Jetson XavierJetson TX2

SoCOrin
CPUCortex A78AE 12 core
GPUOrin (Ampere architecture 2048 CUDA Core)
Memory32GB
L1 d-cache768K
L1 i-cache768K
L2 cache3M
L3 cache6M
Storage64GB eMMC

スペック

  • CPU: Cortex A78AE 12 cores
    $ cat /proc/cpuinfo
    processor       : 0
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 1
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 2
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 3
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 4
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 5
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 6
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 7
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 8
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 9
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 10
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
    
    processor       : 11
    model name      : ARMv8 Processor rev 1 (v8l)
    BogoMIPS        : 62.50
    Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x0
    CPU part        : 0xd42
    CPU revision    : 1
  • lscpu
    $ lscpu
    Architecture:                    aarch64
    CPU op-mode(s):                  32-bit, 64-bit
    Byte Order:                      Little Endian
    CPU(s):                          12
    On-line CPU(s) list:             0-11
    Thread(s) per core:              1
    Core(s) per socket:              4
    Socket(s):                       3
    Vendor ID:                       ARM
    Model:                           1
    Model name:                      ARMv8 Processor rev 1 (v8l)
    Stepping:                        r0p1
    CPU max MHz:                     2201.6001
    CPU min MHz:                     115.2000
    BogoMIPS:                        62.50
    L1d cache:                       768 KiB
    L1i cache:                       768 KiB
    L2 cache:                        3 MiB
    L3 cache:                        6 MiB
    Vulnerability Itlb multihit:     Not affected
    Vulnerability L1tf:              Not affected
    Vulnerability Mds:               Not affected
    Vulnerability Meltdown:          Not affected
    Vulnerability Spec store bypass: Mitigation; Speculative Store Bypass disabled via prctl
    Vulnerability Spectre v1:        Mitigation; __user pointer sanitization
    Vulnerability Spectre v2:        Not affected
    Vulnerability Srbds:             Not affected
    Vulnerability Tsx async abort:   Not affected
    Flags:                           fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm
  • auxv: 0xe119fff
    $ LD_SHOW_AUXV=1 ls
    AT_SYSINFO_EHDR:      0xffffa04fb000
    AT_??? (0x33): 0x1270
    AT_HWCAP:             e119fff
    AT_PAGESZ:            4096
    AT_CLKTCK:            100
    AT_PHDR:              0xaaaabdb90040
    AT_PHENT:             56
    AT_PHNUM:             9
    AT_BASE:              0xffffa04cb000
    AT_FLAGS:             0x0
    AT_ENTRY:             0xaaaabdb95940
    AT_UID:               1000
    AT_EUID:              1000
    AT_GID:               1000
    AT_EGID:              1000
    AT_SECURE:            0
    AT_RANDOM:            0xfffff90813a8
    AT_HWCAP2:            0x0
    AT_EXECFN:            /usr/bin/ls
    AT_PLATFORM:          aarch64
    Desktop
  • Memory
    $ free -h
                  total        used        free      shared  buff/cache   available
    Mem:           29Gi       897Mi        27Gi        20Mi       1.7Gi        28Gi
    Swap:          14Gi          0B        14Gi
  • cpufreq
    $ cat /sys/bus/cpu/devices/cpu?/cpufreq/cpuinfo_max_freq
    2201600
    2201600
    2201600
    2201600
    2201600
    2201600
    2201600
    2201600
    2201600
    2201600
  • kernel
    $ uname -a
    Linux jetson-orin 5.10.65-tegra #1 SMP PREEMPT Tue Mar 15 00:53:43 PDT 2022 aarch64 aarch64 aarch64 GNU/Linux
  • OS
    $ lsb_release -a
    No LSB modules are available.
    Distributor ID: Ubuntu
    Description:    Ubuntu 20.04.4 LTS
    Release:        20.04
    Codename:       focal
    $ cat /etc/nv_tegra_release
    # R34 (release), REVISION: 0.1, GCID: 29955323, BOARD: t186ref, EABI: aarch64, DATE: Tue Mar 15 08:13:50 UTC 2022
  • gcc
    $ gcc --version
    gcc (Ubuntu 9.4.0-1ubuntu1~20.04.1) 9.4.0
    Copyright (C) 2019 Free Software Foundation, Inc.
    This is free software; see the source for copying conditions.  There is NO
    warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  • nvcc
    $ nvcc --version
    -bash: nvcc: command not found
    $ /usr/local/cuda-11.4/bin/nvcc --version
    nvcc: NVIDIA (R) Cuda compiler driver
    Copyright (c) 2005-2022 NVIDIA Corporation
    Built on Wed_May__4_00:02:26_PDT_2022
    Cuda compilation tools, release 11.4, V11.4.239
    Build cuda_11.4.r11.4/compiler.31294910_0
  • deviceQuery
    $ ./deviceQuery
    ./deviceQuery Starting...
    
