Jetson Linux - Nvidia
JETSON LINUXDA 07991-07 April 22, 2020Advance Information Subject to ChangeNVIDIA CONFIDENTIAL Prepared and Provided under NDASoftware Features
TABLE OF CONTENTSSoftware Features .1Jetson Xavier NX Software Features . 2Bootloader . 2Toolchain . 3Kernel . 3Camera Interface . 3LSIO . 3HDMI . 7DP . 8PCIE . 9SDMMC . 9Security Engine . 10USB 3.0 . 12Ethernet . 13Ethernet Controller Features (EQOS) . 13Power Modes (Profiles) . 13RTC . 14Watchdog. 14System. 14CUDA . 14Graphics . 15EGL Details . 15GL and Vulkan Details . 15Multimedia . 16Video Decoders . 16Video Encoders . 16Display Outputs . 19Conversion, Scaling, Cropping, and Rotation Formats . 19CSI and USB Camera Features . 19BPMP I2C Master . 20SPE-UART . 21SPE DMA . 21I2C Slave . 21CAN . 21Audio . 22Jetson Nano Software Features . 24Bootloaders. 24Toolchain . 24System. 24Kernel . 25NVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. ii
I/O . 25CUDA . 31Graphics . 31EGL and OpenGL ES Support . 31Video Decoders . 31Video Encoders . 32Display Outputs. 35Conversion, Scaling, Cropping, and Rotation Formats . 35CSI and USB Camera Features . 35Audio . 36Low Memory Warning Feature . 37Jetson AGX Xavier Series Software Features . 38Bootloader . 38Toolchain . 39Kernel . 39Debug Interface . 39Camera Interface . 39LSIO . 40HDMI . 44DP . 44PCIE . 45SDMMC . 46SATA . 47SATA-Marvel (over PCIe). 47UFS . 47Security Engine . 48USB 3.0 . 49Ethernet . 50Ethernet Controller Features (EQOS) . 51Power Modes (Profiles) . 51RTC . 51Watchdog. 51System. 52CUDA . 52Graphics . 52EGL Details . 53GL and Vulkan Details . 53Multimedia . 53Video Decoders . 54Video Encoders . 54Display Outputs . 57Conversion, Scaling, Cropping, and Rotation Formats . 57CSI and USB Camera Features . 57BPMP I2C Master . 58SPE-UART . 59NVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. iii
SPE DMA . 59I2C Slave . 59CAN . 59Audio . 60Jetson TX2 Series Software Features . 62Bootloaders. 62Toolchain . 63Kernel . 63Debug Interface . 63Camera Interface . 63Kernel I/O Interfaces . 63Ethernet Controller Features (EQOS) . 68Max-Q and Max-P . 68RTC . 69Watchdog. 69GPIO . 69System. 69CUDA . 70Graphics . 70EGL and OpenGL ES Support . 70Video Decoders . 71Video Encoders . 71Display Outputs. 74Conversion, Scaling, Cropping, and Rotation Formats . 74CSI and USB Camera Features . 75Audio . 76Jetson TX1 Software Features . 78Boot Loaders . 78Toolchain . 78Kernel . 78Debug Interface . 78Kernel I/O Interfaces . 78CUDA . 84Graphics . 84EGL and OpenGL ES Support . 85Video Decoders . 85Video Encoders . 86Display Outputs. 88Conversion, Scaling, and Rotation Formats . 88CSI and USB Camera Formats . 89Audio . 90NVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. iv
SOFTWARE FEATURESThis topic describes the software features for NVIDIA Jetson products supported inthis release.NVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 1
Software FeaturesJetson Xavier NX Software FeaturesNVIDIA Jetson Linux Driver Package (L4T) supports these software features, whichprovide users a complete package to bring up Linux on targeted NVIDIA JetsonXavier NX devices.Note:Check the Release Notes for constraints related to these features.BootloaderBootloaderBinaryBPMP processorboot binaries (MB1& nvtboot-bpmp)FeatureStorage locationNotesCold boot: QSPIRCM boot: Downloaded overUSB recovery portNext stage storage locationCold boot: QSPIRCM boot: Downloaded overUSB recovery portNext stageCBootStorage device supportQSPIPartition table supportGPT (with protective MBR)Filesystem supportNoneI/O bus supportI2CConsole UARTCBootExecution CPUCCPLEXStorage locationCold boot: QSPIRCM boot: Downloaded overUSB recovery portNext stage storage locationCold boot: eMMC/SDRCM boot: Downloaded overUSB recovery portNext stageKernelStorage device supporteMMC, SD card, & USB drive(no hub support)Partition table supportGPT (with protective MBR)Filesystem supportNoneI/O bus supportI2CConsoleUARTKernel bootQSPI-NOR as primary boot deviceRCM bootNVIDIA CONFIDENTIALJetson LinuxUsing nvboot-cpu as CPU-BLError! No text of specified style in document. 2
