  l4tVersion = "35.3.1";
-  cudaVersion = "11.4";
+  sourceInfo = import ./sourceinfo { inherit lib fetchurl fetchgit l4tVersion; };
+  inherit (sourceInfo) debs gitRepos;
 
   # we use a more recent version of bzip2 here because we hit this bug extracting nvidia's archives:
   # https://bugs.launchpad.net/ubuntu/+source/bzip2/+bug/1834494
@@ -42,27 +44,36 @@ let
   '';
 
   # Here for convenience, to see what is in upstream Jetpack
-  unpackedDebs = pkgs.runCommand "unpackedDebs" { nativeBuildInputs = [ dpkg ]; } ''
+  unpackedDebs = pkgs.runCommand "unpackedDebs-${l4tVersion}" { nativeBuildInputs = [ dpkg ]; } ''
     mkdir -p $out
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") debs.common)}
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") debs.t234)}
   '';
 
   # Also just for convenience,
-  unpackedDebsFilenames = pkgs.runCommand "unpackedDebsFilenames" { nativeBuildInputs = [ dpkg ]; } ''
+  unpackedDebsFilenames = pkgs.runCommand "unpackedDebsFilenames-${l4tVersion}" { nativeBuildInputs = [ dpkg ]; } ''
     mkdir -p $out
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") debs.common)}
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") debs.t234)}
   '';
 
+  unpackedGitRepos = pkgs.runCommand "unpackedGitRepos-${l4tVersion}" { } (
+    lib.mapAttrsToList
+      (relpath: repo: ''
+        mkdir -p $out/${relpath}
+        cp --no-preserve=all -r ${repo}/. $out/${relpath}
+      '')
+      gitRepos
+  );
+
   inherit (pkgsAarch64.callPackages ./pkgs/uefi-firmware { inherit l4tVersion; })
     edk2-jetson uefi-firmware;
 
   inherit (pkgsAarch64.callPackages ./pkgs/optee {
     # Nvidia's recommended toolchain is gcc9:
     # https://nv-tegra.nvidia.com/r/gitweb?p=tegra/optee-src/nv-optee.git;a=blob;f=optee/atf_and_optee_README.txt;h=591edda3d4ec96997e054ebd21fc8326983d3464;hb=5ac2ab218ba9116f1df4a0bb5092b1f6d810e8f7#l33
     stdenv = pkgsAarch64.gcc9Stdenv;
-    inherit bspSrc l4tVersion;
+    inherit bspSrc gitRepos l4tVersion;
   }) buildTOS buildOpteeTaDevKit opteeClient;
 
   flash-tools = callPackage ./pkgs/flash-tools {
@@ -86,7 +97,7 @@ let
 
   kernel = callPackage ./kernel { inherit (l4t) l4t-xusb-firmware; kernelPatches = [ ]; };
   kernelPackagesOverlay = self: super: {
-    nvidia-display-driver = self.callPackage ./kernel/display-driver.nix { inherit l4tVersion; };
+    nvidia-display-driver = self.callPackage ./kernel/display-driver.nix { inherit gitRepos l4tVersion; };
   };
   kernelPackages = (pkgs.linuxPackagesFor kernel).extend kernelPackagesOverlay;
 
@@ -112,6 +123,7 @@ let
       value = c;
     }) [
     { som = "orin-agx"; carrierBoard = "devkit"; }
+    { som = "orin-agx-industrial"; carrierBoard = "devkit"; }
     { som = "orin-nx"; carrierBoard = "devkit"; }
     { som = "orin-nano"; carrierBoard = "devkit"; }
     { som = "xavier-agx"; carrierBoard = "devkit"; }
@@ -144,7 +156,8 @@ rec {
   inherit jetpackVersion l4tVersion cudaVersion;
 
