NetBSD on the NVIDIA Jetson TK1

The NVIDIA Jetson TK1 is a quad-core ARMv7 development board that features an NVIDIA Tegra K1 (32-bit) SoC (quad-core Cortex-A15 @ 2.3GHz), 2GB RAM, gigabit ethernet, SATA, HDMI, mini-PCIE, and more.

Since my last status update on the port, HDMI video and audio support have been added along with a handful of stability fixes.

NetBSD -current includes support for this board with the JETSONTK1 kernel. The following hardware is supported:

• Cortex-A15 (multiprocessor)
• CPU frequency scaling
• ARM generic timer
• Clock and reset controller
• GPIO controller
• MPIO / pinmux controller
• Memory controller
• Power management controller
• I2C controller
• UART serial console
• Watchdog timer
• SDMMC controller
• USB 2.0 controller
• AHCI SATA controller
• HD audio controller (HDMI audio)
• HDMI framebuffer console
• PCI express controller, including mini-PCIE slot
• On-board Realtek 8111G gigabit ethernet
• Serial EEPROM
• Temperature sensor
• RF kill switch
• Power button

Of course, Xorg works too:

See the NetBSD/evbarm on NVIDIA Tegra wiki page for more details.

Copyright (c) 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005,
    2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015
    The NetBSD Foundation, Inc.  All rights reserved.
Copyright (c) 1982, 1986, 1989, 1991, 1993
    The Regents of the University of California.  All rights reserved.

