Jetson AGX Xavier Series¶
NVIDIA® Jetson™ Linux supports these software features, which provide users a complete package to bring up Linux on targeted NVIDIA® Jetson AGX Xavier™ series.
Bootloader¶
| Bootloader Binary | Feature | Notes |
|---|---|---|
| BPMP processor boot binaries (MB1 & nvtboot-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 | UEFI | |
| Storage device support | eMMC | |
| Partition table support | GPT (with protective MBR) | |
| File system support | None | |
| I/O bus support | I2C | |
| Console UART | ||
| UEFI: Boot | Execution CPU | CCPLEX |
| Storage location | Cold boot: eMMC | |
| RCM boot: Downloaded over USB recovery port | ||
| Kernel/DTB storage locations |
SD card, eMMC, USB, NVMe TFTP with DHCP or static IP; configured by CBO device tree file |
|
| Next stage storage location | Cold boot: eMMC | |
| RCM boot: Downloaded over USB recovery port | ||
| Next stage | Kernel | |
| Storage device support | eMMC, SD card, & USB drive with hub support | |
| Boot order | Configurable via CBO device tree file | RCM boot | Using nvboot-cpu as CPU-BL |
| XUSB boot support (2.0, bulk only) |
Reading files from GPT partition. There is no hub driver support. The pen drive must be connected directly to the root port. |
|
| SD Card boot support | Reading files from GPT partition | |
| Ethernet boot support |
EQOS controller & Marvell or RealTek PHY Boot via TFTP, using DHCP, static IP address, or NFS |
|
| Configuration |
Via extlinux.conf Supported settings: LINUX, FDT, APPEND INITRD Currently limited to 20 file entries Library & driver configuration via DTB |
|
| Hard-coded priority: SD card, USB, eMMC, network; configurable via CBO | Removable boot device selection based on priority | |
| Partition table support | GPT (with protective MBR) | |
| File system support | EXT2, EXT4 | |
| I/O bus support | I2C | |
| Kernel boot | ||
| Kernel decompression support | ||
| RCM support | Using nvboot CPU as CPU-BL-CCPLEX | |
| Secure Boot support | Authenticates kernel & DTB, depending on fuses | |
| UEFI: Display | HDMI support | HDMI 1.4, HDMI 2.0 Parses EDIDs to find “best” HDMI mode Supports splash screen display from a BMP blob; supports BMP compression |
| DisplayPort support | DP; currently no eDP support | |
| Data types | Text Splash screen with decompression |
|
| printf support | ||
| Seamless display transition to kernel | ||
| UEFI: Dynamic hardware probe | Hardware 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 | |
| UEFI: Console | Interface | UART, with printf support |
| Shell capabilities | Set & view environment variables for current boot’s boot order and TFTP server IP | |
| UEFI: 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 | |
| Network stack | IwIP, static IP/HDCP, DNS, & TFTP | |
| Data link layer | EQOS | |
| PHY | Marvell 88E1512P or RealTek RTL8211FD | |
| UEFI: Other supported features | Timers | |
| DTB library & driver | ||
| Plugin manager | Kernel DTB, BL DTB | |
| Software/firmware update security | Ratcheting support Rollback protection |
|
| Kernel decompression | ||
| BMP (blob) decompression | ||
| EEPROM manager | Detects board ID | |
| UEFI source | Buildable outside of the Jetson Board Support Package using an ARM64 toolchain | |
| SDMMC HS400 mode support for all boot binaries |
Toolchain¶
Feature |
Tool chains |
Notes |
|---|---|---|
Aarch64 |
gcc-9.3-glibc-2.31 |
For 64-bit kernel and user space |
Kernel¶
| Interface | Feature |
|---|---|
| Linux kernel | Version 5.10.87 |
Debug Interface¶
| Interface | Feature |
|---|---|
| JTAG | JTAG Attach |
| JTAG Halt/Step/Go |
Camera Interface¶
| Interface | Feature | Notes |
|---|---|---|
| Camera support (CSI input support) | V4L2 Media-Controller (V4L2 API bypasses ISP) |
CSI0, CSI1, CSI2, CSI3, CSI4, CSI5 |
LSIO¶
| IO | Feature | Notes |
|---|---|---|
| UART | PIO mode | FIFO access using CPU |
| DMA mode | FIFO access using DMA | |
| Hardware/software based flow control | Flow control line toggling from hardware/software | |