     CUDA Device Query (Runtime API) version (CUDART static linking)
    
    Detected 1 CUDA Capable device(s)
    
    Device 0: "Orin"
      CUDA Driver Version / Runtime Version          11.4 / 11.4
      CUDA Capability Major/Minor version number:    8.7
      Total amount of global memory:                 30623 MBytes (32110190592 bytes)
      (016) Multiprocessors, (128) CUDA Cores/MP:    2048 CUDA Cores
      GPU Max Clock rate:                            1300 MHz (1.30 GHz)
      Memory Clock rate:                             1300 Mhz
      Memory Bus Width:                              128-bit
      L2 Cache Size:                                 4194304 bytes
      Maximum Texture Dimension Size (x,y,z)         1D=(131072), 2D=(131072, 65536), 3D=(16384, 16384, 16384)
      Maximum Layered 1D Texture Size, (num) layers  1D=(32768), 2048 layers
      Maximum Layered 2D Texture Size, (num) layers  2D=(32768, 32768), 2048 layers
      Total amount of constant memory:               65536 bytes
      Total amount of shared memory per block:       49152 bytes
      Total shared memory per multiprocessor:        167936 bytes
      Total number of registers available per block: 65536
      Warp size:                                     32
      Maximum number of threads per multiprocessor:  1536
      Maximum number of threads per block:           1024
      Max dimension size of a thread block (x,y,z): (1024, 1024, 64)
      Max dimension size of a grid size    (x,y,z): (2147483647, 65535, 65535)
      Maximum memory pitch:                          2147483647 bytes
      Texture alignment:                             512 bytes
      Concurrent copy and kernel execution:          Yes with 2 copy engine(s)
      Run time limit on kernels:                     No
      Integrated GPU sharing Host Memory:            Yes
      Support host page-locked memory mapping:       Yes
      Alignment requirement for Surfaces:            Yes
      Device has ECC support:                        Disabled
      Device supports Unified Addressing (UVA):      Yes
      Device supports Managed Memory:                Yes
      Device supports Compute Preemption:            Yes
      Supports Cooperative Kernel Launch:            Yes
      Supports MultiDevice Co-op Kernel Launch:      Yes
      Device PCI Domain ID / Bus ID / location ID:   0 / 0 / 0
      Compute Mode:
         < Default (multiple host threads can use ::cudaSetDevice() with device simultaneously) >
    
    deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 11.4, CUDA Runtime Version = 11.4, NumDevs = 1
    Result = PASS
  • eMMC
    $ lsblk
    NAME         MAJ:MIN RM  SIZE RO TYPE MOUNTPOINT
    loop0          7:0    0   16M  1 loop
    mmcblk0      179:0    0 59.3G  0 disk
    ├mmcblk0p1  179:1    0   58G  0 part /
    ├mmcblk0p2  179:2    0   64M  0 part
    ├mmcblk0p3  179:3    0  384K  0 part
    ├mmcblk0p4  179:4    0   32M  0 part
    ├mmcblk0p5  179:5    0   64M  0 part
    ├mmcblk0p6  179:6    0  384K  0 part
    ├mmcblk0p7  179:7    0   32M  0 part
    ├mmcblk0p8  179:8    0   80M  0 part
    ├mmcblk0p9  179:9    0  512K  0 part
    ├mmcblk0p10 179:10   0   64M  0 part
    └mmcblk0p11 179:11   0    1G  0 part
    zram0        251:0    0  1.3G  0 disk [SWAP]
    zram1        251:1    0  1.3G  0 disk [SWAP]
    zram2        251:2    0  1.3G  0 disk [SWAP]
    zram3        251:3    0  1.3G  0 disk [SWAP]
    zram4        251:4    0  1.3G  0 disk [SWAP]
    zram5        251:5    0  1.3G  0 disk [SWAP]
    zram6        251:6    0  1.3G  0 disk [SWAP]
    zram7        251:7    0  1.3G  0 disk [SWAP]
    zram8        251:8    0  1.3G  0 disk [SWAP]
    zram9        251:9    0  1.3G  0 disk [SWAP]
    zram10       251:10   0  1.3G  0 disk [SWAP]
    zram11       251:11   0  1.3G  0 disk [SWAP]

