NVIDIA Jetson Troubleshooting

[Supernova1114]

Jetson Info

Running Jetpack 6.0 DP with Ubuntu 22.04 filesystem.

Gamepad Input:

Issue:

• Joydev and evdev drivers are already installed on the Jetson Orin via apt.
• Gamepad would be detected by evdev, but not joydev, therefore the js0 file in /dev/input/ would not show up.

Research links:

• https://forums.developer.nvidia.com/t/jetpack-6-0-issue-with-xbox-gamepad/276392/3
• https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/SD/Kernel/KernelCustomization.html
• https://developer.nvidia.com/embedded/jetson-linux-r362
• https://stackoverflow.com/questions/34800731/module-not-found-when-i-do-a-modprobe

Fix Summary:

• NOTE: To skip some of the steps below, the Joydev.ko file is within this repo: https://github.com/SaddlebackCollegeRobotics/systems_2023_24
• To fix this issue, I downloaded the source files for the linux drivers.
• Then followed the kernel customization guide to extract the correct folders.
• Add the two config lines in the defconfig file CONFIG_LOGITECH_FF=m CONFIG_INPUT_JOYDEV=m
• "m" = module separate from main kernel, so that you do not need to reflash the jetson.
• Run the build script. (Build onboard the jetson, did not crosscompile)
• Move the joydev.ko to the proper location on the jetson.
• Run sudo depmod
• Run sudo modprobe joydev
• To see if the module is successfully running, do lsmod | grep joy
• Connect gamepad controller and check for js0 in /dev/input

PyGame

Needed to disable the ubuntu desktop login screen (set login to automatic) on the Jetson in order for the pygame gamepad input module to work properly.

VNC Server

Needed to disable the ubuntu desktop login screen to allow remote connections.

CAN Bus

Issue:

• CAN Bus loopback is working, however, I am unable to receive can packets from the bus.
• Jetson is connected to CAN bus via CAN to USB adapter.
• Double checked and found CAN does indeed work on an RPi using the same adapter.
• Also works on my laptop.
• From quick research, looks like this may be a configuration issue with the mttcan kernel module.
• Update: Most likely a conflict with the fact that the USB to CAN tranceiver creates a can0 interface automatically, but a can0 interface already exists via the jetson header pins.
• I renamed the can0 interface on the Jetson to can2. When the USB to CAN adapter was plugged in, no new can0 interface would show.

Research Links:

• https://forums.developer.nvidia.com/t/mttcan-does-not-work-on-orin-jetpack-6-0-dp/283756
• https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/HR/ControllerAreaNetworkCan.html?
• https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-325/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/hw_setup_jetson_io.html
• https://developer.nvidia.com/embedded/learn/jetson-agx-orin-devkit-user-guide/developer_kit_layout.html
• https://forums.developer.nvidia.com/t/jetpack-dp-6-0-can-bus-not-working/286336

Products:

• https://www.fysetc.com/products/fysetc-ucan-board-based-on-stm32f072-usb-to-can-adapter-support-with-canable-candlelight-klipper-firmware
• https://www.adafruit.com/product/5708

Fix Summary:

• I did not end up fixing issue, but ended up getting CAN working with a CAN tranceiver attached to the header pins.
• Needed to enable the can0 interface via the jetson-io application.
• Run sudo /opt/nvidia/jetson-io/jetson-io.py
• Enable can0 interface. (can1 also available)

Boot Issues

Issue:

• Jetson goes into recovery mode.
• Can only see recovery mode message over display-out when your restart the PC.

Fix:

• Press ESC to enter UEFI Menu, then choose Device Manager → NVIDIA Configuration → L4T Configuration → OS chain A status → (The value is Unbootable if UEFI attemps recovery kernel) choose Normal → Save and exit, reboot, UEFI will try Direct Boot.

Research Links:

• https://forums.developer.nvidia.com/t/agx-orin-recovery-boot/246473/5