| Buffer throttling | Flow control based on data in receive buffer | |
| Rx and Tx DMA mode selection | DMA mode transfer on Rx and Tx or on only one path | |
| Interrupt mode | Data transfer complete handling through interrupt | |
| Polling mode | Data transfer complete handling through polling | |
| MCR control | Modem control access | |
| Baud rate/port configuration | Changing port configuration | |
| Baud rate adjustment | Adjusting baud rate to fall within tolerance range | |
| I2C Master | Speed mode (Standard, FM, FM+) | Speed mode (Standard, FM, FM+) |
| Repeat start | Repeat start on transfer of data | |
| No Start | No address cycle after repeat start | |
| Packet mode | Packet mode | |
| 7-bit/10-bit addressing mode | 7-bit/10-bit addressing mode | |
| DMA mode | APB/GPC DMA for FIFO access | |
| Clock gating and clock always ON | Clock control after each transfer for power saving | |
| Runtime PM | Runtime power management | |
| Dynamic clock speed change | Change speed of the bus | |
| Interrupt based | Transfer complete handling using interrupt | |
| Bit banging for data transfer | Use GPIO APIs for data transfer | |
| Multiple transfer request | Multiple transfer request | |
| Bus clear support | Bus clear handling when bus is held by device | |
| >64k on software based split | >64K on software based split | |
| Non-interruptible transfer | Non-interruptible transfer | |
| SPI Master | Packed/unpacked | Data can be put on FIFO in packed or unpacked format. Packed format reduces the number of I/O accesses on FIFO. |
| Full Duplex Mode | Device can read and write data simultaneously | |
| Least Significant Bit | Option to send least significant bit first from packets | |
| Dual SPI | SPI MISO/MOSI can act as Rx and Tx | |
| Least Significant Byte First | Option to send least significant byte first from packets | |
| Hardware based CS control and CS setup/hold time | Hardware control the CS and maintain CS setup and hold time | |
| Software or hardware Chip Select Polarity Section | Chip select can be active high or active low based on the external device property | |
| Supported Modes 0/1/2/3 | SPI communication support Mode 0, 1, 2, or 3 | |
| DMA mode | Data written/read to/from FIFO using DMA mode | |
| PIO (non-DMA) mode |
CPU access the FIFO for read/write |
|
| GPIO based Chip select | CS line is controlled by the GPIO APIs | |
| SPI different clock rates | Set the interface clock speed based on what device can support | |
| Prod configuration | Platform/chip specific configuration of controller/interface | |
| Clock delay between packets | Provision for delay between packets | |
| Clock gating and clock always ON | Dynamic clock enable/disable for power save | |
| Runtime PM | Runtime power management | |
| Interrupt based | Transfer done handling through interrupt | |
| Different packet bit length | Different packet bit length | |
| Multiple transfer request | Multiple SPI transfer request from single call | |
| GPIO | GPIO request/free | GPIO access permission |
| Pinmux integration with GPIOS | GPIO APIs call pinmux for required pin configuration | |
| Direction set/get | GPIO direction configuration | |
| Value set/get | GPIO value set/get to/from pin | |
| Interrupt support from all pins | Interrupt support from all pins | |
| Wakeup support for SC7 | Wakeup support for SC7 | |
| GPIO register dump | GPIO register dump | |
| GPIO framework sysfs support | GPIO framework sysfs support | |
| Suspend/resume | Suspend/resume | |
| Pinmux | Function configuration | Pinmux function configuration |
| Pinmux config configuration | Pinmux different properties like pull up/down, input, tristate etc. configuration | |
| Suspend/resume | Save and restore of pinmux context | |
| Drive strength | Drive strength configuration of pins | |
| Prod setting | Prod setting | |
| Static pinmux configuration | Static pinmux configuration | |
| Dynamic pinmux configuration | Dynamic pinmux configuration | |
| Pinmux register dump | Pinmux register dump | |
