 | NVIDIA Jetson Linux Developer Guide 32.4.3 Release |
| NVIDIA Jetson Linux Developer Guide 32.4.3 Release |
Note: | Always check the Release Notes for constraints related to these features. |
Bootloader | Feature | Notes |
nvboot | Boot Device | SKU 0000: SD Card SKU 0002: eMMC |
2nd Stage Load Device | ||
CBoot | Storage devices | SKU 0000: SD Card SKU 0002: eMMC |
Display: Splash/Menu | HDMI | |
U-Boot | Storage Device Support | SKU 0000: SD Card, NFS SKU 0002: eMMC, SD Card |
Display: Console | UART | |
I/O Bus Support | SKU 0000: I2C, SD Card, USB (device) SKU 0002: I2C, USB (device) |
Feature | Tool Chains | Notes |
Aarch64 | gcc-7.3-glibc-2.25 | For 64-bit Kernel, Userspace, and U-Boot |
Feature |
Reboot support |
Shutdown support |
SC7 |
Cpuidle |
Wake from Idle |
Wake from Sleep |
CPU hotplug |
DVFS |
CPU/GPU frequency governor |
EMC Bandwidth Manager |
Power Monitor |
Clock & thermal management |
initrd support |
System boot with ATF as secure monitor |
Precision Time Protocol (PTP) |
Interface | Feature |
Linux-kernel | Version 4.9.140 |
Interface | Feature | Notes |
DSI | DSI Display Support | - |
DSI Ganged Mode | - | |
PWM Backlight | - | |
DC Continuous Mode | - | |
Dual Display | - | |
Run Time Power Management | - | |
HDMI™ | EDID Support | - |
Hot-Plug Detection Mechanism | - | |
HDMI 1.4 | 480p, 720p, 1080p, RGB 444 4K @ 30 Hz | |
Driver Suspend/Resume for Low Power | - | |
HDMI as Primary Display | - | |
Dual Display (HDMI+DP) | - | |
HDMI: 1.4b compliance | Certified | |
HDMI: 2.0 compliance | Certified | |
Audio Support | - | |
Display Port (DP) | DP 1.2 support | |
Supported link rates 1.62, 2.7, and 5.4 Gb/second | HBR3 (8.1 Gb/second) not supported | |
Full Link Training | ||
Hotplug detection | ||
Driver Suspend/Resume for Low Power | ||
Plug/Unplug Wake from LP0 | ||
DP as primary display | ||
Dual display (HDMI+DP) | ||
Audio not supported | ||
Deep color not supported | ||
DP Alt-Mode not supported | ||
Ethernet | 10/100/1000 BASE | - |
MAC Filtering | - | |
PWM | Speed Control from sysfs | - |
Control from Temperature Variation | - | |
I2C | Master Mode | - |
Camera support (CSI input support) | V4L2 Media-Controller (V4L2 API bypasses ISP) | CSI0, CSI1, CSI2, CSI3, CSI4, CSI5 |
Peripheral devices | INA support | Current monitoring for: CPU/GPU/VDD_IN |
SPI | Max Bus Speed | SPI1: 65 MHz |
SPI2: 65 MHz | ||
Chip Select | SPI1: 0/1 | |
SPI2: 0/1 | ||
Packed/Unpacked | SPI1, SPI2 | |
Full Duplex Mode | SPI1, SPI2 | |
Both Enable Bit | SPI1, SPI2 | |
Both Enable Byte | SPI1, SPI2 | |
Bi-directional | SPI1, SPI2 | |
Least Significant Bit | SPI1, SPI2 | |
Least Significant Byte First | SPI1, SPI2 | |
Software or Hardware Chip Select Polarity Section | SPI1, SPI2 | |
Supported Modes 1/2/3/4 | SPI1, SPI2 | |
Purpose/Client | SPI1: Audio | |
SPI2: Cam/Display | ||
QSPI-NOR | Master | Not available on SKU 0002 |
Clock Polarity and Phase (Mode 0) | ||
DDR or SDR mode | ||
Dual or Quad mode | ||
SDMMC | I/O Speeds (Clock speed) | SDMMC1: 204 MHz (SKU 0000 only) |
SDMMC3: 204 MHz | ||
SDMMC4: 200 MHz (SKU 0002 only) | ||
