Aperçu

Ici nous retrouvons la documentation liée au Nvidia Jetson Orin NX 16G. Ses capabilités, ses pinouts, ses quirks et configurations.

Jetson Kernel

Le Jetson utilize une version augmentée de Linux avec un frontend basée sur Ubuntu.

Documentation Principale

https://docs.nvidia.com/jetson/archives/r36.4/DeveloperGuide/index.html

La configuration initiale du kernel Jetson-Linux a certains features désactivées par défault.

Notamment, le module ppp qui nous permet d’avoir les drivers pour utilizer les communications LTE est absent sur la version initiale. Elle peut être manuellement activée en reconfigurant les paramètres du kernel et recompilant:

https://forums.developer.nvidia.com/t/jetson-orin-nano-jetpack-6-0-missing-ppp-kernel/294694

https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/SD/Kernel.html

https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/SD/Kernel/KernelCustomization.html

IP setup (to fix before testing)

<aside>

Make sure netplan is installed. You can check by running the following command:
```
netplan -h
```
If not, install it using the commands:
```
sudo apt update
sudo apt install netplan.io
```

Check system_networkd is running:

sudo systemctl status systemd-networkd

You should see output like below if it is active:

● systemd-networkd.service - Network Configuration
     Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
     Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
TriggeredBy: ● systemd-networkd.socket
       Docs: man:systemd-networkd.service(8)
   Main PID: 2452 (systemd-network)
     Status: "Processing requests..."
      Tasks: 1 (limit: 18457)
     Memory: 2.7M
        CPU: 157ms
     CGroup: /system.slice/systemd-networkd.service
             └─2452 /lib/systemd/systemd-networkd

Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost

If system_networkd is not running, it can be enabled using:

sudo systemctl start systemd-networkd
sudo systemctl enable systemd-networkd

Open the Netplan configuration file (so we can set up a static IP for the Jetson).

The Netplan configuration file is usually located in the /etc/netplan/ directory and named something like 01-netcfg.yaml (the name can vary). Below we use nano to open the file, but you can use your preferred text editor:
```
sudo nano /etc/netplan/01-netcfg.yaml
```

Modify the yaml configuration, by overwriting the contents with the following information and then saving:

network:
  version: 2
  renderer: networkd
  ethernets:
    eth0:
      dhcp4: no
      addresses:
        - 10.0.50.2/24
      routes:
        - to: 0.0.0.0/0
          via: 10.0.50.254
      nameservers:
        addresses:
          - 10.0.50.254

This gives the Jetson a static IP address on the Ethernet interface of 10.0.50.2.

Apply the changes using the following command:

sudo netplan apply

this is successful you will see the output below.

PING 10.41.10.2 (10.41.10.2) 56(84) bytes of data.
64 bytes from 10.41.10.2: icmp_seq=1 ttl=64 time=0.215 ms
64 bytes from 10.41.10.2: icmp_seq=2 ttl=64 time=0.346 ms
64 bytes from 10.41.10.2: icmp_seq=3 ttl=64 time=0.457 ms
64 bytes from 10.41.10.2: icmp_seq=4 ttl=64 time=0.415 ms

The Jetson and Pixhawk can now communicate over Ethernet.

Holybro Pixhawk Jetson Baseboard | PX4 Guide (main)

</aside>

Aperçu

Jetson Kernel

IP setup (to fix before testing)

USB Feed