Jetson TX1 Software Features

NVIDIA® Jetson™ Linux Driver Package (L4T) supports the following software features, which provide users a complete package to bring up Linux on targeted NVIDIA® Jetson™ TX1 devices.
Note:
Always check the Release Notes for constraints related to these features.

Boot Loaders

Boot Loader
Feature
Notes
nvboot
Boot Device
eMMC
2nd Stage Load Device
eMMC
CBoot
Storage devices
eMMC, SD card
Execution CPU
CCPLEX
Display: splash/menu
HDMI
CBoot: Console
Interface
UART, with printf support
CBoot: Drivers
I2C
Standard & expanded
GPIO
 
SPI/QSPI
Quad I/O, DDR
MMC
HS200, HS400, DDR50, & SD card
USB
EHCI, XHCI, & host mode
Class drivers: MSD & hub
UART
Standard & combined
PCI
1x, 2x, & 4x
CBoot: Dynamic hardware probe
Features probed
For carveouts, VPR, plugin boards, & EEPROMs
Hardware information is added to DTB in memory & is passed on to kernel
Support for plugin boards
Via software plugins
CBoot: Other supported features
Timers
 
DTB lib/driver
 
Plugin manager
Kernel DTB, BL DTB
Kernel decompression
 
BMP blob decompression
 
EEPROM manager
Detects board ID
U-Boot
Storage Device Support
eMMC (no CQ), SD card,
USB (HS/SS)
Display: Console
UART
I/O Bus Support
I2C, GPIO, SPI, USB (HS), USB (device)

Toolchain

Feature
Tool Chains
Notes
Aarch64
gcc-4.8.2-glibc-2.17
For 64-bit Kernel, Userspace, and U-Boot

Kernel

Feature
Tool Chains
Linux-kernel
Version 4.9.140

Debug Interface

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

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
-
HDMI 1.4
480p, 720p, 1080p, RGB 444 4K @ 30 Hz
Driver Suspend/Resume for Low Power
-
HDMI as Primary Display
-
Dual Display
-
HDMI: 1.4b compliance
Pending certification
HDMI: 2.0 compliance
Pending certification
Audio Support
-
Ethernet
10/100/1000 BASE
-
MAC Filtering
-
PWM
Speed Control from sysfs
-
Control from Temperature Variation
-
I2C
Master Mode
-
Wifi
Wake on Wifi
BCM4354
Dual-band 2.4 GHz/5 GHz
BCM4354
STA mode
BCM4354
AP mode
BCM4354
IBSS mode
BCM4354
WPA2 security
BCM4354
Bluetooth
Bluetooth 4.0
BCM4354
Camera support
(CSI input support)
V4L2 Media-Controller
(V4L2 API bypasses ISP)
CSI0, CSI1, CSI2, CSI3, CSI4, CSI5
Note: The media-controller driver model is adopted in the 24.1 release. the Soc_camera driver is provided, but deprecated.
Peripheral devices
INA support
 
Current monitoring for: CPU/GPU/VDD_IN
Platform support
Baseboard: P2597
Jetson module: P2180
 
