NVIDIA JETSON AGX XAVIER DEVELOPER KIT刷机教程（各种踩雷篇）

操作环境

英伟达JETSON AGX XAVIER开发套件（包含充电器，原装type-c转usb数据线）
Ubuntu16.04或18.04系统
(双系统、虚拟机、单系统皆可，不清楚目前的JetPack版本是否支持ubuntu20.04版本）
显示屏、键盘、鼠标（连接开发板套件使用，包含连接线）

刷机过程

新买的开发套件，先试试这个官方账号的视频讲解：Jetson AGX Xavier刷机攻略及部署应用 - NVIDIA英伟达中国的文章 - 知乎https://zhuanlan.zhihu.com/p/62452888。
用过的开发套件或者官方视频行不通的继续往下看，全部看完一遍再操作。

1、JetPack安装（SDK Manager)

下载地址：https://developer.nvidia.com/nvidia-sdk-manager
两个选项，右边NVIDIA SDK Manager Method选项适合JETSON AGX XAVIER
左边的SD Card Image Method选项适合NVIDIA JETSON Nano计算盒
下载.deb后缀的安装包，进行官网的注册或登陆
安装

sudo apt install sdkmanager_1.8.1-10392_amd64.deb

运行

sdkmanager

需要登陆Nvidia账号，让sdk manager作为客户端软件连到NVIDIA的云服务器上去，为后面的下载安装软件做准备.
开发套件的连接如图，在刷机时，原装type-c转usb数据线需要连接到led灯旁边的接口。

STEP 01 ：主机命令行输入lsusb检测，有NVidia Crop表示连接成功（不成功检查线是否有问题以及usb接口是否正常），Target Hardware也连接成功。若是refresh不显示开发板信息，没有关系，后面刷机会重新识别。Host Machine默认勾选。
STEP 02： 安装内容保持默认，点接受，我下载完就安装了，没有选择后面的以后安装，这样可以查看下载细节，检查是否全部下载成功。也可以勾选，下载完后第二天再次启动sdkmanager。CONTINUE后输入电脑密码
STEP 03：选择手动安装（Manual Steup）进行JETSON AGX XAVIER的系统镜像烧录，自动安装会出现错误。手动安装步骤翻译如下：

1. 选择手动安装
2. 确保设备（JETSON AGX XAVIER）已连接电源适配器，但处于关机状态；
3. 将主机与设备使用type-c转usb数据线进行连接；
4. 按住AGX中间的按键（Force Recovery）不松手；
5. 按住AGX左边的电源（Power）不松手；
6. 释放按钮，过一两秒，同时松手。
   此时这个画面中设备会显示连接成功，输入JETSON AGX XAVIER系统的登陆账号和密码，记住这个，后面用得上。此时要提前保证显示屏、键盘、鼠标和设备连接成功，后续系统安装过程会显示，可能需要操作，我是没有操作，直接安装成功进入了设备的Ubuntu系统，这里SDK给我烧录的是Ubuntu20.04系统。
   （我已经flash成功，所以没有连接设备，图片只是提供参考）
   一定要保证你电脑上面我图片红色位置是显示绿色连接后再进行Flash。
   STEP 04：Flash成功后会弹出安装界面，保证主机和设备连接正常。此时设备显示屏进入Ubuntu系统，设备系统需要先更新，才能保证后续安装成功。先换源，注意！！！根据设备上的Ubuntu系统版本进行更换，我的是20.04，清华，阿里，中科大的镜像源都可以，我使用的是阿里云。
   1.备份sources.list文件

 sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

2.打开sources.list文件

sudo gedit /etc/apt/sources.list

3.（删除原内容，）添加下列内容

# 阿里云
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

# deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

## Pre-released source, not recommended.
# deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

4.保存sources.list文件后需要更新apt-get

sudo apt-get update

其他镜像源链接：
https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/
https://developer.aliyun.com/mirror/
http://t.csdn.cn/CMvQs

接着就是漫长的安装过程，若是安装出错，检查sudo apt-get update时是否有err、Target、Failed等错误。update必须完全没有错误才能安装成功。出错就退出sdkmanager后，再次启动将之前下载的Uninstall后（Uninstall位置如下），再重新安装。直到安装成功（这中间网络不好都会出现下载以及安装错误）

安装成功截图

安装出现的问题

1、 BSP Version Mismatch
Your device BSP image version is incompatible with the software version you are trying to install. Please flash your device with the right BSP version and try to re-install.

解决办法：重新下载安装SDK Manager，且必须是最新版本。请检查版本：https://developer.nvidia.com/nvidia-sdk-manager

参考：
https://forums.developer.nvidia.com/t/bsp-version-mismatch-in-sdkmanager-setup/227921/9
https://forums.developer.nvidia.com/t/sdk-manager-bsp-version-mismatch/229804

2、在运行sudo apt-get update后可能会出现以下错误。

问题一

W: Target DEP-11 (
W: Failed to fetch http://cn.archive.ubuntu.com/ubuntu/dists/precise-backports/Release.gpg  Temporary failure resolving 'cn.archive.ubuntu.com'
W: Some index files failed to download. They have been ignored, or old ones used instead.

