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Welcome to DRIVE Development Platform
- Architecture
- Software Components
  - NVIDIA DRIVE™ Foundation SDK/PDK
    - NVIDIA DRIVE™ Foundation Components
    - Delivery Method
  - NVIDIA DRIVE™ Linux SDK/PDK
Setting Up Your Board
- Setting Up Your E3550 Platform
- Setting Up Your P3479 Platform
- Powering On/Off the Device
- Placing the Board in/out of Recovery Mode
Installation
- Installing with the SDK Manager
- Installation Using the Command Line
  - Installing and Flashing Foundation and Ubuntu Linux SDK and PDK
  - Installing Yocto Linux SDK and PDK
- Setting Up Access to the nv-git-07 Server
- Downloading Kernel Sources from nv-git-07
- Installing CUDA
Camera Setup and Configuration
- Setting Up the Cameras
MCU Setup and Configuration
- SoC to Microcontroller Communications
- Using the MCU Console
  - UART Settings
  - MCU Console Commands
- Accessing Tegra from UART
  - Software Setup on the Linux Host
- Time Synchronization between AURIX™ and the SoC Using gPTP
- FlexRay Application Demonstration
  - FlexRay Usage with CANOE
Flashing Basics
- UFS Device Provisioning
- Flashing AURIX
- Flashing the PCIe Switch and Configuration File
  - Figuring out the Firmware and Configuration File Version
  - Prerequisites for Flashing PM8533 PCIE Switch 2
- Flashing PCIe Switch Configuration/Firmware from NVIDIA DRIVE™ Xavier A
Flashing Customization
- Flashing the Board
- Bootburn
- Flashing Automotive Yocto Linux built from nv-git-07 sync
- Flashing Using the AURIX Console
- Building the Flashing Kernel
- Flashing Preprocessed Binaries
- Flashing Binaries: Offline Generation
Clocks
- CPU Frequency Scaling
  - CPU Cluster Cores Frequencies
  - CPU Frequency Deviations
- GPU Frequency Scaling
  - GPU Voltage Scaling
  - GPU Settings
    - GPU Frequency Settings and Calibration Issues
Thermal Management
- Tj-max(Tj-therm) Thermal Sensor
  - Tj-max(Tj-therm) Thermal Sensor
- Tegra Internal Thermal Sensors
  - Determining Sensor Calibration
    - Viewing Various Thermal Sensor Information
- External Thermal Sensors
- Thermal Shutdown
- Thermal Protection During Boot
  - User Space Thermal Alert
- Thermal Management with Fan Control Application
  - Control Flow of Fan Control Application
  - Application Usage and Options
    - Usage
- External Thermal Sensor
System Programming
- Compiling the Kernel (NVIDIA DRIVE Linux)
- Building Cross Toolchains
- Installing an Early Boot Partition
- Building the Yocto Project Based Components
- Probing RDC Pins
  - Probing RDC Pins in Quickboot
  - Probing RDC Pins in Kernel
- Programming the Sensor Processing Engine (SPE)
- PWR_I2C Slaves’ Access to Rich OS
- SKU Framework: Customizing
- Configuring Power on BPMP Firmware
  - BPMP Firmware Power Management Services
  - Modifying and Compiling the BPMP-FW Device Tree
Data Distribution Service
- Terminology
  - Terminology
  - Installing OpenDDS
- Using Sample Applications
  - Running complex_idl_example test app
- Complex IDL with static discovery
- OpenDDS-EGL synchronization
  - Compile required binaries
  - Running dds_egl test application
- Suggested Use Cases
  - Single VM/Intra-SoC use cases
- Inter-VM and Inter-SoC Use Cases
- Data Types / IDL
- Discovery Model
- Transport Model
  - Transport Selection Hierarchy
- Programming Guidelines
  - Writing a Publisher
  - Writing a Subscriber
- QoS for DDS entities
  - OpenDDS QoS Policies
- Recommended Policies for Use-cases
- Guidelines on integration with other Build Systems
- Migration (to other DDS implementation) & Interoperability Notes
  - Spec Compatibility
- Design Effort for Migration to Different DDS implementation
- Coding Effort
System Software Components and Interfaces
- Network Topology in AV Configuration
- Ethernet 100M/1G Networking
- File System Components (Target)
- Ethernet Jumbo Frames
- Updating Firmware on 10GbE NIC
- GPIO Number
  - Using GPIO Number
  - Getting GPIO Number
- Accessing GPIO User Space
  - Exporting GPIOs through /sys Interface
  - Exporting with the API
- CAN Driver
- Kernel Modules and Limitations
- UFS Device Provisioning
- Watchdog Timer
  - Programming Counter Expirations at 1/3 Timeout
  - Enabling WDT0 from Kernel or User Space
- Non-Transparent Bridging
- Realtime Clock
  - Automatically Setting the System Time at Boot
DRAM ECC
- ECC Bits Storage
- DRAM ECC Enabled Boot on DRIVE Development Platform Pegasus
  - Confirming the DRAM ECC enabled boot
- Software Features
- Diagnostics
Displays
- Display Server Application
  - Configuring displayserver
  - Usage Examples
- Display Resolution Configuration
  - Adding EDID Blob
  - Alternative Methods
    - Specifying Mode in Device Tree
Using NvMedia
- Connecting and Integrating the Cameras
Understanding NvMedia
