Nvidia JETSON AGX XAVIER User manual

DA_09403_003 | January 7, 2020
User Guide
JETSON AGX XAVIER
DEVELOPER KIT

Jetson AGX Xavier Developer Kit DA_09403_003 | ii
DOCUMENT CHANGE HISTORY
DA_09403_003
Version Date Authors Description of Change
1.0 September 7, 2018 plawrence Initial release
2.0 July 1, 2019 plawrence Includes SDK Manager and related
updates.
3.0 January 7, 2020 ssheshadri Reference to new VPI documentation.
Welcome to the NVIDIA Jetson platform! There are two key things you should do
right away:
0. Sign up for the NVIDIA Developer Program – this enables you to ask
questions and contribute on the NVIDIA Jetson Forums, gives access to all
documentation and collateral on the Jetson Download Center, and more.
1. Read this User Guide! After that, check out these important links:
•Jetson FAQ – Please read the FAQ.
•Support Resources – This web page links to important resources,
including the Jetson Forum and the Jetson Ecosystem page.
•NVIDIA Jetson Linux Driver Package Release Notes –Jetson Linux
Driver Package is a key component of the Jetson platform, and
provides the sample filesystem for your developer kit. Please read the
latest release notes.
Thanks,
The NVIDIA Jetson team

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TABLE OF CONTENTS
NOTE ....................................................... Error! Bookmark not defined.
Getting Started.............................................................................. 1
Included in the box ............................................................................. 1
Developer Kit Interfaces ....................................................................... 2
Interface Details ............................................................................. 3
Physical Configuration Instructions........................................................... 4
JetPack ....................................................................................... 5
Summary of JetPack Components ............................................................ 5
OS Image ...................................................................................... 5
Libraries and APIs ............................................................................ 5
Sample applications ............................................................................ 6
Developer Tools ................................................................................. 6
Documentation .................................................................................. 7
How to Install Jetpack ......................................................................... 7
Install SDK Manager on the Linux Host Computer ....................................... 7
Connect Developer Kit to the Linux Host Computer .................................... 8
Put Developer Kit into Force Recovery Mode ............................................ 8
Run SDK Manager............................................................................. 8
Working with Jetson Linux Driver Package........................................... 9
Compliance Information ................................................................ 10

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GETTING STARTED
The NVIDIA®Jetson AGX Xavier™Developer Kit provides a full-featured development
platform designed to get you up and running quickly. The included carrier board
exposes many standard hardware interfaces, enabling a highly flexible and extensible
platform for rapid prototyping.
NVIDIA JetPack™ SDK supports both your developer kit and host development
platform. It includes:
Sample Linux filesystem with NVIDIA drivers
AI and Computer Vision libraries and APIs
Developer tools
Documentation and sample code
Before using your developer kit, you must install JetPack. A Linux host computer is
required; for details, see How to Install JetPack, below.
Minimum system requirements for the host computer are:
Ubuntu Linux x64 v16.04 or v18.04
A valid Internet connection
At least 23GB of disk space
INCLUDED IN THE BOX
The Jetson AGX Xavier Developer Kit includes:
Jetson®AGX Xavier™ module (P2888) with thermal solution
Reference carrier board (P2822)
Power supply with AC cord
Type C to Type A cable (USB 3.1 Gen2)
Type C to Type A adapter (USB 3.1 Gen 1)

Getting Started
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DEVELOPER KIT INTERFACES
Front view (left) and rear view (right)
Top view of developer kit carrier board

Getting Started
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Bottom view of developer kit carrier board
Interface Details
This list highlights some of the Jetson AGX Xavier Developer Kit carrier board
interfaces. See the Jetson AGX Xavier Developer Kit Carrier Board Specification for
comprehensive information:
[J1] M.2 Key M connector for high speed NVMe storage.
•To reach it, you must detach the combined module and thermal solution.
[J2] Power available for peripherals is limited to power supply capability (65W from
included power supply) minus developer kit system power usage (maximum of 30W
in default configuration).
[J4] Slot accepts either an SD Card or a UFS card.
[J6] PCIe x16 connector routes to a x8 PCIe 4.0 controller.
[J6] This connector is also where the lanes are connected for SLVS cameras.
[J501] Micro-USB connector provides access to the UART console.
•For example, you can access the serial console of the developer kit from a
terminal emulator on a computer connected to this micro-USB port.
[J504] HDMI 2.0.
[J505] M.2 Key E connector can be used for wireless networking cards, and includes
interfaces for PCIe (x1), USB 2.0, UART, I2S & I2C.
[J507] Hybrid connector can be used for either eSATA or USB3 Type-A. The eSATA
connector can supply 5V.

