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Jetson AGX Xavier Developer Kit Carrier Board Specification SP-09778-001 v2.1 PDF
Jetson AGX Xavier Developer Kit Carrier Board Specification SP-09778-001 v2.1 PDF
Carrier Board
Specification
NVIDIA Jetso n AGX Xavier Developer Kit Carrier Board SP-09778-001_v2.1 | iii
Version Date Description of Change
• Removed C-PHY connection example from Figure 3-1
• Removed note related to SPI in Table 3-2
• Updated connector on the carrier board to Wieson G2100CE04C-008-
H
• Updated VBUS[2:1] power rail usage in Table 5-1
• Added Table 5-3 based on P2822 power tree
2.1 June 21, 2020 • Updated Figure 1-1 to combine level shifter blocks to the 4-pin
expansion connector
• Updated Figure 2-1 to include connected I2C lines from the module
to connector pins, connected PRSNT1# to GND and updated name,
and updated PRSNT2# and PERST# names
• Updated pin description in Table 2-6
• Removed note regarding max length from Table 2-8
• Removed CSI and camera text from Table 2-12
• Added C-PHY camera CSI connections diagram (Figure 3-1)
• Added Table 3-3 for C-PHY options
• Updated Table 3-5 with rounded up largest carrier board delay
across the interface for both I2S and SPI
• Added Chapter 5 on mechanicals
NVIDIA Jetso n AGX Xavier Developer Kit Carrier Board SP-09778-001_v2.1 | vii
Chapter 1. Introduction
This specification contains recommendations and guidelines for engineers to follow to create
modules for the expansion connectors on the NVIDIA® Jetson AGX Xavier™ carrier board as
well as understand the capabilities of the other dedicated interface connectors and associated
power solutions on the platform.
! CAUTION: ALWAYS CONNECT THE JETSON AGX XAVIER AND ALL EXTERNAL PERIPHERAL
DEVICES BEFORE CONNECTING THE POWER SUPPLY TO THE AC POWER JACK OR TYPE C
CONNECTOR.
The Jetson AGX Xavier Developer Kit carrier board contains ESD-sensitive parts. Always use
appropriate anti-static and grounding techniques when working with the system. Failure to do so
can result in ESD discharge to sensitive pins, and irreparably damage your Jetson AGX Xavier
carrier board. NVIDIA will not replace units that have been damaged due to ESD discharge.
The Jetson AGX Xavier carrier board is ideal for software development within the Linux
environment. Standard connectors are used to access Jetson AGX Xavier features and
interfaces, enabling a highly flexible and extensible development platform. Go to
https://developer.nvidia.com/embedded-computing or contact your NVIDIA representative for
access to software updates and the developer SDK supporting the OS image and host
development platform that you want to use. The developer SDK includes an OS image that you
will load onto your Jetson AGX Xavier device, supporting documentation, and code samples to
help you get started.
DS2
VDD_5V LED [DS2]
Jetson Module
[J3]
Connector
PCIe x16
[J6]
Connector
Camera Expansion
[J509]
Connector
The Jetson AGX Xavier carrier board provides several standard expansion connectors to
support additional functionality beyond what is integrated on the main platform board. This
includes:
USB 2.0 Micro B Connector
USB 3.1: 2x Type C Connectors
Gigabit Ethernet: RJ45 Connector
HDMI: Type A Connector
PCIe x16 Connector (PCIe or SLVS)
UFS / Micro SD Card Socket
eSATA: Standard SATA Connector, 22-pin including power
M.2, Key E Slot
M.2, Key M Slot
Audio Panel Header
JTAG
Note: The following pairs of signals are tied together on the carrier board and the PCIe signal is
pulled to 3.3V on the module: PEX_L5_RST_N and GPIO19, PEX_L5_CLKREQ_N and GPIO18,
PEX_WAKE_N and SPI3_MOSI. If any of these SLVS control signals operate at 1.8V on the camera
module, level shifters will be required.
