psdk configuration added

Author: javilinos

docs/_03_aerial_platforms/_dji_psdk/index.rst

@@ -16,14 +16,13 @@ DJI Matrice Series PSDK
 Introduction
 ------------
 
-DJI Matrice Series using `DJI Onboard PSDK <https://github.com/dji-sdk/Onboard-SDK>`_ has compatibility with DJI M300, DJI M350 and DJI M30.
+DJI Matrice Series using `DJI Onboard PSDK <https://github.com/dji-sdk/Onboard-SDK>`_ has compatibility with DJI M300, DJI M350 and DJI M30T.
 
 .. figure:: resources/DJI_M300.jpg
    :scale: 15
    :class: with-shadow
 
 
-
 .. _aerial_platform_dji_matrice_psdk_installation:
 
 ------------
@@ -32,10 +31,201 @@ Installation
 
 .. _aerial_platform_matrice_psdk_installation_prerequisites:
 
-Prerequisites
-=============
+Prerequisites to configure any Xavier/Orin NX/AGX board to connect to PSDK, These steps are only done **once**
+==============================================================================================================
+.. _aerial_platform_dji_matrice_psdk_installation_prerequisites_software_once:
+
+
+Clone configuration repository to grab the necessary files
+------------------------------------------------
+.. code-block:: console
+
+   cd ~
+   git clone git@github.com:aerostack2/psdk_config_files.git
+   cd psdk_config_files
+
+Disable l4t-device-mode auto start
+----------------------------------------------
+
+.. code-block:: console
+
+   sudo systemctl disable nv-l4t-usb-device-mode.service
+
+Replace system device-mode script
+---------------------------------
+
+Copy your custom startup script into place and make it executable:
+
+.. code-block:: console
+
+   sudo cp ./nv-l4t-usb-device-mode-start.sh /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode-start.sh
+   chmod +x ./nv-l4t-usb-device-mode-start.sh
+
+Customize the script program
+--------------------------------
+You need to modify the script to use the correct USB-UDC port.
+
+For the AGX:
+.. code-block:: console
+
+   sed -i 's/3550000\.xudc/3550000.usb/g' nv-l4t-usb-device-mode-start.sh
+
+For the NX:
+.. code-block:: console
+
+   sed -i 's/3550000\.usb/3550000.xudc/g' nv-l4t-usb-device-mode-start.sh
+
+
+Grab bulk-mode program folder
+------------------------------
+
+Download and unzip the reference package into `~/Desktop/startup_bulk`:
+
+.. code-block:: console
+
+   wget https://terra-1-g.djicdn.com/71a7d383e71a4fb8887a310eb746b47f/psdk/e-port/usb-bulk-configuration-reference.zip \
+     && unzip usb-bulk-configuration-reference.zip -d startup_bulk \
+     && mv startup_bulk/ ~/Desktop/ \
+     && chmod +x ~/Desktop/startup_bulk/*
+
+
+Reboot
+------
+
+Load necessary kernel modules on boot
+------------------------------------
+
+Append to `/etc/modules` (ensure the file remains correctly formatted):
+
+.. code-block:: console
+
+   echo -e "configfs\nlibcomposite\nusb_f_fs\ntegra-xudc" | sudo tee -a /etc/modules
+
+Test the setup
+--------------
+
+.. code-block:: console
+
+   cd /opt/nvidia/l4t-usb-device-mode/ 
+   ./nv-l4t-usb-device-mode-start.sh
+
+If it works, re-enable the service
+-----------------------------------
+
+.. code-block:: console
+
+   sudo systemctl enable /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode.service
+
+Now both bulk mode and network mode are configured.
+
+Prerequisites to configure any Xavier/Orin NX/AGX board to connect to PSDK, These steps are only done **every time the board boots up**
+=======================================================================================================================================
+.. _aerial_platform_dji_matrice_psdk_installation_prerequisites_software_every_time:   
+
+M300
+----
+
+**Hardware**
+Use the Type-C port supporting both bulk and usbnet mode
+
+- Onboard computer = host 
+- E-Port = device.
+
+.. image:: resources/device_mode.jpg
+   :alt: E-Port in device mode
+
+- On the AGX, connections as shown:
+
+.. image:: resources/agx_connections.jpg
+   :alt: AGX USB connections
+
+**Software**
+
+Enable host mode on the onboard computer:
+
+.. code-block:: console
+
+   echo host | sudo tee /sys/class/usb_role/usb2-0-role-switch/role
+
+You should now see `/dev/ttyACM0` when powering on the drone.
+
+M350
+----
+
+**Hardware**
+Use the Type-C port supporting both bulk and usbnet mode
+
+- Onboard computer = device
+- E-Port = host.
+
+.. image:: resources/host_mode.jpg
+   :alt: E-Port in host mode
+
+- On the AGX, connections as shown:
+
+.. image:: resources/agx_connections.jpg
+   :alt: AGX USB connections (host)
+
+**Software**
+
+Enable device mode on the onboard computer:
+
+.. code-block:: console
+
+   echo device | sudo tee /sys/class/usb_role/usb2-0-role-switch/role
+
+Bring up the `l4tbr0` interface:
+
+.. code-block:: console
+
+   sudo ifconfig usb0 192.168.1.1 netmask 255.255.255.0 up
+
+Then verify with:
+
+.. code-block:: console
+
+   ifconfig
+
+You should see an entry for `l4tbr0`. If not, repeat the above steps.
+
+M30T
+----
+
+**Hardware**
+Use the Type-C port supporting both bulk and usbnet mode
+
+- Onboard computer = device
+- E-Port = host.
+
+.. image:: resources/host_mode.jpg
+   :alt: E-Port in host mode
+
+- On the NX, connections as shown:
+
+.. image:: resources/nx_connections.jpg
+   :alt: NX USB connections
+
+**Software**
+
+Enable device mode on the onboard computer:
+
+.. code-block:: console
+
+   echo device | sudo tee /sys/class/usb_role/usb2-0-role-switch/role
+
+Bring up the `l4tbr0` interface:
+
+.. code-block:: console
+
+   sudo ifconfig usb0 192.168.1.1 netmask 255.255.255.0 up
+
+Then verify with:
+
+.. code-block:: console
+
+   ifconfig
 
-Refer to the `DJI PSDK ROS2 <https://github.com/umdlife/psdk_ros2>`_ for the harware and software requirements.
+You should see an entry for `l4tbr0`. If not, repeat the above steps.
 
 
 .. _aerial_platform_dji_matrice_psdk_installation_package: