Notice

Please read manual carefully before install, operate, or transport MiiVii device.

• Ensure that the correct power range is being used before powering the device.

• Avoid hot plugging.

• To properly turn off the power, please shut down the Ubuntu system first, and then cut off the power. Due to the particularity of the Ubuntu system, on the Nvidia developer kit, if the power is turned off when the startup is not completed, there will be a 0.03% probability of abnormality, which will cause the device to fail to start. Due to the use of the Ubuntu system, the same problem also exists on the Miivii device.

• Do not use cables or connectors other than described in this manual.

• Do not use MiiVii device near strong magnetic fields.

• Backup your data before transportation or MiiVii device is idle.

• Recommend to transport MiiVii device in its original packaging.

Service and support

Technical support

If you encounter problems or you think your product is defective, please email: helpdesk@miivii.com , we will help you solve the problem. You can also visit the MiiVii Technology Forum http://forum.miivii.com , search our knowledge base for solutions to common problems.

Warranty

Warranty period: the warranty period of MiiVii equipment is one year from the date of purchase. Warranty regulations: during the warranty period, if there is any non-human damage to the product, MiiVii will provide free warranty. Please contact helpdesk@miivii.com Get warranty assistance.

Product list

• Apex Xavier II+×1

• ACDC power adatper×1

• PORT 1 I/O cable connector×1

• PORT 2 I/O cable connector×1

• 4 in 1 MINI FAKRA to FAKRA cable connector×2

• 4G Module×1（optional）

• 4G Antenna×2

• WiFi Module×1（optional）

• WiFi Antenna×2

• SSD×1（optional）

• POE Module×1（optional）

• Warranty card×1

• QC PASS×1

Table of contents

About Apex Xavier II+ 

Brief

MiiVii Apex Xavier II+ is an embedded artificial intelligence computer, which can give artificial intelligence computing power to many terminal devices, so as to effectively reduce the landing threshold of artificial intelligence products. Apex Xavier II+ can meet industrial standards such as anti vibration and waterproof, also be able to provide up to 32tops computing power, which can well meet the AI computing needs of low-speed unmanned driving and other scenes. In addition, Apex Xavier II+ can also provide efficient multi-sensor clock synchronization.

Feature

• IP65 Protection¹

• Efficient active fan cooling

• 8×GMSL2 camera link

• -25℃-70℃ Operating temperature

• MINI-PCIE and M.2 M 2280 expansions

1：The devices I/O ports are provided with dust-proof and water drainage treatment. 

Product appearance

Specifications

Processor

 I/O

Power Supply

Mechanical

Environmental

Install Dimension

Apex Xavier II+ size and installation shown in the figure:

chapter 1：Interface description and expansion installation

Interface description

Front Panel

Multi-functional interface is introduced as follows:

Expansion port ① and expansion port ② are located in the front of apex Xavier II +, as shown in the figure:

The camera interface pin is defined as follows:

Expansion port ① interface signal definition

 ⁴  UART (debug) interface is the debug interface*

Expansion port ② interface signal definition

Rear interface

Description of IO adapter cable

Apex Xavier II + is attached with two IO transfer cables, corresponding to expansion port ① / port ②

Port 1 adapter cable description

The extension port ① adapter cable has 10 DB9 terminals and 3 keys. The functions are shown in the table:

Function keys

Apex Xavier II + extension port ① provides three function keys – Reset key and Power_ On key and Force_ Recovery key.

Port 2 Adapter description

Expansion port ② adapter cable has 2 power terminals, 5 DB9 terminals and 1 external expansion fan interface. The functions are shown in the table:

Power interface

Apex Xavier II + adapter provides 2-way power input interfaces, which are electrically connected in parallel.

M20 plug-in power adapter

The line sequence of aviation plug-in power transfer line in apex Xavier II + transfer line is described as follows. For comparison with the interface signal of expansion port ②, see the interface description.

Fan connecting line and pin definition

Apex Xavier II + supports an external 5v-PWM fan output.

As shown in the figure:

Chapter 2: gmsl related configuration and usage

Connection mode

Apex Xavier II + provides 8-way gmsl2 camera interface. The interface characteristics are described as follows:

Insert the black terminal of the four in one gmsl harness equipped in the equipment package into the equipment end, and the other side is the male of four standard fakra terminals, which can be connected to four gmsl cameras

Interface characteristics

• Hot plug is not supported.
• Support signal transmission of up to 15m coaxial cable.
• It is recommended to support cameras with output resolutions of 720p, 1080p, 4K and other resolutions.
• Apex Xavier II + supports two groups of 8-way gmsl2 camera input.
• The power supply voltage of apex Xavier II + for gmsl2 camera is 10V. Please confirm the allowable voltage range of the camera used to avoid over-voltage burning the camera.
• The 8-channel gmsl2 camera can be triggered by the synchronization signal of the same fixed output frequency.
• For the product gmsl camera support list, please visit Appendix 4

Camera Setup

Regarding setup your GMSL camera.

