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| @@ -1 +1,8 @@ | ||
| # nvidia | ||
| # nvidia | ||
|
|
||
| # Jetson | ||
|
|
||
| ## Setup | ||
|
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||
| * Follow https://www.jetsonhacks.com/2020/05/16/nvidia-jetson-xavier-nx-developer-kit/ | ||
| * Also run `sudo modprobe spidev` or add as a start up script |
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| @@ -0,0 +1,30 @@ | ||
| // Package jetson implements a jetson-based board. | ||
| package jetson | ||
|
|
||
| import ( | ||
| "github.com/pkg/errors" | ||
| "periph.io/x/host/v3" | ||
|
|
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| "go.viam.com/rdk/components/board/genericlinux" | ||
| "go.viam.com/rdk/logging" | ||
| "go.viam.com/rdk/resource" | ||
| ) | ||
|
|
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| const modelName = "jetson" | ||
|
|
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| // Model for viam supported nvidia jetson board. | ||
| var Model = resource.NewModel("viam", "nvidia", "jetson") | ||
|
|
||
| func init() { | ||
| if _, err := host.Init(); err != nil { | ||
| logging.Global().Debugw("error initializing host", "error", err) | ||
| } | ||
|
|
||
| gpioMappings, err := genericlinux.GetGPIOBoardMappings(modelName, boardInfoMappings) | ||
| var noBoardErr genericlinux.NoBoardFoundError | ||
| if errors.As(err, &noBoardErr) { | ||
| logging.Global().Debugw("error getting jetson GPIO board mapping", "error", err) | ||
| } | ||
|
|
||
| genericlinux.RegisterBoard(modelName, gpioMappings) | ||
| } |
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| package jetson | ||
|
|
||
| import ( | ||
| "go.viam.com/rdk/components/board/genericlinux" | ||
| ) | ||
|
|
||
| const ( | ||
| jetsonTX2 = "jetson_tx2" | ||
| jetsonNano = "jetson_nano" | ||
| jetsonTX2NX = "jetson_tx2_NX" | ||
| jetsonOrinAGX = "jetson_orin_agx" | ||
| jetsonOrinNX = "jetson_orin_nx" | ||
| jetsonOrinNano = "jetson_orin_nano" | ||
| ) | ||
|
|
||
| //nolint:dupl // This is not actually a duplicate of jetsonNanoPins despite what the linter thinks | ||
| var jetsonTX2NXPins = []genericlinux.PinDefinition{ | ||
| {Name: "7", DeviceName: "gpiochip0", LineNumber: 76, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "11", DeviceName: "gpiochip1", LineNumber: 28, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "12", DeviceName: "gpiochip0", LineNumber: 72, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "13", DeviceName: "gpiochip1", LineNumber: 17, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "15", DeviceName: "gpiochip0", LineNumber: 18, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "16", DeviceName: "gpiochip0", LineNumber: 19, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "18", DeviceName: "gpiochip1", LineNumber: 20, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "19", DeviceName: "gpiochip0", LineNumber: 58, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "21", DeviceName: "gpiochip0", LineNumber: 57, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "22", DeviceName: "gpiochip1", LineNumber: 18, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "23", DeviceName: "gpiochip0", LineNumber: 56, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "24", DeviceName: "gpiochip0", LineNumber: 59, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "26", DeviceName: "gpiochip0", LineNumber: 163, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "29", DeviceName: "gpiochip0", LineNumber: 105, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "31", DeviceName: "gpiochip1", LineNumber: 50, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "32", DeviceName: "gpiochip1", LineNumber: 8, PwmChipSysfsDir: "", PwmID: -1}, // "3280000.pwm", PwmID: 0}, | ||
| {Name: "33", DeviceName: "gpiochip1", LineNumber: 13, PwmChipSysfsDir: "", PwmID: -1}, // "32a0000.pwm", PwmID: 0}, | ||
| {Name: "35", DeviceName: "gpiochip0", LineNumber: 75, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "36", DeviceName: "gpiochip1", LineNumber: 29, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "37", DeviceName: "gpiochip1", LineNumber: 19, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "38", DeviceName: "gpiochip0", LineNumber: 74, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "40", DeviceName: "gpiochip0", LineNumber: 73, PwmChipSysfsDir: "", PwmID: -1}, | ||
| } | ||
|
|
||
| // NOTE: The Jetson TX2 (like many of the others defined in this file) has hardware PWM | ||
| // capabilities that we are not using. We can add that in, but the board is old enough that very | ||