Xavier
D EN
100Ω
G
A59
GPIO05 S
SL VS_XHS
GPIO18 C55
SL VS_XVS
VDD_3V3 PEX_3V3 VDD_12V
GPIO19 K56
Load Switch
SL VS_XCLR
SPI3_MISO D56 VIN VOUT
+12v B1 A1 PRSNT1#
GPIO23 G55 ON +12v B2 A2 +12v
SL VS_XCE 100Ω +12v B3 A3 +12v
SPI3_MOSI G56 VDD_1V8
GND B4 A4 GND
I2C_GP3_CLK_PEX_LVS SMCLK B5 A5 JTAG2 SPI2_SCK
I2C3_CLK F53 Level
Shifter I2C_GP3_DAT_PEX_LVS SMDAT B6 A6 JTAG3 SPI2_MISO
I2C3_DAT E53
GND B7 A7 JTAG4 SPI2_MOSI
PEX_3V3
+3.3v B8 A8 JTAG5 SPI2_CS0
D25/D24 SL VS_XCLR
NVHS0_SLVS_RX0_N/P JTAG1 B9 A9 +3.3v
H25/H24
0.22uF VDD_3V3 PEX_3V3
NVHS0_TX0_N/P 3.3Vaux B10 A10 +3.3v
PEX_WAKE_N_R WAKE# B11 A11 PERST# PEX_L5_RST_N_R
NVHS0_SLVS_RX1_N/P B2 4/B25
K24/K25
0.22uF SL VS_XCE
Key
SL VS_XVS
NVHS0_TX1_N/P
PEX_L5_CLKREQ_N_R RSVD B12 A12 GND
NVHS0_SLVS_RX2_N/P C26/C27 SL VS_XHS GND B13 A13 REFCLK+ PCIE_REFCLK_P
NVHS0_TX2_N/P
G26/G27
0.22uF
NVHS_PEX0_TX0_P PETp0 B14 A14 REFCLK- PCIE_REFCLK_N
NVHS0_SLVS_RX3_N/P NVHS_PEX0_TX0_N PETn0 B15 A15 GND
A27/A26
NVHS0_TX3_N/P
J27/J26
0.22uF GND B16 A16 PERp0 NVHS_SLVS_RX0_P
PRSNT#2 B17 A17 PERn0 NVHS_SLVS_RX0_N
NVHS0_SLVS_RX4_N/P
D29/D28 GND B18 A18 GND
NVHS0_TX4_N/P
H29/H28
0.22uF
NVHS_PEX0_TX1_P PETp1 B19 A19 RSVD
NVHS0_SLVS_RX5_N/P NVHS_PEX0_TX1_N PETn1 B20 A20 GND
B2 8/B29
NVHS0_TX5_N/P
K28/K29
0.22uF GND B21 A21 PERp1 NVHS_SLVS_RX1_P
GND B22 A22 PERn1 NVHS_SLVS_RX1_N
NVHS0_SLVS_RX6_N/P
C30/C31 NVHS_PEX0_TX2_P PETp2 B23 A23 GND
NVHS0_TX6_N/P
G30/G31
0.22uF
NVHS_PEX0_TX2_N PETn2 B24 A24 GND
NVHS0_SLVS_RX7_N/P GND B25 A25 PERp2 NVHS_SLVS_RX2_P
A31/A30
NVHS0_TX7_N/P
J31/J30
0.22uF GND B26 A26 PERn2 NVHS_SLVS_RX2_N
NVHS_PEX0_TX3_P PETp3 B27 A27 GND
PEX_CLK5_N/P
F25/F24 NVHS_PEX0_TX3_N PETn3 B28 A28 GND
NVHS0_SLVS_REFCLK_N/P GND B29 A29 PERp3 NVHS_SLVS_RX3_P
E31/E30
3.3V RSVD B30 A30 PERn3 NVHS_SLVS_RX3_N
47kΩ PEX_L5_CLKREQ_N
PRSNT2# B31 A31 GND
C8
4.7kΩ PEX_L5_RST_N GND B32 A32 RSVD
H10 NVHS_PEX0_TX4_P PETp4 B33 A33 RSVD
47kΩ PEX_WAKE_N
NVHS_PEX0_TX4_N PETn4 B34 A34 GND
A8
GND B35 A35 PERp4 NVHS_SLVS_RX4_P
SPI2_SCK GND B36 A36 PERn4 NVHS_SLVS_RX4_N
E61
SPI2_MISO NVHS_PEX0_TX5_P PETp5 B37 A37 GND
D62
