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Getting Started
- What is NVIDIA DRIVE OS 5.2?
- What is NVIDIA DRIVE OS 5.2 SDK?
- Getting Started with NVIDIA DRIVE OS SDK
- What is NVIDIA DRIVE OS 5.2 PDK?
Installing DRIVE OS
Docker User Guide
- Downloading and Installing Docker
  - Download and Install Docker
  - Create an NVIDIA DRIVE OS Directory
- NVIDIA GPU Cloud (NGC)
  - NVIDIA GPU Cloud Access
  - Sign into NVIDIA GPU Cloud
- Pulling Docker Images from NGC
  - Pull Docker Images
- Building DRIVE OS Linux SDK
  - Start the Docker Container
  - Compile Using the Docker Container
    - Example: Compile CUDA
    - Example: Compile TensorRT/cuDNN
- Flashing DRIVE OS Linux
  - Flash Using the Docker Container
  - Troubleshooting
- Finalizing DRIVE AGX System Setup
- Appendix A: Updating Linux File System with Optional Features
- Open-Source License Compliance
  - Obtain Source for Utilities and Libraries
Platform Software Stacks
- DRIVE OS Stack
- Foundation Services Stack
  - Additional Platform Components
- Foundation Virtualization Stack
  - Virtualization Partition Configuration Capabilities
- NvMedia Architecture
  - NvMedia Stack
  - NvMedia API Architecture
Additional Documentation
- Foundation Services Documents
- Reference Documentation
Host/Target Setup and Configuration
- DRIVE OS Linux OEM-Config
- DRIVE OS Linux User Management
  - Steps to Change the Username and Password
    - Steps to Change the Username and Password
  - Adding a Non-Admin User
    - Example
  - Adding an Admin User
  - Common Groups Used in DRIVE OS Linux Filesystems
  - Disabling the Secure Login Feature
- DRIVE OS Linux SSH Server
- Setting Up Networking on the Host and Target
- Setting Environment Variables
  - Setting Variables on the Host System
Board Setup
- Setting Up the E3550 Platform
- Powering On/Off the Device
  - Powering Off the Platform
- Placing the Board in/out of Recovery Mode
System Programming
- Compiling the Kernel (NVIDIA DRIVE Linux)
- NVIDIA Supported Cross Toolchains
  - Steps to Rebuild the Toolchain
Camera Setup and Configuration
- Setting Up the Cameras
MCU Setup and Configuration
- MCU Device Types
- SoC to Microcontroller Communications
- Using the MCU Console
  - UART Settings
  - MCU Console Commands
- MCU Power State Manager
  - Modes Supported Through the Software Interface
  - Modes Supported Through MCU Console Commands
- MCU Communication Components Usage
- Accessing the SoC from UART
  - Software Setup on the Linux Host
- Time Synchronization between MCU and the SoC Using gPTP
- MCU LED Notification
  - OVR Issue
Flashing Basics
- Flashing AURIX
- Identifying the AURIX Step Version
- Upgrading the Firmware
- Identifying the COM Port
- Determining the Installed Version
- Setting Up MemTool on the Windows Host
- Creating the MCU Configuration File
- Flashing the AURIX UPDATE Firmware
- Flashing AURIX on Xavier
- Flashing the PCIe Switch and Configuration File
- Flashing the PCIe Switch Configuration/Firmware from NVIDIA DRIVE Xavier A
  - Updating the PCIe Switch Configuration on Xavier A
- Flashing SPI ROM Image for Marvell 88SE9345 PCIe SATA Controller
  - Updating the Image
Flashing Customization
- Select Boot Chain Platform Configuration
  - Select Boot Chain Platform Configuration
- Bootburn Usage
- Updating Customer Data into BCT
- Generating Flashing Binaries Offline
- Flashing Preprocessed Binaries
Virtualization
CAN Realtime Clock
- Connecting the RTC Module
- Obtaining and Setting the System Time
Networking
- Network Topology for AV+L PCT Config
- Ethernet 100M/1G Networking
- Updating Aquantia Network Interface Controller Firmware
System Software Components and Interfaces
- Enabling/Disabling Serial Port Bus
- Persistence Across Bootburn Flashing Using Persistent Partition
- Linux Filesystems
- Ubuntu Setup (Target)
- CopyTarget
- NVIDIA Build-Kit
- CAN Driver
- Kernel Modules and Limitations
- Non-Transparent Bridging and PCIe Interface Communication
- Crypto Interface
