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.


MiiVii EVO Xavier 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. Thanks to MiiVii’s passive cooling design, EVO Xavier is capable of effectively dissipating the heat generated by the GPU, and guarantees system operation of up to 60°C ambient temperature. MiiVii EVO Xavier equipped with various I/O interface such as PoE+ and isolated DI/DO. In addition, EVO Xavier also features massive expansion port to enhance accessibility.

Included in the Box

  • EVO Xavier x 1

  • Power cable x 1

  • Fixed plate x 2

  • Screws

  • DIO extension x 2

  • Quick start x 1



ProcessorNVIDIA Jetson AGX Xavier
CPU8-core ARM v8.2 64-bit CPU
GPU512-core Volta GPU
Memory32GB 256-Bit LPDDR41
DL Accelerator2×NV DLA Engines
Storage32GB eMMC 5.1


Function KEYPower Button1
Recovery Button1
Network/CameraEthernet1×Gigabit Port
4×PoE+ Gigabit Port
IEEE 802.3 at PoE+ 25.5W
Video outputHDMI1×HDMI 2.0 TYPE A5V 1A
1×USB 2.0 TYPE A
USB 5V, 1A
USB 2.0 Flashing Port
DB9 Terminal
TTL 3.3V
CAN2Two CAN in One DB9 Terminal
With CAN chip, terminal resistor 120Ω
GPIO8xIsolated DI
8xIsolated DO
DI 3.3-50V DC
DO 5-40V DC
User ExpansionTF Socket1xTF SlotMicroSD card supported
M.21×M.2 M Key2280 SIZE NVME SSD
Mini PCle2For 4G and WiFi expansion
Nano SIM Socket2For Nano SIM Card

Power Supply

Power SupplySpec
Input TypeDC
Input VoltageWide input 14-48V (Optional) 24-48V for PoE
Typical consumption50W


Dimensions (W×H×D)226.0mm×70.0mm×144.5mm (I/O ports and mounting holes excluded)


Operating Temperature-20℃-60℃, 0.2~0.3m/s air flow2
Storage Temperature-25℃-80℃
Storage Humidity10%-90% non-condensing
Vibration5gn,10Hz~150Hz,3 Axis3
ESDTouch 4KV, Air 8KV


CE,CCC, FCC, RoHS, SRRCProcessing

[1]  Jetson AGX Xavier increase of DRAM memory size from 16GB to 32GB.
[2]  According to GB/T 2423-2008 Working frequency is subject to change after temperature reaches 60℃
[3]  According to GB/T 2423.10-2008

Install Dimension

Dimensions and mounting hole position as below:

Up view(Unit:mm)

Front view(Unit:mm)

Left view(Unit:mm)

Mounting Hole(Unit:mm)

Service and Support


MiiVii is glad to help you with any questions you may have about our product, or about the use of the technology for your application. The fastest way is sending us an email: Or you could visit our developer forum: for solutions.


Warranty period: One year from the date of delivery.

Warranty content: MiiVii warrants the product manufactured by us to be free from defects in material and workmanship during warranty period. Please contact for return material authorization (RMA) prior to returning any items for repair or exchange. The product must be returned in its original packaging to prevent damage during shipping. Before returning any product for repair, it is recommended to back up your data and delete any confidential or personal data.


Front Panel

Figure EVO Xavier
DC INPower InterfacePower input voltage 14V~48V
PWR_LEDCarrier board status indicatorCarrier board power on: solid yellow Carrier board system on: solid white Carrier board system error: solid red
STATUSSystem status indicatorSystem on: solid blue System off: solid red
PWR_ButtonPower Button
RECOVERYRecovery ButtonInter Recovery mode while pressing
SDTF socketFor TF card 3.3V 1A
USB 3.1 ×3USB 3.1 gen1 port3 USB 3.1 gen1 port 5V 1A
PoE+ ×4PoE+ port4 independent IEEE 802.3at PoE+ port, 25.5W
LANEthernetIndenpendent Gigabit ethernet port, RJ45
USB 2.0USB 2.0 portIndenpendent USB 2.0 flashing port 5V 1A

Back Panel

Figure EVO Xavier Back Panel
DIIsolated DI portDI 3.3V~50V DC
DOIsolated DO portDO 5V~40V DC
TTL_1TTL port 13.3V@10mA Max, for GPS Sync function
CAN_1&2CAN port 1 and 2Include 2 CAN signal 7.5V Max@48mA Max With CAN chip, terminal resistor 120Ω
RS485_1RS485 port 12.0VDC Min, 1mA Max
RS485_2RS485 port 22.0VDC Min, 1mA Max
RS232_1RS232 port 1Logic1: -3V~-12V,Logic0: 3V~12V,1.6mA Max
RS232_2RS232 port 2Logic1: -3V~-12V,Logic0: 3V~12V,1.6mA Max

