nvidia xavier nx平台使用system.img编写分区APP出错调试

1. 前言

由于xavir nx平台刷完机后，还需要按照很多依赖软件；
例如： opencv等等图像相关的软件；
如果一台一台刷机再安装的话，效率就会很低；
这里通过使用RCM模式，进行多台机器直接刷软件，可以减少重复安装软件的时间，提升效率；
但是调试过程中出现一些问题，记录如下

2. 刷机流程

这里是整体刷机，步骤如下：
（1）在第一个xavier nx生产模块上安装所有必要的软件

（2）进入Jetson Xavier NX flash目录
cd ~/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra

（3）连接第一个xavier nx设备& 安装所有必要的软件，并把它放入RCM模式。
sudo ./nvmassflashgen.sh jetson-xavier-nx-devkit-emmc mmcblk0p1

（4）解压缩生成的文件
tar xvjf mfi_jetson-xavier-nx-devkit-emmc.tbz2

（5）进入解压文件目录
cd mfi_jetson-xavier-nx-devkit-emmc

（6）断开连接的第一个xavier nx生产模块

（7）连接第二个xavier nx生产模块，并将其置于RCM模式
sudo ./nvmflash.sh --showlogs

下面是出错日志输出:

** Boot Rom communication
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegrarcm_v2 --instance 1-9.1 --chip 0x19 0 --rcm rcm_list_signed.xml 
BR_CID: 0x88021911646cf5c924000000130501c0
RCM version 0X190001
Boot Rom communication completed
*** Boot Rom communication succeeded.

*** Checking applet
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegrarcm_v2 --instance 1-9.1 --isapplet
Applet version 01.00.0000
*** Checking applet succeeded.

*** Sending BCTs
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegrarcm_v2 --instance 1-9.1 --download bct_bootrom br_bct_BR.bct --download bct_mb1 mb1_bct_MB1_sigheader.bct.encrypt --download bct_mem mem_rcm_sigheader.bct.encrypt
Applet version 01.00.0000
Sending bct_bootrom
[................................................] 100%
Sending bct_mb1
[................................................] 100%
Sending bct_mem
[................................................] 100%
*** Sending BCTs succeeded.

*** Sending bootloader and pre-requisite binaries
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegrarcm_v2 --instance 1-9.1 --download blob blob.bin
Applet version 01.00.0000
Sending blob
[................................................] 100%
*** Sending bootloader and pre-requisite binaries succeeded.

*** Booting Recovery
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegrarcm_v2 --instance 1-9.1 --boot recovery
Applet version 01.00.0000
*** Booting Recovery succeeded.

*** Checking applet
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegrarcm_v2 --instance 1-9.1 --isapplet

*** Checking CPU bootloader
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegradevflash_v2 --instance 1-9.1 --iscpubl
Bootloader version 01.00.0000
Bootloader version 01.00.0000
*** Checking CPU bootloader succeeded.
ls: cannot access 'mbr_*': No such file or directory
ls: cannot access 'gpt_*': No such file or directory

*** Retrieving storage infomation
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegradevflash_v2 --instance 1-9.1 --oem platformdetails storage storage_info.bin
Bootloader version 01.00.0000
Saved platform info in storage_info.bin
*** Retrieving storage infomation succeeded.

*** Generating GPT
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegraparser_v2 --storageinfo storage_info.bin --generategpt --pt flash.xml.bin
*** Generating GPT succeeded.

*** Flashing the device
/home/nitin/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/tegradevflash_v2 --instance 1-9.1 --pt flash.xml.bin --create
Bootloader version 01.00.0000
Erasing spi: 0 ......... [Done]
Writing partition secondary_gpt with gpt_secondary_3_0.bin
[................................................] 100%

Erasing sdmmc_user: 3 ......... [Done]
Writing partition master_boot_record with mbr_1_3.bin
[................................................] 100%
Writing partition primary_gpt with gpt_primary_1_3.bin
[................................................] 100%
Writing partition secondary_gpt with gpt_secondary_1_3.bin
[................................................] 100%