Hot Plug Support | SDMMC1 | |
SD High Speed Mode | SDMMC1, SDMMC3 | |
SDR50 | SDMMC1, SDMMC3, SDMMC4 | |
SDR104 | SDMMC1, SDMMC3 | |
HS533 | SDMMC4 | |
HS400 | SDMMC4 | |
HS200 | SDMMC4 | |
DDR Mode | SDMMC1, SDMMC3, SDMMC4 | |
Voltage Switching | SDMMC1, SDMMC3 | |
Frequency Tuning | SDMMC1, SDMMC3, SDMMC4 | |
Packed Commands | SDMMC3, SDMMC4 | |
Cache Control | SDMMC4 | |
Discard | SDMMC4 | |
Sanitize | SDMMC4 | |
RPMB | SDMMC4 | |
HPI | SDMMC4 | |
BKOPS | SDMMC4 | |
Power Off Notification | SDMMC4 | |
Sleep | SDMMC4 | |
Field Firmware Upgrade | SDMMC4 | |
CMD Queuing | - | |
Device Life Estimation Type A | SDMMC4 | |
Device Life Estimation Type B | SDMMC4 | |
PRE EOL Information | SDMMC4 | |
Power Management | SDMMC1, SDMMC3, SDMMC4 | |
I2C | Master | I2C GEN1, I2C GEN2, I2C GEN3, I2C DDC, I2C PWR, I2C6 |
Standard mode (SM – 100Kbps) Fast mode (FM – 400Kbps) Fast mode plus (FM+ - 1Mbps) High speed mode. (HS - 3.4Mbps) | ||
7-bit or 10-bit slave addressing | ||
Lost arbitration detect | ||
Only Packet mode | ||
Dynamic clock gating | ||
Multi-master support | ||
PIO mode: For I2C message length <= 20 bytes DMA mode: For I2C message length > 20 bytes | ||
Clock always ON feature for device which need faster responses | ||
Message split if message size is greater than 4K bytes | ||
Runtime I2C bus clock frequency changes through sysfs | ||
Bit banging through GPIOs | ||
Clubbing 2 transactions and program their packets together. | ||
Bus clear support | ||
USB 2.0 | Device Mode | USB0 |
OTG Mode | USB0 | |
Host Mode | USB0, USB1 | |
Host - Low Speed Devices | USB0 | |
Host - Full Speed Devices | USB0 | |
Host - High Speed Devices | USB0, USB1 | |
Host - Auto Suspend Support | USB0 | |
USB 3.0 | Speeds | USB0: HS/480 Mbps |
USB1: SS/5 Gbps | ||
Lanes | USB1: pex5 | |
USB 3.0 Support | USB1 | |
Connector | USB0: Micro AB | |
USB1: TYPE A | ||
USB 2.0 Support | USB0, USB1 | |
Remote Wakeup Support | USB0: USB 2.0 | |
USB1: USB 2.0/3.0 | ||
Host - Auto Suspend Support | USB0, USB1 | |
OTG Support | USB0 | |
Class Support | Mass storage (USB0, USB1) | |
USB video class (USB0, USB1) | ||
HID (USB0, USB1) | ||
USB audio class (USB0, USB1) | ||
MTP (USB0, USB1) | ||
CDC - NCM/ECM (USB0, USB1) | ||
GPIO LED supportGPIO | Pinmux Configuration | - |
GPIO configuration And programming | - | |
GPIO LED support | PWR LED can be controlled | |
GPIO interrupt support | - | |
UART | Speed | UART0: 115200 |
UART2: 921600 | ||
UART3: 3000000 | ||
Hardware Flow Control | UART2, UART3 | |
PIO Mode | UART0, UART2, UART3 | |
DMA Mode | UART0, UART2, UART3 | |
FIFO Mode | UART0, UART2, UART3 | |
PCIe | Speed | PCIe 0: Gen1/Gen2 |
PCIe 1: Gen1/Gen2 | ||
Lane Width | PCIe 0: x1, x2, x4 | |
PCIe 1: x1 | ||
Host Controller Features | Lanes Xbar config (X4_X1, X2_X1) | |
Extended Config Space | ||
Hardware Clock Gating | ||
Deep Power Down (DPD) | ||
PCIe Features | Message Signaled Interrupts | |
Vendor Specific Messages | ||
MSI-X | ||
PCIe Device Capabilities | Max Payload size 128 bytes | |
Extended Tag Field Support | ||
Role-Based Error Reporting | ||
