Jetson AGX Orin

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SoC	Orin
CPU	Cortex A78AE 12 core
GPU	Orin (Ampere architecture 2048 CUDA Core)
Memory	32GB
L1 d-cache	768K
L1 i-cache	768K
L2 cache	3M
L3 cache	6M
Storage	64GB 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

$ 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)

Jetson AGX Orin

最新の20件

スペック †

セットアップ †

拡張命令の対応 †