Nvidia Jetson Nano ST60-2230C-U Nvidia Jetson Nano ST60-2230C-U instructions This tutorial covers the integration of Laird Connectivity’s ST60-2230C-U with Wifi interface using USB and Bluetooth interface using UART on a Jetson Nano Developer Kit. Requirements Hardware A Linux PC (non-VM) with Ubuntu 18 installed Jetson Nano (with power supply 5V/4A) TTL-RS232-3v3 cable USB micro b cable Hardware Setup ST60-2230C-U installed Software This tutorial uses the Nvidia SDK Manager and assumes the user has experience using this tool. The SDK Manager Guide can be viewed here: NVIDIA SDK Manager Guide Download and install Nvidia SDK Manager https://developer.nvidia.com/nvidia-sdk-manager sdkmanager_1.8.0-10363_amd64.deb is used in this tutorial. Known good point Flash the Jetson Nano to bring to a known good point and allow for sdk to be download on Linux PC. JetPack 4.6.2 is used in this tutorial. Build Get gcc toolchain Get the Nvidia recommended toolchain Linaro 7.3.1 and install. cd /opt sudo wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz sudo tar xvf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz Get sources using source_sync.sh cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra ./source_sync.sh -t tegra-l4t-r32.7.1 Note source can alternatively be downloaded from the Jetson Linux R32.7.1 Release Page: https://developer.nvidia.com/embedded/linux-tegra-r3271 Using source from the release page will change the directory structure used in the rest of the tutorial. Compile kernel cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/kernel export JETSON_NANO_KERNEL_SOURCE=$(pwd) cd $JETSON_NANO_KERNEL_SOURCE export TOOLCHAIN_PREFIX=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- export TEGRA_KERNEL_OUT=$JETSON_NANO_KERNEL_SOURCE/build export KERNEL_MODULES_OUT=$JETSON_NANO_KERNEL_SOURCE/modules make -C kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} tegra_defconfig make -C kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} menuconfig make -C kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j8 make -C kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra INSTALL_MOD_PATH=$KERNEL_MODULES_OUT modules_install During the menuconfig the following items need removed: deselect Device Drivers -> Network device support -> Wireless LAN deselect Networking support -> Bluetooth subsystem support deselect Networking support -> Wireless deselect Device Drivers -> Misc drivers -> Bluedroid_pm driver support Copy kernel over to Nvidia SDK Manager directory (kernel) cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/kernel/build/arch/arm64/boot cp -r * ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/kernel/ Delete old kernel modules in Nvidia SDK Manager directory (kernel) cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/rootfs/lib/modules/4.9.253-tegra/kernel sudo rm -rf * Copy kernel modules from build over to Nvidia SDK Manager directory (rootfs) cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/kernel/modules sudo cp -r * ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/rootfs Get Laird Connectivity backports and firmware The latest backports and firmware can be found on the Laird Connectivity Github site: https://github.com/LairdCP/Sterling-60-Release-Packages/releases This tutorial will use backports and firmware from the 9.32.0.6 release. Verify the backport and firmware version supports the kernel version to be used on the Jetson Nano. In this case the Jetson Nano is using a 4.9 kernel and the 9.32.0.6 driver which supports kernel 3.2-5.10. The firmware usb-uart is used for the module ST60-2230C-U with USB wifi and UART Bluetooth. cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/kernel wget https://github.com/LairdCP/Sterling-60-Release-Packages/releases/download/LRD-REL-9.32.0.6/backports-laird-9.32.0.6.tar.bz2 