Jetson Xavier NX Developer Kit Guide Datasheet by Seeed Technology Co., Ltd

DA_09814-001 | May 14, 2020
User Guide
DA709814’001 e NVIDIA Developer Program NVIDIA etson Forums e etson Download Center etson FAQ Support Resources NVIDIA etson Linux Developer Guide
Jetson Xavier NX Developer Kit DA_09814-001 | ii
Description of Change
1.0 May 14, 2020 plawrence Initial release.
Welcome to the NVIDIA Jetson platform! There two key things you should do right
1. 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.
2. 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 Developer Guide – Jetson Linux is a key component
of the Jetson platform, and provides the sample filesystem for your
developer kit. Comprehensive documentation may be found in the
Developer Guide.
The NVIDIA Jetson team
Jetson Xavier NX Developer Kit DA_09814-001 | iii
Note .........................................................................................ii
Developer Kit Setup and Hardware ................................................... 1
Included in the Box ............................................................................. 1
Developer Kit Setup ............................................................................ 2
Developer Kit Interfaces ....................................................................... 3
Interface Details ............................................................................. 4
Power Guide .................................................................................. 6
JetPack ..................................................................................... 7
Summary of JetPack Components ............................................................ 7
How to Install JetPack ......................................................................... 9
Initial Configuration upon First Boot ........................................................ 10
Headless Mode .................................................................................. 10
Working with Jetson Linux Driver Package ........................................ 11
Jetson Xavier NX Developer Kit DA_09814-001 | 1
The NVIDIA® Jetson Xavier™ NX Developer Kit enables development of full-featured,
multi-modal AI applications for products based on the Jetson Xavier NX module.
The Jetson Xavier NX Developer Kit (P3518*) includes a non-production specification
Jetson Xavier NX module (P3668-0000) attached to a reference carrier board (P3509-
Jetson Xavier NX is supported by the comprehensive NVIDIA® JetPack™ SDK,
Full Linux software development environment including NVIDIA drivers
NVIDIA Container Runtime with Docker integration
AI, Computer Vision, and Multimedia libraries and APIs
Developer tools, documentation, and sample code
Your Jetson Xavier NX Developer Kit’s box includes:
A Jetson Xavier NX module with heatsink. This version of the module (P3668-0000)
is only for use in a developer kit and is not intended for production environments.
A reference carrier board (P3509-0000).
A 19-volt power supply.
An appropriate power cable for your region.
An 802.11 plug-in WLAN and Bluetooth® module with antennas (assembled
underneath the carrier board).
*P3518refers to developer kit Part Numbers 945-83518-0000-000, 945-83518-0005-000, and 945-
fl NVIDIA recommends using the Jetson Xavier NX Developer Kit only with the power supply provided. Using an incompatible power supply may damage the carrier board or the module or both. If you use another power supply in place of the one provided, you are responsible for Getting Started with etson Xavier NX Developer see How to Install etPack
Jetson Xavier NX Developer Kit DA_09814-001 | 2
A small paper card with quick start and support information.
Note NVIDIA recommends using the Jetson Xavier NX Developer Kit only with
the power supply provided. Using an incompatible power supply may
damage the carrier board or the module or both. If you use another
power supply in place of the one provided, you are responsible for
ensuring that it is compatible with the developer kit hardware.
Before using your developer kit, you must set up a microSD card with the operating
system and JetPack components. The simplest method is to download the microSD card
image and follow instructions found in Getting Started with Jetson Xavier NX Developer
In summary:
You need a 16 GB or larger UHS-1 microSD card, HDMIor DP monitor, USB
keyboard, and mouse.
Download the Jetson Xavier NX Developer Kit SD Card image and write it to the
microSD card.
Insert the microSD card into the slot on the underside the Jetson Xavier NX module,
then attach the display, keyboard, and mouse. Optionally connect an Ethernet cable.
(The developer kit includes a WLAN networking adapter that can be configured
during initial setup or later.)
Connect the provided power supply. The developer kit powers on automatically.
For information about other installation methods, see How to Install JetPack, below.
