.. _flash_mfi:

How to flash MFI
################

1. Parepare mfi image on your host computer.
--------------------------------------------

i) Download mfi image.  

  * Go to the website:
  
    - `RQX-580/58G <https://www.adlinktech.com/Products/ROS2_Solution/ROS2_Controller/RQX-580_58G/>`_.
    
    - `RQX-590 series <https://www.adlinktech.com/Products/ROS2_Solution/ROS2_Controller/RQX-59_series/>`_. 

  .. image:: images/device-web.png
    :width: 80%
    :align: center
  
  * Login or create an account.  

  * Click BSP to download the BSP MFI Binary  

  .. image:: images/BSP.png
    :width: 80%
    :align: center

ii) Check ROScube is in recovery mode now.

.. code-block:: bash

  lsusb | grep NVIDIA

.. image:: images/nvidia-usb.png
  :width: 80%
  :align: center

.. note:: 
    
    If successful, it will show **APX**.


2. Flash image to ROScube
-------------------------

Assuming image's file name is ``RQX-580-MFI-Jetpack-4-5.zip``. Un-archive this file first.

.. code-block:: bash

     unzip RQX-580-MFI-Jetpack-4-5.zip

Then, use internal tool, ``nvmflash.sh`` to run the flashing procedure. **Please make sure your Host PC has attached to ROScube-X**.
Besure run ``./nvmflash.sh`` as root permission.

.. code-block:: bash

    cd RQX-580-MFI-Jetpack-4-5/mfi_rqx_580
    sudo ./nvmflash.sh 

.. note:: 
    
    You may need to input your **host PC**'s root password when flashing the image.

.. note:: 
    
    If there are any errors, you can view ``mfilogs`` folder for further information.

After 8 ~ 10 minutes, the flashing procedure will be complete.

.. image:: images/nvidia-flash-success.png
  :width: 80%
  :align: center

**Massive Flashing**


``nvmflash.sh`` supports massive flashing, which means you can attach multiple ROScube and run ``nvmflash.sh`` to flash the image to multiple boards at the same time.

.. warning:: 
    
    Please do not attach different models (e.g. RQX580 and RQX58G) to your host computer when using nvmflash.sh.