If you are using Jetpack 4.5 and after, please refer to MIIVII Settings usage

Fast verification

Use Cheese in Linux to quickly verify the video.

Refer to the following video：

Please notice that since cheese can not set the image format, the output format of the camera may not match the default format of cheese, so there might be color difference. This is a problem of cheese.

Video Output

1.For ease of use, the device provides three executable files cameras_egl_demo, cameras_opencv_demo, cameras_sdk_demo to display GMSL camera images. For details, please refer to /opt/miivii/features/gmsl_camera

cameras_opencv_demo: Use v4l and opencv directly to obtain camera images. (recommend)

cameras_sdk_demo: SDK compatible with GMSL1, uses ASIC to convert the image format, with high operating efficiency. And you can get the time stamp of triggering the shutter through the SDK. (If a timestamp is required, it is recommended, otherwise it is not recommended)

cameras_egl_demo: Use egl as the display part to achieve high efficiency in the display part.

2.The device supports the use of GStreamer to output video streams. The methods of image acquisition and display are as follows：

 720P：

gst-launch-1.0 -v v4l2src device="/dev/video1" ! video/x-raw,framerate=30/1,width=1280,height=720,format=UYVY ! xvimagesink

1080P：

gst-launch-1.0 -v v4l2src device="/dev/video0" ! video/x-raw,framerate=60/1,width=1920,height=1080,format=UYVY ! xvimagesink

Please note that since the format of the camera output does not necessarily match the default format of GStreamer, there may be color differences.

3.Video output is divided into two application scenarios: self-trigger mode and synchronous mode:：

(1). Self-trigger mode: the camera triggers according to the internal clock. At this time, the time stamp of the camera cannot be obtained, and the pictures between the cameras cannot be synchronized.

      In the case of using the self-trigger mode, there is no need to use any SDK. You can refer to: OpenCV Python Demo，OpenCV C++ Demo

      But be aware that you need to perform format conversion yourself. Such as converting from YUYV to BGR format, etc.

(2). Synchronous mode: means that all cameras are triggered by the same trigger signal, and the shutter time is almost strictly synchronized.

      In synchronous mode, use OpenCV demo to display the camera screen of /dev/video0. Please note that 1280x720 needs to match the real resolution of the camera. For a 1080p camera, it is 1920x1080.

./bin/cameras_opencv_demo -s 1280x720 -d /dev/video0

In the synchronous mode, use the SDK demo to display the camera screen of /dev/video0.  Please note that 1280x720 needs to match the real resolution of the camera. For a 1080p camera, it is 1920x1080.

./bin/cameras_sdk_demo -s 1280x720 -d /dev/video0

commands：

first：compile

cp -r /opt/miivii/features ~/
cd ~/features/gmsl_camera
sudo make;

Run OpenCV Demo（please note that the resolution must be consistent with the real reaolution of the camera）

./bin/cameras_opencv_demo -s 1280x720 -d /dev/video0

Run SDK Demo（please note that the resolution must be consistent with the real reaolution of the camera）

./bin/cameras_sdk_demo -s 1280x720 -d /dev/video0

Run EGL Demo（please note that the resolution must be consistent with the real reaolution of the camera）

./bin/cameras_egl_demo -s 1280x720 -d /dev/video0 

To turn on multiple cameras in one process and get the timestamp：

Test method for GMSL/GMSL2 timestamp

How to get the detailed log and log descriptiom？

# export CHECK_TIME=1   
sudo jetson_clocks
rm /tmp/cameras_sdk_demo.log
./bin/cameras_sdk_demo -s 1280x720 -d /dev/video0

Description of the log file

How to confirm whether the timestamp is correct？

In the code, the validity of the timestamp is determined by checking  FrameInterval

execute：

# export CHECK_TIME=1   
sudo jetson_clocks
rm /tmp/cameras_sdk_demo.log
./bin/cameras_sdk_demo -s 1280x720 -d /dev/video0

If the timestamp is normal，the content of /tmp/cameras_sdk_demo.log will be as follow，only one line ：

Timestamp : 1620897955083817280 FrameInterval : 1620897955083817280 FrameTransferDelay : 66992720 LinuxGetFrameTime : 1620897955150810000 LinuxFrameInterval : 1620897955150810000

Or if the timestamp is abnormal，there will be multiple records in /tmp/cameras_sdk_demo.log：