- I2C Settings
Displays
- Display Resolution Configuration
  - Adding EDID Blob
  - Alternative Methods
    - Specifying Mode in Device Tree
NvMedia
- Connecting and Integrating the Cameras
Understanding NvMedia
- Image Processing and Management
- Video Processing
- Vision Programming
- NvMedia Array API
  - NvMedia Array Attributes
  - NvMedia Array Creation and Destroy Functions
- NvMedia Tensor
- NvSciSync
- NvMedia Surface API
- NvMedia Image Pyramid API
  - Characteristics of a Pyramid
  - Creating a Pyramid
- Deep Learning Accelerator Programming
  - Sequence of Tasks
  - Supported Tensor Formats
Understanding NvMedia SIPL Framework
- SIPL Architecture
- Using the SIPL Framework
- Components
- Registering a User Defined Auto Control Plugin
- Retrieving NITO Metadata from a NITO File
NvMedia Sample Applications
- Building and Running the NvMedia Samples
  - Building the NvMedia Samples
  - Running the NvMedia Samples
- EGL Stream (nvm_eglstream)
  - Architecture
  - Command Line Switches
    - Required Command-Line Switches
    - Other Switches
  - Single-Process Examples
  - Cross-Process Examples
  - Cross-Partition Examples
- EGLStream Support for Multiple Consumers/Producers
  - Multiple Acquire and Consumer Support
  - Using NvMedia EGLStream to Send an Image to Multiple Consumers
- Vision Programming Interface (nvm_vpi)
  - Architecture
  - Running the Sample Application
  - Command Line Switches
  - Examples
- Image Capture Calibrate (nvmimg_cc)
  - Command Switches
  - Script File
  - Example of a Command
- Image Decode (nvmimg_play)
  - Command Line Options
    - Required Options
    - Optional Options
  - Examples
- Image Encoder (nvmimg_enc)
  - Architecture and Data Flow
  - Running the Sample Application
  - Command Line Switches
  - Examples for Performing Common Tasks
  - Configuration File Syntax
  - Configuration File Parameters
- Image JPEG Encode (nvmimg_jpgenc)
  - Example Commands
  - Command Line Switches
- Image JPEG Decode (nvmimg_jpgdec)
  - Example Commands
  - Configuration Format
  - Output YUV Resolution
  - Command Line Switches
- Image LDC (nvmimg_ldc)
  - Architecture
  - Running the Sample Application
  - Configuration File Parameters
  - Command Line Options
    - Required Options
    - Other Options
  - Examples
- Image 2D (nvmimg_2d)
  - Command Line Options
  - Required Options
  - Other Options
  - Configuration File Parameters
  - General Configuration Parameters
- Video Encode (nvmvid_enc)
  - Features
  - Architecture
  - Creating the Configuration File
  - Running the Sample Application
  - Command Line Switches
  - Examples
    - Configuration File Parameters
  - Test Cases
    - H.264 Encode Test Cases
    - H.265 Encode Test Cases
- Video Demo (nvmvid_play)
  - Command Line Switches
    - Required Switches
    - Other Switches
  - Examples
- NvMediaImage Surfaces to CUDA Consumer on dGPU (nvm_egldgpu)
  - Single-Process Operation
  - Cross-Process Operation
  - Command Line Options
  - Example Commands
- Image OpticalFlow/StereoDisparity (nvmedia_imageofst)
  - Architecture
    - Command Line Options
  - Examples
- Image 2D Processing (nvmimg_weave2d)
  - Assumptions, Constraints, and Dependencies
  - Architecture
    - Error Handling
  - Running the Sample Application
- SIPL Camera (nvsipl_camera)
  - Architecture
  - Running the application
  - Display Layout
  - Secondary Capture
  - Camera Input Module (CIM) SKU Identification
  - Command Line Switches
  - Interactive Menu Options
  - Optional Features
  - Examples
    - Platform configuration: SF3324 modules in two-lane DPHY mode
  - Camera Commands
- SIPL Sample (nvsipl_sample)
  - Architecture
  - Running the Application
  - Command Line Switches
  - Interactive Menu Options
  - Examples
    - Platform Configuration: SF3324 Module in Four Lane CPHY Mode
  - Camera Commands
    - AR0231 (Camera Module SF3324) in Four Lane CPHY Mode
  - Camera Input Module (CIM) SKU Identification
- Creating Display Surfaces
