Jetson TX2 Series Software Features

NVIDIA® Jetson™ Linux Driver Package (L4T) supports these software features, which provide users a complete package to bring up Linux on targeted NVIDIA® Jetson™ TX2 series devices.
Note:
Check the Release Notes for constraints related to these features.

Bootloaders

Bootloader
Feature
Notes
nvtboot-bpmp
Execution CPU
BPMP
Storage location
Cold boot: eMMC
RCM boot: Downloaded over USB recovery port
Next stage storage location
Cold boot: eMMC
RCM boot: Downloaded over USB recovery port
Next stage
CBoot
Storage device support
eMMC
Partition table support
GPT (with protective MBR)
Filesystem support
None
I/O bus support
I2C
Console UART
 
CBoot
Execution CPU
CCPLEX
Storage location
Cold boot: eMMC
RCM boot: Downloaded over USB recovery port
Next stage storage location
Cold boot: eMMC
RCM boot: Downloaded over USB recovery port
Next stage
U-Boot or Linux kernel
Storage device support
eMMC
Partition table support
GPT (with protective MBR)
Filesystem support
None
I/O bus support
I2C, GPIO, SPI/QSPI
Console
UART
U-Boot
Execution CPU
CCPLEX
Storage location
Cold boot: eMMC
Next stage storage location
Cold boot: eMMC
Next stage
Linux kernel
Storage device support
eMMC, SD card
Partition table support
GPT (with protective MBR), DOS MBR
Filesystem support
ext2/3/4. FAT
I/O bus support
I2C, GPIO, PCIe, SPI/QSPI

Toolchain

Feature
Tool Chains
Notes
Aarch64
gcc-7.3-glibc-2.25
For 64-bit kernel, userspace, and U-Boot
 

Kernel

Feature
Version
Linux-kernel
Version 4.9.140

Debug Interface

Feature
Tool Chains
Notes
JTAG
JTAG Attach
Debugging capability
JTAG Halt/Step/Go
Debugging capability

Camera Interface

Interface
Features
Notes
Camera support
(CSI input support)
V4L2 Media Controller
(V4L2 API bypasses ISP)
CSI0, CSI1, CSI2, CSI3, CSI4, CSI5
Cameras supported: 6
 
Maximum resolution & frame rate for 6 cameras: 1920×1080 @ 30 frames/sec.
 

Kernel I/O Interfaces

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
Support for HDMI 1.4 (480p/720p/1080p/RGB 444 4K @ 30 Hz)
Driver Suspend/Resume for low power
Support HDMI as primary display
Multi display
HDMI 1.4b compliance
HDMI 2.0 compliance
Audio support
Support HDMI 2.0 (4K @ 60 HZ)
DP
EDID Support
 
Support for DP
Driver Suspend/Resume for low power
Support eDP as primary display
Multi display
DP Wake Support
DP compliance
PWM
PWM operations
PWM registration to framework
Prod setting
Jetson-specific controller configuration
Clock accuracy calculation
Clock calculation
I2C
DMA mode
 
Bus clear support
 
Multi-master support
 
Normal/Byte Mode
 
General support
 
PCIe
Physical Port: PCI-E 0
Speed: Gen1/Gen2, Lane Width X1, X2, X4
Physical Port: CPI-E 1
Speed: Gen1/Gen2, Lane Width X1, X2, X4
Physical Port: CPI-E 2
General Support
Host Controller Features
Lanes Xbar config (X4_X0_X1, X2_X1_X1, X1_X1_X1)
Hot-plug (using GPIO)
PCI Features
Message Signaled Interrupts
PCIe Link Capabilities
ASPM Support (L0s and L1)
L1 Clock Power Management
ASPM Support (L1.1 and L1.2)
Root Control
PME Interrupt Enable
Extended Capabilities
Advanced Error Reporting (AER)
Miscellaneous Features
Dynamic Voltage Frequency (DVFS)
NVIDIA® Tegra® Low Power Mode (LP0)
Runtime PM
L1 PM Substates
Rest All Capabilities
Bluetooth
Not supported by TX2i
Bluetooth 4.0
BCM4354
BLE 4.0
No BCM4354 (BlueZ limitation)
Peripheral devices
INA support
Current monitoring for: CPU/GPU/VDD_IN
Platform support
P3310-B00 C03
 