   # Just for convenience
-  inherit bspSrc debs unpackedDebs unpackedDebsFilenames;
+  inherit bspSrc debs gitRepos;
+  inherit unpackedDebs unpackedDebsFilenames unpackedGitRepos;
 
   inherit cudaPackages samples;
   inherit flash-tools;

device-pkgs/default.nix

@@ -13,6 +13,7 @@
 , buildOpteeTaDevKit
 , python3
 , openssl
+, gcc
 , dtc
 , l4tVersion
 , pkgsAarch64
@@ -112,6 +113,7 @@ let
     in
     import ./flashcmd-script.nix {
       inherit lib;
+      inherit gcc dtc;
       flash-tools = flash-tools-flashcmd;
     };
 

device-pkgs/flashcmd-script.nix

@@ -1,4 +1,4 @@
-{ lib, flash-tools }:
+{ lib, flash-tools, gcc, dtc }:
 ''
   set -euo pipefail
 
@@ -14,6 +14,9 @@
   chmod -R u+w "$WORKDIR"
   cd "$WORKDIR"
 
+  # bootloader/tegraflash_impl_t234.py needs these to modify dtbs ;(
+  export PATH=${lib.makeBinPath [ gcc dtc ]}:$PATH
+
   cd bootloader
   bash ./flashcmd.txt
 ''

kernel/default.nix

@@ -15,7 +15,7 @@ let
   pkgsAarch64 = if isNative then pkgs else pkgs.pkgsCross.aarch64-multiplatform;
 in
 pkgsAarch64.buildLinux (args // {
-  version = "5.10.104" + lib.optionalString realtime "-rt63";
+  version = "5.10.120" + lib.optionalString realtime "-rt70";
   extraMeta.branch = "5.10";
 
   defconfig = "tegra_defconfig";
@@ -26,8 +26,8 @@ pkgsAarch64.buildLinux (args // {
     src = fetchFromGitHub {
       owner = "OE4T";
       repo = "linux-tegra-5.10";
-      rev = "7191dccf8670635906182cc2da862d9c0fdcb93a"; # latest on oe4t-patches-l4t-r35.3.ga as of 2023-07-27
-      sha256 = "sha256-s71v4Bzc2jF9l65FY7OlrB/zi8Vkty+dBxZry8MyBno=";
+      rev = "76678311c10b59a385a6d74152f3a0b976ae2a67"; # latest on oe4t-patches-l4t-r35.4.ga as of 2023-09-27
+      sha256 = "sha256-jHqIYDztVs/yw/oMxr4oPabxXk+l+CPlRrODEaduBgg=";
     };
     # Remove device tree overlays with some incorrect "remote-endpoint" nodes.
     # They are strings, but should be phandles. Otherwise, it fails to compile
@@ -89,19 +89,6 @@ pkgsAarch64.buildLinux (args // {
 
     # Lower priority of tegra-se crypto modules since they're slow and flaky
     { patch = ./0008-Lower-priority-of-tegra-se-crypto.patch; }
-
-    # Fix gcc13 compilation failure
-    { patch = ./0009-bonding-gcc13-synchronize-bond_-a-t-lb_xmit-types.patch; }
-
-    # Fixes a memory leak by kernel tegra serial driver
-    # This manifested via slab unreclaimable growing unbounded via repeated kmalloc-256 calls
-    # This patch is present in 35.4.1 and should be removed when we update
-    {
-      patch = fetchpatch {
-        url = "https://github.com/OE4T/linux-tegra-5.10/commit/d5b90d6b9365250adb73b2fe5b52a5228df3b1d9.patch";
-        sha256 = "sha256-a5LL4avaxQ3WYr9fRPMCfHrl4iAp1yhH95R+iI/PwYc=";
-      };
-    }
   ] ++ kernelPatches;
 
   structuredExtraConfig = with lib.kernel; {

kernel/display-driver.nix

@@ -1,20 +1,16 @@
 # TODO: Should try to merge with upstream nixpkgs's open.nix nvidia driver
 { stdenv
 , lib
-, fetchgit
 , kernel
+, gitRepos
 , l4tVersion
 }:
 
 stdenv.mkDerivation rec {
   pname = "nvidia-display-driver";
   version = "jetson_${l4tVersion}";
 