Maximum Link Speed; Supports Up to Gen2 Speeds | ||
Maximum Link Width; Supports Up to X4 Link Width | ||
ASPM Support (L0s and L1) | ||
L1 Clock Power Management | ||
Data Link Layer Link Active Reporting Capable | ||
Link Bandwidth Notification Capability | ||
Link Control | Read Completion Boundary | |
Root Control | System Error on Correctable Error | |
System Error on Non-Fatal Error | ||
System Error on Fatal Error | ||
PME Interrupt Enable | ||
Extended Capabilities | Advanced Error Reporting (AER) | |
Latency Tolerance Reporting (LTR) | ||
L1 PM Substates | L1.1 | |
L1.2 | ||
Misc Features | Dynamic Voltage Frequency (DVPS) | |
Suspend to RAM (LP0) | ||
Runtime PM | ||
JTAG | JTAG Attach | Need HW rework on test point- |
JTAG Halt/Step/Go | - | |
CCPLEX Watchdog | Watchdog reboot from hang | |
Watchdog kick | ||
PMIC Watchdog | Watchdog reboot from hang | |
Watchdog kick | ||
RTC | Alarm | |
Wakeup from SC7 | ||
eMMC | 5.0 |
Note: | PCIe: Jetson Nano does not have any path from AHB-DMA or APB-DMA engines to PCIe IP as PCIe is connected directly to MSELECT and AHB-DMA and APB DMA engines only interact with IPs connected to respective AHB and APB buses. So it is not possible to use either AHB or APB engines for PCIe. |
Feature | Version |
CUDA | Version 10.2 |
Graphics APIs | Notes |
OpenGL | 4.5 |
OpenGL-ES | 3.2 |
Vulkan | 1.0.2 |
EGL | 1.5 |
GLX | |
GLVnd Version of EGL | Vendor neutral functionality |
NVDC - Direct Rendering Manager (DRM) | Compatibility with DRM 2.0 |
EGL Stream | |
X11 ABI-20 | Legacy from 24.2 using Ubuntu 16.04 |
API Support | Notes |
GL + EGL | |
EGL without X11 | Content display without X11 usage |
Vulkan loader version release 1.0.66 is verified to be working properly on this release. Consult https://developer.nvidia.com/embedded/vulkan for details. | |
Video Decode | Output Formats | Sampling Frequency and Bit rate/Frame rate | Notes |
H.264 | NV12, NVMM:NV12 | 3840 x 2160 at 60 fps Up to 120 Mbps | Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
H.265 | NV12, NVMM:NV12 | 3840 x 2160 at 60 fps Up to 160 Mbps | Decode Support in Gstreamer 1.4.5 and later Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
JPEG | I420, NVMM:I420 | 600 MP/sec | - |
VP8 | NV12, NVMM:NV12 | 3840 x 2160 at 60 fps Up to 140 Mbps | Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
VP9 | NV12, NVMM:NV12 | 3840 x 2160 at 60 fps Up to 120 Mbps | Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
MPEG4 | NV12, NVMM:NV12 | 1920×1080 at 240 fps Up to 120 Mbps | Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
Video Encode | Input Formats | Sampling Frequency and Bit rate/Frame rate | Notes |
|---|---|---|---|
H.264 | I420, NV12, NVMM:1420, NVMM:NV12 | 3840×2160 at 30 fps Up to 120 Mbps | Supported features include: • control-rate • Bitrate • Peak-bitrate • Iframeinterval • SliceIntrarefreshEnable • Sliceintrarefreshinterval • Bit-Packetization • VBV-Size • Temporal-tradeoff • EnableMVBufferMeta • qp-range • MeasureEncoderLatency • EnableTwopassCBR • Preset-level • EnableStrimgentBitrate • Insert-SPS-PPS • Num-B-Frames • Slice-Header-Spacing • Profile • insert-aud • insert-vui • Force-IDR |