Wi-Fi
Not supported by TX2i
Multi-region support
Region Support: default (lowest-common-denominator)
Dual-band 2.4 GHz/5 GHz
BCM 4354
STA Mode
BCM 4354
AP Mode
BCM 4354
IBSS Mode
BCM 4354
WPA2 Security
BCM 4354
SPI
Physical Port: SPI1
Maximum bus speed: 65 MHz
Physical Port: SPI2
Maximum bus speed: 65 MHz
Physical Port: SPI 0/3
Maximum bus speed: N/A
Packed/Unpacked
 
Full Duplex Mode
 
Both Enable Bit
 
Both Enable Byte
 
Bidirectional
 
Least Significant Bit
 
Least Significant Byte First
 
Software or Hardware Chip Select Polarity Section
 
Supported Modes 1/2/3/4
 
Dual SPI
SPI MISO/MOSI can act as Rx and Tx
Multiple transfer request
Multiple SPI transfer request from single call
Physical Port: SPI1
Maximum bus speed: 65 MHz
Physical Port: SPI2
Maximum bus speed: 65 MHz
SDMMC
I/O Speeds (Clock speed)
SDMMC1 (SD card): 204 MHz
SDMMC4 (eMMC): 200 MHz
Hot Plug Support
SDMMC1 (SD card)
SD High Speed Mode
SDMMC1 (SD card)
SDR50
SDMMC1 (SD card), SDMMC4 (eMMC)
SDR104
SDMMC1 (SD card)
HS400
SDMMC4 (eMMC)
HS200
SDMMC4 (eMMC)
DDR Mode
SDMMC1 (SD card), SDMMC4 (eMMC)
Voltage Switching
SDMMC1 (SD card)
Frequency Tuning
SDMMC1 (SD card), SDMMC4 (eMMC)
Packed Commands
SDMMC4 (eMMC)
Cache Control
SDMMC4 (eMMC)
Discard
SDMMC4 (eMMC)
Sanitize
SDMMC4 (eMMC)
RPMB
SDMMC4 (eMMC)
HPI
SDMMC4 (eMMC)
BKOPS
SDMMC4 (eMMC)
Power Off Notification
SDMMC4 (eMMC)
Sleep
SDMMC4 (eMMC)
Field Firmware Upgrade
SDMMC4 (eMMC)
Device Life Estimation Type A
SDMMC4 (eMMC)
Device Life Estimation Type B
SDMMC4 (eMMC)
PRE EOL Information
SDMMC4 (eMMC)
Power Management
SDMMC4 (eMMC)
SATA
Speed
GEN1
GEN2
AHCI Mode
1.3.1
SATA Specification
3.1
HIPM
Yes
NCQ
Yes
Port Multiplier Support
CBS
Link Power Management States
Partial
Slumber
Device Power Management States
D0
D1
D2
Runtime Time Power Management
Yes
S.M.A.R.T
Self-Monitoring Analysis and Reporting Technology
Dev Sleep Support
 
USB3.0
Speeds
USB0: HS/480 Mbps, USB1: SS/5 Gps
Lanes
USB 0: N/A, USB1: Lane Muxing and sharing with PCIe
USB 3.0 Support
 
Connector
USB0: Micro AB, USB1: Type A
USB 2.0 Support
 
Remote Wakeup Support
 
Host - Auto Suspend Support
 
XOTG Support
 
XUSB SS/HS/FS/LS Host Mode
 
XUSB SS/HS/FS/LS Device Mode
 
XUSB Device Port U1/U2/U3 Transition
 
XUSB Host Port U1/U2/U3 Transition
 
XUSB Device ELPG
 
XUSB Host ELPG
 
Class Support
Mass storage
USB video class
HID
USB video class
MTP
Ethernet
Thumb/Hard Drive
Mouse
CDC - NCM/ECM
UART
Speed
UART Controllers
UART0 (Debug: 115200)
UART1 (Camera/GPIO Expansion Header): Not Used
UART2 (M2 Connector): 921600
UART3 (Bluetooth Only): 3000000
Hardware Flow Control for Debug
 