  - Where Surfaces with Additional Flags Are Created
- Deep Learning Accelerator Programming Interface (nvm_dlaSample)
  - Architecture
  - Running the Sample Application
  - Command Line Switches
  - Examples
Debugging NvMedia CSI Capture Errors
- NvMedia Error Logs
- RCE Traces
- Reading CSI/VI Registers
- VI Frame Count
- CSI Debug Counters
- VI Channel Registers
NvMedia Porting Guide
- Changes Introduced in DRIVE OS 5.2.6.0
- Changes Introduced in DRIVE OS 5.2.3.0
- Changes Introduced in DRIVE OS 5.2.0.0
- Changes Introduced in DRIVE OS 5.1.15.0
  - NvMedia IPP to SIPL Porting Guide
    - Capture and Process from a Live Camera
    - Reprocess a RAW File Using Hardware ISP
- Changes Introduced in DRIVE OS 5.1.12.4
- Changes Introduced in DRIVE OS 5.1.12.0
- Changes Introduced in DRIVE OS 5.1.9.0
- Changes Introduced in DRIVE OS 5.1.6.0
- Changes Introduced in DRIVE OS 5.1.3.0
EGL Interoperability and EGLStream
Open Data Distribution Service on Linux
- Installing OpenDDS
  - Installing OpenDDS
- Using Sample Applications
  - Running the complex_idl_example Test App
- Complex IDL with Static Discovery
- Use Cases
  - Single VM/Intra-SoC Use Cases
- Inter-VM and Inter-SoC Use Cases
  - Static Discovery in Inter-VM/Inter-SoC
- Manually Compiling the Libraries
- Data Types/IDL
- Discovery Model
- Transport Model
- Quality of Service for DDS Entities
  - OpenDDS QoS Policies
- Recommended Policies for Use-cases
  - Recommended Policies for Use-cases
- Guidelines on integration with other Build Systems
  - Migrating to Other DDS Implementation
- OpenDDS Third-Party Licenses
  - OpenDDS License
  - Xerces3 License
Graphics Programming
- OpenGL ES Programming Tips
- EGLStream
- 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
- Building and Running Samples
Inter-Process Communication
- Terminology
- NvSciIpc Configuration Data
- Adding a New Channel
  - Adding a New INTER_THREAD and INTER_PROCESS Channel
  - Adding a New INTER_VM Channel
- NvSciIpc API Usage
- NvSciEventService API Usage
NvStreams
- Comparison with EGL
  - Comparison with EGL
  - NvStreams Libraries
- Buffer Allocation
- Streaming
- Synchronization
Understanding Security
- Acronyms and Abbreviations
  - Acronyms and Abbreviations
- Secure Boot and Hardware Fuses
- Security Engine
- Trusted OS
  - Trusty (Legacy)
- Persistent Key Object Support
- DRIVE Guest OS Security Configurations
- Secure Debug Utilities
  - Enabling JTAG Support on Secure Targets
- Linux-based Disk Encryption
Window Systems
- Wayland Window System
- EGLDevice
- X11 Window System
Bootloader Programming
- Understanding the Boot Flow Process
- Flashing with Bootburn
- Customizing Quickboot
- Quickboot Device Tree
- Using the Bootloader Recovery Mechanism
  - Recovery Mechanism Boot Chains
    - Boot Chain Process
  - Boot Recovery Mechanism Flow
- Ratcheting
- Ratchet Checks
  - Ratchet Check for NVIDIA Owned Software Components
- Ratchet Fuse Programming
  - Ratcheting for MB1/SC7 and MTS Firmware
    - Ratcheting for Falcon Firmware
  - Ratchet Fuse Programming for OEM Owned Software Components
- Passing Ratchet Status to Guest OSes
- Lock Fuse Burning
- Configuring MB1 Boot Configuration Table
Mass Storage Partition Configuration
- Mass Storage Partitions
Utilities
- Device Tree Structure
- Device Tree Cleaner (delnode)
- Boot Profiler Utility
- IOLauncher
  - Usage
  - Limitations
- Terminal Emulation
- Linux Tracing Toolkit
- SIPL Reprocess (nvsipl_reprocess)
- Tegra Combined UART and the tcu_muxer Utility
- tegrastats Utility
Manifest
- Foundation
  - NVIDIA DRIVE Foundation Directory
  - Toolchains Directory
- Linux SDK
  - NVIDIA DRIVE Directory
  - CUDA Directory
API Module Contents
Legal Information
Installation Using the Command Line
- Installing and Flashing Foundation and Ubuntu Linux SDK and PDK
NVIDIA DRIVE OS 5.2 Third-Party Software Licenses
- Introduction
- NVIDIA Third-Party Free Open Source Software (FOSS) Licenses
- NVIDIA Third-Party Proprietary Software Licenses