DI/DO Port Pin Assignment

Figure DI/DO Pin Assignment

Port NamePinSignalGPIO ChipDescription
DI1DI_0240DI_0 input
2DI_1241DI_1 input
3DI_2242DI_2 input
4DI_3243DI_3 input
6DI_4244DI_4 input
7DI_5245DI_5 input
8DI_6246DI_6 input
9DI_7247DI_7 input
DO11DO_0232DO_0 output
12DO_1233DO_1 output
13DO_2234DO_2 output
14DO_3235DO_3 output
16DO_4236DO_4 output
17DO_5237DO_5 output
18DO_6238DO_6 output
19DO_7239DO_7 output

TTL Port Pin Assignment

Figure TTL Pin Assignment

Port NamePinSignalDescription
TTL_11GNDSYSync GND is exclusive used for Sync function, isolated from GND
2TTL1_RX_3V3TTL_1 recieve
3TTL1_TX_3V3TTL_1 transmit
6SYNCIN_GPIO8_EXTSync in signal
7TTL1_RTS_3V3TTL1 Require ToSend
8TTL1_CTS_3V3TTL1 Clear ToSend
If you want to use GPS Sync function, please refer to the following instruction:

Connect GPS NMEA Serial port to TTL_1 port of EVO Xavier(Baud 9600), device node is /dev/ttyUART_TTL_1

Connect GPS PPS Port to SYNCIN_GPIO8_EXT of EVO Xavier, device node is /dev/miivii-sync-in

These two nodes above is occupied while GPS Sync function is available.

CAN Pin Assignment

Figure CAN Pin Assignment

Port NamePinSignalDescription
CAN_1&21CAN1_LCAN_1 Low
2CAN0_LCAN_0 Low
7CAN0_HCAN_0 High
8CAN1_HCAN_1 High

RS485 Pin Assignment

Figure RS485 Pin Assignment

Port NamePinSignalDescription
2UART1_485ARS485_1 A
3UART1_485BRS485_1 B
2UART2_485ARS485_2 A
3UART2_485BRS485_2 B

RS232 Pin Assignment

Figure RS232 Pin Assignment

Port NamePinSignalDescription
2UART1_RX_232RS232_1 recieve
3UART1_TX_232RS232_1 transmit
2UART2_RX_232RS232_2 recieve
3UART2_TX_232RS232_2 transmit

UART Port Device Node

Relation of UART Port and device node as follow:

UART Port NameDevice Node

Debug Port

The Debug Port(RS232) of EVO Xavier located on the back of PCBA, please refer to the folowing figure. PIN 8 RX, PIN 10 TX

Figure Debug Port

Figure Debug Pin


Expansion device installation

EVO Xavier provides M.2 M Key, mini PCIe port for storage and communication expansion

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

Figure EVO Xavier Screw Position1

Figure EVO Xavier Screw Position2

Figure EVO Xavier Screw Position3

Figure Remove Bottom Cover

Expansion port position as follow:

Figure Expansion Port Position

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.

Figure Moudle

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

Figure Antenna Installation1

Antenna Installation2

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

Fixed Plate installation

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

Figure Fixed Plate1

Figure Fixed Plate2

General Setting

General Setting


MiiVii device use Ubuntu system. Default username: nvidia default password: nvidia

System Image and Flashing Tool

Please visit MiiVii developer forum: for flash tool and system image.

Power on

Connect an external HDMI display to MiiVii's HDMI port.

Connect a USB keyboard and mouse.

Connect the included AC adapter to power socket. Plug AC adapter into an appropriately rated electrical outlet.

Figure Startup

Power off: Use the following command in terminal.

For MiiVii device with entity PWR button, you can also press and hold PWR button.

sudo poweroff

Reset: Use the following command in terminal.

For MiiVii device with entity RESET button, you can also press RESET button to reboot.

sudo reboot

MiiVii Setting

MiiVii Device provides a setting program called MiiVii Setting. You can get access to basic information and settings through MiiVii Setting. Click the icon on upper right corner。In addition, these settings can be set through code, please refer to the section after MiiVii Setting introduction.

Figure Version Info

You can set up GMSL camera here. MiiVii Device Apex has two groups of GMSL camera GMSL_A and GMSL_B, while MiiVii Device S2Pro has only one group GMSL_A.

