Jetson TK1

SoCTegra X1
CPUCortex A57 4 core
GPUMaxwell 256 Core
Memory4GB LPDDR4
Storage16GB eMMC

Arm:Arm Cortex A57?

スペック

  • CPU:Cortex-A57 (1.7GHz *1)
  • cpuinfo
    $ cat /proc/cpuinfo
    processor       : 0
    BogoMIPS        : 38.40
    Features        : fp asimd aes pmull sha1 sha2 crc32
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x1
    CPU part        : 0xd07
    CPU revision    : 1
    
    processor       : 1
    BogoMIPS        : 38.40
    Features        : fp asimd aes pmull sha1 sha2 crc32
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x1
    CPU part        : 0xd07
    CPU revision    : 1
    
    processor       : 2
    BogoMIPS        : 38.40
    Features        : fp asimd aes pmull sha1 sha2 crc32
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x1
    CPU part        : 0xd07
    CPU revision    : 1
    
    processor       : 3
    BogoMIPS        : 38.40
    Features        : fp asimd aes pmull sha1 sha2 crc32
    CPU implementer : 0x41
    CPU architecture: 8
    CPU variant     : 0x1
    CPU part        : 0xd07
    CPU revision    : 1
    
    Hardware        : jetson_tx1
    Revision        : 0000
    Serial          : 088403e800000000
  • lscpu
    $ lscpu
    Architecture:          aarch64
    Byte Order:            Little Endian
    CPU(s):                4
    On-line CPU(s) list:   0-3
    Thread(s) per core:    1
    Core(s) per socket:    1
    Socket(s):             4
    CPU max MHz:           1734.0000
    CPU min MHz:           102.0000
    Hypervisor vendor:     (null)
    Virtualization type:   full
  • cpufreq
    $ cat /sys/bus/cpu/devices/cpu?/cpufreq/cpuinfo_max_freq
    1734000
    1734000
    1734000
    1734000
  • kernel
    $ uname -a
    Linux tegra-ubuntu 3.10.96-tegra #1 SMP PREEMPT Wed Sep 28 17:51:08 PDT 2016 aarch64 aarch64 aarch64 GNU/Linux
  • OS
    $ lsb_release -a
    No LSB modules are available.
    Distributor ID: Ubuntu
    Description:    Ubuntu 16.04 LTS
    Release:        16.04
    Codename:       xenial
  • auxv
    $ xxd -e -g8 /proc/self/auxv
    00000000: 0000000000000021 0000007f9f81e000  !...............
    00000010: 0000000000000010 00000000000000fb  ................
    00000020: 0000000000000006 0000000000001000  ................
    00000030: 0000000000000011 0000000000000064  ........d.......
    00000040: 0000000000000003 0000005563162040  ........@ .cU...
    00000050: 0000000000000004 0000000000000038  ........8.......
    00000060: 0000000000000005 0000000000000008  ................
    00000070: 0000000000000007 0000007f9f7f4000  .........@......
    00000080: 0000000000000008 0000000000000000  ................
    00000090: 0000000000000009 00000055631643d8  .........C.cU...
    000000a0: 000000000000000b 00000000000003e8  ................
    000000b0: 000000000000000c 00000000000003e8  ................
    000000c0: 000000000000000d 00000000000003e8  ................
    000000d0: 000000000000000e 00000000000003e8  ................
    000000e0: 0000000000000017 0000000000000000  ................
    000000f0: 0000000000000019 0000007fcdb1c368  ........h.......
    00000100: 000000000000001f 0000007fcdb1cfeb  ................
    00000110: 000000000000000f 0000007fcdb1c378  ........x.......
    00000120: 0000000000000000 0000000000000000  ................
  • deviceQuery
    $ ./deviceQuery 
    ./deviceQuery Starting...
    
     CUDA Device Query (Runtime API) version (CUDART static linking)
    
    Detected 1 CUDA Capable device(s)
    