Timestamp : 1620958367246484576 FrameInterval  :  1620958367246484576 FrameTransferDelay : 67111424 LinuxGetFrameTime : 1620958367313596000 LinuxFrameInterval : 1620958367313596000
Timestamp : 1620958739646034432 FrameInterval  :  1620958739646034432 FrameTransferDelay : 67403568 LinuxGetFrameTime : 1620958739713438000 LinuxFrameInterval : 1620958739713438000
Timestamp : 1620958748796023808 FrameInterval  :  1620958748796023808 FrameTransferDelay : 80901192 LinuxGetFrameTime : 1620958748876925000 LinuxFrameInterval : 1620958748876925000
Timestamp : 1620958789795973504 FrameInterval  :  1620958789795973504 FrameTransferDelay : 72186496 LinuxGetFrameTime : 1620958789868160000 LinuxFrameInterval : 1620958789868160000
Timestamp : 1620959793244763712 FrameInterval  :  1620959793244763712 FrameTransferDelay : 73185288 LinuxGetFrameTime : 1620959793317949000 LinuxFrameInterval : 1620959793317949000
Timestamp : 1620959854794691840 FrameInterval  :  1620959854794691840 FrameTransferDelay : 68099160 LinuxGetFrameTime : 1620959854862791000 LinuxFrameInterval : 1620959854862791000
Timestamp : 1620960274844196896 FrameInterval  :  1620960274844196896 FrameTransferDelay : 68391104 LinuxGetFrameTime : 1620960274912588000 LinuxFrameInterval : 1620960274912588000
Timestamp : 1620960283994186240 FrameInterval  :  1620960283994186240 FrameTransferDelay : 71857760 LinuxGetFrameTime : 1620960284066044000 LinuxFrameInterval : 1620960284066044000
Timestamp : 1620960291394178080 FrameInterval  :  1620960291394178080 FrameTransferDelay : 68419920 LinuxGetFrameTime : 1620960291462598000 LinuxFrameInterval : 1620960291462598000

How to confirm the accuracy of the timestamp？

export CHECK_TIME=1  
sudo jetson_clocks
./bin/cameras_sdk_demo -s 1280x720 -d /dev/video0 > log

How to confirm the stability of the image transmission delay？

Confirm the image transmission delay

Prior knowledge

Turn on the camera at a frame rate lower than the transmission delay. Since the transmission delay is less than the frame interval , the cache of the timestamp is 1. Therefore, there will be no other problems introduced by the software. What is measured is the real physical delay

Please notice that do not to use the frame rate corresponding to the transmission delay, the jitter of the transmission delay will cause inaccurate time stamp。

export CHECK_TIME=1  
sudo jetson_clocks
./bin/cameras_sdk_demo -s 1280x720 -d /dev/video0 -r 30-0

-r 30-0 indicates that the frame rate of the set off-camera trigger is 30

Chapter 3: Introduction to synchronization interface and related functions

PPS connecting line and pin definition

Apex Xavier II + supports one PPS synchronization signal output with a baud rate of 9600. It corresponds to a dark blue DB9 terminal in the IO adapter line, as shown in the figure:

For the usage of PPS synchronization function, please refer to "PPS synchronization mode" in "synchronization function instructions".

Pin definition:

Sync connector and pin definition

Apex Xavier II + supports one channel of sync out and one channel of sync in synchronization signal⁶. Corresponding to a dark green DB9 terminal in the IO adapter line, as shown in the figure:

SYNC_ Definition of dp9 terminal pin of IO:

⁶ For the usage of sync out and sync in synchronization functions, please refer to the "sync out synchronization mode" and "sync in synchronization mode" in the "synchronization function instructions".

External GPS sync

The NMEA output serial port of GPS connects with UART (232) B hardware serial port of apex Xavier II + (the baud rate of serial port is 9600), and the mapping to Linux system is / dev / ttyuart_ 232_ B equipment node.

The PPS second pulse output signal line of GPS is connected to the sync of apex xaiver II +_ Pin1 pin of IO line is mapped to Linux system as / dev / miivii-sync-in-a device node.

In GPS timing mode, the above two nodes will be occupied by the background GPS timing processing program. Do not perform other operations on these two nodes, otherwise the GPS timing function will be interrupted.

Baud rate adjustment of GPS timing serial port

The baud rate of GPS timing serial port node is adjustable:

In / etc / SYSTEMd / sync_ auto. SH script, as follows:

For example: change to 115200

/usr/local/bin/sync_ auto 115200 > /var/log/miivii_ sync. log &

If the baud rate parameter is not filled in, it defaults to 9600

The baud rate parameters supported are as follows:

2400 4800 9600 57600 115200 460800

Synchronization function instructions

The device supports three synchronization methods, namely: PPS, Sync in and Sync out synchronization. The synchronization error is 0.1-1 μs.