SPI2_MOSI NVHS_PEX0_TX5_N PETn5 B38 A38 GND
F60
SPI_CS0 GND B39 A39 PERp5 NVHS_SLVS_RX5_P
D60
GND B40 A40 PERn5 NVHS_SLVS_RX5_N
VDD_3V3 NVHS_PEX0_TX6_P PETp6 B41 A41 GND
NVHS_PEX0_TX6_N PETn6 B42 A42 GND
GND B43 A43 PERp6 NVHS_SLVS_RX6_P
TS3USB30E
GND B44 A44 PERn6 NVHS_SLVS_RX6_N
PEX_CLK5_P USB Mux VCC
D1P NVHS_PEX0_TX7_P PETp7 B45 A45 GND
NVHS_SLVS_REFCL K_P PCIE_REFCLK_P
D2P DP NVHS_PEX0_TX7_N PETn7 B46 A46 GND
PEX_CLK5_N
D1N GND B47 A47 PERp7 NVHS_SLVS_RX7_P
NVHS_SLVS_REFCL K_N PCIE_REFCLK_N
D2N DN PRSNT2# B48 A48 PERn7 NVHS_SLVS_RX7_N
OE* GND B49 A49 GND
GPIO6_PEX_REFCLK_SEL
S GND PETp8 B50 A50 RSVD
PETn8 B51 A51 GND
GND B52 A52 PERp8
Table 2-10. Hybrid USB 3.1 Gen1 and eSATA Connector Pin Description
Module Pin Module Module Pin Module
c Usage/Description Type/Dir Pin # Usage/Description Type/Dir
Name Pin # Name Pin #
1 – USB VBUS Power Power 11 – Ground Ground
2 USB3_DN G10 12 UPHY_RX11_N D13
USB 2.0 #3 Bidir USB 3.1 Receive Input
3 USB3_DP G11 13 UPHY_RX11_P D12
4 14 – Ground Ground
– – Ground Ground
5 15 UPHY_TX11_N H13
USB 3.1 Transmit Output
6 SATA Transmit + 16 UPHY_TX11_P H12
– – Output
7 SATA Transmit – 17
8 – – Ground Ground 18
– – Ground Ground
9 SATA Receive + 19
– – Input
10 SATA Receive – 20
Note: In the Type/Dir column, Output is to connector. Input is from connector. Bidir is for bidirectional signals.
WLAN/Bt 7 6
GND LED1#
9 8 I2S3_CLK_1V8 Level Shifter
SDIO CLK PCM_CLK/I2S SCK
11 10 I2S3_FS_1V8
SDIO CMD PCM_SYNC/12S WS
13 12 I2S3_DIN_1V8 1.8V 3.3V Module I2S3
SDIO DATA0 AP_PCM_IN/I2S SD_IN
15 14 I2S3_DOUT_1V8
SDIO DATA1 AP_PCM_OUT /I2S SD_OUT
17 16
SDIO DATA2 LED2#
19 18 BT_WAKE_AP Level Shifter
SDIO DATA3 GND 3.3V 1.8V Module SPI3_CLK
GPIO12_M2_WAKE_AP 21 20
Module GPIO12 SDIO WAKE# UART _WAKE# VDD_1V8
23 22 UART5_RX
SDIO RESET# AP_UART_RXD
25 24
KEYE KEYE
GPIO14_M2_EN 27 26 Module UART5
Module GPIO14 KEYE KEYE
29
KEYE
KEY KEYE
28
Buff er
31 30
KEYE KEYE Module GPIO03
33 32 UART5_TX
GND AP_UART_TXD VDD_3V3
UPHY_TX7_P 0.1uF 35
AP_PETP0 AP_UART_CTS
34 UART5_CTS
UPHY_TX7_N 0.1uF 37
AP_PETN0 AP_UART_RTS
36 UART5_RTS
