l4t-csv: fix for Jetpack 7

README.md

@@ -11,15 +11,16 @@ This repository packages components from NVIDIA's [JetPack SDK](https://develope
    - Graphics: Wayland, GBM, EGL, Vulkan
    - Power/fan control: nvpmodel, nvfancontrol
 
-This package supports JetPack 5 and 6. It works with NVIDIA's developer kits supported by these versions only:
-
-|       Device       | JetPack 5 | JetPack 6 |
-| ------------------ | --------- | --------- |
-| Jetson Orin AGX    |     ✓     |     ✓     |
-| Jetson Orin NX     |     ✓     |     ✓     |
-| Jetson Orin Nano   |     ✓     |     ✓     |
-| Jetson Xavier AGX  |     ✓     |           |
-| Jetson Xavier NX   |     ✓     |           |
+This package supports JetPack 5, 6, and 7. It works with NVIDIA's developer kits supported by these versions only:
+
+|       Device       | JetPack 5 | JetPack 6 | JetPack 7 |
+| ------------------ | --------- | --------- | --------- |
+| Jetson Thor AGX    |           |           |     ✓     |
+| Jetson Orin AGX    |     ✓     |     ✓     |           |
+| Jetson Orin NX     |     ✓     |     ✓     |           |
+| Jetson Orin Nano   |     ✓     |     ✓     |           |
+| Jetson Xavier AGX  |     ✓     |           |           |
+| Jetson Xavier NX   |     ✓     |           |           |
 
 The Jetson Nano, TX2, and TX1 devices are _not_ supported, since support for them was dropped upstream in JetPack 5.
 

device-pkgs/default.nix

@@ -29,6 +29,9 @@ let
     l4tMajorMinorPatchVersion
     ;
 
+  jetpackAtLeast = lib.versionAtLeast cfg.majorVersion;
+  jetpackOlder = lib.versionOlder cfg.majorVersion;
+
   # This produces a script where we have already called the ./flash.sh script
   # with `--no-flash` and produced a file under bootloader/flashcmd.txt.
   # This requires setting various BOARD* environment variables to the exact
@@ -84,6 +87,7 @@ let
 
       flashArgs =
         [ "--rcm-boot" ]
+        ++ lib.optional (jetpackAtLeast "7") "-r"
         # A little jank, but don't have the flash script itself actually flash, just produce the flashcmd.txt file
         # We need to sign the boot.img file afterwards in this script
         ++ lib.optional (cfg.firmware.secureBoot.pkcFile != null) "--no-flash"
@@ -143,4 +147,4 @@ let
     meta.platforms = [ "x86_64-linux" ];
   };
 in
-{ inherit flashScript initrdFlashScript fuseScript rcmBoot; }
+{ inherit initrdFlashScript fuseScript rcmBoot; flashScript = initrdFlashScript; } // lib.optionalAttrs (jetpackOlder "7") { inherit flashScript; }

device-pkgs/flash-script.nix

@@ -18,6 +18,9 @@
   additionalDtbOverlays ? [ ]
 , flash-tools
 }:
+let
+  uefi_image = if socType == "t264" then "uefi_t26x_general.bin" else "uefi_jetson.bin";
+in
 (''
   set -euo pipefail
 
@@ -45,7 +48,7 @@
   ${lib.optionalString (partitionTemplate != null) "cp ${partitionTemplate} flash.xml"}
   ${lib.optionalString (dtbsDir != null) "cp -r ${dtbsDir}/. kernel/dtb/"}
   ${lib.optionalString (uefi-firmware != null) ''
-  cp ${uefi-firmware}/uefi_jetson.bin bootloader/uefi_jetson.bin
+  cp ${uefi-firmware}/uefi_jetson.bin bootloader/${uefi_image}
   if [ -e "${uefi-firmware}/uefi_jetson_minimal.bin" ] ; then
     cp ${uefi-firmware}/uefi_jetson_minimal.bin bootloader/uefi_jetson_minimal.bin
   fi
@@ -55,10 +58,15 @@
   cp ${uefi-firmware}/L4TLauncher.efi bootloader/BOOTAA64.efi
 