| // few people are likely to use it, so don't bother until someone wants it. | ||
| var jetsonTX2Pins = []genericlinux.PinDefinition{ | ||
| // There exist other pins on the header (e.g., physical pins 3 and 5), but the spreadsheets at | ||
| // the bottom of https://jetsonhacks.com/nvidia-jetson-tx2-j21-header-pinout/ recommend against | ||
| // using them for GPIO. | ||
| {Name: "7", DeviceName: "gpiochip0", LineNumber: 76, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Output-only (due to base board) | ||
| {Name: "11", DeviceName: "gpiochip0", LineNumber: 146, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "12", DeviceName: "gpiochip0", LineNumber: 72, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "13", DeviceName: "gpiochip0", LineNumber: 77, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "15", DeviceName: "gpiochip2", LineNumber: 15, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Input-only (due to module): | ||
| {Name: "16", DeviceName: "gpiochip1", LineNumber: 40, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "18", DeviceName: "gpiochip0", LineNumber: 161, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "19", DeviceName: "gpiochip0", LineNumber: 109, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "21", DeviceName: "gpiochip0", LineNumber: 108, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "22", DeviceName: "gpiochip2", LineNumber: 14, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "23", DeviceName: "gpiochip0", LineNumber: 107, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "24", DeviceName: "gpiochip0", LineNumber: 110, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Board pin 26 is not available on this board | ||
| {Name: "29", DeviceName: "gpiochip0", LineNumber: 78, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "31", DeviceName: "gpiochip1", LineNumber: 42, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Output-only (due to module): | ||
| {Name: "32", DeviceName: "gpiochip1", LineNumber: 41, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "33", DeviceName: "gpiochip0", LineNumber: 69, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "35", DeviceName: "gpiochip0", LineNumber: 75, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Input-only (due to base board) IF NVIDIA debug card NOT plugged in | ||
| // Output-only (due to base board) IF NVIDIA debug card plugged in | ||
| {Name: "36", DeviceName: "gpiochip0", LineNumber: 147, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "37", DeviceName: "gpiochip0", LineNumber: 68, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "38", DeviceName: "gpiochip0", LineNumber: 74, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "40", DeviceName: "gpiochip0", LineNumber: 73, PwmChipSysfsDir: "", PwmID: -1}, | ||
| } | ||
|
|
||
| //nolint:dupl // This is not actually a duplicate of jetsonTX2NXPins despite what the linter thinks | ||
| var jetsonNanoPins = []genericlinux.PinDefinition{ | ||
| {Name: "7", DeviceName: "gpiochip0", LineNumber: 216, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "11", DeviceName: "gpiochip0", LineNumber: 50, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "12", DeviceName: "gpiochip0", LineNumber: 79, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "13", DeviceName: "gpiochip0", LineNumber: 14, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "15", DeviceName: "gpiochip0", LineNumber: 194, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "16", DeviceName: "gpiochip0", LineNumber: 232, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "18", DeviceName: "gpiochip0", LineNumber: 15, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "19", DeviceName: "gpiochip0", LineNumber: 16, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "21", DeviceName: "gpiochip0", LineNumber: 17, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "22", DeviceName: "gpiochip0", LineNumber: 13, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "23", DeviceName: "gpiochip0", LineNumber: 18, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "24", DeviceName: "gpiochip0", LineNumber: 19, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "26", DeviceName: "gpiochip0", LineNumber: 20, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "29", DeviceName: "gpiochip0", LineNumber: 149, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "31", DeviceName: "gpiochip0", LineNumber: 200, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Older versions of L4T have a DT bug which instantiates a bogus device | ||
| // which prevents this library from using this PWM channel. | ||