32.768KHz OSC
39 38 GPIO3_AP_WAKE_BT_M2
GND VENDOR_DEF INED EN VCC
UPHY_RX7_P 41 40
AP_PERP0 VENDOR_DEF INED OUT GND
UPHY_RX7_N 43 42
Module PCIe x1 AP_PERN0 VENDOR_DEF INED Module
45 44 PEX_L3_RST_N
option for GND COEX3
WLAN/Bt PEX_CLK3_P 47 46 Level Shifter
REFCLKP0 COEX2
PEX_CLK3_N 49 48 3.3V 1.8V Module GPIO26
REFCLKN0 COEX1
51 50 SUSCLK_32KHZ 47kΩ
GND SUSCLK_32KHZ
PEX_L3_CLKREQ_N 53 52 PEX_L3_RST_N VDD_3V3
CLKREQ0# PERST0#
PEX_WAKE_N 55 54 BT_RST_D_M2* VDD_1V8
PEWAKE0# W_DISABLE2#
57 56 GPIO1_WIFI_DISABLE1_3V3* WLAN Disable from
GND W_DISABLE1#
GPIO24_SAR_TOUT 59 58 M2_E_I2C_DAT 3.3V GPIO Exp. P00
Module GPIO24 AP_RESERVED/PETP1 I2C_DATA OD Buffer
61 60 M2_E_I2C_CLK
AP_RESERVED/PETN1 I2C_CLK
63 62 0Ω See note
GND ALERT#
65 64 0Ω Module I2C_GP2
AP_RESERVED/PERP1 RESERVED
67 66 47kΩ
AP_RESERVED/PERN1 UIM_SWP/PERST1#
69 68 VDD_1V8
GND UIM_POWER_SNK/CLKREQ1#
71 70 GPIO30_M2_E_ALERT_R*
RESERVED/REFCLKP0 UIM _POWE R_SRC/ GPI O1/P EW AKE 1# Module GPIO30
73 72
RESERVED/REFCLKP1 3P3V VDD_3V3
75 74
GND 3P3V
0.1UF 10uF
Note: Series 0Ω resistor pads are recommended on the I2C connections. Some non-compliant
cards can cause issues if the M.2 I2C pins are connected to the module I2C interface. It is
suggested these are left unstuffed unless the I2C interface on the M.2 socket is required.
59 GPIO24 J51 RF Power Control or GPIO Output 58 I2C2_DAT K61 General I2C Interface #2
Bidir/OD
61 – – Unused Unused 60 I2C2_CLK J61 (See note)
Worst Case CSI Carrier Max Trace Delay Allowed (ps) Max Delay for Camera Module (ps)
Board PCB Delay (ps)
PCIe
USB Stripline MicroStrip Stripline MicroStrip
375 1050 900 675 525
I2S
600 3600 3000
Note: For USB 2.0 max length allowed, the case with Common-Mode-Choke (CMC) is assumed.
Longer length possible without CMC.
2.2kΩ
1MΩ
1MΩ
10kΩ
Note: In the Type/Dir column, Output is to JTAG header. Input is from JTAG header. Bidir is for bidirectional signals.
Note: Due to the CSI routing length on the carrier board and the additional connector between
the module and the end device, D-PHY mode is supported only up to 1.5 Gbps.
