Boot Jetson Nano from external SDcard

[fre-wolf]

Hello,

I already archieved booting the Jetson Xavier NX from external SDcard (see #1097 (comment)) and now I'm trying to get the same result with the Jetson Nano eMMC 16GB variant. I'm working on kirkstone-l4t-r32.7.x.

Doing the same steps as with Xavier NX (enabling dts nodes to make the sdcard mountable, creating a custom machine based on the (non-emmc) devkit and then adjusting the bootloader to boot from external SD). My ultimate goal is to use ./doflash.sh --spi-only to flash the spi and to generate a sdcard-image that I can dd onto a sdcard to boot the device from there.
I'm currently working on a custom machine.

machine.conf:

#@TYPE: Machine
#@NAME: Nvidia Jetson Nano
#@DESCRIPTION: Nvidia Jetson Nano for custom carrier board

##custom section:
TEGRA_ROOTFS_AND_KERNEL_ON_SDCARD = "1"
require conf/machine/jetson-nano-devkit.conf
MACHINEOVERRIDES = "cuda:tegra:tegra210:jetson-nano-devkit:${MACHINE}"
PACKAGE_EXTRA_ARCHS:append = " jetson-nano-devkit"

##from jetson-nano-devkit-emmc:
KERNEL_ARGS ?= "console=ttyS0,115200 console=tty0 fbcon=map:0 net.ifnames=0 sdhci_tegra.en_boot_part_access=1"

TEGRA_FAB ?= "400"
TEGRA_BOARDSKU ?= "0002"
# Extracted from l4t_generate_soc_bup.sh for BOARDID=3448 and board=jetson-nano-devkit-emmc
TEGRA_BUPGEN_SPECS ?= "fab=200 fab=300 fab=400 fab=401"

KERNEL_DEVICETREE ?= "tegra210-p3448-0002-p3449-0000-a02.dtb \
 		      tegra210-p3448-0002-p3449-0000-b00.dtb \
"
UBOOT_MACHINE = "p3450-0002_defconfig"
EMMC_SIZE ?= "15758000128"

Now, my problem is, that ./doflash fails:

Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0008 ] Generating RCM messages
[   0.0029 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0036 ] RCM 0 is saved as rcm_0.rcm
[   0.0039 ] RCM 1 is saved as rcm_1.rcm
[   0.0039 ] List of rcm files are saved in rcm_list.xml
[   0.0039 ] 
[   0.0039 ] Signing RCM messages
[   0.0047 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0053 ] Assuming zero filled SBK key
[   0.0078 ] 
[   0.0078 ] Copying signature to RCM mesages
[   0.0087 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0096 ] 
[   0.0096 ] Boot Rom communication
[   0.0102 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml --skipuid
[   0.0108 ] RCM version 0X210001
[   0.1112 ] Boot Rom communication completed
[   1.1251 ] 
[   1.1255 ] dump EEPROM info
[   1.1315 ] tegrarcm --oem platformdetails eeprom /home/yocto/yocto/build/nano/cvm.bin.O4Fjy
[   1.1345 ] Applet version 00.01.0000
[   1.2260 ] Saved platform info in /home/yocto/yocto/build/nano/cvm.bin.O4Fjy
[   1.3155 ] 
[   1.3195 ] tegrarcm --reboot recovery
[   1.3209 ] Applet version 00.01.0000
[   1.4135 ] 
Board ID(3448) version(401) SKU(0002) revision(G.0)
Traceback (most recent call last):
  File "/home/yocto/yocto/build/nano/nvflashxmlparse", line 274, in <module>
    ret = main()
  File "/home/yocto/yocto/build/nano/nvflashxmlparse", line 248, in main
    ', '.join(list(layout.devices.keys()))))
RuntimeError: Device type 'sdmmc_boot' not present; available types: spi, sdcard
ERR: could not locate PT in flash layout

and ./doflash --spi-only fails as well:

Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0008 ] Generating RCM messages
[   0.0016 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0024 ] RCM 0 is saved as rcm_0.rcm
[   0.0027 ] RCM 1 is saved as rcm_1.rcm
[   0.0027 ] List of rcm files are saved in rcm_list.xml
[   0.0027 ] 
[   0.0027 ] Signing RCM messages
[   0.0035 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0041 ] Assuming zero filled SBK key
[   0.0067 ] 
[   0.0068 ] Copying signature to RCM mesages
[   0.0075 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0084 ] 
[   0.0085 ] Boot Rom communication
[   0.0104 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml --skipuid
[   0.0111 ] RCM version 0X210001
[   0.1140 ] Boot Rom communication completed
[   1.1277 ] 
[   1.1281 ] dump EEPROM info
[   1.1342 ] tegrarcm --oem platformdetails eeprom /home/yocto/yocto/build/nano/cvm.bin.0y0Bj
[   1.1367 ] Applet version 00.01.0000
[   1.2265 ] Saved platform info in /home/yocto/yocto/build/nano/cvm.bin.0y0Bj
[   1.3149 ] 
[   1.3194 ] tegrarcm --reboot recovery
[   1.3215 ] Applet version 00.01.0000
[   1.4131 ] 
Board ID(3448) version(401) SKU(0002) revision(G.0)
ERR: --spi-only specified for eMMC platform

What do I have to change to be able to at least flash the spi?

[madisongh]

I have some changes in the works on this branch that might help here - specifically, the patches to the XML parser script and the make-sdcard script, which generalize the spi/sdcard split into boot/rootfs. Some changes to the tegra210-flash-helper script will probably be needed, too.

[fre-wolf]

I'm currently working on the changes to the tegra210-flash-helper script. Im trying to find out what kind of partition table it reads and why it is unable to locate the "PT" partition. For debugging purposes, I let the function "generate pt header" echo all partitions available:
Using the devkit-emmc machine:

Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0008 ] Generating RCM messages
[   0.0032 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0037 ] RCM 0 is saved as rcm_0.rcm
[   0.0040 ] RCM 1 is saved as rcm_1.rcm
[   0.0040 ] List of rcm files are saved in rcm_list.xml
[   0.0040 ] 
[   0.0040 ] Signing RCM messages
[   0.0062 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0066 ] Assuming zero filled SBK key
[   0.0091 ] 
[   0.0092 ] Copying signature to RCM mesages
[   0.0116 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0123 ] 
[   0.0123 ] Boot Rom communication
[   0.0131 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml --skipuid
[   0.0138 ] RCM version 0X210001
[   0.1215 ] Boot Rom communication completed
[   1.1351 ] 
[   1.1353 ] dump EEPROM info
[   1.1419 ] tegrarcm --oem platformdetails eeprom /home/yocto/yocto/build/nano-devkit-emmc/cvm.bin.T08nG
[   1.1448 ] Applet version 00.01.0000
[   1.2320 ] Saved platform info in /home/yocto/yocto/build/nano-devkit-emmc/cvm.bin.T08nG
[   1.3151 ] 
[   1.3162 ] tegrarcm --reboot recovery
[   1.3169 ] Applet version 00.01.0000
[   1.3971 ] 
Board ID(3448) version(401) SKU(0002) revision(G.0)
pline = blksize=512;partnumber=1;partname="BCT";start_location=0;partsize=2048;partfile="";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=2;partname="NVC";start_location=2048;partsize=512;partfile="nvtboot.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=3;partname="PT";start_location=2560;partsize=256;partfile="flash.xml.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=4;partname="TBC";start_location=2816;partsize=384;partfile="nvtboot_cpu.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=5;partname="RP1";start_location=3200;partsize=2048;partfile="DTBFILE";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=6;partname="EBT";start_location=5248;partsize=1280;partfile="cboot.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=7;partname="WB0";start_location=6528;partsize=256;partfile="warmboot.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=8;partname="BPF";start_location=6784;partsize=512;partfile="sc7entry-firmware.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=9;partname="BPF-DTB";start_location=7296;partsize=896;partfile="";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=10;partname="NVC-1";start_location=8192;partsize=512;partfile="nvtboot.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=11;partname="PT-1";start_location=8704;partsize=256;partfile="flash.xml.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=12;partname="TBC-1";start_location=8960;partsize=384;partfile="nvtboot_cpu.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=13;partname="RP1-1";start_location=9344;partsize=2048;partfile="DTBFILE";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=14;partname="EBT-1";start_location=11392;partsize=1280;partfile="cboot.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=15;partname="WB0-1";start_location=12672;partsize=256;partfile="warmboot.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=16;partname="BPF-1";start_location=12928;partsize=512;partfile="sc7entry-firmware.bin";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=17;partname="BPF-DTB-1";start_location=13440;partsize=896;partfile="";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=18;partname="UBENV";start_location=16064;partsize=64;partfile="";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=19;partname="VER_b";start_location=16128;partsize=64;partfile="VERFILE";partguid="";parttype="";partfilltoend=0