wget https://github.com/LairdCP/Sterling-60-Release-Packages/releases/download/LRD-REL-9.32.0.6/laird-sterling60-firmware-usb-uart-9.32.0.6.tar.bz2 Extract firmware to Nvidia SDK Manager directory (rootfs) sudo tar xvf laird-sterling60-firmware-usb-uart-9.32.0.6.tar.bz2 -C ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/rootfs/ Extract backports and compile tar xvf backports-laird-9.32.0.6.tar.bz2 cd laird-backport-9.32.0.6 export KLIB_BUILD="/home/laird/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/kernel/build" export KLIB="/home/laird/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/sources/kernel/modules" make ARCH=arm64 CROSS_COMPILE=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- defconfig-sterling60 make ARCH=arm64 CROSS_COMPILE=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- -j8 Find backport modules and tar and extract to Nvidia SDK Manager directory (rootfs/lib/modules/4.9.253-tegra/updates) find . -name *.ko -print0 | tar -cvf laird_modules.tar --null -T - sudo mkdir /home/laird/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/rootfs/lib/modules/4.9.253-tegra/updates sudo tar xvf laird_modules.tar -C /home/laird/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra/rootfs/lib/modules/4.9.253-tegra/updates Flash Jetson Nano cd ~/nvidia/nvidia_sdk/JetPack_4.6.2_Linux_JETSON_NANO_TARGETS/Linux_for_Tegra sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1 Final setup and checks on Jetson Nano Login to the Jetson Nano There is a setup after flashing that is required to login, this is done with the graphical interface or via serial port console. This tutorial assumes the user knows this and how to finish setting up the Jetson Nano. Run depmod This will probe all the modules on the system and allow the new modules to be seen. sudo depmod -a Disable nvgetty and nvwifibt sudo systemctl disable nvgetty sudo systemctl disable nvwifibt sudo reboot Add user to groups for Bluetooth UART access The default Jetson Nano platform will not attach the bluetooth UART unless the user is either added to bluetooth and dialout groups or the btattach command is ran as root with ‘sudo su’ not as ‘sudo btattach’. Running ‘sudo btattach’ as a user only works randomly where as ran from a ‘sudo su’ prompt or adding the user to bluetooth and dialout groups works consistently. sudo usermod -aG bluetooth,dialout laird check wifi iw dev root@ubuntu:/home/laird# iw dev phy#1 Interface wlan0 ifindex 7 wdev 0x100000001 addr c0:ee:40:46:c0:20 type managed txpower 20.00 dBm root@ubuntu:/home/laird# check bluetooth BT only wants to attach when ran from root prompt (‘sudo su’ not ‘sudo’) or user is added to bluetooth and dialout groups. sudo su btattach -B /dev/ttyTHS2 -P h4 -S 3000000 & laird@ubuntu:~$ sudo su [sudo] password for laird: root@ubuntu:/home/laird# btattach -B /dev/ttyTHS2 -P h4 -S 3000000 & [1] 7179 root@ubuntu:/home/laird# Attaching Primary controller to /dev/ttyTHS2 Switched line discipline from 0 to 15 Device index 0 attached root@ubuntu:/home/laird# bluetoothctl [NEW] Controller C0:EE:40:46:C0:23 ubuntu [default] Agent registered [bluetooth]# scan on Discovery started [CHG] Controller C0:EE:40:46:C0:23 Discovering: yes [NEW] Device 6F:4C:F4:B5:75:7A 6F-4C-F4-B5-75-7A [NEW] Device 47:62:C0:FF:CC:62 47-62-C0-FF-CC-62 [NEW] Device E7:A3:99:CE:06:A2 BL654 BME280 Sensor [NEW] Device 7B:37:F3:84:DA:9F 7B-37-F3-84-DA-9F [NEW] Device 00:FE:8D:8E:F9:BB 00-FE-8D-8E-F9-BB [NEW] Device 44:98:3B:F9:5B:0A 44-98-3B-F9-5B-0A [NEW] Device 51:A4:5D:6F:60:1D 51-A4-5D-6F-60-1D [CHG] Device D2:31:30:30:4F:3B RSSI: -96 [NEW] Device 7C:2F:E2:85:AB:00 7C-2F-E2-85-AB-00 [bluetooth]# exit Agent unregistered [DEL] Controller C0:EE:40:46:C0:23 ubuntu [default] root@ubuntu:/home/laird#