NetBSD 7.99.20 (JETSONTK1) #189: Sat Jul 25 12:47:31 ADT 2015
	jmcneill@megatron.local:/Users/jmcneill/netbsd/src/sys/arch/evbarm/compile/obj/JETSONTK1
total memory = 2047 MB
avail memory = 2021 MB
sysctl_createv: sysctl_create(machine_arch) returned 17
timecounter: Timecounters tick every 10.000 msec
mainbus0 (root)
cpu0 at mainbus0 core 0: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
cpu0: DC enabled IC enabled WB disabled EABT branch prediction enabled
cpu0: sctlr: 0xc51c7d
cpu0: actlr: 0x80000041
cpu0: revidr: 0
cpu0: mpidr: 0x80000000
cpu0: isar: [0]=0x2101110 [1]=0x13112111 [2]=0x21232041 [3]=0x11112131, [4]=0x10011142, [5]=0
cpu0: mmfr: [0]=0x10201105 [1]=0x40000000 [2]=0x1240000 [3]=0x2102211
cpu0: pfr: [0]=0x1131 [1]=0x11011
cpu0: 32KB/64B 2-way L1 PIPT Instruction cache
cpu0: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
cpu0: 2048KB/64B 16-way write-through L2 PIPT Unified cache
vfp0 at cpu0: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
vfp0: mvfr: [0]=0x10110222 [1]=0x11111111
cpu1 at mainbus0 core 1
cpu2 at mainbus0 core 2
cpu3 at mainbus0 core 3
armperiph0 at mainbus0
armgic0 at armperiph0: Generic Interrupt Controller, 192 sources (183 valid)
armgic0: 32 Priorities, 160 SPIs, 7 PPIs, 16 SGIs
armgtmr0 at armperiph0: ARMv7 Generic 64-bit Timer (12000 kHz)
armgtmr0: interrupting on irq 27
timecounter: Timecounter "armgtmr0" frequency 12000000 Hz quality 500
tegraio0 at mainbus0: Tegra K1 (T124)
tegracar0 at tegraio0: CAR
tegracar0: PLLX = 2292000000 Hz
tegracar0: PLLC = 88000000 Hz
tegracar0: PLLE = 292968 Hz
tegracar0: PLLU = 480000000 Hz
tegracar0: PLLP0 = 408000000 Hz
tegracar0: PLLD2 = 594000000 Hz
tegragpio0 at tegraio0: GPIO
gpio0 at tegragpio0 (A): 8 pins
gpio1 at tegragpio0 (B): 8 pins
gpio2 at tegragpio0 (C): 8 pins
gpio3 at tegragpio0 (D): 8 pins
gpio4 at tegragpio0 (E): 8 pins
gpio5 at tegragpio0 (F): 8 pins
gpio6 at tegragpio0 (G): 8 pins
gpio7 at tegragpio0 (H): 8 pins
gpio8 at tegragpio0 (I): 8 pins
gpio9 at tegragpio0 (J): 8 pins
gpio10 at tegragpio0 (K): 8 pins
gpio11 at tegragpio0 (L): 8 pins
gpio12 at tegragpio0 (M): 8 pins
gpio13 at tegragpio0 (N): 8 pins
gpio14 at tegragpio0 (O): 8 pins
gpio15 at tegragpio0 (P): 8 pins
gpio16 at tegragpio0 (Q): 8 pins
gpiobutton0 at gpio16 pins 0: Power button
gpio17 at tegragpio0 (R): 8 pins
gpio18 at tegragpio0 (S): 8 pins
gpio19 at tegragpio0 (T): 8 pins
gpio20 at tegragpio0 (U): 8 pins
gpio21 at tegragpio0 (V): 8 pins
gpio22 at tegragpio0 (W): 8 pins
gpio23 at tegragpio0 (X): 8 pins
gpiorfkill0 at gpio23 pins 7
gpio24 at tegragpio0 (Y): 8 pins
gpio25 at tegragpio0 (Z): 8 pins
gpio26 at tegragpio0 (AA): 8 pins
gpio27 at tegragpio0 (BB): 8 pins
gpio28 at tegragpio0 (CC): 8 pins
gpio29 at tegragpio0 (DD): 8 pins
gpio30 at tegragpio0 (EE): 8 pins
tegratimer0 at tegraio0: Timers
tegratimer0: default watchdog period is 10 seconds
tegramc0 at tegraio0: MC
tegrapmc0 at tegraio0: PMC
tegraxusbpad0 at tegraio0: XUSB PADCTL
tegrampio0 at tegraio0: MPIO
tegrai2c0 at tegraio0 port 0: I2C1
tegrai2c0: interrupting on irq 70
iic0 at tegrai2c0: I2C bus
seeprom0 at iic0 addr 0x56: AT24Cxx or compatible EEPROM: size 256
titemp0 at iic0 addr 0x4c: TMP451
tegrai2c1 at tegraio0 port 1: I2C2
tegrai2c1: interrupting on irq 116
iic1 at tegrai2c1: I2C bus
tegrai2c2 at tegraio0 port 2: I2C3
tegrai2c2: interrupting on irq 124
iic2 at tegrai2c2: I2C bus
tegrai2c3 at tegraio0 port 3: I2C4
tegrai2c3: interrupting on irq 152
iic3 at tegrai2c3: I2C bus
ddc0 at iic3 addr 0x50: DDC
tegrai2c4 at tegraio0 port 4: I2C5
tegrai2c4: interrupting on irq 85
iic4 at tegrai2c4: I2C bus
com3 at tegraio0 port 3: ns16550a, working fifo
com3: console