pline = blksize=512;partnumber=20;partname="VER";start_location=16256;partsize=64;partfile="VERFILE";partguid="";parttype="";partfilltoend=0

ERR: could not locate PT in flash layout
----------------------
partlist.OI5Fnw
----------------------
partname = VER, partsize = 64, ptsize = 32768, partfile = VERFILE, out = flash.xml.tmp
----------------------
interrupted in tegra210-flash-helper

same with my machine.conf:

Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0008 ] Generating RCM messages
[   0.0016 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0023 ] RCM 0 is saved as rcm_0.rcm
[   0.0025 ] RCM 1 is saved as rcm_1.rcm
[   0.0025 ] List of rcm files are saved in rcm_list.xml
[   0.0025 ] 
[   0.0025 ] Signing RCM messages
[   0.0033 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0038 ] Assuming zero filled SBK key
[   0.0064 ] 
[   0.0065 ] Copying signature to RCM mesages
[   0.0072 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0081 ] 
[   0.0081 ] Boot Rom communication
[   0.0088 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml --skipuid
[   0.0094 ] RCM version 0X210001
[   0.1144 ] Boot Rom communication completed
[   1.1285 ] 
[   1.1287 ] dump EEPROM info
[   1.1341 ] tegrarcm --oem platformdetails eeprom /home/yocto/yocto/build/nano/cvm.bin.1ZPRe
[   1.1363 ] Applet version 00.01.0000
[   1.2284 ] Saved platform info in /home/yocto/yocto/build/nano/cvm.bin.1ZPRe
[   1.3117 ] 
[   1.3127 ] tegrarcm --reboot recovery
[   1.3133 ] Applet version 00.01.0000
[   1.3897 ] 
Board ID(3448) version(401) SKU(0002) revision(G.0)
pline = blksize=512;partnumber=1;partname="APP";start_location=40;partsize=15777792;partfile="APPFILE";partguid="72270fa3-5569-471e-a3f3-e80bc10394cf";parttype="";partfilltoend=0

ERR: could not locate PT in flash layout
File read failed
----------------------
partlist.3T0sEh
----------------------
partname = APP, partsize = 15777792, ptsize = 8078229504, partfile = APPFILE, out = flash.xml.tmp
----------------------
interrupted in tegra210-flash-helper

Where am I? Is this function supposed to see the spi and in my case looks into a device like the sdcard?

[fre-wolf]

Ok I found out: I had to specify bootloader_part="spi", but ./doflash.sh now stops at a different point:

sudo ./doflash.sh --spi-only
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0012 ] Generating RCM messages
[   0.0022 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0028 ] RCM 0 is saved as rcm_0.rcm
[   0.0031 ] RCM 1 is saved as rcm_1.rcm
[   0.0031 ] List of rcm files are saved in rcm_list.xml
[   0.0031 ] 
[   0.0031 ] Signing RCM messages
[   0.0050 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0056 ] Assuming zero filled SBK key
[   0.0093 ] 
[   0.0093 ] Copying signature to RCM mesages
[   0.0121 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0135 ] 
[   0.0136 ] Boot Rom communication
[   0.0156 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml --skipuid
[   0.0162 ] RCM version 0X210001
[   0.1194 ] Boot Rom communication completed
[   1.1286 ] 
[   1.1286 ] dump EEPROM info
[   1.1314 ] tegrarcm --oem platformdetails eeprom /home/yocto/yocto/build/nano/cvm.bin.z2sT8
[   1.1319 ] Applet version 00.01.0000
[   1.2112 ] Saved platform info in /home/yocto/yocto/build/nano/cvm.bin.z2sT8
[   1.2915 ] 
[   1.2941 ] tegrarcm --reboot recovery
[   1.2951 ] Applet version 00.01.0000
[   1.3773 ] 
Board ID(3448) version(401) SKU(0002) revision(G.0)
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0029 ] tegrasign --getmode mode.txt --key None
[   0.0038 ] Assuming zero filled SBK key
[   0.0039 ] 
[   0.0040 ] Generating RCM messages
[   0.0062 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0070 ] RCM 0 is saved as rcm_0.rcm
[   0.0075 ] RCM 1 is saved as rcm_1.rcm
[   0.0075 ] List of rcm files are saved in rcm_list.xml
[   0.0075 ] 
[   0.0076 ] Signing RCM messages
[   0.0103 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0112 ] Assuming zero filled SBK key
[   0.0150 ] 
[   0.0150 ] Copying signature to RCM mesages
[   0.0177 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0188 ] 
[   0.0189 ] Parsing partition layout
[   0.0197 ] tegraparser --pt flash.xml.tmp
[   0.0208 ] 
[   0.0209 ] Using default ramcode: 0
[   0.0209 ] Disable BPMP dtb trim, using default dtb
[   0.0209 ] 
[   0.0209 ] Creating list of images to be signed
[   0.0237 ] tegrahost --chip 0x21 0 --partitionlayout flash.xml.bin --list images_list.xml
[   0.0243 ] Stat for tegra210-p3448-0002-p3449-0000-b00.dtb failed
[   0.0247 ] 
Error: Return value 4
Command tegrahost --chip 0x21 0 --partitionlayout flash.xml.bin --list images_list.xml

So the problem is that I don't have the dtb file "tegra210-p3448-0002-p3449-0000-b00.dtb" in the extracted build next to doflash.sh. Instead, I have the code fitting the devkit (sdcard) variant of the nano. Where do I have to adjust the code to have the right *.dtb file in my folder?

[madisongh]

The KERNEL_DEVICETREE setting in the machine config is what drives which dtb files get included in the tegraflash package.

[fre-wolf]

Thank you. Now with the right dtb file (I changed KERNEL_DEVICETREE ?= ... to KERNEL_DEVICETREE = ...), I progressed, but only a little.
The SPI-Flash is now at least communicating with the board:

localhost:~/yocto/build/nano> sudo ./doflash.sh --spi-only
[sudo] password for root: 
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0009 ] Generating RCM messages
[   0.0023 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0041 ] RCM 0 is saved as rcm_0.rcm
[   0.0047 ] RCM 1 is saved as rcm_1.rcm
[   0.0047 ] List of rcm files are saved in rcm_list.xml
[   0.0047 ] 
[   0.0047 ] Signing RCM messages
[   0.0055 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0061 ] Assuming zero filled SBK key
[   0.0087 ] 
[   0.0087 ] Copying signature to RCM mesages
[   0.0095 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0105 ] 
[   0.0106 ] Boot Rom communication
[   0.0113 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml --skipuid
[   0.0122 ] RCM version 0X210001
[   0.1105 ] Boot Rom communication completed
[   1.1208 ] 
[   1.1209 ] dump EEPROM info
[   1.1220 ] tegrarcm --oem platformdetails eeprom /home/yocto/yocto/build/nano/cvm.bin.3DVZ5
[   1.1227 ] Applet version 00.01.0000
[   1.2018 ] Saved platform info in /home/yocto/yocto/build/nano/cvm.bin.3DVZ5
[   1.2839 ] 
[   1.2850 ] tegrarcm --reboot recovery
[   1.2858 ] Applet version 00.01.0000
[   1.3683 ] 
Board ID(3448) version(401) SKU(0002) revision(G.0)
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0018 ] tegrasign --getmode mode.txt --key None
[   0.0024 ] Assuming zero filled SBK key
[   0.0025 ] 
[   0.0025 ] Generating RCM messages
[   0.0031 ] tegrarcm --listrcm rcm_list.xml --chip 0x21 0 --download rcm nvtboot_recovery.bin 0 0
[   0.0035 ] RCM 0 is saved as rcm_0.rcm
[   0.0038 ] RCM 1 is saved as rcm_1.rcm
[   0.0038 ] List of rcm files are saved in rcm_list.xml
[   0.0038 ] 
[   0.0038 ] Signing RCM messages
[   0.0068 ] tegrasign --key None --list rcm_list.xml --pubkeyhash pub_key.key
[   0.0073 ] Assuming zero filled SBK key
[   0.0100 ] 
[   0.0101 ] Copying signature to RCM mesages
[   0.0119 ] tegrarcm --chip 0x21 0 --updatesig rcm_list_signed.xml
[   0.0135 ] 
[   0.0136 ] Parsing partition layout
[   0.0154 ] tegraparser --pt flash.xml.tmp
[   0.0161 ] 
[   0.0162 ] Using default ramcode: 0
[   0.0162 ] Disable BPMP dtb trim, using default dtb
[   0.0162 ] 
[   0.0162 ] Creating list of images to be signed
[   0.0179 ] tegrahost --chip 0x21 0 --partitionlayout flash.xml.bin --list images_list.xml
[   0.0221 ] 
[   0.0223 ] Generating signatures
[   0.0248 ] tegrasign --key None --list images_list.xml --pubkeyhash pub_key.key
[   0.0256 ] Assuming zero filled SBK key
[   0.0549 ] 
[   0.0549 ] Generating br-bct
[   0.0573 ] tegrabct --bct jetson-nano.cfg --chip 0x21 0
[   0.0596 ] 
[   0.0596 ] Updating boot device parameters
[   0.0609 ] tegrabct --bct jetson-nano.bct --chip 0x21 0 --updatedevparam flash.xml.bin
[   0.0615 ] Warning: No sdram params
[   0.0617 ] 
[   0.0617 ] Updating bl info
[   0.0645 ] tegrabct --bct jetson-nano.bct --chip 0x21 0 --updateblinfo flash.xml.bin --updatesig images_list_signed.xml
[   0.0671 ] 
[   0.0672 ] Updating secondary storage information into bct
[   0.0695 ] tegraparser --pt flash.xml.bin --chip 0x21 0 --updatecustinfo jetson-nano.bct
[   0.0702 ] 
[   0.0703 ] Updating Odmdata
[   0.0725 ] tegrabct --bct jetson-nano.bct --chip 0x21 0 --updatefields Odmdata =0xA4000
[   0.0730 ] Warning: No sdram params
[   0.0731 ] 
[   0.0731 ] Get Signed section of bct
[   0.0756 ] tegrabct --bct jetson-nano.bct --chip 0x21 0 --listbct bct_list.xml
[   0.0762 ] 
[   0.0762 ] Signing BCT
[   0.0816 ] tegrasign --key None --list bct_list.xml --pubkeyhash pub_key.key
[   0.0820 ] Assuming zero filled SBK key
[   0.0823 ] 
[   0.0823 ] Updating BCT with signature
[   0.0846 ] tegrabct --bct jetson-nano.bct --chip 0x21 0 --updatesig bct_list_signed.xml
[   0.0853 ] 
[   0.0853 ] Copying signatures
[   0.0873 ] tegrahost --chip 0x21 0 --partitionlayout flash.xml.bin --updatesig images_list_signed.xml
[   0.0909 ] 
[   0.0909 ] Updating BFS information on BCT
[   0.0940 ] tegrabct --bct jetson-nano.bct --chip 0x21 0 --updatebfsinfo flash.xml.bin
[   0.0947 ] 
