Does Drive AGX Thor supports user-programmable R-Cores

Autonomous Vehicles DRIVE AGX Thor DRIVE AGX Thor General
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DRIVE OS Version: DRIVE-V7.0.3-P3960-AFW-RH850-U2A16-2.03.12

Issue Description: On Drive AGX Thor (DriveOS 7.0.3), is there an equivalent user-programmable auxiliary R5 core available? If not, what is the recommended replacement for real-time bare-metal or RTOS workloads? Or we only have DriveOS Linux and QNX options?

Is following representation correct?

Processor What runs User accessible
14× ARM Neoverse V3AE (CCPLEX) DriveOS Linux OR DriveOS QNX OR both simultaneously via hypervisor ✅ Yes — this is your development target
Blackwell GPU CUDA kernels, TensorRT ✅ Yes
PVA (Vision Accelerator) Computer vision acceleration ✅ Yes
FSI (R52 DCLS cores) NVIDIA safety firmware ❌ No
BPMP (R5) NVIDIA boot/power firmware ❌ No
SCE (R5) NVIDIA camera firmware ❌ No
RH850 U2A16 (external MCU) NVIDIA AFW firmware / NvShell ⚠️ NvShell commands only
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Dear @arqam.gadit ,
As per my understanding we don’t have used programmable R cores available on Thor devkit and suggested to use DRIVE OS QNX for safety. . Let me check confirm internally and get back to you.

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is there an equivalent user-programmable auxiliary R5 core available? If not, what is the recommended replacement for real-time bare-metal or RTOS workloads? Or we only have DriveOS Linux and QNX options?

we only support DriveOS Linux and QNX for customer applications. We don’t have any user access to R5s.

The table looks good to me.