tegrartc0 at tegraio0: RTC
sdhc2 at tegraio0 port 2: SDMMC3
sdhc2: interrupting on irq 51
sdhc2: SDHC 4.0, rev 3, DMA, 48000 kHz, 3.0V 3.3V, 4096 byte blocks
sdmmc2 at sdhc2 slot 0
ahcisata0 at tegraio0: SATA
ahcisata0: interrupting on irq 55
ahcisata0: AHCI revision 1.31, 2 ports, 32 slots, CAP 0xe620ff01<PSC,SSC,PMD,ISS=0x2=Gen2,SAL,SALP,SSNTF,SNCQ,S64A>
atabus0 at ahcisata0 channel 0
hdaudio0 at tegraio0: HDA
hdaudio0: interrupting on irq 113
hdafg0 at hdaudio0: NVIDIA Tegra124 HDMI
hdafg0: HDMI00 8ch: Digital Out [Jack]
hdafg0: 8ch/0ch 48000Hz PCM16*
audio0 at hdafg0: full duplex, playback, capture, mmap, independent
ehci0 at tegraio0 port 0: USB1
ehci0: interrupting on irq 52
ehci0: EHCI version 1.10
ehci0: switching to host mode
usb0 at ehci0: USB revision 2.0
ehci1 at tegraio0 port 1: USB2
ehci1: interrupting on irq 53
ehci1: EHCI version 1.10
ehci1: switching to host mode
usb1 at ehci1: USB revision 2.0
ehci2 at tegraio0 port 2: USB3
ehci2: interrupting on irq 129
ehci2: EHCI version 1.10
ehci2: switching to host mode
usb2 at ehci2: USB revision 2.0
tegrahost1x0 at tegraio0: HOST1X
tegradc0 at tegraio0 port 0: DISPLAYA
tegradc1 at tegraio0 port 1: DISPLAYB
tegrahdmi0 at tegraio0: HDMI
tegrahdmi0: display connected
no data for est. mode 640x480x67
tegrahdmi0: connected to HDMI display
genfb0 at tegradc1 output tegrahdmi0
genfb0: framebuffer at 0x9ab00000, size 1920x1080, depth 32, stride 7680
wsdisplay0 at genfb0 kbdmux 1
wsmux1: connecting to wsdisplay0
wsdisplay0: screen 0-3 added (default, vt100 emulation)
tegrapcie0 at tegraio0: PCIE
tegrapcie0: interrupting on irq 130
pci0 at tegrapcie0 bus 0
pci0: memory space enabled, rd/line, rd/mult, wr/inv ok
ppb0 at pci0 dev 0 function 0: vendor 10de product 0e12 (rev. 0xa1)
ppb0: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x2 @ 5.0GT/s
ppb0: link is x1 @ 2.5GT/s
pci1 at ppb0 bus 1
pci1: memory space enabled, rd/line, wr/inv ok
athn0 at pci1 dev 0 function 0athn0: Atheros AR9285
athn0: rev 2 (1T1R), ROM rev 13, address 00:17:c4:d7:d0:58
athn0: interrupting at irq 130
athn0: 11b rates: 1Mbps 2Mbps 5.5Mbps 11Mbps
athn0: 11g rates: 1Mbps 2Mbps 5.5Mbps 11Mbps 6Mbps 9Mbps 12Mbps 18Mbps 24Mbps 36Mbps 48Mbps 54Mbps
ppb1 at pci0 dev 1 function 0: vendor 10de product 0e13 (rev. 0xa1)
ppb1: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x1 @ 5.0GT/s
ppb1: link is x1 @ 2.5GT/s
pci2 at ppb1 bus 2
pci2: memory space enabled, rd/line, wr/inv ok
re0 at pci2 dev 0 function 0: RealTek 8168/8111 PCIe Gigabit Ethernet (rev. 0x0c)
re0: interrupting at irq 130
re0: Ethernet address 00:04:4b:2f:51:a2
re0: using 512 tx descriptors
rgephy0 at re0 phy 7: RTL8251 1000BASE-T media interface, rev. 0
rgephy0: 10baseT, 10baseT-FDX, 100baseTX, 100baseTX-FDX, 1000baseT-FDX, auto
timecounter: Timecounter "clockinterrupt" frequency 100 Hz quality 0
cpu2: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
cpu2: DC enabled IC enabled WB disabled EABT branch prediction enabled
cpu2: sctlr: 0xc51c7d
cpu2: actlr: 0x80000040
cpu2: revidr: 0
cpu2: mpidr: 0x80000002
cpu2: isar: [0]=0x2101110 [1]=0x13112111 [2]=0x21232041 [3]=0x11112131, [4]=0x10011142, [5]=0
cpu2: mmfr: [0]=0x10201105 [1]=0x40000000 [2]=0x1240000 [3]=0x2102211
cpu2: pfr: [0]=0x1131 [1]=0x11011
cpu2: 32KB/64B 2-way L1 PIPT Instruction cache
cpu2: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
cpu2: 2048KB/64B 16-way write-through L2 PIPT Unified cache
vfp2 at cpu2: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
vfp2: mvfr: [0]=0x10110222 [1]=0x11111111
cpu1: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
cpu1: DC enabled IC enabled WB disabled EABT branch prediction enabled
cpu1: sctlr: 0xc51c7d