CSI2_CLK_N/P B4 2/B43
CSI2_D0_N/P A42/A41 2-Lane
CSI2_D1_N/P C41/C42 4-Lane (3_CLK
CSI3_CLK_N/P F45/F46 not used)
CSI3_D0_N/P E44/E45 2-Lane
CSI3_D1_N/P G45/G44
CSI4_CLK_N/P F49/F48
CSI4_D0_N/P G47/G48 2-Lane
CSI4_D1_N/P E48/E47 4-Lane (5_CLK
CSI5_CLK_N/P C45/C44 not used)
CSI5_D0_N/P D43/D42
CSI5_D1_N/P D45/D46
CSI6_CLK_N/P J45/J44
CSI6_D0_N/P K43/K44 2-Lane
CSI6_D1_N/P H45/H46 4-Lane (7_CLK
CSI7_CLK_N/P B4 6/B45 not used)
CSI7_D0_N/P A45/A44
CSI7_D1_N/P C48/C47
See the Jetson AGX Xavier OEM Product Design Guide for routing guidelines. Include the
carrier board PCB trace delays in the following tables when calculating max trace length and
for skew matching.
Legend Ground 5.0V Power Rail 3.3V Power Rail 1.8V/3.3V Selectable by J514 3.3V only
Note: Caution must be taken when using the CAN[1:0]_DIN, CAN[1:0]_DOUT pins (Exp. Conn. pins 37,
29, 33, and 31). These are pulled to 3.3V when system is powered on due to internal 3.3V pull-ups in
the SoC enabled by default. If used, they should only be connected to 3.3V tolerant device pins. The
voltage rail can be switched by software after boot to 1.8V, and the internal pull-ups can be disabled,
but the initial power-on state of these pins is pulled to 3.3V.
The 40-pin expansion connector includes various audio and control interfaces including:
I2S (See Note)
Audio Clock and Control
Digital Microphone IF
I2C (x2) (See Note)
SPI (See Note)
UART (See Note)
Table 3-5. 40-Pin Expansion Header Related Carrier PCB Trace Delays
Module Module Carrier Max Trace Max Delay Module Module Carrier Max Trace Max Delay
Signal Board PCB Delay for Signal Board PCB Delay for
Delay max Allowed (ps) Expansion Delay max Allowed (ps) Expansion
per pin (ps) Module (ps) per pin (ps) Module (ps)
I2S2 250 3600 3350 SPI1 200 1228 1028
Note: Max trace delay allowed for SPI assumes a single load case. If two loads are implemented, See the Jetson AGX Xavier OEM Product
Design Guide for details.
4.7kΩ
100kΩ
10kΩ
D 0.1uF
Header
100Ω
Xavier
G D 4
FAN_PWM K62
S 3
G
100kΩ
2
S 10pF 10nF
1
FAN_TACH E54
Table 4-5. Jetson AGX Xavier Developer Kit Carrier Board I2C Interface
Usage
Ctrlr Module Pin Names Usage on Carrier I2C Address Xavier Block On-Module Pull-up/voltage
(Xavier Pins) Board
I2C1 I2C1_CLK/DAT ID EEPROM 7h56 CONN 1KΩ to 1.8V
I2C2 I2C2_CLK/DAT 12V DC-DC 7’h74 AO 1KΩ to 1.8V (also Current Monitors via 1.8V-5V
USB PD Controller 7’h08 level shifters w/10k pull-ups to 5V)
I2C3 I2C3_CLK/DAT CAM 1KΩ to 1.8V
I2C4 DP1_AUX_CH_N/P Audio Codec 7’h1A EDP 1KΩ to 1.8V
I2C6 DP0_AUX_CH_N/P EDP None
I2C7 DP2_AUX_CH_N/P EDP None
I2C8 I2C4_CLK/DAT AO 1KΩ to 1.8V
I2C9 I2C5_CLK/DAT EDP 1KΩ to 1.8V
Figure 5 1 and Figure 5 2 show the mechanical dimensions for the carrier board and the
developer kit.
105.00 TYP
PCB width
22.8 TYP
105.00 TYP
PCB width
65.46±0.60 TYP
The following tables show the allocation of supplies to the connectors on the Jetson carrier
board and current capabilities.
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HDMI
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or product names are the property of their respective holders. ʺARMʺ is used to represent ARM Holdings plc; its operating company ARM Limited;
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Trademarks
NVIDIA, the NVIDIA logo, Jetson, Jetson AGX Xavier, and Xavier 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 associated.
Copyright
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