| Pinmux configuration dumping | Pinmux configuration dumping | |
| Pinmux-GPIO integration | Pinmux-GPIO integration | |
| APBDMA/GPCDMA | Memory to memory | Memory to memory transfer |
| Memory to I/O | Memory to I/O | |
| I/O to memory | IO to memory | |
| Cyclic-once mode | Cyclic mode | |
| Transfer done through interrupt mode | Transfer done on interrupt | |
| Multiple transfer request | Queue mechanism of the transfer request | |
| NVIDIA® Tegra® WDT | Watchdog framework support | Registration with WDT framework |
| System reset on CPU hang | System reset on WDT expiry | |
| Suspend/resume support | Suspend/resume handling | |
| Watchdog interrupt support | WDT reset on ISR | |
| Watchdog polling/ping support | WDT start/stop/pin from user space | |
| PWM | PWM ops | PWM registration to framework |
| Clock accuracy calculation | Clock calculation | |
| PMC | Controlling I/O PAD voltage (PWR_DETECT) | Pad voltage configuration by software |
| I/O DPD configuration | Deep power down configuration | |
| Read/write PMC registers | PMC register access interface | |
| PMC config for bootrom I2C | PMC configuration for bootrom I2C/MMIO command | |
| BPMP I2C Master | Speed mode (Standard, FM, FM+) | Bus speed configuration |
| Packet mode | I2C controller configuration in packet mode | |
| 7-bit/10-bit addressing mode | 7 and 10 bit addressing | |
| Bus clear support | Bus clear handling when bus is held by device | |
| SPE-UART | PIO mode | FIFO access using CPU |
| Hardware flow control | Flow control line toggling from hardware/software | |
| FIFO mode | FIFO mode of UART controller | |
| SPE DMA | Memory to memory | Memory to memory transfer |
| Memory to I/O | Memory to I/O | |
| I/O to Memory | I/O to memory | |
| Continuous mode support | Cyclic mode | |
| I2C SLAVE | Normal/Byte mode | I2C controller configuration on byte mode |
| FIFO mode | I2C controller configuration on FIFO mode | |
| 7-bit addressing | 7-bit addressing | |
| 10-bit addressing | 10-bit addressing | |
| Repeat start | Repeat start on transfer of data | |
| Clock stretching | Clock line stretching | |
HDMI¶
| Feature | Details |
|---|---|
| EDID support | Read and parse EDID |
| Hot-plug detection | Hot-plug detection with HDMI® monitors and TV |
| HDMI 1.4 (480p/720p/1080p, 4K @30 Hz) | Support for HDMI1.4 with following modes 480p/720p/1080p/ 4k @30 Hz |
| HDMI 2.0(4K @30 HZ, 4K @ 60HZ) | Support for HDMI 2.0 with 4K @30 Hz, 4K @60 Hz resolution |
| Driver suspend/resume | Driver suspend/resume for low power |
| HDMI - 4K @60 Hz - 8-bit - YUV 420 | HDMI - 4K @60 Hz - 8-bit - YUV 420 |
| HDMI as primary display | Support HDMI as primary display |
| Dual display | Mirroring support |
| HDMI 1.4b compliance | HDMI 1.4b compliance |
| HDMI 2.0 compliance | HDMI 2.0 compliance |
| Seamless display | Seamless display |
| Deep color support (12 bits/cell RGB and YUV444) | Deep color support (12 bits/cell RGB and YUV444; 10 bits/cell RGB is not supported) |
| Deep color support ( 0/12 bits/cell YUV422) | Deep color support ( 0/12 bits/cell RGB and YUV422) |
| Sideband information | Send sideband information to the panel during video refresh; info frames and audio data DP |
DisplayPort¶
| Feature | Details |
|---|---|
| EDID | Read and parse EDID |
| DP Hot Plug support | Hot-Plug detection with DP monitors or TV |
| DP 4K @60 Hz | 4K mode in DP |
| DP 4K @120 Hz or 8K @30 Hz | HBR3 support at beta level (may have compatibility issues) |
| Seamless display | Seamless display |
| Enhanced framing | Error recovery methods |
| Full Link Training | Handshake signaling between host and device |
| HPD_IRQ event | Feedback from the panels in case of link synchronization loss |
| Driver Suspend/Resume | Driver suspend/resume for low power |
| Primary display | Support DP as primary display |
| Dual display | Mirroring support |
| Link rates 1.62, 2.7, and 5.4 Gbps | Link rates supported by the driver up to HBR2 |
| Link rate 8.1 Gbps | HBR3 support at beta level (may have compatibility issues) |