Figure Set up GMSL Camera

You can set up Sync mode here:

Figure Set Synchronization Mode

Default setting is NTP mode. MiiVii Device accept NTP service while set to this mode.

MiiVii Device accept GPS synchronization while set to GPS mode.

MiiVii Device cannot be synchronized but can synchronize other sensors while set to None mode.

You can also set Sync out frequency here, please note it is not GMSL frequency.

Finish setting and exit

Figure Finish setting

You can also check software version through code

cat /etc/miivii_release
APEX 4.2.2-1.5.0

Set up GMSL Camera

When accessing GMSL camera for the first time and changing GMSL camera model, you need to change the configuration file and restart the device.Configuration file path:/opt/miivii/config/gmsl_camera/camera.cfg MVGCB-001A :Entron MVGCB-002A: Calmcar MVGCB-003A:Adayo MVGCB-006A:Sensing The default configuration of GMSL_A and GMSL_B are both MVGCB-001A.

Set up synchronization Mode and Sync out frequency Synchronization Mode and Sync out frequency settings need to modify the configuration file and restart the device.Configuration file path:/opt/miivii/config/sync/sync.cfg Synchronization Mode is achieved by modifying the X value of "sync_type:X". 0:GPS mode 1:NTP mode 2:None mode Sync out frequency is achieved by modifying the XX value of "sync_out_freq:XX". Only integers are supported.\

cat /opt/miivii/config/sync/sync.cfg
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

Power Mode Setting

MiiVii device has several power modes. You can set up power mode through the green NVIDIA icon on the upper right corner.

Figure Power mode Icon

For MiiVii device equipped with NVIDIA Jetson AGX Xavier, the following table shows details of each power mode . The default mode is 3.

You can also set up through code:

#check current mode
sudo nvpmodel -q verbose
# set to a certain mode
sudo nvpmodel -m [MODE ID]
#achieve best performance of current mode
sudo jetson_clocks
#check more info
sudo jetson_clocks --show



Please change the code in <> to your GPIO export value

#switch to root
sudo su -
#set GPIO to high
echo 1 > /sys/class/gpio/<gpio339>/vlaue
#set GPIO to low
echo 0 > /sys/class/gpio/<gpio339>/vlaue

For auto config, write above commands to file

Note: Description of GPIO external connection

DO is on/off output (on/off output is no output voltage, control output low voltage, pin grounding in normal time, control output high voltage, pin neither output high level nor low level, high resistance state.If the external pull-up resistor is connected, the voltage will be drawn to the power supply voltage of the pull-up resistor at the time of high output voltage.)

Set to high voltage, DO foot and external voltage are the same (0V~40V); Set to low level, DO feet for the ground.


Open device node in /dev/. Then use stty command to set parameters. See stty command manual for details, please change the code in <> to your UART device node.

#config UART
$ sudo stty -F /dev/<ttyTHS1> speed 115200 cs8 -parenb -cstopb -echo
#send data through UART
$ sudo echo “miivii tty debug” > /dev/<ttyTHS1>
#receive data from UART
$ sudo cat /dev/<ttyTHS1>

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


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


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


Please check cansend.c and candump.c from for instructions.

Test command:

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan
sudo ip link set can0 type can bitrate 500000 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:

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan
sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
sudo ip link set up can0
sudo cansend can0 213##011

Expansion Setting

SSD Setting

#check ssd information: 
sudo fdisk -lu

Figure SSD Information
#Format SSD: 
sudo mkfs -t ext4 /dev/nvme0n1

Figure Formatting SSD
#Check 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

#Create miivii_mount_ssd.service
vim miivii_mount_ssd.service
Description=MIIVII specific script



Create a script in the /etc/systemd/ path to mount the SSD, such as:

mount -o rw /dev/nvme0n1 /home/nvidia/workspace

change mode for this script

sudo chmod +x

Set the mounted SSD service to start at boot

sudo systemctl enable miivii_mount_ssd.service

Wireless Setting

WiFi Setting

MiiVii S2, S2Pro and EVO TX2 ,EVO TX2 GMSL2 has WiFi function.While Apex Xavier MiiVii EVO Xavier, Lite NX and Lite Nano 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’.

Figure WiFi Connection

4G Setting

4G module is not included in MiiVii device package. Please refer to the information in [Expansion] to intall 4G module. Instructions for 4G 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.

Users need to choose their own 4G 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.

Click the network icon in upper-right corner of the desktop. Find 'Edit Connections', then click 'add'.

Change connection type to 'Mobile Broadband'


Change country to 'China'. Then choose network provider.

