Jetson AGX Xavier

NVIDIA Jetson AGX Xavier is an embedded system-on-module (SoM) from the NVIDIA AGX Systems family, including an integrated Volta GPU with Tensor Cores, dual Deep Learning Accelerators (DLAs), octal-core NVIDIA Carmel ARMv8.2 CPU, 16GB 256-bit LPDDR4x with 137GB/s of memory bandwidth, and 650Gbps of high-speed I/O including PCIe Gen 4 and 16 camera lanes of MIPI CSI-2.

Useful for deploying computer vision and deep learning to the edge, Jetson AGX Xavier runs Linux and provides 32 TeraOPS of compute performance in user-configurable 10/15/30W power profiles.

Jetson AGX Xavier is currently available as the Jetson AGX Xavier Developer Kit and the production Jetson AGX Xavier standalone compute module. See the wiki of previous Jetson's here.



= Jetson AGX Xavier Module =

The Jetson AGX Xavier compute module contains all the active processing components. The I/O ports are broken out through a carrier board via a 699-pin board-to-board connector.

Below is a partial list of the module's features. Please see the Jetson AGX Xavier Module Datasheet for the complete specifications.



Processing Components

 * Octal-core NVIDIA Carmel ARMv8.2 CPU @ 2.26GHz
 * 512-core Volta GPU @ with 64 Tensor Cores
 * Dual Deep Learning Accelerator (DLA) engines
 * 16GB 256-bit LPDDR4x @ 2133MHz (137GB/s)
 * 32GB eMMC 5.1
 * Vision Accelerator engine
 * (4x) 4Kp60 H.264/H.265 video encoder
 * (2x) 8Kp30 / (6x) 4Kp60 H.265 video decoder



I/O Interfaces & Ports

 * (16x) MIPI CSI-2 lanes, (8x) SLVS-EC lanes
 * up to 6 active sensor streams and 36 virtual camera channels
 * (5x) PCIe Gen 4 controllers | 1x8, 1x4, 1x2, 2x1
 * (3x) Root Port & Endpoint
 * (2x) Root Port
 * (3x) USB 3.1 + (4x) USB 2.0
 * (3x) eDP 1.4 / DP 1.2 / HDMI 2.0 @ 4Kp60
 * 10/100/1000 BASE-T Ethernet + MAC + RGMII PHY
 * Dual CAN bus controller
 * UART, SPI, I2C, I2C, GPIOs

Form-Factor

 * 699-pin board-to-board connector
 * dimensions: 100x87mm with 16mm Z-height
 * Integrated Thermal Transfer Plate (TTP) with heatpipe
 * -25C to 80C operating temperature
 * 9.0-20VDC input power

Software Support

 * JetPack 4.2
 * Linux4Tegra R31.2 (L4T)
 * Linux kernel 4.9
 * Ubuntu 18.04 aarch64
 * CUDA Toolkit 10.0
 * cuDNN v7.3
 * TensorRT 5.0
 * VisionWorks 1.6
 * OpenCV 3.3.1
 * OpenGL 4.6 / OpenGL ES 3.2.5
 * Vulkan 1.1.1
 * L4T Multimedia API (Argus 0.97)
 * GStreamer 1.14.1
 * V4L2 media controller support
 * NVIDIA Nsight Systems 2019.3
 * NVIDIA Nsight Graphics 2018.7
 * NVIDIA Nsight Compute 1.0

= Jetson AGX Xavier Developer Kit =

The Jetson AGX Xavier Developer Kit bundles together all the pre-assembled parts for developers to get started creating applications with Jetson AGX Xavier.



What's Included

 * Open-source reference carrier board (105x105mm)
 * Integrated active thermal solution
 * Jetson AGX Xavier compute module
 * USB 3.0 Type-A to Type-C cable (for flashing)
 * USB 2.0 OTG adapter
 * 19V power supply
 * AC power cable

The design files for the reference carrier board are freely available for download.