Software FeaturesBootloaderBinaryFeatureXUSB boot support (2.0, bulkonly)NotesReading files from GPTpartition.Note: There is no hub driversupport. The pen drive mustbe connected directly to theroot port.SD Card boot supportReading files from GPTpartitionEthernet boot support usingEQOS controller and Marvell phyTFTP, DHCP & NFSRemovable boot device selectionbased on priorityHard-coded priority: SD card,USB, eMMC, network;configurable via CBODisplay (text and splash images)HDMI over HDMI connector;seamless on HDMIPlug-in manager supportKernel DTB; BL DTBT19x CBoot sourceBuildable outside of the JetsonBoard Support Package (BSP)using an ARM64 toolchainSDMMC HS400 mode support forall boot binariesToolchainFeatureTool ChainsNotesAarch64gcc-7.3-glibc-2.25For 64-bit Kernel ion 4.9.140Camera InterfaceInterfaceFeatureNotesCamera support(CSI inputsupport)V4L2 Media-Controller(V4L2 API bypasses ISP)CSI0, CSI1, CSI2, CSI3, CSI4,CSI5LSIONVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 3
Software FeaturesFeatureFeatureNotesPIO modeFIFO access using CPUDMA modeFIFO access using DMAHardware/software based flowcontrolFlow control line togglingfrom hardware/softwareBuffer throttlingFlow control based on data inreceive bufferRx and Tx DMA mode selectionDMA mode transfer on Rx andTx or on only one pathInterrupt modeData transfer completehandling through interruptPolling modeData transfer completehandling through pollingMCR controlModem control accessBaud rate/port configurationChanging port configurationBaud rate adjustmentAdjusting baud rate to fallwithin tolerance rangeSpeed mode (Standard, FM, FM )Speed mode (Standard, FM,FM )Repeat startRepeat start on transfer ofdataNo StartNo address cycle after repeatstartPacket modePacket mode7-bit/10-bit addressing mode7-bit/10-bit addressing modeDMA modeAPB/GPC DMA for FIFO accessClock gating and clock always ONClock control after eachtransfer for power savingRuntime PMRuntime power managementDynamic clock speed changeChange speed of the busInterrupt basedTransfer complete handlingusing interruptBit banging for data transferUse GPIO APIs for datatransferMultiple transfer requestMultiple transfer requestBus clear supportBus clear handling when busis held by device 64k on software based split 64K on software based splitNon-interruptible transferNon-interruptible transferPacked/unpackedData can be put on FIFO inpacked or unpacked format.Packed format reduces theUARTI2CMasterSPI MasterNVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 4
Software FeaturesFeatureGPIONVIDIA CONFIDENTIALJetson LinuxFeatureNotesnumber of I/O accesses onFIFO.Full Duplex ModeDevice can read and writedata simultaneouslyLeast Significant BitOption to send leastsignificant bit first frompacketsDual SPISPI MISO/MOSI can act as Rxand TxLeast Significant Byte FirstOption to send leastsignificant byte first frompacketsHardware based CS control andCS setup/hold timeHardware control the CS andmaintain CS setup and holdtimeSoftware or hardware Chip SelectPolarity SectionChip select can be active highor active low based on theexternal device propertySupported Modes 0/1/2/3SPI communication supportMode 0, 1, 2, or 3DMA modeData written/read to/fromFIFO using DMA modePIO (non-DMA) modeCPU access the FIFO forread/writeGPIO based Chip selectCS line is controlled by theGPIO APIsSPI different clock ratesSet