If your network provider is not included in the list, then enter it 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 entire settings, then click 'Apply'

Enter username and password, click 'save'

Click the network icon in upper-right corner of the desktop. Then connect to your network. If you need auto connection, please edit Network connections:

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

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

Demo and application

MiiVii offers several demo code:

Algorithm: MiiVii device offers human, vehicle, bicycle detection. Please refer to /opt/miivii/features/algorithm

Acceleration SDK: MiiVii device provides acceleration SDK based on Yolo v3. Please refer to /opt/miivii/features/miivii-accelerator

ROS demo: MiiVii device offers ROS DEMO. Please refer to /opt/miivii/ros_demo

Among them, miivii_msgs is the message rule of ROS. miivii_gmsl is the ROS node of GMSL camer. miivii_detector is the ROS node of object detection.

Besides, MiiVii also open source part of our code in Github. Please visit for more information.


Exception Handling

If bug occurs to you while developing, please check DEBUG log first:

Step 1: Find the position of DEBUG port in 'Interfaces'

Step 2: Connect DEBUG port with a PC using a UART-USB cable1

Step 3: Download Serial debugging tool in the PC, set Baud to 115200

Step 4: Check DEBUG log

[1]:According to the information in 'Interfaces', select the RS232-USB cable or TTL-USB cable。

Images Burning

1.Function Introduction

Miivii burning tool, suitable for Miivii series products.The tool has two main functions: burn images and clone images. You can burn the official image of Miivii power for Miivii devices using an X86 architecture PC as the burn host. After developing a Miivii device for some time, you can save your progress by cloning an existing device images and burning it to other Miiivii devices.

2.Prepare Software And Hardware

2.1. Burn The Host Ready

It is necessary to connect the writing host to the Miivii device to burn the images. The recommended figuration of the write host is as follows:

● CPU uses Intel core series processors with X86 architecture

● Memory 8GB DDR3 and above

● Spare hard disk capacity 40G and above

● The system is Ubuntu Linux X64 v16.04 or V18.04

2.2. Prepare Miivii Burn Tools And Miivii Device Images

● Low for a link:

● Download the Miivii burn tool

● Download the Miivii device image and the image MD5 value

● Store the above files in the same path as the burn host

● Supports simultaneous burning of multiple identical devices, but does not support simultaneous burning of multiple different devices

Note: The file storage path cannot contain Chinese characters or special characters

2.3. Prepare The Hardware

● Miivii equipment and power, USB data cable

3. The Operation

3.1 Hardware Connection

● Connect the writing port of Miivii device to the writing host through USB data cable

3.2 Use of Software

3.2.1. Images Burn

● Copy the images and MD5 values to the imGS folder of the burn tool

● Go to the bin folder of the burn tool and open the Burn tool "MVflasher"

● Click [Enter upper computer password] button, enter the current burning host boot password

● In the device model on the right, select the device you want to burn and the Images version. Click the "Burn file" button to select the specific image for burn

● Click the "burn" button to enter the burn process:

● Images burning usually takes more than 15 minutes to complete. Please be patient:

3.2.2. Images Clone

● Enter the FORCE_Recovery mode of the Miivii device to be cloned according to method 3.1, and open the burn tool

● Click [Enter upper computer password] button,enter the current burning host boot password

● Click the "Clone file" button to modify the path and name of the clone file saved in the write host :

Note: The file storage path cannot contain Chinese characters or special characters

● Click the "clone" button to enter the cloning process, as shown in the figure:

● Images cloning usually takes more than 30 minutes to complete:

● Cloning completed, will generate a clone image and MD5 file, please burn again according to step 3.2.1 operation

Note: if you encounter problems in the cloning process, please contact Miivii power for help:

Attached 1. Kernel and DTB burn

Miivii device burn tool can burn system kernel and DTB separately, click [more] in the upper right corner to choose.

Note: before you do this in meters, power after confirmation:

Attached 2. Self-test For Burning Problems

If you encounter burning problem, please first conduct self-test according to the following items:

● Check whether the upper computer boot password is entered in the upper left corner of the burn tool

● Check whether to enter the Recovery mode, can be identified by the lsusb command

● Check whether Micro USB cable quality is up to standard and whether it is only a dual-core cable used for charging

● Check upper computer, whether it is x86-64 architecture desktop, notebook.(Server, embedded device, virtual machine and other devices are not supported temporarily)

● Check whether the upper computer system is Linux 1604 /1804

● Check the disk format, the recommended disk format for burning hosts is EXT4

● Check whether the upper computer capacity is enough

● The Images and burn tool storage path cannot have Chinese or other special characters