cpu1: actlr: 0x80000040
cpu1: revidr: 0
cpu1: mpidr: 0x80000001
cpu1: isar: [0]=0x2101110 [1]=0x13112111 [2]=0x21232041 [3]=0x11112131, [4]=0x10011142, [5]=0
cpu1: mmfr: [0]=0x10201105 [1]=0x40000000 [2]=0x1240000 [3]=0x2102211
cpu1: pfr: [0]=0x1131 [1]=0x11011
cpu1: 32KB/64B 2-way L1 PIPT Instruction cache
cpu1: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
cpu1: 2048KB/64B 16-way write-through L2 PIPT Unified cache
vfp1 at cpu1: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
vfp1: mvfr: [0]=0x10110222 [1]=0x11111111
cpu3: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
cpu3: DC enabled IC enabled WB disabled EABT branch prediction enabled
cpu3: sctlr: 0xc51c7d
cpu3: actlr: 0x80000040
cpu3: revidr: 0
cpu3: mpidr: 0x80000003
cpu3: isar: [0]=0x2101110 [1]=0x13112111 [2]=0x21232041 [3]=0x11112131, [4]=0x10011142, [5]=0
cpu3: mmfr: [0]=0x10201105 [1]=0x40000000 [2]=0x1240000 [3]=0x2102211
cpu3: pfr: [0]=0x1131 [1]=0x11011
cpu3: 32KB/64B 2-way L1 PIPT Instruction cache
cpu3: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
cpu3: 2048KB/64B 16-way write-through L2 PIPT Unified cache
vfp3 at cpu3: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
vfp3: mvfr: [0]=0x10110222 [1]=0x11111111
uhub0 at usb0: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
uhub0: 1 port with 1 removable, self powered
uhub1 at usb2: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
uhub1: 1 port with 1 removable, self powered
uhub2 at usb1: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
uhub2: 1 port with 1 removable, self powered
ahcisata0 port 0: device present, speed: 3.0Gb/s
ld1 at sdmmc2: <0x27:0x5048:SD64G:0x30:0x01ce4def:0x0dc>
ld1: 59504 MB, 7585 cyl, 255 head, 63 sec, 512 bytes/sect x 121864192 sectors
ld1: 4-bit width, bus clock 48.000 MHz
wd0 at atabus0 drive 0
wd0: <OCZ-AGILITY3>
wd0: drive supports 16-sector PIO transfers, LBA48 addressing
wd0: 111 GB, 232581 cyl, 16 head, 63 sec, 512 bytes/sect x 234441648 sectors
wd0: drive supports PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133)
wd0(ahcisata0:0:0): using PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133) (using DMA)
uhidev0 at uhub0 port 1 configuration 1 interface 0
uhidev0: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
ukbd0 at uhidev0: 8 modifier keys, 6 key codes
wskbd0 at ukbd0 mux 1
wskbd0: connecting to wsdisplay0
uhidev1 at uhub0 port 1 configuration 1 interface 1
uhidev1: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
uhidev1: 17 report ids
ums0 at uhidev1 reportid 2: 16 buttons, W and Z dirs
wsmouse0 at ums0 mux 0
uhid0 at uhidev1 reportid 3: input=4, output=0, feature=0
uhid1 at uhidev1 reportid 4: input=1, output=0, feature=0
uhid2 at uhidev1 reportid 16: input=6, output=6, feature=0
uhid3 at uhidev1 reportid 17: input=19, output=19, feature=0
boot device: ld1
root on ld1a dumps on ld1b
mountroot: trying smbfs...
mountroot: trying ntfs...
mountroot: trying nfs...
mountroot: trying msdos...
mountroot: trying ext2fs...
mountroot: trying ffs...
root file system type: ffs
kern.module.path=/stand/evbarm/7.99.20/modules
WARNING: preposterous TOD clock time
WARNING: using filesystem time
WARNING: CHECK AND RESET THE DATE!
init: copying out path `/sbin/init' 11
WARNING: module error: vfs load failed for `compat', error 2
WARNING: module error: vfs load failed for `compat', error 2
WARNING: module error: vfs load failed for `compat', error 2
WARNING: module error: vfs load failed for `compat', error 2
WARNING: module error: vfs load failed for `compat', error 2
WARNING: module error: vfs load failed for `compat', error 2
re0: link state UP (was UNKNOWN)
athn0: link state UP (was UNKNOWN)