PIO Mode
 
DMA Mode
 
FIFO Mode
 
EQOS
Ping
 
Speed
 
LP_IDDQ Mode Support
 
Suspend Resume over NFS Support
 
NFS Boot
 

Ethernet Controller Features (EQOS)

Feature
Speed mode change through ethtool
10/100 Mbps support
1000 Mbps support
Half-duplex support
arp offload
IEEE 1588-2008 (PTP)
Energy-Efficient Ethernet
Transmit checksum offload
Receive checksum offload
TCP segmentation offload
Jumbo frame support (up to 9 KB (9018 B untagged, or 9022 B tagged)
Flow control/PAUSE frame support
EAVB support
Up to 4 TX/RX queue/channels with 4 KB size
VLAN (insertion/stripping of VLAN tag in hardware. VLAN tag-based filtering supported for only 1 VLAN tag)

Max-Q and Max-P

Feature
Power Efficiency
NVPModel

RTC

Feature
Alarm
Wakeup from SC7

Watchdog

Feature
Notes
Tegra Watchdog
Watchdog reboot from hang
Tegra Watchdog
Watchdog kick
PMIC Watchdog
Watchdog reboot from hang
PMIC Watchdog
Watchdog kick

GPIO

Feature
System Programable GPIO Support
System Programable Pinmux SupportWakeable GPIO
Timestamping GPIO

System

Feature
UCM1 4/4/16
UCM2 24x7
Reboot Support
Shutdown Support
SC7
Wake from Idle
Wake from Sleep
cpuidle
cpufreq
DVFS
CPU Hotplug
EMC Scaling
initrd Support
CPU Load Behavior
System Boot with ATF as Secure Monitor

CUDA

Feature
Version
CUDA
Version 10.0.166

Graphics

Graphics APIs
Notes
OpenGL
4.6.0
OpenGL-ES
3.2.5
Vulkan
1.1.1 *
EGL
1.5
GLX
 
GLVnd Version of EGL
Vendor neutral dispatch library for GL 
NVDC - Direct Rendering Manager (DRM)
Compatibility with DRM 2.0
EGL Stream
 
X11 ABI-20
 
Wayland
1.14
Weston
3.0
API Support
Notes
GL + EGL, EGL without X11
Extensions supported for getting these components to work
* Vulkan loader version release 1.1.73 is verified to be working properly on this release. See https://developer.nvidia.com/embedded/vulkan for details.
† See https://github.com/NVIDIA/libglvnd for details on GLVnd.
‡ Experimental support for the GNOME-Wayland Desktop Shell. See the Release Notes for instructions to enable GNOME-Wayland support.

EGL and OpenGL ES Support

EGL is an interface between Khronos rendering APIs, such as OpenGL ES, and the underlying native platform window system. It handles graphics context management, surface/buffer binding, and rendering synchronization. EGL enables high-performance, accelerated, mixed-mode 2D and 3D rendering using other Khronos APIs.
The OpenGL ES driver in this release supports the following OpenGL ES specifications:
OpenGL 4.5
For more information on OpenGL ES, see the Khronos OpenGL ES API Registry.

Video Decoders

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, NVMM:I420_10LE
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 Encoders

Video Encode
Input Formats
Sampling Frequency and
Bit rate/Frame rate
Notes
H.264
I420, NV12, NVMM:1420, NVMM:NV12
3840 x 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, NVMM:I420_10LE
3840 x 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 x 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
VP9
I420, NV12, NVMM:I420, NVMM:NV12
3840 x 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.