the interface clock speedbased on what device cansupportProd configurationPlatform/chip specificconfiguration ofcontroller/interfaceClock delay between packetsProvision for delay betweenpacketsClock gating and clock always ONDynamic clock enable/disablefor power saveRuntime PMRuntime power managementInterrupt basedTransfer done handlingthrough interruptDifferent packet bit lengthDifferent packet bit lengthMultiple transfer requestMultiple SPI transfer requestfrom single callGPIO request/freeGPIO access permissionPinmux integration with GPIOSGPIO APIs call pinmux forrequired pin configurationError! No text of specified style in document. 5
Software FeaturesFeaturePinmuxAPBDMA/GPCDMATegra WDTNVIDIA CONFIDENTIALJetson LinuxFeatureNotesDirection set/getGPIO direction configurationValue set/getGPIO value set/get to/frompinInterrupt support from all pinsInterrupt support from allpinsWakeup support for SC7Wakeup support for SC7GPIO register dumpGPIO register dumpGPIO framework sysfs supportGPIO framework sysfs supportSuspend/resumeSuspend/resumeFunction configurationPinmux functionconfigurationPinmux config configurationPinmux different propertieslike pull up/down, input,tristate etc. configurationSuspend/resumeSave and restore of pinmuxcontextDrive strengthDrive strength configurationof pinsProd settingProd settingStatic pinmux configurationStatic pinmux configurationDynamic pinmux configurationDynamic pinmuxconfigurationPinmux register dumpPinmux register dumpPinmux configuration dumpingPinmux configurationdumpingPinmux-GPIO integrationPinmux-GPIO integrationMemory to memoryMemory to memory transferMemory to I/OMemory to I/OI/O to memoryIO to memoryCyclic-once modeCyclic modeTransfer done through interruptmodeTransfer done on interruptMultiple transfer requestQueue mechanism of thetransfer requestWatchdog framework supportRegistration with WDTframeworkSystem reset on CPU hangSystem reset on WDT expirySuspend/resume supportSuspend/resume handlingWatchdog interrupt supportWDT reset on ISRError! No text of specified style in document. 6
Software FeaturesFeaturePWMPMCBPMP I2CMasterSPE-UARTSPE DMAI2C SLAVEFeatureNotesWatchdog polling/ping supportWDT start/stop/pin from userspacePWM opsPWM registration toframeworkClock accuracy calculationClock calculationControlling I/O PAD voltage(PWR DETECT)Pad voltage configuration bysoftwareI/O DPD configurationDeep power downconfigurationRead/write PMC registersPMC register access interfacePMC config for bootrom I2CPMC configuration forbootrom I2C/MMIO commandSpeed mode (Standard, FM, FM )Bus speed configurationPacket modeI2C controller configurationin packet mode7-bit/10-bit addressing mode7 and 10 bit addressingBus clear supportBus clear handling when busis held by devicePIO modeFIFO access using CPUHardware flow controlFlow control line togglingfrom hardware/softwareFIFO modeFIFO mode of UART controllerMemory to memoryMemory to memory transferMemory to I/OMemory to I/OI/O to MemoryI/O to memoryContinuous mode supportCyclic modeNormal/Byte modeI2C controller configurationon byte modeFIFO modeI2C controller configurationon FIFO mode7-bit addressing7-bit addressing10-bit addressing10-bit addressingRepeat startRepeat start on transfer ofdataClock stretchingClock line stretchingHDMIFeatureDetailsEDID supportRead and parse EDIDNVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 7