Ports & Connectors
The following I/O ports and mezzanines are provided on the devkit:


 * PCIe Gen 4 x16 slot (PCIe x8 / SLVS x8)
 * (2x) USB3.1 (DisplayPort optional) (Power Delivery optional)
 * (16x) MIPI CSI-2 lanes (camera header)
 * Gigabit Ethernet (RJ45)
 * M.2 Key E site (PCIe x1 for Wi-Fi/LTE/5G)
 * M.2 Key M site (NVMe x4)
 * eSATAp + USB 3.0
 * uSD/UFS card socket
 * HDMI 2.0 Type A
 * 40-pin GPIO header (UART, SPI, CAN, I2C, I2C, DMIC, GPIOs)
 * HD Audio header
 * 9.0-20VDC power barrel jack

Getting Started

 * Get the latest development software for PC and Jetson AGX Xavier by using JetPack.


 * Plug in an HDMI display into Jetson, attach the antennas and USB keyboard & mouse, and apply power to boot it up.     (User Guide)


 * Visit NVIDIA's Embedded Computing developer portal and the Jetson AGX Xavier Developer Forum to access the latest documentation & downloads.

Availability

 * The devkit is available worldwide through NVIDIA's Jetson AGX Xavier Developer Kit webpage.
 * Alternatively, use the Region Selector to find distributors of the devkit in your region.


 * Pricing Information
 * The MSRP of the Jetson AGX Xavier Developer Kit is $1,299 USD (prices may vary by region)
 * Students, professors, and faculty members affiliated with academic institutions are eligible to receive an EDU discount at $899 USD (prices may vary by region)

= Platform Documentation =

NVIDIA has released comprehensive documentation and reference designs for Jetson AGX Xavier, available through the Jetson Downloads Center.


 * Module Datasheet     the official module features, ports, signal pin-out, and package specifications.
 * Design Guide     detailed technical design and layout information for creating OEM products.
 * Thermal Design Guide     mechanical specifications for designing active and passive cooling solutions.
 * DevKit User Guide     user manual for setting up, configuring, and using the devkit.
 * DevKit Carrier Spec     design info about the reference carrier board from the devkit.
 * DevKit Design Files     schematics, layout, and design files for the devkit reference carrier board.
 * DevKit CAD Model     3D STEP file for reference carrier board, and heatsink
 * Module CAD Model     3D STEP file for reference carrier board, and heatsink
 * L4T Documentation     documentation for L4T kernel and userspace tools.
 * L4T Kernel Sources     sources for L4T kernel for Jetson AGX Xavier
 * Xavier SoC TRM     Xavier Series (SoC) Technical Reference Manual
 * Multimedia API Reference     documentation to Argus camera API and V4L2 media codecs
 * Accelerated GStreamer Guide     example gstreamer pipelines for utilizing H.264/H.265 hardware video codec
 * Supported Components List     list of formally verified 3rd-party components qualified to work with Jetson AGX Xavier
 * Pin and Function Names Guide mappings from SoC to SoM signal & pin names
 * Jetson AGX Xavier Pinmux     pin multiplexing device tree configuration spreadsheet

Above is a partial list of documents. Please visit the Jetson Downloads Center for the full list that's currently available.

Upcoming Documents
The following upcoming documents for Jetson AGX Xavier are being prepared by NVIDIA:
 * Jetson AGX Xavier Battery and Charger Design Guide
 * Jetson AGX Xavier Camera Module Hardware Design Guide
 * Jetson AGX Xavier Voltage and Current Monitor Configuration
 * Jetson AGX Xavier Fuse Specification
 * Jetson AGX Xavier Regulatory and Compliance Documents

= Guides and Tutorials =

This section contains recipes for following along on Jetson AGX Xavier.

