NVIDIA Clara-AGX-Developer-Kit installation

sudo apt update
# sudo apt upgrade # 升级内核非必要
# 依赖库问题考虑强制覆盖可修复
# sudo apt --fix-broken install -o Dpkg::Options::="--force-overwrite"
# 安装固件工具
sudo apt install mstflint
# 检查固件版本
lspci | grep Mellanox
sudo mstflint -d 0000:09:00.0 q full
# 按用户手册要求是否需要升级
# scp或者samba传文件
sudo reboot

sudo cp /opt/nvidia/l4t-gputools/bin/nvgpuswitch.py /usr/local/bin/
# 查询
# nvgpuswitch.py query iGPU # (nvidia-l4t-cuda, 34.1.2-20220524101639)
# 换卡
sudo nvgpuswitch.py install dGPU
# 再查
# nvgpuswitch.py query dGPU # (cuda-drivers, 510.73.08-1) Quadro RTX 6000, 24576 MiB
# 测试DP输出，
# 测试nvidia-smi
# 设置环境变量（如需）
# export PATH=/usr/local/cuda-11.6/bin:$PATH 
# export LD_LIBRARY_PATH=/usr/local/cuda-11.6/lib64:$LD_LIBRARY_PATH
# 换卡*2 (如需)
# sudo nvgpuswitch.py install iGPU

def install_dgpu(commands, l4t_repo):
    """ Add commands to install the dGPU driver packages. """
    packages_to_install = [
        "nvidia-l4t-*",
        "nvidia-driver-510",
        "nvidia-dkms-510",
        "nvidia-utils-510",
        "cuda",
        "nvidia-container-runtime",
        "libnvinfer-bin",
        "mstflint"
    ]
    install_string = " ".join(packages_to_install)
    add_command(commands, "Remove blacklist for dGPU driver",
        "rm -f /etc/modprobe.d/blacklist-nvidia.conf")
    add_command(commands, "Add blacklist for iGPU driver",
        "echo 'blacklist nvgpu' > /etc/modprobe.d/blacklist-nvgpu.conf")
    add_command(commands, "Add modprobe options for dGPU driver",
        "echo 'options nvidia NVreg_EnableGpuFirmware=0 NVreg_DmaRemapPeerMmio=0' > /etc/modprobe.d/nvidia-holoscan.conf")
    add_command(commands, "Add public key for dGPU L4T apt repo",
        f"apt-key adv --fetch-keys http://{l4t_repo}/jetson-ota-public.asc")
    add_command(commands, "Add dGPU L4T apt repo",
        f"echo 'deb http://{l4t_repo}/dgpu-rm r34.1.2 main'" +
        " >> /etc/apt/sources.list.d/l4t_rm.list")
    add_command(commands, "Add public key for nvidia-container-runtime apt repo",
        "apt-key adv --fetch-keys https://nvidia.github.io/nvidia-container-runtime/gpgkey")
    add_command(commands, "Add nvidia-container-runtime apt repo",
        f"echo 'deb https://nvidia.github.io/libnvidia-container/stable/ubuntu18.04/$(ARCH) /'" +
         " >> /etc/apt/sources.list.d/l4t_rm.list && " +
        f"echo 'deb https://nvidia.github.io/nvidia-container-runtime/stable/ubuntu18.04/$(ARCH) /'" +
         " >> /etc/apt/sources.list.d/l4t_rm.list")
    add_command(commands, "Install dGPU drivers",
        f"apt update && apt install -y {install_string}")
    add_command(commands, "Repair dGPU library config",
        "echo '/usr/lib/aarch64-linux-gnu/tegra' >> /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig")
    add_command(commands, "Configure nvidia-container-runtime",
        "mkdir /etc/systemd/system/docker.service.d && " +
        "echo '[Service]' > /etc/systemd/system/docker.service.d/override.conf && " +
        "echo 'ExecStart=' >> /etc/systemd/system/docker.service.d/override.conf && " +
        "echo 'ExecStart=/usr/bin/dockerd --host=fd:// --add-runtime=nvidia=/usr/bin/nvidia-container-runtime'" +
        " >> /etc/systemd/system/docker.service.d/override.conf")
    add_command(commands, "Install dGPU nvpmodel configuration",
        "ln -sf /etc/nvpmodel/nvpmodel_t194_e3900_dGPU.conf /etc/nvpmodel.conf")
    soc = os.popen("cat /etc/nv_boot_control.conf | grep COMPATIBLE_SPEC | cut -d '-' -f 7").read().strip()
    if soc == "clara":
        driver = os.popen("lspci | grep 0000:09:00.0 | cut -d ' ' -f 4").read().strip()
        if driver == "Mellanox":
            add_command(commands, "Upgrade Mellanox CX-6 firmware",
                "mstflint -d 0000:09:00.0 -i /opt/nvidia/l4t-cx6-firmware/fw-ConnectX6.bin burn")