[   0.0948 ] Boot Rom communication
[   0.0974 ] tegrarcm --chip 0x21 0 --rcm rcm_list_signed.xml
[   0.0979 ] BR_CID: 0x32101001643c52871c00000011fe01c0
[   0.1244 ] RCM version 0X210001
[   0.1677 ] Boot Rom communication completed
[   1.1786 ] 
[   1.1787 ] Sending BCTs
[   1.1830 ] tegrarcm --download bct jetson-nano.bct
[   1.1843 ] Applet version 00.01.0000
[   1.2645 ] Sending bct
[   1.2646 ] [................................................] 100%
[   1.4936 ] 
[   1.4970 ] tegrahost --chip 0x21 --align cboot.bin
[   1.4982 ] 
[   1.5006 ] tegrahost --magicid EBT --appendsigheader cboot.bin cboot.bin_blheader
[   1.5029 ] 
[   1.5052 ] tegrasign --key None --list cboot.bin_list.xml
[   1.5059 ] Assuming zero filled SBK key
[   1.5126 ] 
[   1.5157 ] tegrahost --updatesigheader cboot.bin_blheader.encrypt cboot.bin_blheader.hash zerosbk
[   1.5175 ] 
[   1.5196 ] tegrahost --chip 0x21 --align tegra210-p3448-0002-p3449-0000-b00.dtb
[   1.5212 ] 
[   1.5225 ] tegrahost --magicid DTB --appendsigheader tegra210-p3448-0002-p3449-0000-b00.dtb tegra210-p3448-0002-p3449-0000-b00.dtb_blheader
[   1.5240 ] 
[   1.5263 ] tegrasign --key None --list tegra210-p3448-0002-p3449-0000-b00.dtb_list.xml
[   1.5274 ] Assuming zero filled SBK key
[   1.5308 ] 
[   1.5341 ] tegrahost --updatesigheader tegra210-p3448-0002-p3449-0000-b00.dtb_blheader.encrypt tegra210-p3448-0002-p3449-0000-b00.dtb_blheader.hash zerosbk
[   1.5362 ] 
[   1.5369 ] Sending bootloader and pre-requisite binaries
[   1.5395 ] tegrarcm --download ebt cboot.bin.encrypt 0 0 --download rp1 tegra210-p3448-0002-p3449-0000-b00.dtb.encrypt 0
[   1.5405 ] Applet version 00.01.0000
[   1.6156 ] Sending ebt
[   1.6157 ] [................................................] 100%
[   1.7248 ] Sending rp1
[   1.7302 ] [................................................] 100%
[   1.7954 ] 
[   1.7968 ] tegrarcm --boot recovery
[   1.7982 ] Applet version 00.01.0000
[   1.8726 ] 
[   1.8726 ] Retrieving storage infomation
[   1.8750 ] tegrarcm --oem platformdetails storage storage_info.bin
^CTraceback (most recent call last):
  File "tegraflash.py", line 1296, in <module>
    tegraflash_run_commands()
  File "tegraflash.py", line 1155, in tegraflash_run_commands
    interpreter.onecmd(command)
  File "/usr/lib64/python3.6/cmd.py", line 217, in onecmd
    return func(arg)
  File "tegraflash.py", line 216, in do_flash
    tegraflash_flash(exports)
  File "/home/yocto/yocto/build/nano/tegraflash_internal.py", line 274, in tegraflash_flash
    tegraflash_get_storage_info()
  File "/home/yocto/yocto/build/nano/tegraflash_internal.py", line 2502, in tegraflash_get_storage_info
    run_command(command)
  File "/home/yocto/yocto/build/nano/tegraflash_internal.py", line 202, in run_command
    log = print_process(process, enable_print)
  File "/home/yocto/yocto/build/nano/tegraflash_internal.py", line 161, in print_process
    output = process.stdout.read(1)
KeyboardInterrupt

I had to keyboardInterrupt the script, because the board sends this via SSH in an infinite loop:

[0631.367] spi_check_is_ready: Timed out!
[0631.371] spi_check_is_ready: Error = ffffffff
[0631.375] spi_read: Error = ffffffff
[0631.379] spi_transfer: Error = ffffffff
[0631.383] spi_read_status_reg: spi_transfer failed
[0631.993] spi_read_from_rcv_fifo: timed out! WordsOrbytes left to read = 1,  Error = FFFFFFFF

Do I now need to edit the files in KERNEL_DEVICETREE? If yes, how? Trying to do so with devtool modify tegra-binaries throws following error in bitbake (even without having edited a single file in the workspace):

ERROR: Task do_populate_lic in /home/yocto/yocto/poky/build/../meta-tegra/recipes-bsp/tegra-binaries/tegra-bootfiles_32.7.2.bb depends upon non-existent task do_unpack in /home/yocto/yocto/poky/build/../meta-tegra/recipes-bsp/tegra-binaries/tegra-binaries_32.7.2.bb
ERROR: Command execution failed: 1

[madisongh]

The DTB files are generated as part of the kernel build. The DTS/DTSI files for the Nanos are under nvidia/platform/t210 int he kernel source tree.