System Tools

 * JetPack 4.2
 * L4T R32.1 BSP
 * Installing with a VM
 * Jetson AGX Xavier Build Assistant Scripts
 * Creating Swap File
 * Enabling PCIe Endpoint
 * Enabling Remote Desktop
 * Building OpenCV 4.0
 * An alternative for cloning
 * Another alternative for cloning
 * Run GPU at highest frequency by default
 * Enable CAN on Jetson AGX Xavier
 * Miscellaneous Interfaces Description
 * GPIO Pinout Mapping
 * Update Pinmux on Jetson AGX Xavier
 * Device Trees of Jetson AGX Xavier
 * Tegra Combined UART
 * Automatic Power-Up / Boot
 * Manually Controlling the Fan
 * GPUDirect RDMA Sample
 * jetson_easy - automatic setup/scripting
 * jetson_stats - jtop, service and other tools

Multimedia

 * Gstreamer Pipelines for AGX Xavier
 * RidgeRun's GstInterpipe (GStreamer plug-in for communication between two or more independent pipelines)
 * RidgeRun's GstRRWebRTC (GStreamer plug-in that turns pipelines into WebRTC compliant endpoints)
 * RidgeRun's GstRTSPSink (GStreamer element for high performance streaming to multiple computers using the RTSP/RTP protocols)
 * RidgeRun's Gstreamer Daemon - GstD (GStreamer framework for controlling audio and video streaming using TCP connection messages)
 * RidgeRun's GstCUDA (RidgeRun CUDA ZeroCopy for GStreamer)
 * RidgerRun's GstPTZR (GStreamer Pan Tilt Zoom and Rotate Element)
 * RidgeRun's GstColorTransfer (GStreamer plug-in that transfers the color scheme from a reference to a target image)

Deep Learning

 * TensorFlow 1.11 PIP wheels     (for Jetson AGX Xavier / JetPack 4)
 * TF-TRT Models     (various TensorFlow models with TensorRT)
 * Installing Caffe     (install Caffe on Jetson AGX Xavier)
 * Installing PyTorch     (build procedure + PIP wheels for PyTorch)
 * jetson-inference     (training/deployment DL vision tutorial)
 * jetson-inference-dev     (DLA integration with TensorRT 5)
 * RidgeRun's GstInference
 * RidgeRun's R2Inference

V4L2 drivers for cameras

 * RidgeRun has a list of drivers already supported in Jetson, please check if the driver that you need is already there. Otherwise, RidgeRun offers services to create the driver for you

= Ecosystem Products & Cameras =

The following are 3rd-party accessories, cameras and carriers available for Jetson AGX Xavier. Please see the Supported Components List and Jetson Ecosystem directory for a full listing of product partners.


 * 3D-printable cover for Xavier devkit base
 * Auvidea X200 (carrier)
 * e-con Systems 3D MIPI Stereo camera for NVIDIA® Jetson AGX Xavier™/TX2
 * e-con Systems Synchronized Four Camera Board for Xavier
 * e-con Systems Xavier Cameras
 * APPROPHO XAVIER/TX2/TX1 Sensor module solution
 * ConnectTech Mimic (Xavier -> TX1/TX2 adapter)
 * ConnectTech Rogue (carrier)
 * ConnectTech Sentry-X (rugged enclosure)
 * D3 Engineering IMX390
 * Leopard Imaging Xavier Camera Kit (The TX1/TX2 Camera Kit can work on Xavier too, but the LI-JTX1-MIPI-ADPT REV1.2 board needs to be reworked: Guide)
 * Jetson TX1/TX2 OV5693 camera module
 * MiiVii Brain Apex fanless enclosure
 * Stereolabs ZED stereo camera
 * Sensoray 1012 8 channel mPCIe analogue video capture card.

Note that many CSI cameras from the TX1/TX2 era may be compatible with Jetson AGX Xavier, those that are listed above have been confirmed to work by the community as of this time.

= Getting Help = If you have a technical question or bug report, please visit the DevTalk Developer Forums and search or start a topic.

See the official Support page on Embedded Developer Zone for warranty and RMA information: https://developer.nvidia.com/embedded/support

For NVIDIA webstore Customer Service, please see the My Account page or contact 1-800-797-6530.