VFIO/IOMMU NVIDIA Jetson Xavier NX

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I have the following questions for Jetson NX

  1. Is IOMMU enabled by default in NVIDIA Jetson NX?
  2. As embedded devices don’t support GRUB, is there any other way to choose kernel or pass kernel params?
  3. Does anyone succeed in doing PCI Device passthrough? If so, what are all the underlying modifications that must be made to the kernel?

Thanks in advance!