解决办法：因为没有删除sources.list的原始内容，必须删除，再将镜像源加进文档中。(Failed to fetch后面出现的就是原始内容里面的链接）
再次运行sudo apt-get update是否出错（出错可以试试重启设备后再次运行sudo apt-get update）

问题二

Err http://cn.archive.ubuntu.com precise Release.gpg Temporary failure resolving 'cn.archive.ubuntu.com'
Err http://cn.archive.ubuntu.com precise-updates Release.gpg Temporary failure resolving 'cn.archive.ubuntu.com'
Err http://cn.archive.ubuntu.com precise-backports Release.gpgTemporary failure resolving 'cn.archive.ubuntu.com'
W: Failed to fetch http://cn.archive.ubuntu.com/ubuntu/dists/precise/Release.gpg  Temporary failure resolving 'cn.archive.ubuntu.com'
W: Failed to fetch http://cn.archive.ubuntu.com/ubuntu/dists/precise-updates/Release.gpg  Temporary failure resolving 'cn.archive.ubuntu.com'
W: Failed to fetch http://cn.archive.ubuntu.com/ubuntu/dists/precise-backports/Release.gpg  Temporary failure resolving 'cn.archive.ubuntu.com'
W: Some index files failed to download. They have been ignored, or old ones used instead.

解决办法：需要配置DNS

sudo vi /etc/resolv.conf

添加阿里云的服务器如下，第一行的nameserver每个人都不一样，不要更改，只添加最后两行的nameserver，因为我使用的镜像源是阿里云（其他镜像源的DNS链接如下：）

# Dynamic resolv.conf(5) file for glibc resolver(3) generated by resolvconf(8)
#     DO NOT EDIT THIS FILE BY HAND -- YOUR CHANGES WILL BE OVERWRITTEN
nameserver 127.0.0.81
#这里用的是阿里云的DNS服务器
nameserver 223.5.5.5  
nameserver 223.6.6.6

再次运行sudo apt-get update是否出错
注意！！！
DNS配置有时候可能会自动消失，出错需要随时检查一下nameserver是否还在
进入resolv.conf文件，如果开始没有第一行nameserver，说明网络连接失败，命令行试着输入ping www.baidu.com看看是否有IP地址输出，可以试试手动联网或重启设备。一般换源成功后，输出IP的时间会变快。
若是再次出错，进入AGX 设备Ubuntu系统，设置——网络——网路连接——编辑——IPV4——添加DNS服务器

再次运行sudo apt-get update是否出错（出错可以试试重启设备后再次运行sudo apt-get update）

问题三

E: Failed to fetch http://mirrors.aliyun.com/ubuntu/dists/focal-proposed/main/binary-arm64/Packages 404 Not Found [IP: 117.185.132.27 80]
E: Some index files failed to download. They have been ignored, or old ones used instead.

可能是系统aarch64版本的问题

uname -a  // 查看系统信息

解决办法：
修改 /etc/apt/source.list，在每个镜像源链接最后加上-ports

sudo vi  /etc/apt/source.list

再次运行sudo apt-get update是否出错（出错可以试试重启设备后再次运行sudo apt-get update）

问题四

Err:19 https://repo.download.nvidia.com/jetson/common r32.4 Release
  Certificate verification failed: The certificate is NOT trusted. The certificate chain uses not yet valid certificate.  Could not handshake: Error in the certificate verification. [IP: 23.45.12.83 443]
Err:20 https://repo.download.nvidia.com/jetson/t210 r32.4 Release
  Certificate verification failed: The certificate is NOT trusted. The certificate chain uses not yet valid certificate.  Could not handshake: Error in the certificate verification. [IP: 23.45.12.83 443]
Reading package lists... Done
E: Release file for file:///var/cuda-repo-10-2-local-10.2.89/Release is not valid yet (invalid for another 623d 4h 47min 41s). Updates for this repository will not be applied.
E: Release file for file:///var/visionworks-repo/Release is not valid yet (invalid for another 742d 8h 2min 59s). Updates for this repository will not be applied.
E: Release file for file:///var/visionworks-sfm-repo/Release is not valid yet (invalid for another 723d 23h 22min 22s). Updates for this repository will not be applied.
E: Release file for file:///var/visionworks-tracking-repo/Release is not valid yet (invalid for another 723d 23h 23min 44s). Updates for this repository will not be applied.
E: Release file for http://ports.ubuntu.com/ubuntu-ports/dists/bionic/InRelease is not valid yet (invalid for another 72d 4h 55min 42s). Updates for this repository will not be applied.
E: Release file for http://ports.ubuntu.com/ubuntu-ports/dists/bionic-updates/InRelease is not valid yet (invalid for another 1155d 14h 30min 56s). Updates for this repository will not be applied.
E: Release file for http://ports.ubuntu.com/ubuntu-ports/dists/bionic-backports/InRelease is not valid yet (invalid for another 1155d 14h 31min 55s). Updates for this repository will not be applied.
E: Release file for http://ports.ubuntu.com/ubuntu-ports/dists/bionic-security/InRelease is not valid yet (invalid for another 1155d 14h 30min 9s). Updates for this repository will not be applied.
E: The repository 'https://repo.download.nvidia.com/jetson/common r32.4 Release' no longer has a Release file.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.
E: The repository 'https://repo.download.nvidia.com/jetson/t210 r32.4 Release' no longer has a Release file.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.

解决办法：因为系统新安装的，时间可能有问题

sudo apt-get install ntpdate

ntpdate cn.pool.ntp.org

再次运行sudo apt-get update是否出错（出错可以试试重启设备后再次运行sudo apt-get update）

参考链接:

1.http://t.csdn.cn/iddzp
2.http://t.csdn.cn/azRMl
3.http://t.csdn.cn/nuAaP
4.http://t.csdn.cn/0Nz6w