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.

Brief

MiiVii Lite NX MINI is an embedded AI supercomputer. It delivers massive computing capabilities and essential features to terminal devices. High performance passive cooling design,with shock resistance and ESD protection. In addition, Lite NX MINI is small-sized but multifunctional.

Included in the Box

-LITE NX MINI x 1

-Quick start x 1


Specifications

Processor

ProcessorNVIDIA Jetson Xavier NX
CPU6-Core NVIDIA Carmel ARM®v8.2 64-bit CPU 6MB L2 + 4MB L3
GPU384-Core Volta GPU with 48 Tensor Cores
Memory8GB 128-Bit LPDDR4x 51.2GB/s
DL Accelerator2×NV DLA Engines
Storage16GB eMMC 5.1

I/O


InterfaceQuantityNote
Function KeyPower Button1
Recovery Button1
Reset Button1
NetworkEthernet1×Gigabit PortRJ45
Video outputHDMI1×HDMI 2.0 TYPE A5V 1A
USBUSB1×USB 3.0 TYPE A
1×USB 2.0 TYPE A
1×USB 2.0 Micro USB
USB 5V, 1A
Micro USB as a Flashing Port
I/OUART1xRS232
1xTTL
TTL 3.3V
GPIO2xDI
3xDO
3.3V
CAN1With CAN chip
terminal resistor 120Ω
I2C1
User ExpansionM.21×M.2 M Key2242 NVME SSD


Power Supply

Power SupplySpec
Input TypeDC
Input Voltage12V DC
Typical consumption18W

Mechanical

MechanicalSpec
Dimensions (W×H×D)110mm×62.4mm×56.5mm
Weight350g

Environmental

EnvironmentalSpec
Operating Temperature0℃-45℃, 0.2~0.3m/s air flow1
Storage Temperature-25℃-80℃
Storage Humidity10%-90% non-condensing
Vibration5gn,10Hz~150Hz,3 Axis2
ESDTouch 4KV, Air 8KV3
TVS1KV

Certification

CertificationStatus
CCC, CE, FCC, RoHS, SRRCProcessing


[1]  According to GB/T 2423-2008
[2]  According to GB/T 2423.10-2008
[3]  According to IEC 61000-4-2,Level 3

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

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: helpdesk@miivii.com. Or you could visit our developer forum: http://forum.miivii.com for solutions.

Warranties

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 helpdesk@miivii.com 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.

Interfaces

Interfaces

Front panel

Figure Lite NX MINI Front view
InterfaceNameDescription
POWERPower on Button
RECOVERYRecovery ButtonInter Recovery mode while pressing
RESETReset Button
HDMIHDMIHDMI 2.0 TYPE A 5V 1A
USB2×USB1×USB 3.0 1×USB 2.0 5V 1A
USB1× Micro USBFlashing Port 5V 1A

Left Panel

Figure Lite NX MINI Left view
InterfaceNameDescription
PWRPower interfaceRound socket,12V DC in
LAN1×Gigabit PortIndependent Gigabit Port

Right Panel

Figure Lite NX MINI Right view
InterfaceNameDescription
I/O_1Expansion Port 11xRS232,1xI2C,1xCAN,1xGPIO
I/O_2Expansion Port 24xGPIO,1xTTL

Back Panel

Figure Lite NX Back view
InterfaceNameDescription
PWR LedCarrier board status indicatorCarrier board power on: solid yellow Carrier board system on: solid white Carrier board system error: solid red
STATUS LedSystem status indicatorSystem on: solid blue System off: solid red

I/O 1 Pin Assignment

Figure I/O 1 Pin


Port NamePinSignalDescription
I/0_11UART0_TX_232UART_232 transmit
2I2C0_SCL
3UART0_RX_232UART_232 recieve
4I2C0_SDA
5GNDGround
6GNDGround
7CAN_H
8GPIO01_3V3Input
9CAN_L
10GNDGround


I/O 2 Pin Assignment

Figure I/O 2 Pin


Port NamePinSignalDescription
I/O 21GPIO03_3V3Input
2GPIO06_3V3Output
3GNDGround
4GNDGround
5GPIO04_3V3Input
6UART2_TX_DEBUG_3V3
7GNDGround
8UART2_RX_DEBUG_3V3
9GPIO05_3V3Output
10GND

Expansion

Expansion device installation

Lite NX MINI provides M.2 M Key for storage expansion.

Unscrew 4 screws and take off bottom cover of Lite NX MINI while installation expansion device:

Figure Lite NX MINI Screw Position

Expansion port position as follow:

Figure Expansion Port Position

Please refer to the first step, and restore Lite NX MINI after install expansion device.

Fixed Plate installation

Lite NX MINI can be secured to another system through the mounting hold on the device.

Figure Fixing Hole

General Setting

General Setting

System

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

System Image and Flashing Tool

Please visit MiiVii developer forum: http://forum.miivii.com/ 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: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



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 Xavier NX, the following table shows details of each power mode . The default mode is 3: MODE 10W 2CORE.


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




IO

GPIO

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
/etc/rc.local.

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.

UART

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

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

CAN

Please check cansend.c and candump.c from https://github.com/linux-can/can-utils 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

Figure SSD UUID

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
[Unit]
Description=MIIVII specific script
After=udev.service

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

[Install]
WantedBy=multi-user.target


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

#Create 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


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 https://github.com/MiiViiDynamics for more information.

Appendix

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: https://en.miivii.com/index.php?s=index/category/index&id=119

● 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:

helpdesk@miivii.com

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: helpdesk@miivii.com

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