SPI
Max Bus Speed
SPI4: 65 MHz
SPI1: 65 MHz
SPI2: 65 MHz
Chip Select
SPI4: 0
SPI1: 0/1
SPI2: 0/1
Packed/Unpacked
SPI4, SPI1, SPI2
Full Duplex Mode
SPI4, SPI1, SPI2
Both Enable Bit
SPI4, SPI1, SPI2
Both Enable Byte
SPI4, SPI1, SPI2
Bi-directional
SPI4, SPI1, SPI2
Least Significant Bit
SPI4, SPI1, SPI2
Least Significant Byte First
SPI4, SPI1, SPI2
Software or Hardware Chip Select Polarity Section
SPI4, SPI1, SPI2
Supported Modes 1/2/3/4
SPI4, SPI1, SPI2
Purpose/Client
SPI4: Touch
SPI1: Audio
SPI2: Cam/Display
SDMMC
I/O Speeds (Clock speed)
SDMMC1: 204 MHz
SDMMC4: 200 MHz
SDMMC (M.2/SDIO): 204 MHz
Hot Plug Support
SDMMC1
SD High Speed Mode
SDMMC1, SDMMC (M.2/SDIO)
SDR50
SDMMC1, SDMMC4, SDMMC (M.2/SDIO)
SDR104
SDMMC1, SDMMC (M.2/SDIO)
HS533
SDMMC4
HS400
SDMMC4
HS200
SDMMC4
DDR Mode
SDMMC1, SDMMC4, SDMMC (M.2/SDIO)
Voltage Switching
SDMMC1, SDMMC (M.2/SDIO)
Frequency Tuning
SDMMC1, SDMMC4, SDMMC (M.2/SDIO)
Packed Commands
SDMMC4, SDMMC (M.2/SDIO)
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, SDMMC4, SDMMC (M.2/SDIO)
SATA
Speed
GEN1
GEN2
AHCI Mode
1.3.1
SATA Specification
3.1
HIPM
-
DIPM
-
NCQ
-
Port Multiplier Support
CBS
Link Power Management States
Partial
Slumber
Device Power Management States
D0
D1
D2
Runtime Time Power Management
-
S.M.A.R.T
-
ATA Error Logging
-
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
Pinmux Configuration
-
GPIO Configuration And Programming
-
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)
NVIDIA® Tegra® Low Power Mode (LP0)
Runtime PM
 
Note:
PCIe: Jetson TX1 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.

CUDA

Feature
Version
CUDA
Version 9.0.252

Graphics

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 release 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. See https://developer.nvidia.com/embedded/vulkan for details.

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
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.

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
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
Applies to TX2:
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 display feature details. For example, the gst-inspect-1.0 omxh264enc command displays 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, and Rotation Formats

Input Formats
Output Formats
Notes
I420
 
I420
 
Flip-Method, interpolation-method, crop,
Format conversion
UYVY
 
UYVY
 
Flip-Method, interpolation-method, crop,
Format conversion
YUY2
 
YUY2
Flip-Method, interpolation-method, crop,
Format conversion
YVYU
YVYU
Flip-Method, interpolation-method, crop,
Format conversion
NV12
 
NV12
 
Flip-Method, interpolation-method, crop,
Format conversion
GRAY8
 
GRAY8
 
Flip-Method, interpolation-method, crop,
Format conversion
BGRx
BGRx
Flip-Method, interpolation-method, crop,
Format conversion
RGBA
RGBA
Flip-Method, interpolation-method, crop,
Format conversion
NVMM:I420
 
NVMM:I420
 
Flip-Method, interpolation-method, crop,
Format conversion
NVMM:I420_10LE
NVMM:I420_10LE
Flip-Method, interpolation-method, crop,
Format conversion
NVMM:NV12
NVMM:NV12
Flip-Method, interpolation-method, crop,
Format conversion

CSI and USB Camera Formats

Feature
Notes
Basic Camera Functionality 
Default reference sensor: OV5693. Use can be demonstrated with Argus Camera app. For more information about Argus, see Applications Using libargus Low-Level APIs in the topic Camera Development.
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
Achieves 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.

Audio

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 24 bits (S32_LE), and sample rates of 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz.
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 (S32_LE, S24_LE), OSR 64, 128, and 256, and sample rates of 8, 16, 44.1, and 48 kHz.
Supports interfaces DMIC1, DMIC2 and DMIC3.
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 I2S1, I2S2, I2S3, I2S4 and I2S5.
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 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 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 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, 11.05, 16, 22.05, 24, 32, 44.1, 48, 88.2, 96, 176.4, and 192 kHz.
Supports up to eight 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 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 up to eight channels per stream.
Supports one AMIXER instance.