From 773fbb775b73f6f342e521bff028acab62e85729 Mon Sep 17 00:00:00 2001
From: Daniel Fullmer <dfullmer@anduril.com>
Date: Tue, 18 Jun 2024 11:30:28 -0700
Subject: [PATCH] Add Xavier AGX Industrial

This is has not been tested at all for lack of hardware.
---
 flake.nix                |  1 +
 modules/default.nix      |  1 +
 modules/devices.nix      | 10 ++++++++++
 modules/flash-script.nix |  3 +++
 4 files changed, 15 insertions(+)

diff --git a/flake.nix b/flake.nix
index dcba7325..9a5a09f7 100644
--- a/flake.nix
+++ b/flake.nix
@@ -41,6 +41,7 @@
               { som = "orin-nx"; carrierBoard = "devkit"; }
               { som = "orin-nano"; carrierBoard = "devkit"; }
               { som = "xavier-agx"; carrierBoard = "devkit"; }
+              { som = "xavier-agx-industrial"; carrierBoard = "devkit"; } # TODO: Entirely untested
               { som = "xavier-nx"; carrierBoard = "devkit"; }
               { som = "xavier-nx-emmc"; carrierBoard = "devkit"; }
             ]);
diff --git a/modules/default.nix b/modules/default.nix
index 0b289364..86b3cb17 100644
--- a/modules/default.nix
+++ b/modules/default.nix
@@ -70,6 +70,7 @@ in
           "orin-nx"
           "orin-nano"
           "xavier-agx"
+          "xavier-agx-industrial"
           "xavier-nx"
           "xavier-nx-emmc"
         ];
diff --git a/modules/devices.nix b/modules/devices.nix
index 0ddd92f9..4da9f0e7 100644
--- a/modules/devices.nix
+++ b/modules/devices.nix
@@ -15,6 +15,7 @@ let
     orin-nx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3767_0000.conf";
     orin-nano = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3767_0003.conf";
     xavier-agx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_t194.conf";
+    xavier-agx-industrial = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_t194_agxi.conf";
     xavier-nx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_t194_p3668.conf";
     xavier-nx-emmc = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_t194_p3668.conf";
   };
@@ -25,6 +26,7 @@ let
     orin-nx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3767_0000.conf";
     orin-nano = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3767_0000.conf";
     xavier-agx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p2888.conf";
+    xavier-agx-industrial = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p2888.conf";
     xavier-nx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3668.conf";
     xavier-nx-emmc = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3668.conf";
   };
@@ -122,6 +124,14 @@ lib.mkMerge [{
         partitionTemplate = mkDefault (filterPartitions xavierAgxPartitionsToRemove "${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_t194_sdmmc.xml");
       })
 
+      (mkIf (cfg.som == "xavier-agx-industrial") {
+        targetBoard = mkDefault "jetson-agx-xavier-industrial";
+        # Remove the sdmmc part of this flash.xml file. The industrial spi part is still different
+        partitionTemplate = mkDefault (pkgs.runCommand "flash.xml" { nativeBuildInputs = [ pkgs.buildPackages.xmlstarlet ]; } ''
+          xmlstarlet ed -d '//device[@type="sdmmc_user"]' ${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_l4t_t194_spi_emmc_jaxi.xml >$out
+        '');
+      })
+
       (mkIf (cfg.som == "xavier-nx") {
         targetBoard = mkDefault "jetson-xavier-nx-devkit";
         partitionTemplate = mkDefault (filterPartitions defaultPartitionsToRemove "${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_l4t_t194_spi_sd_p3668.xml");
diff --git a/modules/flash-script.nix b/modules/flash-script.nix
index 244f51fd..b23fbf5b 100644
--- a/modules/flash-script.nix
+++ b/modules/flash-script.nix
@@ -383,6 +383,9 @@ in
               { boardid = "2888"; boardsku = "0004"; fab = "400"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = "2"; } # 32GB
               { boardid = "2888"; boardsku = "0005"; fab = "402"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = "2"; } # 64GB
             ];
+            xavier-agx-industrial = [
+              { boardid = "2888"; boardsku = "0008"; fab = "600"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = "2"; ramcode = "1"; }
+            ];
             xavier-nx = [
               # Dev variant
               { boardid = "3668"; boardsku = "0000"; fab = "100"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = "2"; }