セットアップ

  • https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit
  • 映像出力が標準サイズのDPしかなく、HDMI出力がないので、注意
  • 映像出力がなくてもシリアルコンソールでセットアップ可能
  • Getting Started with Jetson AGX Orin Developer Kit | NVIDIA Developer
    • セットアップ時、電源投入後30秒ぐらいしてからファンが周り始める
    • 初回が悪かったのか、セットアップ時にコンソール画面が出ず、Jetson Orinを再起動したらコンソール画面が出た
    • 電力設定はMAXNにしておいた(全力)
      $ nvpmodel -q
      NV Power Mode: MAXN
      0
    • NanoやXavier以前と違い、初期ユーザ名、初期パスワード、ホスト名も入力を促される
    • 適当に決めて入力する
  • apt のインストール
    $ time sudo apt install python-is-python3 cmake ccache tmux python3-dev python3-pip libgtk-3-dev openjdk-8-jre-headless
    $ time pip install cython numpy
  • ネットワークコンフィグ
  • Ubuntu 18.04 からコンソールでIPのコンフィグを変える場合はnetplanが必要。
    $ apt  sudo apt install netplan.io
    
    $ sudo vim /etc/n
    $ sudo vim /etc/netplan/01-netcfg.yaml
    
    
    network:
      version: 2
      renderer: networkd
      ethernets:
        eth0:
          dhcp4: yes
  • JetPackのインストール
  • /etc/apt/sources.list.d/nvidia-l4t-apt-source.list 内に以下の2行があるので、34.0を34.1に書き換える
    $ cat /etc/apt/sources.list.d/nvidia-l4t-apt-source.list 
    deb https://repo.download.nvidia.com/jetson/common r34.0 main
    deb https://repo.download.nvidia.com/jetson/t234 r34.0 main
    $ vim /etc/apt/sources.list.d/nvidia-l4t-apt-source.list 
    $ cat /etc/apt/sources.list.d/nvidia-l4t-apt-source.list 
    deb https://repo.download.nvidia.com/jetson/common r34.1 main
    deb https://repo.download.nvidia.com/jetson/t234 r34.1 main
    $ timee udo apt update
    $ time sudo apt dist-upgrade
  • しばしまつ
    $ sudo apt install nvidia-jetpack
  • タイムゾーン
  • 初期セットアップダイアログで変更可能だが、うっかり忘れたので、コマンドラインからセットアップし直し
    sudo dpkg-reconfigure tzdata

拡張命令の対応

  • 見てる限りは Arm v8.2 に dotprod を加えた対応状況
    nvidia@jetson-orin:~/work/simd$ ./complexNumber_v83
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./cryptoCRC
    nvidia@jetson-orin:~/work/simd$ ./cryptoSHA3_v82_sha3
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./cryptoSM4_v82_sm4
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./dotProduct_v82_dotprod
    nvidia@jetson-orin:~/work/simd$ ./fmaLongFP16
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./fmaLongFP16_v82_fp16fml
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./halfFloatOperation_v82_fp16
    nvidia@jetson-orin:~/work/simd$ ./javascrptConverToSignedTowardZero_v83_jscvt
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./randomNumberGenerator_rng
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./roundingTZ_v85
    Illegal instruction (core dumped)
    nvidia@jetson-orin:~/work/simd$ ./roundToIntegerTowardZero_v85
    Illegal instruction (core dumped)

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Last-modified: 2022-07-06 (水) 10:57:22 (93d)