| DP Alt Mode/Type-C | Support for outputting DP signaling over the Type-C interface |
| Aux link | Support DP aux link |
| Sideband information | Send sideband information to the panel during video refresh |
PCIe¶
| Feature | Details |
|---|---|
| Controllers with x8 link width | Max x8 link width (C0 and C5) |
| Controllers with x4 link width | Max x4 link width (C4) |
| Controllers with x1 link width | Max x1 link width (C1,C2,C3) |
| Legacy interrupts | Applicable to all controllers |
| MSI & MSI-X interrupts | Applicable to all controllers |
| 128 byte maximum payload size | Applicable to all controllers |
| 256 byte maximum payload size | Applicable to all controllers |
| Gen-1 speed | Applicable to all controllers |
| Gen-2 speed | Applicable to all controllers |
| Gen-3 speed | Applicable to all controllers |
| Gen-4 speed | Applicable to all controllers |
| ASPM - L0s | Applicable to all controllers (enabled by default only on C1 controller) |
| ASPM - L1 | |
| ASPM - L1.1 | |
| ASPM - L1.2 | |
| Wake support | Applicable to all controllers |
| Advanced Error Reporting (AER) | Applicable to all controllers |
| End Point mode support | C0,C4,C5 |
SDMMC¶
| Feature | Notes |
|---|---|
| DR50 | eMMC interface running in DDR mode at 50 MHz |
| HS200 | eMMC interface running in SDR mode at 200 MHz |
| HS400 | eMMC interface running in DDR mode at 200 MHz |
| HS533 | eMMC interface running in DDR mode at 267 MHz |
| HW tuning | Supports tuning in SDMMC controller |
| Packed Commands | Read & write commands can be packed in groups (either all read or all write) that transfer data for all commands in the group in one transfer on the bus, to reduce overhead |
| Cache | Similar to CPU cache, but implemented in eMMC; helps improve performance |
| Discard | Erases data if necessary during background erase events |
| Sanitize | Physically removes data from unmapped user address space |
| RPMB | Secure access |
| BKOPS | Allows execution of back ground operations when host is not being serviced |
| HPI | High priority interrupt to stop ongoing bkops/reliable writes |
| Power Off Notification | Allows device to prepare itself to power off properly and improve user experience during power-on |
| Sleep | Minimizes power consumption of the eMMC device |
| RTPM | Software feature to save power by switching off clocks when there is no transactions on the bus |
| Field Firmware Upgrade | Update eMMC firmware |
| Device Life Estimation Type A Device Life Estimation Type B |
Device Health is a mechanism to get vital NAND flash program/erase cycles information as a percentage of useful flash lifespan. Type A: SLC device health information Type B: MLC device health information |
| PRE EOL Information | Provides indication about device lifetime reflected by average reserved blocks |
| Hardware Command Queue | Performed by SD/MMC controller |
| Enhanced Strobe Mode (ESM) in HS400 mode | Optional for devices; indicated by STROBE_SUPPORT[184] register of EXT_CSD |
| eMMC CQ CQIC feature | Generates coalesced interrupts when the interrupt coalescing mechanism is enabled |
| Suspend/resume and shutdown |
SATA¶
| Feature | Notes |
|---|---|
| Gen1 | Interface speed 1.5 Gbps |
| Gen2 | Interface speed 3 Gbps |
| HIPM | Low power mode initiated by host |
| NCQ | Native Command Queue support |
| DEVSLP | Device sleep mode |
| Transfer mode | PIO or DMA |
| Port Multiplier Support | Hub for SATA |
| Runtime time power management | Driver can enable clock & rail only when active transactions happen with device |
| Bad block detection |
SATA-Marvel (over PCIe)¶
| Interface | Feature |
|---|---|
| Gen1 | Interface speed 1.5 Gbps |
| Gen2 | Interface speed 3 Gbps |
| Gen3 | Interface speed 6 Gbps |
| HIPM | Low power initiated by host |
| DIPM | How power initiated by device |
| NCQ | Native command queue support |
| DEVSLP | Device sleep mode |
| Transfer mode | PIO or DMA |
| Hot plug support | SATA drives may be removed and connected while system is active |
