> ## Documentation Index > Fetch the complete documentation index at: https://docs.almond.bot/llms.txt > Use this file to discover all available pages before exploring further. # Advantech Thor (MIC-742) > Wire, flash, and bring up the Advantech MIC-742 Jetson Thor Compute Kit with GMSL cameras. The Jetson Thor Compute Kit is the **Advantech MIC-742-AT** (Jetson T5000, 128GB) fitted with a GMSL2 frame grabber and Wi-Fi. This guide covers what's in the box, wiring the Camera Kit to it, and putting the right OS image and camera driver on it before you [install Axol](/installation). > [!WARNING] > > **Never flash the MIC-742 with NVIDIA's stock JetPack image.** JetPack BSPs are built per carrier board: the image NVIDIA publishes for its Thor developer kit does not match the MIC-742's carrier. With it, the Stereolabs MIC-742 camera driver hangs `nvidia_drm` at boot. Always use Advantech's MIC-742 image (see [Flash the OS](#flash-the-os)). ## What's in the box | Part | Advantech P/N | Notes | | - | - | - | | MIC-742 Thor system | `MIC-742-AT7A1` | Jetson T5000 128GB, SSD | | DC power adapter | `XMIC-FSP230-AAAN3` | Use only this adapter | | AC power cord | `1702002600` | | | GMSL2 frame grabber | `MIC-FG-8G2C1` | Factory-installed | | Frame grabber power cable | `1700026907-01` | Factory-installed | | Mini-FAKRA to FAKRA adapter cable | `1751000758-01` | One per 4 cameras | | Wi-Fi module | `EWM-W179M201E` | Factory-installed | | Wi-Fi antenna cables and antennas | `1751000620-01` ×2, `1751000460-01` ×2 | | GMSL and Wi-Fi are factory options on the MIC-742. Advantech fits them before the unit ships, and installing them yourself voids the warranty. If a unit arrives without them, contact Almond rather than opening the chassis. ## Power The MIC-742 takes DC through a **2-pin plug-in terminal block** on the chassis. The mating plug ships with the system. For a spare, or to build your own harness (for example, to power the Thor from a Jelly base), the plug is Advantech `1652002202`, which is **Dinkle `5ESDVM-02P`** ([DigiKey](https://www.digikey.com/en/products/detail/dinkle-corporation-usa/5ESDVM-02P/14566173)). > [!NOTE] > > Abruptly cutting power to the Jetson can corrupt the OS. Shut it down from the OS first, then unplug its adapter. ## Wire the cameras The Camera Kit's GMSL cables end in standard FAKRA connectors, and the MIC-742 frame grabber takes **Mini-FAKRA**. The `1751000758-01` adapter cable converts between them, carrying up to **4 cameras** per cable. The Camera Kit's three cameras (two wrist, one head) fit on one adapter. **1. Mount the cameras on Axol** Follow [Axol Cameras](/hardware-setup/cameras) to fit the wrist and head cameras, and note which serial goes where. **2. Connect the adapter cable** Plug the adapter's Mini-FAKRA end into the frame grabber's GMSL2 port on the MIC-742. **3. Connect the cameras** Plug the head camera's GMSL cable and the two GMSL cables from the wrist-camera ports on the back of the robot into the adapter's FAKRA inputs. **4. Connect USB and power** Run the USB cable from the back of the robot to the MIC-742, then connect the MIC-742's DC adapter. ## Flash the OS Axol targets Advantech's MIC-742 image for **JetPack 7.2 (L4T 39.2)**. Units can arrive with an earlier JetPack 7 release, so reflash unless the unit already reports L4T 39.2 (see [Verify](#verify)). | File | Download | MD5 | | - | - | - | | OS image (BSP), 4.2 GB | [MIC-742\_Thor\_7.2\_V1.0.0\_SDK.tbz2](https://downloads.almond.bot/mic742/jp7.2/MIC-742_Thor_7.2_V1.0.0_SDK.tbz2) | `67807ecc0d316637fecbe7b282d56c4f` | | Advantech flashing SOP | [MIC-742\_Jetpack\_7\_Flash\_SOP.pdf](https://downloads.almond.bot/mic742/jp7.2/MIC-742_Jetpack_7_Flash_SOP.pdf) | | > [!WARNING] > > Flashing erases the SSD. Copy off any datasets or calibration you want to keep first. You need a separate **x86\_64 host PC running Ubuntu 24.04**, a **USB-A to Micro-USB** cable, and an HDMI monitor for the MIC-742. Advantech's notes for the host: * Use a physical machine, not a virtual