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 S2 is a fully-featured embedded platform for AI computing. It provides both high processing capabilities and high energy efficiency. MiiVii S2 brings artificial intelligence to terminal devices. MiiVii S2 carries one of the most powerful mobile computing module, NVIDIA Jetson TX2. In addition, a variety of algorithms are provided on S2 platform, especially in the field of computer vision.

Included in the Box

  • S2 x 1

  • Power supply x 1

  • Power cable x 1

  • I/O Cable Assemblies x 2

  • WiFi Antenna x 2

  • Network cable x 1

  • Quick start x 1

  • Test certificate x 1



ProcessorNVIDIA Jetson TX2
CPUDual-core Denver 2 64-bit CPU Quad-core ARM A57 complex
GPU256 CUDA cores Pascal™ architecture
Memory8 GB 128-bit LPDDR4
Storage32GB eMMC 5.1


Function KEYSwitch Key1Control Boot Mode
Reset Key1
Network/CameraEthernet2Gigabit Ethernet port
Video outputHDMI1HDMI 2.0 TYPE A
5V 1A
1×micro USB 5V, 0.5A
1xDebug 3.3V
CAN3With CAN chip
terminal resistor 120Ω
OUT 3.3V

Power Supply

Power SupplySpec
Input TypeDC
Input Voltage12V
Typical consumption15W


Dimensions (W×H×D)100mm×56mm×62mm


Operating Temperature-20℃-60℃, 0.2~0.3m/s air flow1
Storage Temperature-25℃-80℃
Storage Humidity10%-90% non-condensing


CCC, FCC, RoHS, SRRCProcessing

[1]  According to GB/T 2423-2008 60℃ Working frequency is subject to change after temperature reaches 60℃


S2 Dimensions as below:

Up view(Unit:mm)

Front view(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 S2 Front Panel
Micro USBMicro USB PortFlashing Port Support OTG mode 5V 0.5A
Lan_1Gigabit Ethernet PortRJ45
Lan_2Gigabit Ethernet PortRJ45

Left Panel

Figure S2 Left Panel
Power LedDevice status indicatorPower on: solid red ->solid green System flashing/ Error: solid red
DC_INPower InterfaceDC Input 12V, 2A
USB_1USB Port 1USB3.0 Port, backwards compatible 5V 1A
USB_21USB Port 2USB3.0 Port, backwards compatible 5V 1A

Right Panel

Figure S2 Right Panel
Reset KeyReset KeyReset system
Switch KeySwitch KeyBoot mode switch Left side Auto Boot Right side Manual Boot
I/O_12I/O Expansion Port 11×CAN 1×TTL 1×RS485

I/O_1 Pin Assignment

Figure I/O_1 Pin Assignment

2MCU_UART1_RXTTL receive
6MCU_SWD_CLKSWD Clock signal
8CAN1_HCAN1 High
MCU_RS4859RS485_ARS485 DATA+
10RS485_BRS485 DATA-

I/O_2 Pin Assignment

Figure I/O_2 Pin Assignment

RS485_11POWER_BTNManual Power on
Self-inspection Port3BUTTON_VOL_DOWNConnect pin 3 and pin 4 for self-inspection
Recovery port5FORCE_RECOVERYConnect pin 5 and pin 6 to enter Recovery mode
8TX1_CAN0_HCAN_0 High
10TX1_CAN1_HCAN_1 High
Debug UART111DGB_UART1_TXD_3V3UART1 TTL transmit: 3.3V
12DGB_UART1_RXD_3V3UART1 TTL receive: 3.3V
IN: High 1V-12V
Low 0V-0.8V
OUT: 3.3V
IN: High 1V-12V
Low 0V-0.8V
OUT: 3.3V

PortPinGPIOGPIO Export Value
Pin NumberUART PortDevice Node

Rear Panel

图 S2 Rear Panel
SMA2.4G/5G Antenna connectorConnect to 2.4G/5G WiFi

[1]  Note: For full speed mode of USB_2, use $ ifconfig eth1 down
[2]  Note: Contact MiiVii at: for further information about I/O_1

I/O Cable

S2 Provides two I/O cables1: I/O_1 cable and I/O_2 cable. Shown as below:

I/O_1 Cable

1MCU_UART MCU_SWDBlack 1X6 Pin Connector
2MCU_CAN1Black 1X3 Pin Connector
3MCU_RS485Green 1x2 Pin Connector

Figure I/O_1 Cable

I/O_2 Cable

4CAN_0Black 1X3 Pin Connector
5CAN_1Black 1X3 Pin Connector
6UART1Black 1X3 Pin Connector
7GPIO_11/GPIO_12White 1X3 Pin Connector

Figure I/O_2 Cable

[1]  note:I/O cables are subject to change, please refer to PIN assignment or search help at

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 TX2, the following table shows details of each power mode. The default mode is 2.

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

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