“$54 / Power jack HDMI Micro-USS ‘ Gi abit DlsplayPort Ethgernet H mm r1421 n microSD Card slot Heatsink
Jetson Xavier NX Developer Kit DA_09814-001 | 3
Developer kit module and carrier board: front view
Developer kit module and carrier board: rear view
Button Header Camera Conn. #1 camera Conn. :32 USB 3.1 Type A (x2 stackedi HDM‘ Type A 1 DP Power Jack M, Key E Socket [J14] #gllulllilulnlf’liifllélel ~ r Fan Header 4‘}le Exp Header SODIMM Connector Ethernet Jack Power LED USE Mint) 5 [J10] M, K M "'—[“‘] Sockeley
Jetson Xavier NX Developer Kit DA_09814-001 | 4
Developer kit carrier board: top view
Developer kit carrier board: bottom view
Interface Details
This section highlights some of the Jetson Xavier NX Developer Kit interfaces. See Jetson
Xavier NX Developer Kit Carrier Board Specification for comprehensive information.
A slot for a microSD card, [J501]. (This slot is on the Jetson Xavier NX module, and
so is not shown in the diagrams of the carrier board.)
The heatsink supports 15W module power usage at 35 °C ambient temperature.
Depending on your use case, you can configure it to “quiet” (no or slow fan) or
“cool” (higher speed fan). For details, see the section “Fan Mode Control” in the
Jetson.GPI jetson—io SeeConfigufing the 407Pin Expansion Header letsnn Linux Develnper Guide e an GPIO
Jetson Xavier NX Developer Kit DA_09814-001 | 5
topic “Power Management for Jetson Xavier NX and Jetson AGX Xavier Series
Devices” of Jetson Linux Developer Guide.
Carrier Board
[DS1] Power LED; lights when the developer kit is powered on.
[J1] Camera connector; enables use of CSI cameras. The Jetson Xavier NX Developer
Kit works with IMX219 camera modules, including Leopard Imaging LI-IMX219-
MIPI-FF-NANO camera module and Raspberry Pi Camera Module V2.
[J2] SO-DIMM connector for Jetson Xavier NX module.
[J5] Micro-USB 2.0 connector; operates in device mode only.
[J6] and [J7] are each a stack of two USB 3.1 Type A connectors. Each stack is limited
to 1A total power delivery. All four are connected to the Jetson Xavier NX module
via a USB 3.1 hub built into the carrier board.
[J8] HDMI and DP connector stack.
[J9] Second camera connector; supplements [J1].
[J10] M.2 Key E connector can be used for wireless networking cards; includes
interfaces for PCIe (x1), USB 2.0, UART, I2S, and I2C. The developer kit includes a
wireless networking card preinstalled in this connector.
[J11] M.2 Key M socket. Only single-sided M.2 modules can be used.
[J12] 40-pin expansion header; includes:
Power out pins.
Two 3.3V power pins and two 5V power pins. The 5V supply is always present
when the developer kit is receiving power, but the 3.3V supply is available only
when the module is in the ON state or the SC7 state.
The power pins can only provide power out. They may not be used to deliver
power to the developer kit.
Interface signal pins.
All signals use 3.3V levels.
By default, all interface signal pins are configured as GPIOs, except pins 3 and 5
and pins 27 and 28, which are I2C SDA and SCL, and pins 8 and 10, which are
UART TX and RX. L4T includes a Python library, Jetson.GPIO, for controlling
GPIOs. See /opt/nvidia/jetson-gpio/doc/README.txt on your Jetson
system for details.
L4T includes the jetson-io utility to configure pins for SFIOs. See Configuring
the 40-Pin Expansion Header in Jetson Linux Developer Guide for more
information. L4T also includes the Jetson.GPIO Python library for easy control
of GPIOs. See the Jetson.GPIO GitHub page for more information.
[J13] 4-pin fan control header. Supports Pulse Width Modulation (PWM) output and
tachometer input.
NVIDIA etson Developer Guide
Jetson Xavier NX Developer Kit DA_09814-001 | 6
[J14]: 12-pin button header. Brings out system power, reset, force recovery, UART
console, and other signals:
Pin 1 connects to LED cathode to indicate System Sleep/Wake (Off when system
is in sleep mode).