    Device 0: "NVIDIA Tegra X1"
      CUDA Driver Version / Runtime Version          8.0 / 8.0
      CUDA Capability Major/Minor version number:    5.3
      Total amount of global memory:                 3994 MBytes (4188004352 bytes)
      ( 2) Multiprocessors, (128) CUDA Cores/MP:     256 CUDA Cores
      GPU Max Clock rate:                            72 MHz (0.07 GHz)
      Memory Clock rate:                             13 Mhz
      Memory Bus Width:                              64-bit
      L2 Cache Size:                                 262144 bytes
      Maximum Texture Dimension Size (x,y,z)         1D=(65536), 2D=(65536, 65536), 3D=(4096, 4096, 4096)
      Maximum Layered 1D Texture Size, (num) layers  1D=(16384), 2048 layers
      Maximum Layered 2D Texture Size, (num) layers  2D=(16384, 16384), 2048 layers
      Total amount of constant memory:               65536 bytes
      Total amount of shared memory per block:       49152 bytes
      Total number of registers available per block: 32768
      Warp size:                                     32
      Maximum number of threads per multiprocessor:  2048
      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 1 copy engine(s)
      Run time limit on kernels:                     Yes
      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 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 = 8.0, CUDA Runtime Version = 8.0, NumDevs = 1, Device0 = NVIDIA Tegra X1
    Result = PASS
  • gcc
    $ gcc --version
    gcc (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.4) 5.4.0 20160609
    Copyright (C) 2015 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
    nvcc: NVIDIA (R) Cuda compiler driver
    Copyright (c) 2005-2016 NVIDIA Corporation
    Built on Fri_Jul_15_14:52:12_CDT_2016
    Cuda compilation tools, release 8.0, V8.0.33
  • ccache
    • nvccに対応したバージョン3.6をパッケージでインストールする*2
      $ sudo dpkg -i ccache_3.6-1_arm64.deb
      Selecting previously unselected package ccache.
      (Reading database ... 132215 files and directories currently installed.)
      Preparing to unpack ccache_3.6-1_arm64.deb ...
      Unpacking ccache (3.6-1) ...
      Setting up ccache (3.6-1) ...
      Updating symlinks in /usr/lib/ccache ...
      Processing triggers for doc-base (0.10.7) ...
      Processing 1 added doc-base file...
      Processing triggers for man-db (2.7.5-1) ...
      
      $ ccache -V
      ccache version 3.6
      
      Copyright (C) 2002-2007 Andrew Tridgell
      Copyright (C) 2009-2019 Joel Rosdahl
      
      This program is free software; you can redistribute it and/or modify it under
      the terms of the GNU General Public License as published by the Free Software
      Foundation; either version 3 of the License, or (at your option) any later
      version.
  • cmake
    • nvcc+ccacheに対応した3.10以降をインストールする。パッケージが存在しないのでソースコードからビルドする
      $ cmake --version
      cmake version 3.15.1
      
      CMake suite maintained and supported by Kitware (kitware.com/cmake).
    • ただし、libcurlを入れておかないと、https通信ができずOpenCVのビルドで諸所の問題が発生する
      $ sudo apt install libcurl4-gnutls-dev
      $ time ./bootstrap --system-curl && time make -j 4 && time sudo make install
  • UART Debug console

Jetpack のインストール

Jetson TX1でctrlとcapsを入れ替える

gccとnvcc (Jetpackインストール後)

  • gccは5.4.0、Jetpackインストール前は4.8.4
    $ gcc -v
    Using built-in specs.
    COLLECT_GCC=gcc
    COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/5/lto-wrapper
    Target: aarch64-linux-gnu
    Configured with: ../src/configure -v --with-pkgversion='Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.2'
     --with-bugurl=file:///usr/share/doc/gcc-5/README.Bugs
     --enable-languages=c,ada,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-5
     --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext
     --enable-threads=posix --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu
     --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new
     --enable-gnu-unique-object --disable-libquadmath --enable-plugin --with-system-zlib
     --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo
     --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-5-arm64/jre --enable-java-home
     --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-5-arm64
     --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-5-arm64 --with-arch-directory=aarch64
     --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-multiarch --enable-fix-cortex-a53-843419
     --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu
     --target=aarch64-linux-gnu
    Thread model: posix
    gcc version 5.4.0 20160609 (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.2)
  • nvccはJetpackとともにインストールされる
    $ nvcc --version
    nvcc: NVIDIA (R) Cuda compiler driver
    Copyright (c) 2005-2016 NVIDIA Corporation
    Built on Fri_Jul_15_14:52:12_CDT_2016
    Cuda compilation tools, release 8.0, V8.0.33

SDカードを追加

  • OpenCVビルド用の容量が足りなかったので、SDカードを挿して、GUIからext4にフォーマット
  • /media/以下のディレクトリを ~/opencvからシンボリックリンクを張って作業容量にした

*1  Maximize TX1 performance - NVIDIA Developer Forums, 2016-07-26投稿, 2016-10-27閲覧
*2  3.6-1 : ccache : arm64 : Disco (19.04) : Ubuntu, Version 3.6, 2019-07-28閲覧
*3  Jetson/TX1 Serial Console - eLinux.org, 2019-07-08閲覧
*4  JetPack for L4T | NVIDIA Developer, Jetpack 2.3, 2016-10-25閲覧
*5  JETSON TX1が来てやったこと(1日目) - Qiita, 2016-06-07投稿. 2016-06-07更新, 2016-10-25閲覧
*6  JetPack for L4Tセットアップ 成功編 | CB1300SFのある生活, 2016-04-21公開, 2016-10-25閲覧
*7  NVIDIA JetPack for L4T Documentation, 2016-10-25閲覧
*8  Ubuntu 16.04 LTS 64bit インストール後設定 - tatanaideyoの備忘録, 2016-05-11公開, 2016-10-25閲覧

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Last-modified: 2019-07-30 (火) 07:30:30 (79d)