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ark_jetson_kernel

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Kernel source build instructions and scripts for the ARK Jetson Carrier

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# ARK Jetson Carrier Setup

Scripts for building and flashing a Jetson **Orin Nano** or **Orin NX** on an ARK Jetson Carrier.

| Component | Version |
| --- | --- |
| JetPack | 6.2.2 |
| L4T (BSP) | R36.5.0 |
| Kernel | Linux 5.15 |
| Host OS | Ubuntu 22.04 |

> **Building on a non-22.04 host?** `setup.sh` and `build.sh` auto-containerize themselves in a 22.04 docker image (docker is auto-installed via apt if missing). See [docs/build_host.md](docs/build_host.md) for why we pin to 22.04.

## Products

| Target | Carrier Board | Docs |
| --- | --- | --- |
| `PAB` | ARK Jetson PAB Carrier | [docs](https://docs.arkelectron.com/products/flight-controller/jetson-pabs/ark-jetson-pab-carrier) |
| `JAJ` | ARK Just a Jetson Carrier | [docs](https://docs.arkelectron.com/products/embedded-computers/ark-just-a-jetson) |
| `PAB_V3` | ARK Jetson PAB V3 Carrier | [docs](https://docs.arkelectron.com/products/flight-controller/jetson-pabs/ark-jetson-pab-carrier-v3) |

> **Note:** PAB Rev3 is a hardware revision of the PAB and uses `PAB`. PAB_V3 is a separate product.

## Flash a Prebuilt Image

Just want the stock image? Each [release](https://github.com/ARK-Electronics/ark_jetson_kernel/releases) ships a ready-to-flash package per carrier — the same image bundles ship with. On a Debian/Ubuntu host, with the Jetson connected over USB and booted into recovery (hold the Force Recovery button while powering on):

```
curl -LO https://raw.githubusercontent.com/ARK-Electronics/ark_jetson_kernel/main/packaging/flash_from_package.sh
chmod +x flash_from_package.sh
./flash_from_package.sh pab        # or jaj / pab-v3, or a specific tag like pab-6.2.2.4
```

No build tools or kernel source needed. Flashes the QSPI bootloader and the rootfs to NVMe; one package covers every Orin Nano/NX module variant. See [packaging/README.md](packaging/README.md) for details.

To customize the image instead, build from source:

## Build & Flash

### 1. Setup
Download the BSP, root filesystem, and kernel source tarballs (one time):
```
./setup.sh
```

### 2. Build
```
./build.sh PAB
```
- Targets are `PAB`, `JAJ`, `PAB_V3`, or `all`.
- By default a build re-stages `staging/{TARGET}/` from scratch and provisions the image — it preinstalls [ARK-OS](https://github.com/ARK-Electronics/ARK-OS) and tooling. To bake in your own packages, edit [`provision.sh`](provision.sh).
- `--fast` reuses the existing staged tree and just recompiles the kernel/device tree, for quick iteration after a full build.
- `--no-provision` builds a bare image (no ARK-OS). `--clean` and `--provision` are still accepted but are the default now.

### 3. Add WiFi (optional)
Bake a WiFi profile into the image before flashing:
```
./scripts/add_wifi_network.sh PAB YourNetworkName YourPassword
```
Or add it later over the USB connection:
```
ssh jetson@jetson.local
sudo nmcli dev wifi connect YourNetworkName password YourPassword
```

### 4. Flash
Connect to the USB port, then power on with the Force Recovery button held.
```
./flash.sh PAB
```
By default `flash.sh` targets NVMe. Other storage layouts:
```
./flash.sh PAB --sdcard     # SD card (NVIDIA dev kit modules)
./flash.sh PAB --usb        # USB thumb drive
```

When flashing completes, SSH in over Micro USB or WiFi:
```
ssh jetson@jetson.local
```

> **Tip:** Run `ssh-copy-id jetson@jetson.local` once so you don't type the password on every connection.

> **Tip:** Run `./scripts/add_ssh_config.sh` once to add a `jetson` host to your `~/.ssh/config`. Then `ssh jetson` works, and reflashing won't trip the "REMOTE HOST IDENTIFICATION HAS CHANGED" warning.

## Cameras

Every carrier ships with an IMX219 overlay already selected, so cameras work out of the box: the quad overlay on **PAB**, the dual overlay on **JAJ** and **PAB_V3**. To use a different camera, select an overlay with NVIDIA's `jetson-io` tool. List what's available:
```
sudo /opt/nvidia/jetson-io/config-by-hardware.py -l
```
```
 Header 1 [default]: Jetson 40pin Header
   ...
 Header 2: Jetson 22pin CSI Connector
   Available hardware modules:
   1. Camera IMX219 Quad
   2. Camera IMX477 Quad
   3. Camera IMX708 Quad
```
Apply one and reboot:
```
sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Camera IMX477 Quad"
sudo reboot
```
See [docs/cameras.md](docs/cameras.md) for supported sensors and how to verify and stream a camera, and [docs/camera_overlays.md](docs/camera_overlays.md) to build, install, or write a custom camera overlay.

## More documentation
- [docs/cameras.md](docs/cameras.md) — supported sensors, streaming, and known issues
- [docs/camera_overlays.md](docs/camera_overlays.md) — build, install, and author camera device-tree overlays
- [docs/gpio.md](docs/gpio.md) — 40-pin / I2S header GPIO and boot-time pad defaults

- [docs/i2c.md](docs/i2c.md) — I2C bus map and scanning
- [docs/servo_expander.md](docs/servo_expander.md) — PWM / servo output via the ARK Servo Expander (PCA9685) over I2C
- [docs/10gbe_ethernet.md](docs/10gbe_ethernet.md) — Auvidea M20E 10GbE adapter
- [docs/share_wifi.md](docs/share_wifi.md) — share the host PC's WiFi with the Jetson over USB
- [docs/power.md](docs/power.md) — power modes, clock speeds, and measured power draw
- [docs/kernel_development.md](docs/kernel_development.md) — manual kernel builds and device tree changes
- [docs/build_host.md](docs/build_host.md) — why the build pins to Ubuntu 22.04

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