How to use the sync function

PPS sync mode

The device outputs PPS signal⁷ (one pulse is generated per second with a pulse width of 50ms), and sends NMEA GPRMC message of the generation time of the rising edge of the pulse through TX pin of serial port (UART / RS232). Message example:

$GPRMC,060249.000,A,3949.63046,N,11616.48565,E,0.296,,291118,,,A*4d

7 for the hardware connection mode of PPS signal, see "PPS connection line and pin definition" in "Introduction to synchronous interface and related functions"

Where "060249.000" is the time stamp (UTC time) when the pulse is generated per second. The format is "hour minute second. 000", and the normal time is in the whole second format. Sensors supporting PPS synchronization mode will calibrate their own clock system through the received PPS and GPRMC messages to keep it consistent with the system clock of the equipment. The sampling time of the sensor will be sent to the device together with the data as a timestamp. So far, the system obtains the system time of sensor sampling and completes the synchronization.

Synchronization verification (RS-LiDar-16 sensor):

When the sensor connects with Apex Xavier II using only data wire, device ROS Node sends hardware timestamp to the system, which is determined by sensor’s internal clock. As shown below, there is a big difference between hardware timestamp and system time.

When the sensor is connected to the PPS of the device_ A_ Sync and PPS_ A_ After TX, the ROS node of the sensor uploads data to the operating system. The hardware timestamp in the data is the time of the internal clock of the sensor after PPS timing, which is consistent with the system time of the device. At this time, print the received hardware timestamp in the Ubuntu operating system and compare it with the system time (ROS:: time:: now) when the data is received. When the difference between the two is less than 100ms, it indicates that the PPS function is effective.

Sync out Method

The device supports sync out synchronization signal⁸

⁸For the hardware connection mode of sync out signal, see "sync connection line and pin definition" in "Introduction to synchronization interface and related functions"

The device can output a 1-30Hz pulse signal with a pulse width of 5ms through the sync out pin to trigger the external sensor to start sampling. At the same time, the equipment will record the generation time of the rising edge of the pulse. After the sensor completes sampling, the equipment will associate the recorded time with the data returned by the sensor as the time stamp of the data. So far, the system obtains the system time of sensor sampling and completes synchronization.

At the same time, the device also provides the sync out synchronization function of gmsl interface. See "Chapter II: gmsl related configuration and use methods" for details

Synchronization function verification method: configure the sensor as the external trigger synchronization mode, and confirm whether the trigger frequency of the sensor is sync through rosbag packet capture The frequency value set in CFG. If the deviation is less than 1Hz, the sync out function is effective.

Data transmission time analysis

Test Description: set the frequency of the sync out signal as 10Hz, and measure the time interval between the rising edge of the sync out signal sent by the device and the video frame received by the device.

The measurement results show that the average frame transmission time is 65.70ms.

Sync in method

The device supports sync in synchronization signal⁹.

⁹For the hardware connection mode of sync in synchronization signal, please refer to "sync connection line and pin definition" in "Introduction to synchronization interface and related functions"

Sensors that support sync in synchronization mode will generate and send a pulse signal when starting sampling. The device passes sync_ The in pin receives the pulse signal and records the generation time of the rising edge of the pulse. After the sensor completes sampling, the equipment will associate the recorded time with the data returned by this sensing as the time stamp of the data. So far, the system obtains the system time of sensor sampling and completes the synchronization.

Verification method of synchronization function: print sync in Ubuntu operating system_ The in pin receives the time stamp of the pulse signal. Compare the time stamp with the system time (ROS:: time:: now) of the received sensor data frame. If the difference between the two is less than 100ms, it indicates that the sync in function is effective.

Synchronization error test method

Measure PPS pulse interval through oscilloscope

Measurement results:

Measure the sync out pulse interval with an oscilloscope

Measure the interval between two sync out (10Hz) pulses with an oscilloscope and compare it with the theoretical value.

Measurement results:

Ways to Assess Synchronization Effects on Your Own

Users can measure jitter by timestamp to evaluate the synchronization effect of the device by themselves

Instructions for synchronizing sample code

The sample code provided by MiiVii is used to evaluate the synchronization performance of the device by itself. The usage methods are as follows:

#Enter the following path

cd /opt/miivii/feature/sync_test/bin`

#Test the sync out function

./sync_out_test

#Test the sync in function

./sync_in_test

#test pps function

./pps_test

Sync out jitter measurement

Sample code(sync_out_test) could run real-time analytics on the received timestamp. Time interval, frequency, max deviation and standard deviation are printed out.

Sync in jitter measurement

Connect an external signal with fixed frequency to MiiVii device SYNC_IN pin. Run sample code (sync_in_test) for real-time analytics on the received timestamp.Time interval, frequency, max deviation and standard deviation are printed out.