Software FeaturesFeatureDetailsHot-Plug DetectionHot-Plug detection with HDMI monitors and TVHDMI 1.4 (480p/720p/1080p,4K@30Hz)Support for HDMI1.4 with following modes480p/720p/1080p/ 4k@30HzHDMI 2.0(4K @ 30HZ, 4K @ 60HZ)Support for HDMI 2.0 with 4K @ 30 H, 4K @ 60 HzresolutionDriver Suspend/ResumeDriver Suspend/Resume for low powerHDMI - 4K @ 60 Hz - 8-Bit - YUV420HDMI - 4K @ 60 Hz - 8-Bit - YUV 420HDMI as Primary DisplaySupport HDMI as primary displayDual displayMirroring supportHDMI 1.4b complianceHDMI 1.4b complianceHDMI 2.0 complianceHDMI 2.0 complianceSeamless displaySeamless displayDeep color support (12 bits/cellRGB and YUV444)Deep color support (12 bits/cell RGB and YUV444;10 bits/cell RGB is not supported)Deep color support (10/12 bits/cell YUV422)Deep color support ( 10/12 bits/cell RGBand YUV422)Sideband informationSend sideband information to the panel duringvideo refresh; info frames and audio dataFeatureDetailsEDIDRead and parse EDIDDP Hot Plug supportHot-Plug detection with DP monitors or TVDP 4K @ 60 Hz4K mode in DPDP 4K @ 120 Hz or 8K @ 30 hzHBR3 support at beta level (may havecompatibility issues)Seamless displaySeamless displayEnhanced framingError recovery methodsFull Link TrainingHandshake signaling between host and deviceHPD IRQ eventFeedback from the panels in case of linksynchronization lossDriver Suspend/ResumeDriver suspend/resume for low powerPrimary displaySupport DP as primary displayDual displayMirroring supportLink rates 1.62, 2.7, 5.4 GbpsVarious link rates supported by the driver up toHBR2Link rate 8.1 GbpsHBR3 support at beta level (may havecompatibility issues)DPNVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 8
Software FeaturesFeatureDetailsAux linkSupport DP aux linkSideband informationSend sideband information to the panel duringvideo refreshFeatureDetailsControllers with x8 link widthMax x8 link width (C5) (but only x4 link widthcoming out from SoC)Controllers with x4 link widthMax x4 link width (C4) (but only x1 link widthcoming out from SoC)Legacy interruptsApplicable to all controllersMSI & MSI-X interruptsApplicable to all controllers128 byte Maximum Payload SizeApplicable to all controllers256 byte Maximum Payload SizeApplicable to all controllersGen-1 speedApplicable to all controllersGen-2 SpeedApplicable to all controllersGen-3 speedApplicable to all controllersASPM - L0sApplicable to all controllers (disabled by default)PCIEASPM - L1ASPM - L1.1ASPM - L1.2Wake supportApplicable to all controllersAdvanced Error Reporting (AER)Applicable to all controllersEnd Point mode supportC5 (provided converter is available for M.2 key-Mslot)SDMMCFeatureNotesDDR50eMMC interface running in DDR mode at 50 MHzHS200eMMC interface running in SDR mode at 200 MHzHS400eMMC interface running in DDR mode at 200 MHzHS533eMMC interface running in DDR mode at 267 MHzHW tuningSupports tuning in SDMMC controllerPacked CommandsRead & write commands can be packed in groups(either all read or all write) that transfer data for allNVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 9
Software FeaturesFeatureNotescommands in the group in one transfer on the bus, toreduce overheadCacheSimilar to CPU cache, but implemented in eMMC;helps improve performanceDiscardErases data if necessary during background eraseeventsSanitizePhysically removes data from unmapped user addressspaceRPMBSecure accessBKOPSAllows execution of back ground operations whenhost is not being servicedHPIHigh priority interrupt to stop ongoing bkops/reliablewritesPower Off NotificationAllows device to prepare itself to power off properlyand improve user experience during power-onSleepMinimizes power consumption of the eMMC deviceRTPMSoftware feature to save power by switching offclocks when there is no transactions on the busField Firmware UpgradeUpdate eMMC firmwareDevice Life Estimation Type ADevice Life Estimation Type BDevice Health is a mechanism to get vital NAND flashprogram/erase cycles information as a percentage ofuseful flash lifespan.Type A: SLC device health informationType B: MLC device health informationPRE