- Image Processing and Management
- Video Processing
- Vision Programming
Understanding NvMedia IPP Framework
- IPP Component Types
- IPP Plugin
- IPP Internals
NvMedia Sample Applications
- Building and Running the NvMedia Samples
- Camera Module EEPROM Tools (nveeprom_flash and nveeprom_dump)
- EGL Stream (nvm_eglstream)
- Vision Programming Interface (nvm_vpi)
- IPP Raw (nvmipp_raw)
- Image Camera Capture (nvmimg_cap)
- Image Capture Calibrate (nvmimg_cc)
- Image Play (nvmimg_play)
  - Command Line Options
    - Required Options
    - Optional Options
  - Examples
- Image Encoder (nvmimg_enc)
- Image JPEG Encode (nvmimg_jpgenc)
  - Example Commands
  - Command Options
- Image JPEG Decode (nvmimg_jpgdec)
- Image LDC (nvmimg_ldc)
- Video Encode (nvmvid_enc)
- Video Demo (nvmvid_play)
  - Command Line Options
    - Required Options
    - Other Options
  - Examples
- NvMediaImage from RAW Image Sensor to CUDA Consumer on dGPU (nvmipp_bayerdgpu)
  - Command Line Options
  - Example Commands
- NvMediaImage to CUDA Consumer on dGPU (nvm_egldgpu)
- Image OpticalFlow/StereoDisparity (nvmedia_imageofst)
- NvMediaImage Weave2D (nvmimg_weave2d)
- Creating NvMedia Capture and Display Surfaces
  - Where Surfaces with Additional Flags Are Created
  - Insufficient Memory Fault
Graphics Programming
- OpenGL ES Programming Tips
- OpenGL ES Porting Guide
- EGLStream Support for Multiple Consumers/Producers
  - Multiple Acquire and Consumer Support
  - Using NvMedia EGLStream to Send an Image to Multiple Consumers
- Binary Shader Program Management
- GLSLC Shader Program Compiler
  - Compiled Shader Program Characteristics
  - Libraries Loaded On-Demand
- Tegra GPU Scheduling Improvements
- Stream-Server
Audio Programming
- Audio Virtualization Driver
- Audio Processing Modules
- Audio Codec Programming
Window Systems
- Building and Running Samples
- Wayland Window System
- EGLDevice
- X11 Window System
Bootloader
- Boot Loader Architecture
- Supported Features
- TegraBoot Overview
- Tegra Boot Flow
- Bootburn: Advanced Concepts
- Customizing Quickboot
- Quickboot Device Tree
- Quickboot Sample Log
- Recovery Mechanism
- Profiling Boot Time
- Preparing the Root File System on USB Hard Drive
Understanding Security
- Root of Trust and Chain of Trust
- Tegra Chain of Trust
- Secure Boot
  - Public-Key Cryptography
  - Secure Boot Details with PKC Protection
- Fuse Burning Responsibilities
- What is a Trusted OS?
  - Trusted Execution Environment Secure Storage
    - Development Mode
    - Secure Storage Flow
- Trusted Operating System Virtualization
- GlobalPlatform API Wrapper
- TEE Secure Storage
- Secure Counter
- Installing the Infrastructure
  - Trusted and Client Application Development
    - Building Client Applications on Linux
    - Building Client Applications on QNX
- User Data Encryption on Linux
- EnError! Bookmark not defined.abling JTAG Support on Secure Targets
- Encrypted Key Storage in eMMC
- Disk Encryption
Factory Secure Key Provisioning
- Fuse Programming and Fuse Burning
- The Fuse Burning Toolkit
- Fuse Blob Format
Security
Three-Layered Safety Supervision Framework
- Overview
- Objective and Behavior of 3LSS Modules
- 3LSS Framework Availability
- Configuration Information
  - Published Information
  - User Configurable Parameters
- Use Case Demonstration
- L3SS Porting Guide
  - L3SS AUTOSAR Composition
  - TEGRA-MCU Interface Settings
    - Safety Health Communication over SPI
    - Tegra Safety Error Signal Communication
- Assumptions Of Use
- MB1 Platform Configuration
- Libnvupdate Framework
  - Update Mechanism
  - Updating the RAMDisk Partition
Robot Operating System (ROS)
- Installing ROS
- Cross Compiling ROS
Utilities
- Boot Profiling Utility
- Device Tree on Tegra
- GNU Debugger
- Linux Tracing Toolkit
- Triggering System State Transition from Linux
  - Receiving Partition State Transition Message
- Minicom Terminal Emulation
- mNAND Health and Status Utility
- mNAND Refresh Utility
- Sysfs and Procfs Entries
- tegrastats Utility
- Utilities for All Platforms
- Tegra Combined UART and tcu_muxer Utility
Manifest
- Foundation
  - NVIDIA DRIVE Foundation Directory
  - Toolchains Directory
- Linux SDK/PDK
  - NVIDIA DRIVE Directory
  - CUDA Directory
Appendix
- About this Documentation
- Crypto Interface
- I2C Settings
Mass Storage Partition Configuration
- Mass Storage Partitions Configuration
- Example Virtual Partition Configuration
  - CFG v1
  - CFG v2
- Example Native OS Partition Configuration
Additional Documentation
- NVIDIA Documentation
- Third-Party Documentation
Glossary
Legal Information
Open Source and Third-Party Software Licenses
- Open Source Software Licenses
- Virtualization Open Source Software Licenses
- RM Server Open Source Software Licenses
- Third-Party Licenses