Writing partition mb1 with mb1_t194_prod_sigheader.bin.encrypt
[................................................] 100%
Writing partition mb1_b with mb1_t194_prod_sigheader.bin.encrypt
[................................................] 100%
Writing partition spe-fw with spe_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition spe-fw_b with spe_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition mb2 with nvtboot_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition mb2_b with nvtboot_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition mts-preboot with preboot_c10_prod_cr_sigheader.bin.encrypt
[................................................] 100%
Writing partition mts-preboot_b with preboot_c10_prod_cr_sigheader.bin.encrypt
[................................................] 100%
Writing partition mts-mce with mce_c10_prod_cr_sigheader.bin.encrypt
[................................................] 100%
Writing partition mts-mce_b with mce_c10_prod_cr_sigheader.bin.encrypt
[................................................] 100%
Writing partition mts-proper with mts_c10_prod_cr_sigheader.bin.encrypt
[................................................] 100%
Writing partition mts-proper_b with mts_c10_prod_cr_sigheader.bin.encrypt
[................................................] 100%
Writing partition sc7 with warmboot_t194_prod_sigheader.bin.encrypt
[................................................] 100%
Writing partition sc7_b with warmboot_t194_prod_sigheader.bin.encrypt
[................................................] 100%
Writing partition SMD with slot_metadata.bin
[................................................] 100%
Writing partition SMD_b with slot_metadata.bin
[................................................] 100%
Writing partition xusb-fw with xusb_sil_rel_fw
[................................................] 100%
Writing partition xusb-fw_b with xusb_sil_rel_fw
[................................................] 100%
Writing partition cpu-bootloader with cboot_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition cpu-bootloader_b with cboot_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition bootloader-dtb with tegra194-p3668-all-p3509-0000_sigheader.dtb.encrypt
[................................................] 100%
Writing partition bootloader-dtb_b with tegra194-p3668-all-p3509-0000_sigheader.dtb.encrypt
[................................................] 100%
Writing partition BMP with bmp.blob
[................................................] 100%
Writing partition BMP_b with bmp.blob
[................................................] 100%
Writing partition secure-os with tos-trusty_t194_sigheader.img.encrypt
[................................................] 100%
Writing partition secure-os_b with tos-trusty_t194_sigheader.img.encrypt
[................................................] 100%
Writing partition eks with eks_sigheader.img.encrypt
[................................................] 100%
Writing partition eks_b with eks_sigheader.img.encrypt
[................................................] 100%
Writing partition adsp-fw with adsp-fw_sigheader.bin.encrypt
[................................................] 100%
Writing partition adsp-fw_b with adsp-fw_sigheader.bin.encrypt
[................................................] 100%
Writing partition rce-fw with camera-rtcpu-rce_sigheader.img.encrypt
[................................................] 100%
Writing partition rce-fw_b with camera-rtcpu-rce_sigheader.img.encrypt
[................................................] 100%
Writing partition bpmp-fw with bpmp_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition bpmp-fw_b with bpmp_t194_sigheader.bin.encrypt
[................................................] 100%
Writing partition bpmp-fw-dtb with tegra194-a02-bpmp-p3668-a00_sigheader.dtb.encrypt
[................................................] 100%
Writing partition bpmp-fw-dtb_b with tegra194-a02-bpmp-p3668-a00_sigheader.dtb.encrypt
[................................................] 100%
Writing partition VER with qspi_bootblob_ver.txt
[................................................] 100%
Writing partition VER_b with qspi_bootblob_ver.txt
[................................................] 100%
Writing partition master_boot_record with mbr_1_3.bin
[................................................] 100%
Writing partition APP with system.img
*** Error: Flashing the device failed.           ] 031%

3. 排查建议

（1）是否有定制的system.img来替换默认的system.img?
分区大小可能不同，可能需要使用“-S size”选项来指定分区大小。

（2）在哪个步骤需要使用这个-S大小选项，大小的值应该是什么?
检查Flash Script Usage 2，并使用Flash .sh进行验证。

（3）是否可以使用离线方式来执行nvmassflashgen？

4. 查看system.img

从一个Xavier NX生产模块有定制软件安装,创建一个massflash blob，以下有替换：

~/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/bootloader/system.img
~/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX/Linux_for_Tegra/mfi_jetson-xavier-nx-devkit-emmc/system.img

根据README_Massflash.txt系统。在mfi_jetson-xavier-nx-devkit-emmc dir中创建的Img应该可以工作，而不需要手动替换任何文件。

5. 文件说明

/bootloader/system.img:
这是flash命令生成的默认系统映像

/mfi_jetson-xavier-nx-devkit-emmc/system.img :
这是由nvmassflashgen.sh脚本生成的。

6. 解决办法

可以使用-r开关来跳过构建和重用现有的system.img。
例如，
$ sudo ./nvmassflashgen.sh -r jetson-xavier-nx mmcblk0p1

使用一个克隆映像来替换默认映像，然后将其部署到其他平台。

（1）按照前面提到的所有步骤生成mfi_jetson-xavier-nx-devkit-emmc目录，然后使用命令创建设备的克隆

sudo ./flash.sh -r -k APP -G backup.img jetson-xavier-nx-devkit-emmc mmcblk0p1

之后我替换了这个system.img

（2）在mfi_jetson-xavier-nx-devkit-emmc目录下使用命令

cp backup.img mfi_jetson-xavier-nx-devkit-emmc/system.img

（3） 最后连接两个Xavier NX把它们放到RCM中，
运行

sudo ./nvmflash.sh——showlogs

它没有任何错误，正常flash两个设备。

7. 非生产nx devkit版本是否支持nvmassflash脚本?

不支持，massflash只支持eMMC模块。

如果使用带有外部存储的Jetson Xavier NX(即NVMe)，那么有一个工具可以支持这一功能。查看下面的详细信息。

$OUT/JetPack-4.5.1/Linux_for_Tegra/tools/kernel_flash/README.txt