MiiVii device's SYNC_OUT pin could be used as an 25Hz external signal to connect with SYNC_IN pin

PPS jitter measurement

Connect MiiVii device's PPS pin and SYNC_IN pin. Run sample code (pps_test) for real-time analytics on the received timestamp.

Chapter 4: UART port and function introduction

UART (232) connecting line and pin definition

Apex Xavier II + supports 4-channel RS232, namely UART (232) a, UART (232) B and UART (232) C. UART (debug) is the debug interface. The black DB9 terminal is used in the transfer line, as shown in the figure:

Pin definition of DB9 terminal of 4 UART (232):

DB9 terminal pin definition of UART (232):

UART (422 / 485) connecting line and pin definition

Apex Xavier II + supports two-way 422 / 485 serial communication, namely UART (422 / 485) a and UART (422 / 485) B. RS422 is full duplex and RS485 is half duplex. The red DB9 terminal is used in the transfer line, as shown in the figure:

Pin definition of DB9 terminal of 2 UART (422/485):

Note: RS485 only needs to be connected to Pin1, Pin2 and pin5 of DB9 connector. Please refer to the following table for specific wiring sequence

UART interface configuration method

Open the corresponding device node under / dev / < device node number >, and set baud rate, stop bit, parity bit, data bit, etc. You can use the stty command to configure the baud rate, stop bit, parity bit, data bit, etc. of the serial port. See the description of the stty command for details.

For the command example, please modify the < > information to the serial port node number to be adjusted. For the specific correspondence, please refer to the [equipment node number] section

sudo stty -F /dev/<UART_XXX> speed 115200 cs8 -parenb -cstopb -echo

输出数据测试

sudo echo “miivii tty debug” > /dev/<UART_XXX>

使用下面命令接收输入数据

sudo cat /dev/<UART_XXX>

Chapter 5: CAN port and function introduction

Can (can FD) connection line and pin definition

Can bus is equipped with can chip, also its equipped with 120 Ω terminal resistance by default

Apex Xavier II + supports 5-channel can bus communication. I/O 1 contains 2 channels, which are can_ A and CAN_ B； I/O 2 contains three channels, which are can_ C，CAN_ D and CAN_ E。 White DB9 terminal is used in the transfer line

DB9 terminal pin definition of CAN bus:

Can port configuration method

For the specific use method of can equipment, refer to https://github.com/linux-can/can-utils include cansend.C and candump.c

Test command:

sudo modprobe can

sudo modprobe can_raw

sudo modprobe mttcan

sudo ip link set can0 type can bitrate 500000 sjw 4 berr-reporting on loopback off

sudo ip link set up can0

sudo cansend can0 123#abcdabcd

sudo candump can0

sudo ip -details -statistics link show can0

sudo ifconfig can0 down

Can FD configuration usage method¹⁰:

sudo modprobe can

sudo modprobe can_raw

sudo modprobe mttcan

sudo ip link set can0 type can bitrate 500000 sjw 4 dbitrate 2000000 dsjw 4 berr-reporting on fd on

sudo ip link set up can0

sudo cansend can0 213##011

¹⁰ difference between can FD and can 2.0:

1) 

sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on

Where bitrate is can2 Baud rate in 0 mode; dbitrate is the baud rate in can FD mode. According to the official document, the maximum value can be configured as 5m. 2m is best for general applications;

2)

sudo cansend can0 213##011

In the send command, there is an # between the ID and the data, and the first byte (0) after the ## is canfd_ frame. The value of flags, ranging from 0 to f; canfd_ frame. The byte (11) after flags is the first data, and a maximum of 64 bytes can be transmitted at a time.

Configuration method of extended can FD port

How to use extended can FD configuration: (for product apex2+: can2, can3, can4)

#can2
sudo ip link set can2 up type can bitrate 500000 sjw 4 dbitrate 5000000 dsjw 4 restart-ms 1000 berr-reporting on fd on
sudo ifconfig can2 txqueuelen 65536

#can3
sudo ip link set can3 up type can bitrate 500000 sjw 4 dbitrate 5000000 dsjw 4 restart-ms 1000 berr-reporting on fd on
sudo ifconfig can3 txqueuelen 65536

#can4
sudo ip link set can4 up type can bitrate 500000 sjw 4 dbitrate 5000000 dsjw 4 restart-ms 1000 berr-reporting on fd on
sudo ifconfig can4 txqueuelen 65536

Chapter 6: GPIO port and function introduction

GPIO connector and pin definition

Apex Xavier II + supports 8-channel GPIO port communication, which is led out by 2-channel DB9 terminals, namely "5-channel GPIO port" and "3-channel GPIO port". The black DB9 terminal is used in the transfer line.

