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

• EVO Xavier II×1

• ACDC power adatper×1

• Power cable x 1

• Screws

• Fixed plate x 2

• DIO extension x 2

• Warranty card×1

• QC PASS×1

Table of contents

About EVO Xavier II

Brief 

        MIIVII EVO Xavier II is an embedded edge AI platform designed for industrial application.It Supports NVIDIA® Jetson AGX Xavier, featuring over 30TOPs in INT8 for real-time inference.High efficiency of active and passive heat dissipation design, can work stably in harsh industrial environment，The fastening embedded design provides high vibration resistance。 The EVO Xavier II provides a rich I/O interface that can meet the access requirements of a variety of dedicated sensors, while providing efficient sensor clock synchronization，A variety of internal expansion interfaces to provide more wireless communication and storage expansion solutions.

Features

• Efficient active and passive heat dissipation
• IP5X Protection
• 5×Gigabit Port
• Vibration resistance according to IEC 60068
• -20℃-60℃ Operating temperature
• Various I/O interface and expansion

Product appearance

Specifications

 Processor

 I/O

Power Supply

Mechanical

Environmental

Certification

Install Dimension

Dimensions and mounting hole position as below:

Fixed Plate installation

Please install fixed plate first if you need to securing EVO Xavier II on another system.

Chapter 一：Device Interface Description

Interface description

Front Panel

Back Panel

Chapter 二：GPIO port and function introduction

GPIO Port pin Assignment

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

# 切换到root用户
sudo su -
# 设置为高电平(DO)
echo 1 > /sys/class/gpio/<gpio339>/value
# 设置为低电平(DO)
echo 0 > /sys/class/gpio/<gpio339>/value
# 读取数据(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

Description of GPIO output mode of MIIVII device

Chapter 三：Introduction to synchronization interface and related functions

SYNC_IN Pin Assignment

External GPS sync

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

The PPS second pulse output signal line of GPS is connected to the sync of EVO Xavier II_ Pin6 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

Use GPS To Give Time To The Device

Advantages of GPS timing function: The device obtains local standard time signal from GPS satellite through GPS device, so as to accurately locate the device time

GPS Support Model

The serial port supports modifying baud rate. The default baud rate is 9600 GPS brand supported: all GPS devices that conform to GPRMC data standard format output and must have PPS second pulse output

Connection Mode

Refer to the "Interface Description" in the manual.

Timing Function Configuration

When the GPS is connected for the first time, the system configuration should be conducted in MiiVii Setting configuration software. Configure the Sync Mode option to GPS Mode and restart the system.Please refer to the section of "MiiVii Setting" for specific methods.

Check Whether The Timing Was Successful

Modify the system time, enter the command

sudo date -s "2018-10-1"

Wait for 2~3s, check the current time, and enter the command

data

If the display time is: "2018-10-1", it means the timing failed If the display time is: "current time", the timing is successful

Troubleshooting

If the timing fails, fault troubleshooting shall be carried out

1. Check If The GPS Has Output

Type the command

cat /dev/ttyTHS1

The terminal receives output with a GPRMC field, such as: GPRMC,014600.00,A,2237.496474,N,11356.089515,E,0.0,225.5,310518,2.3,W,A*23

2. Check The OUTPUT of THE GPS PPS Signal

Type the command

hexdump /dev/miivii-sync-in-a

The terminal has hexadecimal data output, such as: 0000400 02fe 9f40 490e 562d 1647 004e 0000 0000

3. Identify Methods

If the above "1"&"2" has no output, indicating that the GPS is not working properly, you can put the GPS out of the window or go outside for testing, or change the GPS for testing

If the output of "1"&"2" is normal, check whether the MiiVii Setting configuration is in GPS mode. If not, change the mode and restart it

After the above operation, GPS timing is still unsuccessful, enter the command

hexdump /dev/miivii-sync-out

The terminal has hexadecimal data output, such as: 0000400 02fe 9f40 490e 562d 1647 004e 0000 0000

If there is no data output, it may be that there is no matching brush tool and mirror brush. It is recommended to check the mirror and the brush tool to re-brush

If there is data output, it may be a hardware problem,it is recommended to contact after-sales maintenance treatment

SYNC_OUT Pin Assignment

Synchronization function instructions

The device supports two synchronization methods, namely: PPS 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 EVO 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.

Sync out 

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.

Chapter 四：CAN port and function introduction

CAN Pin Assignment

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]  CAN FD和CAN 2.0的区别:

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.

Chapter五：UART port and function introduction

RS485/422 Pin Assignment

RS232 Pin Assignment

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

Output data test

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

Use the following command to receive input data

sudo cat /dev/<UART_XXX>

Chapter六：Debug Interface Description

Debug Pin Assignment

Chapter七：Expansion device installation and instructions

Expansion device installation 

EVO Xavier II provides M.2 M Key、M.2B Key and mini PCIe port for storage and communication expansion

Unscrew 8 screws and take off bottom cover of EVO Xavier while installation expansion device:

Expansion port position as follow:

Install expansion device based on demand. Please note that if you need 4G module, insert nano SIM card into nano SIM socket before install 4G module.

Please install WiFi/4G/5G antenna to ensure signal stability.

Please refer to the first step, and restore EVO Xavier II after install expansion device.

Mini PCIe 4G Support List

M.2 B Key 5G Support List

4G/5G Setting

4G/5G module is not included in MiiVii device package. Please refer to the information in [Expansion] to install 4G/5G module. Instructions for 4G/5G module configuration are shown as below, using QUECTEL EM05 as an example. EM05 4G driver is included in MiiVii system. This SIM card could be detected automatically. There should be 4 devices under /dev/ttyUSB0~/dev/ttyUSB3 for 4G and 1  devices under /dev/tty UART_AT for 5G.

Users need to choose their own 4G/5G LTE SIM card(note that mobile phone sim card and IOT sim card is supported, but IOT sim card is hardware-binding, please consult your carrier for more information ). Before getting started, please insert SIM card into sim socket.

Mini PCIe WIFI Support List

WiFi Setting

MIIVII EVO XAVIER II provides WiFi function via a expansion module. Please refer to the information in [Expansion] to intall WiFi module. Click the network icon in upper-right corner of the desktop. Find the name of your WiFi network and click on it. Enter your password and click ‘Connect’.

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

#创建服务miivii_mount_ssd.service
vim 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

#创建服务脚本miivii_mount_ssd.sh
vim 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

Appendix 1  EVO 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:

#查看设备现在的模式
sudo nvpmodel -q verbose
# 设定为某一模式
sudo nvpmodel -m <MODE ID>
#获取在当前模式下的最佳表现
sudo jetson_clocks
#查看详细信息
sudo jetson_clocks --show

Exception handling

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: Image Burning And OTA

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; reference "Appendix 3 WEBSTTINGS".

1. 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 "Check Upgrade" to check whether there is a new version.

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

Upgrade Using The Command Line

Execute the following command to update the source

sudo apt update

Execute the following command to upgrade the system.

sudo apt upgrade -y

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

• Specify The Upgrade Installation Package

  • 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

Appendix 3  WEBSETTINGS

cat /etc/miivii_release
APEX 4.2.2-1.5.0

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

Appendix 4   EVO Xavier II Release Note