   # Replace additional dtbos
-  cp ${uefi-firmware}/dtbs/*.dtbo kernel/dtb/
+  if [ -e ${uefi-firmware}/dtbs ]; then
+    cp ${uefi-firmware}/dtbs/*.dtbo kernel/dtb/
+  fi
   ''}
   ${lib.optionalString (tosImage != null) ''
   cp ${tosImage}/tos.img bootloader/tos-optee_${socType}.img
+  if [ -e ${tosImage}/bl31.fip ]; then
+    cp ${tosImage}/bl31.fip bootloader/bl31_${socType}.fip
+  fi
   ''}
   ${lib.optionalString (eksFile != null) ''
   cp ${eksFile} bootloader/eks_${socType}.img

device-pkgs/initrdflash-script.nix

@@ -18,6 +18,12 @@ let
   forceXusbPeripheralDts =
     let
       overridePaths = {
+        "38" = {
+          thor = {
+            xudcPadctlPath = "bus@0/padctl@a808680000";
+            xudcPath = "bus@0/usb@a808670000";
+          };
+        };
         "36" = {
           orin = {
             xudcPadctlPath = "bus@0/padctl@3520000";
@@ -87,10 +93,9 @@ let
   rcmScript = mkRcmBootScript {
     kernelPath = "${config.system.build.kernel}/${config.system.boot.loader.kernelFile}";
     initrdPath = "${flashInitrd}/initrd";
-    kernelCmdline = lib.concatStringsSep " " [
-      "console=ttyTCU0,115200"
+    kernelCmdline = lib.concatStringsSep " " ([
       "sdhci_tegra.en_boot_part_access=1"
-    ];
+    ] ++ cfg.console.args);
     # During the initrd flash script, we upload two edk2 builds to the
     # board, one that is only used temporarily to boot into our
     # kernel/initrd to perform the flashing, and another one that is

flake.nix

@@ -38,6 +38,9 @@
       jetpack5_config = {
         hardware.nvidia-jetpack.majorVersion = "5";
       };
+      jetpack7_config = {
+        hardware.nvidia-jetpack.majorVersion = "7";
+      };
     in
     {
       nixosConfigurations = {
@@ -53,6 +56,12 @@
         installer_minimal_cross_jp5 = nixpkgs.lib.nixosSystem {
           modules = [ aarch64_cross_config installer_minimal_config jetpack5_config ];
         };
+        installer_minimal_jp7 = nixpkgs.lib.nixosSystem {
+          modules = [ aarch64_config installer_minimal_config jetpack7_config ];
+        };
+        installer_minimal_cross_jp7 = nixpkgs.lib.nixosSystem {
+          modules = [ aarch64_cross_config installer_minimal_config jetpack7_config ];
+        };
       };
 
       nixosModules.default = import ./modules/default.nix;
@@ -79,6 +88,7 @@
               { som = "orin-nano"; carrierBoard = "devkit"; majorVersion = "5"; }
               { som = "orin-nx"; carrierBoard = "devkit"; super = true; majorVersion = "5"; }
               { som = "orin-nano"; carrierBoard = "devkit"; super = true; majorVersion = "5"; }
+              { som = "thor-agx"; carrierBoard = "devkit"; }
               { som = "xavier-agx"; carrierBoard = "devkit"; }
               { som = "xavier-agx-industrial"; carrierBoard = "devkit"; } # TODO: Entirely untested
               { som = "xavier-nx"; carrierBoard = "devkit"; }
@@ -105,6 +115,7 @@
           {
             iso_minimal = self.nixosConfigurations.installer_minimal_cross.config.system.build.isoImage;
             iso_minimal_jp5 = self.nixosConfigurations.installer_minimal_cross_jp5.config.system.build.isoImage;
+            iso_minimal_jp7 = self.nixosConfigurations.installer_minimal_cross_jp7.config.system.build.isoImage;
 
             inherit (self.legacyPackages.x86_64-linux)
               board-automation python-jetson;
@@ -119,6 +130,7 @@
         aarch64-linux = {
           iso_minimal = self.nixosConfigurations.installer_minimal.config.system.build.isoImage;
           iso_minimal_jp5 = self.nixosConfigurations.installer_minimal_jp5.config.system.build.isoImage;
+          iso_minimal_jp7 = self.nixosConfigurations.installer_minimal_jp7.config.system.build.isoImage;
         };
       };
 
