File size: 3,625 Bytes
700dd75 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 | # G1 JetPack 6 Flashing Guide
## 1. Download Image
1. **Download the required files** — get both the `.tar` file and the image file from [Jetpack 6.2](https://drive.google.com/drive/folders/1ho17ectOxi7FbaRFdpAbP4tet8BJWjbm).
## 2. Unmount Orin NX's NVMe
### Steps to Remove the NVMe SSD
1. **Remove the back handle screws**
Use a 5 mm T-handle Allen key to unscrew the two screws located at the back of the robot near the handle.
2. **Remove the foam and plastic back cover**
- Use the 2 mm hex tool from the Fanttik tool kit to remove the four screws holding the foam and plastic backing in place.
- Lift the backing off to expose the internal components.
```{image} ../_static/screws.png
:width: 600px
:align: center
```
3. **Remove the NVMe screw on the Orin NX module**
Use a Phillips screwdriver (also in the Fanttik tool kit) to remove the single screw securing the Orin NX's NVMe SSD.
```{image} ../_static/ssd.png
:width: 600px
:align: center
```
4. **Remove the SSD card**
Carefully slide out and remove the NVMe SSD from its slot.
## 3. Flash the NVMe SSD
**Mount the NVMe SSD from the Orin NX into the NVMe SSD enclosure adapter.**
(Adapter needed when burning image from a laptop)
1. Check that the robot's SSD is unmounted. Run the following command to make sure the external SSD (where you will burn the image) is not mounted:
```bash
sudo umount /dev/sda*
```
2. If the SSD was mounted, this command will safely unmount it so it's ready for imaging.
3. Navigate to the folder where you have the image (`cd robot_NXUpgrade/`), then run the following command:
```bash
bzip2 -dc g1-nx-j6.2.img.bz2 | sudo dd of=/dev/sda bs=4M status=progress conv=fsync
```
4. After it's done, eject the card with the following commands to safely unplug it:
```bash
sudo sync
sudo udisksctl power-off -b /dev/sda
```
5. **Set the SSD card to the side and proceed with the second part of the flashing process!**
## 4. Put the Robot Into Flashing Mode
1. **Power on the G1** and wait until all three power indicator lights remain steadily lit.
2. **Connect the robot to your laptop/desktop** using a USB-C cable.
3. **Press and hold both white buttons** on the robot at the same time for two seconds.
4. While still holding them, **release the top white button** and continue holding the **bottom button** for 2 seconds until the **three green lights change to two green lights**.
```{image} ../_static/flashing.png
:width: 600px
:align: center
```
5. When only two lights are on, the robot is **now in flashing mode**. Open a new terminal on your computer and enter `lsusb`. You should see text containing `NVIDIA Corp. APX`.
6. You can now proceed to run the following commands:
```bash
sudo tar -xjvf Jetpack_6.2_nx.tar.bz2
cd Jetpack_6.2_nx/Linux_for_Tegra
sudo ./flash_nx_module.sh
```
Wait patiently for about 8 minutes until it shows success.
## 5. Reassemble the Robot
1. After the flashing is complete, **power off the robot**.
2. **Reinstall the Orin NX's NVMe SSD** back into its slot on the G1 robot and secure it with its screw.
3. **Reattach the foam and plastic backing**, using the same tools you used to remove it.
4. **Tighten all screws** to ensure the back cover and handle are securely in place.
5. Turn on `maxn` mode on Jetson Orin using the command:
```
sudo nvpmodel -m 0
```
and use
```
sudo jetson_clocks
sudo jetson_clocks --show
```
to check if it is already in Maxn model.
## 6. Install Required JetPack Packages
Install the packages needed for deployment:
```
sudo apt-get install -y nvidia-l4t-dla-compiler libcudla-dev-12-6
```
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