machine. USB passthrough to VMs drops the connection mid-flash. * Plug the cable straight into the host, with no USB hub in between. * Run the commands as a normal user with `sudo`, not logged in as `root`. * Keep the HDMI monitor attached to the MIC-742 until the flash finishes and it boots to the desktop. **1. Download and check the image** On the host PC: ```bash theme={null} cd ~/Desktop curl -LO https://downloads.almond.bot/mic742/jp7.2/MIC-742_Thor_7.2_V1.0.0_SDK.tbz2 curl -LO https://downloads.almond.bot/mic742/jp7.2/MIC-742_Thor_7.2_V1.0.0_SDK.md5sum md5sum -c MIC-742_Thor_7.2_V1.0.0_SDK.md5sum # expect: OK ``` **2. Extract it** ```bash theme={null} sudo tar xvpf MIC-742_Thor_7.2_V1.0.0_SDK.tbz2 ``` This creates `~/Desktop/MIC-742_Thor_7.2_V1.0.0_SDK`. **3. Install the flashing prerequisites** The host needs internet access for this step. ```bash theme={null} cd ~/Desktop/MIC-742_Thor_7.2_V1.0.0_SDK sudo ./tools/l4t_flash_prerequisites.sh ``` **4. Put the MIC-742 in recovery mode** 1. Shut the MIC-742 down and unplug its power. 2. Connect the Micro-USB port next to the **REC** and **RST** buttons to the host PC. 3. Press and hold **REC**. 4. Plug in power and press **RST**, keeping **REC** held. Release **REC** 5–10 seconds after pressing **RST**. Confirm it from the host: ```bash theme={null} lsusb | grep 0955:7026 # expect: NVIDIA Corp. APX ``` If nothing shows, repeat the button sequence. **5. Flash** ```bash theme={null} cd ~/Desktop/MIC-742_Thor_7.2_V1.0.0_SDK sudo bash advantech/only_flash.sh ``` **6. Reboot** When the script reports success, press **RST**. The MIC-742 boots into the new image. Complete the Ubuntu first-boot setup on the HDMI monitor. ## Install the camera driver Once the image boots, install the **Stereolabs driver built for the MIC-742**: `stereolabs-advantech-mic742` release **1.4.3 for L4T 39.2.0**. It is the only driver that pairs with Advantech's image. Driver packages for the ZED Box, the ZED Link, or NVIDIA's devkit will not work on this carrier. | File | Download | MD5 | | - | - | - | | Camera driver | [stereolabs-advantech-mic742\_1.4.3-L4T39.2.0\_arm64.deb](https://downloads.almond.bot/mic742/jp7.2/stereolabs-advantech-mic742_1.4.3-L4T39.2.0_arm64.deb) | `e92cdd0b2e4bb2f81a4a43eb9bda1b4d` | On the MIC-742: ```bash theme={null} curl -LO https://downloads.almond.bot/mic742/jp7.2/stereolabs-advantech-mic742_1.4.3-L4T39.2.0_arm64.deb sudo dpkg -i stereolabs-advantech-mic742_1.4.3-L4T39.2.0_arm64.deb sudo reboot ``` Then install the ZED SDK release for JetPack 7.2 (L4T 39.2) from the [Stereolabs download page](https://www.stereolabs.com/developers/release). > [!NOTE] > > Axol's [`zed.driver`](/cli/zed-driver) step manages only the ZED Box and ZED Link driver packages (`stereolabs-zed*`). It leaves the MIC-742 driver alone, so the installer and self-updater never replace it. Upgrade it by hand, and only to a release built for the L4T version Advantech's image runs. ## Verify Check the L4T release and the driver before installing Axol: ```bash theme={null} head -1 /etc/nv_tegra_release # expect: # R39 (release), REVISION: 2.x dpkg -l | grep stereolabs # expect: stereolabs-advantech-mic742 1.4.3-L4T39.2.0 ``` If the first line doesn't say `R39` with revision `2`, reflash with Advantech's image. If the system hangs at boot after the driver install, the unit is running a non-Advantech image: reflash it from [Flash the OS](#flash-the-os). The driver install alone can't fix it. ## Install Axol With the image and driver in place, run the [one-command install](/installation). On the Thor it also applies the real-time tuning for the T5000 ([`jetson.setup`](/cli/jetson-setup)): max power mode, the GPU's `performance` governor, the CAN interrupt, and the camera daemon's scheduling. ## Next steps > **[Installation](/installation)** > > Install Axol on the Thor and open the web control panel. > **[Axol Cameras](/hardware-setup/cameras)** > > Mount the Camera Kit's wrist and head cameras. This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.