Pin 2 connects to LED anode.
Pins 3 and 4 are respectively UART Receive and Send.
Pins 5 and 6 disable auto power-on if connected.
Pins 7 and 8 reset the system if connected when the system is running.
Pins 9 and 10 put the developer kit into Force Recovery Mode if they are
connected when it is powered on.
Pins 11 and 12 initiate power-on when connected if auto power-on is disabled.
[J15] RJ45 connector for gigabit Ethernet. The connector includes two lights: an
amber light to indicate activity, and a green light to indicate link speed. The green
light is on for a 1000 Mbps link, and off for a 100 Mbps or 10 Mbps link.
[J16] Power jack for nominal 19-volt power supply. (The maximum supported
continuous current is 4.4A.) Accepts a 2.5×5.5×9.5 mm (ID × OD × length) plug with
center positive polarity.
Power Guide
The Jetson Xavier NX Developer Kit requires a 9−20V power supply. The 19-volt power
supply packaged in the kit attaches to power jack [J16].
The Jetson Xavier NX module is designed to optimize power efficiency and supports
two software-defined power modes. The default mode provides a 10W power budget
for the module; the other provides a 15W budget. These power modes constrain the
module to near their 10W or 15W budgets by capping the GPU and CPU frequencies
and the number of online CPU cores at a pre-qualified level. See NVIDIA Jetson Linux
Developer Guide for details about power modes.
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Jetson Xavier NX Developer Kit DA_09814-001 | 7
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, and documentation.
This section briefly describes each component of JetPack. For additional details about
these components, see the online documentation for JetPack.
OS Image
JetPack includes a reference file system derived from Ubuntu.
Libraries and APIs
JetPack libraries and APIs include:
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 for visual computing applications
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.
TensorRT cuDNN CUDA Multimedia API VisionWorks OgenCV Ln NSight Eclipse Edition CUDA—GDB CUDA—MEMCHECK NSight Systems NVIDIA® NsightTM Compute NSi tGra hics etI’ack Documentation - VisionWorks Documentation NVIDIA Ietson Linux Developer - Nsizht Eclipse Edition Documentation Guide 0 CUDA-GDB Documentation 0 NVIDIA Ietson Linux Release Notes CUDA-MEMCHECK Documentation
Jetson Xavier NX Developer Kit DA_09814-001 | 8
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/
OpenCV /usr/share/OpenCV/samples/
VPI /opt/nvidia/vpi/vpi-<version>/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 multi-core CPU profiling: Runs on the Linux host
computer. Helps you improve application performance by identifying slow parts
of code. Supports all Jetson products.
NVIDIA® Nsight Compute kernel profiler: An interactive profiling tool for
CUDA applications. It provides detailed performance metrics and API
debugging via a user interface and command line tool.
NSight Graphics for graphics application debugging and profiling: A console-
grade tool for debugging and optimizing OpenGL and OpenGL ES programs.
Runs on the Linux host computer. Supports all Jetson products.
Documents that are relevant to developers using JetPack include:
JetPack Documentation
NVIDIA Jetson Linux Developer
NVIDIA Jetson Linux Release Notes
VisionWorks Documentation
Nsight Eclipse Edition Documentation
CUDA-GDB Documentation
CUDA-MEMCHECK Documentation
Nsight Systems cuDNN Documentation nvprof CUDA Toolkit Visual Profiler NVIDIA Container Runtime Nsight Graghics OQenCV Documentation Nsight Compute CLI VPliVision Programming Interface etson Linux Multimedia API Reference Gettinz Started with letson Xavier NX Developer Kit - Use of SDK Manager to Install JetPack requires that the developer kit be SDK Manager documentationr
Jetson Xavier NX Developer Kit DA_09814-001 | 9
TensorRT Documentation
cuDNN Documentation
CUDA Toolkit
NVIDIA Container Runtime
OpenCV Documentation
Jetson Linux Graphics API Reference
Jetson Linux Multimedia API
Nsight Systems
Visual Profiler
Nsight Graphics
Nsight Compute CLI
VPIVision Programming Interface
There are two ways to install JetPack on your developer kit:
Use an SD Card image.
