feat(modalix): ARK-OS package for SiMa Modalix / eLxr (JAJ) - #112
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AlexKlimaj wants to merge 11 commits into
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feat(modalix): ARK-OS package for SiMa Modalix / eLxr (JAJ)#112AlexKlimaj wants to merge 11 commits into
AlexKlimaj wants to merge 11 commits into
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ARK-OS remains a companion .deb layered on a base OS — not a full flash image. Add platform "modalix" for ARK Just a Jetson + Modalix SoM on eLxr 12 (aria): - Service user sima (SiMa default), not jetson/pi - Systemd unit set without jetson-can or rid-transmitter - FMU VBUS/reset helpers are no-ops until nRESET is mapped - Build baselines aria/bookworm (Python 3.11); preinst allows aria↔bookworm - install_ark_os.sh detects eLxr / Modalix DT model - CI matrix leg: arm64 debian:bookworm → ark-os-modalix-bookworm Document flash order: SiMa eLxr + ark-jaj.dtbo first, then this package.
install_ark_os.sh checked for a user named after PLATFORM (modalix), but the package runs as ARK_USER=sima on eLxr. Check the real service account instead.
Detect SiMa Modalix/eLxr correctly (do not treat Just a Jetson as NVIDIA). Populate model/module from device-tree and serial from AT24CSW unique ID. Report power draw from /run/ark-jaj/sys-power (INA238). UI hides L4T, JetPack, CUDA stack, and Jetson clocks on non-Jetson devices.
compatible is multi-string; use all tokens so module shows simaai,modalix-som instead of falling back to a generic label.
Expose optional power.voltage (V) and power.current (A) from the JAJ sys-power publisher / hwmon, and display them in the System UI when set.
Expose resources.disks (eMMC + NVMe etc.) from block devices and render a usage bar per disk. Unmounted drives show capacity as Not mounted.
Modalix UART1/Telem2 is not usable (PAB V3 and this SoM rev). dds-agent
now detects simaai,modalix / eLxr and runs MicroXRCEAgent udp4 :8888.
Install autodetection checks Modalix before *Jetson* so PAB V3 DTB
("ARK Jetson PAB V3 with SiMa Modalix SoM") is not classified as Jetson.
Modalix dds-agent.service waits on network-online, not ttyTHS1.
SiMa PAB V3 has no Telem2 UART path. The modalix unit now execs udp4 :8888 directly; start_dds_agent.sh still detects modalix vs Jetson/Pi if the wrapper is used.
Modalix SoM has no DT serial-number and the on-module 24c128 is blank. Read the PAB V3 / JAJ AT24CSW010 unique ID on I2C1 0x58 word 0x80 (same protocol as jetson_serial_number.py).
reset_fmu_fast / reset_fmu_wait_bl drive SIO7 line 5 high then low. Ship udev so /dev/gpiochip* is root:gpio 0660 for user sima.
dds-agent.toml selects transport, UART device/baud, or UDP/TCP port and companion IP. Defaults stay serial on Jetson/Pi and Ethernet on Modalix. The start script launches MicroXRCEAgent from that file.
AlexKlimaj
marked this pull request as ready for review
August 24, 2026 23:10
dakejahl
reviewed
Aug 24, 2026
| # Default transport and serial device are filled per platform at package build. | ||
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| transport = "@DDS_TRANSPORT@" | ||
| transport_options = ["serial", "ethernet", "tcp"] |
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does running the dds-agent over ethernet work?
| |--------|----------|----------| | ||
| | jetson | jetson | jetson | | ||
| | pi | pi | pi6x | | ||
| | sima | edgeai | modalix (SiMa eLxr / JAJ+Modalix) | |
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Suggested change
| | sima | edgeai | modalix (SiMa eLxr / JAJ+Modalix) | | |
| | sima | edgeai | modalix | |
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Summary
ARK-OS is a Debian package of companion services (mavlink-router, web UI, video, log upload, etc.), not a full OS image. This PR adds a
modalixplatform so the same stack can run on SiMa Modalix + eLxr 12 (aria) — e.g. ARK Just a Jetson with Modalix SoM — after the SiMa base image is flashed.How to get it on a Modalix board
ark-jaj.dtbo.simamust exist):sudo ./packaging/install_ark_os.sh --platform=modalix ./ark-os-modalix-bookworm_*.debPlatform differences vs Jetson
jetsonsimaCode changes
packaging/build.sh—modalixplatform,ARK_USER=sima, baselinesaria:3.11/bookworm:3.11packaging/assemble_tree.sh,build_venv.sh,install_ark_os.sh,DEBIAN/*packaging/service-files/modalix/*— jetson set minus can/rid,User=simaplatform/modalix/— README + no-op reset/VBUS helpersdebian:bookwormmatrix leg forark-os-modalix-bookwormTest plan
sima,systemctl status ark-os.targetRelated
ark-jaj.dtbo, INA238/run/ark-jaj/sys-power