Unable to boot Xavier NX in PCIe endpoint mode with Jetpack 5.1 in UEFI mode

We developed L4T R35.2.1 BSP our carrier board with Xavier-NX. When it booted up, the system get hang on UEFI stage.

The patch described HERE is available in the tegra194-p3668-p3509-overlay.dts already.

The error boot log:

Jetson UEFI firmware (version 2.1-32413640 built on 2023-01-24T23:12:27+00:00)

ESC to enter Setup.

F11 to enter Boot Manager Menu.

Enter to continue boot.

** WARNING: Test Key is used. **

…

L4TLauncher: Attempting Direct Boot

EFI stub: Booting Linux Kernel…

EFI stub: Using DTB from configuration table

EFI stub: Loaded initrd from LINUX_EFI_INITRD_MEDIA_GUID device path

EFI stub: Exiting boot services and installing virtual address map…

▒▒ERROR: MPIDR 0x80000000: exception reason=0 syndrome=0xbe000000

ERROR: **************************************

ERROR: RAS Error in L2, ERRSELR_EL1=0x200:

ERROR: Status = 0xfc00640d

ERROR: IERR = SCF to L2 Decode Error Read: 0x64

ERROR: SERR = Illegal address (software fault): 0xd

ERROR: Overflow (there may be more errors) - Uncorrectable

ERROR: Uncorrectable (this is fatal)

ERROR: MISC0 = 0x80000000100000

ERROR: MISC1 = 0x20240000000

ERROR: ADDR = 0x800000000f40ffe8

ERROR: **************************************

ERROR: **************************************

ERROR: RAS Error in SCF_IOB, ERRSELR_EL1=0x401:

ERROR: Status = 0xf4009604

ERROR: IERR = CBB Interface Error: 0x96

ERROR: SERR = Assertion failure: 0x4

ERROR: Uncorrectable (this is fatal)

ERROR: MISC0 = 0x40

ERROR: MISC1 = 0x264a6445e1

ERROR: ADDR = 0x800000000f40ffe8

ERROR: **************************************

ERROR: RAS error handled!

ERROR: sdei_dispatch_event returned -1