| Message Signaled Interrupts (MSI) | An alternative in-band method of signaling an interrupt |
| Port multiplier support | Hub for SATA |
| Runtime time power management | Driver can enable clock & rail only when active transactions happen with device |
UFS¶
| Feature | Notes |
|---|---|
| PWM-G1 PWM-G2 PWM-G3 PWM-G4 PWM-G5 PWM-G6 |
UFS (m-phy) interface runs in low performance (PWM-Gx) modes |
| HS-G1 HS-G2 HS-G3 |
UFS (m-phy) interface runs in high performance (HS-Gx) modes |
| Native Command Queue support | |
| Hibernation | Low power state |
| Runtime time power management | Driver issues software hibernation entry in runtime suspend, and hibernation exit in runtime resume |
| Auto hibernation | Hibernation triggered by controller |
| PWM SLOW modes | |
| PWM SLOW_AUTO modes | |
| HS FAST modes | |
| HS FAST_AUTO modes | |
| HS RATE_A series | |
| HS RATE_B series |
Security Engine¶
eesr| Feature | Notes |
|---|---|
| CBC-AES / Host1x | Cipher block chaining |
| EBC-AES / Host1x | Electronic Code Book |
| OFB-AES / Host1x | Output feedback |
| CTR-AES / Host1x | Counter mode |
| Cipher-based Message Authentication Code | CMAC-AES / Host1x |
| XTS-AES / Host1x | XEX-based tweaked-codebook mode with ciphertext stealing |
| DRBG (RNG) / Host1x | Deterministic random bit generator |
| SHA / Host1x | Secure Hash Algorithm variants: SHA1/224/256/384/512 |
| RSA / Host1x | RSA Public Key Algorithm sizes 512/1024/1536/2048 |
| RNG | Random number generator |
| TRNG | True random number generator |
| RSA/APB | RSA Public Key Algorithm sizes 3072/4096 |
| Montgomery precomputation | Montgomery operations |
| Modular addition | Modular operations |
| Modular division | |
| Modular subtraction | |
| Modular inversion | |
| Modular reduction | |
| Modular multiplication | |
| ECC point addition | Elliptic curve cryptography operations |
| ECC point double | |
| ECC point multiplication | |
| ECC point verification | |
| Bit serial modular reduction double precision | Modular operations |
| ECC Shamir Trick | < td> Elliptic curve cryptography operations|
| ECC-521 (Weierstrass) point multiplication | |
| ECC-521 (Weierstrass) point addition | |
| ECC-521 (Weierstrass) point double | |
| ECC-521 (Weierstrass) point verification | |
| ECC-521 (Weierstrass) Shamir’s Trick | |
| Non-modular multiplication | Modular operations |
| C25519 point multiplication | X25519 operations |
| C25519 modular exponentiation | |
| C25519 modular multiplication | |
| C25519 modular square | |
| Ed25519 point multiplication | Edwards curve operations |
| Ed25519 modular addition | |
| Ed25519 Shamir’s Trick | |
| DH | Diffie-Hellman algorithm |
| ECDH | Elliptic curve Diffie-Hellman algorithm |
| ECDSA | Elliptic curve digital signature algorithm |
| EdDSA | Edwards curve digital signature algorithm |
USB 3.0¶
| Feature | Notes |
|---|---|
| Super Speed Plus Host | USB host in 3.1 Gen2 mode (10 Gbps) |
| Super Speed Host | USB host in 3.0 mode (5 Gbps) |
| High Speed Host | USB host in 2.0 mode (480 Mbps) |
| Full Speed Host | USB host in 2.0 or 1.2 mode (12 Mbps) |
| Low Speed Host | USB host in 2.0 or 1.2 mode (1.5 Mbps) |
| Auto Suspend | USB host suspends the port/connected device if there is no activity |
| Remote Wakeup | USB host resumes the port/connected device if there is wakeup triggered by the device. |
| Auto Resume | USB host resumes the port/connected device if there is wakeup triggered by the host. |
| ELPG for xUSB HS partition | Engine level power gating support for xUSB HS partition |
| ELPG for xUSB SS partition | Engine level power gating support for xUSB SS partition |
| Lower power state (U3 state) | |
| LPM states (U1, U2 states) | |
| Hot Plug Support | USB drives may be removed and connected while system is active. |
| Port multiplier support | Hub for USB |
| Host Mass storage | Protocol for storage devices |
| Host USB video class | Protocol for camera devices |
| Host USB ECM | Protocol for ethernet over USB |
| Host USB audio class | Protocol for audio over USB |