Display Outputs

nveglglessink
nvoverlaysink
X11 Window
Panel Overlay
-
Overlay
-
Overlay-Depth
-
Overlay-X
-
Overlay-Y
-
Overlay-W
-
Overlay-H

Conversion, Scaling, Cropping, and Rotation Formats

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
For additional information about supported features, see the following sections of the topic Accelerated GStreamer:

CSI and USB Camera Features

Feature
Notes
Basic Camera Functionality
Default reference sensor: OV5693. Can be demonstrated by the Argus Camera app. For more details on Argus, refer to Applications Using libargus Low-level APIs in the topic Camera Development.
Infinite Timeout
Support for use case in which the CSI sensor stops streaming indefinitely and the camera stack goes idle. When the CSI sensor resumes streaming the camera stack resumes working.
GMSL Camera and VC Support
GMSL camera and VC support is validated for two simultaneous IMX390 sensors using the same CSI port. For details, see the citation of NVIDIA GMSL Camera Framework in Related Documentation. The official reference driver code for IMX390 is included in this release.
DOL WDR
Support for DOL sensors. Validated with Sony IMX274. For more information on DOL sensors, see https://www.sony-semicon.co.jp/products_en/IS/sensor2/technology/dol-hdr.html.
PWL WDR
Support for HDR using PWL WDR technology. Validated with Sony IMX185.
TNR Support
Option to switch between two types of noise reduction: 
VIC-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.
Six Camera Preview at 30 FPS
Preview performance of 30 frames/second for 1920×1440 resolution with six OV5693 sensors running simultaneously.
USB Camera (UVC)
Supports UVC compliant USB2.0 and USB3.0 cameras.
For additional information about CSI and USB Camera supported features, see the “Nvgstcapture-1.0 Option Reference” section of Accelerated GStreamer User Guide.

Audio

Feature
Notes
HDA for HDMI/DP
Supports PCM playback for stereo, 5.1 and 7.1 channel configurations.
Supports sample sizes of 16 bits (S16_LE) and 24 bits (S32_LE) sizes, and sample rates of 32, 44.1, 48, 88.2, and 96 kHz for DisplayPort interfaces, and 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz for HDMI interfaces.
Note that 24-bit samples are stored as 32-bit data, with data in the upper 24 bits of each sample.
Supports up to two output streams.
DMIC Support
Supports stereo capture.
Supports sample sizes of 16 bits (S16_LE), 24 bits (S24_LE), and 32 bits (S32_LE), OSR 64, 128 and 256, and sample rates of 8, 16, 44.1, and 48 kHz.
Supports interfaces DMIC1, DMIC22 and DMIC3.
DSPK Support
Supports stereo playback.
Supports sample sizes of 16 bits (S16_LE), 24 bits (S24_LE), and 32 bits (S32_LE), OSR 32, 64, 128, and 256,and sample rates of 8, 16, 44.1, and 96 kHz.
Supports interface DSPK2.
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, 22.05, 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 interfacs I2S1, I2S2, I2S3, I2S4, I2S5, and I2S6.
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 four ADX instances: ADX1, ADX2, ADX3, and ADX4.
Audio Multiplexer (AMX)
Supports PCM audio multiplexing of up to 4 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 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 four AMX instances, AMX1, AMX2, AMX3, and AMX4.
USB Audio
Supports stereo PCM playback and capture.
Supports sample sizes of 16 bits (S16_LE) and 24 bits (S24_LE), and sample rates of 8, 16, 44.1, 48, 96, and 192 kHz. Supports up to eight channels on eight‑port USB DAC.
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 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 four SFC instances: SFC1, SFC2, SFC3, and SFC4.
Primary Volume Control (MVC)
Supports gain or attenuation in range −120dB to +40dB.
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, 22.05, 24, 32, 44.1, 48, 88.2, 96, and 192 kHz.
Supports two MVC instances: MVC1 and MVC2.
Audio Mixer
Supports mixing up to 10 input streams. Supports 5 outputs, each of which can contain any combination of 10 input streams. Supports sample sizes 16 bits (S16_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 stream channels.
Supports one AMIXER instance.