-  src = fetchgit {
-    url = "https://nv-tegra.nvidia.com/tegra/kernel-src/nv-kernel-display-driver.git";
-    rev = version;
-    sha256 = "sha256-nXLrls3r9wRrZUGQIPZZS34hSt7ccsb4TZfaiIebMSU=";
-  };
+  src = gitRepos."tegra/kernel-src/nv-kernel-display-driver";
 
   setSourceRoot = "sourceRoot=$(echo */NVIDIA-kernel-module-source-TempVersion)";
 

modules/default.nix

@@ -55,7 +55,7 @@ in
         # with additional possibilies in an external NixOS module. See:
         # "Extensible option types" in the NixOS manual
         # The "generic" value signals that jetpack-nixos should try to maximize compatility across all varisnts. This may lead
-        type = types.enum [ "generic" "orin-agx" "orin-nx" "orin-nano" "xavier-agx" "xavier-nx" "xavier-nx-emmc" ];
+        type = types.enum [ "generic" "orin-agx" "orin-agx-industrial" "orin-nx" "orin-nano" "xavier-agx" "xavier-nx" "xavier-nx-emmc" ];
         default = "generic";
         description = lib.mdDoc ''
           Jetson SoM (System-on-Module) to target. Can be set to "generic" to target a generic jetson device, but some things may not work.

modules/devices.nix

@@ -11,6 +11,7 @@ let
 
   nvpModelConf = {
     orin-agx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3701_0000.conf";
+    orin-agx-industrial = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3701_0008.conf";
     orin-nx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3767_0000.conf";
     orin-nano = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3767_0003.conf";
     xavier-agx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_t194.conf";
@@ -20,6 +21,7 @@ let
 
   nvfancontrolConf = {
     orin-agx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3701_0000.conf";
+    orin-agx-industrial = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3701_0008.conf";
     orin-nx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3767_0000.conf";
     orin-nano = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3767_0000.conf";
     xavier-agx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p2888.conf";
@@ -80,6 +82,14 @@ lib.mkMerge [{
         partitionTemplate = mkDefault "${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_t234_qspi.xml";
       })
 
+      (mkIf (cfg.som == "orin-agx-industrial") {
+        targetBoard = mkDefault "jetson-agx-orin-devkit-industrial";
+        # Remove the sdmmc part of this flash.xmo file. The industrial spi part is still different
+        partitionTemplate = mkDefault (pkgs.runCommand "flash.xml" { nativeBuildInputs = [ pkgs.buildPackages.xmlstarlet ]; } ''
+          xmlstarlet ed -d '//device[@type="sdmmc_user"]' ${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_t234_qspi_sdmmc_industrial.xml >$out
+        '');
+      })
+
       (mkIf (cfg.som == "orin-nx" || cfg.som == "orin-nano") {
         targetBoard = mkDefault "jetson-orin-nano-devkit";
         # Use this instead if you want to use the original Xavier NX Devkit module (p3509-a02)

modules/flash-script.nix

@@ -200,7 +200,7 @@ in
           default = null;
         };
 
-        # See: https://docs.nvidia.com/jetson/archives/r35.3.1/DeveloperGuide/text/SD/Security/SecureBoot.html#prepare-an-sbk-key
+        # See: https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/SD/Security/SecureBoot.html#prepare-an-sbk-key
         secureBoot = {
           pkcFile = mkOption {
             type = types.nullOr types.path;
@@ -386,6 +386,10 @@ in
                 { boardid = "3701"; boardsku = "0005"; fab = "000"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; } # 64GB
               ];
 
+              orin-agx-industrial = [
+                { boardid = "3701"; boardsku = "0008"; fab = "300"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; }
+              ];
+
               orin-nx = [
                 { boardid = "3767"; boardsku = "0000"; fab = "000"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; } # Orin NX 16GB
                 { boardid = "3767"; boardsku = "0001"; fab = "000"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; } # Orin NX 8GB