| Host USB Modem—NCM | NCM protocol support for modem functionality |
| USB HID protocol | Human interface devices |
| Super Speed Device (xUSB) | USB device in 3.0 mode |
| High Speed Device (xUSB) | USB device in 2.0 mode |
| BC1.2 Charging support | Support for battery charging per BC1.2 spec |
| Apple charger | Support for detecting Apple charger |
| MTP device mode | MTP protocol support for data transfer |
| ADB device mode | ADB protocol support for data transfer |
| RNDIS device mode | RNDIS protocol support for data transfer |
| OTG | USB host and device (cable based detection) |
Ethernet¶
| Feature |
|---|
| Ping |
| Remote wakeup |
| NFS boot |
| Suspend/resume support over NFS |
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 bytes untagged, or 9022 bytes 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 one VLAN tag) |
Power Modes (Profiles)¶
| Feature |
|---|
| 10W / 15W / 30W profiles provided |
| NVPModel interface for mode selection and custom mode creation |
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 |
System¶
| 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 |
| Experimental Generic Timestamping Engine (GTE) support for LIC IRQ lines and AON GPIOs |
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 | 1.4 | ||||||
| GLVnd version of EGL | Vendor neutral dispatch library for GL † | ||||||
| NVDC - Direct Rendering Manager (DRM) | Compatibility with DRM 2.0 | ||||||
| EGL Stream | |||||||
| X11 ABI-24 | |||||||
| Wayland | 1.18 ‡ | ||||||
| Weston | 6.0 | ||||||
| API Support | Notes | ||||||
| GL + EGL, EGL without X11 | Extensions supported for getting these components to work | ||||||
|
|||||||
EGL Details¶
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.
Jetson Linux Driver Support supports the EGL 1.5 specification, Khronos Native Platform Graphics Interface (EGL 1.5 Specification).
GL and Vulkan Details¶
The OpenGL driver in this release supports OpenGL 4.6. See the Khronos® Group page OpenGL4.6 Core Profile.
All details related to GL/GLX and other related specifications can be found on the Khronos® Group page Khronos OpenGL® Registry. Conformance details for both X11 and Wayland Windowing System are on the Khronos Group page Conformant Products: OpenGL.
The OpenGL ES driver in this release supports OpenGL ES Common Profile Specification 3.2. For more information on OpenGL ES, see the Khronos OpenGL ES API Registry.
Conformance details for both X11 and Wayland Windowing System are on the Khronos Group page Conformant Products: OpeGL ES.
All details related to the specification can be found on the Khronos Group page Khronos Vulkan Registry. Conformance details are on the Khronos Group page Conformant Products: Vulkan.
Multimedia¶
The following tables list the several classes of multimedia features.
| Video Decoders | |||
|---|---|---|---|
| Video decode | Output formats | Sampling frequency and bit rate / frame rate | Notes |
| H.264 | NV12, NVMM:NV12 |
3840 × 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 |
7680 × 4320 at 30 fps Up to 240 Mbps |
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 × 2160 at 60 fps Up to 120 Mbps |
Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
| VP9 | NV12, NVMM:NV12 |
3840 × 2160 at 60 fps Up to 160 Mbps |
Full-frame, Disable-DPB, Skip-Frames, enable-error-check, enable-frame-type-reporting |
| MPEG4 | NV12, NVMM:NV12 |
1920 × 1080 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 × 2160 at 60 fps Up to 120 Mbps |
Supported features include:
|
| JPEG | I420, NVMM:I420 | 600 MP/sec | — |
| H.265 | I420, NVMM:I420, NVMM:NV12, NVMM:I420_10LE |
3840 × 2160 at 60 fps Up to 120 Mbps |
Supported features include:
|
| VP9 | I420, NV12, NVMM:I420, NVMM:NV12 |
3840 × 2160 at 30 fps Up to 140 Mbps |
Supported features include:
|
Note
Use the gst-inspect-1.0 utility to understand feature details. For example, either of these commands:
gst-inspect-1.0 omxh264enc
gst-inspect-1.0 nvv4l2h264enc
Provides feature details of the H.264 encoder.
