Jetson/L4T BSP development tips

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First, please download BSP package from internet. It's preferred to download BSP package, instead of Jetpack.

Go to

The following packages are necessary:

L4T Driver Package (BSP)

Sample Root Filesystem

Source code for kernel and other components:

L4T Driver Package (BSP) Sources

Toolchain for kernel building:

GCC 7.3.1 for 64 bit BSP and Kernel

Secure package if secure-boot is necessary:

Jetson Platform Fuse Burning and Secure Boot Documentation and Tools

Refer to

Then the device can be flashed by command line. With this method, user can have more controls for the BSP configuration, like pinmux, kernel/kernel DTB customization, etc.

BSP customization


How to find out the actual pinmux configuration file

Refer to

There are several types of Jetson reference boards are supported in SDK.

Check the configuration file

For example, when the flash command is:

 sudo ./ jetson-xavier mmcblk0p1

Check the configuration file: jetson-xavier.conf → p2822-0000+p2888-0004.conf → PINMUX_CONFIG="tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg";

(Note: the value of PINMUX_CONFIG may be overwritten. So the later one should take effect.)

Or check the flash log

Run following command:

sudo ./ -r --no-flash jetson-xavier mmcblk0p1

And check the log:


copying pinmux_config(/home/Work/jetson_customer/32.4.3/Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg)... done.


How to update pinmux

There are several ways to customize the device PINMUX. The simple way is to generate PINMUX configuration through pre-defined excel. Another way is to edit the PINMUX configuration file directly, but that may need more knowledge about PINMUX setting for the chip.

Edit the excel and generate the Configuration

Refer to

Search 'Pinmux Changes'

Also, another good reference:

Still, please make sure the PINMUX configuration file name is correct.

Edit the pinmux configuration file

That's the direct and simple way, assumed the developer is familiar with PINMUX setting.

Download technical reference manual from for different platforms. And those documents contain detailed information.

Edit the prod configuration

L4T document shows another way to override the PINMUX:

Same command as, and check the prod configuration in following log:


copying prod_config(/home/Work/jetson_customer/32.4.3/Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg)... done.


Follow the guide in above link.