如图所示：

Definition of DB9 terminal pin of 5 GPIO port:

Definition of DB9 terminal pin of 3 GPIO port:

GPIO interface configuration method

The example of GPIO interface is as follows. Please modify the < > information to the GPIO node number to be adjusted. For the specific correspondence, please refer to the [pin number] section

# switch to root user
sudo su -
# Set to high (DO)
echo 1 > /sys/class/gpio/<gpio339>/value
# Set to low (DO)
echo 0 > /sys/class/gpio/<gpio339>/value
# read data (DI)
cat /sys/class/gpio/<gpio339>/value

If you need to preserve the configuration after shutdown, you can write the above command to / etc / RC Local file

Device GPIO output mode description

Chapter 7: extended equipment configuration method

M. 2 SSD hard disk

check ssd information:

sudo fdisk -lu

Format hard disk:

sudo mkfs -t ext4 /dev/nvme0n1

View hard disk UUID:

sudo blkid /dev/nvme0n1

Setting method of automatic mounting SSD: Create a systemd service in the /etc/systemd/system path to automatically mount the SSD when booting, such as: miivii_mount_ssd.service

#vim miivii_mount_ssd.service   Create service miivii_mount_ssd.service
[Unit]
Description=MIIVII specific script
After=udev.service

[Service]
ExecStart=/etc/systemd/miivii_mount_ssd.sh

[Install]
WantedBy=multi-user.target

Create a script under the path of / etc / SYSTEMd / to mount the hard disk, such as miivii_ mount_ ssd. sh

#vim miivii_mount_ssd.sh   Create a service script miivii_mount_ssd.sh
#!/bin/bash
mount -o rw /dev/nvme0n1 /home/nvidia/workspace

change mode for this script

sudo chmod +x miivii_mount_ssd.sh

Set the mounted SSD service to start at boot

sudo systemctl enable miivii_mount_ssd.service

WiFi Setting

MIIVII apex Xavier II + is provided by the mini-pcie external expansion module. If you need to use this function, please ensure that the WiFi module is selected when purchasing the machine.

Please find the WiFi name to be connected in the network connection icon in the upper right corner of the Ubuntu system desktop and click, then enter the password in the pop-up password box and click Connect.

4G Module Configuration Method

The 4G function of apex Xavier II + is provided by the mini-pcie external expansion module. If you need to use this function, please ensure that the 4G module is selected when purchasing the machine.

Please note that if you use an IOT SIM card, there will be a problem of binding the SIM card to the device hardware. Please confirm with the SIM card supplier in advance.

In the system image, the corresponding 4G module driver is integrated. After installing the 4G module, the system will automatically identify it. Check the / dev directory and you will see / dev / ttyusb0 ~ / dev / ttyusb3, total of four devices.

In the network connection icon on the top right of the desktop, find edit connections and click add, as shown in the figure:

Select the connection type mobile broadband

Select next (options quectel LTE, fibocom nl668 modem, Android and any device etc. display different information according to different models of 4G modules. You can click Next directly)

Select the country as your country, then choose network provider.

If the operator is China Telecom, then create the operator manually

Choose your Plan

China Mobile choose 'Internet'，China Unicom and China Telecom choose default

APN settings: China Mobile: cmnet; China Unicom: 3gnet; China Telecom: ctnet

Check the created information. If all correct, click apply

Set username and password，click save

After the network is created, select the new connection in the network connection icon at the top right of the desktop to access the Internet . If 4G automatic connection is required at startup, take mobile as an example, after establishing the connection file “China Mobile Internet”, the operation is as follows: click the network connection icon at the top of the desktop and click the edit connections option in the drop-down menu. Select the China Mobile Internet option in the pop-up window and click the settings Icon below

Select 'General', then check 'Automatically connect to this network when it is available'

Reset MiiVii device, you can automatically connect to 4G network

Appendix 1

Apex Xavier II+ General usage

system introduction
Miwen devices use Ubuntu 1804 system. Default username: nvidia; password: nvidia

Turn On/Off machine
Boot: The default boot mode of Miivii device is power-on auto-start. Plug in the power supply, and connect the monitor to the Miivii device through the HDMI interface. The startup screen is as shown in the figure:

Power off: long press the POWER_ONKEY button to power off. Or execute sudo poweroff in the command line to complete the soft shutdown. Reboot: execute sudo reboot in the command line to complete the restart

Power Mode Settings
Miivii devices equipped with Jetson AGX Xavier have multiple working modes. This can be adjusted via the NVIDIA green logo setting in the upper right corner. The default mode for Miivii devices is 3: MODE_30W_ALL

Click the drop-down menu to modify the working mode of the Miivii device. The details of the working mode are shown in the following table:

You can also use command line adjustments:

#View the current mode of the device
sudo nvpmodel -q verbose
# set to a mode
sudo nvpmodel -m <MODE ID>
#Get the best performance in the current mode
sudo jetson_clocks
#check the detail information
sudo jetson_clocks --show

Application function usage
Miivii equipment provides a variety of samples, which is convenient for customers to develop and quickly verify

MiiVii Dynamics also provides some open source code for developers, please check it on MiiViiDynamics Github https://github.com/MiiViiDynamics

Exception handling
buzzer

If there is an abnormal situation during the development process, you can first print the log through the DEBUG serial port to judge the problem by yourself. The specific operations are as follows:

Step 1: Find the specific location of the DEBUG interface according to the information in the [Interface Description] section

Step 2: Use an RS232-USB adapter cable to connect the DEBUG interface to the upper computer PC

Step 3: On the PC side of the host computer, download the serial debugging tool and adjust the baud rate to 115200 Baud

Step 4: Grab the serial port log in the serial port debugging tool to analyze abnormal problems

Appendix 2

Instructions for using online system upgrade (OTA)

Summary

Online system upgrade, usually called OTA, is a software service provided by MIIVII for all MIIVII devices.

That is, the system firmware can be updated without brushing.

Starting from Jetpack 4.5, all MIIVII devices support OTA.

Usage Mode

Method 1 (recommended): use MIIVII SETTINGS for version upgrade and rollback;

1. Open the browser on the device and enter http://127.0.0.1:3000, or enter  http://<device ip>:3000 on the remote PC browser.
2. Use the system login account to log in to the MIIVII SETTINGS;
3. Select the system upgrade function and click "检查更新" to check whether there is a new version.
   
4. When an upgraded version is detected, you can click "系统升级" to upgrade the installation package.
   
5. After the upgrade is completed, the system will record the upgrade time, and you can view the upgrade record of that time.
   
6. Restart the system after the upgrade to ensure that the upgrade takes effect.

Method 2: Use the command line to upgrade or upgrade the specified installation package.

1. Specify The Upgrade Installation Package

   1. Execute the following command to update the source.

      sudo apt update

   2. Execute the following command to upgrade the specified installation package.（Take updating websettings 1.4.0 as an example.）

      sudo apt install -y miivii-websettings=1.4.0

2.Upgrade All  (Including Ubuntu package upgrade, please choose carefully)

1. 1. Execute the following command to update the source.

      sudo apt update

   2. Execute the following command to upgrade the system.

      sudo apt upgrade -y

   3. Restart the system after the upgrade to ensure that the upgrade takes effect.

Appendix 3

MIIVII WEB SETTINGS Manual（JP 4.5 or later）

Introduction

MIIVII WEB SETTINGS  is a graphical tool based on web，for device settings .

Provides such functions as system status detection, remote access, remote login and so on.

This manual applies to  the MIIVII SETTINGS  of  Jetpack4.5 or later

---

Access Method：

Method1- Access shortcut on local desktop：

1. Double-click the desktop shortcut of  “MIIVII WEBSETINGS” ，open the application of MIIVII WEBSETINGS

2. The login user must have root permission .  The user without root permission cannot use it . 

3. Default ID : nvidia  Default PWD: nvidia

Method2- Access local browser:

1. Open local browser 
2. Input  http://127.0.0.1:3000

3. The login user must have root permission .  The user without root permission cannot use it . 

4. Default ID : nvidia  Default PWD: nvidia

Method3- Access  browser of client PC in same LAN:

1. Open browser of client PC in same LAN
2. Input  “ The LAN IP of device  + port number”，port number is 3000  .  For example   http://192.168.1.100:3000

3. The login user must have root permission .  The user without root permission cannot use it . 

4. Default ID : nvidia  Default PWD: nvidia

---

Function Description

Switching between Chinese and English interface

In the upper right corner of the page ，click the switch button   , The interface can be switched between Chinese and English .

（Chinese/English switching is available from MWS V2.5.x and later versions）

System Status

View basic information about the current system, such as CPU usage, memory usage, and storage usage.

1. Click "System Status" on the left menu bar to enter the page.

You can also view the system version on the CLI（For LAN access, use the "WEB Terminal" function）：

cat /etc/miivii_release
APEX 4.2.2-1.5.0

---

System Settings

Set up basic system functions, such as system timing Settings, GMSL camera Settings and so on.

GMSL Settings

1. Click the left menu bar "System Settings -GMSL Settings" to enter the page.
2. Select the camera model for each channel
3. Click “Save” Button
4. After a while, the system will indicate that GMSL is set up successfully, and you can use the GMSL camera.  
   
