Yocto Support for NVIDIA® Jetson™ with JetPack 7 Integration - Flashing Jetson Platform

Connect the Jetson AGX Thor and the host computer

After Yocto finishes building an image, it can be flashed into the board. For this we have to undestand how to connect the Thor and the host computer. Figure 1 and 2 describe the Thor ports, flashing the Yocto image requires to arrange the following connections:

1. Connect the NVIDIA power supply cable to power and then the USB C cable to one of the Jetson Thor USB C ports shown in Figure 1. This will power on the Jetson Thor automatically.

2. Connect a USB A to USB C cable between the computer with the Yocto image and the Thor, connect the USB A to the computer and the USB C to the remaining USB C port shown in Figure 1. This is the data transfer cable that will be used for flashing the Thor.

3. Connect another USB A to USB C cable from a USB A port in the computer to the debug port of the Thor shown in Figure 2. This connection is needed to open a debug console that will show valuable information while flashing.

Figure 1. Jetson Thor IO	Figure 2. Debug port on Jetson Thor

NVMe USB boot

Jetson AGX Thor

With the previous setup, the Thor should be ready to be flashed. Follow the next steps for flashing:

1. Place the board in recovery mode:

If the Thor already had an image loaded, you can run the lsusb command before touching any buttons on the Thor, it should show the Thor peripheral connected with an output similar to this one:

Bus 003 Device 020: ID 0955:7045 NVIDIA Corp. Tegra On-Platform Operator

Then you can place the board in recovery mode by following these steps (use Figure 3 as a guide with the Thor buttons):

Pressing and holding the Force Recovery button.
While the Force Recovery button is pressed, briefly press the Reset button.
Keep pressing the Force Recovery button for about 5 seconds more and then release it.

The board should boot into Force Recovery Mode and this can be checked by running lsusb in the host, the output should show an extra NVIDIA line in the output that looks similar to this one:

Bus 003 Device 021: ID 0955:7026 NVIDIA Corp. APX

2. Open the debug console:

This console will help on taking a look on the progress of the flashing process and will let you login into the board once the flash finishes. In a separate terminal use minicom, tio or a similar application to connect to the Thor via serial console by running this command:

sudo tio /dev/ttyACM0

3. Flash the image generated in Yocto:

Go to the tegraflash directory that contains the initrd-flash script.

cd tmp/work/jetson_agx_thor_devkit-oe4t-linux/*/*/tegraflash

Run the flashing script and wait until it finishes.

sudo ./initrd-flash

4. Wait for the flashing process to finish. You will see an output like this one in the debug console once board is ready:

OE4Tegra Demonstration Distro 5.2+snapshot-ac7327583aef83fd400190506f3147623de38b68 jetson-agx-thor-devkit ttyUTC0

Type 'root' to login with superuser privileges (no password will be asked).
jetson-agx-thor-devkit login:

Type root to access the board (unless a previous user configuration was made from yocto).

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