Getting Started
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[J509] Camera connector supports up to six directly connected cameras via CSI-2, or
up to 16 cameras via the virtual channel feature of CSI-2.
[J512, J513] USB Type-C connectors.
•J512 can be used to flash the developer kit.
•Either connector can be used to power the developer kit from USB Type-C power
supplies listed in Jetson AGX Xavier Supported Component List.
•Both connectors support DisplayPort, so you can run three displays at once by
using these plus the HDMI adapter.
PHYSICAL CONFIGURATION INSTRUCTIONS
To prepare your Jetson AGX Xavier Developer Kit for use, connect it as follows:
Connect an external HDMI display to the carrier board’s HDMI port.
Connect a USB keyboard and mouse.
•Connect directly to the hybrid USB Type-A/eSATA port and use the included
USB Type-C to Type-A adapter to connect to the rear USB Type-C port. (Leave
the front USB Type-C port available; it will be needed to flash the developer kit.)
Connect the developer kit to your local network via Ethernet cable to the carrier
board's Ethernet port.
Connect the included AC adapter to the carrier board's power jack. Plug the AC
adapter into an appropriately rated electrical outlet.
•Use only the supplied AC adapter, as it is appropriately rated for your device.
Note that the Jetson AGX Xavier Developer Kit may be run upside down or resting on
the non-vented side, allowing easy access to the camera connector and headers on the
bottom of the carrier board. Any of these orientations are OK:

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JETPACK
NVIDIA JetPack SDK is the most comprehensive solution for building AI applications. It
includes the latest OS images for Jetson products, along with libraries and APIs,
samples, developer tools, samples, and documentation.
Before using your Jetson AGX Xavier Developer Kit, you will need to install JetPack.
SUMMARY OF JETPACK COMPONENTS
This section briefly describes each component of JetPack. For additional details about
these components, see the online documentation for JetPack at:
https://docs.nvidia.com/jetson/jetpack/index.html
OS Image
JetPack includes a sample file system derived from Ubuntu.
Libraries and APIs
JetPack includes the following libraries:
TensorRT and cuDNN for high performance deep learning applications
CUDA for GPU accelerated applications across multiple domains
NVIDIA Container Runtime for containerized GPU accelerated applications
Multimedia API package for camera applications and sensor driver development
VisionWorks,OpenCV, and VPI (Developer Preview) for visual computing
applications

JetPack
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Sample applications
SAMPLE APPLICATIONS
JetPack includes several samples which demonstrate the use of JetPack components.
These are stored in the reference filesystem and can be compiled on the developer kit.
JetPack component Sample locations on reference filesystem
TensorRT /usr/src/tensorrt/samples/
cuDNN /usr/src/cudnn_samples_<version>/
CUDA /usr/local/cuda-<version>/samples/
Multimedia API /usr/src/tegra_multimedia_api/
VisionWorks
/usr/share/visionworks/sources/samples/
/usr/share/visionworks-tracking/sources/samples/
/usr/share/visionworks-sfm/sources/samples/
OpenCV /usr/share/OpenCV/samples/
VPI /opt/nvidia/vpi/vpi-0.0/samples
DEVELOPER TOOLS
JetPack includes the following developer tools. Some are used directly on a Jetson
system, and others run on a Linux host computer connected to a Jetson system.
Tools for application development and debugging:
•Nsight Eclipse Edition for development of GPU accelerated applications: Runs
on Linux host computer. Supports all Jetson products.
•CUDA-GDB for application debugging: Runs on the Jetson system or the Linux
host computer. Supports all Jetson products.
•CUDA-MEMCHECK for debugging application memory errors: Runs on the
Jetson system. Supports all Jetson products.
Tools for application profiling and optimization:
•Nsight Systems for application profiling across GPU and CPU: Runs on the
Linux host computer. Supports all Jetson products.
•nvprof for application profiling across GPU and CPU: Runs on the Jetson system.
Supports all Jetson products.
•Nsight Graphics for graphics application debugging and profiling: Runs on the
Linux host computer. Supports all Jetson products.

JetPack
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Note Visual Profiler is deprecated for Jetson AGX Xavier. Developers are
encouraged to use Nsight Systems and Nsight Compute instead.
•Nsight Compute for interactive CUDA kernel profiling: Runs on the Linux host
computer. Supports Jetson AGX Xavier.
•Nsight Compute CLI for CUDA kernel profiling: Runs on the Jetson system or
the Linux host computer. Supports Jetson AGX Xavier.
DOCUMENTATION
Documents that are relevant to developers using JetPack include:
•JetPack Documentation
•NVIDIA Jetson Linux Driver Package
Developer Guide
•NVIDIA Jetson Linux Support
Package Release Notes
•TensorRT Documentation
•cuDNN Documentation
•CUDA Toolkit
•NVIDIA Container Runtime
•Multimedia API Reference
•
OpenCV Documentation
•VisionWorks Documentation
•Nsight Eclipse Edition Documentation
•CUDA-GDB Documentation
•CUDA-MEMCHECK Documentation
•Nsight Systems
•nvprof
•Nsight Graphics
•Nsight Compute
•Nsight Compute CLI
•VPI–Vision Programming Interface
HOW TO INSTALL JETPACK
Installing JetPack to your developer kit requires you to perform these steps, detailed in
the sections below:
1. Download and install NVIDIA SDK Manager on the Linux host computer.
2. Connect your developer kit to the Linux host computer.
3. Put your developer kit into Force Recovery Mode.
4. Use SDK Manager to select and install desired components.
Install SDK Manager on the Linux Host Computer
You must have a Linux host computer with a working Internet connection to run SDK
Manager and flash the developer kit. Supported host operating systems are:
Ubuntu Linux x64 Version 18.04 or 16.04
Follow these instructions to download and install NVIDIA SDK Manager.