DriveOS Linux Yocto Components

This topic contains instructions on building the NVIDIA Yocto project-based components such as kernel, root file systems, and toolchains. NVIDIA DriveOS™ Linux users can use the Docker image downloaded from the NGC to set up the Yocto environment.

With the Yocto Project, embedded Linux developers can build customized file systems that satisfy embedded constraints. The Yocto Project consolidates the efforts of the BitBake and OpenEmbedded communities. Those projects enable users to easily define, configure, and cross-compile components required for embedded applications.

DriveOS Linux provides the following Yocto root file system images:

• Yocto-DriveOS AV (tegra-drive-os-av-image)

• Cold-boot initramfs (tegra-initramfs-boot/tegra-prod-initramfs-boot)

• Recovery initramfs (tegra-initramfs-recovery)

The Yocto DRIVE AV image consists of OSS components in accordance with Yocto upstream baseline, NVIDIA proprietary platform enablement and acceleration components. This image is a suitable starting point for algorithm and application development for Autonomous Vehicle systems.

The NVIDIA Yocto project supports dual-branch baseline, viz upstream tested LTS version of 5.0, and short-lived development branch of version 4.3. The dual-branch feature enables you to maintain stability with the main Yocto recipe while preparing for future updates. You can explore new features through short-lived development branches, reducing upgrade risks and enhancing feature adoption.

• Building the Yocto Project Components for NVIDIA DriveOS Thor
  • Host Prerequisites
  • Yocto DriveOS Linux Boot KPI
  • Downloading and Copying Additional DriveOS Packages
  • To build NVIDIA Yocto Project-based components
  • To build CUDA with tegra-drive-os-av-image
  • To build CuDNN with tegra-drive-os-av-image
  • To build TensorRT with tegra-drive-os-av-image
  • To build NVIDIA DriveWorks with tegra-drive-os-av-image
• Flashing Yocto
  • Flashing Yocto Built Images via Bootburn
  • Running Yocto Built Apps on Target
  • Setting the PATH for NVIDIA User
• Yocto Customizations
  • The Layering Structure of NVIDIA DriveOS Components
  • Create Board-specific Layers in Yocto
  • Add a Custom Package in Root Filesystem
  • Reference Layer
• DM-Verity and Read-Only File System Support
  • Mounting Rootfs with DM-Verity Enabled
  • Using Scratch Partition for Rootfs Writes (Like Logging) When Rootfs Is Mounted Read-Only