| {Name: "32", DeviceName: "gpiochip0", LineNumber: 168, PwmChipSysfsDir: "", PwmID: -1}, // "7000a000.pwm", PwmID: 0}, | ||
| {Name: "33", DeviceName: "gpiochip0", LineNumber: 38, PwmChipSysfsDir: "", PwmID: -1}, // "7000a000.pwm", PwmID: 2}, | ||
| {Name: "35", DeviceName: "gpiochip0", LineNumber: 76, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "36", DeviceName: "gpiochip0", LineNumber: 51, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "37", DeviceName: "gpiochip0", LineNumber: 12, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "38", DeviceName: "gpiochip0", LineNumber: 77, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "40", DeviceName: "gpiochip0", LineNumber: 78, PwmChipSysfsDir: "", PwmID: -1}, | ||
| } | ||
|
|
||
| // There are 6 pins whose Broadcom SOC channel is -1 (pins 3, 5, 8, 10, 27, and 28). We | ||
| // added these pin definitions ourselves because they're not present in | ||
| // https://github.com/NVIDIA/jetson-gpio/blob/master/lib/python/Jetson/GPIO/gpio_pin_data.py | ||
| // We were unable to find the broadcom channel numbers for these pins, but (as of April | ||
| // 2023) Viam doesn't use those values for anything anyway. | ||
| var jetsonOrinAGXPins = []genericlinux.PinDefinition{ | ||
| {Name: "3", DeviceName: "gpiochip1", LineNumber: 22, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "5", DeviceName: "gpiochip1", LineNumber: 21, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "7", DeviceName: "gpiochip0", LineNumber: 106, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Output-only (due to hardware limitation) | ||
| {Name: "8", DeviceName: "gpiochip0", LineNumber: 110, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Input-only (due to hardware limitation) | ||
| {Name: "10", DeviceName: "gpiochip0", LineNumber: 111, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Output-only (due to hardware limitation) | ||
| {Name: "11", DeviceName: "gpiochip0", LineNumber: 112, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "12", DeviceName: "gpiochip0", LineNumber: 50, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "13", DeviceName: "gpiochip0", LineNumber: 108, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "15", DeviceName: "gpiochip0", LineNumber: 85, PwmChipSysfsDir: "", PwmID: -1}, // "3280000.pwm", PwmID: 0}, | ||
| {Name: "16", DeviceName: "gpiochip1", LineNumber: 9, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "18", DeviceName: "gpiochip0", LineNumber: 43, PwmChipSysfsDir: "", PwmID: -1}, // "32c0000.pwm", PwmID: 0}, | ||
| {Name: "19", DeviceName: "gpiochip0", LineNumber: 135, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "21", DeviceName: "gpiochip0", LineNumber: 134, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "22", DeviceName: "gpiochip0", LineNumber: 96, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "23", DeviceName: "gpiochip0", LineNumber: 133, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "24", DeviceName: "gpiochip0", LineNumber: 136, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "26", DeviceName: "gpiochip0", LineNumber: 137, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "27", DeviceName: "gpiochip1", LineNumber: 20, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "28", DeviceName: "gpiochip1", LineNumber: 19, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "29", DeviceName: "gpiochip1", LineNumber: 1, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "31", DeviceName: "gpiochip1", LineNumber: 0, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "32", DeviceName: "gpiochip1", LineNumber: 8, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "33", DeviceName: "gpiochip1", LineNumber: 2, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "35", DeviceName: "gpiochip0", LineNumber: 53, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Input-only (due to hardware limitation) | ||
| {Name: "36", DeviceName: "gpiochip0", LineNumber: 113, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "37", DeviceName: "gpiochip1", LineNumber: 3, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "38", DeviceName: "gpiochip0", LineNumber: 52, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "40", DeviceName: "gpiochip0", LineNumber: 51, PwmChipSysfsDir: "", PwmID: -1}, | ||
| } | ||
|
|
||
| // This pin mapping is used for both the Jetson Orin NX and the Jetson Orin Nano. | ||
| // | ||
| //nolint:dupl // This is not actually a duplicate of jetsonTX2NXPins despite what the linter thinks | ||
| var jetsonOrinNXPins = []genericlinux.PinDefinition{ | ||