EOL InformationProvides indication about device lifetime reflectedby average reserved blocksHardware Command QueuePerformed by SD/MMC controllerEnhanced Strobe Mode (ESM) inHS400 modeOptional for devices; indicated bySTROBE SUPPORT[184] register of EXT CSDeMMC CQ CQIC featureGenerates coalesced interrupts when the interruptcoalescing mechanism is enabledSuspend/resume and shutdownSecurity EngineFeatureNotesCBC-AES / Host1xCipher block chainingEBC-AES / Host1xElectronic Code BookOFB-AES / Host1xOutput feedbackCTR-AES / Host1xCounter modeCMAC-AES / Host1xCipher-based Message Authentication CodeNVIDIA CONFIDENTIALJetson LinuxError! No text of specified style in document. 10
Software FeaturesFeatureNotesXTS-AES / Host1xXEX-based tweaked-codebook mode withciphertext stealingDRBG (RNG) / Host1xDeterministic random bit generatorSHA / Host1xSecure Hash Algorithm varian
Jetson Linux Driver Package (L4T) supports these software features, which provide users a complete package to bring up Linux on targeted NVIDIA Jetson Xavier NX devices. Note: Check the Release Notes for constraints related to these features. Bootloader Bootloader Binary Feature Notes BPMP processor boot binaries (MB1 & nvtboot-bpmp)
NVIDIA Jetson AGX Orin Series Technical Brief v1.1 TB_10749-001_v1.1 4 Table 1: Jetson AGX Orin Series Technical Specifications Jetson AGX Orin 32GB Jetson AGX Orin 64GB AI Performance 200 TOPS (INT8) 275 TOPS (INT8) GPU NVIDIA Ampere architecture with 1792 NVIDIA CUDA cores and 56 Tensor Cores NVIDIA Ampere architecture
The NVIDIA Jetson TX2 Developer Kit is a full-featured development platform for visual computing. It is ideal for applications requiring high computational performance in a low power envelope. The Jetson TX2 Developer Kit is designed to get you up and running quickly; it comes pre-flashed with a Linux environment, includes .
Linux in a Nutshell Linux Network Administrator’s Guide Linux Pocket Guide Linux Security Cookbook Linux Server Hacks Linux Server Security Running Linux SELinux Understanding Linux Network Internals Linux Books Resource Center linux.oreilly.comis a complete catalog of O’Reilly’s books on Linux and Unix and related technologies .
Getting Started With Jetson Nano Developer Kit Introduction The NVIDIA Jetson Nano Developer Kit is a small AI computer for makers, learners, and developers. After following along with this brief guide, you'll be ready to start building practical AI applications, cool AI robots, and more. 1. microSD card slot for main storage 5.
Jetson Linux Developer Guide. Carrier Board [DS1] Power LED; lights when the developer kit is powered on. [J1] Camera connector; enables use of CSI cameras. The Jetson Xavier NX Developer Kit works with IMX219 camera modules, including Leopard Imaging LI-IMX219-MIPI-FF-NANO camera module and Raspberry Pi Camera Module V2.
Other Linux resources from O’Reilly Related titles Building Embedded Linux Systems Linux Device Drivers Linux in a Nutshell Linux Pocket Guide Running Linux Understanding Linux Network Internals Understanding the Linux Kernel Linux Books Resource Center linu
Download the Jetson Xavier NX Developer Kit SD Card image and write it to the microSD card. Insert the microSD card into the slot on the underside the Jetson Xavier NX module, then attach the display, keyboard, and mouse. Optionally connect an Ethernet cable. (The developer kit includes a WLAN networking adapter that can be configured
Keyboards Together 2 Music Medals Bronze Ensemble Pieces (ABRSM) B (T) In the Meadow Stood a Little Birch Tree Trad. Russian, arr. Mike Cornick: p. 3 B (T) Jazz Carousel Jane Sebba: p. 4 B (T) Heading for Home John Caudwell: p. 5 B (T) Don’t Mess with Me! Peter Gritton: p. 6