JPEG | I420, NVMM:I420 | 600 MP/sec | - |
H.265 | I420, NVMM:I420, NVMM:NV12 | 3840×2160 at 30 fps Up to 100 Mbps | Supported features include: • control-rate • Bitrate • Peak-bitrate • Iframeinterval • SliceIntrarefreshEnable • Sliceintrarefreshinterval • Bit-Packetization • VBV-Size • Temporal-tradeoff • EnableMVBufferMeta • qp-range • MeasureEncoderLatency • EnableTwopassCBR • Preset-level • EnableStrimgentBitrate • Insert-SPS-PPS • Num-B-Frames • Slice-Header-Spacing • Profile • insert-aud • insert-vui • Force-IDR |
VP8 | I420, NV12, NVMM:I420, NVMM:NV12 | 3840×2160 at 30 fps Up to 120 Mbps | Supported features include: • control-rate • Bitrate • Peak-bitrate • Iframeinterval • SliceIntrarefreshEnable • Sliceintrarefreshinterval • Bit-Packetization • VBV-Size • Temporal-tradeoff • EnableMVBufferMeta • qp-range • MeasureEncoderLatency • EnableTwopassCBR • Preset-level • EnableStrimgentBitrate • Insert-SPS-PPS • Num-B-Frames • Slice-Header-Spacing • Profile • insert-aud • insert-vui • Force-IDR |
Note: | Use the gst-inspect-1.0 utility to understand feature details. For example, the gst-inspect-1.0 omxh264enc command or the gst-inspect-1.0 nvv4l2h264enc command provides feature details of the H.264 encoder. |
nveglglessink | nvoverlaysink |
X11 Window | Panel Overlay |
- | Overlay |
- | Overlay-Depth |
- | Overlay-X |
- | Overlay-Y |
- | Overlay-W |
- | Overlay-H |
Input Formats | Output Formats | Notes |
I420 | I420 | Flip-Method, interpolation-method, crop, Format conversion. |
UYVY | UYVY | |
YUY2 | YUY2 | |
YVYU | YVYU | |
NV12 | NV12 | |
GRAY8 | GRAY8 | |
BGRx | BGRx | |
RGBA | RGBA | |
NVMM:I420 | NVMM:I420 | |
NVMM:I420_10LE | NVMM:I420_10LE | |
NVMM:NV12 | NVMM:NV12 |
Feature | Notes |
Basic Camera Functionality | Supported sensors: IMX219. Can be demonstrated by the Argus Camera app and the Nvgstcapture app. For more details on Argus, refer to Applications Using libargus Low-level APIs in the topic Camera Development. Capture validated up to 3280x2464. |
TNR Support | Option to switch between two types of noise reduction: • VICs-based temporal noise reduction: compromises on image quality due to low power consumption). To select this option, enable tnr.v1 in camera_overrides.isp. • GPU-based temporal noise reduction: improves image quality at the cost of high power consumption. Especially effective in low light scenes. To select this option, enable tnr.v2 in camera_overrides.isp. |
USB Camera (UVC) | Supports UVC compliant USB2.0 and USB3.0 cameras. |
Feature | Notes |
HDA for HDMI | Supports PCM playback for stereo, 5.1, and 7.1 channel configurations. Supports sample sizes of 16 bits (S16_LE) and 32 bits (S32_LE), and sample rates of 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. For 32‑bit sample size, only the high-order 24 bits are used. Note that 24‑bit samples are stored as 32‑bit data, with data in the upper 24 bits of each sample. Supports one output stream. |