| {Name: "7", DeviceName: "gpiochip0", LineNumber: 144, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "11", DeviceName: "gpiochip0", LineNumber: 112, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "12", DeviceName: "gpiochip0", LineNumber: 50, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "13", DeviceName: "gpiochip0", LineNumber: 122, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "15", DeviceName: "gpiochip0", LineNumber: 85, PwmChipSysfsDir: "", PwmID: -1}, // "3280000.pwm", PwmID: 0}, | ||
| {Name: "16", DeviceName: "gpiochip0", LineNumber: 126, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "18", DeviceName: "gpiochip0", LineNumber: 125, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "19", DeviceName: "gpiochip0", LineNumber: 135, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "21", DeviceName: "gpiochip0", LineNumber: 134, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "22", DeviceName: "gpiochip0", LineNumber: 123, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "23", DeviceName: "gpiochip0", LineNumber: 133, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "24", DeviceName: "gpiochip0", LineNumber: 136, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "26", DeviceName: "gpiochip0", LineNumber: 137, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "29", DeviceName: "gpiochip0", LineNumber: 105, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "31", DeviceName: "gpiochip0", LineNumber: 106, PwmChipSysfsDir: "", PwmID: -1}, | ||
| // Pin 32 supposedly has hardware PWM support, but we've been unable to turn it on. | ||
| {Name: "32", DeviceName: "gpiochip0", LineNumber: 41, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "33", DeviceName: "gpiochip0", LineNumber: 43, PwmChipSysfsDir: "", PwmID: -1}, // "32c0000.pwm", PwmID: 0}, | ||
| {Name: "35", DeviceName: "gpiochip0", LineNumber: 53, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "36", DeviceName: "gpiochip0", LineNumber: 113, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "37", DeviceName: "gpiochip0", LineNumber: 124, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "38", DeviceName: "gpiochip0", LineNumber: 52, PwmChipSysfsDir: "", PwmID: -1}, | ||
| {Name: "40", DeviceName: "gpiochip0", LineNumber: 51, PwmChipSysfsDir: "", PwmID: -1}, | ||
| } | ||
|
|
||
| var boardInfoMappings = map[string]genericlinux.BoardInformation{ | ||
| jetsonTX2NX: { | ||
| jetsonTX2NXPins, | ||
| []string{ | ||
| "nvidia,p3509-0000+p3636-0001", | ||
| }, | ||
| }, | ||
| jetsonTX2: { | ||
| jetsonTX2Pins, | ||
| []string{ | ||
| "nvidia,p2771-0000", | ||
| "nvidia,p2771-0888", | ||
| "nvidia,p3489-0000", | ||
| "nvidia,lightning", | ||
| "nvidia,quill", | ||
| "nvidia,storm", | ||
| }, | ||
| }, | ||
| jetsonNano: { | ||
| jetsonNanoPins, | ||
| []string{ | ||
| "nvidia,p3450-0000", | ||
| "nvidia,p3450-0002", | ||
| "nvidia,jetson-nano", | ||
| }, | ||
| }, | ||
| jetsonOrinAGX: { | ||
| jetsonOrinAGXPins, | ||
| []string{ | ||
| "nvidia,p3737-0000+p3701-0000", | ||
| "nvidia,p3737-0000+p3701-0004", | ||
| }, | ||
| }, | ||
| jetsonOrinNX: { | ||
| jetsonOrinNXPins, | ||
| []string{ | ||
| "nvidia,p3509-0000+p3767-0000", | ||
| }, | ||
| }, | ||
| jetsonOrinNano: { | ||
| jetsonOrinNXPins, // The Jetson Orin Nano has the exact same pinout as the Jetson Orin NX. | ||
| []string{ | ||
| "nvidia,p3768-0000+p3767-0003", | ||
| "nvidia,p3768-0000+p3767-0005", | ||
| "nvidia,p3767-0003", | ||
| "nvidia,p3767-0005", | ||
| }, | ||
| }, | ||
| } |
Empty file.
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| { | ||
| "module_id": "viam:nvidia", | ||
| "visibility": "public", | ||
| "url": "https://github.com/viam-modules/nvidia", | ||
| "description": "Go module for nvidia jetson board, compatible with Viam", | ||
| "models": [ | ||
| { | ||
| "api": "rdk:component:board", | ||
| "model": "viam:nvidia:jetson" | ||
| } | ||
| ], | ||
| "build": { | ||
| "build": "make module", | ||
| "path": "bin/module.tar.gz", | ||
| "arch" : ["linux/arm64", "linux/amd64", "darwin/arm64"] | ||
| }, | ||
| "entrypoint": "bin/nvidia" | ||
| } | ||
| "$schema": "https://dl.viam.dev/module.schema.json", | ||
| "module_id": "viam:nvidia", | ||
| "visibility": "public", | ||
| "url": "https://github.com/viam-modules/nvidia", | ||
| "description": "Go module for nvidia jetson board, compatible with Viam", | ||
| "models": [ | ||
| { | ||
| "api": "rdk:component:board", | ||
| "model": "viam:nvidia:jetson" | ||
| } | ||
| ], | ||
| "build": { | ||
| "build": "make module", | ||
| "path": "bin/module.tar.gz", | ||
| "arch" : ["linux/arm64", "linux/amd64", "darwin/arm64"] | ||
| }, | ||
| "entrypoint": "bin/nvidia" | ||
| } |