Follow the steps in Getting Started with Jetson Xavier NX Developer Kit to
download the system image and use SD Card writing software to flash it to a
microSD card. Then use the microSD card to boot the developer kit.
Use NVIDIA SDK Manager.
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.
Note Use of SDK Manager to install JetPack requires that the developer kit be
in Force Recovery mode.
Before using SDK Manager, follow these steps to power up your developer kit and put it
into Force Recovery mode:
1. Ensure the device is powered off and the power adapter is disconnected.
2. Verify that a microSD Card is inserted in the Jetson Xavier NX module’s card slot.
3. Place a jumper across the Force Recovery Mode pins (9 and 10) on the button header
4. Connect your host computer to the developer kit’s USB Micro-B connector.
5. Connect the power supply to the power jack [J16]. The developer kit automatically
powers on in Force Recovery Mode.
6. Remove the jumper from the Force Recovery Mode pins.
Now use SDK Manager to flash your developer kit with the OS image and install other
Jetpack components. SDK Manager can also set up your Linux host computer
development environment. For full instructions, see the SDK Manager documentation.
Jetson Xavier NX Developer Kit DA_09814-001 | 10
Whether you use the SD Card image or use SDK Manager to flash your developer kit,
upon first boot it will prompt you for initial configuration information like keyboard
layout, username and password, etc.
Headless initial configuration
If no display is attached to the developer kit during first boot, the initial configuration
process is “headless.” That is, you must communicate with the developer kit through a
serial application on the host computer (e.g., puTTY) connected via a host serial port and
the developer kit’s Micro-USB port.
You can use a Jetson Xavier NX Developer Kit in headless mode, that is, without
attaching a display. You control the developer kit from the host, using a terminal
program or the remote access application VNC to display the developer kit’s desktop in
a window on the host and to use the host’s keyboard and mouse to interact with the
developer kit.
Connect the host to the developer kit via the Micro-USB port. Once the developer kit is
flashed and powered on, your host computer detects a drive named L4T-README. This
drive holds various README documents.
You can establish a GUI connection between the host and the developer kit by setting up
VNC. Install the VNC client on the host and the VNC server on the developer kit. Use a
terminal program such as puTTY to create a connection from to the developer kit and
install the VNC server. See README-vnc.txt on the L4T-README drive for
9 main L4T 3a 'e on the Ietson [\VlDIA letson Linux Develnper Guide
Jetson Xavier NX Developer Kit DA_09814-001 | 11
NVIDIA® Jetson™ Linux Driver Package (L4T) is the operating system component of
JetPack, and provides the Linux kernel, Bootloader, Jetson Board Support Package (BSP),
and sample filesystem for Jetson developer kits. L4T and the other JetPack components
are included on the Jetson Xavier NX Developer Kit SD Card image. Alternatively, you
can use SDK Manager to install L4T and the other JetPack components to your
developer kit.
L4T is also available for download directly from the main L4T page on the Jetson
Developer Site. See the “Quick Start Guide” section of the NVIDIA Jetson Linux
Developer Guide for flashing instructions.
The “Platform Adaptation and Bring-Uptopic in the Developer Guide describes how to
port the Jetson BSP and bootloader from your developer kit to a new hardware platform
incorporating the Jetson module. Porting L4T to a new device enables use of the other
JetPack components on that device, along with the software you’ve created using the
developer kit.
© 2017-2020 NVIDIA Corporation. All rights reserved. NVIDIA, the NVIDIA logo, Jetson, Jetson Xavier, and
JetPack are trademarks and/or registered trademarks of NVIDIA Corporation in the U.S. and other countries.
Other company and product names may be trademarks of the respective companies with which they are
Information furnished is believed to be accurate and reliable. However, NVIDIA Corporation assumes no
responsibility for the consequences of use of such information or for any infringement of patents or other rights
of third parties that may result from its use. No license is granted by implication or otherwise under any patent
or patent rights of NVIDIA Corporation. Specifications mentioned in this publication are subject to change
without notice. This publication supersedes and replaces all information previously supplied. NVIDIA
Corporation products are not authorized for use as critical components in life support devices or systems
without express written approval of NVIDIA Corporation.