@@ -147,7 +159,7 @@
               overlays = [ self.overlays.default ];
             });
         in
-        pkgs.nvidia-jetpack // { inherit (pkgs) nvidia-jetpack5 nvidia-jetpack6; }
+        pkgs.nvidia-jetpack // { inherit (pkgs) nvidia-jetpack5 nvidia-jetpack6 nvidia-jetpack7; }
       );
     };
 }

mk-overlay.nix

@@ -7,6 +7,7 @@
 , cudaMajorMinorPatchVersion
 , cudaDriverMajorMinorVersion
 , bspHash
+, bspPatches ? [ ]
 }:
 final: _:
 let
@@ -15,7 +16,7 @@ let
     callPackageWith
     callPackagesWith
     composeManyExtensions
-    concatStringsSep
+    concatMapAttrsStringSep
     extends
     filter
     makeScope
@@ -48,35 +49,36 @@ makeScope final.newScope (self: {
 
   callPackages = callPackagesWith (final // self);
 
-  bspSrc = final.runCommand "l4t-unpacked"
-    {
-      # https://developer.nvidia.com/embedded/jetson-linux-archive
-      # https://repo.download.nvidia.com/jetson/
-      src = final.fetchurl {
-        url = "https://developer.download.nvidia.com/embedded/L4T/r${versions.major l4tMajorMinorPatchVersion}_Release_v${versions.minor l4tMajorMinorPatchVersion}.${versions.patch l4tMajorMinorPatchVersion}/release/Jetson_Linux_R${l4tMajorMinorPatchVersion}_aarch64.tbz2";
-        hash = bspHash;
-      };
-      # We use a more recent version of bzip2 here because we hit this bug
-      # extracting nvidia's archives:
-      # https://bugs.launchpad.net/ubuntu/+source/bzip2/+bug/1834494
-      nativeBuildInputs = [ final.buildPackages.bzip2_1_1 ];
-    } ''
-    bzip2 -d -c $src | tar xf -
-    mv Linux_for_Tegra $out
-  '';
+  bspSrc = final.applyPatches {
+    src = final.runCommand "l4t-unpacked"
+      {
+        # https://developer.nvidia.com/embedded/jetson-linux-archive
+        # https://repo.download.nvidia.com/jetson/
+        src = final.fetchurl {
+          url = "https://developer.download.nvidia.com/embedded/L4T/r${versions.major l4tMajorMinorPatchVersion}_Release_v${versions.minor l4tMajorMinorPatchVersion}.${versions.patch l4tMajorMinorPatchVersion}/release/Jetson_Linux_R${l4tMajorMinorPatchVersion}_aarch64.tbz2";
+          hash = bspHash;
+        };
+        # We use a more recent version of bzip2 here because we hit this bug
+        # extracting nvidia's archives:
+        # https://bugs.launchpad.net/ubuntu/+source/bzip2/+bug/1834494
+        nativeBuildInputs = [ final.buildPackages.bzip2_1_1 ];
+      } ''
+      bzip2 -d -c $src | tar xf -
+      mv Linux_for_Tegra $out
+    '';
+    patches = bspPatches;
+  };
 
   # Here for convenience, to see what is in upstream Jetpack
   unpackedDebs = final.runCommand "unpackedDebs-${l4tMajorMinorPatchVersion}" { nativeBuildInputs = [ final.buildPackages.dpkg ]; } ''
     mkdir -p $out
-    ${concatStringsSep "\n" (mapAttrsToList (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") self.debs.common)}
-    ${concatStringsSep "\n" (mapAttrsToList (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") self.debs.t234)}
+    ${concatMapAttrsStringSep "\n" (repo: debs: (concatMapAttrsStringSep "\n" (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") debs)) self.debs}
   '';
 
   # Also just for convenience,
   unpackedDebsFilenames = final.runCommand "unpackedDebsFilenames-${l4tMajorMinorPatchVersion}" { nativeBuildInputs = [ final.buildPackages.dpkg ]; } ''
     mkdir -p $out
-    ${concatStringsSep "\n" (mapAttrsToList (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") self.debs.common)}
-    ${concatStringsSep "\n" (mapAttrsToList (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") self.debs.t234)}
+    ${concatMapAttrsStringSep "\n" (repo: debs: (concatMapAttrsStringSep "\n" (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") debs)) self.debs}
   '';
 
   unpackedGitRepos = final.runCommand "unpackedGitRepos-${l4tMajorMinorPatchVersion}" { } (