Jetson Sensor Processing Engine (SPE) Developer Guide

r32.2 Release

Compiling and Flashing

This Document describes the steps to build and flash this project

TOOLCHAIN PREREQUISITE

You must download the external Toolchain. NVIDIA does not distribute this toolchain.

https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q3-update

BUILD

Set the appropriate paths for the below variables:

export TOP=<path to root directory where rt-aux-cpu-demo, hwinc and freertos related sources/directories reside>
export CROSS_COMPILE=<path to installed cross compiler>/gcc-arm-none-eabi-4_8-2014q3/bin/arm-none-eabi-
export OUTDIR=${TOP}/out
export FREERTOS_DIR=${TOP}/FreeRTOSV8.1.2/FreeRTOS/Source
export FREERTOS_COMMON_DIR=${TOP}/freertos-common
cd rt-aux-cpu-demo

To build for Jetson AGX

make TARGET=t19x

To build for Jetson TX2 (the default)

make TARGET=t18x or
make

This should result in a /spe.bin binary.

To build doxygen documents

make documents

This should generate doc/rt_html directory, open index.html from it to navigate through documents.

To clean the build artifacts

make clean; To clean spe firmware object files
make doc_clean; To clean doxygen generated files

FLASH

  1. Back up the original copies of spe.bin and spe_t194.bin located in the following directory:
    Linux_for_Tegra/bootloader/
    
  2. Copy the generated ${OUTDIR}/spe.bin to the following locating, depending on your target.

    • For Jetson TX2, copy it to:
      Linux_for_Tegra/bootloader/spe.bin
      
    • For the Jetson AGX target, copy it to:
      Linux_for_Tegra/bootloader/spe_t194.bin
      

    The Linux_for_Tegra directory is part of the extracted L4T build that you used to flash the Jetson device.

  3. Use the command below to just flash this firmware for Cortex-R5 partition:
    sudo ./flash.sh -k spe-fw jetson-<tx2 or xavier> mmcblk0p1