   

Device with GMSL functionality

• The Apex  has two GMSL1 camera interfaces, named GMSL_A and GMSL_B .
• The Apex Xavier II has 8 GMSL2（Compatible with GMSL1）camera interfaces，named  GMSL_0-7
• The Apex Xavier II+ has 8 GMSL2（Compatible with GMSL1）camera interfaces，named  GMSL_0-7
• The EVO TX2 GMSL2 has 6 GMSL2（Compatible with GMSL1）camera interfaces，named  GMSL_0-5
• EVO Xavier, EVO Xavier II，EVO TX2 and S2 don't have the function  of  GMSL/GMSL2 camera 
  
  

Configuration file path：

/opt/miivii/config/gmsl_camera/camera.cfg

• Camera configuration ID please refer to "GMSL Camera Support List".
• Manually modifying a configuration file takes effect only after the system restarts.

Sync Settings (system timing Settings)

1. Click the left menu bar "System Set - SYCN Set" to enter the page.

2. Choose external timing mode ： NTP/GPS/NONE

   1. "NTP"  is the default mode.  NTP network timing mode: 
      • The device is connected to the network and timed by the NTP service.  The device can be used as a synchronous source to time and synchronize the sensor.  
   2. "GPS" is  GPS external timing mode.:
      • In this case, the device is connected to GPS and timed by GPS.  The device can be used as a synchronization source to time and synchronize the sensor  
   3. "None" is the asynchronous mode. In this case, the device is not timed but can be used as the synchronization source.  

3. Set Sync out ： 

   1. Adjust the Sync out output frequency. Note that this is not the GMSL frequency.  

• "Apex Xavier", "Apex Xavier II", "Apex Xavier II+" have the function of SYNC 
• "EVO Xavier", "EVO Xavier II", "EVO TX2 GMSL2", "S2Pro" have the function of SYNC 
• "EVO TX2" , "S2" don't have the function of SYNC
• "LIte xxxx" product series don't have the function of SYNC
  

Configuration file path：

/opt/miivii/config/sync/sync.cfg 

• The timing mode is implemented by modifying the X value of "sync_type:X".     
  • 0: GPS external timing mode 
  • 1: NTP network timing mode 
  • 2: Asynchronous mode
• Adjust the Sync out frequency by changing the XX value of "SYNC_out_freq :XX".    This adjustment supports only integers.  
  

cat /opt/miivii/config/sync/sync.cfg
sync_out_freq:25
sync_type:2
/*
note:
sync_out_freq---the frequency is 25 for sync out time
sync_type---0 is for GPS calibrate time
1 is for SYS calibrate time
2 can not calibrate time

---

System Upgrade

MiiVii provides OTA upgrades to equipment systems.

1. Click the left menu bar "System Upgrade" to enter the page.

2. Click "Check Upgrade" , If have new version , click ""
   
   

---

Device Binding

MiiVii  provides the EdgeService cloud service. Enabling the cloud service requires binding devices.

1. Click the left menu bar "Device Binding" to enter the page.

2. Bind the device as prompted. Use wechat to scan.

---

The log export

System run logs are stored in logs in /var/log/，The Log Export function allows you to package and download logs to a local PC.

1. Click the left menu bar "Log Export" to enter the page.

2. Click "Export System Logs" to complete.
   
   

WEB Terminal

MiiVii Web Settings provides the remote terminal function through the WEB

1. Click "WEB Terminal" on the left menu bar to enter the page.

2. Click "Open terminal" to open the WEB terminal (as shown below)
   
   

Appendix 4

Extended Device Support Checklist

Mini PCIe 4G支持清单

Mini PCIe 4G Support List

注：

1. 正式支持：每次米文系统版本升级，会在米文设备上进行验证。
2. BETA支持：米文调试过，但不会在每次米文系统版本升级中验证，如使用过程中需要进一步支持请联系对应的销售工程师或客户经理。

Note:

Official support: Every time the Miivii system version is upgraded, it will be verified on the Miivii device.
BETA support: Miivii has added the product driver, but not verified in each Miivii system version upgrade. If you need further support during use, please contact the corresponding sales engineer or account manager.

Mini-PCIe WIFI支持清单

Mini-PCIe WIFI Support List

注：

1. 正式支持：每次米文系统版本升级，会在米文设备上进行验证。
2. BETA支持：米文调试过，但不会在每次米文系统版本升级中验证，如使用过程中需要进一步支持请联系对应的销售工程师或客户经理。

Note:

Official support: Every time the Miivii system version is upgraded, it will be verified on the Miivii device.
BETA support: Miivii has added the product driver, but not verified in each Miivii system version upgrade. If you need further support during use, please contact the corresponding sales engineer or account manager.

Appendix 5

Apex Xavier II+ Release Note