DMIC Support | Supports stereo capture. Supports sample sizes of 16 bits (S16_LE), 24 bits (S24_LE), 32 bits (S32_LE), OSR 64, 128, and 256, and sample rates of 8, 16, 44.1, and 48 kHz. Supports interfaces DMIC1 and DMIC2. |
I2S Support | Supports audio playback, capture, and loopback. Supports sample sizes of 8 bits (S8), 16 bits (S16_LE), 24 bits (S24_LE), and 32 bits (S32_LE), and sample rates of 8, 11.025, 16, 22.5, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. Supports normal stereo I2S, Left Justified Mode (LJM), and Right Justified Mode (RJM), as well as TDM modes (DSP A and DSP B) with up to 16 channels. Each I2S interface can be configured as master or slave. Does not support u‑Law or A‑Law compression/decompression. Supports interfaces I2S3 and I2S4. |
USB Audio | Supports stereo PCM playback and capture. Supports sample sizes of 16 bits (S16_LE) and 24 bits (S24_3LE), sample rates of 8, 16, 44.1, 48, 96, and 192 kHz. Supports up to eight channels on an eight-port USB DAC. |
Audio Demultiplexer (ADX) | Supports PCM audio demultiplexing of one input stream with 2 to 16 channels into 1 to 4 output streams with up to 16 channels each. Supports sample sizes of 16 bits (S16_LE), 24 bits (S24_LE), and 32 bits (S32_LE), and sample rates of 8, 11.025, 16, 22.5, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. Supports two ADX instances, ADX1 and ADX2. |
Audio Multiplexer (AMX) | Supports PCM audio multiplexing of up to four input streams with up to 16 channels each into one output stream with up to 16 channels. Supports sample sizes of 16 bits (S16_LE), 24 bis (S24_LE), and 32 bits (S32_LE), and sample rates of 8, 11.025, 16, 22.5, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. Supports two AMX instances: AMX1 and AMX2. |
Sampling Frequency Converter (SFC) | Supports sampling frequency conversion of PCM audio streams of up to two channels. Supports sample sizes of 16 bits (S16_LE) , 24 bis (S24_LE), and 32 bits (S32_LE), and sample rates of 8, 11.025, 16, 22.5, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. Supports four SFC instances: SFC1, SFC2, SFC3, and SFC4. |
Master Volume Control (MVC) | Supports gain or attenuation in range −120dB to +40dB. Supports sample sizes of 16 bits (S16_LE) , 24 bis (S24_LE), and 32 bits (S32_LE), and sample rates of 8, 11.05, 16, 22.05, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. Supports up to eight stream channels. Supports two MVC instances: MVC1 and MVC2. |
Audio Mixer | Supports mixing up to 10 input streams. Supports five outputs, each of which can have any combination of 10 input streams. Supports sample sizes 16 bits (S16_LE) , 24 bis (S24_LE), and 32 bits (S32_LE), and sample rates of 8, 11.025,16, 22.05, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz. Supports up to eight channels per stream. Supports one AMIXER instance. |
Feature | Notes |
Notify user when current available memory is very low | Ubuntu Desktop issues a warning when available memory falls below a threshold limit. This helps make the user aware of any new process may lead to oom-killer or cause system sluggishness. The threshold limit is user-configurable. |