| Display Outputs | ||
|---|---|---|
| nveglglessink | nvoverlaysink | |
| X11 backend | Wayland backend | |
| X11 window | Wayland-Weston window | Panel overlay |
| 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 | |
| NVMM:RGBA | NVMM:RGBA | |
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 | Supported sensors: OV5693 and IMX274. Can be demonstrated by the Argus Camera app. For more details on Argus, see Applications Using libargus Low-Level APIs in the topic Camera Development . | ||
| Infinite Timeout | Support for the use case in which CSI sensor stops streaming indefinitely and the camera stack goes idle. When the CSI sensor resumes streaming the camera stack resumes working. For more information about this use case, see Infinite Timeout Support in the topic Camera Software Development Solution . | ||
| 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 to *NVIDIA GMSL Camera Framework* in Related Documentation . The official reference driver code for IMX390 is not currently included in the release. | ||
| DOL WDR | Support for DOL sensors. Validated with Sony IMX274. | ||
| CPHY Sensor | Support for MIPI CPHY interface sensors. Validated with Sony IMX 318 reaching performance of 30 frames/second for preview. | ||
| PWL WDR | Support for HDR using PWL WDR technology. Validated with Sony IMX185. | ||
| TNR Support | VIC-based temporal noise reduction effective in low light scenes. | ||
| Two 4K Preview at 60nbsp;FPS | Preview performance of 60nbsp;frames/second for 4K (3840nbsp;×nbsp;2160) resolution with two IMX274 sensors running simultaneously. | ||
| Six Camera Preview at 30nbsp;FPS | Preview performance of 30nbsp;frames/second for 1920nbsp;×nbsp;1440 resolution with six OV5693 sensors running simultaneously. | ||
| USB Camera (UVC) | Supports UVC compliant USBnbsp;2.0 and USBnbsp;3.0 cameras. | ||
For additional information about CSI and USB Camera supported features, see the section nvgstcapture-1.0 Reference in the topic Accelerated Gstreamer Reference.
Control Area Network (CAN)¶
| Feature | Notes |
|---|---|
| CAN 2.0 A |
Basic or Standard CAN with 11-bit message identifiers, originally specified to operate at a maximum frequency of 250 Kbps. Maximum signal frequency: 1 Mbps. |
| CAN FD | CAN FD increases the maximum data throughput to ~3.7 Mbps. 10 Mbps over 10 meters. Maximum signal frequency: 15 Mbps. |
| TTCAN | Conforms with CAN protocol version 2.0 part A, B and ISO 11898-1, -4. CAN FD with up to 64 data bytes supported. |
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), 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), 32 bits (S32_LE), OSR 64, 128 and 256, and sample rates of 8, 16, 44.1, and 48 kHz. Supports interfaces DMIC1, DMIC2, and DMIC3. |
| DSPK Support |
Supports stereo playback. Supports sample sizes of 16 bits (S16_LE), 24 bits (S24_LE), 32 bits (S32_LE), and OSR 32, 64, 128, and 256, and sample rates of 8, 16, 44.1, and 48 kHz. Note that 24-bit samples are stored as 32-bit data, with data in the upper 24-bits of each sample. Supports interface DSPK1. |
| 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 interfaces I2S1, I2S2, I2S4 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 2 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_3LE), and sample rates of 8, 16, 44.1, 48, 96, and 192 kHz. Supports up to eight channels on an 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 −120 dB to +40 dB. 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 stream channels. 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 8 stream channels. Supports one AMIXER instance. |